const Matrix4 getConcatMatrix( IObject iObj, chrono_t curTime , bool interpolate)
{
Imath::M44d xf;
xf.makeIdentity();
IObject parent = iObj.getParent();
// Once the Archive's Top Object is reached, IObject::getParent() will
// return an invalid IObject, and that will evaluate to False.
while ( parent )
{
accumXform( xf, parent, curTime, interpolate );
parent = parent.getParent();
}
Matrix4 ret_matrix = convert(xf);
return ret_matrix;
}
Imath::M44d SceneNode::getGlobalTransDouble(double time)
{
Imath::M44d ret;
ret.makeIdentity();
return ret;
}
void
testProcrustesImp ()
{
// Test the empty case:
Imath::M44d id =
procrustesRotationAndTranslation ((Imath::Vec3<T>*) 0,
(Imath::Vec3<T>*) 0,
(T*) 0,
0);
assert (id == Imath::M44d());
id = procrustesRotationAndTranslation ((Imath::Vec3<T>*) 0,
(Imath::Vec3<T>*) 0,
0);
assert (id == Imath::M44d());
// First we'll test with a bunch of known translation/rotation matrices
// to make sure we get back exactly the same points:
Imath::M44d m;
m.makeIdentity();
testTranslationRotationMatrix<T> (m);
m.translate (Imath::V3d(3.0, 5.0, -0.2));
testTranslationRotationMatrix<T> (m);
m.rotate (Imath::V3d(M_PI, 0, 0));
testTranslationRotationMatrix<T> (m);
m.rotate (Imath::V3d(0, M_PI/4.0, 0));
testTranslationRotationMatrix<T> (m);
m.rotate (Imath::V3d(0, 0, -3.0/4.0 * M_PI));
testTranslationRotationMatrix<T> (m);
m.makeIdentity();
testWithTranslateRotateAndScale<T> (m);
m.translate (Imath::V3d(0.4, 6.0, 10.0));
testWithTranslateRotateAndScale<T> (m);
m.rotate (Imath::V3d(M_PI, 0, 0));
testWithTranslateRotateAndScale<T> (m);
m.rotate (Imath::V3d(0, M_PI/4.0, 0));
testWithTranslateRotateAndScale<T> (m);
m.rotate (Imath::V3d(0, 0, -3.0/4.0 * M_PI));
testWithTranslateRotateAndScale<T> (m);
m.scale (Imath::V3d(2.0, 2.0, 2.0));
testWithTranslateRotateAndScale<T> (m);
m.scale (Imath::V3d(0.01, 0.01, 0.01));
testWithTranslateRotateAndScale<T> (m);
// Now we'll test with some random point sets and verify
// the various Procrustes properties:
std::vector<Imath::Vec3<T> > fromPoints;
std::vector<Imath::Vec3<T> > toPoints;
fromPoints.clear(); toPoints.clear();
for (size_t i = 0; i < 4; ++i)
{
const T theta = T(2*i) / T(M_PI);
fromPoints.push_back (Imath::Vec3<T>(cos(theta), sin(theta), 0));
toPoints.push_back (Imath::Vec3<T>(cos(theta + M_PI/3.0), sin(theta + M_PI/3.0), 0));
}
verifyProcrustes (fromPoints, toPoints);
Imath::Rand48 random (1209);
for (size_t numPoints = 1; numPoints < 10; ++numPoints)
{
fromPoints.clear(); toPoints.clear();
for (size_t i = 0; i < numPoints; ++i)
{
fromPoints.push_back (Imath::Vec3<T>(random.nextf(), random.nextf(), random.nextf()));
toPoints.push_back (Imath::Vec3<T>(random.nextf(), random.nextf(), random.nextf()));
}
}
verifyProcrustes (fromPoints, toPoints);
// Test with some known matrices of varying degrees of quality:
testProcrustesWithMatrix<T> (m);
m.translate (Imath::Vec3<T>(3, 4, 1));
testProcrustesWithMatrix<T> (m);
m.translate (Imath::Vec3<T>(-10, 2, 1));
testProcrustesWithMatrix<T> (m);
Imath::Eulerd rot (M_PI/3.0, 3.0*M_PI/4.0, 0);
m = m * rot.toMatrix44();
testProcrustesWithMatrix<T> (m);
m.scale (Imath::Vec3<T>(1.5, 6.4, 2.0));
testProcrustesWithMatrix<T> (m);
Imath::Eulerd rot2 (1.0, M_PI, M_PI/3.0);
m = m * rot.toMatrix44();
m.scale (Imath::Vec3<T>(-1, 1, 1));
testProcrustesWithMatrix<T> (m);
m.scale (Imath::Vec3<T>(1, 0.001, 1));
testProcrustesWithMatrix<T> (m);
m.scale (Imath::Vec3<T>(1, 1, 0));
testProcrustesWithMatrix<T> (m);
}
