From 5404526ae8da8c5fdff81b8ee8120ffe73647747 Mon Sep 17 00:00:00 2001 From: cnlohr Date: Fri, 24 Mar 2017 01:05:07 -0400 Subject: Dave's affine solve is getting close. --- src/poser_daveortho.c | 68 +++++++++++++++++++++++++++++++++++++-------------- 1 file changed, 50 insertions(+), 18 deletions(-) (limited to 'src/poser_daveortho.c') diff --git a/src/poser_daveortho.c b/src/poser_daveortho.c index 80f65a9..906b21e 100644 --- a/src/poser_daveortho.c +++ b/src/poser_daveortho.c @@ -456,41 +456,73 @@ PRINT(ab,2,1); //------------------- // Orthogonalize the matrix //------------------- - - PRINT_MAT(T,4,4); -matrix44transpose(T2, T); -//matrix44copy(T2,T); - cross3d( &T2[0][0], &T2[1][0], &T2[2][0] ); - cross3d( &T2[2][0], &T2[0][0], &T2[1][0] ); - normalize3d( &T2[0][0], &T2[0][0] ); - normalize3d( &T2[1][0], &T2[1][0] ); - normalize3d( &T2[2][0], &T2[2][0] ); -//matrix44copy(T2,T); -matrix44transpose(T, T2); PRINT_MAT(T,4,4); +#if 1 +// matrix44transpose(T2, T); //Transpose so we are + matrix44copy(T2,T); + cross3d( &T2[1][0], &T2[0][0], &T2[2][0] ); + cross3d( &T2[2][0], &T2[1][0], &T2[0][0] ); //Replace axes in-place. + matrix44copy(T,T2); +// matrix44transpose(T, T2); + +#endif + + normalize3d( &T[0][0], &T[0][0] ); + normalize3d( &T[1][0], &T[1][0] ); + normalize3d( &T[2][0], &T[2][0] ); + //Change handedness + + T[1][0]*=-1; + T[1][1]*=-1; + T[1][2]*=-1; + +/* + //Check Orthogonality. Yep. It's orthogonal. + FLT tmp[3]; + cross3d( tmp, &T[0][0], &T[1][0] ); + printf( "M3: %f\n", magnitude3d( tmp ) ); + cross3d( tmp, &T[2][0], &T[1][0] ); + printf( "M3: %f\n", magnitude3d( tmp ) ); + cross3d( tmp, &T[2][0], &T[0][0] ); + printf( "M3: %f\n", magnitude3d( tmp ) ); +*/ + +// PRINT_MAT(T,4,4); +#if 1 - //memcpy(T2,T,16*sizeof(float)); -// matrix44copy(T2,T); + //matrix44copy(T2,T); matrix44transpose(T2,T); + quatfrommatrix( quat, &T2[0][0] ); + printf( "QM: %f\n", quatmagnitude( quat ) ); quatnormalize(quatNorm,quat); quattoeuler(euler,quatNorm); - quattomatrix( T2, quatNorm ); + quattomatrix( &T2[0][0], quatNorm ); + + PRINT_MAT(T2,4,4); printf("rot %f %f %f len %f\n", euler[0], euler[1], euler[2], quatmagnitude(quat)); - PRINT(T,4,4); +// PRINT(T,4,4); // matrix44copy(temp,T2); matrix44transpose(temp,T2); - memcpy(T2,temp,16*sizeof(float)); + +// matrix44transpose(T2, temp); +// memcpy(T2,temp,16*sizeof(float)); for (i=0; i<3; i++) { for (j=0; j<3; j++) { - T[i][j] = T2[j][i]; + T[i][j] = temp[i][j]; } } - PRINT(T2,4,4); + +/* PRINT(T2,4,4); */ +#endif + + T[1][0]*=-1; + T[1][1]*=-1; + T[1][2]*=-1; /* -- cgit v1.2.3