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Comparing trunk/src/math/SquareMatrix3.hpp (file contents):
Revision 637 by tim, Wed Sep 28 16:55:57 2005 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 166 | Line 166 | namespace oopse {
166      void setupRotMat(Real w, Real x, Real y, Real z) {
167        Quaternion<Real> q(w, x, y, z);
168        *this = q.toRotationMatrix3();
169 +    }
170 +
171 +    void setupSkewMat(Vector3<Real> v) {
172 +        setupSkewMat(v[0], v[1], v[2]);
173 +    }
174 +
175 +    void setupSkewMat(Real v1, Real v2, Real v3) {
176 +        this->data_[0][0] = 0;
177 +        this->data_[0][1] = -v3;
178 +        this->data_[0][2] = v2;
179 +        this->data_[1][0] = v3;
180 +        this->data_[1][1] = 0;
181 +        this->data_[1][2] = -v1;
182 +        this->data_[2][0] = -v2;
183 +        this->data_[2][1] = v1;
184 +        this->data_[2][2] = 0;
185 +        
186 +        
187      }
188  
189 +
190 +
191      /**
192       * Returns the quaternion from this rotation matrix
193       * @return the quaternion from this rotation matrix
# Line 239 | 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 298 | 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 <      }
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(0, 0) = this->data_[1][1]*this->data_[2][2] - this->data_[1][2]*this->data_[2][1];
333 <      m(1, 0) = this->data_[1][2]*this->data_[2][0] - this->data_[1][0]*this->data_[2][2];
334 <      m(2, 0) = this->data_[1][0]*this->data_[2][1] - this->data_[1][1]*this->data_[2][0];
335 <      m(0, 1) = this->data_[2][1]*this->data_[0][2] - this->data_[2][2]*this->data_[0][1];
311 <      m(1, 1) = this->data_[2][2]*this->data_[0][0] - this->data_[2][0]*this->data_[0][2];
312 <      m(2, 1) = this->data_[2][0]*this->data_[0][1] - this->data_[2][1]*this->data_[0][0];
313 <      m(0, 2) = this->data_[0][1]*this->data_[1][2] - this->data_[0][2]*this->data_[1][1];
314 <      m(1, 2) = this->data_[0][2]*this->data_[1][0] - this->data_[0][0]*this->data_[1][2];
315 <      m(2, 2) = this->data_[0][0]*this->data_[1][1] - this->data_[0][1]*this->data_[1][0];
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 <      m /= det;
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 +
373 +    SquareMatrix3<Real> transpose() const{
374 +      SquareMatrix3<Real> result;
375 +                
376 +      for (unsigned int i = 0; i < 3; i++)
377 +        for (unsigned int j = 0; j < 3; j++)              
378 +          result(j, i) = this->data_[i][j];
379 +
380 +      return result;
381 +    }
382      /**
383       * Extract the eigenvalues and eigenvectors from a 3x3 matrix.
384       * The eigenvectors (the columns of V) will be normalized.
# Line 499 | 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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