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Attempting to make similarity compatible with both quaternions and matrix44

This commit is contained in:
Federico Ponchio 2008-09-26 15:37:53 +00:00
parent f3bddee157
commit e5258c6aa3
1 changed files with 12 additions and 10 deletions
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22
vcg/math/similarity.h
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@ -203,19 +203,19 @@ template <class S,class RotationType> void Similarity<S,RotationType>::FromMatri
//Computes a t*s*r decomposition
S det = m.Determinant();
assert(det > 0);
sca = (S)pow(det, 1/3.0);
sca = (S)pow((S)det, (S)(1/3.0));
Matrix44<S> t = m*Matrix44<S>().SetScale(1/sca, 1/sca, 1/sca);
tra[0] = t.ElementAt(0, 3);t[0][3] = 0.0;
tra[1] = t.ElementAt(1, 3);t[1][3] = 0.0;
tra[2] = t.ElementAt(2, 3);t[2][3] = 0.0;
rot.FromMatrix(t);
tra[0] = t.ElementAt(0, 3);
tra[1] = t.ElementAt(1, 3);
tra[2] = t.ElementAt(2, 3);
//Compute a s*r*t decomposition
Quaternion<S> irot = rot;
irot.Invert();
tra = irot.Rotate(tra);
tra /= sca;
Invert(t);
tra = t * tra;
tra/= sca;
}
template <class S,class RotationType> Similarity<S,RotationType> &Invert(Similarity<S,RotationType> &a) {
a.rot.Invert();
a.sca = 1/a.sca;
@ -238,7 +238,9 @@ template <class S,class RotationType> Similarity<S,RotationType> Interpolate(con
}
template <class S,class RotationType> Point3<S> operator*(const Similarity<S,RotationType> &m, const Point3<S> &p) {
Point3<S> r = m.rot.Rotate(p);
Matrix44<S> t;
m.rot.ToMatrix(t);
Point3<S> r = t*p;
r *= m.sca;
r += m.tra;
return r;