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ifcviewer: rename stage1/2/3/4 to their proper IFC-mapped names

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Replace the placeholder "stage1/2/3/4" terminology with names that
mirror the IFC concepts each step represents:

  stage 1 -> PlacementTransformation
            (per-instance, derived from IfcObjectPlacement)
  stage 2 -> CoordinateOperation
            (per-model, IfcCoordinateOperation / IfcMapConversion)
  stage 3 -> FederatedFalseOrigin
            (federation-wide, user-nominated)
  stage 4 -> ModelTransformation
            (per-model, user-authored within the federation)

API renames:
  FederationOrigin            -> FederatedFalseOrigin
  ModelTransform              -> ModelTransformation
  composeFederationOrigin     -> composeFederatedFalseOrigin
  composeModelTransform       -> composeModelTransformation
  Federation::setOrigin       -> Federation::setFederatedFalseOrigin
  Federation::setModelTransform -> Federation::setModelTransformation
  Federation::origin()        -> Federation::federatedFalseOrigin()
  Federation::Model::transform_intent -> ::model_transformation
  ModelGeoref::stage2_meters  -> ::coordinate_operation_meters
  ModelGeoref::has_stage2     -> ::has_coordinate_operation

JSON keys in .ifcfed renamed in lockstep:
  origin                -> federated_false_origin
  transform_intent      -> model_transformation

The streamer's per-mesh "stage 1 vertex rebasing" comment is reframed:
the rebase isn't its own stage — it's a precision optimisation applied
inside the PlacementTransformation step.

All 36 ctest cases pass under the new names.

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
This commit is contained in:
Dion Moult
2026-05-01 20:06:06 +10:00
parent 600d3a3460
commit 92c3b4c308
4 changed files with 143 additions and 126 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/ifcviewer/Federation.cpp
+41 -38
View File
@@ -84,8 +84,8 @@ double federationUnitToMeters(const FederationConfig& cfg) {
return convert(1.0, cfg.unit_prefix, cfg.unit_name, "", "METRE");
}
Eigen::Matrix4d composeFederationOrigin(const FederationOrigin& origin,
const FederationConfig& cfg) {
Eigen::Matrix4d composeFederatedFalseOrigin(const FederatedFalseOrigin& origin,
const FederationConfig& cfg) {
const double u = federationUnitToMeters(cfg);
const Eigen::Vector3d xyz_m = origin.xyz * u;
const double rz_rad = origin.rz_deg * kDegToRad;
@@ -127,32 +127,34 @@ ModelGeoref computeModelGeoref(ifcopenshell::file* ifc_file) {
wcs_m(0, 3) *= out.units.project_length_to_meters;
wcs_m(1, 3) *= out.units.project_length_to_meters;
wcs_m(2, 3) *= out.units.project_length_to_meters;
out.stage2_meters = helmert * wcs_m.inverse();
out.coordinate_operation_meters = helmert * wcs_m.inverse();
} else {
out.stage2_meters = helmert;
out.coordinate_operation_meters = helmert;
}
out.has_stage2 = true;
out.has_coordinate_operation = true;
return out;
}
Eigen::Matrix4d composeModelTransform(const ModelTransform& xf,
const FederationConfig& fed_cfg,
const ModelUnits& model_units,
const Eigen::Matrix4d& stage2_meters) {
Eigen::Matrix4d composeModelTransformation(const ModelTransformation& xf,
const FederationConfig& fed_cfg,
const ModelUnits& model_units,
const Eigen::Matrix4d& coordinate_operation_meters) {
const double u_fed = federationUnitToMeters(fed_cfg);
Eigen::Vector3d A_m;
if (xf.a_frame == AFrame::ModelLocal) {
// a is in the model's project length unit, expressed in the
// pre-stage2 frame. Convert to metres, then lift through stage 2.
// pre-CoordinateOperation frame. Convert to metres, then lift
// through the CoordinateOperation.
const Eigen::Vector4d a_h(
xf.a.x() * model_units.project_length_to_meters,
xf.a.y() * model_units.project_length_to_meters,
xf.a.z() * model_units.project_length_to_meters,
1.0);
A_m = (stage2_meters * a_h).head<3>();
A_m = (coordinate_operation_meters * a_h).head<3>();
} else {
// a is in the model's map unit, expressed in the post-stage2 frame.
// a is in the model's map unit, expressed in the
// post-CoordinateOperation frame.
A_m = xf.a * model_units.map_unit_to_meters;
}
@@ -188,8 +190,8 @@ void Federation::clear() {
created_ = QDateTime();
modified_ = QDateTime();
models_.clear();
config_ = FederationConfig{};
origin_ = FederationOrigin{};
config_ = FederationConfig{};
federated_false_origin_ = FederatedFalseOrigin{};
has_home_view_ = false;
home_view_ = HomeView{};
setDirty(false);
@@ -202,17 +204,18 @@ void Federation::setConfig(const FederationConfig& c) {
setDirty(true);
}
void Federation::setOrigin(const FederationOrigin& o) {
if (origin_.xyz == o.xyz && origin_.rz_deg == o.rz_deg) return;
origin_ = o;
void Federation::setFederatedFalseOrigin(const FederatedFalseOrigin& o) {
if (federated_false_origin_.xyz == o.xyz &&
federated_false_origin_.rz_deg == o.rz_deg) return;
federated_false_origin_ = o;
setDirty(true);
}
void Federation::setModelTransform(const QString& fed_id,
const ModelTransform& xf) {
void Federation::setModelTransformation(const QString& fed_id,
const ModelTransformation& xf) {
for (auto& m : models_) {
if (m.id != fed_id) continue;
m.transform_intent = xf;
m.model_transformation = xf;
setDirty(true);
return;
}
@@ -315,14 +318,14 @@ bool Federation::load(const QString& path,
config_.unit_prefix = uo.value("prefix").toString("").toStdString();
}
if (QJsonValue ov = root.value("origin"); ov.isObject()) {
if (QJsonValue ov = root.value("federated_false_origin"); ov.isObject()) {
QJsonObject oo = ov.toObject();
QJsonArray xyz = oo.value("xyz").toArray();
if (xyz.size() == 3) {
origin_.xyz = Eigen::Vector3d(
federated_false_origin_.xyz = Eigen::Vector3d(
xyz[0].toDouble(), xyz[1].toDouble(), xyz[2].toDouble());
}
origin_.rz_deg = oo.value("rz_deg").toDouble(0.0);
federated_false_origin_.rz_deg = oo.value("rz_deg").toDouble(0.0);
}
QJsonArray arr = root.value("models").toArray();
@@ -360,20 +363,20 @@ bool Federation::load(const QString& path,
if (m.display_name.isEmpty())
m.display_name = QFileInfo(m.source_path).fileName();
if (QJsonValue tv = mo.value("transform_intent"); tv.isObject()) {
if (QJsonValue tv = mo.value("model_transformation"); tv.isObject()) {
QJsonObject to = tv.toObject();
const QString af = to.value("a_frame").toString("ModelGlobal");
m.transform_intent.a_frame =
m.model_transformation.a_frame =
(af == "ModelLocal") ? AFrame::ModelLocal : AFrame::ModelGlobal;
auto readVec3 = [](QJsonArray ja) {
if (ja.size() != 3) return Eigen::Vector3d::Zero().eval();
return Eigen::Vector3d(
ja[0].toDouble(), ja[1].toDouble(), ja[2].toDouble());
};
m.transform_intent.a = readVec3(to.value("a").toArray());
m.transform_intent.b = readVec3(to.value("b").toArray());
m.transform_intent.rxyz_deg = readVec3(to.value("rxyz_deg").toArray());
m.transform_intent.pivot = readVec3(to.value("pivot").toArray());
m.model_transformation.a = readVec3(to.value("a").toArray());
m.model_transformation.b = readVec3(to.value("b").toArray());
m.model_transformation.rxyz_deg = readVec3(to.value("rxyz_deg").toArray());
m.model_transformation.pivot = readVec3(to.value("pivot").toArray());
}
QJsonValue vv = mo.value("visible");
@@ -426,12 +429,12 @@ bool Federation::save(const QString& path, QString* err) {
{
QJsonObject oo;
QJsonArray xyz;
xyz.append(origin_.xyz.x());
xyz.append(origin_.xyz.y());
xyz.append(origin_.xyz.z());
xyz.append(federated_false_origin_.xyz.x());
xyz.append(federated_false_origin_.xyz.y());
xyz.append(federated_false_origin_.xyz.z());
oo["xyz"] = xyz;
oo["rz_deg"] = origin_.rz_deg;
root["origin"] = oo;
oo["rz_deg"] = federated_false_origin_.rz_deg;
root["federated_false_origin"] = oo;
}
QJsonArray arr;
@@ -450,9 +453,9 @@ bool Federation::save(const QString& path, QString* err) {
}
mo["source"] = so;
// Skip transform_intent when it's at defaults (identity placement).
const ModelTransform def;
const ModelTransform& xf = m.transform_intent;
// Skip model_transformation when it's at defaults (identity placement).
const ModelTransformation def;
const ModelTransformation& xf = m.model_transformation;
const bool xf_is_default =
xf.a_frame == def.a_frame && xf.a == def.a && xf.b == def.b &&
xf.rxyz_deg == def.rxyz_deg && xf.pivot == def.pivot;
@@ -469,7 +472,7 @@ bool Federation::save(const QString& path, QString* err) {
to["b"] = writeVec3(xf.b);
to["rxyz_deg"] = writeVec3(xf.rxyz_deg);
to["pivot"] = writeVec3(xf.pivot);
mo["transform_intent"] = to;
mo["model_transformation"] = to;
}
if (!m.visible) mo["visible"] = false;
src/ifcviewer/Federation.h
+63 -51
View File
@@ -33,27 +33,33 @@
namespace ifcopenshell { class file; }
// === Stage-3/4 data model ===
// === Federation transformation pipeline ===
//
// A federation places one or more IFC models in a shared scene. Each model's
// final per-instance transform is composed as
// final per-instance transform is the composition of four named stages:
//
// stage3 · stage4 · stage2 · placement_stage1
// FederatedFalseOrigin · ModelTransformation · CoordinateOperation
// · PlacementTransformation
//
// where:
// - stage1 is per-mesh vertex rebasing (load-time, immutable)
// - stage2 is the per-model georef matrix from IfcMapConversion etc.
// (load-time, immutable; can be toggled off)
// - stage3 is the federation-wide false origin (mutable, federation-scope)
// - stage4 is the per-model placement within the federation (mutable, per-model)
// - PlacementTransformation: per-instance, derived from the IFC's
// IfcObjectPlacement chain (load-time, immutable). This is the
// iterator's per-shape transform.
// - CoordinateOperation: per-model, derived from the IFC's
// IfcCoordinateOperation (e.g. IfcMapConversion + IfcProjectedCRS).
// Load-time, immutable; can be toggled on/off.
// - FederatedFalseOrigin: federation-wide. Mutable, persisted in
// `.ifcfed`. Re-applied to every model.
// - ModelTransformation: per-model, user-authored within the federation.
// Mutable, persisted in `.ifcfed`.
//
// All composed matrices are in metres. User-authored numbers are stored in
// their source units (model project unit / model map unit / federation unit)
// to round-trip without precision loss; conversion happens in the compose
// helpers.
// Federation-wide unit; the value space for FederationOrigin.xyz and
// ModelTransform::{b, pivot}.
// Federation-wide unit; the value space for FederatedFalseOrigin.xyz and
// ModelTransformation::{b, pivot}.
struct FederationConfig {
// IfcSIUnit name ("METRE") or IfcConversionBasedUnit name ("foot", "inch").
std::string unit_name = "METRE";
@@ -62,26 +68,29 @@ struct FederationConfig {
std::string unit_prefix = "";
};
// Stage 3 — the federation false origin. Authoring intent is "nominate this
// XYZ as the new origin, with optional Z-axis heading rotation". Composed
// as stage3 = R_z(rz_deg) · T(-xyz_in_metres).
struct FederationOrigin {
// FederatedFalseOrigin — the user-nominated federation origin. Authoring
// intent is "nominate this XYZ as the new origin, with optional Z-axis
// heading rotation". Composed as R_z(rz_deg) · T(-xyz_in_metres).
struct FederatedFalseOrigin {
Eigen::Vector3d xyz = Eigen::Vector3d::Zero(); // federation unit
double rz_deg = 0.0;
};
// Frame in which ModelTransform.a is expressed.
// ModelLocal — pre-stage2 model coordinates, in the model's project length unit
// ModelGlobal — post-stage2 model coordinates, in the model's map unit
// Frame in which ModelTransformation.a is expressed.
// ModelLocal — pre-CoordinateOperation model coordinates, in the model's
// project length unit
// ModelGlobal — post-CoordinateOperation model coordinates, in the model's
// map unit
enum class AFrame { ModelLocal, ModelGlobal };
// Stage 4 — the per-model placement within the federation. Authoring intent
// is "rotate the model around `pivot`, then translate so that point `a` lands
// at point `b`". Composed as
// ModelTransformation — the per-model placement within the federation.
// Authoring intent is "rotate the model around `pivot`, then translate so
// that point `a` lands at point `b`". Composed as
//
// R_local = R_z(rz) · R_y(ry) · R_x(rx) [intrinsic XYZ]
// R_at_pivot = T(pivot_m) · R_local · T(-pivot_m)
// stage4 = T(b_m - R_at_pivot · a_m) · R_at_pivot
struct ModelTransform {
// result = T(b_m - R_at_pivot · a_m) · R_at_pivot
struct ModelTransformation {
AFrame a_frame = AFrame::ModelGlobal;
Eigen::Vector3d a = Eigen::Vector3d::Zero(); // model project / map unit
Eigen::Vector3d b = Eigen::Vector3d::Zero(); // federation unit
@@ -98,37 +107,40 @@ struct ModelUnits {
double map_unit_to_meters = 1.0;
};
// Per-model georeferencing data derived from the IFC. `stage2_meters` is
// the helmert · inv(wcs) georef matrix in metres; consumers compose it
// before stage 3 / stage 4 at upload time. When the model has no map
// conversion, `has_stage2 == false` and `stage2_meters` is identity.
// Per-model georeferencing data derived from the IFC.
// `coordinate_operation_meters` is the helmert · inv(wcs) matrix in metres
// representing the IfcCoordinateOperation; consumers compose it before
// FederatedFalseOrigin / ModelTransformation at upload time. When the
// model has no map conversion, `has_coordinate_operation == false` and the
// matrix is identity.
struct ModelGeoref {
ModelUnits units;
Eigen::Matrix4d stage2_meters = Eigen::Matrix4d::Identity();
bool has_stage2 = false;
Eigen::Matrix4d coordinate_operation_meters = Eigen::Matrix4d::Identity();
bool has_coordinate_operation = false;
};
// Read a model's project length unit, map unit, helmert parameters, and WCS
// from `ifc_file` and reduce them to a metres-in / metres-out georef matrix.
// Pure compute; safe to call repeatedly if the caller doesn't want to cache.
// from `ifc_file` and reduce them to a metres-in / metres-out
// CoordinateOperation matrix. Pure compute; safe to call repeatedly if the
// caller doesn't want to cache.
ModelGeoref computeModelGeoref(ifcopenshell::file* ifc_file);
// 1 federation_unit -> N metres.
double federationUnitToMeters(const FederationConfig&);
// Compose stage 3 (federation false origin) into a 4x4 matrix in metres.
Eigen::Matrix4d composeFederationOrigin(const FederationOrigin&,
const FederationConfig&);
// Compose FederatedFalseOrigin into a 4x4 matrix in metres.
Eigen::Matrix4d composeFederatedFalseOrigin(const FederatedFalseOrigin&,
const FederationConfig&);
// Compose stage 4 (per-model placement within the federation) into a 4x4
// matrix in metres. `stage2_meters` is the model's georef matrix (e.g.
// helmertMetersFromParameters · inv(wcs_meters)) — needed to lift `a` into
// metres when a_frame == ModelLocal. Pass identity when stage 2 is disabled
// or absent.
Eigen::Matrix4d composeModelTransform(const ModelTransform&,
const FederationConfig& fed_cfg,
const ModelUnits& model_units,
const Eigen::Matrix4d& stage2_meters);
// Compose ModelTransformation into a 4x4 matrix in metres.
// `coordinate_operation_meters` is the model's CoordinateOperation matrix
// (e.g. helmertMetersFromParameters · inv(wcs_meters)) — needed to lift
// `a` into metres when a_frame == ModelLocal. Pass identity when the
// CoordinateOperation is disabled or absent.
Eigen::Matrix4d composeModelTransformation(const ModelTransformation&,
const FederationConfig& fed_cfg,
const ModelUnits& model_units,
const Eigen::Matrix4d& coordinate_operation_meters);
// === Federation persistence (.ifcfed) ===
//
@@ -151,11 +163,11 @@ public:
};
struct Model {
QString id; // stable, persisted
QString id; // stable, persisted
QString display_name;
QString source_kind = "local"; // future: "http", "speckle", ...
QString source_path; // resolved absolute when kind == "local"
ModelTransform transform_intent; // stage 4
QString source_kind = "local"; // future: "http", "speckle", ...
QString source_path; // resolved absolute when kind == "local"
ModelTransformation model_transformation;
bool visible = true;
};
@@ -174,8 +186,8 @@ public:
void clearHomeView();
void setConfig(const FederationConfig&);
void setOrigin(const FederationOrigin&);
void setModelTransform(const QString& fed_id, const ModelTransform&);
void setFederatedFalseOrigin(const FederatedFalseOrigin&);
void setModelTransformation(const QString& fed_id, const ModelTransformation&);
// Accessors
const std::vector<Model>& models() const { return models_; }
@@ -187,7 +199,7 @@ public:
bool hasHomeView() const { return has_home_view_; }
const HomeView& homeView() const { return home_view_; }
const FederationConfig& config() const { return config_; }
const FederationOrigin& origin() const { return origin_; }
const FederatedFalseOrigin& federatedFalseOrigin() const { return federated_false_origin_; }
signals:
void dirtyChanged(bool dirty);
@@ -202,8 +214,8 @@ private:
QDateTime created_;
QDateTime modified_;
std::vector<Model> models_;
FederationConfig config_;
FederationOrigin origin_;
FederationConfig config_;
FederatedFalseOrigin federated_false_origin_;
bool has_home_view_ = false;
HomeView home_view_;
bool dirty_ = false;
src/ifcviewer/GeometryStreamer.cpp
+12 -11
View File
@@ -147,12 +147,12 @@ std::vector<ElementInfo> GeometryStreamer::drainElements() {
// Build a mesh chunk (local coords, 28-byte interleaved vertices) from a
// TriangulationElement. Per-vertex color is baked from material_ids so that
// triangulations with per-face materials still render correctly.
// Stage 1 — vertex rebasing. When `offset` is non-zero, every vertex
// position is subtracted by it so the emitted mesh-local coordinates stay
// near the origin (and float32 precision survives upload to the GPU).
// Caller compensates by post-multiplying each instance's placement by
// T(+offset), which is mathematically the identity overall but moves the
// "magnitude" off the float-precision-sensitive vertex column.
// Vertex rebasing: when `offset` is non-zero, every vertex position is
// subtracted by it so the emitted mesh-local coordinates stay near the
// origin (and float32 precision survives upload to the GPU). Caller
// compensates by post-multiplying each instance's PlacementTransformation
// by T(+offset), which is mathematically the identity overall but moves
// the magnitude off the float-precision-sensitive vertex column.
static MeshChunk buildMeshChunk(uint32_t model_id,
uint32_t local_mesh_id,
const IfcGeom::TriangulationElement* elem,
@@ -593,8 +593,8 @@ void GeometryStreamer::run(const std::string& path, int num_threads) {
}
if (first_sight) {
// Stage 1: pick a rebase offset when the mesh's first
// source vertex is far from origin (>1 km in metres,
// Vertex rebasing: pick a rebase offset when the mesh's
// first source vertex is far from origin (>1 km in metres,
// matching bonsai's distance_limit default). Iterator
// outputs metres, so the threshold is in metres directly.
Eigen::Vector3d offset = Eigen::Vector3d::Zero();
@@ -627,9 +627,10 @@ void GeometryStreamer::run(const std::string& path, int num_threads) {
}
}
// Stage 1 cont.: post-multiply the per-instance placement by
// T(+offset) so world position is preserved. Matrix arithmetic
// is in double; narrow to float at the end.
// Vertex rebasing cont.: post-multiply the per-instance
// PlacementTransformation by T(+offset) so world position is
// preserved. Matrix arithmetic is in double; narrow to float
// at the end.
Eigen::Matrix4d mat_d =
tri_elem->transformation().data()->ccomponents();
if (mesh_aabbs[local_mesh_id].has_offset) {
src/ifcviewer/tests/test_federation.cpp
+27 -26
View File
@@ -305,8 +305,8 @@ TEST_CASE("load on malformed JSON fails with an error", "[federation]") {
REQUIRE_FALSE(err.isEmpty());
}
TEST_CASE("config / origin / transform_intent round-trip through save+load",
"[federation]") {
TEST_CASE("config / federated_false_origin / model_transformation round-trip "
"through save+load", "[federation]") {
ensureQApp();
QTemporaryDir tmp;
REQUIRE(tmp.isValid());
@@ -322,18 +322,18 @@ TEST_CASE("config / origin / transform_intent round-trip through save+load",
cfg.unit_prefix = "";
src.setConfig(cfg);
FederationOrigin org;
FederatedFalseOrigin org;
org.xyz = Eigen::Vector3d(100.0, 200.0, 30.0);
org.rz_deg = 45.0;
src.setOrigin(org);
src.setFederatedFalseOrigin(org);
ModelTransform xf;
ModelTransformation xf;
xf.a_frame = AFrame::ModelLocal;
xf.a = Eigen::Vector3d(1.0, 2.0, 3.0);
xf.b = Eigen::Vector3d(4.0, 5.0, 6.0);
xf.rxyz_deg = Eigen::Vector3d(90.0, 0.0, 0.0);
xf.pivot = Eigen::Vector3d(7.0, 8.0, 9.0);
src.setModelTransform(id1, xf);
src.setModelTransformation(id1, xf);
QString err;
REQUIRE(src.save(fed_path, &err));
@@ -348,20 +348,21 @@ TEST_CASE("config / origin / transform_intent round-trip through save+load",
REQUIRE(dst.config().unit_name == "FOOT");
REQUIRE(dst.config().unit_prefix == "");
REQUIRE(dst.origin().xyz == org.xyz);
REQUIRE(dst.origin().rz_deg == 45.0);
REQUIRE(dst.federatedFalseOrigin().xyz == org.xyz);
REQUIRE(dst.federatedFalseOrigin().rz_deg == 45.0);
REQUIRE(dst.models().size() == 1);
const auto& m = dst.models()[0];
REQUIRE(m.id == id1);
REQUIRE(m.transform_intent.a_frame == AFrame::ModelLocal);
REQUIRE(m.transform_intent.a == xf.a);
REQUIRE(m.transform_intent.b == xf.b);
REQUIRE(m.transform_intent.rxyz_deg == xf.rxyz_deg);
REQUIRE(m.transform_intent.pivot == xf.pivot);
REQUIRE(m.model_transformation.a_frame == AFrame::ModelLocal);
REQUIRE(m.model_transformation.a == xf.a);
REQUIRE(m.model_transformation.b == xf.b);
REQUIRE(m.model_transformation.rxyz_deg == xf.rxyz_deg);
REQUIRE(m.model_transformation.pivot == xf.pivot);
}
TEST_CASE("default ModelTransform is omitted from saved JSON", "[federation]") {
TEST_CASE("default ModelTransformation is omitted from saved JSON",
"[federation]") {
ensureQApp();
QTemporaryDir tmp;
REQUIRE(tmp.isValid());
@@ -377,17 +378,17 @@ TEST_CASE("default ModelTransform is omitted from saved JSON", "[federation]") {
QJsonObject root = readJsonFile(fed_path);
QJsonArray models = root.value("models").toArray();
REQUIRE(models.size() == 1);
REQUIRE_FALSE(models[0].toObject().contains("transform_intent"));
REQUIRE_FALSE(models[0].toObject().contains("model_transformation"));
}
TEST_CASE("composeFederationOrigin moves the nominated point to the origin",
TEST_CASE("composeFederatedFalseOrigin moves the nominated point to the origin",
"[federation][compose]") {
FederationConfig cfg; // METRE, no prefix
FederationOrigin org;
FederatedFalseOrigin org;
org.xyz = Eigen::Vector3d(10.0, 20.0, 5.0);
org.rz_deg = 0.0;
Eigen::Matrix4d M = composeFederationOrigin(org, cfg);
Eigen::Matrix4d M = composeFederatedFalseOrigin(org, cfg);
// The nominated point (10, 20, 5) should map to (0, 0, 0).
Eigen::Vector4d p(10.0, 20.0, 5.0, 1.0);
@@ -397,33 +398,33 @@ TEST_CASE("composeFederationOrigin moves the nominated point to the origin",
REQUIRE(std::abs(r.z()) < 1e-9);
}
TEST_CASE("composeFederationOrigin scales by federation unit",
TEST_CASE("composeFederatedFalseOrigin scales by federation unit",
"[federation][compose]") {
FederationConfig cfg;
cfg.unit_name = "FOOT"; // 1 ft = 0.3048 m
FederationOrigin org;
FederatedFalseOrigin org;
org.xyz = Eigen::Vector3d(1.0, 0.0, 0.0); // 1 foot in fed coords
Eigen::Matrix4d M = composeFederationOrigin(org, cfg);
Eigen::Matrix4d M = composeFederatedFalseOrigin(org, cfg);
// Translation column should be -1 ft = -0.3048 m.
REQUIRE(std::abs(M(0, 3) - (-0.3048)) < 1e-9);
}
TEST_CASE("composeModelTransform with pivot=B keeps A landing on B",
TEST_CASE("composeModelTransformation with pivot=B keeps A landing on B",
"[federation][compose]") {
// A in ModelGlobal frame, federation in metres, model has identity stage 2.
// A in ModelGlobal frame, federation in metres, identity CoordinateOperation.
FederationConfig fed_cfg; // METRE
ModelUnits mu; // 1.0 / 1.0 (already in metres)
Eigen::Matrix4d stage2 = Eigen::Matrix4d::Identity();
Eigen::Matrix4d coord_op = Eigen::Matrix4d::Identity();
ModelTransform xf;
ModelTransformation xf;
xf.a_frame = AFrame::ModelGlobal;
xf.a = Eigen::Vector3d(5.0, 0.0, 0.0);
xf.b = Eigen::Vector3d(100.0, 50.0, 10.0);
xf.rxyz_deg = Eigen::Vector3d(0.0, 0.0, 30.0);
xf.pivot = xf.b; // pivot at B preserves A->B regardless of rotation
Eigen::Matrix4d M = composeModelTransform(xf, fed_cfg, mu, stage2);
Eigen::Matrix4d M = composeModelTransformation(xf, fed_cfg, mu, coord_op);
Eigen::Vector4d a(xf.a.x(), xf.a.y(), xf.a.z(), 1.0);
Eigen::Vector4d r = M * a;