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rewrite functionality of inverse function

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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); 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 // from http://mathworld.wolfram.com/MatrixInverse.html
// and https://math.stackexchange.com/questions/152462/inverse-of-transformation-matrix // and https://math.stackexchange.com/questions/152462/inverse-of-transformation-matrix
double det = this->determinante(); double det = this->determinante();
if (abs(det) < 1e-9) if (abs(det) < 1e-9)
{ {
return false; printf("Matrix (very close to) singular. Inverse cannot be computed");
return TransformationMatrix();
} }
double fac = 1.0 / det; double fac = 1.0 / det;
TransformationMatrix inverse;
inverse.m11 = fac * (this->m22 * this->m33 - this->m23 * this->m32); inverse.m11 = fac * (this->m22 * this->m33 - this->m23 * this->m32);
inverse.m12 = fac * (this->m13 * this->m32 - this->m12 * this->m33); inverse.m12 = fac * (this->m13 * this->m32 - this->m12 * this->m33);
inverse.m13 = fac * (this->m12 * this->m23 - this->m13 * this->m22); 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.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); inverse.m34 = -(inverse.m31 * this->m14 + inverse.m32 * this->m24 + inverse.m33 * this->m34);
return true; return inverse;
} }
void TransformationMatrix::applyLeft(const TransformationMatrix &left) void TransformationMatrix::applyLeft(const TransformationMatrix &left)

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

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