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updated access to matrix44 elements through V() instead simple []

This commit is contained in:
Paolo Cignoni 2004-04-07 10:48:37 +00:00
parent 30227aff07
commit 5f1450fd62
1 changed files with 21 additions and 18 deletions
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39
vcg/math/quaternion.h
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@ -24,6 +24,9 @@
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$Log: not supported by cvs2svn $
Revision 1.6 2004/03/25 14:57:49 ponchio
Microerror. ($LOG$ -> $Log: not supported by cvs2svn $
****************************************************************************/
@ -192,32 +195,32 @@ template <class S> void Quaternion<S>::ToMatrix(Matrix44<S> &m) const {
///warning m deve essere una matrice di rotazione pena il disastro.
template <class S> void Quaternion<S>::FromMatrix(Matrix44<S> &m) {
S Sc;
S t = (m[0] + m[5] + m[10] + (S)1.0);
S t = (m.V()[0] + m.V()[5] + m.V()[10] + (S)1.0);
if(t > 0) {
Sc = (S)0.5 / math::Sqrt(t);
V(0) = (S)0.25 / Sc;
V(1) = ( m[9] - m[6] ) * Sc;
V(2) = ( m[2] - m[8] ) * Sc;
V(3) = ( m[4] - m[1] ) * Sc;
V(1) = ( m.V()[9] - m.V()[6] ) * Sc;
V(2) = ( m.V()[2] - m.V()[8] ) * Sc;
V(3) = ( m.V()[4] - m.V()[1] ) * Sc;
} else {
if(m[0] > m[5] && m[0] > m[10]) {
Sc = math::Sqrt( (S)1.0 + m[0] - m[5] - m[10] ) * (S)2.0;
if(m.V()[0] > m.V()[5] && m.V()[0] > m.V()[10]) {
Sc = math::Sqrt( (S)1.0 + m.V()[0] - m.V()[5] - m.V()[10] ) * (S)2.0;
V(1) = (S)0.5 / Sc;
V(2) = (m[1] + m[4] ) / Sc;
V(3) = (m[2] + m[8] ) / Sc;
V(0) = (m[6] + m[9] ) / Sc;
} else if( m[5] > m[10]) {
Sc = math::Sqrt( (S)1.0 + m[5] - m[0] - m[10] ) * (S)2.0;
V(1) = (m[1] + m[4] ) / Sc;
V(2) = (m.V()[1] + m.V()[4] ) / Sc;
V(3) = (m.V()[2] + m.V()[8] ) / Sc;
V(0) = (m.V()[6] + m.V()[9] ) / Sc;
} else if( m.V()[5] > m.V()[10]) {
Sc = math::Sqrt( (S)1.0 + m.V()[5] - m.V()[0] - m.V()[10] ) * (S)2.0;
V(1) = (m.V()[1] + m.V()[4] ) / Sc;
V(2) = (S)0.5 / Sc;
V(3) = (m[6] + m[9] ) / Sc;
V(0) = (m[2] + m[8] ) / Sc;
V(3) = (m.V()[6] + m.V()[9] ) / Sc;
V(0) = (m.V()[2] + m.V()[8] ) / Sc;
} else {
Sc = math::Sqrt( (S)1.0 + m[10] - m[0] - m[5] ) * (S)2.0;
V(1) = (m[2] + m[8] ) / Sc;
V(2) = (m[6] + m[9] ) / Sc;
Sc = math::Sqrt( (S)1.0 + m.V()[10] - m.V()[0] - m.V()[5] ) * (S)2.0;
V(1) = (m.V()[2] + m.V()[8] ) / Sc;
V(2) = (m.V()[6] + m.V()[9] ) / Sc;
V(3) = (S)0.5 / Sc;
V(0) = (m[1] + m[4] ) / Sc;
V(0) = (m.V()[1] + m.V()[4] ) / Sc;
}
}
}