99 lines
3.0 KiB
C
99 lines
3.0 KiB
C
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/*
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This file is part of Nori, a simple educational ray tracer
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Copyright (c) 2015 by Wenzel Jakob
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Nori is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License Version 3
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as published by the Free Software Foundation.
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Nori is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <nori/common.h>
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#include <nori/ray.h>
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NORI_NAMESPACE_BEGIN
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/**
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* \brief Homogeneous coordinate transformation
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*
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* This class stores a general homogeneous coordinate tranformation, such as
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* rotation, translation, uniform or non-uniform scaling, and perspective
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* transformations. The inverse of this transformation is also recorded
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* here, since it is required when transforming normal vectors.
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*/
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struct Transform {
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public:
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/// Create the identity transform
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Transform() :
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m_transform(Eigen::Matrix4f::Identity()),
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m_inverse(Eigen::Matrix4f::Identity()) { }
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/// Create a new transform instance for the given matrix
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Transform(const Eigen::Matrix4f &trafo);
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/// Create a new transform instance for the given matrix and its inverse
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Transform(const Eigen::Matrix4f &trafo, const Eigen::Matrix4f &inv)
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: m_transform(trafo), m_inverse(inv) { }
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/// Return the underlying matrix
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const Eigen::Matrix4f &getMatrix() const {
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return m_transform;
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}
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/// Return the inverse of the underlying matrix
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const Eigen::Matrix4f &getInverseMatrix() const {
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return m_inverse;
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}
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/// Return the inverse transformation
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Transform inverse() const {
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return Transform(m_inverse, m_transform);
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}
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/// Concatenate with another transform
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Transform operator*(const Transform &t) const;
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/// Apply the homogeneous transformation to a 3D vector
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Vector3f operator*(const Vector3f &v) const {
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return m_transform.topLeftCorner<3,3>() * v;
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}
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/// Apply the homogeneous transformation to a 3D normal
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Normal3f operator*(const Normal3f &n) const {
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return m_inverse.topLeftCorner<3, 3>().transpose() * n;
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}
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/// Transform a point by an arbitrary matrix in homogeneous coordinates
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Point3f operator*(const Point3f &p) const {
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Vector4f result = m_transform * Vector4f(p[0], p[1], p[2], 1.0f);
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return result.head<3>() / result.w();
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}
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/// Apply the homogeneous transformation to a ray
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Ray3f operator*(const Ray3f &r) const {
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return Ray3f(
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operator*(r.o),
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operator*(r.d),
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r.mint, r.maxt
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);
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}
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/// Return a string representation
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std::string toString() const;
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private:
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Eigen::Matrix4f m_transform;
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Eigen::Matrix4f m_inverse;
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};
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NORI_NAMESPACE_END
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