TransformNode.cc

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//=============================================================================
//
//  CLASS TransformNode - IMPLEMENTATION
//
//=============================================================================
 
 
//== INCLUDES =================================================================
 
#include "TransformNode.hh"
 
 
//== IMPLEMENTATION ==========================================================
 
 
namespace ACG {
namespace SceneGraph {
 
 
//----------------------------------------------------------------------------
 
 
TransformNode::
TransformNode(BaseNode* _parent, const std::string& _name)
  : BaseNode(_parent,_name),
    center_(0.0, 0.0, 0.0),
    applyTransformation_(true),
    is2DObject_(false),             // ortho 2d stuff
    isPerSkeletonObject_(false),
    scaleFactor2D_(1.0),
    imageDimensions_(ACG::Vec2i(-1,-1) ), // no image per default
    offset_( ACG::Vec2d(0.0,0.0) )
{
  loadIdentity();
}
 
 
 
//----------------------------------------------------------------------------
 
 
void
TransformNode::
loadIdentity()
{
  matrix_.identity();
  inverse_matrix_.identity();
 
  rotation_matrix_.identity();
  inverse_rotation_matrix_.identity();
  quaternion_.identity();
 
  scale_matrix_.identity();
  inverse_scale_matrix_.identity();
 
  translation_ = Vec3d(0.0, 0.0, 0.0);
}
 
 
//----------------------------------------------------------------------------
 
 
void
TransformNode::
setIdentity()
{
  Vec3d v3 = matrix_.transform_point(center());
  set_center(v3);
  loadIdentity();
}
 
 
//----------------------------------------------------------------------------
 
 
void
TransformNode::
translate(const Vec3d& _v)
{
  translation_ += _v;
  updateMatrix();
}
 
//----------------------------------------------------------------------------
 
 
void
TransformNode::
setTranslation(const Vec3d& _v)
{
  translation_ = _v;
  updateMatrix();
}
 
 
//----------------------------------------------------------------------------
 
 
void
TransformNode::
rotate(double _angle, const Vec3d& _axis)
{
  quaternion_ *= Quaterniond(_axis, _angle/180.0*M_PI);
  quaternion_.normalize();
  rotation_matrix_ = quaternion_.rotation_matrix();
  inverse_rotation_matrix_ = rotation_matrix_;
  inverse_rotation_matrix_.transpose();
  updateMatrix();
}
 
 
//----------------------------------------------------------------------------
 
 
void
TransformNode::
setRotation(const Quaterniond& rotation)
{
  quaternion_ = rotation;
  quaternion_.normalize();
  rotation_matrix_ = quaternion_.rotation_matrix();
  inverse_rotation_matrix_ = rotation_matrix_;
  inverse_rotation_matrix_.transpose();
  updateMatrix();
}
 
 
//----------------------------------------------------------------------------
 
 
void
TransformNode::
scale(const Vec3d& _s)
{
  scale_matrix_.scale(_s);
  inverse_scale_matrix_ = scale_matrix_;
  inverse_scale_matrix_.invert();
  updateMatrix();
}
 
//----------------------------------------------------------------------------
 
 
void
TransformNode::
scale(const GLMatrixd& _m)
{
  scale_matrix_ *= _m;
  inverse_scale_matrix_ = scale_matrix_;
  inverse_scale_matrix_.invert();
  updateMatrix();
}
 
 
//----------------------------------------------------------------------------
 
 
void
TransformNode::
updateMatrix()
{
  // build matrix
  matrix_.identity();
  matrix_.translate(translation_);
  matrix_.translate(center_);
  matrix_ *= rotation_matrix_;
  matrix_ *= scale_matrix_;
  matrix_.translate(-center_);
 
 
  // build inverse matrix
  inverse_matrix_ = matrix_;
  inverse_matrix_.invert();
}
 
 
//----------------------------------------------------------------------------
 
 
void
TransformNode::
enter(GLState& _state, const DrawModes::DrawMode& /* _drawmode */ )
{
  _state.push_modelview_matrix();
  _state.push_projection_matrix();
 
  /*
  double modelview[16];
  glGetDoublev( GL_MODELVIEW_MATRIX, modelview );
  double projection[16];
  glGetDoublev( GL_PROJECTION_MATRIX, projection );
  GLint viewport[4];
  glGetIntegerv(GL_VIEWPORT, viewport);
 
 
  std::cout << "****************************** enter " << name() << std::endl;
 
  std::cout << "\nenter: mv:" << std::endl;
  for (uint i = 0; i < 16; ++i)
  {
    if (i%4==0)
      std::cerr << std::endl;
    std::cerr << modelview[i] << ", " << std::flush;
  }
 
 
  std::cout << "\nenter: pr:" << std::endl;
  for (uint i = 0; i < 16; ++i)
  {
    if (i%4==0)
      std::cerr << std::endl;
    std::cerr << projection[i] << ", " << std::flush;
  }
 
  std::cout << "\nenter: vp:" << std::endl;
  for (uint i = 0; i < 4; ++i)
  {
    std::cerr << viewport[i] << ", " << std::flush;
  }
 
 
  std::cout << "enter: mv = " << _state.modelview() << std::endl;
  std::cout << "enter: pr = " << _state.projection() << std::endl;
  std::cout << "enter: vp = " << _state.viewport() << std::endl;
  */
 
 
  if ( applyTransformation_ )
    _state.mult_matrix(matrix_, inverse_matrix_);
 
  if (is2DObject_)
    ortho2DMode(_state);
 
  if(isPerSkeletonObject_)
    perSkeletonMode(_state);
}
 
 
//----------------------------------------------------------------------------
 
 
void
TransformNode::
leave(GLState& _state, const DrawModes::DrawMode& /* _drawmode */ )
{
//   _state.pop_projection_matrix();
  _state.pop_modelview_matrix();
  _state.pop_projection_matrix();
}
 
//----------------------------------------------------------------------------
/*
void
TransformNode::
ortho2DMode(GLState& _state)
{
//   return;
 
  double modelview[16];
  glGetDoublev( GL_MODELVIEW_MATRIX, modelview );
  double projection[16];
  glGetDoublev( GL_PROJECTION_MATRIX, projection );
  GLint viewport[4];
  glGetIntegerv(GL_VIEWPORT, viewport);
 
  std::cout << "\n**************************************" << std::endl;
  std::cout << "modelview: " << std::flush;
  for (uint i = 0; i < 16; ++i)
    std::cout << modelview[i] << ", " << std::flush;
 
  std::cout << "\nprojection: " << std::flush;
  for (uint i = 0; i < 16; ++i)
    std::cout << projection[i] << ", " << std::flush;
 
 
 
//   std::cout << "****************************** ortho2DMode *******************************" << std::endl;
  // set the whole GL matrices such that subsequent rendering of 2d
  // image coordinates produces correct results
  int width  = _state.viewport_width();
  int height = _state.viewport_height();
 
  glViewport(0, 0, width, height);
  glMatrixMode(GL_PROJECTION);
  glLoadIdentity();
 
  gluOrtho2D(0.0, (GLdouble)width, (GLdouble)height, 0.0);
  glMatrixMode(GL_MODELVIEW);
  glLoadIdentity();
  // move image center to window center
  glTranslatef( 0.5*(width-1),  0.5*(height-1), 0);
  glScalef(scaleFactor2D_, scaleFactor2D_, 1.0);
 
  if (imageDimensions_[0] != -1)
    glTranslatef( -0.5*(imageDimensions_[0]-1),  -0.5*(imageDimensions_[1]-1), 0);
  glTranslatef(offset_[0], offset_[1], 0);
 
 
  glGetDoublev( GL_MODELVIEW_MATRIX, modelview );
  glGetDoublev( GL_PROJECTION_MATRIX, projection );
  glGetIntegerv(GL_VIEWPORT, viewport);
 
  std::cout << "\nmodelview: " << std::flush;
  for (uint i = 0; i < 16; ++i)
    std::cout << modelview[i] << ", " << std::flush;
 
  std::cout << "\nprojection: " << std::flush;
  for (uint i = 0; i < 16; ++i)
    std::cout << projection[i] << ", " << std::flush;
 
}
*/
 
//----------------------------------------------------------------------------
 
 
 
void
TransformNode::
perSkeletonMode(GLState& _state)
{
  _state.set_modelview(perSkeletonModelView_);
}
 
 
 
void
TransformNode::
ortho2DMode(GLState& _state)
{
  // set ortho 2D mode in glstate
  int width  = _state.viewport_width();
  int height = _state.viewport_height();
 
  if (width == 0 || height == 0)
    return;
 
//   _state.viewport(0,0,width, height);
  _state.reset_projection();
 
  _state.ortho(-(GLdouble)width/2.0, (GLdouble)width/2.0, -(GLdouble)height/2.0, (GLdouble)height/2.0, 0.01, 20.0);
//   _state.ortho(0.0, (GLdouble)width, (GLdouble)height, 0.0, 0.01,20.0);
 
  _state.reset_modelview();
 
  _state.lookAt( Vec3d(0.0,0.0,0.0),
                 Vec3d(0.0,0.0,1.0),
                 Vec3d(0.0,-1.0,0.0));  // flip up direction (y-axis) s.t. opengl coordsys matches image coordsys
 
  _state.scale(scaleFactor2D_, scaleFactor2D_, 1.0);
 
  //   move image center to window center
  if (imageDimensions_[0] != -1)
    _state.translate(-0.5*(imageDimensions_[0]-1),  -0.5*(imageDimensions_[1]-1), 0);
 
  _state.translate(offset_[0], offset_[1], 0);
}
 
//----------------------------------------------------------------------------
 
//=============================================================================
} // namespace SceneGraph
} // namespace ACG
//=============================================================================