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fixed most ( still units error )

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This commit is contained in:
AndreaRigoni
2026-03-27 15:02:17 +00:00
parent 93e5602562
commit 038c6f99f4
22 changed files with 411 additions and 277 deletions
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125
src/Vtk/uLibVtkInterface.cxx
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@@ -63,6 +63,7 @@
#include "uLibVtkInterface.h"
#include "vtkHandlerWidget.h"
#include "Math/Dense.h"
#include "Vtk/Math/vtkDense.h"
#include "Core/Property.h"
@@ -75,12 +76,6 @@ namespace uLib {
namespace Vtk {
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
// PUPPET //
// PIMPL -------------------------------------------------------------------- //
class PuppetData {
@@ -98,9 +93,6 @@ public:
m_Dragable(true)
{
m_Color[0] = m_Color[1] = m_Color[2] = -1.0;
m_Position = Vector3d::Zero();
m_Orientation = Vector3d::Zero();
m_Scale = Vector3d::Ones();
}
~PuppetData() {
@@ -126,9 +118,7 @@ public:
bool m_Selected;
bool m_Visibility;
bool m_Dragable;
Vector3d m_Position;
Vector3d m_Orientation;
Vector3d m_Scale;
TRS m_Transform;
void ApplyAppearance(vtkProp *p) {
p->SetVisibility(m_Visibility);
@@ -154,13 +144,19 @@ public:
actor->GetProperty()->SetOpacity(m_Opacity);
}
}
}
// Handle transformation if it's a Prop3D
if (auto* p3d = vtkProp3D::SafeDownCast(p)) {
// NOTE: Usually managed by Puppet::Update from model, but here for direct prop manipulation
// p3d->SetPosition(m_Position.data());
// p3d->SetOrientation(m_Orientation.data());
// p3d->SetScale(m_Scale.data());
void ApplyTransform(vtkProp3D* p3d) {
if (p3d) {
p3d->SetPosition(m_Transform.position.x(), m_Transform.position.y(), m_Transform.position.z());
// Convert Model Radians to VTK Degrees
p3d->SetOrientation(m_Transform.rotation.x() / CLHEP::degree,
m_Transform.rotation.y() / CLHEP::degree,
m_Transform.rotation.z() / CLHEP::degree);
p3d->SetScale(m_Transform.scaling.x(), m_Transform.scaling.y(), m_Transform.scaling.z());
p3d->SetUserMatrix(nullptr);
}
}
@@ -203,6 +199,7 @@ public:
}
if (root) {
// Now that we use internal TRS, the prop's total matrix is GetMatrix()
m_HighlightActor->SetUserMatrix(root->GetMatrix());
}
@@ -227,6 +224,15 @@ public:
Puppet::Puppet() : Object(), pd(new PuppetData) {
ULIB_ACTIVATE_DISPLAY_PROPERTIES;
for (auto* p : this->GetDisplayProperties()) {
@@ -278,6 +284,16 @@ void Puppet::RemoveProp(vtkProp *prop)
// TODO
}
void Puppet::ApplyAppearance(vtkProp* prop)
{
pd->ApplyAppearance(prop);
}
void Puppet::ApplyTransform(vtkProp3D* p3d)
{
pd->ApplyTransform(p3d);
}
vtkPropCollection *Puppet::GetParts()
{
@@ -485,7 +501,7 @@ void Puppet::SetSelected(bool selected)
if (!pd->m_Selectable) return;
if (pd->m_Selected == selected) return;
pd->m_Selected = selected;
pd->UpdateHighlight();0
pd->UpdateHighlight();
}
bool Puppet::IsSelected() const
@@ -497,31 +513,15 @@ void Puppet::Update()
{
vtkProp* root = this->GetProp();
if (root) {
pd->ApplyAppearance(root);
// Handle transformation synchronization from content
if (auto* content = dynamic_cast<uLib::AffineTransform*>(GetContent())) {
pd->m_Position = content->GetPosition().cast<double>();
pd->m_Orientation = content->GetOrientation().cast<double>();
pd->m_Scale = content->GetScale().cast<double>();
pd->m_Transform = *content; // Uses TRS(const AffineTransform&)
}
if (auto* p3d = vtkProp3D::SafeDownCast(root)) {
vtkNew<vtkMatrix4x4> vmat;
const Matrix4f& emat = content->GetMatrix();
for(int i=0; i<4; ++i) for(int j=0; j<4; ++j) vmat->SetElement(i, j, emat(i,j));
p3d->SetUserMatrix(vmat);
// Clear base transform to avoid double-application
p3d->SetPosition(0,0,0);
p3d->SetOrientation(0,0,0);
p3d->SetScale(1,1,1);
}
}
else if (auto* p3d = vtkProp3D::SafeDownCast(root)) {
p3d->SetPosition(pd->m_Position.data());
p3d->SetOrientation(pd->m_Orientation.data());
p3d->SetScale(pd->m_Scale.data());
if (auto* p3d = vtkProp3D::SafeDownCast(root)) {
pd->ApplyTransform(p3d);
}
pd->ApplyAppearance(root);
}
vtkProp3DCollection *props = pd->m_Assembly->GetParts();
@@ -564,32 +564,29 @@ void Puppet::SyncFromVtk()
if (auto* p3d = vtkProp3D::SafeDownCast(root)) {
// Handle content synchronization if it's an AffineTransform
if (auto* content = dynamic_cast<uLib::AffineTransform*>(GetContent())) {
vtkMatrix4x4* vmat = p3d->GetUserMatrix();
if (vmat) {
Matrix4f emat;
for (int i=0; i<4; ++i)
for (int j=0; j<4; ++j)
emat(i, j) = vmat->GetElement(i, j);
content->SetMatrix(emat);
// Re-sync internal puppet properties from the now-updated content
pd->m_Position = content->GetPosition().cast<double>();
pd->m_Orientation = content->GetOrientation().cast<double>();
pd->m_Scale = content->GetScale().cast<double>();
}
}
else {
// Update internal puppet properties directly from base components
// only if no content exists (old behavior)
double pos[3], ori[3], scale[3];
p3d->GetPosition(pos);
p3d->GetOrientation(ori);
p3d->GetScale(scale);
for (int i=0; i<3; ++i) {
pd->m_Position(i) = pos[i];
pd->m_Orientation(i) = ori[i];
pd->m_Scale(i) = scale[i];
}
// Convert VTK Degrees to Model Radians
content->SetPosition(Vector3f(pos[0], pos[1], pos[2]));
content->SetOrientation(Vector3f(ori[0], ori[1], ori[2]) * CLHEP::degree);
content->SetScale(Vector3f(scale[0], scale[1], scale[2]));
// Re-sync internal puppet properties from the now-updated content
pd->m_Transform = *content;
}
else {
// Update internal puppet TRS directly from VTK components
double pos[3], ori[3], scale[3];
p3d->GetPosition(pos);
p3d->GetOrientation(ori);
p3d->GetScale(scale);
pd->m_Transform.position = Vector3f(pos[0], pos[1], pos[2]);
// Convert VTK Degrees to internal Radians
pd->m_Transform.rotation = Vector3f(ori[0], ori[1], ori[2]) * CLHEP::degree;
pd->m_Transform.scaling = Vector3f(scale[0], scale[1], scale[2]);
}
// Notify puppet properties updated
@@ -609,9 +606,7 @@ struct TransformProxy {
PuppetData* pd;
template<class Archive>
void serialize(Archive & ar, const unsigned int version) {
ar & boost::serialization::make_hrp("Position", pd->m_Position, "mm");
ar & boost::serialization::make_hrp("Orientation", pd->m_Orientation, "deg");
ar & boost::serialization::make_hrp("Scale", pd->m_Scale, "");
ar & boost::serialization::make_nvp("Transform", pd->m_Transform);
}
};