kindred/create
1
1
Fork 0
Code Issues 51 Pull Requests 1 Actions Packages Projects 9 Releases 2 Wiki Activity
Files
7387f32017385648667b775d42e4e938c3009ddd
create/src/Base/Rotation.cpp

715 lines
22 KiB
C++
Raw Blame History

/***************************************************************************
* Copyright (c) 2006 Werner Mayer <wmayer[at]users.sourceforge.net> *
* *
* This file is part of the FreeCAD CAx development system. *
* *
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Library General Public *
* License as published by the Free Software Foundation; either *
* version 2 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU Library General Public License for more details. *
* *
* You should have received a copy of the GNU Library General Public *
* License along with this library; see the file COPYING.LIB. If not, *
* write to the Free Software Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307, USA *
* *
***************************************************************************/
#include "PreCompiled.h"
#ifndef _PreComp_
# include <cmath>
# include <climits>
#endif
#include "Rotation.h"
#include "Matrix.h"
#include "Base/Exception.h"
using namespace Base;
Rotation::Rotation()
{
quat[0]=quat[1]=quat[2]=0.0;quat[3]=1.0;
_axis.Set(0.0, 0.0, 1.0);
_angle = 0.0;
}
/** Construct a rotation by rotation axis and angle */
Rotation::Rotation(const Vector3d& axis, const double fAngle)
{
// set to (0,0,1) as fallback in case the passed axis is the null vector
_axis.Set(0.0, 0.0, 1.0);
this->setValue(axis, fAngle);
}
Rotation::Rotation(const Matrix4D& matrix)
{
this->setValue(matrix);
}
/** Construct a rotation initialized with the given quaternion components:
* q[0] = x, q[1] = y, q[2] = z and q[3] = w,
* where the quaternion is specified by q=w+xi+yj+zk.
*/
Rotation::Rotation(const double q[4])
{
this->setValue(q);
}
/** Construct a rotation initialized with the given quaternion components:
* q0 = x, q1 = y, q2 = z and q3 = w,
* where the quaternion is specified by q=w+xi+yj+zk.
*/
Rotation::Rotation(const double q0, const double q1, const double q2, const double q3)
{
this->setValue(q0, q1, q2, q3);
}
Rotation::Rotation(const Vector3d & rotateFrom, const Vector3d & rotateTo)
{
this->setValue(rotateFrom, rotateTo);
}
Rotation::Rotation(const Rotation& rot)
{
this->quat[0] = rot.quat[0];
this->quat[1] = rot.quat[1];
this->quat[2] = rot.quat[2];
this->quat[3] = rot.quat[3];
this->_axis[0] = rot._axis[0];
this->_axis[1] = rot._axis[1];
this->_axis[2] = rot._axis[2];
this->_angle = rot._angle;
}
void Rotation::operator = (const Rotation& rot)
{
this->quat[0] = rot.quat[0];
this->quat[1] = rot.quat[1];
this->quat[2] = rot.quat[2];
this->quat[3] = rot.quat[3];
this->_axis[0] = rot._axis[0];
this->_axis[1] = rot._axis[1];
this->_axis[2] = rot._axis[2];
this->_angle = rot._angle;
}
const double * Rotation::getValue(void) const
{
return &this->quat[0];
}
void Rotation::getValue(double & q0, double & q1, double & q2, double & q3) const
{
q0 = this->quat[0];
q1 = this->quat[1];
q2 = this->quat[2];
q3 = this->quat[3];
}
void Rotation::evaluateVector()
{
// Taken from <http://de.wikipedia.org/wiki/Quaternionen>
//
// Note: -1 < w < +1 (|w| == 1 not allowed, with w:=quat[3])
if((this->quat[3] > -1.0) && (this->quat[3] < 1.0)) {
double rfAngle = acos(this->quat[3]) * 2.0;
double scale = sin(rfAngle / 2.0);
// Get a normalized vector
double l = this->_axis.Length();
if (l < Base::Vector3d::epsilon()) l = 1;
this->_axis.x = this->quat[0] * l / scale;
this->_axis.y = this->quat[1] * l / scale;
this->_axis.z = this->quat[2] * l / scale;
_angle = rfAngle;
}
else {
_axis.Set(0.0, 0.0, 1.0);
_angle = 0.0;
}
}
void Rotation::setValue(const double q0, const double q1, const double q2, const double q3)
{
this->quat[0] = q0;
this->quat[1] = q1;
this->quat[2] = q2;
this->quat[3] = q3;
this->normalize();
this->evaluateVector();
}
void Rotation::getValue(Vector3d & axis, double & rfAngle) const
{
rfAngle = _angle;
axis.x = _axis.x;
axis.y = _axis.y;
axis.z = _axis.z;
axis.Normalize();
}
void Rotation::getRawValue(Vector3d & axis, double & rfAngle) const
{
rfAngle = _angle;
axis.x = _axis.x;
axis.y = _axis.y;
axis.z = _axis.z;
}
/**
* Returns this rotation in form of a matrix.
*/
void Rotation::getValue(Matrix4D & matrix) const
{
// Taken from <http://de.wikipedia.org/wiki/Quaternionen>
//
const double x = this->quat[0];
const double y = this->quat[1];
const double z = this->quat[2];
const double w = this->quat[3];
matrix[0][0] = 1.0-2.0*(y*y+z*z);
matrix[0][1] = 2.0*(x*y-z*w);
matrix[0][2] = 2.0*(x*z+y*w);
matrix[0][3] = 0.0;
matrix[1][0] = 2.0*(x*y+z*w);
matrix[1][1] = 1.0-2.0*(x*x+z*z);
matrix[1][2] = 2.0*(y*z-x*w);
matrix[1][3] = 0.0;
matrix[2][0] = 2.0*(x*z-y*w);
matrix[2][1] = 2.0*(y*z+x*w);
matrix[2][2] = 1.0-2.0*(x*x+y*y);
matrix[2][3] = 0.0;
matrix[3][0] = 0.0;
matrix[3][1] = 0.0;
matrix[3][2] = 0.0;
matrix[3][3] = 1.0;
}
void Rotation::setValue(const double q[4])
{
this->quat[0] = q[0];
this->quat[1] = q[1];
this->quat[2] = q[2];
this->quat[3] = q[3];
this->normalize();
this->evaluateVector();
}
void Rotation::setValue(const Matrix4D & m)
{
double trace = (m[0][0] + m[1][1] + m[2][2]);
if (trace > 0.0) {
double s = sqrt(1.0+trace);
this->quat[3] = 0.5 * s;
s = 0.5 / s;
this->quat[0] = ((m[2][1] - m[1][2]) * s);
this->quat[1] = ((m[0][2] - m[2][0]) * s);
this->quat[2] = ((m[1][0] - m[0][1]) * s);
}
else {
// Described in RotationIssues.pdf from <http://www.geometrictools.com>
//
// Get the max. element of the trace
unsigned short i = 0;
if (m[1][1] > m[0][0]) i = 1;
if (m[2][2] > m[i][i]) i = 2;
unsigned short j = (i+1)%3;
unsigned short k = (i+2)%3;
double s = sqrt((m[i][i] - (m[j][j] + m[k][k])) + 1.0);
this->quat[i] = s * 0.5;
s = 0.5 / s;
this->quat[3] = ((m[k][j] - m[j][k]) * s);
this->quat[j] = ((m[j][i] + m[i][j]) * s);
this->quat[k] = ((m[k][i] + m[i][k]) * s);
}
this->evaluateVector();
}
void Rotation::setValue(const Vector3d & axis, const double fAngle)
{
// Taken from <http://de.wikipedia.org/wiki/Quaternionen>
//
// normalization of the angle to be in [0, 2pi[
_angle = fAngle;
double theAngle = fAngle - floor(fAngle / (2.0 * D_PI))*(2.0 * D_PI);
this->quat[3] = cos(theAngle/2.0);
Vector3d norm = axis;
norm.Normalize();
double l = norm.Length();
// Keep old axis in case the new axis is the null vector
if (l > 0.5) {
this->_axis = axis;
}
else {
norm = _axis;
norm.Normalize();
}
double scale = sin(theAngle/2.0);
this->quat[0] = norm.x * scale;
this->quat[1] = norm.y * scale;
this->quat[2] = norm.z * scale;
}
void Rotation::setValue(const Vector3d & rotateFrom, const Vector3d & rotateTo)
{
Vector3d u(rotateFrom); u.Normalize();
Vector3d v(rotateTo); v.Normalize();
// The vector from x to is the rotation axis because it's the normal of the plane defined by (0,u,v)
const double dot = u * v;
Vector3d w = u % v;
const double wlen = w.Length();
if (wlen == 0.0) { // Parallel vectors
// Check if they are pointing in the same direction.
if (dot > 0.0) {
this->setValue(0.0, 0.0, 0.0, 1.0);
}
else {
// We can use any axis perpendicular to u (and v)
Vector3d t = u % Vector3d(1.0, 0.0, 0.0);
if(t.Length() < Base::Vector3d::epsilon())
t = u % Vector3d(0.0, 1.0, 0.0);
this->setValue(t.x, t.y, t.z, 0.0);
}
}
else { // Vectors are not parallel
// Note: A quaternion is not well-defined by specifying a point and its transformed point.
// Every quaternion with a rotation axis having the same angle to the vectors of both points is okay.
double angle = acos(dot);
this->setValue(w, angle);
}
}
void Rotation::normalize()
{
double len = sqrt(this->quat[0]*this->quat[0]+
this->quat[1]*this->quat[1]+
this->quat[2]*this->quat[2]+
this->quat[3]*this->quat[3]);
if (len > 0.0) {
this->quat[0] /= len;
this->quat[1] /= len;
this->quat[2] /= len;
this->quat[3] /= len;
}
}
Rotation & Rotation::invert(void)
{
this->quat[0] = -this->quat[0];
this->quat[1] = -this->quat[1];
this->quat[2] = -this->quat[2];
this->_axis.x = -this->_axis.x;
this->_axis.y = -this->_axis.y;
this->_axis.z = -this->_axis.z;
return *this;
}
Rotation Rotation::inverse(void) const
{
Rotation rot;
rot.quat[0] = -this->quat[0];
rot.quat[1] = -this->quat[1];
rot.quat[2] = -this->quat[2];
rot.quat[3] = this->quat[3];
rot._axis[0] = -this->_axis[0];
rot._axis[1] = -this->_axis[1];
rot._axis[2] = -this->_axis[2];
return rot;
}
Rotation & Rotation::operator*=(const Rotation & q)
{
// Taken from <http://de.wikipedia.org/wiki/Quaternionen>
double x0, y0, z0, w0;
this->getValue(x0, y0, z0, w0);
double x1, y1, z1, w1;
q.getValue(x1, y1, z1, w1);
this->setValue(w0*x1 + x0*w1 + y0*z1 - z0*y1,
w0*y1 - x0*z1 + y0*w1 + z0*x1,
w0*z1 + x0*y1 - y0*x1 + z0*w1,
w0*w1 - x0*x1 - y0*y1 - z0*z1);
return *this;
}
Rotation Rotation::operator*(const Rotation & q) const
{
Rotation quat(*this);
quat *= q;
return quat;
}
bool Rotation::operator==(const Rotation & q) const
{
if ((this->quat[0] == q.quat[0] &&
this->quat[1] == q.quat[1] &&
this->quat[2] == q.quat[2] &&
this->quat[3] == q.quat[3]) ||
(this->quat[0] == -q.quat[0] &&
this->quat[1] == -q.quat[1] &&
this->quat[2] == -q.quat[2] &&
this->quat[3] == -q.quat[3]))
return true;
return false;
}
bool Rotation::operator!=(const Rotation & q) const
{
return !(*this == q);
}
bool Rotation::isSame(const Rotation& q) const
{
if ((this->quat[0] == q.quat[0] &&
this->quat[1] == q.quat[1] &&
this->quat[2] == q.quat[2] &&
this->quat[3] == q.quat[3]) ||
(this->quat[0] == -q.quat[0] &&
this->quat[1] == -q.quat[1] &&
this->quat[2] == -q.quat[2] &&
this->quat[3] == -q.quat[3]))
return true;
return false;
}
bool Rotation::isSame(const Rotation& q, double tol) const
{
// This follows the implementation of Coin3d where the norm
// (x1-y1)**2 + ... + (x4-y4)**2 is computed.
// This term can be simplified to
// 2 - 2*(x1*y1 + ... + x4*y4) so that for the equality we have to check
// 1 - tol/2 <= x1*y1 + ... + x4*y4
// Because a quaternion (x1,x2,x3,x4) is equal to (-x1,-x2,-x3,-x4) we use the
// absolute value of the scalar product
double dot = q.quat[0]*quat[0]+q.quat[1]*quat[1]+q.quat[2]*quat[2]+q.quat[3]*quat[3];
return fabs(dot) >= 1.0 - tol/2;
}
Vector3d Rotation::multVec(const Vector3d & src) const
{
Vector3d dst;
multVec(src,dst);
return dst;
}
void Rotation::multVec(const Vector3d & src, Vector3d & dst) const
{
double x = this->quat[0];
double y = this->quat[1];
double z = this->quat[2];
double w = this->quat[3];
double x2 = x * x;
double y2 = y * y;
double z2 = z * z;
double w2 = w * w;
double dx = (x2+w2-y2-z2)*src.x + 2.0*(x*y-z*w)*src.y + 2.0*(x*z+y*w)*src.z;
double dy = 2.0*(x*y+z*w)*src.x + (w2-x2+y2-z2)*src.y + 2.0*(y*z-x*w)*src.z;
double dz = 2.0*(x*z-y*w)*src.x + 2.0*(x*w+y*z)*src.y + (w2-x2-y2+z2)*src.z;
dst.x = dx;
dst.y = dy;
dst.z = dz;
}
void Rotation::scaleAngle(const double scaleFactor)
{
Vector3d axis;
double fAngle;
this->getValue(axis, fAngle);
this->setValue(axis, fAngle * scaleFactor);
}
Rotation Rotation::slerp(const Rotation & q0, const Rotation & q1, double t)
{
// Taken from <http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/>
// q = [q0*sin((1-t)*theta)+q1*sin(t*theta)]/sin(theta), 0<=t<=1
if (t<0.0) t=0.0;
else if (t>1.0) t=1.0;
//return q0;
double scale0 = 1.0 - t;
double scale1 = t;
double dot = q0.quat[0]*q1.quat[0]+q0.quat[1]*q1.quat[1]+q0.quat[2]*q1.quat[2]+q0.quat[3]*q1.quat[3];
bool neg=false;
if(dot < 0.0) {
dot = -dot;
neg = true;
}
if ((1.0 - dot) > Base::Vector3d::epsilon()) {
double angle = acos(dot);
double sinangle = sin(angle);
// If possible calculate spherical interpolation, otherwise use linear interpolation
if (sinangle > Base::Vector3d::epsilon()) {
scale0 = double(sin((1.0 - t) * angle)) / sinangle;
scale1 = double(sin(t * angle)) / sinangle;
}
}
if (neg)
scale1 = -scale1;
double x = scale0 * q0.quat[0] + scale1 * q1.quat[0];
double y = scale0 * q0.quat[1] + scale1 * q1.quat[1];
double z = scale0 * q0.quat[2] + scale1 * q1.quat[2];
double w = scale0 * q0.quat[3] + scale1 * q1.quat[3];
return Rotation(x, y, z, w);
}
Rotation Rotation::identity(void)
{
return Rotation(0.0, 0.0, 0.0, 1.0);
}
Rotation Rotation::makeRotationByAxes(Vector3d xdir, Vector3d ydir, Vector3d zdir, const char* priorityOrder)
{
const double tol = 1e-7; //equal to OCC Precision::Confusion
enum dirIndex {
X,
Y,
Z
};
//convert priorityOrder string into a sequence of ints.
if(strlen(priorityOrder)!=3)
THROWM(ValueError, "makeRotationByAxes: length of priorityOrder is not 3");
int order[3];
for(int i = 0; i < 3; ++i){
order[i] = priorityOrder[i] - 'X';
if (order[i] < 0 || order[i] > 2)
THROWM(ValueError, "makeRotationByAxes: characters in priorityOrder must be uppercase X, Y, or Z. Some other character encountered.")
}
//ensure every axis is listed in priority list
if( order[0] == order[1] ||
order[1] == order[2] ||
order[2] == order[0])
THROWM(ValueError,"makeRotationByAxes: not all axes are listed in priorityOrder");
//group up dirs into an array, to access them by indexes stored in @order.
std::vector<Vector3d*> dirs = {&xdir, &ydir, &zdir};
auto dropPriority = [&order](int index){
char tmp;
if (index == 0){
tmp = order[0];
order[0] = order[1];
order[1] = order[2];
order[2] = tmp;
} else if (index == 1) {
tmp = order[1];
order[1] = order[2];
order[2] = tmp;
} //else if index == 2 do nothing
};
//pick up the strict direction
Vector3d mainDir;
for(int i = 0; i < 3; ++i){
mainDir = *(dirs[order[0]]);
if (mainDir.Length() > tol)
break;
else
dropPriority(0);
if (i == 2)
THROWM(ValueError, "makeRotationByAxes: all directions supplied are zero");
}
mainDir.Normalize();
//pick up the 2nd priority direction, "hint" direction.
Vector3d hintDir;
for(int i = 0; i < 2; ++i){
hintDir = *(dirs[order[1]]);
if ((hintDir.Cross(mainDir)).Length() > tol)
break;
else
dropPriority(1);
if (i == 1)
hintDir = Vector3d(); //no vector can be used as hint direction. Zero it out, to indicate that a guess is needed.
}
if (hintDir.Length() == 0.0){
switch (order[0]){
case X: { //xdir is main
//align zdir to OZ
order[1] = Z;
order[2] = Y;
hintDir = Vector3d(0,0,1);
if ((hintDir.Cross(mainDir)).Length() <= tol){
//aligning to OZ is impossible, align to ydir to OY. Why so? I don't know, just feels right =)
hintDir = Vector3d(0,1,0);
order[1] = Y;
order[2] = Z;
}
} break;
case Y: { //ydir is main
//align zdir to OZ
order[1] = Z;
order[2] = X;
hintDir = mainDir.z > -tol ? Vector3d(0,0,1) : Vector3d(0,0,-1);
if ((hintDir.Cross(mainDir)).Length() <= tol){
//aligning zdir to OZ is impossible, align xdir to OX then.
hintDir = Vector3d(1,0,0);
order[1] = X;
order[2] = Z;
}
} break;
case Z: { //zdir is main
//align ydir to OZ
order[1] = Y;
order[2] = X;
hintDir = Vector3d(0,0,1);
if ((hintDir.Cross(mainDir)).Length() <= tol){
//aligning ydir to OZ is impossible, align xdir to OX then.
hintDir = Vector3d(1,0,0);
order[1] = X;
order[2] = Y;
}
} break;
}//switch ordet[0]
}
//ensure every axis is listed in priority list
assert(order[0] != order[1]);
assert(order[1] != order[2]);
assert(order[2] != order[0]);
hintDir.Normalize();
//make hintDir perpendicular to mainDir. For that, we cross-product the two to obtain the third axis direction, and then recover back the hint axis by doing another cross product.
Vector3d lastDir = mainDir.Cross(hintDir);
lastDir.Normalize();
hintDir = lastDir.Cross(mainDir);
hintDir.Normalize(); //redundant?
Vector3d finaldirs[3];
finaldirs[order[0]] = mainDir;
finaldirs[order[1]] = hintDir;
finaldirs[order[2]] = lastDir;
//fix handedness
if (finaldirs[X].Cross(finaldirs[Y]) * finaldirs[Z] < 0.0)
//handedness is wrong. Switch the direction of the least important axis
finaldirs[order[2]] = finaldirs[order[2]] * (-1.0);
//build the rotation, by constructing a matrix first.
Matrix4D m;
m.setToUnity();
for(int i = 0; i < 3; ++i){
//matrix indexing: [row][col]
m[0][i] = finaldirs[i].x;
m[1][i] = finaldirs[i].y;
m[2][i] = finaldirs[i].z;
}
return Rotation(m);
}
void Rotation::setYawPitchRoll(double y, double p, double r)
{
// The Euler angles (yaw,pitch,roll) are in XY'Z''-notation
// convert to radians
y = (y/180.0)*D_PI;
p = (p/180.0)*D_PI;
r = (r/180.0)*D_PI;
double c1 = cos(y/2.0);
double s1 = sin(y/2.0);
double c2 = cos(p/2.0);
double s2 = sin(p/2.0);
double c3 = cos(r/2.0);
double s3 = sin(r/2.0);
// quat[0] = c1*c2*s3 - s1*s2*c3;
// quat[1] = c1*s2*c3 + s1*c2*s3;
// quat[2] = s1*c2*c3 - c1*s2*s3;
// quat[3] = c1*c2*c3 + s1*s2*s3;
this->setValue (
c1*c2*s3 - s1*s2*c3,
c1*s2*c3 + s1*c2*s3,
s1*c2*c3 - c1*s2*s3,
c1*c2*c3 + s1*s2*s3
);
}
void Rotation::getYawPitchRoll(double& y, double& p, double& r) const
{
double q00 = quat[0]*quat[0];
double q11 = quat[1]*quat[1];
double q22 = quat[2]*quat[2];
double q33 = quat[3]*quat[3];
double q01 = quat[0]*quat[1];
double q02 = quat[0]*quat[2];
double q03 = quat[0]*quat[3];
double q12 = quat[1]*quat[2];
double q13 = quat[1]*quat[3];
double q23 = quat[2]*quat[3];
double qd2 = 2.0*(q13-q02);
// handle gimbal lock
if (fabs(qd2-1.0) < DBL_EPSILON) {
// north pole
y = 0.0;
p = D_PI/2.0;
r = 2.0 * atan2(quat[0],quat[3]);
}
else if (fabs(qd2+1.0) < DBL_EPSILON) {
// south pole
y = 0.0;
p = -D_PI/2.0;
r = -2.0 * atan2(quat[0],quat[3]);
}
else {
y = atan2(2.0*(q01+q23),(q00+q33)-(q11+q22));
p = qd2 > 1.0 ? D_PI/2.0 : (qd2 < -1.0 ? -D_PI/2.0 : asin (qd2));
r = atan2(2.0*(q12+q03),(q22+q33)-(q00+q11));
}
// convert to degree
y = (y/D_PI)*180;
p = (p/D_PI)*180;
r = (r/D_PI)*180;
}
bool Rotation::isIdentity() const
{
return ((this->quat[0] == 0.0 &&
this->quat[1] == 0.0 &&
this->quat[2] == 0.0) &&
(this->quat[3] == 1.0 ||
this->quat[3] == -1.0));
}
bool Rotation::isNull() const
{
return (this->quat[0] == 0.0 &&
this->quat[1] == 0.0 &&
this->quat[2] == 0.0 &&
this->quat[3] == 0.0);
}
Reference in New Issue View Git Blame Copy Permalink