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* fix Quaternion::setFromTwoVectors (thanks to "benv" from the forum)

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* extend PartialRedux::cross() to any matrix sizes with automatic
  vectorization when possible
* unit tests: add "geo_" prefix to all unit tests related to the
  geometry module and start splitting the big "geometry.cpp" tests to
  multiple smaller ones (also include new tests)
This commit is contained in:
Gael Guennebaud
2009-02-17 09:53:05 +00:00
parent 67b4fab4e3
commit e6f1104b57
16 changed files with 445 additions and 157 deletions
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89
demos/opengl/quaternion_demo.cpp
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@@ -55,7 +55,7 @@ class FancySpheres
mCenters.push_back(Vector3f::Zero());
parents.push_back(-1);
mRadii.push_back(radius);
// generate level 1 using icosphere vertices
radius *= 0.45;
{
@@ -89,7 +89,7 @@ class FancySpheres
Vector3f ax1 = ax0.unitOrthogonal();
Quaternionf q;
q.setFromTwoVectors(Vector3f::UnitZ(), ax0);
Transform3f t = Translation3f(c) * q * Scaling3f(mRadii[i]+radius);
Transform3f t = Translation3f(c) * q * Scaling(mRadii[i]+radius);
for (int j=0; j<5; ++j)
{
Vector3f newC = c + ( (AngleAxisf(angles[j*2+1], ax0)
@@ -103,14 +103,14 @@ class FancySpheres
start = end;
}
}
void draw()
{
int end = mCenters.size();
glEnable(GL_NORMALIZE);
for (int i=0; i<end; ++i)
{
Transform3f t = Translation3f(mCenters[i]) * Scaling3f(mRadii[i]);
Transform3f t = Translation3f(mCenters[i]) * Scaling(mRadii[i]);
gpu.pushMatrix(GL_MODELVIEW);
gpu.multMatrix(t.matrix(),GL_MODELVIEW);
mIcoSphere.draw(2);
@@ -135,7 +135,7 @@ template<typename T> T lerp(float t, const T& a, const T& b)
template<> Quaternionf lerp(float t, const Quaternionf& a, const Quaternionf& b)
{ return a.slerp(t,b); }
// linear interpolation of a frame using the type OrientationType
// linear interpolation of a frame using the type OrientationType
// to perform the interpolation of the orientations
template<typename OrientationType>
inline static Frame lerpFrame(float alpha, const Frame& a, const Frame& b)
@@ -171,7 +171,7 @@ public:
Matrix3 m = q.toRotationMatrix();
return *this = m;
}
EulerAngles& operator=(const Matrix3& m)
{
// mat = cy*cz -cy*sz sy
@@ -240,7 +240,7 @@ void RenderingWidget::grabFrame(void)
void RenderingWidget::drawScene()
{
static FancySpheres sFancySpheres;
float length = 200;
float length = 50;
gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitX(), Color(1,0,0,1));
gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitY(), Color(0,1,0,1));
gpu.drawVector(Vector3f::Zero(), length*Vector3f::UnitZ(), Color(0,0,1,1));
@@ -262,12 +262,60 @@ void RenderingWidget::drawScene()
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, Vector4f(1, 1, 1, 1).data());
glMaterialf(GL_FRONT_AND_BACK, GL_SHININESS, 64);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
// glEnable(GL_LIGHTING);
// glEnable(GL_LIGHT0);
// glEnable(GL_LIGHT1);
glColor3f(0.4, 0.7, 0.4);
sFancySpheres.draw();
{IcoSphere s(5);
float length = 6;
// const std::vector<int>& indices = s.indices(2);
for (unsigned int i=0; i<s.vertices().size() ; ++i)
{
Vector3f n = s.vertices()[i].normalized();
Vector3f p = n*100;
int i,j;
float minc = n.minCoeff(&i);
float maxc = n.maxCoeff(&j);
Vector3f o = n;
o[i] = -n[j];
o[j] = n[i];
//Vector3f u = n.unitOrthogonal().normalized();
Vector3f u = n.cross(o).normalized();
Vector3f v = n.cross(u).normalized();
gpu.drawVector(p, length*u, Color(1,0,0,1));
gpu.drawVector(p, length*v, Color(0,1,0,1));
// gpu.drawVector(p, length*n, Color(0,0,1,1));
}}
for(;;)
{
Vector3f n = Vector3f::Random().normalized();
// Vector3f p = n*100;
//Vector3f u = n.unitOrthogonal().normalized();
// int i,j;
// float minc = n.minCoeff(&i);
// float maxc = n.maxCoeff(&j);
// Vector3f o = n;
// o[i] = -n[j];
// o[j] = n[i];
Vector3f o = Vector3f(-n.y(),n.z(),n.x()).normalized();
Vector3f u = n.cross(o).normalized();
float d = ei_abs(o.dot(n));
if (d>0.9999)
std::cout << d << " " << n.transpose() << "\n";
// Vector3f v = n.cross(u).normalized();
}
// sFancySpheres.draw();
// glVertexPointer(3, GL_FLOAT, 0, mVertices[0].data());
// glNormalPointer(GL_FLOAT, 0, mNormals[0].data());
// glEnableClientState(GL_VERTEX_ARRAY);
@@ -275,7 +323,7 @@ void RenderingWidget::drawScene()
// glDrawArrays(GL_TRIANGLES, 0, mVertices.size());
// glDisableClientState(GL_VERTEX_ARRAY);
// glDisableClientState(GL_NORMAL_ARRAY);
glDisable(GL_LIGHTING);
}
@@ -318,7 +366,7 @@ void RenderingWidget::animate()
currentFrame.orientation = currentFrame.orientation.inverse();
currentFrame.position = - (currentFrame.orientation * currentFrame.position);
mCamera.setFrame(currentFrame);
updateGL();
}
@@ -542,7 +590,7 @@ void RenderingWidget::resetCamera()
// put the camera at that time step:
aux1 = aux0.lerp(duration/2,mInitFrame);
// and make it look at teh target again
// and make it look at the target again
aux1.orientation = aux1.orientation.inverse();
aux1.position = - (aux1.orientation * aux1.position);
mCamera.setFrame(aux1);
@@ -647,6 +695,17 @@ QuaternionDemo::QuaternionDemo()
int main(int argc, char *argv[])
{
std::cout << "Navigation:\n";
std::cout << " left button: rotate around the target\n";
std::cout << " middle button: zoom\n";
std::cout << " left button + ctrl quake rotate (rotate around camera position)\n";
std::cout << " middle button + ctrl walk (progress along camera's z direction)\n";
std::cout << " left button: pan (translate in the XY camera's plane)\n\n";
std::cout << "R : move the camera to initial position\n";
std::cout << "A : start/stop animation\n";
std::cout << "C : clear the animation\n";
std::cout << "G : add a key frame\n";
QApplication app(argc, argv);
QuaternionDemo demo;
demo.resize(600,500);