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finishing rotation vec to vec function

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Michael Kirsch 2019-05-25 21:04:49 +02:00 committed by Joseph Lenox
parent 293a6bfe10
commit 9b3d8a1156
1 changed files with 11 additions and 3 deletions
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14
xs/src/libslic3r/TransformationMatrix.cpp
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@ -323,6 +323,8 @@ TransformationMatrix TransformationMatrix::mat_rotation(double angle_rad, const
TransformationMatrix TransformationMatrix::mat_rotation(Pointf3 origin, Pointf3 target) TransformationMatrix TransformationMatrix::mat_rotation(Pointf3 origin, Pointf3 target)
{ {
// TODO: there is a lot of float <-> double conversion going on here
TransformationMatrix mat; TransformationMatrix mat;
double length_sq = origin.x*origin.x + origin.y*origin.y + origin.z*origin.z; double length_sq = origin.x*origin.x + origin.y*origin.y + origin.z*origin.z;
double rec_length; double rec_length;
@ -349,8 +351,8 @@ TransformationMatrix TransformationMatrix::mat_rotation(Pointf3 origin, Pointf3
cross.z = origin.x*target.y - origin.y*target.x; cross.z = origin.x*target.y - origin.y*target.x;
length_sq = cross.x*cross.x + cross.y*cross.y + cross.z*cross.z; length_sq = cross.x*cross.x + cross.y*cross.y + cross.z*cross.z;
if (length_sq < 1e-12) {// colinear, but maybe opposite directions
double dot = origin.x*target.x + origin.y*target.y + origin.z*target.z; double dot = origin.x*target.x + origin.y*target.y + origin.z*target.z;
if (length_sq < 1e-12) {// colinear, but maybe opposite directions
if (dot > 0.0) if (dot > 0.0)
{ {
return mat; // same direction, nothing to do return mat; // same direction, nothing to do
@ -368,15 +370,21 @@ TransformationMatrix TransformationMatrix::mat_rotation(Pointf3 origin, Pointf3
// projection of axis onto unit vector origin // projection of axis onto unit vector origin
dot = origin.x*help.x + origin.y*help.y + origin.z*help.z; dot = origin.x*help.x + origin.y*help.y + origin.z*help.z;
proj.scale(dot); proj.scale(dot);
// help - proj is normal to origin -> rotation axis // help - proj is normal to origin -> rotation axis
// axis is not unit length -> gets normalized in called function
Pointf3 axis = (Pointf3)proj.vector_to(help); Pointf3 axis = (Pointf3)proj.vector_to(help);
// axis is not unit length -> gets normalized in called function
return mat_rotation(PI, axis); return mat_rotation(PI, axis);
} }
} }
else else
{ {// not colinear, cross represents rotation axis so that angle is positive
// dot's vectors have previously been normalized, so nothing to do except arccos
double angle = acos(dot);
// cross is (probably) not unit length -> gets normalized in called function
return mat_rotation(angle, cross);
} }
return mat; // Shouldn't be reached return mat; // Shouldn't be reached
} }