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rewrite functionality of inverse function

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This commit is contained in:
Michael Kirsch 2019-06-29 00:37:47 +02:00 committed by Joseph Lenox
parent d7c1f8bad8
commit 4f4abe3350
2 changed files with 7 additions and 4 deletions
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9
xs/src/libslic3r/TransformationMatrix.cpp
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@ -83,17 +83,20 @@ double TransformationMatrix::determinante() const
return m11*(m22*m33 - m23*m32) - m12*(m21*m33 - m23*m31) + m13*(m21*m32 - m31*m22);
}
bool TransformationMatrix::inverse(TransformationMatrix &inverse) const
TransformationMatrix TransformationMatrix::inverse() const
{
// from http://mathworld.wolfram.com/MatrixInverse.html
// and https://math.stackexchange.com/questions/152462/inverse-of-transformation-matrix
double det = this->determinante();
if (abs(det) < 1e-9)
{
return false;
printf("Matrix (very close to) singular. Inverse cannot be computed");
return TransformationMatrix();
}
double fac = 1.0 / det;
TransformationMatrix inverse;
inverse.m11 = fac * (this->m22 * this->m33 - this->m23 * this->m32);
inverse.m12 = fac * (this->m13 * this->m32 - this->m12 * this->m33);
inverse.m13 = fac * (this->m12 * this->m23 - this->m13 * this->m22);
@ -108,7 +111,7 @@ bool TransformationMatrix::inverse(TransformationMatrix &inverse) const
inverse.m24 = -(inverse.m21 * this->m14 + inverse.m22 * this->m24 + inverse.m23 * this->m34);
inverse.m34 = -(inverse.m31 * this->m14 + inverse.m32 * this->m24 + inverse.m33 * this->m34);
return true;
return inverse;
}
void TransformationMatrix::applyLeft(const TransformationMatrix &left)

2
xs/src/libslic3r/TransformationMatrix.hpp
View File

@ -33,7 +33,7 @@ public:
double determinante() const;
/// returns the inverse of the matrix
bool inverse(TransformationMatrix &inverse) const;
TransformationMatrix inverse() const;
/// multiplies the parameter-matrix from the left (this=left*this)
void applyLeft(const TransformationMatrix &left);