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Returrned to s*r*t decomposition.

This commit is contained in:
Federico Ponchio 2008-02-24 18:03:03 +00:00
parent 12b6eab241
commit 82635287c7
1 changed files with 13 additions and 2 deletions
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15
vcg/math/similarity.h
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@ -24,6 +24,9 @@
History
$Log: not supported by cvs2svn $
Revision 1.16 2008/02/22 17:40:27 ponchio
Fixed determinantt problem and quaternion problem.
Revision 1.15 2008/02/21 11:34:08 ponchio
refixed bug in FromMatrix
@ -54,6 +57,9 @@ 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 1.16 2008/02/22 17:40:27 ponchio
Microerror. ($LOG$ -> Fixed determinantt problem and quaternion problem.
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.15 2008/02/21 11:34:08 ponchio
Microerror. ($LOG$ -> refixed bug in FromMatrix
Microerror. ($LOG$ ->
@ -185,7 +191,7 @@ 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 t*s*r; // trans * scale * rot;
return s*r*t; // trans * scale * rot;
}
template <class S,class RotationType> Matrix44<S> Similarity<S,RotationType>::InverseMatrix() const {
@ -194,6 +200,7 @@ 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) {
//Computes a t*s*r decomposition
S det = m.Determinant();
assert(det > 0);
sca = (S)pow(det, 1/3.0);
@ -202,7 +209,11 @@ template <class S,class RotationType> void Similarity<S,RotationType>::FromMatri
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;
}
template <class S,class RotationType> Similarity<S,RotationType> &Invert(Similarity<S,RotationType> &a) {