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added RandomRotation

This commit is contained in:
ganovelli 2008-01-03 17:40:17 +00:00
parent 44260d6c42
commit a7e016e1ef
1 changed files with 32 additions and 0 deletions
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32
vcg/math/matrix33.h
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@ -24,6 +24,9 @@
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$Log: not supported by cvs2svn $
Revision 1.18 2007/04/19 14:30:26 pietroni
added RotationMatrix method to calculate rotation matrix along an axis
Revision 1.17 2007/04/07 23:06:47 pietroni
Added function RotationMatrix
@ -663,6 +666,35 @@ Matrix33<S> RotationMatrix(const vcg::Point3<S> &axis,
return matr33;
}
/// return a random rotation matrix, from the paper:
/// Fast Random Rotation Matrices, James Arvo
/// Graphics Gems III pp. 117-120
template <class S>
Matrix33<S> RandomRotation(){
S x1,x2,x3;
Matrix33<S> R,H,M,vv;
Point3<S> v;
R.SetIdentity();
H.SetIdentity();
x1 = rand()/S(RAND_MAX);
x2 = rand()/S(RAND_MAX);
x3 = rand()/S(RAND_MAX);
R[0][0] = cos(S(2)*M_PI*x1);
R[0][1] = sin(S(2)*M_PI*x1);
R[1][0] = - R[0][1];
R[1][1] = R[0][0];
v[0] = cos(2.0 * M_PI * x2)*sqrt(x3);
v[1] = sin(2.0 * M_PI * x2)*sqrt(x3);
v[2] = sqrt(1-x3);
vv.OuterProduct(v,v);
H -= vv*S(2);
M = H*R*S(-1);
return M;
}
///
typedef Matrix33<short> Matrix33s;
typedef Matrix33<int> Matrix33i;