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[Visual] VisualModelImpl: clean apply transformations #6136

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[Visual] VisualModelImpl: clean apply transformations #6136

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107 changes: 45 additions & 62 deletions Sofa/Component/Visual/src/sofa/component/visual/VisualModelImpl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -617,31 +617,23 @@ void VisualModelImpl::applyUVTransformation()

void VisualModelImpl::applyTranslation(const SReal dx, const SReal dy, const SReal dz)
{
const Coord d((Real)dx,(Real)dy,(Real)dz);

Data< VecCoord >* d_x = this->write(core::vec_id::write_access::position);
VecCoord &x = *d_x->beginEdit();

for (std::size_t i = 0; i < x.size(); i++)
constexpr auto computeTranslation = [](auto id, auto& vm, const auto& d)
{
x[i] += d;
}

d_x->endEdit();

if(d_initRestPositions.getValue())
{
VecCoord& restPositions = *(m_restPositions.beginEdit());

for (std::size_t i = 0; i < restPositions.size(); i++)
auto positions = sofa::helper::getWriteOnlyAccessor(*vm.write(id));

for (auto& p : positions)
{
restPositions[i] += d;
p += d;
}
};

const Coord d((Real)dx,(Real)dy,(Real)dz);
computeTranslation(core::vec_id::write_access::position, *this, d);

m_restPositions.endEdit();
if(d_initRestPositions.getValue())
{
computeTranslation(core::vec_id::write_access::restPosition, *this, d);
}

updateVisual(sofa::core::visual::visualparams::defaultInstance());
}

void VisualModelImpl::applyRotation(const SReal rx, const SReal ry, const SReal rz)
Expand All @@ -652,60 +644,44 @@ void VisualModelImpl::applyRotation(const SReal rx, const SReal ry, const SReal

void VisualModelImpl::applyRotation(const Quat<SReal> q)
{
Data< VecCoord >* d_x = this->write(core::vec_id::write_access::position);
VecCoord &x = *d_x->beginEdit();

for (std::size_t i = 0; i < x.size(); i++)
{
x[i] = q.rotate(x[i]);
}

d_x->endEdit();

if(d_initRestPositions.getValue())
constexpr auto computeRotation = [](auto id, auto& vm, const auto& q)
{
VecCoord& restPositions = *(m_restPositions.beginEdit());
auto positions = sofa::helper::getWriteOnlyAccessor(*vm.write(id));

for (std::size_t i = 0; i < restPositions.size(); i++)
for (auto& p : positions)
{
restPositions[i] = q.rotate(restPositions[i]);
p = q.rotate(p);
}
};

computeRotation(core::vec_id::write_access::position, *this, q);

m_restPositions.endEdit();
if(d_initRestPositions.getValue())
{
computeRotation(core::vec_id::write_access::restPosition, *this, q);
}

updateVisual(sofa::core::visual::visualparams::defaultInstance());
}

void VisualModelImpl::applyScale(const SReal sx, const SReal sy, const SReal sz)
{
Data< VecCoord >* d_x = this->write(core::vec_id::write_access::position);
VecCoord &x = *d_x->beginEdit();

for (std::size_t i = 0; i < x.size(); i++)
{
x[i][0] *= (Real)sx;
x[i][1] *= (Real)sy;
x[i][2] *= (Real)sz;
}

d_x->endEdit();

if(d_initRestPositions.getValue())
constexpr auto computeScale = [](auto id, auto& vm, const auto sx, const auto sy, const auto sz)
{
VecCoord& restPositions = *(m_restPositions.beginEdit());
auto positions = sofa::helper::getWriteOnlyAccessor(*vm.write(id));

for (std::size_t i = 0; i < restPositions.size(); i++)
for (auto& p : positions)
{
restPositions[i][0] *= (Real)sx;
restPositions[i][1] *= (Real)sy;
restPositions[i][2] *= (Real)sz;
p[0] *= (Real)sx;
p[1] *= (Real)sy;
p[2] *= (Real)sz;
}

m_restPositions.endEdit();
};

computeScale(core::vec_id::write_access::position, *this, sx, sy, sz);

if(d_initRestPositions.getValue())
{
computeScale(core::vec_id::write_access::restPosition, *this, sx, sy, sz);
}

updateVisual(sofa::core::visual::visualparams::defaultInstance());
}

void VisualModelImpl::applyUVTranslation(const Real dU, const Real dV)
Expand Down Expand Up @@ -790,9 +766,15 @@ void VisualModelImpl::init()
return;
}

applyScale(d_scale.getValue()[0], d_scale.getValue()[1], d_scale.getValue()[2]);
applyRotation(d_rotation.getValue()[0], d_rotation.getValue()[1], d_rotation.getValue()[2]);
applyTranslation(d_translation.getValue()[0], d_translation.getValue()[1], d_translation.getValue()[2]);
const auto& scale = d_scale.getValue();
const auto& rotation = d_rotation.getValue();
const auto& translation = d_translation.getValue();

applyScale(scale[0], scale[1], scale[2]);
applyRotation(rotation[0], rotation[1], rotation[2]);
applyTranslation(translation[0], translation[1], translation[2]);

updateVisual(sofa::core::visual::visualparams::defaultInstance());

d_translation.setValue(Vec3Real());
d_rotation.setValue(Vec3Real());
Expand Down Expand Up @@ -1184,6 +1166,7 @@ void VisualModelImpl::computeBBox(const core::ExecParams*, bool)
{
bbox.include(v);
}

this->f_bbox.setValue(bbox);
}

Expand Down
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