From ce1608610e2173b453364ce297ed16427478532e Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 31 May 2015 18:57:20 +0200 Subject: glwidget: crude rewrite to simple-mat header --- pose-widget/glwidget.cpp | 108 +++++++++++++++++++++++------------------------ 1 file changed, 53 insertions(+), 55 deletions(-) (limited to 'pose-widget/glwidget.cpp') diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp index 07445c8a..b7aa0908 100644 --- a/pose-widget/glwidget.cpp +++ b/pose-widget/glwidget.cpp @@ -46,109 +46,109 @@ void GLWidget::rotateBy(double xAngle, double yAngle, double zAngle) c1*s3+c3*s1*s2, c1*c3-s1*s2*s3, -c2*s1, s1*s3-c1*c3*s2, c3*s1+c1*s2*s3, c1*c2, }; - - for (int i = 0; i < 9; i++) - matrix[i] = foo[i]; + + matrix = rmat(foo); update(); } + +static __inline double dot(const vec2& p1, const vec2& p2) { + return p1(0,0) * p2(0,0) + p1(1,0) * p2(1,0); +} + class Triangle { public: - Triangle(const Vec2f& p1, - const Vec2f& p2, - const Vec2f& p3) + Triangle(const vec2& p1, + const vec2& p2, + const vec2& p3) { origin = p1; - v0 = Vec2f(p3.x - p1.x, p3.y - p1.y); - v1 = Vec2f(p2.x - p1.x, p2.y - p1.y); + v0 = vec2({ p3(0,0) - p1(0,0), p3(1,0) - p1(1,0) }); + v1 = vec2({ p2(0,0) - p1(0,0), p2(1,0) - p1(1,0) }); dot00 = dot(v0, v0); dot01 = dot(v0, v1); dot11 = dot(v1, v1); invDenom = 1 / (dot00 * dot11 - dot01 * dot01); } - bool barycentric_coords(const Vec2f& px, Vec2f& uv) const + bool barycentric_coords(const vec2& px, vec2& uv) const { - Vec2f v2(px.x - origin.x, px.y - origin.y); + vec2 v2({ px(0,0) - origin(0,0), px(1,0) - origin(1,0) }); double dot12 = dot(v1, v2); double dot02 = dot(v0, v2); double u = (dot11 * dot02 - dot01 * dot12) * invDenom; double v = (dot00 * dot12 - dot01 * dot02) * invDenom; - uv.x = u; - uv.y = v; + uv = vec2({u, v}); return (u >= 0) && (v >= 0) && (u + v <= 1); } private: double dot00, dot01, dot11, invDenom; - Vec2f v0, v1, origin; - double dot(const Vec2f& p1, const Vec2f& p2) const { - return p1.x * p2.x + p1.y * p2.y; - } + vec2 v0, v1, origin; }; -static __inline Vec3f cross(const Vec3f& p1, const Vec3f& p2) +static __inline vec3 cross(const vec3& p1, const vec3& p2) { - return Vec3f(p1.y * p2.z - p2.y * p1.z, - p2.x * p1.z - p1.x * p2.z, - p1.x * p2.y - p1.y * p2.x); + return vec3({p1(1,0) * p2(2,0) - p2(1,0) * p1(2,0), + p2(0,0) * p1(2,0) - p1(0,0) * p2(2,0), + p1(0,0) * p2(1,0) - p1(1,0) * p2(0,0)}); } -static __inline Vec3f normal(const Vec3f& p1, const Vec3f& p2, const Vec3f& p3) +static __inline vec3 normal(const vec3& p1, const vec3& p2, const vec3& p3) { - Vec3f u(p2.x - p1.x, p2.y - p1.y, p2.z - p1.z); - Vec3f v(p3.x - p1.x, p3.y - p1.y, p3.z - p1.z); + vec3 u({p2(0,0) - p1(0,0), p2(1,0) - p1(1,0), p2(2,0) - p1(2,0)}); + vec3 v({p3(0,0) - p1(0,0), p3(1,0) - p1(1,0), p3(2,0) - p1(2,0)}); - Vec3f tmp = cross(u, v); + vec3 tmp = cross(u, v); - double i = 1./sqrt(tmp.x * tmp.x + tmp.y * tmp.y + tmp.z * tmp.z); + double i = 1./sqrt(tmp(0,0) * tmp(0,0) + tmp(1,0) * tmp(1,0) + tmp(2,0) * tmp(2,0)); - return Vec3f(i * tmp.x, i * tmp.y, i * tmp.z); + return vec3({i * tmp(0,0), i * tmp(1,0), i * tmp(2,0)}); } void GLWidget::project_quad_texture() { const int sx = width(), sy = height(); - Point pt[4]; - static Vec3f corners[] = { - Vec3f(0, 0, 0), - Vec3f(sx-1, 0, 0), - Vec3f(0, sy-1, 0), - Vec3f(sx-1, sy-1, 0) + vec2 pt[4]; + static vec3 corners[] = { + vec3({0., 0., 0.}), + vec3({sx-1., 0., 0.}), + vec3({0., sy-1., 0.}), + vec3({sx-1., sy-1., 0.}) }; for (int i = 0; i < 4; i++) { - pt[i] = project(Vec3f(corners[i].x - sx/2, corners[i].y - sy/2, 0)); - pt[i].x += sx/2; - pt[i].y += sy/2; + pt[i] = project(vec3({corners[i](0,0) - sx/2., corners[i](1,0) - sy/2., 0})); + pt[i](0, 0) += sx/2.; + pt[i](1, 0) += sy/2.; } - Vec3f normal1(0, 0, 1); - Vec3f normal2; + vec3 normal1({0, 0, 1}); + vec3 normal2; { - Vec3f foo[3]; + vec3 foo[3]; for (int i = 0; i < 3; i++) foo[i] = project2(corners[i]); normal2 = normal(foo[0], foo[1], foo[2]); } - double dir = normal1.x * normal2.x + normal1.y * normal2.y + normal1.z * normal2.z; + double dir = normal1(0,0) * normal2(0,0) + normal1(1,0) * normal2(1,0) + normal1(2,0) * normal2(2,0); QImage& tex = dir < 0 ? back : front; int ow = tex.width(), oh = tex.height(); - Vec2f p2[4]; + vec2 p2[4]; for (int i = 0; i < 4; i++) - p2[i] = Vec2f(pt[i].x, pt[i].y); + p2[i] = vec2({pt[i](0,0), pt[i](1,0)}); QImage texture(QSize(sx, sy), QImage::Format_RGB888); QColor bgColor = palette().color(QPalette::Current, QPalette::Window); texture.fill(bgColor); - const Vec2f projected[2][3] = { { p2[0], p2[1], p2[2] }, { p2[3], p2[1], p2[2] } }; - const Vec2f origs[2][3] = { - { Vec2f(0, 0), Vec2f(ow-1, 0), Vec2f(0, oh-1) }, - { Vec2f(ow-1, oh-1), Vec2f(ow-1, 0), Vec2f(0, oh-1) } + const vec2 projected[2][3] = { { p2[0], p2[1], p2[2] }, { p2[3], p2[1], p2[2] } }; + const vec2 origs[2][3] = { + { vec2({0., 0.}), vec2({ow-1., 0.}), vec2({0., oh-1.}) }, + { vec2({ow-1., oh-1.}), vec2({ow-1., 0.}), vec2({0., oh-1.}) } }; const Triangle triangles[2] = { Triangle(projected[0][0], projected[0][1], projected[0][2]), @@ -170,19 +170,17 @@ void GLWidget::project_quad_texture() { for (int y = 0; y < sy; y++) for (int x = 0; x < sx; x++) { - Vec2f pos; - pos.x = x; - pos.y = y; + vec2 pos({(double)x, (double)y}); for (int i = 0; i < 2; i++) { - Vec2f coords; + vec2 coords; if (triangles[i].barycentric_coords(pos, coords)) { - int px = origs[i][0].x - + coords.x * (origs[i][2].x - origs[i][0].x) - + coords.y * (origs[i][1].x - origs[i][0].x); - int py = origs[i][0].y - + coords.x * (origs[i][2].y - origs[i][0].y) - + coords.y * (origs[i][1].y - origs[i][0].y); + int px = origs[i][0](0,0) + + coords(0,0) * (origs[i][2](0,0) - origs[i][0](0,0)) + + coords(1,0) * (origs[i][1](0,0) - origs[i][0](0,0)); + int py = origs[i][0](1,0) + + coords(0,0) * (origs[i][2](1,0) - origs[i][0](1,0)) + + coords(1,0) * (origs[i][1](1,0) - origs[i][0](1,0)); int r = orig[py * orig_pitch + px * orig_depth + 2]; int g = orig[py * orig_pitch + px * orig_depth + 1]; int b = orig[py * orig_pitch + px * orig_depth + 0]; -- cgit v1.2.3