MatrixUtils.h

Go to the documentation of this file.

/*=============================================================================
TexGen: Geometric textile modeller.
Copyright (C) 2006 Martin Sherburn
 
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
 
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
 
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
=============================================================================*/
 
#pragma once
 
#include "mymath.h"
#include "Matrix.h"
 
namespace TexGen
{ 
    using namespace std;
 
    // Maths from http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation
    inline CMatrix ConvertRotation(WXYZ Q)
    {
        CMatrix Mat;
        Mat.InitialiseIdentity(3);
        // Diagonal
        Mat(0, 0) = Q.w*Q.w + Q.x*Q.x - Q.y*Q.y - Q.z*Q.z;
        Mat(1, 1) = Q.w*Q.w - Q.x*Q.x + Q.y*Q.y - Q.z*Q.z;
        Mat(2, 2) = Q.w*Q.w - Q.x*Q.x - Q.y*Q.y + Q.z*Q.z;
        // Upper right
        Mat(0, 1) = 2*Q.x*Q.y - 2*Q.w*Q.z;
        Mat(0, 2) = 2*Q.w*Q.y + 2*Q.x*Q.z;
        Mat(1, 2) = 2*Q.y*Q.z - 2*Q.w*Q.x;
        // Lower left
        Mat(1, 0) = 2*Q.w*Q.z + 2*Q.x*Q.y;
        Mat(2, 0) = 2*Q.x*Q.z - 2*Q.w*Q.y;
        Mat(2, 1) = 2*Q.w*Q.x + 2*Q.y*Q.z;
        return Mat;
    }
 
    inline XYZ operator * (const CMatrix &Transform, const XYZ &Vector)
    {
        CMatrix VecMat;
        VecMat.Initialise(3, 1);
        VecMat(0, 0) = Vector.x;
        VecMat(1, 0) = Vector.y;
        VecMat(2, 0) = Vector.z;
        VecMat = Transform * VecMat;
        return XYZ(VecMat(0, 0), VecMat(1, 0), VecMat(2, 0));       
    }
 
};  // namespace TexGen