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DetectorChamber vtk handler

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This commit is contained in:
AndreaRigoni
2026-03-10 08:18:17 +00:00
parent 00275ac56d
commit f2133c31d5
14 changed files with 358 additions and 272 deletions
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98
src/Math/ContainerBox.h
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@@ -29,63 +29,147 @@
#define U_CONTAINERBOX_H
#include "Geometry.h"
#include "Math/Dense.h"
#include "Math/Transform.h"
#include <utility>
namespace uLib {
/**
* @brief Represents an oriented bounding box (OBB) within a hierarchical transformation system.
*
* ContainerBox inherits from AffineTransform, which defines its parent coordinate system.
* It contains an internal local transformation (m_LocalT) that defines the box's
* specific origin and size relative to its own coordinate system.
*/
class ContainerBox : public AffineTransform {
public:
ContainerBox() : m_LocalT(this) {}
typedef AffineTransform BaseClass;
public:
/**
* @brief Default constructor.
* Initializes the local transformation with this instance as its parent.
*/
ContainerBox() :
m_LocalT(this) // BaseClass is Parent of m_LocalTransform
{}
/**
* @brief Copy constructor.
* @param copy The ContainerBox instance to copy from.
*/
ContainerBox(const ContainerBox &copy) :
m_LocalT(this),
m_LocalT(this), // BaseClass is Parent of m_LocalTransform
AffineTransform(copy)
{
// FIX for performance //
this->SetOrigin(copy.GetOrigin());
this->SetSize(copy.GetSize());
}
/**
* @brief Sets the box origin relative to its coordinate system.
* @param v The origin position vector.
*/
inline void SetOrigin(const Vector3f &v) { m_LocalT.SetPosition(v); }
/**
* @brief Gets the box origin relative to its coordinate system.
* @return The origin position vector.
*/
inline Vector3f GetOrigin() const { return m_LocalT.GetPosition(); }
/**
* @brief Sets the size of the box.
* Re-initializes the local transformation and applies the new scale.
* @param v The size vector (width, height, depth).
*/
void SetSize(const Vector3f &v) {
Vector3f pos = this->GetOrigin();
m_LocalT = AffineTransform(this);
m_LocalT = AffineTransform(this); // regenerate local transform
m_LocalT.Scale(v);
m_LocalT.SetPosition(pos);
}
/**
* @brief Gets the current size (scale) of the box.
* @return The size vector.
*/
inline Vector3f GetSize() const { return m_LocalT.GetScale(); }
// FIX... //
/**
* @brief Swaps two local axes of the box.
* @param first Index of the first axis (0=X, 1=Y, 2=Z).
* @param second Index of the second axis (0=X, 1=Y, 2=Z).
*/
inline void FlipLocalAxes(int first, int second)
{ m_LocalT.FlipAxes(first,second); }
/**
* @brief Returns the world transformation matrix of the box's volume.
* @return A 4x4 transformation matrix.
*/
Matrix4f GetWorldMatrix() const { return m_LocalT.GetWorldMatrix(); }
/**
* @brief Returns the local transformation matrix of the box's volume.
* @return A 4x4 transformation matrix.
*/
Matrix4f GetLocalMatrix() const { return m_LocalT.GetMatrix(); }
/**
* @brief Transforms a point from box-local space to world space.
* @param v The local point (4D homogeneous vector).
* @return The transformed point in world space.
*/
inline Vector4f GetWorldPoint(const Vector4f &v) const {
return m_LocalT.GetWorldMatrix() * v;
}
/**
* @brief Transforms a point from box-local space coordinates to world space.
* @param x X coordinate in local space.
* @param y Y coordinate in local space.
* @param z Z coordinate in local space.
* @return The transformed point in world space.
*/
inline Vector4f GetWorldPoint(const float x, const float y, const float z) {
return this->GetWorldPoint(Vector4f(x,y,z,1));
}
/**
* @brief Transforms a point from world space to box-local space.
* @param v The world point (4D homogeneous vector).
* @return The transformed point in box-local space.
*/
inline Vector4f GetLocalPoint(const Vector4f &v) const {
return m_LocalT.GetWorldMatrix().inverse() * v;
}
/**
* @brief Transforms a point from world space coordinates to box-local space.
* @param x X coordinate in world space.
* @param y Y coordinate in world space.
* @param z Z coordinate in world space.
* @return The transformed point in box-local space.
*/
inline Vector4f GetLocalPoint(const float x, const float y, const float z) {
return this->GetLocalPoint(Vector4f(x,y,z,1));
}
/** Translate using transformation chain */
using BaseClass::Translate;
protected:
/** Rotate using transformation chain */
using BaseClass::Rotate;
/** Scale using transformation chain */
using BaseClass::Scale;
private:
AffineTransform m_LocalT;
};

4
src/Math/Geometry.h
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@@ -36,7 +36,7 @@ namespace uLib {
class Geometry : public AffineTransform {
public:
inline Vector4f GetWorldPoint(const Vector4f &v) const {
inline Vector4f GetWorldPoint(const Vector4f v) const {
return this->GetWorldMatrix() * v;
}
@@ -44,7 +44,7 @@ public:
return this->GetWorldPoint(Vector4f(x,y,z,1));
}
inline Vector4f GetLocalPoint(const Vector4f &v) const {
inline Vector4f GetLocalPoint(const Vector4f v) const {
return this->GetWorldMatrix().inverse() * v;
}

20
src/Math/Transform.h
View File

@@ -84,8 +84,8 @@ public:
inline void SetParent(AffineTransform *name) { this->m_Parent = name; }
inline void SetMatrix (Matrix4f &mat) { m_T.matrix() = mat; }
inline Matrix4f& GetMatrix () { return m_T.matrix(); }
inline void SetMatrix (Matrix4f mat) { m_T.matrix() = mat; }
inline Matrix4f GetMatrix() const { return m_T.matrix(); }
Matrix4f GetWorldMatrix() const
{
@@ -93,22 +93,22 @@ public:
else return m_Parent->GetWorldMatrix() * m_T.matrix(); // T = B * A //
}
inline void SetPosition(const Vector3f &v) { this->m_T.translation() = v; }
inline void SetPosition(const Vector3f v) { this->m_T.translation() = v; }
inline Vector3f GetPosition() const { return this->m_T.translation(); }
inline void SetRotation(const Matrix3f &m) { this->m_T.linear() = m; }
inline void SetRotation(const Matrix3f m) { this->m_T.linear() = m; }
inline Matrix3f GetRotation() const { return this->m_T.rotation(); }
inline void Translate(const Vector3f &v) { this->m_T.translate(v); }
inline void Translate(const Vector3f v) { this->m_T.translate(v); }
inline void Scale(const Vector3f &v) { this->m_T.scale(v); }
inline void Scale(const Vector3f v) { this->m_T.scale(v); }
inline Vector3f GetScale() const { return this->m_T.linear() * Vector3f(1,1,1); } // FIXXXXXXX
inline void Rotate(const Matrix3f &m) { this->m_T.rotate(m); }
inline void Rotate(const Matrix3f m) { this->m_T.rotate(m); }
inline void Rotate(const float angle, Vector3f axis)
{
@@ -122,12 +122,12 @@ public:
Rotate(angle,euler_axis);
}
inline void PreRotate(const Matrix3f &m) { this->m_T.prerotate(m); }
inline void PreRotate(const Matrix3f m) { this->m_T.prerotate(m); }
inline void QuaternionRotate(const Vector4f &q)
inline void QuaternionRotate(const Vector4f q)
{ this->m_T.rotate(Eigen::Quaternion<float>(q)); }
inline void EulerYZYRotate(const Vector3f &e) {
inline void EulerYZYRotate(const Vector3f e) {
Matrix3f mat;
mat = Eigen::AngleAxisf(e.x(), Vector3f::UnitY())
* Eigen::AngleAxisf(e.y(), Vector3f::UnitZ())

92
src/Math/testing/ContainerBoxTest.cpp
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@@ -31,6 +31,7 @@
#include "Math/Dense.h"
#include "Math/ContainerBox.h"
#include <cmath>
#include <iostream>
#include <math.h>
@@ -52,41 +53,82 @@ int main()
BEGIN_TESTING(Math ContainerBox);
ContainerBox Cnt;
// // Local transform:
Cnt.SetOrigin(Vector3f(-1,-1,-1));
Cnt.SetSize(Vector3f(2,2,2)); // scaling //
std::cout << "Container scale is: " << Cnt.GetSize().transpose() << "\n";
std::cout << "Container scale is: " << Cnt.GetSize().transpose() << "\n";
TEST0( Vector4f0(Cnt.GetSize().homogeneous() - HVector3f(2,2,2)) );
{
ContainerBox Cnt;
Cnt.SetOrigin(Vector3f(0,0,0));
Cnt.SetSize(Vector3f(2,2,2));
TEST0( Vector4f0(Cnt.GetOrigin().homogeneous() - HVector3f(0,0,0)) );
TEST0( Vector4f0(Cnt.GetSize().homogeneous() - HVector3f(2,2,2)) );
ContainerBox Box;
HPoint3f pt = Cnt.GetLocalPoint(HPoint3f(0,0,0));
HPoint3f wp = Cnt.GetWorldPoint(pt);
TEST0( Vector4f0(wp - HPoint3f(0,0,0)) );
Box.SetPosition(Vector3f(1,1,1));
Box.SetSize(Vector3f(2,2,2));
Box.EulerYZYRotate(Vector3f(0,0,0));
HPoint3f pt = Box.GetLocalPoint(HPoint3f(2,3,2));
HPoint3f wp = Box.GetWorldPoint(pt);
TEST0( Vector4f0(wp - HPoint3f(2,3,2)) );
HPoint3f pt2 = Cnt.GetLocalPoint(HPoint3f(2,2,2));
HPoint3f wp2 = Cnt.GetWorldPoint(pt2);
TEST0( Vector4f0(wp2 - HPoint3f(2,2,2)) );
HPoint3f pt3 = Cnt.GetLocalPoint(HPoint3f(1,1,1));
HPoint3f wp3 = Cnt.GetWorldPoint(pt3);
TEST0( Vector4f0(wp3 - HPoint3f(1,1,1)) );
//// // Global
// Cnt.SetPosition(Vector3f(1,1,1));
// Cnt.EulerYZYRotate(Vector3f(M_PI_2,M_PI_2,0));
// HPoint3f p = Cnt.GetWorldPoint(1,1,1);
// //std::cout << p.transpose() << "\n";
// TEST0( Vector4f0(p - HVector3f(2,1,2)) );
// p = Cnt.GetWorldPoint(1,2,3);
// //std::cout << p.transpose() << "\n";
// TEST0( Vector4f0(p - HVector3f(4,1,3)) );
HPoint3f pt4 = Cnt.GetLocalPoint(HPoint3f(1,2,3));
HPoint3f wp4 = Cnt.GetWorldPoint(pt4);
TEST0( Vector4f0(wp4 - HPoint3f(1,2,3)) );
}
{
ContainerBox Cnt;
Cnt.SetOrigin(Vector3f(0,0,0));
Cnt.SetSize(Vector3f(2,2,2));
Cnt.EulerYZYRotate(Vector3f(M_PI,0,0));
HPoint3f pt = Cnt.GetLocalPoint(HPoint3f(0,0,0));
HPoint3f wp = Cnt.GetWorldPoint(pt);
TEST0( Vector4f0(wp - HPoint3f(0,0,0)) );
// // scaling //
HPoint3f pt2 = Cnt.GetLocalPoint(HPoint3f(2,2,2));
HPoint3f wp2 = Cnt.GetWorldPoint(pt2);
TEST0( Vector4f0(wp2 - HPoint3f(2,2,2)) );
pt2 = HPoint3f(1,1,1);
wp2 = Cnt.GetWorldPoint(pt2);
TEST0( Vector4f0(wp2 - HPoint3f(-2,2,-2)) );
pt2 = HPoint3f(1,2,3);
wp2 = Cnt.GetWorldPoint(pt2);
TEST0( Vector4f0(wp2 - HPoint3f(-2,4,-6)) );
}
{
ContainerBox Cnt;
Cnt.SetOrigin(Vector3f(-1,-1,-1));
Cnt.SetSize(Vector3f(2,2,2)); // scaling //
HPoint3f pt2 = HPoint3f(.5,.5,.5);
HPoint3f wp2 = Cnt.GetWorldPoint(pt2);
TEST0( Vector4f0(wp2 - HPoint3f(0,0,0)) );
pt2 = HPoint3f(0,0,0);
wp2 = Cnt.GetWorldPoint(pt2);
TEST0( Vector4f0(wp2 - HPoint3f(-1,-1,-1)) );
Cnt.EulerYZYRotate(Vector3f(M_PI,0,0));
pt2 = HPoint3f(0,0,0);
wp2 = Cnt.GetWorldPoint(pt2);
TEST0( Vector4f0(wp2 - HPoint3f(1,-1,1)) );
}
{
ContainerBox Box;
Box.SetPosition(Vector3f(1,1,1));
Box.SetSize(Vector3f(2,2,2));
Box.EulerYZYRotate(Vector3f(0,0,0));
HPoint3f pt = Box.GetLocalPoint(HPoint3f(2,3,2));
HPoint3f wp = Box.GetWorldPoint(pt);
TEST0( Vector4f0(wp - HPoint3f(2,3,2)) );
}
END_TESTING;
}