/* * PROJECT: FLARManager * http://transmote.com/flar * Copyright 2009, Eric Socolofsky * -------------------------------------------------------------------------------- * This work complements FLARToolkit, developed by Saqoosha as part of the Libspark project. * http://www.libspark.org/wiki/saqoosha/FLARToolKit * FLARToolkit is Copyright (C)2008 Saqoosha, * and is ported from NYARToolkit, which is ported from ARToolkit. * * 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://transmote.com/flar * */ package com.transmote.flar.utils.geom { import __AS3__.vec.Vector; import flash.geom.Matrix3D; import flash.geom.Vector3D; import org.libspark.flartoolkit.core.transmat.FLARTransMatResult; import org.libspark.flartoolkit.core.types.matrix.FLARDoubleMatrix34; /** * collection of utils used for FLAR matrix transformation / conversion. * * @author Eric Socolofsky * @url http://transmote.com/flar */ public class FLARGeomUtils { private static const RADIANS_TO_DEGREES:Number = 180 / Math.PI; private static const DEGREES_TO_RADIANS:Number = Math.PI / 180; private static const FLAR_Z_OFFSET:Number = -2000 / 3; /** * convert a FLAR matrix to a Flash Matrix3D. */ public static function convertFLARMatrixToFlashMatrix3D (fm:FLARDoubleMatrix34, bMirror:Boolean=true) :Matrix3D { if (bMirror) { return new Matrix3D (Vector.([ -fm.m00, fm.m10, fm.m20, 0, fm.m01, -fm.m11, -fm.m21, 0, fm.m02, -fm.m12, -fm.m22, 0, -fm.m03, fm.m13, fm.m23+FLAR_Z_OFFSET, 1 ])); } else { return new Matrix3D (Vector.([ fm.m00, fm.m10, fm.m20, 0, -fm.m01, -fm.m11, -fm.m21, 0, -fm.m02, -fm.m12, -fm.m22, 0, fm.m03, fm.m13, fm.m23+FLAR_Z_OFFSET, 1 ])); } } /** * convert a FLAR matrix to a Flash Matrix3D. * deprecated: this method is equivalent to convertFLARMatrixToFlashMatrix3D, * and is present only for legacy support. */ public static function convertFLARMatrixToFlashMatrix (fm:FLARDoubleMatrix34, bMirror:Boolean=true) :Matrix3D { return convertFLARMatrixToFlashMatrix3D(fm, bMirror); } /** * calculate rotation around X, Y, and Z axes, * and return stored in a Vector3D instance. * NOTE: does not account for scale, as FLARToolkit matrices always scale equally in all three dimensons. */ public static function calcFLARMatrixRotations (fm:FLARDoubleMatrix34, bInDegrees:Boolean=true) :Vector3D { var rotations:Vector3D = new Vector3D(); rotations.x = Math.atan2(fm.m20, fm.m22); rotations.y = Math.asin(-fm.m21); rotations.z = Math.atan2(fm.m01, -fm.m11); if (bInDegrees) { rotations.x *= RADIANS_TO_DEGREES; rotations.y *= RADIANS_TO_DEGREES; rotations.z *= RADIANS_TO_DEGREES; } return rotations; } /** * calculate scale in X, Y, and Z dimensions, * and return stored in a Vector3D instance. * NOTE: FLARToolkit matrices should always scale equally in all three dimensions, * so this method is not likely to be useful. but, it's here now, so here it stays. */ public static function calcFLARMatrixScales (fm:FLARDoubleMatrix34) :Vector3D { var scales:Vector3D = new Vector3D(); scales.x = Math.sqrt(fm.m01*fm.m01 + fm.m11*fm.m11 + fm.m21*fm.m21); scales.y = Math.sqrt(fm.m00*fm.m00 + fm.m10*fm.m10 + fm.m20*fm.m20); scales.z = Math.sqrt(fm.m02*fm.m02 + fm.m12*fm.m12 + fm.m22*fm.m22); return scales; } /** * create an identity matrix as a FLARDoubleMatrix34. */ public static function createFLARIdentityMatrix () :FLARDoubleMatrix34 { var matrix:FLARDoubleMatrix34 = new FLARDoubleMatrix34(); matrix.m00 = 1; matrix.m01 = 0; matrix.m02 = 0; matrix.m03 = 0; matrix.m10 = 0; matrix.m11 = -1; matrix.m12 = 0; matrix.m13 = 0; matrix.m20 = 0; matrix.m21 = 0; matrix.m22 = -1; matrix.m23 = 0; return matrix; } /** * create an identity matrix as a FLARTransMatResult. */ public static function createFLARIdentityTransMat () :FLARTransMatResult { var matrix:FLARTransMatResult = new FLARTransMatResult(); matrix.m00 = 1; matrix.m01 = 0; matrix.m02 = 0; matrix.m03 = 0; matrix.m10 = 0; matrix.m11 = -1; matrix.m12 = 0; matrix.m13 = 0; matrix.m20 = 0; matrix.m21 = 0; matrix.m22 = -1; matrix.m23 = 0; return matrix; } /** * format a FLAR matrix as a String. * @param fm FLAR matrix to return as a String. * @param sd number of significant digits to display. */ public static function dumpFLARMatrix (fm:FLARDoubleMatrix34, sd:int=4) :String { return (fm.m00.toFixed(sd) +"\u0009"+ fm.m01.toFixed(sd) +"\u0009"+ fm.m02.toFixed(sd) +"\u0009"+ fm.m03.toFixed(sd) +"\n"+ fm.m10.toFixed(sd) +"\u0009"+ fm.m11.toFixed(sd) +"\u0009"+ fm.m12.toFixed(sd) +"\u0009"+ fm.m13.toFixed(sd) +"\n"+ fm.m20.toFixed(sd) +"\u0009"+ fm.m21.toFixed(sd) +"\u0009"+ fm.m22.toFixed(sd) +"\u0009"+ fm.m23.toFixed(sd)); } /** * Format Flash matrix as a String. * @param matrix matrix to return as a String. * @param sd number of significant digits to display. */ public static function dumpMatrix3D (matrix:Matrix3D, sd:int=4) :String { var m:Vector. = matrix.rawData; return (m[0].toFixed(sd) +"\u0009"+"\u0009"+ m[1].toFixed(sd) +"\u0009"+"\u0009"+ m[2].toFixed(sd) +"\u0009"+"\u0009"+ m[3].toFixed(sd) +"\n"+ m[4].toFixed(sd) +"\u0009"+"\u0009"+ m[5].toFixed(sd) +"\u0009"+"\u0009"+ m[6].toFixed(sd) +"\u0009"+"\u0009"+ m[7].toFixed(sd) +"\n"+ m[8].toFixed(sd) +"\u0009"+"\u0009"+ m[9].toFixed(sd) +"\u0009"+"\u0009"+ m[10].toFixed(sd) +"\u0009"+"\u0009"+ m[11].toFixed(sd) +"\n"+ m[12].toFixed(sd) +"\u0009"+"\u0009"+ m[13].toFixed(sd) +"\u0009"+"\u0009"+ m[14].toFixed(sd) +"\u0009"+"\u0009"+ m[15].toFixed(sd)); } public function FLARGeomUtils () {} } }