C++ Transform3f类代码示例

void Transform3f::transformLocal (const Transform3f &transform)
{
   Transform3f tmp;

   tmp.composition(transform, *this);
   copy(tmp);
}

/// @brief Compute the motion bound for a triangle along a given direction n
/// according to mu < |v * n| + ||w x n||(max||ci*||) where ||ci*|| = ||R0(ci) x w|| / \|w\|. w is the angular velocity
/// and ci are the triangle vertex coordinates.
/// Notice that the triangle is in the local frame of the object, but n should be in the global frame (the reason is that the motion (t1, t2 and t) is in global frame)
FCL_REAL TriangleMotionBoundVisitor::visit(const InterpMotion& motion) const
{
  Transform3f tf;
  motion.getCurrentTransform(tf);

  const Vec3f& reference_p = motion.getReferencePoint();
  const Vec3f& angular_axis = motion.getAngularAxis();
  FCL_REAL angular_vel = motion.getAngularVelocity();
  const Vec3f& linear_vel = motion.getLinearVelocity();

  FCL_REAL proj_max = ((tf.getQuatRotation().transform(a - reference_p)).cross(angular_axis)).sqrLength();
  FCL_REAL tmp;
  tmp = ((tf.getQuatRotation().transform(b - reference_p)).cross(angular_axis)).sqrLength();
  if(tmp > proj_max) proj_max = tmp;
  tmp = ((tf.getQuatRotation().transform(c - reference_p)).cross(angular_axis)).sqrLength();
  if(tmp > proj_max) proj_max = tmp;

  proj_max = std::sqrt(proj_max);

  FCL_REAL v_dot_n = linear_vel.dot(n);
  FCL_REAL w_cross_n = (angular_axis.cross(n)).length() * angular_vel;
  FCL_REAL mu = v_dot_n + w_cross_n * proj_max;

  return mu;  
}

void Vec3f::rotate (const Vec3f &around, float angle)
{
  Transform3f matr;

  matr.rotation(around.x, around.y, around.z, angle);
  transformVector(matr);
}

FCL_REAL TBVMotionBoundVisitor<RSS>::visit(const InterpMotion& motion) const
{
  Transform3f tf;
  motion.getCurrentTransform(tf);

  const Vec3f& reference_p = motion.getReferencePoint();
  const Vec3f& angular_axis = motion.getAngularAxis();
  FCL_REAL angular_vel = motion.getAngularVelocity();
  const Vec3f& linear_vel = motion.getLinearVelocity();
  
  FCL_REAL c_proj_max = ((tf.getQuatRotation().transform(bv.Tr - reference_p)).cross(angular_axis)).sqrLength();
  FCL_REAL tmp;
  tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[0] * bv.l[0] - reference_p)).cross(angular_axis)).sqrLength();
  if(tmp > c_proj_max) c_proj_max = tmp;
  tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[1] * bv.l[1] - reference_p)).cross(angular_axis)).sqrLength();
  if(tmp > c_proj_max) c_proj_max = tmp;
  tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[0] * bv.l[0] + bv.axis[1] * bv.l[1] - reference_p)).cross(angular_axis)).sqrLength();
  if(tmp > c_proj_max) c_proj_max = tmp;

  c_proj_max = std::sqrt(c_proj_max);

  FCL_REAL v_dot_n = linear_vel.dot(n);
  FCL_REAL w_cross_n = (angular_axis.cross(n)).length() * angular_vel;
  FCL_REAL mu = v_dot_n + w_cross_n * (bv.r + c_proj_max);

  return mu;  
}

void Transform3f::rotateZLocal (float angle)
{
   Transform3f rot;

   rot.rotationZ(angle);
   transformLocal(rot);
}

void relativeTransform2(const Transform3f& tf1, const Transform3f& tf2,
                       Transform3f& tf)
{
  const Quaternion3f& q1inv = fcl::conj(tf1.getQuatRotation());
  const Quaternion3f& q2_q1inv = tf2.getQuatRotation() * q1inv;
  tf = Transform3f(q2_q1inv, tf2.getTranslation() - q2_q1inv.transform(tf1.getTranslation()));
}

void Transform3f::rotateY (float angle)
{
   Transform3f rot;

   rot.rotationY(angle);
   transform(rot);
}

/** Basic shape to ccd shape */
static void shapeToGJK(const ShapeBase& s, const Transform3f& tf, ccd_obj_t* o)
{
  const Quaternion3f& q = tf.getQuatRotation();
  const Vec3f& T = tf.getTranslation();
  ccdVec3Set(&o->pos, T[0], T[1], T[2]);
  ccdQuatSet(&o->rot, q.getX(), q.getY(), q.getZ(), q.getW());
  ccdQuatInvert2(&o->rot_inv, &o->rot);
}

bool GraphAffineMatcher::match (float rms_threshold)
{
   if (cb_get_xyz == 0)
      throw Error("cb_get_xyz not set");

   int i;
   Transform3f matr;
   Vec3f pos;

   QS_DEF(Array<Vec3f>, points);
   QS_DEF(Array<Vec3f>, goals);

   points.clear();
   goals.clear();

   if (fixed_vertices != 0)
   {
      for (i = 0; i < fixed_vertices->size(); i++)
      {
         if (_mapping[fixed_vertices->at(i)] < 0)
            continue;
         cb_get_xyz(_subgraph, fixed_vertices->at(i), pos);
         points.push(pos);
         cb_get_xyz(_supergraph, _mapping[fixed_vertices->at(i)], pos);
         goals.push(pos);
      }
   }
   else for (i = _subgraph.vertexBegin(); i < _subgraph.vertexEnd(); i = _subgraph.vertexNext(i))
   {
      if (_mapping[i] < 0)
         continue;
      cb_get_xyz(_subgraph, i, pos);
      points.push(pos);
      cb_get_xyz(_supergraph, _mapping[i], pos);
      goals.push(pos);
   }

   if (points.size() < 1)
      return true;

   float sqsum;

   if (!matr.bestFit(points.size(), points.ptr(), goals.ptr(), &sqsum))
      return false;

   if (sqsum > rms_threshold * rms_threshold)
      return false;

   return true;
}

 void draw()
 {
   int end = mCenters.size();
   glEnable(GL_NORMALIZE);
   for (int i=0; i<end; ++i)
   {
     Transform3f t = Translation3f(mCenters[i]) * Scaling3f(mRadii[i]);
     gpu.pushMatrix(GL_MODELVIEW);
     gpu.multMatrix(t.matrix(),GL_MODELVIEW);
     mIcoSphere.draw(2);
     gpu.popMatrix(GL_MODELVIEW);
   }
   glDisable(GL_NORMALIZE);
 }

bool Intersect::intersect_Triangle(const Vec3f& P1, const Vec3f& P2, const Vec3f& P3,
                                   const Vec3f& Q1, const Vec3f& Q2, const Vec3f& Q3,
                                   const Transform3f& tf,
                                   Vec3f* contact_points,
                                   unsigned int* num_contact_points,
                                   FCL_REAL* penetration_depth,
                                   Vec3f* normal)
{
  Vec3f Q1_ = tf.transform(Q1);
  Vec3f Q2_ = tf.transform(Q2);
  Vec3f Q3_ = tf.transform(Q3);

  return intersect_Triangle(P1, P2, P3, Q1_, Q2_, Q3_, contact_points, num_contact_points, penetration_depth, normal);
}

CMUK_ERROR_CODE cmuk::computeWorldPointFootDK( LegIndex leg,
                                               JointOffset link,
                                               const KState& state,
                                               const vec3f& pworld,
                                               mat3f* J_trans,
                                               mat3f* J_rot,
                                               float* det,
                                               float det_tol,
                                               float lambda ) const {

  if ((int)leg < 0 || (int)leg >= NUM_LEGS) {
    return CMUK_BAD_LEG_INDEX;
  }
  if (!J_trans || !J_rot) {
    return CMUK_INSUFFICIENT_ARGUMENTS;
  }
    
  Transform3f xform = state.xform();
  vec3f pbody = xform.transformInv(pworld);
  vec3f fbody;

  mat3f J;

  CMUK_ERROR_CODE err = 
    computePointFootDK( leg, link, state.leg_rot[leg], pbody, &J,
                        &fbody, det, det_tol, lambda );

  if (err != CMUK_OKAY && err != CMUK_SINGULAR_MATRIX) {
    return err;
  }

  const mat3f& R = xform.rotFwd();
  const mat3f& Rinv = xform.rotInv();

  *J_trans = mat3f::identity() - R * J * Rinv;
  //*J_rot = R * (-mat3f::cross(pbody) + J * mat3f::cross(fbody));
  *J_rot = R * ( J * mat3f::cross(fbody) - mat3f::cross(pbody) ) * Rinv;

  return err;

}

FCL_REAL TBVMotionBoundVisitor<RSS>::visit(const ScrewMotion& motion) const
{
  Transform3f tf;
  motion.getCurrentTransform(tf);

  const Vec3f& axis = motion.getAxis();
  FCL_REAL linear_vel = motion.getLinearVelocity();
  FCL_REAL angular_vel = motion.getAngularVelocity();
  const Vec3f& p = motion.getAxisOrigin();
    
  FCL_REAL c_proj_max = ((tf.getQuatRotation().transform(bv.Tr)).cross(axis)).sqrLength();
  FCL_REAL tmp;
  tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[0] * bv.l[0])).cross(axis)).sqrLength();
  if(tmp > c_proj_max) c_proj_max = tmp;
  tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[1] * bv.l[1])).cross(axis)).sqrLength();
  if(tmp > c_proj_max) c_proj_max = tmp;
  tmp = ((tf.getQuatRotation().transform(bv.Tr + bv.axis[0] * bv.l[0] + bv.axis[1] * bv.l[1])).cross(axis)).sqrLength();
  if(tmp > c_proj_max) c_proj_max = tmp;

  c_proj_max = sqrt(c_proj_max);

  FCL_REAL v_dot_n = axis.dot(n) * linear_vel;
  FCL_REAL w_cross_n = (axis.cross(n)).length() * angular_vel;
  FCL_REAL origin_proj = ((tf.getTranslation() - p).cross(axis)).length();

  FCL_REAL mu = v_dot_n + w_cross_n * (c_proj_max + bv.r + origin_proj);

  return mu;  
}

void generateRandomTransform(FCL_REAL extents[6], Transform3f& transform)
{
  FCL_REAL x = rand_interval(extents[0], extents[3]);
  FCL_REAL y = rand_interval(extents[1], extents[4]);
  FCL_REAL z = rand_interval(extents[2], extents[5]);

  const FCL_REAL pi = 3.1415926;
  FCL_REAL a = rand_interval(0, 2 * pi);
  FCL_REAL b = rand_interval(0, 2 * pi);
  FCL_REAL c = rand_interval(0, 2 * pi);

  Matrix3f R;
  eulerToMatrix(a, b, c, R);
  Vec3f T(x, y, z);
  transform.setTransform(R, T);
}

//.........这里部分代码省略.........
  } 

  if (swap) {
    std::swap(hip_rx_angles[0], hip_rx_angles[1]);
    std::swap(badness[0], badness[1]);  
    std::swap(flags[0], flags[1]);
  }
  
  int hip_solution_cnt = 2;

  if (badness[0] == 0 && badness[1] != 0) {
    hip_solution_cnt = 1;
  } 

  debug << "hip_rx_angles[0]=" << hip_rx_angles[0] 
        << ", badness=" << badness[0]
        << ", flags=" << flags[0] << "\n";

  debug << "hip_rx_angles[1]=" << hip_rx_angles[1] 
        << ", badness=" << badness[1]
        << ", flags=" << flags[1] << "\n";
  
  debug << "hip_solution_cnt = " << hip_solution_cnt << "\n";

  vec3f qfwd[2], qrear[2];
  
  for (int i=0; i<hip_solution_cnt; ++i) {

    debug << "** computing ll solution " << (i+1) << " of " << (hip_solution_cnt) << "\n";

    float hip_rx = hip_rx_angles[i];
    
    // now make inv. transform to get rid of hip rotation
    Transform3f tx = Transform3f::rx(hip_rx, jo(_kc, leg, HIP_RX_OFFSET, _centeredFootIK));
    vec3f ptx = tx.transformInv(orig);

    debug << "tx=[" << tx.translation() << ", " << tx.rotation() << "], ptx = " << ptx << "\n";
    
    // calculate lengths for cosine law
    float l1sqr = ol2(_kc, leg, KNEE_RY_OFFSET, _centeredFootIK);
    float l2sqr = ol2(_kc, leg, FOOT_OFFSET, _centeredFootIK);
    float l1 = ol(_kc, leg, KNEE_RY_OFFSET, _centeredFootIK);
    float l2 = ol(_kc, leg, FOOT_OFFSET, _centeredFootIK);
    
    float ksqr = ptx[0]*ptx[0] + ptx[2]*ptx[2];
    float k = sqrt(ksqr);

    debug << "l1=" << l1 << ", l2=" << l2 << ", k=" << k << "\n";
    
    // check triangle inequality
    if (k > l1 + l2) { 
      debug << "oops, violated the triangle inequality for lower segments: "
            << "k = " << k << ", "
            << "l1 + l2 = " << l1 + l2 << "\n";
      if (k - (l1 + l2) > 1e-4) {
        flags[i] = flags[i] | IK_LOWER_DISTANCE;
      }
      k = l1 + l2;
      ksqr = k * k;
    }
    
    // 2*theta is the acute angle formed by the spread
    // of the two hip rotations... 
    float costheta = (l1sqr + ksqr - l2sqr) / (2 * l1 * k);
    if (fabs(costheta) > 1) {
      debug << "costheta = " << costheta << " > 1\n";