## On this page # Test Last update: 16.07.2025 Helper functions for example tests. /\* \* Copyright 2018-2021 ANSYS, Inc. Unauthorized use, distribution, or duplication is prohibited. \* \* Restricted Rights Legend \* \* Use, duplication, or disclosure of this \* software and its documentation by the \* Government is subject to restrictions as \* set forth in subdivision \[(b)(3)(ii)\] of \* the Rights in Technical Data and Computer \* Software clause at 52.227-7013. \*/ \#include <iostream> \#include <vector> \#include <fstream> \#include <cmath> \#include "GLTFWriter.h" \#include "test.h" using namespace ANSYS::Nexus; [GLTFWriter::Texture](class_a_n_s_y_s_1_1_nexus_1_1_g_l_t_f_writer_1_1_texture.xhtml) * GLTFWriter::Test::CreateTexture(GLTF *gltf, const char *fileName) { Image *image = Image::Create(gltf, fileName, true); if (!image) return 0; Sampler *sampler = Sampler::Create(gltf, Sampler::FT_LINEAR, Sampler::FT_LINEAR, Sampler::WT_CLAMP_TO_EDGE, Sampler::WT_CLAMP_TO_EDGE); if (!sampler) return 0; return Texture::Create(gltf, Texture::TF_RGBA, Texture::TT_TEXTURE_2D, sampler, image); } [GLTFWriter::Material](class_a_n_s_y_s_1_1_nexus_1_1_g_l_t_f_writer_1_1_material.xhtml) * GLTFWriter::Test::CreateSolidColoredMaterial(GLTF *gltf, float r, float g, float b, float a) { // TECHNIQUE Technique *technique = Technique::Create(gltf); if (!technique) return 0; // TECHNIQUE STATES if (!technique->AppendState(State::Create(gltf, State::ST_DEPTHTESTENABLE, 1))) return 0; if (a != 1.0) { if (!technique->AppendState(State::Create(gltf, State::ST_BLENDENABLE, 1)) || !technique->AppendState(State::Create(gltf, State::ST_DEPTHMASK, 0))) return 0; } // MATERIAL Material *material = Material::Create(gltf, technique); if (!material) return 0; // MATERIAL UNIFORM VALUES if (!material->AppendValue(Value::Create(gltf, "color", r, g, b, a))) // color name is used to auto-generate a solid colored object return 0; return material; } [GLTFWriter::Material](class_a_n_s_y_s_1_1_nexus_1_1_g_l_t_f_writer_1_1_material.xhtml) * GLTFWriter::Test::CreateTexturedMaterial(GLTF *gltf, Texture *texture) { // TECHNIQUE Technique *technique = Technique::Create(gltf); if (!technique) return 0; // TECHNIQUE STATES if (!technique->AppendState(State::Create(gltf, State::ST_DEPTHTESTENABLE, 1)) && !technique->AppendState(State::Create(gltf, State::ST_BLENDENABLE, 1))) return 0; // MATERIAL Material *material = Material::Create(gltf, technique); if (!material) return 0; // MATERIAL UNIFORM VALUES if (!material->AppendValue(Value::Create(gltf, "texture0", texture->GetID()))) // texture0 name is auto-generated from Attribute TEXCOORD0 return 0; return material; } // will creaete flat shaded box // all lines are formed from top and bottom vertices void GLTFWriter::Test::MakeBox(float x, float y, float z, float w, float h, float d, std::vector<float> &vertices, std::vector<unsigned short> &lineIndices, std::vector<unsigned short> & triangleIndices) { // VERTICES vertices.clear(); // bottom vertices.push_back(-w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back(-d / 2 + z); vertices.push_back( w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back(-d / 2 + z); vertices.push_back( w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back( d / 2 + z); vertices.push_back(-w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back( d / 2 + z); // top vertices.push_back(-w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back(-d / 2 + z); vertices.push_back(-w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back( d / 2 + z); vertices.push_back( w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back( d / 2 + z); vertices.push_back( w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back(-d / 2 + z); // front vertices.push_back(-w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back( d / 2 + z); vertices.push_back( w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back( d / 2 + z); vertices.push_back( w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back( d / 2 + z); vertices.push_back(-w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back( d / 2 + z); // back vertices.push_back( w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back(-d / 2 + z); vertices.push_back(-w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back(-d / 2 + z); vertices.push_back(-w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back(-d / 2 + z); vertices.push_back( w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back(-d / 2 + z); // left vertices.push_back(-w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back(-d / 2 + z); vertices.push_back(-w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back( d / 2 + z); vertices.push_back(-w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back( d / 2 + z); vertices.push_back(-w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back(-d / 2 + z); // right vertices.push_back( w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back( d / 2 + z); vertices.push_back( w / 2 + x); vertices.push_back(-h / 2 + y); vertices.push_back(-d / 2 + z); vertices.push_back( w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back(-d / 2 + z); vertices.push_back( w / 2 + x); vertices.push_back( h / 2 + y); vertices.push_back( d / 2 + z); // LINE INDICES lineIndices.clear(); //bottom lineIndices.push_back(0); lineIndices.push_back(1); lineIndices.push_back(1); lineIndices.push_back(2); lineIndices.push_back(2); lineIndices.push_back(3); lineIndices.push_back(3); lineIndices.push_back(0); // top lineIndices.push_back(4); lineIndices.push_back(7); lineIndices.push_back(7); lineIndices.push_back(6); lineIndices.push_back(6); lineIndices.push_back(5); lineIndices.push_back(5); lineIndices.push_back(4); // sides lineIndices.push_back(0); lineIndices.push_back(4); lineIndices.push_back(1); lineIndices.push_back(7); lineIndices.push_back(2); lineIndices.push_back(6); lineIndices.push_back(3); lineIndices.push_back(5); // TRIANGLE INDICES triangleIndices.clear(); triangleIndices.push_back(0); triangleIndices.push_back(1); triangleIndices.push_back(2); triangleIndices.push_back(0); triangleIndices.push_back(2); triangleIndices.push_back(3); triangleIndices.push_back(4); triangleIndices.push_back(5); triangleIndices.push_back(6); triangleIndices.push_back(4); triangleIndices.push_back(6); triangleIndices.push_back(7); triangleIndices.push_back(8); triangleIndices.push_back(9); triangleIndices.push_back(10); triangleIndices.push_back(8); triangleIndices.push_back(10); triangleIndices.push_back(11); triangleIndices.push_back(12); triangleIndices.push_back(13); triangleIndices.push_back(14); triangleIndices.push_back(12); triangleIndices.push_back(14); triangleIndices.push_back(15); triangleIndices.push_back(16); triangleIndices.push_back(17); triangleIndices.push_back(18); triangleIndices.push_back(16); triangleIndices.push_back(18); triangleIndices.push_back(19); triangleIndices.push_back(20); triangleIndices.push_back(21); triangleIndices.push_back(22); triangleIndices.push_back(20); triangleIndices.push_back(22); triangleIndices.push_back(23); } template<typename T> void GLTFWriter::Test::MakeSphere(float x, float y, float z, float radius, unsigned int resolution, std::vector<float> &vertices, std::vector<T> &lineIndices, std::vector<T> &triangleIndices) { int i, j; float ud, /\* up/down and left/right angles \*/ lr; int scale; /\* number of facets about 1/2 of circumference \*/ if ((scale = (int)resolution / 2) < 2) scale = 2; const unsigned short numVertices = 2 * scale * (scale - 1) + 2; const unsigned int numLineSegs = 6 * scale * (scale - 1); const unsigned int numTriangles = 4 * scale * (scale - 1); vertices.resize(3 * numVertices); lineIndices.resize(2 * numLineSegs); triangleIndices.resize(3 * numTriangles); float *pVertex = &vertices[0]; T *pLine = &lineIndices[0]; T *pTriangle = &triangleIndices[0]; int v = 0; int l = 0; int t = 0; for (ud = (float)(PI / 2), i = 0; i <= scale; i++, ud -= (float)(PI / scale)) { for (lr = 0, j = 0; j < 2 * scale; j++, lr -= (float)(PI / scale)) { if ((i == 0 && j == 0) || (i != 0 && i != scale) || (i == scale && j == 0)) { float fLen = (float)(radius * std::cos(ud)); *pVertex++ = (float)(fLen * std::cos(lr) + x); *pVertex++ = (float)(radius * std::sin(ud) + y); *pVertex++ = (float)(fLen * std::sin(lr) + z); } if (i < scale) { if (i == 0) { *pTriangle++ = 0; *pTriangle++ = j + 1; if (j < 2 * scale - 1) *pTriangle++ = j + 2; else *pTriangle++ = 1; *pLine++ = 0; *pLine++ = j + 1; *pLine++ = j + 1; if (j < 2 * scale - 1) *pLine++ = j + 2; else *pLine++ = 1; } else if (i < scale - 1) { int v = (i - 1) * 2 * scale + j + 1; *pTriangle++ = v; *pTriangle++ = v + 2 * scale; if (j < 2 * scale - 1) *pTriangle++ = v + 1; else *pTriangle++ = v - 2 * scale + 1; *pTriangle++ = v + 2 * scale; if (j < 2 * scale - 1) { *pTriangle++ = v + 2 * scale + 1; *pTriangle++ = v + 1; } else { *pTriangle++ = v + 1; *pTriangle++ = v - 2 * scale + 1; } *pLine++ = v; *pLine++ = v + 2 * scale; *pLine++ = v + 2 * scale; if (j < 2 * scale - 1) { *pLine++ = v + 2 * scale + 1; *pLine++ = v + 2 * scale; *pLine++ = v + 1; } else { *pLine++ = v + 1; *pLine++ = v + 2 * scale; *pLine++ = v - 2 * scale + 1; } } else if (i == scale - 1) { int v = (i - 1) * 2 * scale + j + 1; *pTriangle++ = v; *pTriangle++ = numVertices - 1; if (j < 2 * scale - 1) *pTriangle++ = v + 1; else *pTriangle++ = v - 2 * scale + 1; *pLine++ = v; *pLine++ = numVertices - 1; } } } } } // explicit instantiations template void GLTFWriter::Test::MakeSphere<unsigned short>(float x, float y, float z, float radius, unsigned int resolution, std::vector<float> &vertices, std::vector<unsigned short> &lineIndices, std::vector<unsigned short> &triangleIndices); template void GLTFWriter::Test::MakeSphere<unsigned int>(float x, float y, float z, float radius, unsigned int resolution, std::vector<float> &vertices, std::vector<unsigned int> &lineIndices, std::vector<unsigned int> &triangleIndices); template<typename T> void GLTFWriter::Test::MakeTexturedSphere(float x, float y, float z, float radius, unsigned int resolution, std::vector<float> &vertices, std::vector<float> &normals, std::vector<float> &texCoords, std::vector<T> &triangleIndices) { const unsigned int numVertices = (resolution + 1) * (resolution + 1); const unsigned int numTriangles = 2 * resolution * resolution; vertices.resize(3 * numVertices); normals.resize(3 * numVertices); texCoords.resize(2 * numVertices); triangleIndices.resize(3 * numTriangles); float *pVertex = &vertices[0]; float *pNormal = &normals[0]; float *pTexCoord = &texCoords[0]; T *pTriangle = &triangleIndices[0]; const double fLatInc = PI / resolution; const double fLongInc = 2 * PI / resolution; // top to bottom double fLat, fLong; unsigned int iLat, iLong; for (fLat = PI, iLat = 0; iLat <= resolution; ++iLat, fLat -= fLatInc) { // left to right for (fLong = 2 * PI, iLong = 0; iLong <= resolution; ++iLong, fLong -= fLongInc) { float fLen = (float)(radius * sin(fLat)); double X = fLen * cos(fLong); double Y = radius * cos(fLat); double Z = fLen * sin(fLong); *pVertex++ = (float)X + x; *pVertex++ = (float)Y + y; *pVertex++ = (float)Z + z; double d = X * X + Y * Y + Z * Z; if (d != 0 && d != 1) { d = std::sqrt(d); X /= d; Y /= d; Z /= d; } *pNormal++ = (float)X; *pNormal++ = (float)Y; *pNormal++ = (float)Z; *pTexCoord++ = (float)((2 * PI - fLong) / (2 * PI)); *pTexCoord++ = (float)((PI - fLat) / PI); if (iLat > 0 && iLong > 0) { *pTriangle++ = (iLat - 1) * (resolution + 1) + iLong; *pTriangle++ = iLat * (resolution + 1) + iLong - 1; *pTriangle++ = (iLat - 1) * (resolution + 1) + iLong - 1; *pTriangle++ = (iLat - 1) * (resolution + 1) + iLong; *pTriangle++ = iLat * (resolution + 1) + iLong; *pTriangle++ = iLat * (resolution + 1) + iLong - 1; } } } } // explicit instantiations template void GLTFWriter::Test::MakeTexturedSphere<unsigned short>(float x, float y, float z, float radius, unsigned int resolution, std::vector<float> &vertices, std::vector<float> &normals, std::vector<float> &texCoords, std::vector<unsigned short> &triangleIndices); template void GLTFWriter::Test::MakeTexturedSphere<unsigned int>(float x, float y, float z, float radius, unsigned int resolution, std::vector<float> &vertices, std::vector<float> &normals, std::vector<float> &texCoords, std::vector<unsigned int> &triangleIndices); GLTFWriter::Test::PrimMat GLTFWriter::Test::CreateSolidColoredBoxPrimitive(GLTF *gltf, float x, float y, float z, float w, float h, float d, float r, float g, float b, float a) { Primitive *primitive = 0; Material *material = 0; // MATERIAL Material *mat = Test::CreateSolidColoredMaterial(gltf, r, g, b, a); if (mat) { // BOX std::vector<float> vertices; std::vector<unsigned short> lineIndices; std::vector<unsigned short> indices; Test::MakeBox(x, y, z, w, h, d, vertices, lineIndices, indices); // NORMALS std::vector<float> normals(vertices.size()); Utils::ComputeVertexNormals3((unsigned int)vertices.size() / 3, &vertices[0], (unsigned int)indices.size() / 3, 3, &indices[0], &normals[0]); Attribute *vertex = 0; Index *index = 0; Attribute *normal = 0; if ((vertex = Attribute::CreatePosition(gltf, (unsigned int)vertices.size() / 3, &vertices[0])) != 0 && // POSITION ATTRIBUTE (index = Index::Create(gltf, (unsigned int)indices.size(), &indices[0])) != 0 && // INDICES (normal = Attribute::CreateNormal(gltf, (unsigned int)vertices.size() / 3, &normals[0])) != 0) { // NORMAL ATTRIBUTE // PRIMITIVE Primitive *prim = Primitive::Create(gltf, Primitive::PT_TRIANGLES, mat, index); if (prim && prim->AppendAttribute(vertex) && prim->AppendAttribute(normal)) { material = mat; primitive = prim; } } } return std::make_pair(primitive, material); } GLTFWriter::Test::PrimMat GLTFWriter::Test::CreateColoredBoxPrimitive(GLTF *gltf, float x, float y, float z, float w, float h, float d) { Material *material = 0; Primitive *primitive = 0; // TECHNIQUE Technique *technique = Technique::Create(gltf); if (technique && technique->AppendState(State::Create(gltf, State::ST_DEPTHTESTENABLE, 1)) && // TECHNIQUE STATES technique->AppendState(State::Create(gltf, State::ST_BLENDENABLE, 1))) { // MATERIAL Material *mat = Material::Create(gltf, technique); if (mat) { // BOX std::vector<float> vertices; std::vector<unsigned short> lineIndices; std::vector<unsigned short> indices; Test::MakeBox(x, y, z, w, h, d, vertices, lineIndices, indices); const unsigned int numVertices = (unsigned int)vertices.size() / 3; // COLORS std::vector<float> colors; double colorInc = 1.0 / std::ceil(std::pow(numVertices, 1.0 / 3.75) - 1); std::vector<double> c(4, 1); for (unsigned int i = 0; i < numVertices; ++i) { colors.push_back((float)c[0]); colors.push_back((float)c[1]); colors.push_back((float)c[2]); colors.push_back((float)c[3]); for (unsigned int j = 0; j < 4; ++j) { c[j] -= colorInc; if (c[j] >= 0.0) break; c[j] = 1; } } // NORMALS std::vector<float> normals(vertices.size()); Utils::ComputeVertexNormals3((unsigned int)vertices.size() / 3, &vertices[0], (unsigned int)indices.size() / 3, 3, &indices[0], &normals[0]); Attribute *vertex = 0; Index *index = 0; Attribute *color = 0; Attribute *normal = 0; if ((vertex = Attribute::CreatePosition(gltf, numVertices, &vertices[0])) != 0 && // POSITION ATTRIBUTE (index = Index::Create(gltf, (unsigned int)indices.size(), &indices[0])) != 0 && // INDICES (color = Attribute::CreateColor(gltf, Attribute::AT_FLOAT_VEC4, numVertices, &colors[0])) != 0 && // COLOR ATTRIBUTE (normal = Attribute::CreateNormal(gltf, numVertices, &normals[0]))) { // NORMAL ATTRIBUTE // PRIMITIVE Primitive *prim = Primitive::Create(gltf, Primitive::PT_TRIANGLES, mat, index); if (prim && prim->AppendAttribute(vertex) && prim->AppendAttribute(normal) && prim->AppendAttribute(color)) { primitive = prim; material = mat; } } } } return std::make_pair(primitive, material); } GLTFWriter::Test::PrimMat GLTFWriter::Test::CreateTexturedBoxPrimitive(GLTF *gltf, Texture *texture, float x, float y, float z, float w, float h, float d) { Primitive *primitive = 0; Material *material = 0; // MATERIAL Material *mat = Test::CreateTexturedMaterial(gltf, texture); if (mat) { // BOX std::vector<float> vertices; std::vector<unsigned short> lineIndices; std::vector<unsigned short> indices; Test::MakeBox(x, y, z, w, h, d, vertices, lineIndices, indices); const unsigned int numVertices = (unsigned int)vertices.size() / 3; // TEXCOORDS const double coordMin = -5; const double coordMax = 5; std::vector<float> texCoords; double coordInc = 1.0 / (numVertices - 1); double c = 0; for (unsigned int i = 0; i < numVertices; ++i) { texCoords.push_back((float)(coordMin + c * (coordMax - coordMin))); c += coordInc; } // NORMALS std::vector<float> normals(vertices.size()); Utils::ComputeVertexNormals3((unsigned int)vertices.size() / 3, &vertices[0], (unsigned int)indices.size() / 3, 3, &indices[0], &normals[0]); Attribute *vertex = 0; Index *index = 0; Attribute *texCoord = 0; Attribute *normal = 0; if ((vertex = Attribute::CreatePosition(gltf, numVertices, &vertices[0])) != 0 && // POSITION ATTRIBUTE (index = Index::Create(gltf, (unsigned int)indices.size(), &indices[0])) != 0 && // INDICES (texCoord = Attribute::CreateTextureCoord(gltf, 0, numVertices, &texCoords[0])) && // TEXCOORD ATTRIBUTE (normal = Attribute::CreateNormal(gltf, numVertices, &normals[0]))) { // NORMAL ATTRIBUTE float mn; float mx; mn = (float)coordMin; mx = (float)coordMax; if (texCoord->SetMinMax(Attribute::AT_FLOAT, &mn, &mx)) { Primitive *prim = Primitive::Create(gltf, Primitive::PT_TRIANGLES, mat, index); if (prim && prim->AppendAttribute(vertex) && prim->AppendAttribute(normal) && prim->AppendAttribute(texCoord)) { primitive = prim; material = mat; } } } } return std::make_pair(primitive, material); } GLTFWriter::Test::PrimMat GLTFWriter::Test::CreateSolidColoredSpherePrimitive(GLTF *gltf, float x, float y, float z, float radius, unsigned int resolution, float r, float g, float b, float a) { Material *material = 0; Primitive *primitive = 0; // MATERIAL Material *mat = Test::CreateSolidColoredMaterial(gltf, r, g, b, a); if (mat) { // SPHERE std::vector<float> vertices; std::vector<unsigned short> lineIndices; std::vector<unsigned short> indices; Test::MakeSphere(x, y, z, radius, resolution, vertices, lineIndices, indices); // NORMALS std::vector<float> normals(vertices.size()); Utils::ComputeVertexNormals3((unsigned int)vertices.size() / 3, &vertices[0], (unsigned int)indices.size() / 3, 3, &indices[0], &normals[0]); Attribute *vertex = 0; Index *index = 0; Attribute *normal = 0; if ((vertex = Attribute::CreatePosition(gltf, (unsigned int)vertices.size() / 3, &vertices[0])) != 0 && // POSITION ATTRIBUTE (index = Index::Create(gltf, (unsigned int)indices.size(), &indices[0])) != 0 && // INDICES (normal = Attribute::CreateNormal(gltf, (unsigned int)vertices.size() / 3, &normals[0])) != 0) { // NORMAL ATTRIBUTE // PRIMITIVE Primitive *prim = Primitive::Create(gltf, Primitive::PT_TRIANGLES, mat, index); if (prim && prim->AppendAttribute(vertex) && prim->AppendAttribute(normal)) { material = mat; primitive = prim; } } } return std::make_pair(primitive, material); } GLTFWriter::Test::PrimMat GLTFWriter::Test::CreateColoredSpherePrimitive(GLTF *gltf, float x, float y, float z, float radius, unsigned int resolution) { Material *material = 0; Primitive *primitive = 0; // TECHNIQUE Technique *technique = Technique::Create(gltf); if (technique && technique->AppendState(State::Create(gltf, State::ST_DEPTHTESTENABLE, 1)) && // TECHNIQUE STATES technique->AppendState(State::Create(gltf, State::ST_BLENDENABLE, 1))) { // MATERIAL Material *mat = Material::Create(gltf, technique); if (mat) { // SPHERE std::vector<float> vertices; std::vector<unsigned short> lineIndices; std::vector<unsigned short> indices; Test::MakeSphere(x, y, z, radius, resolution, vertices, lineIndices, indices); const unsigned int numVertices = (unsigned int)vertices.size() / 3; // COLORS std::vector<float> colors; double colorInc = 1.0 / std::ceil(std::pow(numVertices, 1.0 / 3.75) - 1); std::vector<double> c(4, 1); for (unsigned int i = 0; i < numVertices; ++i) { colors.push_back((float)c[0]); colors.push_back((float)c[1]); colors.push_back((float)c[2]); colors.push_back((float)c[3]); for (unsigned int j = 0; j < 4; ++j) { c[j] -= colorInc; if (c[j] >= 0.0) break; c[j] = 1; } } // NORMALS std::vector<float> normals(vertices.size()); Utils::ComputeVertexNormals3((unsigned int)vertices.size() / 3, &vertices[0], (unsigned int)indices.size() / 3, 3, &indices[0], &normals[0]); Attribute *vertex = 0; Index *index = 0; Attribute *color = 0; Attribute *normal = 0; if ((vertex = Attribute::CreatePosition(gltf, numVertices, &vertices[0])) != 0 && // POSITION ATTRIBUTE (index = Index::Create(gltf, (unsigned int)indices.size(), &indices[0])) != 0 && // INDICES (color = Attribute::CreateColor(gltf, Attribute::AT_FLOAT_VEC4, numVertices, &colors[0])) != 0 && // COLOR ATTRIBUTE (normal = Attribute::CreateNormal(gltf, numVertices, &normals[0]))) { // NORMAL ATTRIBUTE // PRIMITIVE Primitive *prim = Primitive::Create(gltf, Primitive::PT_TRIANGLES, mat, index); if (prim && prim->AppendAttribute(vertex) && prim->AppendAttribute(normal) && prim->AppendAttribute(color)) { material = mat; primitive = prim; } } } } return std::make_pair(primitive, material); } GLTFWriter::Test::Vector3::Vector3(const GLTFWriter::Test::Vector4 &v) : VectorBase<3>() { (*this)[0] = v[0]; (*this)[1] = v[1]; (*this)[2] = v[2]; if (v[3] != 0 && v[3] != 1) { (*this)[0] /= v[3]; (*this)[1] /= v[3]; (*this)[2] /= v[3]; } } double GLTFWriter::Test::Vector3::Length() const { double d = (*this)[0] * (*this)[0] + (*this)[1] * (*this)[1] + (*this)[2] * (*this)[2]; if (d != 0 && d != 1) d = std::sqrt(d); return d; } GLTFWriter::Test::Vector3 GLTFWriter::Test::Vector3::Normalize() const { Vector3 tmp = *this; double d = tmp[0] * tmp[0] + tmp[1] * tmp[1] + tmp[2] * tmp[2]; if (d != 0 && d != 1) { d = std::sqrt(d); tmp[0] /= d; tmp[1] /= d; tmp[2] /= d; } return tmp; } GLTFWriter::Test::Vector3 & GLTFWriter::Test::Vector3::operator+=(const Vector3 &v) { (*this)[0] += v[0]; (*this)[1] += v[1]; (*this)[2] += v[2]; return *this; } GLTFWriter::Test::Vector3 & GLTFWriter::Test::Vector3::operator-=(const Vector3 &v) { (*this)[0] -= v[0]; (*this)[1] -= v[1]; (*this)[2] -= v[2]; return *this; } GLTFWriter::Test::Vector3 & GLTFWriter::Test::Vector3::operator*=(double d) { (*this)[0] *= d; (*this)[1] *= d; (*this)[2] *= d; return *this; } GLTFWriter::Test::Vector3 GLTFWriter::Test::Vector3::Cross(const Vector3 &v) const { Vector3 tmp; tmp[0] = (*this)[1] * v[2] - v[1] * (*this)[2]; tmp[1] = (*this)[2] * v[0] - v[2] * (*this)[0]; tmp[2] = (*this)[0] * v[1] - v[0] * (*this)[1]; return tmp; } GLTFWriter::Test::Quaternion::Quaternion(const Vector3 &axis, double angle) : VectorBase<4>() { Vector3 tmp = axis.Normalize(); double s = std::sin(angle / 2); (*this)[0] = tmp[0] * s; (*this)[1] = tmp[1] * s; (*this)[2] = tmp[2] * s; (*this)[3] = std::cos(angle / 2); *this = Normalize(); // rotation quaternions must be normalized } GLTFWriter::Test::Quaternion::Quaternion(const Matrix4 &m) : VectorBase<4>() { // is this the same as Matrix.GetQuaternion??? double tr = m[0] + m[5] + m[10]; if (tr > 0) { double s = std::sqrt(tr + 1) * 2; (*this)[0] = (m[6] - m[9]) / s; (*this)[1] = (-m[2] - m[8]) / s; (*this)[2] = (m[1] - m[4]) / s; (*this)[3] = 0.25 * s; } else if (m[0] > m[5] && m[0] > m[10]) { double s = std::sqrt(m[0] - m[5] - m[10] + 1) * 2; (*this)[0] = 0.25 * s; (*this)[1] = (m[1] + m[4]) / s; (*this)[2] = (m[2] + m[8]) / s; (*this)[3] = (m[6] - m[9]) / s; } else if (m[5] > m[10]) { double s = std::sqrt(-m[0] + m[5] - m[10] + 1) * 2; (*this)[0] = (m[1] + m[4]) / s; (*this)[1] = 0.25 * s; (*this)[2] = (m[6] + m[9]) / s; (*this)[3] = (-m[2] + m[8]) / s; } else { double s = std::sqrt(-m[0] - m[5] + m[10] + 1) * 2; (*this)[0] = (m[2] + m[8]) / s; (*this)[1] = (m[6] + m[9]) / s; (*this)[2] = 0.25 * s; (*this)[3] = (m[1] - m[4]) / s; } } double GLTFWriter::Test::Quaternion::Norm() const { return this->Dot(*this); // return (\*this)\[0\] \* (\*this)\[0\] + (\*this)\[1\] \* (\*this)\[1\] + (\*this)\[2\] \* (\*this)\[2\] + (\*this)\[3\] \* (\*this)\[3\]; } double GLTFWriter::Test::Quaternion::Magnitude() const { double d = Norm(); if (d != 0 && d != 1) return std::sqrt(d); return d; } GLTFWriter::Test::Quaternion GLTFWriter::Test::Quaternion::Normalize() const { Quaternion tmp = *this; double d = Magnitude(); if (d != 0 && d != 1) { tmp[0] /= d; tmp[1] /= d; tmp[2] /= d; tmp[3] /= d; } return tmp; } GLTFWriter::Test::Quaternion GLTFWriter::Test::Quaternion::Slerp(const Quaternion &q, double t) const { Quaternion a = Normalize(); // rotation quaternions must be normalized Quaternion b = q.Normalize(); // rotation quaternions must be normalized double cosHalfTheta = a.Dot(b); if (std::abs(cosHalfTheta) >= 1.0) return a; double sinHalfTheta = std::sqrt(1.0 - cosHalfTheta * cosHalfTheta); if (std::abs(sinHalfTheta) < 0.001) return ((a + b) * 0.5).Normalize(); // rotation quaternions must be normalized double halfTheta = std::acos(cosHalfTheta); double ratioA = std::sin((1 - t) * halfTheta) / sinHalfTheta; double ratioB = std::sin(t * halfTheta) / sinHalfTheta; return (a * ratioA + b * ratioB).Normalize(); // rotation quaternions must be normalized } GLTFWriter::Test::Quaternion & GLTFWriter::Test::Quaternion::operator+=(const Quaternion &q) { (*this)[0] += q[0]; (*this)[1] += q[1]; (*this)[2] += q[2]; (*this)[3] += q[3]; return *this; } GLTFWriter::Test::Quaternion & GLTFWriter::Test::Quaternion::operator-=(const Quaternion &q) { (*this)[0] -= q[0]; (*this)[1] -= q[1]; (*this)[2] -= q[2]; (*this)[3] -= q[3]; return *this; } GLTFWriter::Test::Quaternion & GLTFWriter::Test::Quaternion::operator*=(const Quaternion &q) { Quaternion tmp; tmp[0] = (*this)[3] * q[0] + (*this)[0] * q[3] + (*this)[1] * q[2] - (*this)[2] * q[1]; tmp[1] = (*this)[3] * q[1] - (*this)[0] * q[2] + (*this)[1] * q[3] + (*this)[2] * q[0]; tmp[2] = (*this)[3] * q[2] + (*this)[0] * q[1] - (*this)[1] * q[0] + (*this)[2] * q[3]; tmp[3] = (*this)[3] * q[3] - (*this)[0] * q[0] - (*this)[1] * q[1] - (*this)[2] * q[2]; *this = tmp; return *this; } GLTFWriter::Test::Quaternion & GLTFWriter::Test::Quaternion::operator*=(double d) { (*this)[0] *= d; (*this)[1] *= d; (*this)[2] *= d; (*this)[3] *= d; return *this; } GLTFWriter::Test::DualQuaternion::DualQuaternion(const double angle, // rotation const double d, // pitch const Vector3 &l, const Vector3 &m) { double s2 = std::sin(angle / 2); // = 1 / vrd double wr = std::cos(angle / 2); Vector3 vr = l * s2; double wd = -d / 2 * s2; Vector3 vd = m * s2 + l * (d / 2 * wr); rotation[0] = vr[0]; rotation[1] = vr[1]; rotation[2] = vr[2]; rotation[3] = wr; translation[0] = vd[0]; translation[1] = vd[1]; translation[2] = vd[2]; translation[3] = wd; } GLTFWriter::Test::DualQuaternion GLTFWriter::Test::DualQuaternion::Conjugate() const { DualQuaternion tmp; tmp.rotation = rotation.Conjugate(); tmp.translation = translation.Conjugate(); return tmp; } GLTFWriter::Test::DualQuaternion GLTFWriter::Test::DualQuaternion::Inverse() const { DualQuaternion tmp; tmp.rotation = rotation.Conjugate(); // really should be Inverse tmp.translation = tmp.rotation * translation * tmp.rotation * -1; return tmp; } GLTFWriter::Test::DualQuaternion & GLTFWriter::Test::DualQuaternion::operator+=(const DualQuaternion &q) { rotation = (rotation + q.rotation).Normalize(); // rotation quaternions must be normalized translation += q.translation; return *this; } GLTFWriter::Test::DualQuaternion & GLTFWriter::Test::DualQuaternion::operator-=(const DualQuaternion &q) { rotation = (rotation - q.rotation).Normalize(); // rotation quaternions must be normalized translation -= q.translation; return *this; } GLTFWriter::Test::DualQuaternion & GLTFWriter::Test::DualQuaternion::operator*=(const DualQuaternion &q) { DualQuaternion tmp; tmp.rotation = (rotation * q.rotation).Normalize(); // rotation quaternions must be normalized tmp.translation = rotation * q.translation + translation * q.rotation; *this = tmp; return *this; } GLTFWriter::Test::DualQuaternion & GLTFWriter::Test::DualQuaternion::operator*=(double d) { this->rotation = (this->rotation * d).Normalize(); this->translation *= d; return *this; } void GLTFWriter::Test::DualQuaternion::GetPluckerCoordinates(double &angle, // rotation double &d, // pitch Vector3 &l, Vector3 &m) { double wr = rotation[3]; Vector3 vr(rotation[0], rotation[1], rotation[2]); double wd = translation[3]; Vector3 vd(translation[0], translation[1], translation[2]); double vrd = 1.0 / std::sqrt(vr.Dot(vr)); angle = 2 * std::acos(wr); d = -2 * wd * vrd; l = vr * vrd; m = (vd - l * (d * wr / 2)) * vrd; } GLTFWriter::Test::DualQuaternion GLTFWriter::Test::DualQuaternion::Pow(double t) { double angle; double d; Vector3 l; Vector3 m; GetPluckerCoordinates(angle, d, l, m); double s = std::sin(t * angle / 2); double c = std::cos(t * angle / 2); // there is dual angle and dual number calculations going on double wr = c; Vector3 vr = l * s; double wd = -t * d / 2 * s; Vector3 vd = l * (t * d / 2 * c) + m * s; DualQuaternion tmp; tmp.rotation[0] = vr[0]; tmp.rotation[1] = vr[1]; tmp.rotation[2] = vr[2]; tmp.rotation[3] = wr; tmp.translation[0] = vd[0]; tmp.translation[1] = vd[1]; tmp.translation[2] = vd[2]; tmp.translation[3] = wd; return tmp; } GLTFWriter::Test::DualQuaternion GLTFWriter::Test::DualQuaternion::Sclerp(const DualQuaternion &q, double t) const { double d = this->GetRotation().Dot(q.GetRotation()); DualQuaternion tmp = this->Inverse() * (q * (d < 0 ? -1.0 : 1.0)); return *this * tmp.Pow(t); } GLTFWriter::Test::Matrix4::Matrix4(const Quaternion &q) : VectorBase<16>() { Quaternion t = q.Normalize(); // rotation quaternions must be normalized (*this)[0] = 1 - 2 * t[1] * t[1] - 2 * t[2] * t[2]; (*this)[1] = 2 * t[0] * t[1] + 2 * t[2] * t[3]; (*this)[2] = 2 * t[0] * t[2] - 2 * t[1] * t[3]; (*this)[4] = 2 * t[0] * t[1] - 2 * t[2] * t[3]; (*this)[5] = 1 - 2 * t[0] * t[0] - 2 * t[2] * t[2]; (*this)[6] = 2 * t[1] * t[2] + 2 * t[0] * t[3]; (*this)[8] = 2 * t[0] * t[2] + 2 * t[1] * t[3]; (*this)[9] = 2 * t[1] * t[2] - 2 * t[0] * t[3]; (*this)[10] = 1 - 2 * t[0] * t[0] - 2 * t[1] * t[1]; (*this)[15] = 1; } GLTFWriter::Test::Matrix4::Matrix4(const DualQuaternion &q) : VectorBase<16>() { Quaternion qr = q.GetRotation(); (*this)[0] = 1 - 2 * qr[1] * qr[1] - 2 * qr[2] * qr[2]; (*this)[1] = 2 * qr[0] * qr[1] + 2 * qr[2] * qr[3]; (*this)[2] = 2 * qr[0] * qr[2] - 2 * qr[1] * qr[3]; (*this)[4] = 2 * qr[0] * qr[1] - 2 * qr[2] * qr[3]; (*this)[5] = 1 - 2 * qr[0] * qr[0] - 2 * qr[2] * qr[2]; (*this)[6] = 2 * qr[1] * qr[2] + 2 * qr[0] * qr[3]; (*this)[8] = 2 * qr[0] * qr[2] + 2 * qr[1] * qr[3]; (*this)[9] = 2 * qr[1] * qr[2] - 2 * qr[0] * qr[3]; (*this)[10] = 1 - 2 * qr[0] * qr[0] - 2 * qr[1] * qr[1]; Vector3 vt = q.GetTranslation(); (*this)[12] = vt[0]; (*this)[13] = vt[1]; (*this)[14] = vt[2]; (*this)[15] = 1; } GLTFWriter::Test::Matrix4 & GLTFWriter::Test::Matrix4::operator*=(const Matrix4 &m) { Matrix4 tmp; tmp[0] = (*this)[0] * m[0] + (*this)[4] * m[1] + (*this)[8] * m[2] + (*this)[12] * m[3]; tmp[1] = (*this)[1] * m[0] + (*this)[5] * m[1] + (*this)[9] * m[2] + (*this)[13] * m[3]; tmp[2] = (*this)[2] * m[0] + (*this)[6] * m[1] + (*this)[10] * m[2] + (*this)[14] * m[3]; tmp[3] = (*this)[3] * m[0] + (*this)[7] * m[1] + (*this)[11] * m[2] + (*this)[15] * m[3]; tmp[4] = (*this)[0] * m[4] + (*this)[4] * m[5] + (*this)[8] * m[6] + (*this)[12] * m[7]; tmp[5] = (*this)[1] * m[4] + (*this)[5] * m[5] + (*this)[9] * m[6] + (*this)[13] * m[7]; tmp[6] = (*this)[2] * m[4] + (*this)[6] * m[5] + (*this)[10] * m[6] + (*this)[14] * m[7]; tmp[7] = (*this)[3] * m[4] + (*this)[7] * m[5] + (*this)[11] * m[6] + (*this)[15] * m[7]; tmp[8] = (*this)[0] * m[8] + (*this)[4] * m[9] + (*this)[8] * m[10] + (*this)[12] * m[11]; tmp[9] = (*this)[1] * m[8] + (*this)[5] * m[9] + (*this)[9] * m[10] + (*this)[13] * m[11]; tmp[10] = (*this)[2] * m[8] + (*this)[6] * m[9] + (*this)[10] * m[10] + (*this)[14] * m[11]; tmp[11] = (*this)[3] * m[8] + (*this)[7] * m[9] + (*this)[11] * m[10] + (*this)[15] * m[11]; tmp[12] = (*this)[0] * m[12] + (*this)[4] * m[13] + (*this)[8] * m[14] + (*this)[12] * m[15]; tmp[13] = (*this)[1] * m[12] + (*this)[5] * m[13] + (*this)[9] * m[14] + (*this)[13] * m[15]; tmp[14] = (*this)[2] * m[12] + (*this)[6] * m[13] + (*this)[10] * m[14] + (*this)[14] * m[15]; tmp[15] = (*this)[3] * m[12] + (*this)[7] * m[13] + (*this)[11] * m[14] + (*this)[15] * m[15]; *this = tmp; return *this; } GLTFWriter::Test::Vector4 GLTFWriter::Test::Matrix4::operator*(const Vector4 &v) const { Vector4 tmp; tmp[0] = (*this)[0] * v[0] + (*this)[4] * v[1] + (*this)[8] * v[2] + (*this)[12] * v[3]; tmp[1] = (*this)[1] * v[0] + (*this)[5] * v[1] + (*this)[9] * v[2] + (*this)[13] * v[3]; tmp[2] = (*this)[2] * v[0] + (*this)[6] * v[1] + (*this)[10] * v[2] + (*this)[14] * v[3]; tmp[3] = (*this)[3] * v[0] + (*this)[7] * v[1] + (*this)[11] * v[2] + (*this)[15] * v[3]; return tmp; } void GLTFWriter::Test::Matrix4::LoadIdentity() { Clear(); (*this)[0] = (*this)[5] = (*this)[10] = (*this)[15] = 1; } bool GLTFWriter::Test::Matrix4::IsIdentity() { return (*this)[0] == 1 && (*this)[1] == 0 && (*this)[2] == 0 && (*this)[3] == 0 && (*this)[4] == 0 && (*this)[5] == 1 && (*this)[6] == 0 && (*this)[7] == 0 && (*this)[8] == 0 && (*this)[9] == 0 && (*this)[10] == 1 && (*this)[11] == 0 && (*this)[12] == 0 && (*this)[13] == 0 && (*this)[14] == 0 && (*this)[15] == 1; } void GLTFWriter::Test::Matrix4::LoadScale(const Vector3 &v) { LoadIdentity(); (*this)[0] = v[0]; (*this)[5] = v[1]; (*this)[10] = v[2]; } void GLTFWriter::Test::Matrix4::LoadTranslate(const Vector3 &v) { LoadIdentity(); (*this)[12] = v[0]; (*this)[13] = v[1]; (*this)[14] = v[2]; } void GLTFWriter::Test::Matrix4::LoadRotation(const Vector3 &l1, const Vector3 &l2, double angle) { Vector3 vec(l2[0] - l1[0], l2[1] - l1[1], l2[2] - l1[2]); vec.Normalize(); double a = l1[0]; double b = l1[1]; double c = l1[2]; double u = vec[0]; double v = vec[1]; double w = vec[2]; double u2 = u * u; double v2 = v * v; double w2 = w * w; double sinA = std::sin(angle); double cosA = std::cos(angle); LoadIdentity(); (*this)[0] = u2 * (1 - cosA) + cosA; (*this)[1] = u * v * (1 - cosA) + w * sinA; (*this)[2] = u * w * (1 - cosA) - v * sinA; (*this)[4] = u * v * (1 - cosA) - w * sinA; (*this)[5] = v2 * (1 - cosA) + cosA; (*this)[6] = v * w * (1 - cosA) + u * sinA; (*this)[8] = u * w * (1 - cosA) + v * sinA; (*this)[9] = v * w * (1 - cosA) - u * sinA; (*this)[10] = w2 * (1 - cosA) + cosA; // (\*this)\[12\] = (a \* (v2 + w2) - u \* (b \* v + c \* w)) \* (1 - cosA) + (b \* w - c \* v) \* sinA; (*this)[12] = a - (*this)[0] * a - (*this)[4] * b - (*this)[8] * c; // (\*this)\[13\] = (b \* (u2 + w2) - v \* (a \* u + c \* w)) \* (1 - cosA) + (c \* u - a \* w) \* sinA; (*this)[13] = b - (*this)[1] * a - (*this)[5] * b - (*this)[9] * c; // (\*this)\[14\] = (c \* (u2 + v2) - w \* (a \* u + b \* v)) \* (1 - cosA) + (a \* v - b \* u) \* sinA; (*this)[14] = c - (*this)[2] * a - (*this)[6] * b - (*this)[10] * c; } GLTFWriter::Test::Vector3 GLTFWriter::Test::Matrix4::GetScale() const { Vector3 tmp; tmp[0] = std::sqrt((*this)[0] * (*this)[0] + (*this)[1] * (*this)[1] + (*this)[2] * (*this)[2]); tmp[1] = std::sqrt((*this)[4] * (*this)[4] + (*this)[5] * (*this)[5] + (*this)[6] * (*this)[6]); tmp[2] = std::sqrt((*this)[8] * (*this)[8] + (*this)[9] * (*this)[9] + (*this)[10] * (*this)[10]); return tmp; } GLTFWriter::Test::Vector3 GLTFWriter::Test::Matrix4::GetTranslate() const { return Vector3((*this)[12], (*this)[13], (*this)[14]); } GLTFWriter::Test::Quaternion GLTFWriter::Test::Matrix4::GetQuaternion() const { Vector3 scale = GetScale(); double v0 = (*this)[0] / scale[0]; double v1 = (*this)[1] / scale[0]; double v2 = (*this)[2] / scale[0]; double v4 = (*this)[4] / scale[1]; double v5 = (*this)[5] / scale[1]; double v6 = (*this)[6] / scale[1]; double v8 = (*this)[8] / scale[2]; double v9 = (*this)[9] / scale[2]; double v10 = (*this)[10] / scale[2]; bool t1 = v0 + v5 + v10 > 0; bool t2 = v0 > v5 && v0 > v10; bool t3 = v5 > v10; double t4 = 2 * (t1 ? (std::sqrt(1 + v0 + v5 + v10)) : (t2 ? (std::sqrt(1 + v0 - v5 - v10)) : (t3 ? (std::sqrt(1 - v0 + v5 - v10)) : (std::sqrt(1 - v0 - v5 + v10))))); double x = t1 ? ((v6 - v9) / t4) : (t2 ? (0.25 * t4) : (t3 ? ((v4 + v1) / t4) : ((v8 + v2) / t4))); double y = t1 ? ((v8 - v2) / t4) : (t2 ? ((v4 + v1) / t4) : (t3 ? (0.25 * t4) : ((v9 + v6) / t4))); double z = t1 ? ((v1 - v4) / t4) : (t2 ? ((v8 + v2) / t4) : (t3 ? ((v9 + v6) / t4) : (0.25 * t4))); double w = t1 ? (0.25 * t4) : (t2 ? ((v6 - v9) / t4) : (t3 ? ((v8 - v2) / t4) : ((v1 - v4) / t4))); return Quaternion(x, y, z, w).Normalize(); // rotation quaternions must be normalized } GLTFWriter::Test::Matrix4 GLTFWriter::Test::Matrix4::Transpose() const { Matrix4 tmp; tmp[0] = (*this)[0]; tmp[1] = (*this)[4]; tmp[2] = (*this)[8]; tmp[3] = (*this)[12]; tmp[4] = (*this)[1]; tmp[5] = (*this)[5]; tmp[6] = (*this)[9]; tmp[7] = (*this)[13]; tmp[8] = (*this)[2]; tmp[9] = (*this)[6]; tmp[10] = (*this)[10]; tmp[11] = (*this)[14]; tmp[12] = (*this)[3]; tmp[13] = (*this)[7]; tmp[14] = (*this)[11]; tmp[15] = (*this)[15]; return tmp; } double GLTFWriter::Test::Matrix4::Determinant() const { return (*this)[12] * (*this)[9] * (*this)[6] * (*this)[3] - (*this)[8] * (*this)[13] * (*this)[6] * (*this)[3] - (*this)[12] * (*this)[5] * (*this)[10] * (*this)[3] + (*this)[4] * (*this)[13] * (*this)[10] * (*this)[3] + (*this)[8] * (*this)[5] * (*this)[14] * (*this)[3] - (*this)[4] * (*this)[9] * (*this)[14] * (*this)[3] - (*this)[12] * (*this)[9] * (*this)[2] * (*this)[7] + (*this)[8] * (*this)[13] * (*this)[2] * (*this)[7] + (*this)[12] * (*this)[1] * (*this)[10] * (*this)[7] - (*this)[0] * (*this)[13] * (*this)[10] * (*this)[7] - (*this)[8] * (*this)[1] * (*this)[14] * (*this)[7] + (*this)[0] * (*this)[9] * (*this)[14] * (*this)[7] + (*this)[12] * (*this)[5] * (*this)[2] * (*this)[11] - (*this)[4] * (*this)[13] * (*this)[2] * (*this)[11] - (*this)[12] * (*this)[1] * (*this)[6] * (*this)[11] + (*this)[0] * (*this)[13] * (*this)[6] * (*this)[11] + (*this)[4] * (*this)[1] * (*this)[14] * (*this)[11] - (*this)[0] * (*this)[5] * (*this)[14] * (*this)[11] - (*this)[8] * (*this)[5] * (*this)[2] * (*this)[15] + (*this)[4] * (*this)[9] * (*this)[2] * (*this)[15] + (*this)[8] * (*this)[1] * (*this)[6] * (*this)[15] - (*this)[0] * (*this)[9] * (*this)[6] * (*this)[15] - (*this)[4] * (*this)[1] * (*this)[10] * (*this)[15] + (*this)[0] * (*this)[5] * (*this)[10] * (*this)[15]; } GLTFWriter::Test::Matrix4 GLTFWriter::Test::Matrix4::Inverse() const { Matrix4 tmp; double det = Determinant(); assert(det != 0); tmp[0] = ((*this)[9] * (*this)[14] * (*this)[7] - (*this)[13] * (*this)[10] * (*this)[7] + (*this)[13] * (*this)[6] * (*this)[11] - (*this)[5] * (*this)[14] * (*this)[11] - (*this)[9] * (*this)[6] * (*this)[15] + (*this)[5] * (*this)[10] * (*this)[15]) / det; tmp[1] = ((*this)[13] * (*this)[10] * (*this)[3] - (*this)[9] * (*this)[14] * (*this)[3] - (*this)[13] * (*this)[2] * (*this)[11] + (*this)[1] * (*this)[14] * (*this)[11] + (*this)[9] * (*this)[2] * (*this)[15] - (*this)[1] * (*this)[10] * (*this)[15]) / det; tmp[2] = ((*this)[5] * (*this)[14] * (*this)[3] - (*this)[13] * (*this)[6] * (*this)[3] + (*this)[13] * (*this)[2] * (*this)[7] - (*this)[1] * (*this)[14] * (*this)[7] - (*this)[5] * (*this)[2] * (*this)[15] + (*this)[1] * (*this)[6] * (*this)[15]) / det; tmp[3] = ((*this)[9] * (*this)[6] * (*this)[3] - (*this)[5] * (*this)[10] * (*this)[3] - (*this)[9] * (*this)[2] * (*this)[7] + (*this)[1] * (*this)[10] * (*this)[7] + (*this)[5] * (*this)[2] * (*this)[11] - (*this)[1] * (*this)[6] * (*this)[11]) / det; tmp[4] = ((*this)[12] * (*this)[10] * (*this)[7] - (*this)[8] * (*this)[14] * (*this)[7] - (*this)[12] * (*this)[6] * (*this)[11] + (*this)[4] * (*this)[14] * (*this)[11] + (*this)[8] * (*this)[6] * (*this)[15] - (*this)[4] * (*this)[10] * (*this)[15]) / det; tmp[5] = ((*this)[8] * (*this)[14] * (*this)[3] - (*this)[12] * (*this)[10] * (*this)[3] + (*this)[12] * (*this)[2] * (*this)[11] - (*this)[0] * (*this)[14] * (*this)[11] - (*this)[8] * (*this)[2] * (*this)[15] + (*this)[0] * (*this)[10] * (*this)[15]) / det; tmp[6] = ((*this)[12] * (*this)[6] * (*this)[3] - (*this)[4] * (*this)[14] * (*this)[3] - (*this)[12] * (*this)[2] * (*this)[7] + (*this)[0] * (*this)[14] * (*this)[7] + (*this)[4] * (*this)[2] * (*this)[15] - (*this)[0] * (*this)[6] * (*this)[15]) / det; tmp[7] = ((*this)[4] * (*this)[10] * (*this)[3] - (*this)[8] * (*this)[6] * (*this)[3] + (*this)[8] * (*this)[2] * (*this)[7] - (*this)[0] * (*this)[10] * (*this)[7] - (*this)[4] * (*this)[2] * (*this)[11] + (*this)[0] * (*this)[6] * (*this)[11]) / det; tmp[8] = ((*this)[8] * (*this)[13] * (*this)[7] - (*this)[12] * (*this)[9] * (*this)[7] + (*this)[12] * (*this)[5] * (*this)[11] - (*this)[4] * (*this)[13] * (*this)[11] - (*this)[8] * (*this)[5] * (*this)[15] + (*this)[4] * (*this)[9] * (*this)[15]) / det; tmp[9] = ((*this)[12] * (*this)[9] * (*this)[3] - (*this)[8] * (*this)[13] * (*this)[3] - (*this)[12] * (*this)[1] * (*this)[11] + (*this)[0] * (*this)[13] * (*this)[11] + (*this)[8] * (*this)[1] * (*this)[15] - (*this)[0] * (*this)[9] * (*this)[15]) / det; tmp[10] = ((*this)[4] * (*this)[13] * (*this)[3] - (*this)[12] * (*this)[5] * (*this)[3] + (*this)[12] * (*this)[1] * (*this)[7] - (*this)[0] * (*this)[13] * (*this)[7] - (*this)[4] * (*this)[1] * (*this)[15] + (*this)[0] * (*this)[5] * (*this)[15]) / det; tmp[11] = ((*this)[8] * (*this)[5] * (*this)[3] - (*this)[4] * (*this)[9] * (*this)[3] - (*this)[8] * (*this)[1] * (*this)[7] + (*this)[0] * (*this)[9] * (*this)[7] + (*this)[4] * (*this)[1] * (*this)[11] - (*this)[0] * (*this)[5] * (*this)[11]) / det; tmp[12] = ((*this)[12] * (*this)[9] * (*this)[6] - (*this)[8] * (*this)[13] * (*this)[6] - (*this)[12] * (*this)[5] * (*this)[10] + (*this)[4] * (*this)[13] * (*this)[10] + (*this)[8] * (*this)[5] * (*this)[14] - (*this)[4] * (*this)[9] * (*this)[14]) / det; tmp[13] = ((*this)[8] * (*this)[13] * (*this)[2] - (*this)[12] * (*this)[9] * (*this)[2] + (*this)[12] * (*this)[1] * (*this)[10] - (*this)[0] * (*this)[13] * (*this)[10] - (*this)[8] * (*this)[1] * (*this)[14] + (*this)[0] * (*this)[9] * (*this)[14]) / det; tmp[14] = ((*this)[12] * (*this)[5] * (*this)[2] - (*this)[4] * (*this)[13] * (*this)[2] - (*this)[12] * (*this)[1] * (*this)[6] + (*this)[0] * (*this)[13] * (*this)[6] + (*this)[4] * (*this)[1] * (*this)[14] - (*this)[0] * (*this)[5] * (*this)[14]) / det; tmp[15] = ((*this)[4] * (*this)[9] * (*this)[2] - (*this)[8] * (*this)[5] * (*this)[2] + (*this)[8] * (*this)[1] * (*this)[6] - (*this)[0] * (*this)[9] * (*this)[6] - (*this)[4] * (*this)[1] * (*this)[10] + (*this)[0] * (*this)[5] * (*this)[10]) / det; return tmp; } [ANSYS::Nexus::GLTFWriter::Material](class_a_n_s_y_s_1_1_nexus_1_1_g_l_t_f_writer_1_1_material.xhtml) Materials describe how primitives are rendered. **Definition:** [GLTFMaterial.h:30](_g_l_t_f_material_8h_source.xhtml#l00029) [ANSYS::Nexus::GLTFWriter::Texture](class_a_n_s_y_s_1_1_nexus_1_1_g_l_t_f_writer_1_1_texture.xhtml) Textures are images that can be used to color a primitive. **Definition:** [GLTFTexture.h:28](_g_l_t_f_texture_8h_source.xhtml#l00027)