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Commit cb1609ab authored by FrankR's avatar FrankR
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Merge branch 'SimpleScene' of https://git-st.inf.tu-dresden.de/ipos/project into SimpleScene

parents 4bda0cf4 f34895da
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build.gradle
+ 2
− 0
View file @ cb1609ab
......@@ -43,6 +43,8 @@ bootRun{
}
dependencies {
implementation 'com.github.weeb-kun:list-utils:1.0.0'
implementation 'org.webjars.npm:list-item:1.1.1'
developmentOnly 'org.springframework.boot:spring-boot-devtools'
implementation 'org.eclipse.emf:org.eclipse.emf.ecore:2.+'
implementation 'org.eclipse.emf:org.eclipse.emf.common:2.+'
......
models @ 51af7a83
Compare dd1da1b3...51af7a83
Subproject commit dd1da1b391da2cd0e9a801d6bb2fb0b1985d4db9
Subproject commit 51af7a83e036eac7bf619ebe59e7fbbe105318fd
src/main/java/ipos/project/Functionality/SRSConversion/SRSConversion.java
+ 37
− 16
View file @ cb1609ab
......@@ -16,38 +16,59 @@ public class SRSConversion {
quat_1 is the rotation of the original coordinate system (against ROOT)
quat_2 is the rotation of the desired coordinate system (against ROOT)
*/
public static void positionInOtherSystem(Position pos, ReferenceSystem ref){
public static void switchSRS(Placing pla, ReferenceSystem ref){
IPos_DatamodelFactory datamodelFactory = IPos_DatamodelFactory.eINSTANCE;
Position pos = pla.getPosition();
Point3D P = (Point3D) pos.getPoint();
Point3D R1 = (Point3D) pos.getReferenceSystem().getOrigin().getPosition().getPoint();
Point3D R2 = (Point3D) ref.getOrigin().getPosition().getPoint();
Quaternion Q1 = (Quaternion) pos.getReferenceSystem().getOrigin().getOrientation();
Point3D R = (Point3D) ref.getOrigin().getPosition().getPoint();
Quaternion Q1 = (Quaternion) pla.getOrientation();
Quaternion Q2 = (Quaternion) ref.getOrigin().getOrientation();
String ref_id = ref.getId();
String pla_ref_id = pla.getPosition().getReferenceSystem().getId();
Vector_math p1 = new Vector_math(P.getX(), P.getY(), P.getZ());
Vector_math ref_1 = new Vector_math(R1.getX(), R1.getY(), R1.getZ());
Vector_math ref_2 = new Vector_math(R2.getX(), R2.getY(), R2.getZ());
Vector_math ref_org = new Vector_math(R.getX(), R.getY(), R.getZ());
Quaternion_math quat_1 = new Quaternion_math(Q1.getX(), Q1.getY(), Q1.getZ(), Q1.getW());
Quaternion_math quat_2 = new Quaternion_math(Q2.getX(), Q2.getY(), Q2.getZ(), Q2.getW());
//System.out.println("Quaterion_1: " + quat_1.getX() + ", "+ quat_1.getY() + ", "+ quat_1.getZ() + ", " + quat_1.getW());
//System.out.println("Quaterion_2: " + quat_2.getX() + ", "+ quat_2.getY() + ", "+ quat_2.getZ() + ", " + quat_2.getW());
//System.out.println("inversed Quaterion_1: " + quat_1.inverse().getX() + ", "+ quat_1.inverse().getY() + ", "+ quat_1.inverse().getZ() + ", " + quat_1.inverse().getW());
p1.transform(quat_1.inverse());
//System.out.println("phase 1 transfrom: " + p1.getX() + ", "+ p1.getY() + ", "+ p1.getZ());
p1.transform(quat_2);
p1.add(ref_1);
p1.substract(ref_2);
if (ref_id == pla_ref_id) {
//System.out.println("inversed Quaterion_1: " + quat_1.inverse().getX() + ", "+ quat_1.inverse().getY() + ", "+ quat_1.inverse().getZ() + ", " + quat_1.inverse().getW());
quat_1.mulLeft(quat_2);
//System.out.println("phase 1 transfrom: " + p1.getX() + ", "+ p1.getY() + ", "+ p1.getZ());
p1.transform(quat_2);
p1.add(ref_org);
pos.setReferenceSystem(ref.getOrigin().getPosition().getReferenceSystem());
}
else if(ref_id == ref.getOrigin().getPosition().getReferenceSystem().getId()) {
//System.out.println("inversed Quaterion_1: " + quat_1.inverse().getX() + ", "+ quat_1.inverse().getY() + ", "+ quat_1.inverse().getZ() + ", " + quat_1.inverse().getW());
quat_1.mulLeft(quat_2.inverse());
//System.out.println("phase 1 transfrom: " + p1.getX() + ", "+ p1.getY() + ", "+ p1.getZ());
p1.transform(quat_2.inverse());
p1.substract(ref_org);
pos.setReferenceSystem(ref);
}
else {
//error message
}
Q1.setX(quat_1.getX());
Q1.setY(quat_1.getY());
Q1.setZ(quat_1.getZ());
Q1.setW(quat_1.getW());
P.setX(p1.getX());
P.setY(p1.getY());
P.setZ(p1.getZ());
pla.setOrientation(Q1);
pos.setPoint(P);
pos.setReferenceSystem(ref);
pla.setPosition(pos);
}
public static void zoneInOtherSystem(Zone zone, ReferenceSystem ref){
/*public static void switchSRSZone(Zone zone, ReferenceSystem ref){
IPos_DatamodelFactory datamodelFactory = IPos_DatamodelFactory.eINSTANCE;
EList spaceList = zone.getSpace();
for (int i = 0; i < spaceList.size(); i++) {
......@@ -85,5 +106,5 @@ public class SRSConversion {
new_cod[1] = cod_vec.getY();
new_cod[2] = cod_vec.getZ();
return new_cod;
}
}*/
}
src/main/java/ipos/project/Functionality/SRSConversion/TestSRSConverter.java
+ 3
− 1
View file @ cb1609ab
......@@ -13,6 +13,7 @@ public class TestSRSConverter {
Vector_math axis = new Vector_math(1, 0,0);
Point3D testPoint3D = datamodelFactory.createPoint3D();
Position testPosition = datamodelFactory.createPosition();
Placing testPlacing = datamodelFactory.createPlacing();
testPoint3D.setX((float) 0);
testPoint3D.setY((float) 1);
......@@ -38,6 +39,7 @@ public class TestSRSConverter {
testRef_1.setOrigin(refPlacing_1);
testPosition.setPoint(testPoint3D);
testPosition.setReferenceSystem(testRef_1);
testPlacing.setPosition(testPosition);
ReferenceSystem testRef_2 = datamodelFactory.createReferenceSystem();
......@@ -63,7 +65,7 @@ public class TestSRSConverter {
System.out.println("Position: refID " + ": " + testPosition.getReferenceSystem().getId());
System.out.println("Position: coord " + ": " + testPosition.getPoint());
SRSConversion.positionInOtherSystem(testPosition, testRef_2);
SRSConversion.switchSRS(testPlacing, testRef_2);
System.out.println("Position: refID " + ": " + testPosition.getReferenceSystem().getId());
System.out.println("Position: coord " + ": " + testPosition.getPoint());
......
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