transformation.hpp

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*/

#ifndef TRANSFORMATION_HPP
#define TRANSFORMATION_HPP

#include "spline.hpp"
#include "vectors.hpp"
#include <iostream>

// Transform the mesh
struct Quaternion {
    double s;
    Vec3 v;
    Vec3 rotate (const Vec3 &point) const;
    static Quaternion from_axisangle(const Vec3 &axis, double angle);
    std::pair<Vec3, double> to_axisangle() const;
    Quaternion operator+(const Quaternion& q) const;
    Quaternion operator-(const Quaternion& q) const;
    Quaternion operator-() const;
    Quaternion operator*(const Quaternion& q) const;
    Quaternion operator*(double scalar) const;
    Quaternion operator/(double scalar) const;
};

Quaternion normalize (const Quaternion &q);
Quaternion inverse(const Quaternion &q);
double norm2(const Quaternion &q);
inline std::ostream &operator<< (std::ostream &out, const Quaternion &q) {out << "(" << q.s << ", " << q.v << ")"; return out;}

struct Transformation {
    Vec3 translation;
    double scale;
    Quaternion rotation;
    // for smpl, which has 24 parts
    std::vector<Quaternion> rotations;
    // also define the betas, have shape 10
    std::vector<double> dynamic_betas;
    Transformation (double factor=1);
    Vec3 apply (const Vec3 &point) const;
    Vec3 apply_vec (const Vec3 &vec) const;
    Transformation operator+(const Transformation& t) const;
    Transformation operator-(const Transformation& t) const;
    Transformation operator*(const Transformation& t) const;
    Transformation operator*(double scalar) const;
    Transformation operator/(double scalar) const;
};

Transformation identity_ ();
Transformation inverse(const Transformation &tr);
inline std::ostream &operator<< (std::ostream &out, const Transformation &t) {out << "(translation: " << t.translation << ", rotation: " << t.rotation << ", scale: " << t.scale << ")"; return out;}

typedef Spline<Transformation> Motion;
typedef std::pair<Transformation,Transformation> DTransformation;

void clean_up_quaternions (Motion &motion); // remove sign flips

Transformation get_trans (const Motion &motion, double t);
DTransformation get_dtrans (const Motion &motion, double t);

// for smpl
std::vector<Quaternion> get_smpl_quaternions(const Motion &transform_spline, double);
Transformation get_smpl_transformation(const Motion &transform_spline, double);

Vec3 apply_dtrans (const DTransformation &dT, const Vec3 &x0, Vec3 *vel=NULL);
Vec3 apply_dtrans_vec (const DTransformation &dT, const Vec3 &v0);

#endif