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Fix preshear transformation.

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This commit is contained in:
Antonio Sánchez 2024-01-30 06:37:33 +00:00
parent 69ee52ed13
commit 043442e21b
2 changed files with 8 additions and 1 deletions
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3
Eigen/src/Geometry/Transform.h
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@ -943,7 +943,8 @@ EIGEN_DEVICE_FUNC Transform<Scalar, Dim, Mode, Options>& Transform<Scalar, Dim,
const Scalar& sx, const Scalar& sy) { const Scalar& sx, const Scalar& sy) {
EIGEN_STATIC_ASSERT(int(Dim) == 2, YOU_MADE_A_PROGRAMMING_MISTAKE) EIGEN_STATIC_ASSERT(int(Dim) == 2, YOU_MADE_A_PROGRAMMING_MISTAKE)
EIGEN_STATIC_ASSERT(Mode != int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS) EIGEN_STATIC_ASSERT(Mode != int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
m_matrix.template block<Dim, HDim>(0, 0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim, HDim>(0, 0); m_matrix.template block<Dim, HDim>(0, 0) =
LinearMatrixType({{1, sy}, {sx, 1}}) * m_matrix.template block<Dim, HDim>(0, 0);
return *this; return *this;
} }

6
test/geo_transformations.cpp
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@ -273,6 +273,12 @@ void transformations() {
.matrix() .matrix()
.isIdentity(test_precision<Scalar>())); .isIdentity(test_precision<Scalar>()));
t20.setIdentity();
t20.shear(Scalar(2), Scalar(3));
Transform2 t23 = t20 * t21;
t21.preshear(Scalar(2), Scalar(3));
VERIFY_IS_APPROX(t21, t23);
// Transform - new API // Transform - new API
// 3D // 3D
t0.setIdentity(); t0.setIdentity();