kindred/create
1
1
Fork 0
Code Issues 37 Pull Requests Actions Packages Projects 9 Releases 2 Wiki Activity

Create rotation from any matrix

Browse Source 
To help find a matrix components a decompose method is added to Matrix class
This commit is contained in:
Jolbas
2023-03-23 01:03:07 +01:00
committed by Chris Hennes
parent 2f069bb94f
commit 31637adaa0
7 changed files with 111 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
src/Base/Rotation.cpp
View File

@@ -22,6 +22,7 @@
#include "PreCompiled.h"
#include <array>
#include <boost/algorithm/string/predicate.hpp>
#include "Base/Exception.h"
@@ -220,28 +221,8 @@ void Rotation::setValue(const double q[4])
void Rotation::setValue(const Matrix4D & m)
{
auto type = m.hasScale();
if (type == Base::ScaleType::Other) {
THROWM(Base::ValueError, "setValue(matrix): Could not determine the rotation.");
}
Matrix4D mc(m);
if (type != Base::ScaleType::NoScaling) {
mc.setCol(3, Vector3d(0.0, 0.0, 0.0));
if (type == Base::ScaleType::NonUniformRight) {
mc.transpose();
}
double sx = 1.0 / mc.getRow(0).Length();
double sy = 1.0 / mc.getRow(1).Length();
double sz = 1.0 / mc.getRow(2).Length();
mc.scale(sx, sy, sz);
if (type == Base::ScaleType::NonUniformRight) {
mc.transpose();
}
if (mc.determinant3() < 0.0) {
mc.scale(-1.0, -1.0, -1.0);
}
}
// Get the rotation part matrix
Matrix4D mc = m.decompose()[2];
// Extract quaternion
double trace = (mc[0][0] + mc[1][1] + mc[2][2]);
if (trace > 0.0) {