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aux/math: implement math_pose_identity.

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Moses Turner 2021-03-05 17:17:54 -06:00 committed by Christoph Haag
parent c776a19e15
commit a027852767
2 changed files with 25 additions and 3 deletions
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12
src/xrt/auxiliary/math/m_api.h
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@ -1,4 +1,4 @@
// Copyright 2019, Collabora, Ltd.
// Copyright 2019-2021, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
* @file
@ -379,6 +379,16 @@ math_matrix_4x4_inverse_view_projection(const struct xrt_matrix_4x4 *view,
*
*/
/*!
* Somewhat laboriously make an xrt_pose identity.
*
* @relates xrt_pose
* @ingroup aux_math
*/
void
math_pose_identity(struct xrt_pose *pose);
/*!
* Check if this pose can be used in transformation operations.
*

16
src/xrt/auxiliary/math/m_base.cpp
View file

@ -317,8 +317,8 @@ math_matrix_3x3_transform_vec3(const struct xrt_matrix_3x3 *left, const struct x
extern "C" void
math_matrix_3x3_multiply(const struct xrt_matrix_3x3 *left,
const struct xrt_matrix_3x3 *right,
struct xrt_matrix_3x3 *result)
const struct xrt_matrix_3x3 *right,
struct xrt_matrix_3x3 *result)
{
result->v[0] = left->v[0] * right->v[0] + left->v[1] * right->v[3] + left->v[2] * right->v[6];
result->v[1] = left->v[0] * right->v[1] + left->v[1] * right->v[4] + left->v[2] * right->v[7];
@ -419,6 +419,18 @@ math_pose_invert(const struct xrt_pose *pose, struct xrt_pose *outPose)
orientation(*outPose) = newOrientation;
}
extern "C" void
math_pose_identity(struct xrt_pose *pose)
{
pose->position.x = 0.0;
pose->position.y = 0.0;
pose->position.z = 0.0;
pose->orientation.x = 0.0;
pose->orientation.y = 0.0;
pose->orientation.z = 0.0;
pose->orientation.w = 1.0;
}
/*!
* Return the result of transforming a point by a pose/transform.
*/