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ToMatrix returned the inverse matrix. OUCH. 

This affects trackball and shot.h
Added a const also.
This commit is contained in:
Federico Ponchio 2008-02-22 17:39:59 +00:00
parent 71db3f05f0
commit 2b19c6c313
1 changed files with 28 additions and 22 deletions
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50
vcg/math/quaternion.h
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@ -24,6 +24,9 @@
History History
$Log: not supported by cvs2svn $ $Log: not supported by cvs2svn $
Revision 1.18 2007/07/03 16:07:09 corsini
add DCM to Euler Angles method (to implement)
Revision 1.17 2007/02/06 12:24:07 tarini Revision 1.17 2007/02/06 12:24:07 tarini
added a missing "Quaternion<S>::" in "FromEulerAngles" added a missing "Quaternion<S>::" in "FromEulerAngles"
@ -59,6 +62,9 @@ updated access to matrix44 elements through V() instead simple []
Revision 1.6 2004/03/25 14:57:49 ponchio Revision 1.6 2004/03/25 14:57:49 ponchio
Microerror. ($LOG$ -> $Log: not supported by cvs2svn $ Microerror. ($LOG$ -> $Log: not supported by cvs2svn $
Microerror. ($LOG$ -> Revision 1.18 2007/07/03 16:07:09 corsini
Microerror. ($LOG$ -> add DCM to Euler Angles method (to implement)
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.17 2007/02/06 12:24:07 tarini Microerror. ($LOG$ -> Revision 1.17 2007/02/06 12:24:07 tarini
Microerror. ($LOG$ -> added a missing "Quaternion<S>::" in "FromEulerAngles" Microerror. ($LOG$ -> added a missing "Quaternion<S>::" in "FromEulerAngles"
Microerror. ($LOG$ -> Microerror. ($LOG$ ->
@ -132,7 +138,7 @@ public:
void FromAxis(const S phi, const Point3<S> &a); void FromAxis(const S phi, const Point3<S> &a);
void ToAxis(S &phi, Point3<S> &a ) const; void ToAxis(S &phi, Point3<S> &a ) const;
void FromMatrix(Matrix44<S> &m); void FromMatrix(const Matrix44<S> &m);
void ToMatrix(Matrix44<S> &m) const; void ToMatrix(Matrix44<S> &m) const;
void ToMatrix(Matrix33<S> &m) const; void ToMatrix(Matrix33<S> &m) const;
@ -254,23 +260,23 @@ template <class S> void Quaternion<S>::ToMatrix(Matrix44<S> &m) const {
S q23 = V(3)*V(0); S q23 = V(3)*V(0);
m[0][0] = (S)(1.0-(q11 + q22)*2.0); m[0][0] = (S)(1.0-(q11 + q22)*2.0);
m[1][0] = (S)((q01 - q23)*2.0); m[0][1] = (S)((q01 - q23)*2.0);
m[2][0] = (S)((q02 + q13)*2.0); m[0][2] = (S)((q02 + q13)*2.0);
m[3][0] = (S)0.0;
m[0][1] = (S)((q01 + q23)*2.0);
m[1][1] = (S)(1.0-(q22 + q00)*2.0);
m[2][1] = (S)((q12 - q03)*2.0);
m[3][1] = (S)0.0;
m[0][2] = (S)((q02 - q13)*2.0);
m[1][2] = (S)((q12 + q03)*2.0);
m[2][2] = (S)(1.0-(q11 + q00)*2.0);
m[3][2] = (S)0.0;
m[0][3] = (S)0.0; m[0][3] = (S)0.0;
m[1][0] = (S)((q01 + q23)*2.0);
m[1][1] = (S)(1.0-(q22 + q00)*2.0);
m[1][2] = (S)((q12 - q03)*2.0);
m[1][3] = (S)0.0; m[1][3] = (S)0.0;
m[2][0] = (S)((q02 - q13)*2.0);
m[2][1] = (S)((q12 + q03)*2.0);
m[2][2] = (S)(1.0-(q11 + q00)*2.0);
m[2][3] = (S)0.0; m[2][3] = (S)0.0;
m[3][0] = (S)0.0;
m[3][1] = (S)0.0;
m[3][2] = (S)0.0;
m[3][3] = (S)1.0; m[3][3] = (S)1.0;
} }
@ -286,20 +292,20 @@ template <class S> void Quaternion<S>::ToMatrix(Matrix33<S> &m) const {
S q23 = V(3)*V(0); S q23 = V(3)*V(0);
m[0][0] = (S)(1.0-(q11 + q22)*2.0); m[0][0] = (S)(1.0-(q11 + q22)*2.0);
m[1][0] = (S)((q01 - q23)*2.0); m[0][1] = (S)((q01 - q23)*2.0);
m[2][0] = (S)((q02 + q13)*2.0); m[0][2] = (S)((q02 + q13)*2.0);
m[0][1] = (S)((q01 + q23)*2.0); m[1][0] = (S)((q01 + q23)*2.0);
m[1][1] = (S)(1.0-(q22 + q00)*2.0); m[1][1] = (S)(1.0-(q22 + q00)*2.0);
m[2][1] = (S)((q12 - q03)*2.0); m[1][2] = (S)((q12 - q03)*2.0);
m[0][2] = (S)((q02 - q13)*2.0); m[2][0] = (S)((q02 - q13)*2.0);
m[1][2] = (S)((q12 + q03)*2.0); m[2][1] = (S)((q12 + q03)*2.0);
m[2][2] = (S)(1.0-(q11 + q00)*2.0); m[2][2] = (S)(1.0-(q11 + q00)*2.0);
} }
///warning m deve essere una matrice di rotazione pena il disastro. ///warning m deve essere una matrice di rotazione pena il disastro.
template <class S> void Quaternion<S>::FromMatrix(Matrix44<S> &m) { template <class S> void Quaternion<S>::FromMatrix(const Matrix44<S> &m) {
S Sc; S Sc;
S t = (m.V()[0] + m.V()[5] + m.V()[10] + (S)1.0); S t = (m.V()[0] + m.V()[5] + m.V()[10] + (S)1.0);
if(t > 0) { if(t > 0) {