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Small errors.

This commit is contained in:
Federico Ponchio 2004-03-08 15:33:58 +00:00
parent a9f4159490
commit 745f415f4e
2 changed files with 33 additions and 27 deletions
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28
vcg/math/matrix44.h
View File

@ -30,7 +30,7 @@ $LOG$
#ifndef __VCGLIB_MATRIX44
#define __VCGLIB_MATRIX44
#include <string.h>
#include <vcg/math/base.h>
#include <vcg/space/point3.h>
#include <vcg/space/point4.h>
@ -138,7 +138,7 @@ protected:
int index[4]; //hold permutation
///Hold sign of row permutation (used for determinant sign)
T d;
void Decompose();
bool Decompose();
};
/// Apply POST moltiplica la matrice al vettore (e.g. la traslazione deve stare nell'ultima riga)
@ -153,7 +153,8 @@ template <class T> Point3<T> operator*(const Point3<T> &p, const Matrix44<T> &m)
template <class T> Point3<T> operator*(const Matrix44<T> &m, const Point3<T> &p);
template <class T> Matrix44<T> &Transpose(Matrix44<T> &m);
template <class T> Matrix44<T> &Invert(Matrix44<T> &m);
//return NULL matrix if not invertible
template <class T> Matrix44<T> &Invert(Matrix44<T> &m);
typedef Matrix44<short> Matrix44s;
typedef Matrix44<int> Matrix44i;
@ -402,7 +403,11 @@ template <class T> Matrix44<T> &Invert(Matrix44<T> &m) {
/* LINEAR SOLVE IMPLEMENTATION */
template <class T> LinearSolve<T>::LinearSolve(const Matrix44<T> &m): Matrix44<T>(m) {
Decompose();
if(!Decompose()) {
for(int i = 0; i < 4; i++)
index[i] = i;
SetZero();
}
}
@ -418,7 +423,7 @@ template <class T> T LinearSolve<T>::Determinant() const {
d is +or -1 depeneing of row permutation even or odd.*/
#define TINY 1e-100
template <class T> void LinearSolve<T>::Decompose() {
template <class T> bool LinearSolve<T>::Decompose() {
d = 1; //no permutation still
T scaling[4];
@ -427,14 +432,14 @@ template <class T> void LinearSolve<T>::Decompose() {
for(int i = 0; i < 4; i++) {
T largest = 0.0;
for(int j = 0; j < 4; j++) {
T t = fabs(element(i, j));
T t = math::Abs(element(i, j));
if (t > largest) largest = t;
}
if (largest == 0.0) { //oooppps there is a zero row!
return;
return false;
}
scaling[i] = 1.0 / largest;
scaling[i] = (T)1.0 / largest;
}
int imax;
@ -451,7 +456,7 @@ template <class T> void LinearSolve<T>::Decompose() {
for(int k = 0; k < j; k++)
sum -= element(i,k)*element(k,j);
element(i,j) = sum;
T t = scaling[i] * fabs(sum);
T t = scaling[i] * math::Abs(sum);
if(t >= largest) {
largest = t;
imax = i;
@ -467,13 +472,14 @@ template <class T> void LinearSolve<T>::Decompose() {
scaling[imax] = scaling[j];
}
index[j]=imax;
if (element(j,j) == 0.0) element(j,j) = TINY;
if (element(j,j) == 0.0) element(j,j) = (T)TINY;
if (j != 3) {
T dum = 1.0 / (element(j,j));
T dum = (T)1.0 / (element(j,j));
for (i = j+1; i < 4; i++)
element(i,j) *= dum;
}
}
return true;
}

32
vcg/math/quaternion.h
View File

@ -138,25 +138,25 @@ template <class S> void Quaternion<S>::ToMatrix(Matrix44<S> &m) const {
S q22 = V(3)*V(3);
S q23 = V(3)*V(0);
m.element(0, 0) = 1.0-(q11 + q22)*2.0;
m.element(1, 0) = (q01 - q23)*2.0;
m.element(2, 0) = (q02 + q13)*2.0;
m.element(3, 0) = 0.0;
m.element(0, 0) = (S)(1.0-(q11 + q22)*2.0);
m.element(1, 0) = (S)((q01 - q23)*2.0);
m.element(2, 0) = (S)((q02 + q13)*2.0);
m.element(3, 0) = (S)0.0;
m.element(0, 1) = (q01 + q23)*2.0;
m.element(1, 1) = 1.0-(q22 + q00)*2.0;
m.element(2, 1) = (q12 - q03)*2.0;
m.element(3, 1) = 0.0;
m.element(0, 1) = (S)((q01 + q23)*2.0);
m.element(1, 1) = (S)(1.0-(q22 + q00)*2.0);
m.element(2, 1) = (S)((q12 - q03)*2.0);
m.element(3, 1) = (S)0.0;
m.element(0, 2) = (q02 - q13)*2.0;
m.element(1, 2) = (q12 + q03)*2.0;
m.element(2, 2) = 1.0-(q11 + q00)*2.0;
m.element(3, 2) = 0.0;
m.element(0, 2) = (S)((q02 - q13)*2.0);
m.element(1, 2) = (S)((q12 + q03)*2.0);
m.element(2, 2) = (S)(1.0-(q11 + q00)*2.0);
m.element(3, 2) = (S)0.0;
m.element(0, 3) = 0.0;
m.element(1, 3) = 0.0;
m.element(2, 3) = 0.0;
m.element(3, 3) = 1.0;
m.element(0, 3) = (S)0.0;
m.element(1, 3) = (S)0.0;
m.element(2, 3) = (S)0.0;
m.element(3, 3) = (S)1.0;
}