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OpenSceneGraph/src/osg/PositionAttitudeTransform.cpp

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Updated copyright years.
2006-07-18 23:21:48 +08:00
/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2006 Robert Osfield
Added new Copyright/License notice to header and source files.
2003-01-22 00:45:36 +08:00
*
* This library is open source and may be redistributed and/or modified under
* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
* (at your option) any later version. The full license is in LICENSE file
* included with this distribution, and on the openscenegraph.org website.
*
* 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
* OpenSceneGraph Public License for more details.
*/
Have made osg::Transform more extensible via additions of new getLocalToWorldMatrix() and getWorldToLocalMatrix(), computeLocalToWorld() and computeWorldToLocal() methods. Have updated the CullVisitor, IntersectVisitor and Optimizer to use the new osg::Transform::getLocalToWorldMatrix() which has the same functionality as the old getMatrix() but is now supports subclasses of osg::Transform transparently. Have added osg::PositionAttitudeTransform as subclass of osg::Transform which manages the transform as position and attitude via a Vec3 and Quat respectively.
2002-01-24 06:15:39 +08:00
#include <osg/PositionAttitudeTransform>
using namespace osg;
Added scale parameter into PositionAttitudeTransform. Added pivotPoint parameter into AnimationPathCallack.
2004-02-22 19:58:44 +08:00
PositionAttitudeTransform::PositionAttitudeTransform():
From Mathias Froehlich, "This is a generic optimization that does not depend on any cpu or instruction set. The optimization is based on the observation that matrix matrix multiplication with a dense matrix 4x4 is 4^3 Operations whereas multiplication with a transform, or scale matrix is only 4^2 operations. Which is a gain of a *FACTOR*4* for these special cases. The change implements these special cases, provides a unit test for these implementation and converts uses of the expensiver dense matrix matrix routine with the specialized versions. Depending on the transform nodes in the scenegraph this change gives a noticable improovement. For example the osgforest code using the MatrixTransform is about 20% slower than the same codepath using the PositionAttitudeTransform instead of the MatrixTransform with this patch applied. If I remember right, the sse type optimizations did *not* provide a factor 4 improovement. Also these changes are totally independent of any cpu or instruction set architecture. So I would prefer to have this current kind of change instead of some hand coded and cpu dependent assembly stuff. If we need that hand tuned stuff, these can go on top of this changes which must provide than hand optimized additional variants for the specialized versions to give a even better result in the end. An other change included here is a change to rotation matrix from quaterion code. There is a sqrt call which couold be optimized away. Since we divide in effect by sqrt(length)*sqrt(length) which is just length ... "
2008-09-18 00:14:28 +08:00
_scale(1.0,1.0,1.0)
Have made osg::Transform more extensible via additions of new getLocalToWorldMatrix() and getWorldToLocalMatrix(), computeLocalToWorld() and computeWorldToLocal() methods. Have updated the CullVisitor, IntersectVisitor and Optimizer to use the new osg::Transform::getLocalToWorldMatrix() which has the same functionality as the old getMatrix() but is now supports subclasses of osg::Transform transparently. Have added osg::PositionAttitudeTransform as subclass of osg::Transform which manages the transform as position and attitude via a Vec3 and Quat respectively.
2002-01-24 06:15:39 +08:00
{
}
Converted the instances of const built in types being returned from methods and passed as paramters into straight forward non const built in types, i.e. const bool foogbar(const int) becomes bool foobar(int).
2002-09-02 20:31:35 +08:00
bool PositionAttitudeTransform::computeLocalToWorldMatrix(Matrix& matrix,NodeVisitor*) const
Have made osg::Transform more extensible via additions of new getLocalToWorldMatrix() and getWorldToLocalMatrix(), computeLocalToWorld() and computeWorldToLocal() methods. Have updated the CullVisitor, IntersectVisitor and Optimizer to use the new osg::Transform::getLocalToWorldMatrix() which has the same functionality as the old getMatrix() but is now supports subclasses of osg::Transform transparently. Have added osg::PositionAttitudeTransform as subclass of osg::Transform which manages the transform as position and attitude via a Vec3 and Quat respectively.
2002-01-24 06:15:39 +08:00
{
Changed ABSOLUTE and RELATIVE to ABSOLUTE_RF and RELATIVE_RF to avoid stooppid Win32 #define
2004-10-25 04:04:00 +08:00
if (_referenceFrame==RELATIVE_RF)
Have made osg::Transform more extensible via additions of new getLocalToWorldMatrix() and getWorldToLocalMatrix(), computeLocalToWorld() and computeWorldToLocal() methods. Have updated the CullVisitor, IntersectVisitor and Optimizer to use the new osg::Transform::getLocalToWorldMatrix() which has the same functionality as the old getMatrix() but is now supports subclasses of osg::Transform transparently. Have added osg::PositionAttitudeTransform as subclass of osg::Transform which manages the transform as position and attitude via a Vec3 and Quat respectively.
2002-01-24 06:15:39 +08:00
{
From Mathias Froehlich, "This is a generic optimization that does not depend on any cpu or instruction set. The optimization is based on the observation that matrix matrix multiplication with a dense matrix 4x4 is 4^3 Operations whereas multiplication with a transform, or scale matrix is only 4^2 operations. Which is a gain of a *FACTOR*4* for these special cases. The change implements these special cases, provides a unit test for these implementation and converts uses of the expensiver dense matrix matrix routine with the specialized versions. Depending on the transform nodes in the scenegraph this change gives a noticable improovement. For example the osgforest code using the MatrixTransform is about 20% slower than the same codepath using the PositionAttitudeTransform instead of the MatrixTransform with this patch applied. If I remember right, the sse type optimizations did *not* provide a factor 4 improovement. Also these changes are totally independent of any cpu or instruction set architecture. So I would prefer to have this current kind of change instead of some hand coded and cpu dependent assembly stuff. If we need that hand tuned stuff, these can go on top of this changes which must provide than hand optimized additional variants for the specialized versions to give a even better result in the end. An other change included here is a change to rotation matrix from quaterion code. There is a sqrt call which couold be optimized away. Since we divide in effect by sqrt(length)*sqrt(length) which is just length ... "
2008-09-18 00:14:28 +08:00
matrix.preMultTranslate(_position);
matrix.preMultRotate(_attitude);
matrix.preMultScale(_scale);
matrix.preMultTranslate(-_pivotPoint);
Have taken a few more steps towards support for view dependant transformations by adding a ComputeTransformCallback to osg::Transform, and have now removed the recently added AutoTransform since it is nolonger required. Have also updated CullVisitor to account for the new ways for tracking transformation matrices in the scene.
2002-02-06 05:54:46 +08:00
}
Added DataVariance enum and set/get fields to osg::Object to help identify which objects have values that vary over the lifetime of the object (DYNAMIC) and ones that do not vary (STATIC). Removed the equivalent code in osg::Transform, StateSet and StateAttribute, as these are now encompassed by the new DataVariance field. Removed MatrixMode enum from Matrix, and associated fields/parameters from osg::Transfrom and osg::NodeVisitor, since MatrixMode was not providing any useful functionality, but made the interface more complex (MatrixMode was an experimental API) Added ReferenceFrame field to osg::Transform which allows users to specify transforms that are relative to their parents (the default, and previous behavior) or absolute reference frame, which can be used for HUD's, camera relative light sources etc etc. Note, the view frustum culling for absolute Transform are disabled, and all their parents up to the root are also automatically have view frustum culling disabled. However, once passed an absolute Transform node culling will return to its default state of on, so you can still cull underneath an absolute transform, its only the culling above which is disabled.
2002-04-12 07:20:23 +08:00
else // absolute
Have taken a few more steps towards support for view dependant transformations by adding a ComputeTransformCallback to osg::Transform, and have now removed the recently added AutoTransform since it is nolonger required. Have also updated CullVisitor to account for the new ways for tracking transformation matrices in the scene.
2002-02-06 05:54:46 +08:00
{
From Mathias Froehlich, "This is a generic optimization that does not depend on any cpu or instruction set. The optimization is based on the observation that matrix matrix multiplication with a dense matrix 4x4 is 4^3 Operations whereas multiplication with a transform, or scale matrix is only 4^2 operations. Which is a gain of a *FACTOR*4* for these special cases. The change implements these special cases, provides a unit test for these implementation and converts uses of the expensiver dense matrix matrix routine with the specialized versions. Depending on the transform nodes in the scenegraph this change gives a noticable improovement. For example the osgforest code using the MatrixTransform is about 20% slower than the same codepath using the PositionAttitudeTransform instead of the MatrixTransform with this patch applied. If I remember right, the sse type optimizations did *not* provide a factor 4 improovement. Also these changes are totally independent of any cpu or instruction set architecture. So I would prefer to have this current kind of change instead of some hand coded and cpu dependent assembly stuff. If we need that hand tuned stuff, these can go on top of this changes which must provide than hand optimized additional variants for the specialized versions to give a even better result in the end. An other change included here is a change to rotation matrix from quaterion code. There is a sqrt call which couold be optimized away. Since we divide in effect by sqrt(length)*sqrt(length) which is just length ... "
2008-09-18 00:14:28 +08:00
matrix.makeRotate(_attitude);
matrix.postMultTranslate(_position);
matrix.preMultScale(_scale);
matrix.preMultTranslate(-_pivotPoint);
Have made osg::Transform more extensible via additions of new getLocalToWorldMatrix() and getWorldToLocalMatrix(), computeLocalToWorld() and computeWorldToLocal() methods. Have updated the CullVisitor, IntersectVisitor and Optimizer to use the new osg::Transform::getLocalToWorldMatrix() which has the same functionality as the old getMatrix() but is now supports subclasses of osg::Transform transparently. Have added osg::PositionAttitudeTransform as subclass of osg::Transform which manages the transform as position and attitude via a Vec3 and Quat respectively.
2002-01-24 06:15:39 +08:00
}
Added DataVariance enum and set/get fields to osg::Object to help identify which objects have values that vary over the lifetime of the object (DYNAMIC) and ones that do not vary (STATIC). Removed the equivalent code in osg::Transform, StateSet and StateAttribute, as these are now encompassed by the new DataVariance field. Removed MatrixMode enum from Matrix, and associated fields/parameters from osg::Transfrom and osg::NodeVisitor, since MatrixMode was not providing any useful functionality, but made the interface more complex (MatrixMode was an experimental API) Added ReferenceFrame field to osg::Transform which allows users to specify transforms that are relative to their parents (the default, and previous behavior) or absolute reference frame, which can be used for HUD's, camera relative light sources etc etc. Note, the view frustum culling for absolute Transform are disabled, and all their parents up to the root are also automatically have view frustum culling disabled. However, once passed an absolute Transform node culling will return to its default state of on, so you can still cull underneath an absolute transform, its only the culling above which is disabled.
2002-04-12 07:20:23 +08:00
return true;
Have made osg::Transform more extensible via additions of new getLocalToWorldMatrix() and getWorldToLocalMatrix(), computeLocalToWorld() and computeWorldToLocal() methods. Have updated the CullVisitor, IntersectVisitor and Optimizer to use the new osg::Transform::getLocalToWorldMatrix() which has the same functionality as the old getMatrix() but is now supports subclasses of osg::Transform transparently. Have added osg::PositionAttitudeTransform as subclass of osg::Transform which manages the transform as position and attitude via a Vec3 and Quat respectively.
2002-01-24 06:15:39 +08:00
}
Have taken a few more steps towards support for view dependant transformations by adding a ComputeTransformCallback to osg::Transform, and have now removed the recently added AutoTransform since it is nolonger required. Have also updated CullVisitor to account for the new ways for tracking transformation matrices in the scene.
2002-02-06 05:54:46 +08:00
Converted the instances of const built in types being returned from methods and passed as paramters into straight forward non const built in types, i.e. const bool foogbar(const int) becomes bool foobar(int).
2002-09-02 20:31:35 +08:00
bool PositionAttitudeTransform::computeWorldToLocalMatrix(Matrix& matrix,NodeVisitor*) const
Have made osg::Transform more extensible via additions of new getLocalToWorldMatrix() and getWorldToLocalMatrix(), computeLocalToWorld() and computeWorldToLocal() methods. Have updated the CullVisitor, IntersectVisitor and Optimizer to use the new osg::Transform::getLocalToWorldMatrix() which has the same functionality as the old getMatrix() but is now supports subclasses of osg::Transform transparently. Have added osg::PositionAttitudeTransform as subclass of osg::Transform which manages the transform as position and attitude via a Vec3 and Quat respectively.
2002-01-24 06:15:39 +08:00
{
From Mathias Froehlich, "This is a generic optimization that does not depend on any cpu or instruction set. The optimization is based on the observation that matrix matrix multiplication with a dense matrix 4x4 is 4^3 Operations whereas multiplication with a transform, or scale matrix is only 4^2 operations. Which is a gain of a *FACTOR*4* for these special cases. The change implements these special cases, provides a unit test for these implementation and converts uses of the expensiver dense matrix matrix routine with the specialized versions. Depending on the transform nodes in the scenegraph this change gives a noticable improovement. For example the osgforest code using the MatrixTransform is about 20% slower than the same codepath using the PositionAttitudeTransform instead of the MatrixTransform with this patch applied. If I remember right, the sse type optimizations did *not* provide a factor 4 improovement. Also these changes are totally independent of any cpu or instruction set architecture. So I would prefer to have this current kind of change instead of some hand coded and cpu dependent assembly stuff. If we need that hand tuned stuff, these can go on top of this changes which must provide than hand optimized additional variants for the specialized versions to give a even better result in the end. An other change included here is a change to rotation matrix from quaterion code. There is a sqrt call which couold be optimized away. Since we divide in effect by sqrt(length)*sqrt(length) which is just length ... "
2008-09-18 00:14:28 +08:00
if (_scale.x() == 0.0 || _scale.y() == 0.0 || _scale.z() == 0.0)
return false;
Changed ABSOLUTE and RELATIVE to ABSOLUTE_RF and RELATIVE_RF to avoid stooppid Win32 #define
2004-10-25 04:04:00 +08:00
if (_referenceFrame==RELATIVE_RF)
Have taken a few more steps towards support for view dependant transformations by adding a ComputeTransformCallback to osg::Transform, and have now removed the recently added AutoTransform since it is nolonger required. Have also updated CullVisitor to account for the new ways for tracking transformation matrices in the scene.
2002-02-06 05:54:46 +08:00
{
From Mathias Froehlich, "This is a generic optimization that does not depend on any cpu or instruction set. The optimization is based on the observation that matrix matrix multiplication with a dense matrix 4x4 is 4^3 Operations whereas multiplication with a transform, or scale matrix is only 4^2 operations. Which is a gain of a *FACTOR*4* for these special cases. The change implements these special cases, provides a unit test for these implementation and converts uses of the expensiver dense matrix matrix routine with the specialized versions. Depending on the transform nodes in the scenegraph this change gives a noticable improovement. For example the osgforest code using the MatrixTransform is about 20% slower than the same codepath using the PositionAttitudeTransform instead of the MatrixTransform with this patch applied. If I remember right, the sse type optimizations did *not* provide a factor 4 improovement. Also these changes are totally independent of any cpu or instruction set architecture. So I would prefer to have this current kind of change instead of some hand coded and cpu dependent assembly stuff. If we need that hand tuned stuff, these can go on top of this changes which must provide than hand optimized additional variants for the specialized versions to give a even better result in the end. An other change included here is a change to rotation matrix from quaterion code. There is a sqrt call which couold be optimized away. Since we divide in effect by sqrt(length)*sqrt(length) which is just length ... "
2008-09-18 00:14:28 +08:00
matrix.postMultTranslate(-_position);
matrix.postMultRotate(_attitude.inverse());
matrix.postMultScale(Vec3d(1.0/_scale.x(), 1.0/_scale.y(), 1.0/_scale.z()));
matrix.postMultTranslate(_pivotPoint);
Have taken a few more steps towards support for view dependant transformations by adding a ComputeTransformCallback to osg::Transform, and have now removed the recently added AutoTransform since it is nolonger required. Have also updated CullVisitor to account for the new ways for tracking transformation matrices in the scene.
2002-02-06 05:54:46 +08:00
}
Added DataVariance enum and set/get fields to osg::Object to help identify which objects have values that vary over the lifetime of the object (DYNAMIC) and ones that do not vary (STATIC). Removed the equivalent code in osg::Transform, StateSet and StateAttribute, as these are now encompassed by the new DataVariance field. Removed MatrixMode enum from Matrix, and associated fields/parameters from osg::Transfrom and osg::NodeVisitor, since MatrixMode was not providing any useful functionality, but made the interface more complex (MatrixMode was an experimental API) Added ReferenceFrame field to osg::Transform which allows users to specify transforms that are relative to their parents (the default, and previous behavior) or absolute reference frame, which can be used for HUD's, camera relative light sources etc etc. Note, the view frustum culling for absolute Transform are disabled, and all their parents up to the root are also automatically have view frustum culling disabled. However, once passed an absolute Transform node culling will return to its default state of on, so you can still cull underneath an absolute transform, its only the culling above which is disabled.
2002-04-12 07:20:23 +08:00
else // absolute
Have made osg::Transform more extensible via additions of new getLocalToWorldMatrix() and getWorldToLocalMatrix(), computeLocalToWorld() and computeWorldToLocal() methods. Have updated the CullVisitor, IntersectVisitor and Optimizer to use the new osg::Transform::getLocalToWorldMatrix() which has the same functionality as the old getMatrix() but is now supports subclasses of osg::Transform transparently. Have added osg::PositionAttitudeTransform as subclass of osg::Transform which manages the transform as position and attitude via a Vec3 and Quat respectively.
2002-01-24 06:15:39 +08:00
{
From Mathias Froehlich, "This is a generic optimization that does not depend on any cpu or instruction set. The optimization is based on the observation that matrix matrix multiplication with a dense matrix 4x4 is 4^3 Operations whereas multiplication with a transform, or scale matrix is only 4^2 operations. Which is a gain of a *FACTOR*4* for these special cases. The change implements these special cases, provides a unit test for these implementation and converts uses of the expensiver dense matrix matrix routine with the specialized versions. Depending on the transform nodes in the scenegraph this change gives a noticable improovement. For example the osgforest code using the MatrixTransform is about 20% slower than the same codepath using the PositionAttitudeTransform instead of the MatrixTransform with this patch applied. If I remember right, the sse type optimizations did *not* provide a factor 4 improovement. Also these changes are totally independent of any cpu or instruction set architecture. So I would prefer to have this current kind of change instead of some hand coded and cpu dependent assembly stuff. If we need that hand tuned stuff, these can go on top of this changes which must provide than hand optimized additional variants for the specialized versions to give a even better result in the end. An other change included here is a change to rotation matrix from quaterion code. There is a sqrt call which couold be optimized away. Since we divide in effect by sqrt(length)*sqrt(length) which is just length ... "
2008-09-18 00:14:28 +08:00
matrix.makeRotate(_attitude.inverse());
matrix.preMultTranslate(-_position);
matrix.postMultScale(Vec3d(1.0/_scale.x(), 1.0/_scale.y(), 1.0/_scale.z()));
matrix.postMultTranslate(_pivotPoint);
Have made osg::Transform more extensible via additions of new getLocalToWorldMatrix() and getWorldToLocalMatrix(), computeLocalToWorld() and computeWorldToLocal() methods. Have updated the CullVisitor, IntersectVisitor and Optimizer to use the new osg::Transform::getLocalToWorldMatrix() which has the same functionality as the old getMatrix() but is now supports subclasses of osg::Transform transparently. Have added osg::PositionAttitudeTransform as subclass of osg::Transform which manages the transform as position and attitude via a Vec3 and Quat respectively.
2002-01-24 06:15:39 +08:00
}
Added DataVariance enum and set/get fields to osg::Object to help identify which objects have values that vary over the lifetime of the object (DYNAMIC) and ones that do not vary (STATIC). Removed the equivalent code in osg::Transform, StateSet and StateAttribute, as these are now encompassed by the new DataVariance field. Removed MatrixMode enum from Matrix, and associated fields/parameters from osg::Transfrom and osg::NodeVisitor, since MatrixMode was not providing any useful functionality, but made the interface more complex (MatrixMode was an experimental API) Added ReferenceFrame field to osg::Transform which allows users to specify transforms that are relative to their parents (the default, and previous behavior) or absolute reference frame, which can be used for HUD's, camera relative light sources etc etc. Note, the view frustum culling for absolute Transform are disabled, and all their parents up to the root are also automatically have view frustum culling disabled. However, once passed an absolute Transform node culling will return to its default state of on, so you can still cull underneath an absolute transform, its only the culling above which is disabled.
2002-04-12 07:20:23 +08:00
return true;
Have made osg::Transform more extensible via additions of new getLocalToWorldMatrix() and getWorldToLocalMatrix(), computeLocalToWorld() and computeWorldToLocal() methods. Have updated the CullVisitor, IntersectVisitor and Optimizer to use the new osg::Transform::getLocalToWorldMatrix() which has the same functionality as the old getMatrix() but is now supports subclasses of osg::Transform transparently. Have added osg::PositionAttitudeTransform as subclass of osg::Transform which manages the transform as position and attitude via a Vec3 and Quat respectively.
2002-01-24 06:15:39 +08:00
}
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