Commit a642d592 authored by Martin Štourač's avatar Martin Štourač
Browse files

fix translation and rotation in export

parent c23b0484

src/algo/include/algo/misc.hpp

+1 −1
Original line number Diff line number Diff line
@@ -24,7 +24,7 @@ bool AABB_intersect(const AABB &fst_aabb, const AABB &snd_aabb, const node_ptr & 


std::pair<std::size_t, std::size_t> get_pad_width_height_from_connector_count(const std::vector<connector_ptr> &connectors);



glm::vec3 convertToRoFICoordinates(const glm::vec3 &position);

glm::vec3 convertToRoFICoordinates(const glm::vec3 &position, const glm::vec3 &to_voxel_center);

glm::mat4 convertToRoFICoordinates(const glm::mat4 &matrix);



#endif
 
 No newline at end of file

src/algo/src/misc.cpp

+27 −5
Original line number Diff line number Diff line
@@ -109,16 +109,38 @@ std::pair<std::size_t, std::size_t> get_pad_width_height_from_connector_count(co 
    return { static_cast<std::size_t>(max_x_pos) + 1, static_cast<std::size_t>(max_y_pos) + 1 };

}



glm::vec3 convertToRoFICoordinates(const glm::vec3 &position)

glm::vec3 convertToRoFICoordinates(const glm::vec3 &position, const glm::vec3 &to_voxel_center)

{

    return glm::vec3(position.z, position.x, position.y);

    const auto voxel_position = position + to_voxel_center * 0.5f;

    return glm::vec3(voxel_position.z, voxel_position.x, voxel_position.y);

}



glm::mat4 convertToRoFICoordinates(const glm::mat4 &matrix)

{

    auto m = glm::toMat4(glm::angleAxis(glm::radians(90.0f), glm::vec3(0.0f, 0.0f, 1.0f))) 

           * glm::toMat4(glm::angleAxis(glm::radians(90.0f), glm::vec3(1.0f, 0.0f, 0.0f)))

           * matrix;

    // E -> E'



    // auto m = // glm::toMat4(glm::angleAxis(glm::radians(90.0f), glm::vec3(0.0f, 0.0f, -1.0f))) 

    //          glm::toMat4(glm::angleAxis(glm::radians(90.0f), glm::vec3(0.0f, -1.0f, 0.0f)))

    //        * glm::toMat4(glm::angleAxis(glm::radians(90.0f), glm::vec3(-1.0f, 0.0f, 0.0f)))

    //     //    * matrix 

    //     //    * r_matrix;

    //        * corrected_matrix;



    const auto A_neg_X_local_correction_matrix = glm::mat4(0, 0, 1, 0, // col X

                                    0, -1, 0, 0, // col Y

                                    1, 0, 0, 0, // col Z

                                    0, 0, 0, 1 // col W

                                    );



    const auto corrected_component_matrix = matrix * A_neg_X_local_correction_matrix;



    const auto magic_matrix = glm::mat4(0, 1, 0, 0, // col X

                                        0, 0, 1, 0, // col Y

                                        1, 0, 0, 0, // col Z

                                        0, 0, 0, 1  // col W

                                        );

        

    auto m = magic_matrix * corrected_component_matrix;



    m[3] = glm::vec4(0.0f, 0.0f, 0.0f, 1.0f);

    return m;

src/filein/src/rofiworld_loader.cpp

+2 −5
Original line number Diff line number Diff line
@@ -142,8 +142,7 @@ void export_spaceJoint(boost::json::array &spaceJoints_array, const rofiworld_pt 
void export_spaceJoint_point(boost::json::object &spaceJoint_object, const node_ptr node)

{

    boost::json::array point_array;

    const auto position = convertToRoFICoordinates(node->getPositionWorld());

    // const auto position = node->getPositionWorld();

    const auto position = convertToRoFICoordinates(node->getPositionWorld(), node->getRotationAxisZWorld());



    for (int i = 0; i < 3; ++i)

        point_array.emplace_back(position[i]);
@@ -167,9 +166,7 @@ void export_spaceJoint_joint(boost::json::object &spaceJoint_object, const node_ 


void export_spaceJoint_joint_matrix(boost::json::object &joint_object, const node_ptr node)

{

    auto component_coord_convert = glm::toMat4(glm::rotation(glm::vec3(0.0f, 0.0f, -1.0f), -node->getRotationAxisZWorld()));

    // auto rotation_mat = convertToRoFICoordinates(component_coord_convert);

    auto rotation_mat = component_coord_convert;

    auto rotation_mat = convertToRoFICoordinates(node->getRotationMatWorld());

    float epsilon = 0.00001f;

    bool is_identity = true;