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aux/math: Add function to calculate quad model matrix.

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This commit is contained in:
Lubosz Sarnecki 2020-05-15 17:51:00 +02:00 committed by Jakob Bornecrantz
parent 68c5eecb96
commit fc271ad5da
2 changed files with 27 additions and 0 deletions
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11
src/xrt/auxiliary/math/m_api.h
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@ -268,6 +268,17 @@ void
math_matrix_4x4_view_from_pose(const struct xrt_pose *pose,
struct xrt_matrix_4x4 *result);
/*!
* Compute quad layer model matrix from xrt_pose and xrt_vec2 size.
*
* @relates xrt_matrix_4x4
* @ingroup aux_math
*/
void
math_matrix_4x4_quad_model(const struct xrt_pose *pose,
const struct xrt_vec2 *size,
struct xrt_matrix_4x4 *result);
/*
*
* Pose functions.

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

@ -265,6 +265,22 @@ math_matrix_4x4_view_from_pose(const struct xrt_pose *pose,
map_matrix_4x4(*result) = transformation.matrix().inverse();
}
void
math_matrix_4x4_quad_model(const struct xrt_pose *pose,
const struct xrt_vec2 *size,
struct xrt_matrix_4x4 *result)
{
Eigen::Vector3f position = copy(&pose->position);
Eigen::Quaternionf orientation = copy(&pose->orientation);
auto scale = Eigen::Scaling(size->x, size->y, 1.0f);
Eigen::Translation3f translation(position);
Eigen::Affine3f transformation = translation * orientation * scale;
map_matrix_4x4(*result) = transformation.matrix();
}
/*
*
* Exported pose functions.