From a642d592de8ac30921cf2d290f9a713f0bf92f82 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Martin=20=C5=A0toura=C4=8D?= <525032@mail.muni.cz>
Date: Sat, 18 May 2024 00:53:54 +0200
Subject: [PATCH] fix translation and rotation in export
---
src/algo/include/algo/misc.hpp | 2 +-
src/algo/src/misc.cpp | 32 ++++++++++++++++++++++++-----
src/filein/src/rofiworld_loader.cpp | 7 ++-----
3 files changed, 30 insertions(+), 11 deletions(-)
diff --git a/src/algo/include/algo/misc.hpp b/src/algo/include/algo/misc.hpp
index 1cb5819..a8fb3ca 100644
--- a/src/algo/include/algo/misc.hpp
+++ b/src/algo/include/algo/misc.hpp
@@ -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
diff --git a/src/algo/src/misc.cpp b/src/algo/src/misc.cpp
index 59a3910..439800e 100644
--- a/src/algo/src/misc.cpp
+++ b/src/algo/src/misc.cpp
@@ -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;
diff --git a/src/filein/src/rofiworld_loader.cpp b/src/filein/src/rofiworld_loader.cpp
index 29ebc7f..8184a4e 100644
--- a/src/filein/src/rofiworld_loader.cpp
+++ b/src/filein/src/rofiworld_loader.cpp
@@ -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;
--
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