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Changed FloatEuclidTransform translation from point to vector. #994

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Dec 3, 2015
Merged

Changed FloatEuclidTransform translation from point to vector. #994

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10 changes: 5 additions & 5 deletions source/geometry/FloatEuclidTransform.ooc
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Original file line number Diff line number Diff line change
Expand Up @@ -17,27 +17,27 @@
use ooc-collections
import math
use ooc-math
import FloatPoint3D
import FloatVector3D
import FloatRotation3D
import FloatTransform2D
import FloatTransform3D
import Quaternion

FloatEuclidTransform: cover {
rotation: FloatRotation3D
translation: FloatPoint3D
translation: FloatVector3D
scaling: Float

inverse ::= This new(-this translation, this rotation inverse, 1.0f / this scaling)
transform ::= FloatTransform3D createScaling(this scaling, this scaling, 1.0f) * FloatTransform3D createTranslation(this translation) * this rotation transform

init: func@ ~default { this init(FloatPoint3D new(), FloatRotation3D identity, 1.0f) }
init: func@ ~translationAndRotation (translation: FloatPoint3D, rotation: FloatRotation3D) { this init(translation, rotation, 1.0f) }
init: func@ ~default { this init(FloatVector3D new(), FloatRotation3D identity, 1.0f) }
init: func@ ~translationAndRotation (translation: FloatVector3D, rotation: FloatRotation3D) { this init(translation, rotation, 1.0f) }
init: func@ ~full (=translation, =rotation, =scaling)
init: func@ ~fromTransform (transform: FloatTransform2D) {
rotationZ := atan(- transform d / transform a)
scaling := ((transform a * transform a + transform b * transform b) sqrt() + (transform d * transform d + transform e * transform e) sqrt()) / 2.0f
this init(FloatPoint3D new(transform g, transform h, 0.0f), FloatRotation3D createRotationZ(rotationZ), scaling)
this init(FloatVector3D new(transform g, transform h, 0.0f), FloatRotation3D createRotationZ(rotationZ), scaling)
}
operator + (other: This) -> This { This new(this translation + other translation, this rotation * other rotation, this scaling * other scaling) }
operator - (other: This) -> This { This new(this translation - other translation, this rotation * other rotation inverse, this scaling / other scaling) }
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6 changes: 3 additions & 3 deletions test/geometry/FloatEuclidTransformTest.ooc
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Expand Up @@ -11,7 +11,7 @@ FloatEuclidTransformTest: class extends Fixture {
euclidTransforms := VectorList<FloatEuclidTransform> new(5)
kernel := FloatVectorList new(5)
for (i in 0 .. 5) {
euclidTransforms add(FloatEuclidTransform new(FloatPoint3D new(i, i, i), FloatRotation3D identity))
euclidTransforms add(FloatEuclidTransform new(FloatVector3D new(i, i, i), FloatRotation3D identity))
kernel add(0.2f)
}
result := FloatEuclidTransform convolveCenter(euclidTransforms, kernel)
Expand All @@ -28,7 +28,7 @@ FloatEuclidTransformTest: class extends Fixture {
euclidTransforms := VectorList<FloatEuclidTransform> new(5)
kernel := FloatVectorList gaussianKernel(5)
for (i in 0 .. 5)
euclidTransforms add(FloatEuclidTransform new(FloatPoint3D new(i, i, i), FloatRotation3D identity))
euclidTransforms add(FloatEuclidTransform new(FloatVector3D new(i, i, i), FloatRotation3D identity))
result := FloatEuclidTransform convolveCenter(euclidTransforms, kernel)

expectedResult := 0.0f
Expand All @@ -50,7 +50,7 @@ FloatEuclidTransformTest: class extends Fixture {
for (i in 0 .. 5) {
rotation := FloatRotation3D createRotationZ(i)
quaternions add(rotation _quaternion)
euclidTransforms add(FloatEuclidTransform new(FloatPoint3D new(), rotation))
euclidTransforms add(FloatEuclidTransform new(FloatVector3D new(), rotation))
}
result := FloatEuclidTransform convolveCenter(euclidTransforms, kernel)
expectedRotation := Quaternion weightedMean(quaternions, kernel)
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8 changes: 4 additions & 4 deletions test/geometry/FloatEuclidTransformVectorListTest.ooc
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Expand Up @@ -24,8 +24,8 @@ FloatEuclidTransformVectorListTest: class extends Fixture {
tolerance := 0.0001f
this add("get and set", func {
list := FloatEuclidTransformVectorList new()
euclidTransform1 := FloatEuclidTransform new(FloatPoint3D new(1.0f, 2.0f, 3.0f), FloatRotation3D createRotationX(1.0f))
euclidTransform2 := FloatEuclidTransform new(FloatPoint3D new(5.0f, 6.0f, 7.0f), FloatRotation3D createRotationX(1.0f))
euclidTransform1 := FloatEuclidTransform new(FloatVector3D new(1.0f, 2.0f, 3.0f), FloatRotation3D createRotationX(1.0f))
euclidTransform2 := FloatEuclidTransform new(FloatVector3D new(5.0f, 6.0f, 7.0f), FloatRotation3D createRotationX(1.0f))
list add(euclidTransform1)
list add(euclidTransform2)
expect(list[0] translation x, is equal to(euclidTransform1 translation x) within(tolerance))
Expand All @@ -42,8 +42,8 @@ FloatEuclidTransformVectorListTest: class extends Fixture {
})
this add("get lists", func {
list := FloatEuclidTransformVectorList new()
translation1 := FloatPoint3D new(1.11f, 2.31f, 3.64f)
translation2 := FloatPoint3D new(2.85f, 3.18f, 4.26f)
translation1 := FloatVector3D new(1.11f, 2.31f, 3.64f)
translation2 := FloatVector3D new(2.85f, 3.18f, 4.26f)
rotation1 := FloatRotation3D new(Quaternion new(1.21f, 2.31f, 3.14f, 4.23f))
rotation2 := FloatRotation3D new(Quaternion new(2.51f, 3.12f, 4.41f, 5.42f))
scaling1 := 5.72f
Expand Down