Links seem to be working as expected

avalero · Nov 26, 2012 · 34bb859 · 34bb859
1 parent 4566157
commit 34bb859
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Showing 11 changed files with 144 additions and 52 deletions.
diff --git a/src/core/Component.h b/src/core/Component.h
@@ -507,21 +507,11 @@ class OOMLCore_EXP_DEC Component : public ObjectDecorator
     }
 
     inline virtual Links getLinks() const{
-        if (get()->hasLinks()){
-            return get()->AbstractObject::getLinks();
-        }
-        else{
-            return get()->getLinks();
-        }
+        return get()->getLinks();
     }
 
     inline virtual RefSys getLink(int i) const{
-        if (get()->hasLinks()){
-            return get()->AbstractObject::getLink(i);
-        }
-        else{
-            return this->get()->getLink(i);
-        }
+        return this->get()->getLink(i);
     }
 
     /**

diff --git a/src/core/CompositeObject.cpp b/src/core/CompositeObject.cpp
@@ -42,15 +42,23 @@ RefSys CompositeObject::getRefSys() const {
 
 Links CompositeObject::getLinks() const {
     if (hasLinks()){
-        return AbstractObject::getLinks();
+        Links lks1 = AbstractObject::getLinks();
+        Links lks2 = _children[0]->getLinks();
+        lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
+        return lks1;
+        //return AbstractObject::getLinks();
     }else{
         return _children[0]->getLinks();
     }
 }
 
 RefSys CompositeObject::getLink(int i) const {
     if (hasLinks()){
-        return AbstractObject::getLink(i);
+        Links lks1 = AbstractObject::getLinks();
+        Links lks2 = _children[0]->getLinks();
+        lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
+        return lks1[i];
+        //return AbstractObject::getLink(i);
     }else{
         return _children[0]->getLink(i);
     }

diff --git a/src/core/RefSys.cpp b/src/core/RefSys.cpp
@@ -68,3 +68,9 @@ RefSys RefSys::transform(TransformMatrix tr){
     _trans.transform(tr);
     return *this;
 }
+
+RefSys RefSys::relTransform(TransformMatrix tr){
+    _trans.relTransform(tr);
+    return *this;
+}
+
diff --git a/src/core/RefSys.h b/src/core/RefSys.h
@@ -178,6 +178,7 @@ class OOMLCore_EXP_DEC RefSys
     //void applyRotation(RotationalMatrix const & rot);
 
     RefSys transform(TransformMatrix tr);
+    RefSys relTransform(TransformMatrix tr);
 
     inline TransformMatrix getTransformMatrix() const {return _trans;}
 

diff --git a/src/core/TransformDecorator.cpp b/src/core/TransformDecorator.cpp
@@ -34,27 +34,33 @@ RefSys TransformDecorator::getRefSys() const{
 }
 
 Links TransformDecorator::getLinks() const{
-    if (hasLinks()){
-        return AbstractObject::getLinks();
-    }
-    else{
-        Links links = ObjectDecorator::getLinks();
-        for (int i=0; i<links.size();i++){
-            links[i].transform(_tr);
-        }
-        return links;
-    }
+    Links lks1;
+    Links lks2;
+
+    lks1 = ObjectDecorator::getLinks();
+    for (int i=0; i<lks1.size();i++)
+        lks1[i].transform(_tr);
+
+    if (hasLinks())
+        lks2 = AbstractObject::getLinks();
+
+    lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
+    return lks1;
 }
 
 RefSys TransformDecorator::getLink(int i) const{
-    if (hasLinks()){
-        return AbstractObject::getLink(i);
-    }
-    else{
-        RefSys link = ObjectDecorator::getLink(i);
-        link.transform(_tr);
-        return link;
-    }
+    Links lks1;
+    Links lks2;
+
+    lks1 = ObjectDecorator::getLinks();
+    for (int j=0; j<lks1.size();j++)
+        lks1[j].transform(_tr);
+
+    if (hasLinks())
+        lks2 = AbstractObject::getLinks();
+
+    lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
+    return lks1[i];
 }
 
 void TransformDecorator::genScad(IndentWriter& writer) const

diff --git a/src/core/TransformDecorator.h b/src/core/TransformDecorator.h
@@ -63,11 +63,27 @@ class OOMLCore_EXP_DEC TransformDecorator : public ObjectDecorator
         {
 
             TransformMatrix tr2  = transform->_tr;
+
+            //if there are untransformed links apply before transforming
+            Links lks = transform->AbstractObject::getLinks();
+            for (int i=0;i<lks.size();i++){
+                RefSys lk = lks[i];
+                if (rel)
+                    lk.relTransform(tr2.getInv());
+                else
+                    lk.transform(tr2.getInv());
+
+                transform->get()->addLink(lk);
+            }
+
+
             if(rel){
                 tr = tr2 * tr;
             }else{
                 tr = tr * tr2;
             }
+            double x,y,z;tr.getGlobalXYZAngles(x,y,z);
+            double ax,ay,az; tr.getGlobalXYZAngles(ax,ay,az);
 
             return SharedPtr<AbstractObject>(new TransformDecorator(transform->get(),tr));
         }

diff --git a/src/core/TransformMatrix.cpp b/src/core/TransformMatrix.cpp
@@ -20,6 +20,33 @@
 #include "TransformMatrix.h"
 #include "Math.h"
 
+TransformMatrix TransformMatrix::getInv() const {
+    TransformMatrix inv;
+
+    //Traspose the 3x3 submatrix
+    for (int i=1;i<=3;i++){
+        for (int j=1;j<=3;j++){
+            inv.set(i,j,get(j,i));
+        }
+    }
+
+    //Las row all 0 but last
+    for (int i=1;i<=3;i++)
+        inv.set(4,i,0);
+    inv.set(4,4,1);
+
+    double e14 = get(1,4)*get(1,1) + get(2,4)*get(2,1) + get(3,4)*get(3,1) ;
+    double e24 = get(1,4)*get(1,2) + get(2,4)*get(2,2) + get(3,4)*get(3,2) ;
+    double e34 = get(1,4)*get(1,3) + get(2,4)*get(2,3) + get(3,4)*get(3,3) ;
+
+    inv.set(1,4,-e14);
+    inv.set(2,4,-e24);
+    inv.set(3,4,-e34);
+
+    return inv;
+
+}
+
 TransformMatrix& TransformMatrix::operator *(TransformMatrix const & matrix){
     TransformMatrix* result = new TransformMatrix();
 
@@ -40,6 +67,10 @@ void TransformMatrix::transform(TransformMatrix tr){
     *this = tr * (*this);
 }
 
+void TransformMatrix::relTransform(TransformMatrix tr){
+    *this = (*this) * tr;
+}
+
 void TransformMatrix::rotateEulerZYZ(double z, double yp, double zpp){
     rotateZ(z);rotateY(yp);rotateZ(zpp);
 }

diff --git a/src/core/TransformMatrix.h b/src/core/TransformMatrix.h
@@ -72,7 +72,10 @@ class OOMLCore_EXP_DEC TransformMatrix: public Matrix<double,4,4>
      */
     TransformMatrix & operator*(TransformMatrix const& matrix);
 
+    TransformMatrix getInv() const;
+
     void transform(TransformMatrix tr);
+    void relTransform(TransformMatrix tr);
 
     /**
       * \brief Applies an Euler rotation around the initial fixed z, x', z''

diff --git a/src/core/Union.cpp b/src/core/Union.cpp
@@ -22,6 +22,42 @@
 
 #include <iostream>
 
+Links Union::getLinks() const {
+    if (hasLinks()){ //If the Union Component has links return all its links and all the children links
+        Links lks1 = AbstractObject::getLinks();
+        Links lks2 = _children[0]->getLinks();
+        lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
+        return lks1;
+    }else{ //Return all the children links
+        Links lks1;
+        for (int j=0;j<_children.size();j++){
+            Links lks2 = _children[0]->getLinks();
+            lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
+        }
+        return lks1;
+    }
+}
+
+RefSys Union::getLink(int i) const {
+    if (hasLinks()){ //If the Union Component has links consider all its links and all the children links
+        Links lks1 = AbstractObject::getLinks();
+        for (int j=0;j<_children.size();j++){
+            Links lks2 = _children[0]->getLinks();
+            lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
+        }
+        return lks1[i];
+
+    }else{ //Consider all the children links
+        Links lks1;
+        for (int j=0;j<_children.size();j++){
+            Links lks2 = _children[0]->getLinks();
+            lks1.insert( lks1.end(), lks2.begin(), lks2.end() );
+        }
+        return lks1[i];
+    }
+}
+
+
 void Union::genScad(IndentWriter& writer) const
 {
 	writer << "union() {" << std::endl;

diff --git a/src/core/Union.h b/src/core/Union.h
@@ -99,6 +99,8 @@ class OOMLCore_EXP_DEC Union : public CompositeObject
    */
   virtual void printAst(IndentWriter& writer) const;
 
+  virtual RefSys getLink(int i) const;
+  virtual Links getLinks() const;
 
 protected:
   /**

diff --git a/test/attachment.cpp b/test/attachment.cpp
@@ -9,38 +9,31 @@ int main(int argc, char **argv)
     std::ofstream file("attachment.scad");
     IndentWriter writer;
 
-
-    Component ardu = ArduinoUNO();
-
     /* Create Cube */
     Component cube1 = Cube(10,10,10);
 
     /* Add links to the Cube */
     cube1.addLink(RefSys(5,-5,-5).relRotate(135,0,0));
-    cube1.addLink(RefSys(5,5,-5).relRotate(225,0,0));
-    cube1.addLink(RefSys(5,5,5).relRotate(-45,0,0));
-    cube1.addLink(RefSys(5,-5,5).relRotate(45,0,0));
-    cube1.addLink(RefSys(-5,5,5).relRotate(0,0,180).relRotate(45,0,0));
-    cube1.addLink(RefSys(-5,-5,5).relRotate(0,0,180).relRotate(-45,0,0));
-    cube1.addLink(RefSys(-5,-5,-5).relRotate(0,180,0).relRotate(45,0,0));
-    cube1.addLink(RefSys(-5,5,-5).relRotate(0,180,0).relRotate(-45,0,0));
+//    cube1.addLink(RefSys(5,5,-5).relRotate(225,0,0));
+//    cube1.addLink(RefSys(5,5,5).relRotate(-45,0,0));
+//    cube1.addLink(RefSys(5,-5,5).relRotate(45,0,0));
+//    cube1.addLink(RefSys(-5,5,5).relRotate(0,0,180).relRotate(45,0,0));
+//    cube1.addLink(RefSys(-5,-5,5).relRotate(0,0,180).relRotate(-45,0,0));
+//    cube1.addLink(RefSys(-5,-5,-5).relRotate(0,180,0).relRotate(45,0,0));
+//    cube1.addLink(RefSys(-5,5,-5).relRotate(0,180,0).relRotate(-45,0,0));
 
     //Component cyl = Cylinder(3,50);
 
-    //Component comp = cube1  - cyl;
-
-    cube1.translate(10,0,0);
-    cube1.rotate(45,0,0);
-
-    Component cyl = Cylinder(2,50);
+    cube1.translate(5,0,0);
 
-    cube1 = cube1 + cyl;
+    cube1.addLink(RefSys(0,0,0));
 
-    cube1.translate(20,40,10);
+    cube1.translate(5,0,0);
+    cube1.rotate(0,0,45);
 
     /* Generate OpenSCAD code and write to file */
-    writer << LinksView(ardu);
-    writer << ardu;
+    writer << LinksView(cube1);
+    writer << cube1;
     file << writer ;
     file.close();
     std::cout << "Done" << std::endl;