|
public static FromRotationMatrix ( Axiom.Math.Matrix3 matrix ) : |
||
| matrix | Axiom.Math.Matrix3 | |
| Résultat | ||
/// <summary>
/// Decompose the matrix.
/// </summary>
/// <param name="translation"></param>
/// <param name="scale"></param>
/// <param name="orientation"></param>
public void Decompose(out Vector3 translation, out Vector3 scale, out Quaternion orientation)
{
scale = Vector3.UnitScale;
Matrix3 rotation = Matrix3.Identity;
Vector3 axis = Vector3.Zero;
axis.x = this.m00;
axis.y = this.m10;
axis.z = this.m20;
scale.x = axis.Normalize(); // Normalize() returns the vector's length before it was normalized
rotation.m00 = axis.x;
rotation.m10 = axis.y;
rotation.m20 = axis.z;
axis.x = this.m01;
axis.y = this.m11;
axis.z = this.m21;
scale.y = axis.Normalize();
rotation.m01 = axis.x;
rotation.m11 = axis.y;
rotation.m21 = axis.z;
axis.x = this.m02;
axis.y = this.m12;
axis.z = this.m22;
scale.z = axis.Normalize();
rotation.m02 = axis.x;
rotation.m12 = axis.y;
rotation.m22 = axis.z;
orientation = Quaternion.FromRotationMatrix(rotation);
translation = this.Translation;
}
/// <summary>
/// Decompose the matrix.
/// </summary>
/// <param name="translation"></param>
/// <param name="scale"></param>
/// <param name="orientation"></param>
public void Decompose(out Vector3 translation, out Vector3 scale, out Quaternion orientation)
{
scale = Vector3.UnitScale;
var rotation = Matrix3.Identity;
var axis = Vector3.Zero;
axis.x = this.m00;
axis.y = this.m10;
axis.z = this.m20;
scale.x = axis.Normalize(); // Normalize() returns the vector's length before it was normalized
rotation.m00 = axis.x;
rotation.m10 = axis.y;
rotation.m20 = axis.z;
axis.x = this.m01;
axis.y = this.m11;
axis.z = this.m21;
scale.y = axis.Normalize();
rotation.m01 = axis.x;
rotation.m11 = axis.y;
rotation.m21 = axis.z;
axis.x = this.m02;
axis.y = this.m12;
axis.z = this.m22;
scale.z = axis.Normalize();
rotation.m02 = axis.x;
rotation.m12 = axis.y;
rotation.m22 = axis.z;
/* http://www.robertblum.com/articles/2005/02/14/decomposing-matrices check to support transforms with negative scaling */
//thanks sebj for the info
if (rotation.Determinant < 0)
{
rotation.m00 = -rotation.m00;
rotation.m10 = -rotation.m10;
rotation.m20 = -rotation.m20;
scale.x = -scale.x;
}
orientation = Quaternion.FromRotationMatrix(rotation);
translation = Translation;
}
