FGFS-4.1/OpenSceneGraph
4
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

61
src/osg/Matrix_implementation.cpp
View File

@@ -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)
{