DIRECTORY
CoordSys, FunctionCache, IO, Matrix3d, Rope, SV2d, SV3d, SVCoordSysType, SVModelTypes;

CoordSysImpl: CEDAR PROGRAM
IMPORTS FunctionCache, Matrix3d, IO, Rope
EXPORTS CoordSys, SVModelTypes =
BEGIN

Camera: TYPE = SVModelTypes.Camera;
CoordSystem: TYPE = REF CoordSysObj;
CoordSysObj: PUBLIC TYPE = SVCoordSysType.CoordSysObj;
CoordSysList: TYPE = SVModelTypes.CoordSysList;
Matrix4by4: TYPE = SV3d.Matrix4by4;
Point2d: TYPE = SV2d.Point2d;
Point3d: TYPE = SV3d.Point3d;
Vector3d: TYPE = SV3d.Vector3d;

globalNumberStream: IO.STREAM; -- initialized in Init[].
CreateRoot: PUBLIC PROC [name: Rope.ROPE] RETURNS [newCS: CoordSystem] = {
newCS _ NEW[CoordSysObj _ [
name: name,
scalarsOnly: FALSE,
scalars: [1,1,1],
mat: Matrix3d.Identity[],
worldOK: TRUE,
wrtWorld: Matrix3d.Identity[],
inverseOK: TRUE,
worldWRTlocal: Matrix3d.Identity[],
cameraCache: FunctionCache.Create[3],
parent: NIL, children: NIL]];
};

CreateCoordSysInTree: PUBLIC PROC [name: Rope.ROPE, mat: Matrix4by4, parent: CoordSystem, root: CoordSystem] RETURNS [newCS: CoordSystem] = {
IF CoordSysNameIsPresent[name, root] THEN SIGNAL NameAlreadyExists;
newCS _ NEW[CoordSysObj _ [
name: name,
scalarsOnly: FALSE,
scalars: [1,1,1],
mat: mat,
worldOK: FALSE,
wrtWorld: Matrix3d.Identity[], 
inverseOK: FALSE,
worldWRTlocal: Matrix3d.Identity[],
cameraCache: FunctionCache.Create[3],
parent: parent]];
IF parent # NIL THEN {
parent.children _ AppendCoordSysToList[newCS, parent.children];
};
};
NameAlreadyExists: PUBLIC SIGNAL = CODE;

CreateScalarsOnlyCoordSysInTree: PUBLIC PROC [name: Rope.ROPE, scalars: Vector3d, parent: CoordSystem, root: CoordSystem] RETURNS [newCS: CoordSystem] = {
IF CoordSysNameIsPresent[name, root] THEN SIGNAL NameAlreadyExists;
newCS _ NEW[CoordSysObj _ [
name: name,
scalarsOnly: TRUE,
scalars: scalars,
mat: Matrix3d.Identity[],
worldOK: FALSE,
wrtWorld: Matrix3d.Identity[],
inverseOK: FALSE,
worldWRTlocal: Matrix3d.Identity[],
cameraCache: FunctionCache.Create[3],
parent: parent]];
IF parent # NIL THEN {
parent.children _ AppendCoordSysToList[newCS, parent.children];
};
};

CopyCoordSysFromAnyTree: PUBLIC PROC [source: CoordSystem, newName: Rope.ROPE, parent: CoordSystem, root: CoordSystem] RETURNS [newCS: CoordSystem] = {
IF CoordSysNameIsPresent[newName, root] THEN SIGNAL NameAlreadyExists;
newCS _ NEW[CoordSysObj _ [
name: newName,
scalarsOnly: source.scalarsOnly,
scalars: source.scalars,
mat: source.mat,
worldOK: FALSE,
wrtWorld: Matrix3d.Identity[],
inverseOK: FALSE,
worldWRTlocal: Matrix3d.Identity[],
cameraCache: FunctionCache.Create[3],
parent: parent]];
IF parent # NIL THEN {
parent.children _ AppendCoordSysToList[newCS, parent.children];
};
};

PutAInTermsOfB: PUBLIC PROC [a: CoordSystem, b: CoordSystem] RETURNS [aInTermsOfb: Matrix4by4] = {
aWorld, bWorld: Matrix4by4;
aWorld _ WRTWorld[a];
bWorld _ WRTWorld[b];
aInTermsOfb _ Matrix3d.AInTermsOfB[aWorld, bWorld];
a.parent _ b;
a.mat _ aInTermsOfb;
};

DeleteCoordSysAndChildren: PUBLIC PROC [cs: CoordSystem, root: CoordSystem] = {
parent: CoordSystem _ cs.parent;
DeleteCoordSysLocal[cs];
parent.children _ DeleteCoordSysFromList[cs, parent.children];
};

FindCoordSysInTree: PUBLIC PROC [name: Rope.ROPE, root: CoordSystem] RETURNS [cs: CoordSystem] = {
success: BOOL;
[cs, success] _ FindCoordSysInTreeAux[name, root];
IF NOT success THEN SIGNAL CoordSysNotFound;
};
CoordSysNameIsPresent: PUBLIC PROC [name: Rope.ROPE, root: CoordSystem] RETURNS [BOOL] = {
IF root = NIL THEN RETURN [FALSE];
IF root.children = NIL THEN RETURN[Rope.Equal[name, root.name, TRUE]]
ELSE {
IF Rope.Equal[name, root.name, TRUE] THEN RETURN[TRUE];
FOR children: CoordSysList _ root.children, children.rest UNTIL children = NIL DO
IF CoordSysNameIsPresent[name, children.first] THEN RETURN[TRUE];
ENDLOOP;
RETURN[FALSE];
};
};
MakeListFromTree: PUBLIC PROC [root: CoordSystem] RETURNS [csl: CoordSysList] = {
pos, end: CoordSysList;
i: NAT _ 0;
end _ csl _ CONS[root, NIL];
FOR pos _ csl, pos.rest UNTIL pos = NIL DO
IF pos.first.children # NIL THEN {
FOR children: CoordSysList _ pos.first.children, children.rest UNTIL children = NIL DO
end.rest _ CONS[children.first, NIL];
end _ end.rest;
i _ i+1;
IF i > 2000 THEN ERROR;
ENDLOOP;
};
ENDLOOP;
};

CoordSysNotFound: PUBLIC SIGNAL = CODE;
CoordSysListEmpty: PUBLIC SIGNAL = CODE;
FindCoordSysInList: PUBLIC PROC [name: Rope.ROPE, csl: CoordSysList] RETURNS [cs: CoordSystem] = {
l: CoordSysList _ csl;
IF l = NIL THEN ERROR CoordSysListEmpty;
UNTIL l = NIL DO
IF Rope.Equal[l.first.name, name] THEN BEGIN cs _ l.first; RETURN END;
l _ l.rest;
ENDLOOP;
SIGNAL CoordSysNotFound;
};
Parent: PUBLIC PROC [cs: CoordSystem] RETURNS [parent: CoordSystem] = {
parent _ cs.parent;
};
Name: PUBLIC PROC [cs: CoordSystem] RETURNS [name: Rope.ROPE] = {
name _ cs.name;
};
SetName: PUBLIC PROC [cs: CoordSystem, name: Rope.ROPE] = {
cs.name _ name;
};
GetSceneAssembly: PUBLIC PROC [world: CoordSystem] RETURNS [sa: CoordSystem] = {
sa _ world.children.first;
};

BaseAndNumber: PUBLIC PROC [name: Rope.ROPE] RETURNS [base: Rope.ROPE, number: NAT] = {
index: INT;
rest: Rope.ROPE;
numStream: IO.STREAM;
index _ Rope.Find[name, "."];
IF index = -1 THEN RETURN[name, 0]; -- if there is no decimal, pretend we have name.0
base _ Rope.Substr[name, 0, index];
rest _ Rope.Substr[name, index+1];
numStream _ IO.RIS[rest, globalNumberStream];
number _ IO.GetInt[numStream];
IO.Reset[numStream];
};

UniqueNameWithSuffix: PUBLIC PROC [oldName: Rope.ROPE, suffix: Rope.ROPE, root: CoordSystem] RETURNS [unique: Rope.ROPE] = {
base: Rope.ROPE;
num: NAT;
[base, num] _ BaseAndNumber[oldName];
unique _ IO.PutFR["%g%g.%g", [rope[base]], [rope[suffix]], [integer[num]]];
unique _ UniqueNameFrom[unique, root];
};
UniqueNameFrom: PUBLIC PROC [name: Rope.ROPE, root: CoordSystem] RETURNS [unique: Rope.ROPE] = {
maxNum: NAT _ 0;
targetBase, base: Rope.ROPE;
g: CoordSysList _ MakeListFromTree[root];
targetNum, num, targetLen: NAT;
len: INT;
c, firstC: CHAR;

[targetBase, targetNum] _ BaseAndNumber[name];
targetLen _ Rope.Length[targetBase];
firstC _ Rope.Fetch[targetBase, 0];
FOR csl: CoordSysList _ g, csl.rest UNTIL csl = NIL DO
len _ Rope.Find[csl.first.name, "."];
IF len = -1 THEN LOOP; -- A name without a decimal point is a zero.  Doesn't increment maxNum.
IF len # targetLen THEN LOOP; -- Clearly not the same name.
c _ Rope.Fetch[csl.first.name, 0];
IF c = firstC THEN { -- cheap tests failed.  Pay the piper.
[base, num] _ BaseAndNumber[csl.first.name];
IF Rope.Equal[base, targetBase, TRUE] THEN maxNum _ MAX[num, maxNum];
};
ENDLOOP;
unique _ IO.PutFR["%g.%g", [rope[targetBase]], [integer[maxNum+1]]];
};

NameWithSuffix: PUBLIC PROC [oldName: Rope.ROPE, suffix: Rope.ROPE, root: CoordSystem] RETURNS [probablyUnique: Rope.ROPE] = {
base: Rope.ROPE;
num: NAT;
[base, num] _ BaseAndNumber[oldName];
probablyUnique _ IO.PutFR["%g%g.%g", [rope[base]], [rope[suffix]], [integer[num]]];
};
DeleteCoordSysLocal: PROC [cs: CoordSystem] = {
next: CoordSysList;
IF cs.children # NIL THEN {
FOR children: CoordSysList _ cs.children, next UNTIL children = NIL DO
DeleteCoordSysLocal[children.first];
next _ children.rest;
children.first _ NIL;
children.rest _ NIL;
ENDLOOP;
cs.children _ NIL;
};
cs.parent _ NIL;
};

DeleteCoordSysFromList: PROC [cs: CoordSystem, list: CoordSysList] RETURNS [CoordSysList] = {
before, l, after: CoordSysList;
[before, l, after] _ FindCoordSysAndNeighbors[cs, list];
IF before = NIL THEN RETURN [after]
ELSE {
l.rest _ NIL;
l.first _ NIL;
before.rest _ after;
RETURN[list];
};
};

AppendCoordSysToList: PROC [cs: CoordSystem, list: CoordSysList] RETURNS [CoordSysList] = {
z: CoordSysList _ list;
IF z = NIL THEN RETURN[CONS[cs,NIL]];
UNTIL z.rest = NIL DO z _ z.rest; ENDLOOP;
z.rest _ CONS[cs,NIL];
RETURN[list];
};
FindCoordSysInTreeAux: PROC [name: Rope.ROPE, root: CoordSystem] RETURNS [cs: CoordSystem, success: BOOL] = {
IF root.children = NIL THEN
IF Rope.Equal[name, root.name, TRUE] THEN {
cs _ root;
success _ TRUE;
}
ELSE {
cs _ NIL;
success _ FALSE;
}
ELSE {
IF Rope.Equal[name, root.name, TRUE] THEN {
cs _ root;
success _ TRUE;
RETURN;
};
FOR children: CoordSysList _ root.children, children.rest UNTIL children = NIL DO
[cs, success] _ FindCoordSysInTreeAux[name, children.first];
IF success THEN RETURN;
ENDLOOP;
cs _ NIL;
success _ FALSE;
};
};

FindCoordSysAndNeighbors: PROC [C: CoordSystem, csl: CoordSysList] RETURNS [beforeCS, cs, afterCS: CoordSysList] = {
lastL: CoordSysList _ NIL;
l: CoordSysList _ csl;
IF l = NIL THEN ERROR CoordSysNotFound;
UNTIL l = NIL DO
IF l.first = C THEN {
beforeCS _ lastL; cs _ l; afterCS _ l.rest; RETURN};
lastL _ l;
l _ l.rest;
ENDLOOP;
SIGNAL CoordSysNotFound;
};
SetScalars: PUBLIC PROC [cs: CoordSystem, scalars: Vector3d] = {
IF NOT cs.scalarsOnly THEN ERROR;
cs.scalars _ scalars;
};
GetScalars: PUBLIC PROC [cs: CoordSystem] RETURNS [scalars: Vector3d] = {
IF NOT cs.scalarsOnly THEN ERROR;
scalars _ cs.scalars;
};

CameraIsDirty: PROC [cs: CoordSystem] = {
oldEntry: CameraEntry;
cameraCache: FunctionCache.Cache _ cs.cameraCache;
allCache: LIST OF FunctionCache.CacheEntry _ FunctionCache.GetList[cameraCache];
FOR list: LIST OF FunctionCache.CacheEntry _ allCache, list.rest UNTIL list = NIL DO
oldEntry _ NARROW[list.first.value];
IF oldEntry # NIL THEN oldEntry.ok _ FALSE;
ENDLOOP;
};

SetMat: PUBLIC PROC [cs: CoordSystem, mat: Matrix4by4] = {
cs.mat _ mat;
DirtyCoordSys[cs];
};

DirtyCoordSys: PROC [cs: CoordSystem] = {
IF cs.scalarsOnly THEN {
IF cs.children # NIL THEN ERROR; -- scalars-only coordinate systems must be leaves.
cs.worldOK _ FALSE;
cs.inverseOK _ FALSE;
CameraIsDirty[cs];
}
ELSE {
cs.worldOK _ FALSE;
cs.inverseOK _ FALSE;
CameraIsDirty[cs];
IF cs.children # NIL THEN { -- Process the children as well
FOR list: CoordSysList _ cs.children, list.rest UNTIL list = NIL DO
DirtyCoordSys[list.first];
ENDLOOP;
};
};
};

GetMat: PUBLIC PROC [cs: CoordSystem] RETURNS [mat: Matrix4by4] = {
mat _ cs.mat;
};
IsScalarsOnly: PUBLIC PROC [cs: CoordSystem] RETURNS [BOOL] = {
RETURN[cs.scalarsOnly];
};
CameraToScreen: PUBLIC PROC [cameraPoint2d: Point2d, screenCoordSys: CoordSystem] RETURNS [screenPoint2d: Point2d] = {
screenPoint2d[1] _ cameraPoint2d[1] - screenCoordSys.mat[1][4];
screenPoint2d[2] _ cameraPoint2d[2] - screenCoordSys.mat[2][4];
};
ScreenToCamera: PUBLIC PROC [screenPoint2d: Point2d, screenCoordSys: CoordSystem] RETURNS [cameraPoint2d: Point2d] = {
cameraPoint2d[1] _ screenPoint2d[1] + screenCoordSys.mat[1][4];
cameraPoint2d[2] _ screenPoint2d[2] + screenCoordSys.mat[2][4];
};

FromCSToCS: PUBLIC PROC [pt: Point3d, currentCS: CoordSystem, newCS: CoordSystem] RETURNS [newPt: Point3d] = {
currentNew: Matrix4by4;
currentNew _ FindAInTermsOfB[currentCS, newCS];
newPt _ Matrix3d.Update[pt, currentNew];
};

FromCSToCSMat: PUBLIC PROC [mat: Matrix4by4, currentCS: CoordSystem, newCS: CoordSystem] RETURNS [newMat: Matrix4by4] = {
currentNew: Matrix4by4;
currentNew _ FindAInTermsOfB[currentCS, newCS];
newMat _ Matrix3d.MatMult[currentNew, mat];
};

WRTWorld: PUBLIC PROC [cs: CoordSystem] RETURNS [mat: Matrix4by4] = {
thisCS, nextCS: CoordSystem;
IF cs.worldOK THEN RETURN[cs.wrtWorld];
thisCS _ cs;
IF cs.scalarsOnly THEN mat _ Matrix3d.MakeScaleMat[cs.scalars[1], cs.scalars[2], cs.scalars[3]]
ELSE mat _ cs.mat;
UNTIL thisCS.parent = NIL DO
nextCS _ thisCS.parent;
mat _ Matrix3d.MatMult[nextCS.mat, mat];
thisCS _ nextCS;
ENDLOOP;
cs.wrtWorld _ mat;
cs.worldOK _ TRUE;
};

CameraEntry: TYPE = REF CameraEntryObj;
CameraEntryObj: TYPE = RECORD [
wrtCamera: Matrix4by4,
cameraWRTLocal: Matrix4by4,
ok: BOOL _ FALSE
];

WRTCamera: PUBLIC PROC [cs: CoordSystem, cameraCS: CoordSystem] RETURNS [mat: Matrix4by4] = {
CompareCameras2: PROC [argument: FunctionCache.Domain] RETURNS [good: BOOL] = {
thisName: Rope.ROPE _ NARROW[argument];
good _ Rope.Equal[thisName, cameraCS.name, FALSE];
};
cameraCache: FunctionCache.Cache _ cs.cameraCache;
oldEntryAny: REF ANY;
oldEntry: CameraEntry;
ok: BOOL;
BEGIN
[oldEntryAny, ok] _ FunctionCache.Lookup[cameraCache, CompareCameras2];
IF NOT ok THEN GOTO UpdateTheCache -- not in cache
ELSE {
oldEntry _ NARROW[oldEntryAny];
IF NOT oldEntry.ok THEN GOTO UpdateTheCache -- cache out of date
ELSE mat _ oldEntry.wrtCamera;
};
EXITS
UpdateTheCache => {
UpdateMatrixForCamera[cs, cameraCS];
mat _ WRTCamera[cs, cameraCS]; -- recursive call
};
END;
};

FillMat: PROC [entry: CameraEntry, cs: CoordSystem, cameraCS: CoordSystem] = {
csWorld: Matrix4by4;
cameraWorld: Matrix4by4;
csWorld _ WRTWorld[cs];
cameraWorld _ WRTWorld[cameraCS];
entry.wrtCamera _ Matrix3d.AInTermsOfB[csWorld, cameraWorld];
entry.cameraWRTLocal _ Matrix3d.Inverse[entry.wrtCamera];
};

UpdateMatrixForCamera: PUBLIC PROC [cs: CoordSystem, cameraCS: CoordSystem] = {
CompareCameras: PROC [argument: FunctionCache.Domain] RETURNS [good: BOOL] = {
thisName: Rope.ROPE _ NARROW[argument];
good _ Rope.Equal[thisName, cameraCS.name, FALSE];
};
cameraCache: FunctionCache.Cache _ cs.cameraCache;
oldEntryAny: REF ANY;
oldEntry: CameraEntry;
ok: BOOL _ FALSE;

[oldEntryAny, ok] _ FunctionCache.Lookup[cameraCache, CompareCameras];
IF ok THEN {
oldEntry _ NARROW[oldEntryAny];
FillMat[oldEntry, cs, cameraCS];
oldEntry.ok _ TRUE;
}
ELSE {
newEntry: CameraEntry _ NEW[CameraEntryObj];
FillMat[newEntry, cs, cameraCS];
newEntry.ok _ TRUE;
FunctionCache.Insert[cameraCache, cameraCS.name, newEntry, 0];
};
};

FindWorldInTermsOf: PUBLIC PROC [cs: CoordSystem] RETURNS [mat: Matrix4by4] = {
csWORLD: Matrix4by4;
IF cs.inverseOK THEN RETURN[cs.worldWRTlocal];
csWORLD _ WRTWorld[cs];
mat _ Matrix3d.Inverse[csWORLD];
cs.worldWRTlocal _ mat;
cs.inverseOK _ TRUE;
};

FindCameraInTermsOf: PUBLIC PROC [cs: CoordSystem, cameraCS: CoordSystem] RETURNS [mat: Matrix4by4] = {
CompareCameras3: PROC [argument: FunctionCache.Domain] RETURNS [good: BOOL] = {
thisName: Rope.ROPE _ NARROW[argument];
good _ Rope.Equal[thisName, cameraCS.name, FALSE];
};
cameraCache: FunctionCache.Cache _ cs.cameraCache;
oldEntryAny: REF ANY;
oldEntry: CameraEntry;
ok: BOOL;
BEGIN
[oldEntryAny, ok] _ FunctionCache.Lookup[cameraCache, CompareCameras3];
IF NOT ok THEN GOTO UpdateTheCache -- not in cache
ELSE {
oldEntry _ NARROW[oldEntryAny];
IF NOT oldEntry.ok THEN GOTO UpdateTheCache -- cache out of date
ELSE mat _ oldEntry.cameraWRTLocal;
};
EXITS
UpdateTheCache => {
UpdateMatrixForCamera[cs, cameraCS];
mat _ FindCameraInTermsOf[cs, cameraCS]; -- recursive call
};
END;
};

FindAInTermsOfB: PUBLIC PROC [a: CoordSystem, b: CoordSystem] RETURNS [aInTermsOfb: Matrix4by4] = {
aWorld, bWorld: Matrix4by4;
aWorld _ WRTWorld[a];
bWorld _ WRTWorld[b];
aInTermsOfb _ Matrix3d.AInTermsOfB[aWorld,bWorld];
};
FindTranslationOfAinTermsOfB: PUBLIC PROC [a: CoordSystem, b: CoordSystem] RETURNS [displacements: Vector3d] = {
aInTermsOfb: Matrix4by4 _ FindAInTermsOfB[a,b];
displacements _ Matrix3d.OriginOfMatrix[aInTermsOfb];
};


Init: PROC = {
globalNumberStream _ IO.RIS["273"];
};

END.
	„File: CoordSysImpl.mesa
Last edited by Bier on May 5, 1987 1:26:28 pm PDT
Author: Eric Bier in the summer of 1982
Contents: Allocation and access to a user-specified set of named coordinate systems
Building the Tree
First make sure the name is unique.
Add this coordinate system as a child of its parent, if any.
First make sure the name is unique.
Add this coordinate system as a child of its parent, if any.
Like CreateCoordSysInTree but uses the matrix from the old CoordSys.  If source is a scalars-only coordsys, then newCS will be as well.
First make sure the name is unique.
Add this coordinate system as a child of its parent, if any.
Makes a list in Breadth-first order.
Unique Names
Currently finds the "number" after the first decimal point.  Should find the last decimal point and use only digits after that.
Takes a solidviews name, like "teapot.73".  Adds the suffix to the basename and fixes the number to ensure uniqueness.  If the suffix were "$$tool", then UniqueNameWithSuffix might return "teapot$$tool.89".

Finds any digits on the end of the name.  Looks through the coordSys tree extracting a digit and base name from each name.  Finds the maximum number, adds one, reconcatenates and returns.
Used in place of CoordSys.UniqueNameWithSuffix, which takes too long.  We just split up oldName into its base and number and splice in the suffix.  We assume that if oldName is unique, probablyUnique will be as well.
Utility Routines
Breakup cs and everything below.  Note that this leaves cs's parent pointing to cs.
A copy of List.Nconc1 for CoordSysList instead of LIST OF REF ANY
Signals CoordSysNotFound if that is the case.
Changing the Transformations
FOR list: LIST OF Camera _ cameraList, list.rest UNTIL list = NIL DO
UpdateMatForCamera[cs, list.first];
ENDLOOP;
changes the relationship of cs to its parent.
reports the relationship of cs to its parent.
Transformation Queries
Currently, the SCREEN coordinate frame may only contain a translation.  This operation then is like Matrix3d.Update[CAMERASCREEN, cameraPoint2d] but faster.
Currently, the SCREEN coordinate frame may only contain a translation.  This operation then is like Matrix3d.Update[SCREENCAMERA, screenPoint2d] but faster.
Takes ptcurrentCS and returns ptnewCS.
Takes matcurrentCS and returns matnewCS.
A camera has moved, or we are using this camera for the first time.  Update the entry for this camera (adding an entry if needed).
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