void ccGraphicalTransformationTool::apply()
{
assert(m_toTransform);
//we recompute global GL transformation matrix and display it in console
ccGLMatrixd finalTrans = m_rotation;
finalTrans += m_rotationCenter + m_translation - m_rotation*m_rotationCenter;
//convert matrix back and forth so as to be sure to get a 'true' rotation matrix
double alpha_rad;
CCVector3d axis3D,t3D;
finalTrans.getParameters(alpha_rad,axis3D,t3D);
ccGLMatrixd finalTransCorrected;
finalTransCorrected.initFromParameters(alpha_rad,axis3D,t3D);
#ifdef _DEBUG
ccLog::Print("[GraphicalTransformationTool] Final transformation (before correction):");
ccLog::Print(finalTrans.toString(12,' ')); //full precision
ccLog::Print(QString("Axis(%1,%2,%3) - Angle(%4) - T(%5,%6,%7)").arg(axis3D.x).arg(axis3D.y).arg(axis3D.z).arg(alpha_rad).arg(t3D.x).arg(t3D.y).arg(t3D.z));
//test: compute rotation "norm" (as it may not be exactly 1 due to numerical (in)accuracy!)
{
ccGLMatrixd finalRotation = finalTransCorrected;
finalRotation.setTranslation(CCVector3(0,0,0));
ccGLMatrixd finalRotationT = finalRotation.transposed();
ccGLMatrixd idTrans = finalRotation * finalRotationT;
double norm = idTrans.data()[0] * idTrans.data()[5] * idTrans.data()[10];
ccLog::PrintDebug("[GraphicalTransformationTool] T*T-1:");
ccLog::PrintDebug(idTrans.toString(12,' ')); //full precision
ccLog::PrintDebug(QString("Rotation norm = %1").arg(norm));
}
#endif
//update GL transformation for all entities
ccGLMatrix correctedFinalTrans(finalTransCorrected.data());
for (unsigned i=0; i<m_toTransform->getChildrenNumber(); ++i)
{
ccHObject* toTransform = m_toTransform->getChild(i);
toTransform->setGLTransformation(correctedFinalTrans);
//DGM: warning, applyGLTransformation may delete associated octree!
MainWindow::ccHObjectContext objContext = MainWindow::TheInstance()->removeObjectTemporarilyFromDBTree(toTransform);
toTransform->applyGLTransformation_recursive();
toTransform->prepareDisplayForRefresh_recursive();
MainWindow::TheInstance()->putObjectBackIntoDBTree(toTransform,objContext);
}
stop(true);
clear();
//output resulting transformation matrix
ccLog::Print("[GraphicalTransformationTool] Applied transformation:");
ccLog::Print(correctedFinalTrans.toString(12,' ')); //full precision
#ifdef _DEBUG
finalTransCorrected.getParameters(alpha_rad,axis3D,t3D);
ccLog::Print(QString("Axis(%1,%2,%3) - Angle(%4) - T(%5,%6,%7)").arg(axis3D.x).arg(axis3D.y).arg(axis3D.z).arg(alpha_rad).arg(t3D.x).arg(t3D.y).arg(t3D.z));
#endif
}
void ccGraphicalTransformationTool::apply()
{
//we recompute global GL transformation matrix and display it in console
ccGLMatrixd finalTrans = m_rotation;
finalTrans += m_rotationCenter + m_translation - m_rotation*m_rotationCenter;
ccGLMatrixd finalTransCorrected = finalTrans;
#define NORMALIZE_TRANSFORMATION_MATRIX_WITH_EULER
#ifdef NORMALIZE_TRANSFORMATION_MATRIX_WITH_EULER
{
//convert matrix back and forth so as to be sure to get a 'true' rotation matrix
//DGM: we use Euler angles, as the axis/angle method (formerly used) is not robust
//enough! Shifts could be percieved by the user.
double phi_rad,theta_rad,psi_rad;
CCVector3d t3D;
finalTrans.getParameters(phi_rad,theta_rad,psi_rad,t3D);
finalTransCorrected.initFromParameters(phi_rad,theta_rad,psi_rad,t3D);
#ifdef _DEBUG
ccLog::Print("[GraphicalTransformationTool] Final transformation (before correction):");
ccLog::Print(finalTrans.toString(12,' ')); //full precision
ccLog::Print(QString("Angles(%1,%2,%3) T(%5,%6,%7)").arg(phi_rad).arg(theta_rad).arg(psi_rad).arg(t3D.x).arg(t3D.y).arg(t3D.z));
#endif //_DEBUG
}
#endif //NORMALIZE_TRANSFORMATION_MATRIX_WITH_EULER
#ifdef _DEBUG
//test: compute rotation "norm" (as it may not be exactly 1 due to numerical (in)accuracy!)
{
ccGLMatrixd finalRotation = finalTransCorrected;
finalRotation.setTranslation(CCVector3(0,0,0));
ccGLMatrixd finalRotationT = finalRotation.transposed();
ccGLMatrixd idTrans = finalRotation * finalRotationT;
double norm = idTrans.data()[0] * idTrans.data()[5] * idTrans.data()[10];
ccLog::PrintDebug("[GraphicalTransformationTool] T*T-1:");
ccLog::PrintDebug(idTrans.toString(12,' ')); //full precision
ccLog::PrintDebug(QString("Rotation norm = %1").arg(norm,0,'f',12));
}
#endif //_DEBUG
//update GL transformation for all entities
ccGLMatrix correctedFinalTrans(finalTransCorrected.data());
for (unsigned i=0; i<m_toTransform.getChildrenNumber(); ++i)
{
ccHObject* toTransform = m_toTransform.getChild(i);
toTransform->setGLTransformation(correctedFinalTrans);
//DGM: warning, applyGLTransformation may delete the associated octree!
MainWindow::ccHObjectContext objContext = MainWindow::TheInstance()->removeObjectTemporarilyFromDBTree(toTransform);
toTransform->applyGLTransformation_recursive();
toTransform->prepareDisplayForRefresh_recursive();
MainWindow::TheInstance()->putObjectBackIntoDBTree(toTransform,objContext);
//specif case: if the object is a mesh vertices set, we may have to update the mesh normals!
if (toTransform->isA(CC_TYPES::POINT_CLOUD) && toTransform->getParent() && toTransform->getParent()->isKindOf(CC_TYPES::MESH))
{
ccMesh* mesh = static_cast<ccMesh*>(toTransform->getParent());
if (mesh->hasTriNormals() && !m_toTransform.isAncestorOf(mesh))
{
mesh->transformTriNormals(correctedFinalTrans);
}
}
}
stop(true);
clear();
//output resulting transformation matrix
ccLog::Print("[GraphicalTransformationTool] Applied transformation:");
ccLog::Print(correctedFinalTrans.toString(12,' ')); //full precision
#ifdef _DEBUG
{
float phi_rad,theta_rad,psi_rad;
Vector3Tpl<float> t3D;
correctedFinalTrans.getParameters(phi_rad,theta_rad,psi_rad,t3D);
ccLog::Print(QString("Angles(%1,%2,%3) T(%5,%6,%7)").arg(phi_rad).arg(theta_rad).arg(psi_rad).arg(t3D.x).arg(t3D.y).arg(t3D.z));
}
#endif
}
