src/jp/nyatla/nyartoolkit/core/transmat/NyARTransMatResult.java

   1 /* \r
   2  * PROJECT: NyARToolkit\r
   3  * --------------------------------------------------------------------------------\r
   4  * This work is based on the original ARToolKit developed by\r
   5  *   Hirokazu Kato\r
   6  *   Mark Billinghurst\r
   7  *   HITLab, University of Washington, Seattle\r
   8  * http://www.hitl.washington.edu/artoolkit/\r
   9  *\r
  10  * The NyARToolkit is Java edition ARToolKit class library.\r
  11  * Copyright (C)2008-2009 Ryo Iizuka\r
  12  *\r
  13  * This program is free software: you can redistribute it and/or modify\r
  14  * it under the terms of the GNU General Public License as published by\r
  15  * the Free Software Foundation, either version 3 of the License, or\r
  16  * (at your option) any later version.\r
  17  * \r
  18  * This program is distributed in the hope that it will be useful,\r
  19  * but WITHOUT ANY WARRANTY; without even the implied warranty of\r
  20  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
  21  * GNU General Public License for more details.\r
  22  *\r
  23  * You should have received a copy of the GNU General Public License\r
  24  * along with this program.  If not, see <http://www.gnu.org/licenses/>.\r
  25  * \r
  26  * For further information please contact.\r
  27  *      http://nyatla.jp/nyatoolkit/\r
  28  *      <airmail(at)ebony.plala.or.jp> or <nyatla(at)nyatla.jp>\r
  29  * \r
  30  */\r
  31 package jp.nyatla.nyartoolkit.core.transmat;\r
  32 \r
  33 \r
  34 import jp.nyatla.nyartoolkit.core.types.NyARDoublePoint3d;\r
  35 import jp.nyatla.nyartoolkit.core.types.matrix.*;\r
  36 \r
  37 /**\r
  38  * NyARTransMat戻り値専用のNyARMat\r
  39  * \r
  40  */\r
  41 public class NyARTransMatResult extends NyARDoubleMatrix34\r
  42 {\r
  43         public boolean has_value = false;\r
  44         /**\r
  45          * この関数は、0-PIの間で値を返します。\r
  46          * @param o_out\r
  47          */\r
  48         public final void getZXYAngle(NyARDoublePoint3d o_out)\r
  49         {\r
  50                 double sina = this.m21;\r
  51                 if (sina >= 1.0) {\r
  52                         o_out.x = Math.PI / 2;\r
  53                         o_out.y = 0;\r
  54                         o_out.z = Math.atan2(-this.m10, this.m00);\r
  55                 } else if (sina <= -1.0) {\r
  56                         o_out.x = -Math.PI / 2;\r
  57                         o_out.y = 0;\r
  58                         o_out.z = Math.atan2(-this.m10, this.m00);\r
  59                 } else {\r
  60                         o_out.x = Math.asin(sina);\r
  61                         o_out.z = Math.atan2(-this.m01, this.m11);\r
  62                         o_out.y = Math.atan2(-this.m20, this.m22);\r
  63                 }\r
  64         }\r
  65         public final void transformVertex(double i_x,double i_y,double i_z,NyARDoublePoint3d o_out)\r
  66         {\r
  67                 o_out.x=this.m00*i_x+this.m01*i_y+this.m02*i_z+this.m03;\r
  68                 o_out.y=this.m10*i_x+this.m11*i_y+this.m12*i_z+this.m13;\r
  69                 o_out.z=this.m20*i_x+this.m21*i_y+this.m22*i_z+this.m23;\r
  70                 return;\r
  71         }\r
  72 }\r