transform_decompose.h

/********************************************************************
 * Copyright (C) 2015 Liangliang Nan <liangliang.nan@gmail.com>
 * https://3d.bk.tudelft.nl/liangliang/
 *
 * This file is part of Easy3D. If it is useful in your research/work,
 * I would be grateful if you show your appreciation by citing it:
 * ------------------------------------------------------------------
 *      Liangliang Nan.
 *      Easy3D: a lightweight, easy-to-use, and efficient C++ library
 *      for processing and rendering 3D data.
 *      Journal of Open Source Software, 6(64), 3255, 2021.
 * ------------------------------------------------------------------
 *
 * Easy3D is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License Version 3
 * as published by the Free Software Foundation.
 *
 * Easy3D 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 program. If not, see <http://www.gnu.org/licenses/>.
 ********************************************************************/
 
#ifndef EASY_RENDERER_TRANSFORM_DECOMPOSE_H
#define EASY_RENDERER_TRANSFORM_DECOMPOSE_H
 
 
#include <easy3d/core/types.h>
 
 
// Defines functions that decompose a transformation matrix into its original components.
 
// If you want to work with real cameras, see "Extrinsic/Intrinsic Decomposition"
// The Perspective Camera - An Interactive Tour:
//          http://ksimek.github.io/2012/08/13/introduction/
// Dissecting the Camera Matrix, Part 1: Extrinsic/Intrinsic Decomposition:
//          http://ksimek.github.io/2012/08/14/decompose/
// Dissecting the Camera Matrix, Part 2: The Extrinsic Matrix: 
//          http://ksimek.github.io/2012/08/22/extrinsic/
//      Calibrated Cameras in OpenGL without glFrustum: 
//          http://ksimek.github.io/2013/06/03/calibrated_cameras_in_opengl/
//      Calibrated Cameras and gluPerspective:          
//          http://ksimek.github.io/2013/06/18/calibrated-cameras-and-gluperspective/
// Dissecting the Camera Matrix, Part 3: The Intrinsic Matrix:                  
//          http://ksimek.github.io/2013/08/13/intrinsic/  
//
// Some related articles:
// https://sightations.wordpress.com/2010/08/03/simulating-calibrated-cameras-in-opengl/
 
namespace easy3d {
 
    namespace transform {
 
        void decompose(const mat4& M, vec3& scaling, mat3& rotation, vec3& translation);
        void decompose(const mat4& M, vec3& scaling, quat& rotation, vec3& translation);
 
        void decompose_no_scaling(const mat4& M, mat3& rotation, vec3& translation);
        void decompose_no_scaling(const mat4& M, quat& rotation, vec3& translation);
 
        bool decompose(const mat4& M, vec3& scaling, quat& rotation, vec3& translation, vec3& skew, vec4& persp);
 
    }
 
}
 
 
 
#endif  // EASY_RENDERER_TRANSFORM_DECOMPOSE_H