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From Tim Daust, "I fixed the getScale functions in matrixf and

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matrixd.  It was returning the values of the diagonal
of the matrix, which only returns the scale if there
is not a rotation.  I fixed this by returning the
length of the  vectors that form the basis.
  I also added a function to orthonormalize the
rotation component of the matrix. I seem to always run
into situations where non uniform (or even uniform)
scale complicate my calculations, and I thought other
members of the community could use this function as
well."
This commit is contained in:
Robert Osfield
2005-05-31 06:21:16 +00:00
parent 5a5b39fee3
commit a799cdca2f
3 changed files with 86 additions and 4 deletions
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19
include/osg/Matrixd
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@@ -206,6 +206,9 @@ class OSG_EXPORT Matrixd
/** full 4x4 matrix invert. */
bool invert_4x4_new( const Matrixd& );
/** ortho-normalize the 3x3 rotation & scale matrix */
void orthoNormalize(const Matrixd& rhs);
// basic utility functions to create new matrices
inline static Matrixd identity( void );
inline static Matrixd scale( const Vec3f& sv);
@@ -227,7 +230,7 @@ class OSG_EXPORT Matrixd
value_type angle3, const Vec3d& axis3);
inline static Matrixd rotate( const Quat& quat);
inline static Matrixd inverse( const Matrixd& matrix);
inline static Matrixd orthoNormal(const Matrixd& matrix);
/** Create an orthographic projection matrix.
* See glOrtho for further details.
*/
@@ -288,7 +291,12 @@ class OSG_EXPORT Matrixd
inline Vec3d getTrans() const { return Vec3d(_mat[3][0],_mat[3][1],_mat[3][2]); }
inline Vec3d getScale() const { return Vec3d(_mat[0][0],_mat[1][1],_mat[2][2]); }
inline Vec3d getScale() const {
Vec3d x_vec(_mat[0][0],_mat[1][0],_mat[2][0]);
Vec3d y_vec(_mat[0][1],_mat[1][1],_mat[2][1]);
Vec3d z_vec(_mat[0][2],_mat[1][2],_mat[2][2]);
return Vec3d(x_vec.length(), y_vec.length(), z_vec.length());
}
/** apply a 3x3 transform of v*M[0..2,0..2]. */
inline static Vec3f transform3x3(const Vec3f& v,const Matrixd& m);
@@ -458,6 +466,13 @@ inline Matrixd Matrixd::inverse( const Matrixd& matrix)
return m;
}
inline Matrixd orthoNormal(const Matrixd& matrix)
{
Matrixd m;
m.orthoNormalize(matrix);
return m;
}
inline Matrixd Matrixd::ortho(double left, double right,
double bottom, double top,
double zNear, double zFar)

10
include/osg/Matrixf
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@@ -206,6 +206,9 @@ class OSG_EXPORT Matrixf
/** full 4x4 matrix invert. */
bool invert_4x4_new( const Matrixf& );
/** ortho-normalize the 3x3 rotation & scale matrix */
void orthoNormalize(const Matrixf& rhs);
//basic utility functions to create new matrices
inline static Matrixf identity( void );
inline static Matrixf scale( const Vec3f& sv);
@@ -288,7 +291,12 @@ class OSG_EXPORT Matrixf
inline Vec3d getTrans() const { return Vec3d(_mat[3][0],_mat[3][1],_mat[3][2]); }
inline Vec3d getScale() const { return Vec3d(_mat[0][0],_mat[1][1],_mat[2][2]); }
inline Vec3d getScale() const {
Vec3d x_vec(_mat[0][0],_mat[1][0],_mat[2][0]);
Vec3d y_vec(_mat[0][1],_mat[1][1],_mat[2][1]);
Vec3d z_vec(_mat[0][2],_mat[1][2],_mat[2][2]);
return Vec3d(x_vec.length(), y_vec.length(), z_vec.length());
}
/** apply a 3x3 transform of v*M[0..2,0..2]. */
inline static Vec3f transform3x3(const Vec3f& v,const Matrixf& m);

61
src/osg/Matrix_implementation.cpp
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@@ -66,7 +66,7 @@ void Matrix_implementation::set(const Quat& q_in)
{
Quat q(q_in);
double length2 = q.length2();
if (length2!=1.0 && length2!=0)
if (length2!=1.0 && length2!=0)
{
// normalize quat if required.
q /= sqrt(length2);
@@ -386,6 +386,65 @@ void Matrix_implementation::postMult( const Matrix_implementation& other )
#undef INNER_PRODUCT
// orthoNormalize the 3x3 rotation matrix
void Matrix_implementation::orthoNormalize(const Matrix_implementation& rhs)
{
value_type x_colMag = (rhs._mat[0][0] * rhs._mat[0][0]) + (rhs._mat[1][0] * rhs._mat[1][0]) + (rhs._mat[2][0] * rhs._mat[2][0]);
value_type y_colMag = (rhs._mat[0][1] * rhs._mat[0][1]) + (rhs._mat[1][1] * rhs._mat[1][1]) + (rhs._mat[2][1] * rhs._mat[2][1]);
value_type z_colMag = (rhs._mat[0][2] * rhs._mat[0][2]) + (rhs._mat[1][2] * rhs._mat[1][2]) + (rhs._mat[2][2] * rhs._mat[2][2]);
if(!equivalent((double)x_colMag, 1.0) && !equivalent((double)x_colMag, 0.0))
{
x_colMag = sqrt(x_colMag);
_mat[0][0] = rhs._mat[0][0] / x_colMag;
_mat[1][0] = rhs._mat[1][0] / x_colMag;
_mat[2][0] = rhs._mat[2][0] / x_colMag;
}
else
{
_mat[0][0] = rhs._mat[0][0];
_mat[1][0] = rhs._mat[1][0];
_mat[2][0] = rhs._mat[2][0];
}
if(!equivalent((double)y_colMag, 1.0) && !equivalent((double)y_colMag, 0.0))
{
y_colMag = sqrt(y_colMag);
_mat[0][1] = rhs._mat[0][1] / y_colMag;
_mat[1][1] = rhs._mat[1][1] / y_colMag;
_mat[2][1] = rhs._mat[2][1] / y_colMag;
}
else
{
_mat[0][1] = rhs._mat[0][1];
_mat[1][1] = rhs._mat[1][1];
_mat[2][1] = rhs._mat[2][1];
}
if(!equivalent((double)z_colMag, 1.0) && !equivalent((double)z_colMag, 0.0))
{
z_colMag = sqrt(z_colMag);
_mat[0][2] = rhs._mat[0][2] / z_colMag;
_mat[1][2] = rhs._mat[1][2] / z_colMag;
_mat[2][2] = rhs._mat[2][2] / z_colMag;
}
else
{
_mat[0][2] = rhs._mat[0][2];
_mat[1][2] = rhs._mat[1][2];
_mat[2][2] = rhs._mat[2][2];
}
_mat[3][0] = rhs._mat[3][0];
_mat[3][1] = rhs._mat[3][1];
_mat[3][2] = rhs._mat[3][2];
_mat[0][3] = rhs._mat[0][3];
_mat[1][3] = rhs._mat[1][3];
_mat[2][3] = rhs._mat[2][3];
_mat[3][3] = rhs._mat[3][3];
}
bool Matrix_implementation::invert( const Matrix_implementation& rhs)
{