diff options
| -rw-r--r-- | libdimension-python/dimension.pxd | 5 | ||||
| -rw-r--r-- | libdimension-python/dimension.pyx | 24 | ||||
| -rwxr-xr-x | libdimension-python/tests/demo.py | 8 | ||||
| -rw-r--r-- | libdimension/dimension/geometry.h | 14 | ||||
| -rw-r--r-- | libdimension/geometry.c | 39 | ||||
| -rw-r--r-- | libdimension/libdimension.pc.in | 2 |
6 files changed, 52 insertions, 40 deletions
diff --git a/libdimension-python/dimension.pxd b/libdimension-python/dimension.pxd index cd28f24..22e9764 100644 --- a/libdimension-python/dimension.pxd +++ b/libdimension-python/dimension.pxd @@ -91,9 +91,6 @@ cdef extern from "../libdimension/dimension.h": double dmnsn_vector_norm(dmnsn_vector v) dmnsn_vector dmnsn_vector_normalized(dmnsn_vector v) - double dmnsn_vector_axis_angle(dmnsn_vector v1, dmnsn_vector v2, - dmnsn_vector axis) - dmnsn_vector dmnsn_zero dmnsn_vector dmnsn_x dmnsn_vector dmnsn_y @@ -114,6 +111,8 @@ cdef extern from "../libdimension/dimension.h": dmnsn_matrix dmnsn_scale_matrix(dmnsn_vector s) dmnsn_matrix dmnsn_translation_matrix(dmnsn_vector d) dmnsn_matrix dmnsn_rotation_matrix(dmnsn_vector theta) + dmnsn_matrix dmnsn_alignment_matrix(dmnsn_vector frm, dmnsn_vector to, + dmnsn_vector axis1, dmnsn_vector axis2) ########## # Colors # diff --git a/libdimension-python/dimension.pyx b/libdimension-python/dimension.pyx index 9a5fd80..54b7e66 100644 --- a/libdimension-python/dimension.pyx +++ b/libdimension-python/dimension.pyx @@ -643,11 +643,7 @@ cdef class Cone(Object): cdef Matrix trans = translate(Y) trans = scale(1.0, dir.norm()/2, 1.0)*trans - - cdef double thetaX = dmnsn_vector_axis_angle(dmnsn_y, dir._v, dmnsn_x) - cdef double thetaZ = dmnsn_vector_axis_angle(dmnsn_y, dir._v, dmnsn_z) - trans = _rawRotate(thetaX*X)*_rawRotate(thetaZ*Z)*trans - + trans = _rawMatrix(dmnsn_alignment_matrix(dmnsn_y, dir._v, dmnsn_x, dmnsn_z))*trans trans = translate(bottom)*trans self._intrinsicTransform(trans) @@ -786,22 +782,14 @@ cdef class PerspectiveCamera(Camera): cdef Vector vsky = Vector(sky) # Line up the top of the viewport with the sky vector - cdef double thetaSkyX = dmnsn_vector_axis_angle(dmnsn_y, vsky._v, dmnsn_x) - cdef double thetaSkyZ = dmnsn_vector_axis_angle(dmnsn_y, vsky._v, dmnsn_z) - cdef Matrix alignSky = _rawRotate(thetaSkyX*X)*_rawRotate(thetaSkyZ*Z) - self.transform(alignSky) - cdef Vector right = alignSky*X + cdef Matrix alignSky = _rawMatrix(dmnsn_alignment_matrix(dmnsn_y, vsky._v, + dmnsn_z, dmnsn_x)) cdef Vector forward = alignSky*Z + cdef Vector right = alignSky*X # Line up the look at point with lookAt - cdef double thetaLookAtSky = dmnsn_vector_axis_angle( - forward._v, dir._v, vsky._v - ) - cdef double thetaLookAtRight = dmnsn_vector_axis_angle( - forward._v, dir._v, right._v - ) - self.transform(_rawRotate(thetaLookAtSky*vsky)) - self.transform(_rawRotate(thetaLookAtRight*right)) + self.transform(_rawMatrix(dmnsn_alignment_matrix(forward._v, dir._v, + vsky._v, right._v))) # Move the camera into position self.transform(translate(Vector(location))) diff --git a/libdimension-python/tests/demo.py b/libdimension-python/tests/demo.py index 4b68114..c024812 100755 --- a/libdimension-python/tests/demo.py +++ b/libdimension-python/tests/demo.py @@ -153,10 +153,10 @@ skySphere = SkySphere( ) # Scene -scene = Scene(canvas = canvas, - objects = objects, - lights = lights, - camera = camera) +scene = Scene(canvas = canvas, + objects = objects, + lights = lights, + camera = camera) scene.defaultTexture = Texture(finish = Ambient(0.1) + Diffuse(0.6)) scene.background = Clear scene.skySphere = skySphere diff --git a/libdimension/dimension/geometry.h b/libdimension/dimension/geometry.h index ba8f531..7e466dd 100644 --- a/libdimension/dimension/geometry.h +++ b/libdimension/dimension/geometry.h @@ -178,6 +178,16 @@ dmnsn_matrix dmnsn_translation_matrix(dmnsn_vector d); * @return The transformation matrix. */ dmnsn_matrix dmnsn_rotation_matrix(dmnsn_vector theta); +/** + * An alignment matrix. + * @param[in] from The initial vector. + * @param[in] to The desired direction. + * @param[in] axis1 The first axis about which to rotate. + * @param[in] axis2 The second axis about which to rotate. + * @return A transformation matrix that will rotate \p from to \p to. + */ +dmnsn_matrix dmnsn_alignment_matrix(dmnsn_vector from, dmnsn_vector to, + dmnsn_vector axis1, dmnsn_vector axis2); /** * Construct a new line. @@ -359,10 +369,6 @@ dmnsn_vector_max(dmnsn_vector a, dmnsn_vector b) ); } -/** Return the angle between two vectors with respect to an axis. */ -double dmnsn_vector_axis_angle(dmnsn_vector v1, dmnsn_vector v2, - dmnsn_vector axis); - /** Invert a matrix. */ dmnsn_matrix dmnsn_matrix_inverse(dmnsn_matrix A); diff --git a/libdimension/geometry.c b/libdimension/geometry.c index b36b9c3..f7c6842 100644 --- a/libdimension/geometry.c +++ b/libdimension/geometry.c @@ -82,27 +82,46 @@ dmnsn_rotation_matrix(dmnsn_vector theta) } /* Find the angle between two vectors with respect to an axis */ -double -dmnsn_vector_axis_angle(dmnsn_vector v1, dmnsn_vector v2, dmnsn_vector axis) +static double +dmnsn_axis_angle(dmnsn_vector from, dmnsn_vector to, dmnsn_vector axis) { - dmnsn_vector d = dmnsn_vector_sub(v1, v2); - dmnsn_vector proj = dmnsn_vector_add(dmnsn_vector_proj(d, axis), v2); + from = dmnsn_vector_sub(from, dmnsn_vector_proj(from, axis)); + to = dmnsn_vector_sub(to, dmnsn_vector_proj(to, axis)); - double projn = dmnsn_vector_norm(proj); - if (fabs(projn) < dmnsn_epsilon) + double fromnorm = dmnsn_vector_norm(from); + double tonorm = dmnsn_vector_norm(to); + if (fromnorm < dmnsn_epsilon || tonorm < dmnsn_epsilon) { return 0.0; + } + + from = dmnsn_vector_div(from, fromnorm); + to = dmnsn_vector_div(to, tonorm); - double c = dmnsn_vector_dot(dmnsn_vector_normalized(v1), - dmnsn_vector_div(proj, projn)); - double angle = acos(c); + double angle = acos(dmnsn_vector_dot(from, to)); - if (dmnsn_vector_dot(dmnsn_vector_cross(v1, proj), axis) > 0.0) { + if (dmnsn_vector_dot(dmnsn_vector_cross(from, to), axis) > 0.0) { return angle; } else { return -angle; } } +/* Alignment matrix */ +dmnsn_matrix +dmnsn_alignment_matrix(dmnsn_vector from, dmnsn_vector to, + dmnsn_vector axis1, dmnsn_vector axis2) +{ + double theta1 = dmnsn_axis_angle(from, to, axis1); + dmnsn_matrix align1 = dmnsn_rotation_matrix(dmnsn_vector_mul(theta1, axis1)); + from = dmnsn_transform_vector(align1, from); + axis2 = dmnsn_transform_vector(align1, axis2); + + double theta2 = dmnsn_axis_angle(from, to, axis2); + dmnsn_matrix align2 = dmnsn_rotation_matrix(dmnsn_vector_mul(theta2, axis2)); + + return dmnsn_matrix_mul(align2, align1); +} + /* Matrix inversion helper functions */ /** A 2x2 matrix for inversion by partitioning. */ diff --git a/libdimension/libdimension.pc.in b/libdimension/libdimension.pc.in index 97a3cb5..fd5649f 100644 --- a/libdimension/libdimension.pc.in +++ b/libdimension/libdimension.pc.in @@ -6,6 +6,6 @@ includedir=@includedir@ Name: libdimension Description: The Dimension Library Requires: -Version: @VERSION@ +Version: @PACKAGE_VERSION@ Libs: -L${libdir} -ldimension Cflags: |