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Diffstat (limited to 'intern/cycles/util/transform.cpp')
| -rw-r--r-- | intern/cycles/util/transform.cpp | 345 |
1 files changed, 345 insertions, 0 deletions
diff --git a/intern/cycles/util/transform.cpp b/intern/cycles/util/transform.cpp new file mode 100644 index 00000000000..bd990cb0f79 --- /dev/null +++ b/intern/cycles/util/transform.cpp @@ -0,0 +1,345 @@ +/* + * Copyright 2011-2013 Blender Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/* + * Adapted from code with license: + * + * Copyright (c) 2002, Industrial Light & Magic, a division of Lucas + * Digital Ltd. LLC. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are + * met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * * Neither the name of Industrial Light & Magic nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR + * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT + * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, + * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY + * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include "util/transform.h" +#include "util/projection.h" + +#include "util/boundbox.h" +#include "util/math.h" + +CCL_NAMESPACE_BEGIN + +/* Transform Inverse */ + +static bool transform_matrix4_gj_inverse(float R[][4], float M[][4]) +{ + /* forward elimination */ + for (int i = 0; i < 4; i++) { + int pivot = i; + float pivotsize = M[i][i]; + + if (pivotsize < 0) + pivotsize = -pivotsize; + + for (int j = i + 1; j < 4; j++) { + float tmp = M[j][i]; + + if (tmp < 0) + tmp = -tmp; + + if (tmp > pivotsize) { + pivot = j; + pivotsize = tmp; + } + } + + if (UNLIKELY(pivotsize == 0.0f)) + return false; + + if (pivot != i) { + for (int j = 0; j < 4; j++) { + float tmp; + + tmp = M[i][j]; + M[i][j] = M[pivot][j]; + M[pivot][j] = tmp; + + tmp = R[i][j]; + R[i][j] = R[pivot][j]; + R[pivot][j] = tmp; + } + } + + for (int j = i + 1; j < 4; j++) { + float f = M[j][i] / M[i][i]; + + for (int k = 0; k < 4; k++) { + M[j][k] -= f * M[i][k]; + R[j][k] -= f * R[i][k]; + } + } + } + + /* backward substitution */ + for (int i = 3; i >= 0; --i) { + float f; + + if (UNLIKELY((f = M[i][i]) == 0.0f)) + return false; + + for (int j = 0; j < 4; j++) { + M[i][j] /= f; + R[i][j] /= f; + } + + for (int j = 0; j < i; j++) { + f = M[j][i]; + + for (int k = 0; k < 4; k++) { + M[j][k] -= f * M[i][k]; + R[j][k] -= f * R[i][k]; + } + } + } + + return true; +} + +ProjectionTransform projection_inverse(const ProjectionTransform &tfm) +{ + ProjectionTransform tfmR = projection_identity(); + float M[4][4], R[4][4]; + + memcpy(R, &tfmR, sizeof(R)); + memcpy(M, &tfm, sizeof(M)); + + if (UNLIKELY(!transform_matrix4_gj_inverse(R, M))) { + /* matrix is degenerate (e.g. 0 scale on some axis), ideally we should + * never be in this situation, but try to invert it anyway with tweak */ + M[0][0] += 1e-8f; + M[1][1] += 1e-8f; + M[2][2] += 1e-8f; + + if (UNLIKELY(!transform_matrix4_gj_inverse(R, M))) { + return projection_identity(); + } + } + + memcpy(&tfmR, R, sizeof(R)); + + return tfmR; +} + +Transform transform_inverse(const Transform &tfm) +{ + ProjectionTransform projection(tfm); + return projection_to_transform(projection_inverse(projection)); +} + +Transform transform_transposed_inverse(const Transform &tfm) +{ + ProjectionTransform projection(tfm); + ProjectionTransform iprojection = projection_inverse(projection); + return projection_to_transform(projection_transpose(iprojection)); +} + +/* Motion Transform */ + +float4 transform_to_quat(const Transform &tfm) +{ + double trace = (double)(tfm[0][0] + tfm[1][1] + tfm[2][2]); + float4 qt; + + if (trace > 0.0) { + double s = sqrt(trace + 1.0); + + qt.w = (float)(s / 2.0); + s = 0.5 / s; + + qt.x = (float)((double)(tfm[2][1] - tfm[1][2]) * s); + qt.y = (float)((double)(tfm[0][2] - tfm[2][0]) * s); + qt.z = (float)((double)(tfm[1][0] - tfm[0][1]) * s); + } + else { + int i = 0; + + if (tfm[1][1] > tfm[i][i]) + i = 1; + if (tfm[2][2] > tfm[i][i]) + i = 2; + + int j = (i + 1) % 3; + int k = (j + 1) % 3; + + double s = sqrt((double)(tfm[i][i] - (tfm[j][j] + tfm[k][k])) + 1.0); + + double q[3]; + q[i] = s * 0.5; + if (s != 0.0) + s = 0.5 / s; + + double w = (double)(tfm[k][j] - tfm[j][k]) * s; + q[j] = (double)(tfm[j][i] + tfm[i][j]) * s; + q[k] = (double)(tfm[k][i] + tfm[i][k]) * s; + + qt.x = (float)q[0]; + qt.y = (float)q[1]; + qt.z = (float)q[2]; + qt.w = (float)w; + } + + return qt; +} + +static void transform_decompose(DecomposedTransform *decomp, const Transform *tfm) +{ + /* extract translation */ + decomp->y = make_float4(tfm->x.w, tfm->y.w, tfm->z.w, 0.0f); + + /* extract rotation */ + Transform M = *tfm; + M.x.w = 0.0f; + M.y.w = 0.0f; + M.z.w = 0.0f; + +#if 0 + Transform R = M; + float norm; + int iteration = 0; + + do { + Transform Rnext; + Transform Rit = transform_transposed_inverse(R); + + for (int i = 0; i < 3; i++) + for (int j = 0; j < 4; j++) + Rnext[i][j] = 0.5f * (R[i][j] + Rit[i][j]); + + norm = 0.0f; + for (int i = 0; i < 3; i++) { + norm = max(norm, + fabsf(R[i][0] - Rnext[i][0]) + fabsf(R[i][1] - Rnext[i][1]) + + fabsf(R[i][2] - Rnext[i][2])); + } + + R = Rnext; + iteration++; + } while (iteration < 100 && norm > 1e-4f); + + if (transform_negative_scale(R)) + R = R * transform_scale(-1.0f, -1.0f, -1.0f); + + decomp->x = transform_to_quat(R); + + /* extract scale and pack it */ + Transform scale = transform_inverse(R) * M; + decomp->y.w = scale.x.x; + decomp->z = make_float4(scale.x.y, scale.x.z, scale.y.x, scale.y.y); + decomp->w = make_float4(scale.y.z, scale.z.x, scale.z.y, scale.z.z); +#else + float3 colx = transform_get_column(&M, 0); + float3 coly = transform_get_column(&M, 1); + float3 colz = transform_get_column(&M, 2); + + /* extract scale and shear first */ + float3 scale, shear; + scale.x = len(colx); + colx = safe_divide_float3_float(colx, scale.x); + shear.z = dot(colx, coly); + coly -= shear.z * colx; + scale.y = len(coly); + coly = safe_divide_float3_float(coly, scale.y); + shear.y = dot(colx, colz); + colz -= shear.y * colx; + shear.x = dot(coly, colz); + colz -= shear.x * coly; + scale.z = len(colz); + colz = safe_divide_float3_float(colz, scale.z); + + transform_set_column(&M, 0, colx); + transform_set_column(&M, 1, coly); + transform_set_column(&M, 2, colz); + + if (transform_negative_scale(M)) { + scale *= -1.0f; + M = M * transform_scale(-1.0f, -1.0f, -1.0f); + } + + decomp->x = transform_to_quat(M); + + decomp->y.w = scale.x; + decomp->z = make_float4(shear.z, shear.y, 0.0f, scale.y); + decomp->w = make_float4(shear.x, 0.0f, 0.0f, scale.z); +#endif +} + +void transform_motion_decompose(DecomposedTransform *decomp, const Transform *motion, size_t size) +{ + /* Decompose and correct rotation. */ + for (size_t i = 0; i < size; i++) { + transform_decompose(decomp + i, motion + i); + + if (i > 0) { + /* Ensure rotation around shortest angle, negated quaternions are the same + * but this means we don't have to do the check in quat_interpolate */ + if (dot(decomp[i - 1].x, decomp[i].x) < 0.0f) + decomp[i].x = -decomp[i].x; + } + } + + /* Copy rotation to decomposed transform where scale is degenerate. This avoids weird object + * rotation interpolation when the scale goes to 0 for a time step. + * + * Note that this is very simple and naive implementation, which only deals with degenerated + * scale happening only on one frame. It is possible to improve it further by interpolating + * rotation into s degenerated range using rotation from time-steps from adjacent non-degenerated + * time steps. */ + for (size_t i = 0; i < size; i++) { + const float3 scale = make_float3(decomp[i].y.w, decomp[i].z.w, decomp[i].w.w); + if (!is_zero(scale)) { + continue; + } + + if (i > 0) { + decomp[i].x = decomp[i - 1].x; + } + else if (i < size - 1) { + decomp[i].x = decomp[i + 1].x; + } + } +} + +Transform transform_from_viewplane(BoundBox2D &viewplane) +{ + return transform_scale(1.0f / (viewplane.right - viewplane.left), + 1.0f / (viewplane.top - viewplane.bottom), + 1.0f) * + transform_translate(-viewplane.left, -viewplane.bottom, 0.0f); +} + +CCL_NAMESPACE_END |