Merge pull request #1338 from vsg-dev/CoordinateFrame_long_double

vsg::CoordinateFrame and long double support

cmake/cppcheck-suppression-list.txt

@@ -208,6 +208,7 @@ shadowFunction:*/src/vsg/state/DescriptorImage.cpp
 shadowFunction:*/src/vsg/utils/FindDynamicObjects.cpp
 shadowFunction:*/src/vsg/utils/LoadPagedLOD.cpp
 shadowFunction:*/src/vsg/utils/PropagateDynamicObjects.cpp
+shadowFunction:*/src/vsg/app/ViewMatrix.cpp
 
 // suppress unhelpful warning of c casts
 cstyleCast:*/include/vsg/io/mem_stream.h

include/vsg/all.h

@@ -60,6 +60,7 @@ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLI
 #include <vsg/nodes/AbsoluteTransform.h>
 #include <vsg/nodes/Bin.h>
 #include <vsg/nodes/Compilable.h>
+#include <vsg/nodes/CoordinateFrame.h>
 #include <vsg/nodes/CullGroup.h>
 #include <vsg/nodes/CullNode.h>
 #include <vsg/nodes/DepthSorted.h>

include/vsg/app/RecordTraversal.h

@@ -36,6 +36,7 @@ namespace vsg
     class Layer;
     class Transform;
     class MatrixTransform;
+    class CoordinateFrame;
     class Joint;
     class TileDatabase;
     class VertexDraw;
@@ -135,6 +136,7 @@ namespace vsg
         // transform nodes
         void apply(const Transform& transform);
         void apply(const MatrixTransform& mt);
+        void apply(const CoordinateFrame& cf);
 
         // Animation nodes
         void apply(const Joint& joint);

include/vsg/app/ViewMatrix.h

@@ -31,12 +31,20 @@ namespace vsg
         {
         }
 
-        virtual dmat4 transform() const = 0;
+        /// origin value provides a means of translating the view matrix relative to the origin of any CoordinateFrame subgraphs
+        /// to maximize the precision when moving around the CoordinateFrame subgraph.  This is helpful for astronmically large
+        /// scenes where standrd double precision is insufficient for avoiding visually significant numerical errors.
+        dvec3 origin;
 
-        virtual dmat4 inverse() const
+        virtual dmat4 transform(const dvec3& offset = {}) const = 0;
+
+        virtual dmat4 inverse(const dvec3& offset = {}) const
         {
-            return vsg::inverse(transform());
+            return vsg::inverse(transform(offset));
         }
+
+        void read(Input& input) override;
+        void write(Output& output) const override;
     };
     VSG_type_name(vsg::ViewMatrix);
 
@@ -79,21 +87,11 @@ namespace vsg
 
         ref_ptr<Object> clone(const CopyOp& copyop = {}) const override { return LookAt::create(*this, copyop); }
 
-        void transform(const dmat4& matrix)
-        {
-            up = normalize(matrix * (eye + up) - matrix * eye);
-            center = matrix * center;
-            eye = matrix * eye;
-        }
+        void transform(const dmat4& matrix);
 
-        void set(const dmat4& matrix)
-        {
-            up = normalize(matrix * (dvec3(0.0, 0.0, 0.0) + dvec3(0.0, 1.0, 0.0)) - matrix * dvec3(0.0, 0.0, 0.0));
-            center = matrix * dvec3(0.0, 0.0, -1.0);
-            eye = matrix * dvec3(0.0, 0.0, 0.0);
-        }
+        void set(const dmat4& matrix);
 
-        dmat4 transform() const override { return lookAt(eye, center, up); }
+        dmat4 transform(const dvec3& offset = {}) const override;
 
         void read(Input& input) override;
         void write(Output& output) const override;
@@ -104,8 +102,36 @@ namespace vsg
     };
     VSG_type_name(vsg::LookAt);
 
+    /// LookDirection is a ViewMatrix that uses a position and rotation to set the view matrix.
+    class VSG_DECLSPEC LookDirection : public vsg::Inherit<ViewMatrix, LookDirection>
+    {
+    public:
+        LookDirection() :
+            position(0.0, 0.0, 0.0),
+            rotation()
+        {
+        }
+
+        LookDirection(const LookDirection& view, const CopyOp& copyop = {}) :
+            Inherit(view, copyop),
+            position(view.position),
+            rotation(view.rotation)
+        {
+        }
+
+        ref_ptr<Object> clone(const CopyOp& copyop = {}) const override { return LookDirection::create(*this, copyop); }
+
+        dvec3 position;
+        dquat rotation;
+
+        void set(const dmat4& matrix);
+
+        dmat4 transform(const dvec3& offset = {}) const override;
+    };
+    VSG_type_name(vsg::LookDirection);
+
     /// RelativeViewMatrix is a ViewMatrix that decorates another ViewMatrix and pre-multiplies its transform matrix to give a relative view matrix.
-    class RelativeViewMatrix : public Inherit<ViewMatrix, RelativeViewMatrix>
+    class VSG_DECLSPEC RelativeViewMatrix : public Inherit<ViewMatrix, RelativeViewMatrix>
     {
     public:
         RelativeViewMatrix(const dmat4& m, ref_ptr<ViewMatrix> vm) :
@@ -115,10 +141,7 @@ namespace vsg
         }
 
         /// returns matrix * viewMatrix->transform()
-        dmat4 transform() const override
-        {
-            return matrix * viewMatrix->transform();
-        }
+        dmat4 transform(const dvec3& offset = {}) const override;
 
         dmat4 matrix;
         ref_ptr<ViewMatrix> viewMatrix;
@@ -141,8 +164,8 @@ namespace vsg
             objectPath(path.begin(), path.end()) {}
 
         /// returns matrix * computeTransfrom(objectPath)
-        dmat4 transform() const override;
-        dmat4 inverse() const override;
+        dmat4 transform(const dvec3& offset = {}) const override;
+        dmat4 inverse(const dvec3& offset = {}) const override;
 
         dmat4 matrix;
         RefObjectPath objectPath;

include/vsg/core/ConstVisitor.h

@@ -34,8 +34,9 @@ namespace vsg
     class StateGroup;
     class CullGroup;
     class CullNode;
-    class MatrixTransform;
     class Transform;
+    class MatrixTransform;
+    class CoordinateFrame;
     class Geometry;
     class VertexDraw;
     class VertexIndexDraw;
@@ -323,8 +324,9 @@ namespace vsg
         virtual void apply(const StateGroup&);
         virtual void apply(const CullGroup&);
         virtual void apply(const CullNode&);
-        virtual void apply(const MatrixTransform&);
         virtual void apply(const Transform&);
+        virtual void apply(const MatrixTransform&);
+        virtual void apply(const CoordinateFrame&);
         virtual void apply(const Geometry&);
         virtual void apply(const VertexDraw&);
         virtual void apply(const VertexIndexDraw&);

include/vsg/core/Visitor.h

@@ -34,8 +34,9 @@ namespace vsg
     class StateGroup;
     class CullGroup;
     class CullNode;
-    class MatrixTransform;
     class Transform;
+    class MatrixTransform;
+    class CoordinateFrame;
     class Geometry;
     class VertexDraw;
     class VertexIndexDraw;
@@ -323,8 +324,9 @@ namespace vsg
         virtual void apply(StateGroup&);
         virtual void apply(CullGroup&);
         virtual void apply(CullNode&);
-        virtual void apply(MatrixTransform&);
         virtual void apply(Transform&);
+        virtual void apply(MatrixTransform&);
+        virtual void apply(CoordinateFrame&);
         virtual void apply(Geometry&);
         virtual void apply(VertexDraw&);
         virtual void apply(VertexIndexDraw&);

include/vsg/io/AsciiInput.h

@@ -85,6 +85,7 @@ namespace vsg
         void read(size_t num, uint64_t* value) override { _read(num, value); }
         void read(size_t num, float* value) override { _read(num, value); }
         void read(size_t num, double* value) override { _read(num, value); }
+        void read(size_t num, long double* value) override { _read(num, value); }
 
         // read in an individual string
         void _read(std::string& value);

include/vsg/io/AsciiOutput.h

@@ -136,6 +136,11 @@ namespace vsg
             _output.precision(double_precision);
             _write_real(num, value);
         }
+        void write(size_t num, const long double* value) override
+        {
+            _output.precision(long_double_precision);
+            _write_real(num, value);
+        }
 
         void _write(const std::string& str)
         {
@@ -161,6 +166,7 @@ namespace vsg
 
         int float_precision = 6;
         int double_precision = 12;
+        int long_double_precision = 24;
 
     protected:
         std::ostream& _output;

include/vsg/io/BinaryInput.h

@@ -55,6 +55,7 @@ namespace vsg
         void read(size_t num, uint64_t* value) override { _read(num, value); }
         void read(size_t num, float* value) override { _read(num, value); }
         void read(size_t num, double* value) override { _read(num, value); }
+        void read(size_t num, long double* value) override;
 
         // read in an individual string
         void _read(std::string& value);

include/vsg/io/BinaryOutput.h

@@ -50,6 +50,7 @@ namespace vsg
         void write(size_t num, const uint64_t* value) override { _write(num, value); }
         void write(size_t num, const float* value) override { _write(num, value); }
         void write(size_t num, const double* value) override { _write(num, value); }
+        void write(size_t num, const long double* value) override;
 
         void _write(const std::string& str);
         void _write(const std::wstring& str);

include/vsg/io/Input.h

@@ -61,6 +61,7 @@ namespace vsg
         virtual void read(size_t num, uint64_t* value) = 0;
         virtual void read(size_t num, float* value) = 0;
         virtual void read(size_t num, double* value) = 0;
+        virtual void read(size_t num, long double* value) = 0;
         virtual void read(size_t num, std::string* value) = 0;
         virtual void read(size_t num, std::wstring* value) = 0;
         virtual void read(size_t num, Path* value) = 0;
@@ -78,6 +79,9 @@ namespace vsg
         void read(size_t num, vec4* value) { read(num * value->size(), value->data()); }
         void read(size_t num, dvec2* value) { read(num * value->size(), value->data()); }
         void read(size_t num, dvec3* value) { read(num * value->size(), value->data()); }
+        void read(size_t num, ldvec4* value) { read(num * value->size(), value->data()); }
+        void read(size_t num, ldvec2* value) { read(num * value->size(), value->data()); }
+        void read(size_t num, ldvec3* value) { read(num * value->size(), value->data()); }
         void read(size_t num, dvec4* value) { read(num * value->size(), value->data()); }
         void read(size_t num, bvec2* value) { read(num * value->size(), value->data()); }
         void read(size_t num, bvec3* value) { read(num * value->size(), value->data()); }

include/vsg/io/Output.h

@@ -61,6 +61,7 @@ namespace vsg
         virtual void write(size_t num, const uint64_t* value) = 0;
         virtual void write(size_t num, const float* value) = 0;
         virtual void write(size_t num, const double* value) = 0;
+        virtual void write(size_t num, const long double* value) = 0;
         virtual void write(size_t num, const std::string* value) = 0;
         virtual void write(size_t num, const std::wstring* value) = 0;
         virtual void write(size_t num, const Path* value) = 0;
@@ -79,6 +80,9 @@ namespace vsg
         void write(size_t num, const dvec2* value) { write(num * value->size(), value->data()); }
         void write(size_t num, const dvec3* value) { write(num * value->size(), value->data()); }
         void write(size_t num, const dvec4* value) { write(num * value->size(), value->data()); }
+        void write(size_t num, const ldvec2* value) { write(num * value->size(), value->data()); }
+        void write(size_t num, const ldvec3* value) { write(num * value->size(), value->data()); }
+        void write(size_t num, const ldvec4* value) { write(num * value->size(), value->data()); }
         void write(size_t num, const bvec2* value) { write(num * value->size(), value->data()); }
         void write(size_t num, const bvec3* value) { write(num * value->size(), value->data()); }
         void write(size_t num, const bvec4* value) { write(num * value->size(), value->data()); }

include/vsg/maths/box.h

@@ -88,11 +88,13 @@ namespace vsg
         }
     };
 
-    using box = t_box<float>;   /// float box class
-    using dbox = t_box<double>; /// double box class
+    using box = t_box<float>;         /// float box class
+    using dbox = t_box<double>;       /// double box class
+    using ldbox = t_box<long double>; /// double box class
 
     VSG_type_name(vsg::box);
     VSG_type_name(vsg::dbox);
+    VSG_type_name(vsg::ldbox);
 
     template<typename T>
     constexpr bool operator==(const t_box<T>& lhs, const t_box<T>& rhs)

include/vsg/maths/common.h

@@ -69,4 +69,7 @@ namespace vsg
         return start * one_minus_r + end * r;
     }
 
+    /// return the number of bits supported by the long double implementation - VisualStudio by default 64 bits, stored as 8 bytes, & Linux x86_64 defaults to 80 bits stored as 16bytes, some CPU achitectures support full 128 bits/16 bytes.
+    extern VSG_DECLSPEC uint32_t native_long_double_bits();
+
 } // namespace vsg

include/vsg/maths/mat4.h

@@ -119,11 +119,13 @@ namespace vsg
         const T* data() const { return value[0].data(); }
     };
 
-    using mat4 = t_mat4<float>;   /// float 4x4 matrix
-    using dmat4 = t_mat4<double>; /// double 4x4 matrix
+    using mat4 = t_mat4<float>;         /// float 4x4 matrix
+    using dmat4 = t_mat4<double>;       /// double 4x4 matrix
+    using ldmat4 = t_mat4<long double>; /// long double 4x4 matrix
 
     VSG_type_name(vsg::mat4);
     VSG_type_name(vsg::dmat4);
+    VSG_type_name(vsg::ldmat4);
 
     template<typename T>
     bool operator==(const t_mat4<T>& lhs, const t_mat4<T>& rhs)

include/vsg/maths/plane.h

@@ -110,6 +110,7 @@ namespace vsg
 
     using plane = t_plane<float>;
     using dplane = t_plane<double>;
+    using ldplane = t_plane<long double>;
 
     VSG_type_name(vsg::plane);
     VSG_type_name(vsg::dplane);

include/vsg/maths/quat.h

@@ -145,11 +145,13 @@ namespace vsg
         explicit operator bool() const noexcept { return value[0] != 0.0 || value[1] != 0.0 || value[2] != 0.0 || value[3] != 0.0; }
     };
 
-    using quat = t_quat<float>;   /// float quaternion
-    using dquat = t_quat<double>; /// double quaternion
+    using quat = t_quat<float>;         /// float quaternion
+    using dquat = t_quat<double>;       /// double quaternion
+    using ldquat = t_quat<long double>; /// long double quaternion
 
     VSG_type_name(vsg::quat);
     VSG_type_name(vsg::dquat);
+    VSG_type_name(vsg::ldquat);
 
     template<typename T>
     constexpr bool operator==(const t_quat<T>& lhs, const t_quat<T>& rhs)

include/vsg/maths/sphere.h

@@ -120,11 +120,13 @@ namespace vsg
         }
     };
 
-    using sphere = t_sphere<float>;   /// float sphere class
-    using dsphere = t_sphere<double>; /// double sphere class
+    using sphere = t_sphere<float>;         /// float sphere class
+    using dsphere = t_sphere<double>;       /// double sphere class
+    using ldsphere = t_sphere<long double>; /// long double sphere class
 
     VSG_type_name(vsg::sphere);
     VSG_type_name(vsg::dsphere);
+    VSG_type_name(vsg::ldsphere);
 
     template<typename T>
     constexpr bool operator==(const t_sphere<T>& lhs, const t_sphere<T>& rhs)

include/vsg/maths/transform.h

@@ -248,6 +248,11 @@ namespace vsg
     /// assumes matrix has no skew or perspective components
     extern VSG_DECLSPEC bool decompose(const dmat4& m, dvec3& translation, dquat& rotation, dvec3& scale);
 
+    /// decompose long double matrix into translation, rotation and scale components.
+    /// maps to TRS form: vsg::translate(translation) * vsg::rotate(rotation) * vsg::scale(scale);
+    /// assumes matrix has no skew or perspective components
+    extern VSG_DECLSPEC bool decompose(const ldmat4& m, ldvec3& translation, ldquat& rotation, ldvec3& scale);
+
     /// compute the bounding sphere that encloses a frustum defined by specified float ModelViewMatrixProjection
     extern VSG_DECLSPEC sphere computeFrustumBound(const mat4& m);
 

include/vsg/maths/vec2.h

@@ -136,14 +136,15 @@ namespace vsg
         explicit operator bool() const noexcept { return value[0] != 0.0 || value[1] != 0.0; }
     };
 
-    using vec2 = t_vec2<float>;      // float 2D vector
-    using dvec2 = t_vec2<double>;    // double 2D vector
-    using bvec2 = t_vec2<int8_t>;    // signed 8 bit integer 2D vector
-    using svec2 = t_vec2<int16_t>;   //  signed 16 bit integer 2D vector
-    using ivec2 = t_vec2<int32_t>;   //  signed 32 bit integer 2D vector
-    using ubvec2 = t_vec2<uint8_t>;  //  unsigned 8 bit integer 2D vector
-    using usvec2 = t_vec2<uint16_t>; //  unsigned 16 bit integer 2D vector
-    using uivec2 = t_vec2<uint32_t>; //  unsigned 32 bit integer 2D vector
+    using vec2 = t_vec2<float>;         // float 2D vector
+    using dvec2 = t_vec2<double>;       // double 2D vector
+    using ldvec2 = t_vec2<long double>; // long double 2D vector
+    using bvec2 = t_vec2<int8_t>;       // signed 8 bit integer 2D vector
+    using svec2 = t_vec2<int16_t>;      //  signed 16 bit integer 2D vector
+    using ivec2 = t_vec2<int32_t>;      //  signed 32 bit integer 2D vector
+    using ubvec2 = t_vec2<uint8_t>;     //  unsigned 8 bit integer 2D vector
+    using usvec2 = t_vec2<uint16_t>;    //  unsigned 16 bit integer 2D vector
+    using uivec2 = t_vec2<uint32_t>;    //  unsigned 32 bit integer 2D vector
 
     VSG_type_name(vsg::vec2);
     VSG_type_name(vsg::dvec2);