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[uLib Geometry]

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- Adds Type combiner.
- change names to image map (WARNING some classess may not be already uploaded)
This commit is contained in:
Andrea Rigoni
2014-11-29 07:25:35 +00:00
parent 41fa82d2ef
commit 891f46d502
27 changed files with 1146 additions and 99 deletions
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27
src/Math/Transform.h
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@@ -113,14 +113,23 @@ public:
inline void PreRotate(const Matrix3f &m) { this->m_T.prerotate(m); }
inline void QuaternionRotate(const Vector4f &q)
{ this->m_T.rotate(Eigen::Quaternion<float>(q)); }
inline void Rotate(const float angle, Vector3f axis)
{
axis.normalize(); // prehaps not necessary ( see eigens )
Eigen::AngleAxisf ax(angle,axis);
this->m_T.rotate(Eigen::Quaternion<float>(ax));
}
inline void EulerYZYRotate(const Vector3f &e) {
inline void Rotate(const Vector3f euler_axis) {
float angle = euler_axis.norm();
Rotate(angle,euler_axis);
}
inline void EulerYZYRotate(const Vector3f &euler_angles) {
Matrix3f mat;
mat = Eigen::AngleAxisf(e.x(), Vector3f::UnitY())
* Eigen::AngleAxisf(e.y(), Vector3f::UnitZ())
* Eigen::AngleAxisf(e.z(), Vector3f::UnitY());
mat = Eigen::AngleAxisf(euler_angles.x(), Vector3f::UnitY())
* Eigen::AngleAxisf(euler_angles.y(), Vector3f::UnitZ())
* Eigen::AngleAxisf(euler_angles.z(), Vector3f::UnitY());
m_T.rotate(mat);
}
@@ -133,8 +142,12 @@ public:
};
typedef Eigen::Quaternion<float> Quaternionf;
typedef Eigen::Quaternion<double> Quaterniond;
}
} // uLib