topical media & game development
student-ar-org-libspark-flartoolkit-core-transmat-rotmatrix-FLARRotVector.ax
student-ar-org-libspark-flartoolkit-core-transmat-rotmatrix-FLARRotVector.ax
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/*
* PROJECT: FLARToolKit
* --------------------------------------------------------------------------------
* This work is based on the NyARToolKit developed by
* R.Iizuka (nyatla)
* http://nyatla.jp/nyatoolkit/
*
* The FLARToolKit is ActionScript 3.0 version ARToolkit class library.
* Copyright (C)2008 Saqoosha
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this framework; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
* For further information please contact.
* http://www.libspark.org/wiki/saqoosha/FLARToolKit
* <saq(at)saqoosha.net>
*
*/
package org.libspark.flartoolkit.core.transmat.rotmatrix {
import org.libspark.flartoolkit.FLARException;
import org.libspark.flartoolkit.core.FLARMat;
import org.libspark.flartoolkit.core.param.FLARPerspectiveProjectionMatrix;
import org.libspark.flartoolkit.core.types.FLARDoublePoint2d;
import org.libspark.flartoolkit.core.types.FLARLinear;
public class @ax-student-ar-org-libspark-flartoolkit-core-transmat-rotmatrix-FLARRotVector {
//publicメンバ達
public var v1:Number;
public var v2:Number;
public var v3:Number;
//privateメンバ達
private var _projection_mat_ref:FLARPerspectiveProjectionMatrix;
private var _inv_cpara_array_ref:Array; // double[][]
public function @ax-student-ar-org-libspark-flartoolkit-core-transmat-rotmatrix-FLARRotVector(i_cmat:FLARPerspectiveProjectionMatrix) {
var mat_a:FLARMat = new FLARMat(3, 3);
var a_array:Array = mat_a.getArray(); // double[][]
a_array[0][0] = i_cmat.m00;
a_array[0][1] = i_cmat.m01;
a_array[0][2] = i_cmat.m02;
a_array[1][0] = i_cmat.m10;
a_array[1][1] = i_cmat.m11;
a_array[1][2] = i_cmat.m12;
a_array[2][0] = i_cmat.m20;
a_array[2][1] = i_cmat.m21;
a_array[2][2] = i_cmat.m22;
mat_a.matrixSelfInv();
this._projection_mat_ref = i_cmat;
this._inv_cpara_array_ref = mat_a.getArray();
//GCない言語のときは、ここで配列の所有権委譲してね！
}
２直線に直交するベクトルを計算する・・・だと思う。
parameter: i_linear1
parameter: i_linear2
public function exteriorProductFromLinear(i_linear1:FLARLinear, i_linear2:FLARLinear):void {
//1行目
const cmat:FLARPerspectiveProjectionMatrix = this._projection_mat_ref;
const w1:Number = i_linear1.run * i_linear2.rise - i_linear2.run * i_linear1.rise;
const w2:Number = i_linear1.rise * i_linear2.intercept - i_linear2.rise * i_linear1.intercept;
const w3:Number = i_linear1.intercept * i_linear2.run - i_linear2.intercept * i_linear1.run;
const m0:Number = w1 * (cmat.m01 * cmat.m12 - cmat.m02 * cmat.m11) + w2 * cmat.m11 - w3 * cmat.m01; //w1 * (cpara[0 * 4 + 1] * cpara[1 * 4 + 2] - cpara[0 * 4 + 2] * cpara[1 * 4 + 1]) + w2 * cpara[1 * 4 + 1] - w3 * cpara[0 * 4 + 1];
const m1:Number = -w1 * cmat.m00 * cmat.m12 + w3 * cmat.m00; //-w1 * cpara[0 * 4 + 0] * cpara[1 * 4 + 2] + w3 * cpara[0 * 4 + 0];
const m2:Number = w1 * cmat.m00 * cmat.m11; //w1 * cpara[0 * 4 + 0] * cpara[1 * 4 + 1];
const w:Number = Math.sqrt(m0 * m0 + m1 * m1 + m2 * m2);
this.v1 = m0 / w;
this.v2 = m1 / w;
this.v3 = m2 / w;
return;
}
static int check_dir( double dir[3], double st[2], double ed[2],double cpara[3][4] ) Optimize:STEP[526->468]
ベクトルの開始/終了座標を指定して、ベクトルの方向を調整する。
parameter: i_start_vertex
parameter: i_end_vertex
parameter: cpara
public function checkVectorByVertex(i_start_vertex:FLARDoublePoint2d, i_end_vertex:FLARDoublePoint2d):void {
var h:Number;
const inv_cpara:Array = this._inv_cpara_array_ref; // double[][]
//const double[] world = __checkVectorByVertex_world;// [2][3];
const world0:Number = inv_cpara[0][0] * i_start_vertex.x * 10.0 + inv_cpara[0][1] * i_start_vertex.y * 10.0 + inv_cpara[0][2] * 10.0; // mat_a->m[0]*st[0]*10.0+
const world1:Number = inv_cpara[1][0] * i_start_vertex.x * 10.0 + inv_cpara[1][1] * i_start_vertex.y * 10.0 + inv_cpara[1][2] * 10.0; // mat_a->m[3]*st[0]*10.0+
const world2:Number = inv_cpara[2][0] * i_start_vertex.x * 10.0 + inv_cpara[2][1] * i_start_vertex.y * 10.0 + inv_cpara[2][2] * 10.0; // mat_a->m[6]*st[0]*10.0+
const world3:Number = world0 + this.v1;
const world4:Number = world1 + this.v2;
const world5:Number = world2 + this.v3;
// </Optimize>
//const double[] camera = __checkVectorByVertex_camera;// [2][2];
const cmat:FLARPerspectiveProjectionMatrix = this._projection_mat_ref;
//h = cpara[2 * 4 + 0] * world0 + cpara[2 * 4 + 1] * world1 + cpara[2 * 4 + 2] * world2;
h = cmat.m20 * world0 + cmat.m21 * world1 + cmat.m22 * world2;
if (h == 0.0) {
throw new FLARException();
}
//const double camera0 = (cpara[0 * 4 + 0] * world0 + cpara[0 * 4 + 1] * world1 + cpara[0 * 4 + 2] * world2) / h;
//const double camera1 = (cpara[1 * 4 + 0] * world0 + cpara[1 * 4 + 1] * world1 + cpara[1 * 4 + 2] * world2) / h;
const camera0:Number = (cmat.m00 * world0 + cmat.m01 * world1 + cmat.m02 * world2) / h;
const camera1:Number = (cmat.m10 * world0 + cmat.m11 * world1 + cmat.m12 * world2) / h;
//h = cpara[2 * 4 + 0] * world3 + cpara[2 * 4 + 1] * world4 + cpara[2 * 4 + 2] * world5;
h = cmat.m20 * world3 + cmat.m21 * world4 + cmat.m22 * world5;
if (h == 0.0) {
throw new FLARException();
}
//const double camera2 = (cpara[0 * 4 + 0] * world3 + cpara[0 * 4 + 1] * world4 + cpara[0 * 4 + 2] * world5) / h;
//const double camera3 = (cpara[1 * 4 + 0] * world3 + cpara[1 * 4 + 1] * world4 + cpara[1 * 4 + 2] * world5) / h;
const camera2:Number = (cmat.m00 * world3 + cmat.m01 * world4 + cmat.m02 * world5) / h;
const camera3:Number = (cmat.m10 * world3 + cmat.m11 * world4 + cmat.m12 * world5) / h;
const v:Number = (i_end_vertex.x - i_start_vertex.x) * (camera2 - camera0) + (i_end_vertex.y - i_start_vertex.y) * (camera3 - camera1);
if (v < 0) {
this.v1 = -this.v1;
this.v2 = -this.v2;
this.v3 = -this.v3;
}
}
int check_rotation( double rot[2][3] )
2つのベクトル引数の調整をする？
parameter: i_r
@throws FLARException
public static function checkRotation(io_vec1:@ax-student-ar-org-libspark-flartoolkit-core-transmat-rotmatrix-FLARRotVector, io_vec2:@ax-student-ar-org-libspark-flartoolkit-core-transmat-rotmatrix-FLARRotVector):void {
var w:Number;
var f:Number;
var vec10:Number = io_vec1.v1;
var vec11:Number = io_vec1.v2;
var vec12:Number = io_vec1.v3;
var vec20:Number = io_vec2.v1;
var vec21:Number = io_vec2.v2;
var vec22:Number = io_vec2.v3;
var vec30:Number = vec11 * vec22 - vec12 * vec21;
var vec31:Number = vec12 * vec20 - vec10 * vec22;
var vec32:Number = vec10 * vec21 - vec11 * vec20;
w = Math.sqrt(vec30 * vec30 + vec31 * vec31 + vec32 * vec32);
if (w == 0.0) {
throw new FLARException();
}
vec30 /= w;
vec31 /= w;
vec32 /= w;
var cb:Number = vec10 * vec20 + vec11 * vec21 + vec12 * vec22;
if (cb < 0) {
cb = -cb;//cb *= -1.0;
}
const ca:Number = (Math.sqrt(cb + 1.0) + Math.sqrt(1.0 - cb)) * 0.5;
if (vec31 * vec10 - vec11 * vec30 != 0.0) {
f = 0;
} else {
if (vec32 * vec10 - vec12 * vec30 != 0.0) {
w = vec11;
vec11 = vec12;
vec12 = w;
w = vec31;
vec31 = vec32;
vec32 = w;
f = 1;
} else {
w = vec10;
vec10 = vec12;
vec12 = w;
w = vec30;
vec30 = vec32;
vec32 = w;
f = 2;
}
}
if (vec31 * vec10 - vec11 * vec30 == 0.0) {
throw new FLARException();
}
var k1:Number, k2:Number, k3:Number, k4:Number;
var a:Number, b:Number, c:Number, d:Number;
var p1:Number, q1:Number, r1:Number;
var p2:Number, q2:Number, r2:Number;
var p3:Number, q3:Number, r3:Number;
var p4:Number, q4:Number, r4:Number;
k1 = (vec11 * vec32 - vec31 * vec12) / (vec31 * vec10 - vec11 * vec30);
k2 = (vec31 * ca) / (vec31 * vec10 - vec11 * vec30);
k3 = (vec10 * vec32 - vec30 * vec12) / (vec30 * vec11 - vec10 * vec31);
k4 = (vec30 * ca) / (vec30 * vec11 - vec10 * vec31);
a = k1 * k1 + k3 * k3 + 1;
b = k1 * k2 + k3 * k4;
c = k2 * k2 + k4 * k4 - 1;
d = b * b - a * c;
if (d < 0) {
throw new FLARException();
}
r1 = (-b + Math.sqrt(d)) / a;
p1 = k1 * r1 + k2;
q1 = k3 * r1 + k4;
r2 = (-b - Math.sqrt(d)) / a;
p2 = k1 * r2 + k2;
q2 = k3 * r2 + k4;
if (f == 1) {
w = q1;
q1 = r1;
r1 = w;
w = q2;
q2 = r2;
r2 = w;
w = vec11;
vec11 = vec12;
vec12 = w;
w = vec31;
vec31 = vec32;
vec32 = w;
f = 0;
}
if (f == 2) {
w = p1;
p1 = r1;
r1 = w;
w = p2;
p2 = r2;
r2 = w;
w = vec10;
vec10 = vec12;
vec12 = w;
w = vec30;
vec30 = vec32;
vec32 = w;
f = 0;
}
if (vec31 * vec20 - vec21 * vec30 != 0.0) {
f = 0;
} else {
if (vec32 * vec20 - vec22 * vec30 != 0.0) {
w = vec21;
vec21 = vec22;
vec22 = w;
w = vec31;
vec31 = vec32;
vec32 = w;
f = 1;
} else {
w = vec20;
vec20 = vec22;
vec22 = w;
w = vec30;
vec30 = vec32;
vec32 = w;
f = 2;
}
}
if (vec31 * vec20 - vec21 * vec30 == 0.0) {
throw new FLARException();
}
k1 = (vec21 * vec32 - vec31 * vec22) / (vec31 * vec20 - vec21 * vec30);
k2 = (vec31 * ca) / (vec31 * vec20 - vec21 * vec30);
k3 = (vec20 * vec32 - vec30 * vec22) / (vec30 * vec21 - vec20 * vec31);
k4 = (vec30 * ca) / (vec30 * vec21 - vec20 * vec31);
a = k1 * k1 + k3 * k3 + 1;
b = k1 * k2 + k3 * k4;
c = k2 * k2 + k4 * k4 - 1;
d = b * b - a * c;
if (d < 0) {
throw new FLARException();
}
r3 = (-b + Math.sqrt(d)) / a;
p3 = k1 * r3 + k2;
q3 = k3 * r3 + k4;
r4 = (-b - Math.sqrt(d)) / a;
p4 = k1 * r4 + k2;
q4 = k3 * r4 + k4;
if (f == 1) {
w = q3;
q3 = r3;
r3 = w;
w = q4;
q4 = r4;
r4 = w;
w = vec21;
vec21 = vec22;
vec22 = w;
w = vec31;
vec31 = vec32;
vec32 = w;
f = 0;
}
if (f == 2) {
w = p3;
p3 = r3;
r3 = w;
w = p4;
p4 = r4;
r4 = w;
w = vec20;
vec20 = vec22;
vec22 = w;
w = vec30;
vec30 = vec32;
vec32 = w;
f = 0;
}
var e1:Number = p1 * p3 + q1 * q3 + r1 * r3;
if (e1 < 0) {
e1 = -e1;
}
var e2:Number = p1 * p4 + q1 * q4 + r1 * r4;
if (e2 < 0) {
e2 = -e2;
}
var e3:Number = p2 * p3 + q2 * q3 + r2 * r3;
if (e3 < 0) {
e3 = -e3;
}
var e4:Number = p2 * p4 + q2 * q4 + r2 * r4;
if (e4 < 0) {
e4 = -e4;
}
if (e1 < e2) {
if (e1 < e3) {
if (e1 < e4) {
io_vec1.v1 = p1;
io_vec1.v2 = q1;
io_vec1.v3 = r1;
io_vec2.v1 = p3;
io_vec2.v2 = q3;
io_vec2.v3 = r3;
} else {
io_vec1.v1 = p2;
io_vec1.v2 = q2;
io_vec1.v3 = r2;
io_vec2.v1 = p4;
io_vec2.v2 = q4;
io_vec2.v3 = r4;
}
} else {
if (e3 < e4) {
io_vec1.v1 = p2;
io_vec1.v2 = q2;
io_vec1.v3 = r2;
io_vec2.v1 = p3;
io_vec2.v2 = q3;
io_vec2.v3 = r3;
} else {
io_vec1.v1 = p2;
io_vec1.v2 = q2;
io_vec1.v3 = r2;
io_vec2.v1 = p4;
io_vec2.v2 = q4;
io_vec2.v3 = r4;
}
}
} else {
if (e2 < e3) {
if (e2 < e4) {
io_vec1.v1 = p1;
io_vec1.v2 = q1;
io_vec1.v3 = r1;
io_vec2.v1 = p4;
io_vec2.v2 = q4;
io_vec2.v3 = r4;
} else {
io_vec1.v1 = p2;
io_vec1.v2 = q2;
io_vec1.v3 = r2;
io_vec2.v1 = p4;
io_vec2.v2 = q4;
io_vec2.v3 = r4;
}
} else {
if (e3 < e4) {
io_vec1.v1 = p2;
io_vec1.v2 = q2;
io_vec1.v3 = r2;
io_vec2.v1 = p3;
io_vec2.v2 = q3;
io_vec2.v3 = r3;
} else {
io_vec1.v1 = p2;
io_vec1.v2 = q2;
io_vec1.v3 = r2;
io_vec2.v1 = p4;
io_vec2.v2 = q4;
io_vec2.v3 = r4;
}
}
}
return;
}
}
}
(C) Æliens
04/09/2009
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In case of other copyright issues, contact the author.
