From 40052e62006fafaa426c24c9a718dcf5433fda6d Mon Sep 17 00:00:00 2001
From: Christophe Geuzaine <cgeuzaine@ulg.ac.be>
Date: Sun, 10 Dec 2000 00:06:50 +0000
Subject: [PATCH] Corrige les rotations
---
Common/Context.cpp | 107 +++++++++++++++++++++++++++++++++++++++------
Common/Context.h | 9 ++--
Graphics/Draw.cpp | 16 ++-----
Graphics/Scale.cpp | 13 ++----
Unix/CbGeneral.cpp | 17 +++++--
5 files changed, 118 insertions(+), 44 deletions(-)
diff --git a/Common/Context.cpp b/Common/Context.cpp
index f177d5d2f3..b3ef62b887 100644
--- a/Common/Context.cpp
+++ b/Common/Context.cpp
@@ -1,4 +1,4 @@
-/* $Id: Context.cpp,v 1.20 2000-12-09 22:26:12 geuzaine Exp $ */
+/* $Id: Context.cpp,v 1.21 2000-12-10 00:06:50 geuzaine Exp $ */
#include "Gmsh.h"
#include "Const.h"
@@ -392,26 +392,105 @@ void Print_Context(char *filename){
}
}
-void Context_T::buildRotmatrix(float m[4][4])
+/*
+ 3 rotations successives autour de x, y et z:
+
+ c(y)c(z) s(x)s(y)c(z)+c(x)s(z) -c(x)s(y)c(z)+s(x)s(z)
+ t[][] = -c(y)s(z) -s(x)s(y)s(z)+c(x)c(z) c(x)s(y)s(z)+s(x)c(z)
+ s(y) -s(x)c(y) c(x)c(y)
+
+ get the position angles:
+
+ y = asin(t31)
+ Pi - asin(t31)
+
+ si y != +- Pi/2 :
+
+ x = atan(-t32/t33) si t33 cos y > 0
+ atan(-t32/t33)+Pi si t33 cos y < 0
+
+ z = atan(-t21/t11) si t11 cos y > 0
+ atan(-t21/t11)+Pi si t11 cos y < 0
+
+*/
+
+void Context_T::buildRotmatrix(void)
{
- double r0, r1, r2;
+ double x, y, z;
extern void set_r(int i, double val);
- build_rotmatrix(m, quaternion);
-
- r1 = atan2(-m[0][2],sqrt(m[1][2]*m[1][2] + m[2][2]*m[2][2]));
+ if(CTX.useTrackball){
+ build_rotmatrix(rot, quaternion);
+ // get the position angles
+ /*
+ double x=0., y=0., z=0.
- double c = cos(r1);
- if(c != 0.0)
- {
- r0 = atan2(m[1][2]/c,m[2][2]/c) ;
- r2 = atan2(-m[1][0]/c,m[0][0]/c) ;
+ y = asin(rot[2][0]) ; y = Pi - asin(rot[2][0]) ; // choix ???
+
+ if(fabs(y) != Pi/2.){
+ if(rot[2][2]*cos(y) > 0.) x = atan2(-rot[2][1],rot[2][2]);
+ else x = atan2(-rot[2][1],rot[2][2]) + Pi;
+ if(rot[0][0]*cos(y) > 0.) z = atan2(-rot[1][0],rot[0][0]);
+ else z = atan2(-rot[1][0],rot[0][0]) + Pi;
+ }
+ set_r(0, x * 180./Pi);
+ set_r(1, y * 180./Pi);
+ set_r(2, z * 180./Pi);
+ */
+ /*
+ double r0, r1, r2;
+
+ r1 = atan2(-rot[0][2],sqrt(rot[1][2]*rot[1][2] + rot[2][2]*rot[2][2]));
+
+ double c = cos(r1);
+ if(c != 0.0){
+ r0 = atan2(rot[1][2]/c,rot[2][2]/c) ;
+ r2 = atan2(-rot[1][0]/c,rot[0][0]/c) ;
r0 *= 180./(Pi);
r2 *= 180./(Pi);
}
- set_r(0, r0);
- set_r(1, r1 * 180./(Pi)); // lazyyyyyy
- set_r(2, r2);
+ set_r(0, r0);
+ set_r(1, r1 * 180./(Pi)); // lazyyyyyy
+ set_r(2, r2);
+ */
+
+ // until we can compute this correctly
+ set_r(0, 0.);
+ set_r(1, 0.);
+ set_r(2, 0.);
+
+ }
+ else{
+ x = r[0] * Pi / 180.;
+ y = r[1] * Pi / 180.;
+ z = r[2] * Pi / 180.;
+
+ rot[0][0] = cos(y)*cos(z) ;
+ rot[0][1] = sin(x)*sin(y)*cos(z)+cos(x)*sin(z);
+ rot[0][2] = -cos(x)*sin(y)*cos(z)+sin(x)*sin(z);
+ rot[0][3] = 0.0;
+
+ rot[1][0] = -cos(y)*sin(z);
+ rot[1][1] = -sin(x)*sin(y)*sin(z)+cos(x)*cos(z);
+ rot[1][2] = cos(x)*sin(y)*sin(z)+sin(x)*cos(z);
+ rot[1][3] = 0.0;
+
+ rot[2][0] = sin(y);
+ rot[2][1] = -sin(x)*cos(y);
+ rot[2][2] = cos(x)*cos(y);
+ rot[2][3] = 0.0;
+
+ rot[3][0] = 0.0 ;
+ rot[3][1] = 0.0 ;
+ rot[3][2] = 0.0 ;
+ rot[3][3] = 1.0 ;
+ /*
+ glRotated (CTX.r[0], 1., 0., 0.);
+ glRotated (CTX.r[1], 0., 1., 0.);
+ glRotated (CTX.r[2], 0., 0., 1.);
+ */
+ }
+
}
void Context_T::addQuaternion (float p1x, float p1y, float p2x, float p2y)
diff --git a/Common/Context.h b/Common/Context.h
index eeef7da088..8b9f5de27d 100644
--- a/Common/Context.h
+++ b/Common/Context.h
@@ -1,4 +1,4 @@
-/* $Id: Context.h,v 1.18 2000-12-09 17:33:39 geuzaine Exp $ */
+/* $Id: Context.h,v 1.19 2000-12-10 00:06:50 geuzaine Exp $ */
#ifndef _CONTEXT_H_
#define _CONTEXT_H_
@@ -59,10 +59,11 @@ class Context_T {
int verbosity; /* 0=silent -> 3=debug */
int expose; /* 1 if everything is ready to expose and draw */
- double r[3], t[3], s[3]; /* current rotation, translation and scale */
+ float rot[4][4]; /* current rotation matrix */
+ double r[3]; /* position angles (if succ. rot. along x, y and z) */
+ double t[3], s[3]; /* current translation and scale */
int rlock[3], tlock[3], slock[3];
/* locks for r, t and s */
-
float quaternion[4]; /* the actual quaternion used for "trackball" rotating */
int useTrackball; /* do or do not use the trackball for rotations */
@@ -145,7 +146,7 @@ class Context_T {
} print;
// trackball functions
- void buildRotmatrix(float m[4][4]);
+ void buildRotmatrix(void);
void setQuaternion (float p1x, float p1y, float p2x, float p2y);
void addQuaternion (float p1x, float p1y, float p2x, float p2y);
};
diff --git a/Graphics/Draw.cpp b/Graphics/Draw.cpp
index 7dd263ace5..e65c1db060 100644
--- a/Graphics/Draw.cpp
+++ b/Graphics/Draw.cpp
@@ -1,4 +1,4 @@
-/* $Id: Draw.cpp,v 1.9 2000-12-05 23:01:06 geuzaine Exp $ */
+/* $Id: Draw.cpp,v 1.10 2000-12-10 00:06:50 geuzaine Exp $ */
#include "Gmsh.h"
#include "GmshUI.h"
@@ -230,18 +230,8 @@ void InitPosition(void){
glScaled (CTX.s[0], CTX.s[1], CTX.s[2]);
glTranslated(CTX.t[0], CTX.t[1], CTX.t[2]);
- if(CTX.useTrackball)
- {
- float m[4][4];
- CTX.buildRotmatrix(m);
- glMultMatrixf(&(m[0][0]));
- }
- else
- {
- glRotated (CTX.r[0], 1., 0., 0.);
- glRotated (CTX.r[1], 0., 1., 0.);
- glRotated (CTX.r[2], 0., 0., 1.);
- }
+ CTX.buildRotmatrix();
+ glMultMatrixf(&(CTX.rot[0][0]));
}
/* ------------------------------------------------------------------------ */
diff --git a/Graphics/Scale.cpp b/Graphics/Scale.cpp
index d0bb9d5d61..e4c13e361c 100644
--- a/Graphics/Scale.cpp
+++ b/Graphics/Scale.cpp
@@ -1,4 +1,4 @@
-/* $Id: Scale.cpp,v 1.7 2000-12-05 15:23:56 geuzaine Exp $ */
+/* $Id: Scale.cpp,v 1.8 2000-12-10 00:06:50 geuzaine Exp $ */
#include "Gmsh.h"
#include "GmshUI.h"
@@ -287,21 +287,16 @@ void Draw_Scales(void){
/* ------------------------------------------------------------------------ */
void Draw_SmallAxes(void){
- double a,b,c;
double l,o,xx,xy,yx,yy,zx,zy,cx,cy;
- a = CTX.r[0] * Pi/180. ;
- b = CTX.r[1] * Pi/180. ;
- c = CTX.r[2] * Pi/180. ;
-
l = 30 ;
o = 2 ;
cx = CTX.viewport[2] - 45;
cy = CTX.viewport[1] + 35;
- xx = l*cos(b)*cos(c) ; xy = l*(sin(a)*sin(b)*cos(c)+cos(a)*sin(c)) ;
- yx = -l*cos(b)*sin(c) ; yy = -l*(sin(a)*sin(b)*sin(c)-cos(a)*cos(c)) ;
- zx = l*sin(b) ; zy = -l*sin(a)*cos(b) ;
+ xx = l*CTX.rot[0][0] ; xy = l*CTX.rot[0][1] ;
+ yx = l*CTX.rot[1][0] ; yy = l*CTX.rot[1][1] ;
+ zx = l*CTX.rot[2][0] ; zy = l*CTX.rot[2][1] ;
glColor4ubv((GLubyte*)&CTX.color.small_axes);
diff --git a/Unix/CbGeneral.cpp b/Unix/CbGeneral.cpp
index 4968e1228f..43beda97d0 100644
--- a/Unix/CbGeneral.cpp
+++ b/Unix/CbGeneral.cpp
@@ -1,4 +1,4 @@
-/* $Id: CbGeneral.cpp,v 1.5 2000-11-27 10:58:59 geuzaine Exp $ */
+/* $Id: CbGeneral.cpp,v 1.6 2000-12-10 00:06:50 geuzaine Exp $ */
#include "Gmsh.h"
#include "GmshUI.h"
@@ -133,14 +133,23 @@ void CurrentInfoCb (Widget w, XtPointer client_data, XtPointer call_data){
------------------------------------------------------------------------ */
void set_r(int i, double val){
- if(!CTX.rlock[i]){
- CTX.r[i] = val;
+ if(CTX.useTrackball){
if(XtIsManaged(WID.OD.viewportDialog)){
- sprintf(label, "%.5g", CTX.r[i]);
+ sprintf(label, "---");
XtVaSetValues(WID.OD.viewportText[0][i], XmNvalue, label, NULL);
XmUpdateDisplay(WID.OD.viewportText[0][i]);
}
}
+ else{
+ if(!CTX.rlock[i]){
+ CTX.r[i] = val;
+ if(XtIsManaged(WID.OD.viewportDialog)){
+ sprintf(label, "%.5g", CTX.r[i]);
+ XtVaSetValues(WID.OD.viewportText[0][i], XmNvalue, label, NULL);
+ XmUpdateDisplay(WID.OD.viewportText[0][i]);
+ }
+ }
+ }
}
void set_t(int i, double val){
--
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