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Fixed determinantt problem and quaternion problem.

This commit is contained in:
Federico Ponchio 2008-02-22 17:40:27 +00:00
parent 2b19c6c313
commit 84760ee1f2
1 changed files with 14 additions and 7 deletions
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21
vcg/math/similarity.h
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@ -24,6 +24,9 @@
History
$Log: not supported by cvs2svn $
Revision 1.15 2008/02/21 11:34:08 ponchio
refixed bug in FromMatrix
Revision 1.14 2008/02/21 10:57:59 ponchio
fixed bug in FromMatrix
@ -51,6 +54,9 @@ unified to the gl stlyle matix*vector. removed vector*matrix operator
Revision 1.6 2004/03/25 14:57:49 ponchio
Microerror. ($LOG$ -> $Log: not supported by cvs2svn $
Microerror. ($LOG$ -> Revision 1.15 2008/02/21 11:34:08 ponchio
Microerror. ($LOG$ -> refixed bug in FromMatrix
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.14 2008/02/21 10:57:59 ponchio
Microerror. ($LOG$ -> fixed bug in FromMatrix
Microerror. ($LOG$ ->
@ -179,7 +185,7 @@ template <class S,class RotationType> Matrix44<S> Similarity<S,RotationType>::Ma
rot.ToMatrix(r);
Matrix44<S> s = Matrix44<S>().SetScale(sca, sca, sca);
Matrix44<S> t = Matrix44<S>().SetTranslate(tra[0], tra[1], tra[2]);
return s*r*t; // scale * rot * trans
return t*s*r; // trans * scale * rot;
}
template <class S,class RotationType> Matrix44<S> Similarity<S,RotationType>::InverseMatrix() const {
@ -188,13 +194,14 @@ template <class S,class RotationType> Matrix44<S> Similarity<S,RotationType>::In
template <class S,class RotationType> void Similarity<S,RotationType>::FromMatrix(const Matrix44<S> &m) {
tra[0] = m.ElementAt(0, 3);
tra[1] = m.ElementAt(1, 3);
tra[2] = m.ElementAt(2, 3);
sca = (S)pow(m.Determinant(), 1/3);
assert(sca != 0);
Matrix44<S> t = m * Matrix44<S>().SetScale(1/sca, 1/sca, 1/sca);
S det = m.Determinant();
assert(det > 0);
sca = (S)pow(det, 1/3.0);
Matrix44<S> t = m*Matrix44<S>().SetScale(1/sca, 1/sca, 1/sca);
rot.FromMatrix(t);
tra[0] = t.ElementAt(0, 3);
tra[1] = t.ElementAt(1, 3);
tra[2] = t.ElementAt(2, 3);
}