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Comparing trunk/src/math/SquareMatrix3.hpp (file contents):
Revision 891 by tim, Wed Feb 22 20:35:16 2006 UTC vs.
Revision 963 by tim, Wed May 17 21:51:42 2006 UTC

# Line 47 | Line 47
47   */
48   #ifndef MATH_SQUAREMATRIX3_HPP
49   #define  MATH_SQUAREMATRIX3_HPP
50 <
50 > #include <vector>
51   #include "Quaternion.hpp"
52   #include "SquareMatrix.hpp"
53   #include "Vector3.hpp"
# Line 259 | Line 259 | namespace oopse {
259                  
260        // set the tolerance for Euler angles and rotation elements
261  
262 <      theta = acos(std::min(1.0, std::max(-1.0,this->data_[2][2])));
262 >      theta = acos(std::min((RealType)1.0, std::max((RealType)-1.0,this->data_[2][2])));
263        ctheta = this->data_[2][2];
264        stheta = sqrt(1.0 - ctheta * ctheta);
265  
# Line 318 | Line 318 | namespace oopse {
318       */
319      SquareMatrix3<Real>  inverse() const {
320        SquareMatrix3<Real> m;
321 <      double det = determinant();
321 >      RealType det = determinant();
322        if (fabs(det) <= oopse::epsilon) {
323          //"The method was called on a matrix with |determinant| <= 1e-6.",
324          //"This is a runtime or a programming error in your application.");
325 <      }
326 <
327 <      m(0, 0) = this->data_[1][1]*this->data_[2][2] - this->data_[1][2]*this->data_[2][1];
328 <      m(1, 0) = this->data_[1][2]*this->data_[2][0] - this->data_[1][0]*this->data_[2][2];
329 <      m(2, 0) = this->data_[1][0]*this->data_[2][1] - this->data_[1][1]*this->data_[2][0];
330 <      m(0, 1) = this->data_[2][1]*this->data_[0][2] - this->data_[2][2]*this->data_[0][1];
331 <      m(1, 1) = this->data_[2][2]*this->data_[0][0] - this->data_[2][0]*this->data_[0][2];
332 <      m(2, 1) = this->data_[2][0]*this->data_[0][1] - this->data_[2][1]*this->data_[0][0];
333 <      m(0, 2) = this->data_[0][1]*this->data_[1][2] - this->data_[0][2]*this->data_[1][1];
334 <      m(1, 2) = this->data_[0][2]*this->data_[1][0] - this->data_[0][0]*this->data_[1][2];
335 <      m(2, 2) = this->data_[0][0]*this->data_[1][1] - this->data_[0][1]*this->data_[1][0];
325 >        std::vector<int> zeroDiagElementIndex;
326 >        for (int i =0; i < 3; ++i) {
327 >            if (fabs(this->data_[i][i]) <= oopse::epsilon) {
328 >                zeroDiagElementIndex.push_back(i);
329 >            }
330 >        }
331  
332 <      m /= det;
332 >        if (zeroDiagElementIndex.size() == 2) {
333 >            int index = zeroDiagElementIndex[0];
334 >            m(index, index) = 1.0 / this->data_[index][index];
335 >        }else if (zeroDiagElementIndex.size() == 1) {
336 >
337 >            int a = (zeroDiagElementIndex[0] + 1) % 3;
338 >            int b = (zeroDiagElementIndex[0] + 2) %3;
339 >            RealType denom = this->data_[a][a] * this->data_[b][b] - this->data_[b][a]*this->data_[a][b];
340 >            m(a, a) = this->data_[b][b] /denom;
341 >            m(b, a) = -this->data_[b][a]/denom;
342 >
343 >            m(a,b) = -this->data_[a][b]/denom;
344 >            m(b, b) = this->data_[a][a]/denom;
345 >                
346 >        }
347 >      
348 > /*
349 >        for(std::vector<int>::iterator iter = zeroDiagElementIndex.begin(); iter != zeroDiagElementIndex.end() ++iter) {
350 >            if (this->data_[*iter][0] > oopse::epsilon || this->data_[*iter][1] ||this->data_[*iter][2] ||
351 >                this->data_[0][*iter] > oopse::epsilon || this->data_[1][*iter] ||this->data_[2][*iter] ) {
352 >                std::cout << "can not inverse matrix" << std::endl;
353 >            }
354 >        }
355 > */
356 >      } else {
357 >
358 >          m(0, 0) = this->data_[1][1]*this->data_[2][2] - this->data_[1][2]*this->data_[2][1];
359 >          m(1, 0) = this->data_[1][2]*this->data_[2][0] - this->data_[1][0]*this->data_[2][2];
360 >          m(2, 0) = this->data_[1][0]*this->data_[2][1] - this->data_[1][1]*this->data_[2][0];
361 >          m(0, 1) = this->data_[2][1]*this->data_[0][2] - this->data_[2][2]*this->data_[0][1];
362 >          m(1, 1) = this->data_[2][2]*this->data_[0][0] - this->data_[2][0]*this->data_[0][2];
363 >          m(2, 1) = this->data_[2][0]*this->data_[0][1] - this->data_[2][1]*this->data_[0][0];
364 >          m(0, 2) = this->data_[0][1]*this->data_[1][2] - this->data_[0][2]*this->data_[1][1];
365 >          m(1, 2) = this->data_[0][2]*this->data_[1][0] - this->data_[0][0]*this->data_[1][2];
366 >          m(2, 2) = this->data_[0][0]*this->data_[1][1] - this->data_[0][1]*this->data_[1][0];
367 >
368 >          m /= det;
369 >        }
370        return m;
371      }
372  
# Line 529 | Line 561 | namespace oopse {
561    }
562  
563      
564 <  typedef SquareMatrix3<double> Mat3x3d;
565 <  typedef SquareMatrix3<double> RotMat3x3d;
564 >  typedef SquareMatrix3<RealType> Mat3x3d;
565 >  typedef SquareMatrix3<RealType> RotMat3x3d;
566  
567   } //namespace oopse
568   #endif // MATH_SQUAREMATRIX_HPP

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