OpenVDB  9.1.1
Transform.h
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1 // Copyright Contributors to the OpenVDB Project
2 // SPDX-License-Identifier: MPL-2.0
3 
4 #ifndef OPENVDB_MATH_TRANSFORM_HAS_BEEN_INCLUDED
5 #define OPENVDB_MATH_TRANSFORM_HAS_BEEN_INCLUDED
6 
7 #include "Maps.h"
8 #include <openvdb/Types.h>
9 #include <iosfwd>
10 
11 namespace openvdb {
13 namespace OPENVDB_VERSION_NAME {
14 namespace math {
15 
16 // Forward declaration
17 class Transform;
18 
19 
20 // Utility methods
21 
22 /// @brief Calculate an axis-aligned bounding box in index space from an
23 /// axis-aligned bounding box in world space.
24 /// @see Transform::worldToIndex(const BBoxd&) const
25 OPENVDB_API void
26 calculateBounds(const Transform& t, const Vec3d& minWS, const Vec3d& maxWS,
27  Vec3d& minIS, Vec3d& maxIS);
28 
29 /// @todo Calculate an axis-aligned bounding box in index space from a
30 /// bounding sphere in world space.
31 //void calculateBounds(const Transform& t, const Vec3d& center, const Real radius,
32 // Vec3d& minIS, Vec3d& maxIS);
33 
34 
35 ////////////////////////////////////////
36 
37 
38 /// @class Transform
40 {
41 public:
44 
45  Transform(): mMap(MapBase::Ptr(new ScaleMap())) {}
46  Transform(const MapBase::Ptr&);
47  Transform(const Transform&);
49 
50  Ptr copy() const { return Ptr(new Transform(mMap->copy())); }
51 
52  //@{
53  /// @brief Create and return a shared pointer to a new transform.
54  static Transform::Ptr createLinearTransform(double voxelSize = 1.0);
55  static Transform::Ptr createLinearTransform(const Mat4R&);
56  static Transform::Ptr createFrustumTransform(const BBoxd&, double taper,
57  double depth, double voxelSize = 1.0);
58  //@}
59 
60  /// Return @c true if the transformation map is exclusively linear/affine.
61  bool isLinear() const { return mMap->isLinear(); }
62 
63  /// Return @c true if the transform is equivalent to an idenity.
64  bool isIdentity() const ;
65  /// Return the transformation map's type-name
66  Name mapType() const { return mMap->type(); }
67 
68 
69  //@{
70  /// @brief Update the linear (affine) map by prepending or
71  /// postfixing the appropriate operation. In the case of
72  /// a frustum, the pre-operations apply to the linear part
73  /// of the transform and not the entire transform, while the
74  /// post-operations are allways applied last.
75  void preRotate(double radians, const Axis axis = X_AXIS);
76  void preTranslate(const Vec3d&);
77  void preScale(const Vec3d&);
78  void preScale(double);
79  void preShear(double shear, Axis axis0, Axis axis1);
80  void preMult(const Mat4d&);
81  void preMult(const Mat3d&);
82 
83  void postRotate(double radians, const Axis axis = X_AXIS);
84  void postTranslate(const Vec3d&);
85  void postScale(const Vec3d&);
86  void postScale(double);
87  void postShear(double shear, Axis axis0, Axis axis1);
88  void postMult(const Mat4d&);
89  void postMult(const Mat3d&);
90  //@}
91 
92  /// Return the size of a voxel using the linear component of the map.
93  Vec3d voxelSize() const { return mMap->voxelSize(); }
94  /// @brief Return the size of a voxel at position (x, y, z).
95  /// @note Maps that have a nonlinear component (e.g., perspective and frustum maps)
96  /// have position-dependent voxel sizes.
97  Vec3d voxelSize(const Vec3d& xyz) const { return mMap->voxelSize(xyz); }
98 
99  /// Return the voxel volume of the linear component of the map.
100  double voxelVolume() const { return mMap->determinant(); }
101  /// Return the voxel volume at position (x, y, z).
102  double voxelVolume(const Vec3d& xyz) const { return mMap->determinant(xyz); }
103  /// Return true if the voxels in world space are uniformly sized cubes
104  bool hasUniformScale() const { return mMap->hasUniformScale(); }
105 
106  //@{
107  /// @brief Apply this transformation to the given coordinates.
108  Vec3d indexToWorld(const Vec3d& xyz) const { return mMap->applyMap(xyz); }
109  Vec3d indexToWorld(const Coord& ijk) const { return mMap->applyMap(ijk.asVec3d()); }
110  Vec3d worldToIndex(const Vec3d& xyz) const { return mMap->applyInverseMap(xyz); }
111  Coord worldToIndexCellCentered(const Vec3d& xyz) const {return Coord::round(worldToIndex(xyz));}
112  Coord worldToIndexNodeCentered(const Vec3d& xyz) const {return Coord::floor(worldToIndex(xyz));}
113  //@}
114 
115  //@{
116  /// @brief Apply this transformation to the given index-space bounding box.
117  /// @return an axis-aligned world-space bounding box
118  BBoxd indexToWorld(const CoordBBox&) const;
119  BBoxd indexToWorld(const BBoxd&) const;
120  //@}
121  //@{
122  /// @brief Apply the inverse of this transformation to the given world-space bounding box.
123  /// @return an axis-aligned index-space bounding box
124  BBoxd worldToIndex(const BBoxd&) const;
125  CoordBBox worldToIndexCellCentered(const BBoxd&) const;
126  CoordBBox worldToIndexNodeCentered(const BBoxd&) const;
127  //@}
128 
129  //@{
130  /// Return a base pointer to the transformation map.
131  MapBase::ConstPtr baseMap() const { return mMap; }
132  MapBase::Ptr baseMap() { return mMap; }
133  //@}
134 
135  //@{
136  /// @brief Return the result of downcasting the base map pointer to a
137  /// @c MapType pointer, or return a null pointer if the types are incompatible.
138  template<typename MapType> typename MapType::Ptr map();
139  template<typename MapType> typename MapType::ConstPtr map() const;
140  template<typename MapType> typename MapType::ConstPtr constMap() const;
141  //@}
142 
143  /// Unserialize this transform from the given stream.
144  void read(std::istream&);
145  /// Serialize this transform to the given stream.
146  void write(std::ostream&) const;
147 
148  /// @brief Print a description of this transform.
149  /// @param os a stream to which to write textual information
150  /// @param indent a string with which to prefix each line of text
151  void print(std::ostream& os = std::cout, const std::string& indent = "") const;
152 
153  bool operator==(const Transform& other) const;
154  inline bool operator!=(const Transform& other) const { return !(*this == other); }
155 
156 private:
157  MapBase::Ptr mMap;
158 }; // class Transform
159 
160 
161 OPENVDB_API std::ostream& operator<<(std::ostream&, const Transform&);
162 
163 
164 ////////////////////////////////////////
165 
166 
167 template<typename MapType>
168 inline typename MapType::Ptr
169 Transform::map()
170 {
171  if (mMap->type() == MapType::mapType()) {
172  return StaticPtrCast<MapType>(mMap);
173  }
174  return typename MapType::Ptr();
175 }
176 
177 
178 template<typename MapType>
179 inline typename MapType::ConstPtr
180 Transform::map() const
181 {
182  return ConstPtrCast<const MapType>(
183  const_cast<Transform*>(this)->map<MapType>());
184 }
185 
186 
187 template<typename MapType>
188 inline typename MapType::ConstPtr
189 Transform::constMap() const
190 {
191  return map<MapType>();
192 }
193 
194 
195 ////////////////////////////////////////
196 
197 
198 /// Helper function used internally by processTypedMap()
199 template<typename ResolvedMapType, typename OpType>
200 inline void
201 doProcessTypedMap(Transform& transform, OpType& op)
202 {
203  ResolvedMapType& resolvedMap = *transform.map<ResolvedMapType>();
204  op.template operator()<ResolvedMapType>(resolvedMap);
205 }
206 
207 /// Helper function used internally by processTypedMap()
208 template<typename ResolvedMapType, typename OpType>
209 inline void
210 doProcessTypedMap(const Transform& transform, OpType& op)
211 {
212  const ResolvedMapType& resolvedMap = *transform.map<ResolvedMapType>();
213  op.template operator()<ResolvedMapType>(resolvedMap);
214 }
215 
216 
217 /// @brief Utility function that, given a generic map pointer,
218 /// calls a functor on the fully-resoved map
219 ///
220 /// Usage:
221 /// @code
222 /// struct Foo {
223 /// template<typename MapT>
224 /// void operator()(const MapT& map) const { blah }
225 /// };
226 ///
227 /// processTypedMap(myMap, Foo());
228 /// @endcode
229 ///
230 /// @return @c false if the grid type is unknown or unhandled.
231 template<typename TransformType, typename OpType>
232 bool
233 processTypedMap(TransformType& transform, OpType& op)
234 {
235  using namespace openvdb;
236 
237  const Name mapType = transform.mapType();
238  if (mapType == UniformScaleMap::mapType()) {
239  doProcessTypedMap<UniformScaleMap, OpType>(transform, op);
240 
241  } else if (mapType == UniformScaleTranslateMap::mapType()) {
242  doProcessTypedMap<UniformScaleTranslateMap, OpType>(transform, op);
243 
244  } else if (mapType == ScaleMap::mapType()) {
245  doProcessTypedMap<ScaleMap, OpType>(transform, op);
246 
247  } else if (mapType == ScaleTranslateMap::mapType()) {
248  doProcessTypedMap<ScaleTranslateMap, OpType>(transform, op);
249 
250  } else if (mapType == UnitaryMap::mapType()) {
251  doProcessTypedMap<UnitaryMap, OpType>(transform, op);
252 
253  } else if (mapType == AffineMap::mapType()) {
254  doProcessTypedMap<AffineMap, OpType>(transform, op);
255 
256  } else if (mapType == TranslationMap::mapType()) {
257  doProcessTypedMap<TranslationMap, OpType>(transform, op);
258 
259  } else if (mapType == NonlinearFrustumMap::mapType()) {
260  doProcessTypedMap<NonlinearFrustumMap, OpType>(transform, op);
261  } else {
262  return false;
263  }
264  return true;
265 }
266 
267 } // namespace math
268 } // namespace OPENVDB_VERSION_NAME
269 } // namespace openvdb
270 
271 #endif // OPENVDB_MATH_TRANSFORM_HAS_BEEN_INCLUDED
Ptr copy() const
Definition: Transform.h:50
Axis
Definition: Math.h:901
MapBase::Ptr baseMap()
Return a base pointer to the transformation map.
Definition: Transform.h:132
#define OPENVDB_API
Definition: Platform.h:249
double voxelVolume(const Vec3d &xyz) const
Return the voxel volume at position (x, y, z).
Definition: Transform.h:102
OPENVDB_API std::ostream & operator<<(std::ostream &, const Transform &)
Vec3d voxelSize(const Vec3d &xyz) const
Return the size of a voxel at position (x, y, z).
Definition: Transform.h:97
double voxelVolume() const
Return the voxel volume of the linear component of the map.
Definition: Transform.h:100
OPENVDB_API void calculateBounds(const Transform &t, const Vec3d &minWS, const Vec3d &maxWS, Vec3d &minIS, Vec3d &maxIS)
Calculate an axis-aligned bounding box in index space from an axis-aligned bounding box in world spac...
MapBase::ConstPtr baseMap() const
Return a base pointer to the transformation map.
Definition: Transform.h:131
void doProcessTypedMap(const Transform &transform, OpType &op)
Helper function used internally by processTypedMap()
Definition: Transform.h:210
SharedPtr< const Transform > ConstPtr
Definition: Transform.h:43
bool hasUniformScale() const
Return true if the voxels in world space are uniformly sized cubes.
Definition: Transform.h:104
Axis-aligned bounding box of signed integer coordinates.
Definition: Coord.h:248
Abstract base class for maps.
Definition: Maps.h:134
bool isLinear() const
Return true if the transformation map is exclusively linear/affine.
Definition: Transform.h:61
Vec3d indexToWorld(const Vec3d &xyz) const
Apply this transformation to the given coordinates.
Definition: Transform.h:108
Transform()
Definition: Transform.h:45
static fileSize_t write(std::ostream &os, const GridHandle< BufferT > &handle, Codec codec)
bool operator==(const Vec3< T0 > &v0, const Vec3< T1 > &v1)
Equality operator, does exact floating point comparisons.
Definition: Vec3.h:477
A specialized Affine transform that scales along the principal axis the scaling need not be uniform i...
Definition: Maps.h:669
Definition: Transform.h:39
bool processTypedMap(TransformType &transform, OpType &op)
Utility function that, given a generic map pointer, calls a functor on the fully-resoved map...
Definition: Transform.h:233
static void read(std::istream &is, GridHandle< BufferT > &handle, Codec codec)
Vec3< double > Vec3d
Definition: Vec3.h:668
Coord worldToIndexNodeCentered(const Vec3d &xyz) const
Apply this transformation to the given coordinates.
Definition: Transform.h:112
Vec3d voxelSize() const
Return the size of a voxel using the linear component of the map.
Definition: Transform.h:93
SharedPtr< MapBase > Ptr
Definition: Maps.h:137
MapType::Ptr map()
Return the result of downcasting the base map pointer to a MapType pointer, or return a null pointer ...
Definition: Transform.h:169
Definition: Exceptions.h:13
Name mapType() const
Return the transformation map&#39;s type-name.
Definition: Transform.h:66
bool isIdentity(const MatType &m)
Determine if a matrix is an identity matrix.
Definition: Mat.h:882
MatType shear(Axis axis0, Axis axis1, typename MatType::value_type shear)
Set the matrix to a shear along axis0 by a fraction of axis1.
Definition: Mat.h:710
bool operator!=(const Transform &other) const
Definition: Transform.h:154
OPENVDB_AX_API void print(const ast::Node &node, const bool numberStatements=true, std::ostream &os=std::cout, const char *indent=" ")
Writes a descriptive printout of a Node hierarchy into a target stream.
Signed (x, y, z) 32-bit integer coordinates.
Definition: Coord.h:24
Coord worldToIndexCellCentered(const Vec3d &xyz) const
Apply this transformation to the given coordinates.
Definition: Transform.h:111
~Transform()
Definition: Transform.h:48
Vec3d worldToIndex(const Vec3d &xyz) const
Apply this transformation to the given coordinates.
Definition: Transform.h:110
std::shared_ptr< T > SharedPtr
Definition: Types.h:114
Vec3d asVec3d() const
Definition: Coord.h:143
std::string Name
Definition: Name.h:17
SharedPtr< const MapBase > ConstPtr
Definition: Maps.h:138
#define OPENVDB_VERSION_NAME
The version namespace name for this library version.
Definition: version.h.in:116
SharedPtr< Transform > Ptr
Definition: Transform.h:42
Vec3d indexToWorld(const Coord &ijk) const
Apply this transformation to the given coordinates.
Definition: Transform.h:109
#define OPENVDB_USE_VERSION_NAMESPACE
Definition: version.h.in:202
Definition: Math.h:902