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Added ModelInstance::world_matrix() method and stl_transform using eigen transform

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This commit is contained in:
Enrico Turri 2018-09-04 14:42:14 +02:00
parent 5f2afad95e
commit 15b1340514
8 changed files with 89 additions and 46 deletions
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41
xs/src/admesh/util.cpp
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@ -155,6 +155,47 @@ void stl_transform(stl_file *stl, float *trafo3x4) {
calculate_normals(stl);
}
void stl_transform(stl_file *stl, const Eigen::Transform<float, 3, Eigen::Affine, Eigen::DontAlign>& t)
{
if (stl->error)
return;
unsigned int vertices_count = 3 * (unsigned int)stl->stats.number_of_facets;
if (vertices_count == 0)
return;
Eigen::MatrixXf src_vertices(3, vertices_count);
stl_facet* facet_ptr = stl->facet_start;
unsigned int v_id = 0;
while (facet_ptr < stl->facet_start + stl->stats.number_of_facets)
{
for (int i = 0; i < 3; ++i)
{
::memcpy((void*)src_vertices.col(v_id).data(), (const void*)&facet_ptr->vertex[i], 3 * sizeof(float));
++v_id;
}
facet_ptr += 1;
}
Eigen::MatrixXf dst_vertices(3, vertices_count);
dst_vertices = t * src_vertices.colwise().homogeneous();
facet_ptr = stl->facet_start;
v_id = 0;
while (facet_ptr < stl->facet_start + stl->stats.number_of_facets)
{
for (int i = 0; i < 3; ++i)
{
::memcpy((void*)&facet_ptr->vertex[i], (const void*)dst_vertices.col(v_id).data(), 3 * sizeof(float));
++v_id;
}
facet_ptr += 1;
}
stl_get_size(stl);
calculate_normals(stl);
}
void
stl_rotate_x(stl_file *stl, float angle) {
int i;