The open source OpenXR runtime
aux/math: Add function to calculate quad model matrix.
authored by
Lubosz Sarnecki
and committed by
Jakob Bornecrantz
fc271ad5
68c5eecb
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src/xrt/auxiliary/math/m_api.h
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src/xrt/auxiliary/math/m_api.h
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math_matrix_4x4_view_from_pose(const struct xrt_pose *pose,
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struct xrt_matrix_4x4 *result);
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/*!
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* Compute quad layer model matrix from xrt_pose and xrt_vec2 size.
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*
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* @relates xrt_matrix_4x4
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* @ingroup aux_math
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*/
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void
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math_matrix_4x4_quad_model(const struct xrt_pose *pose,
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const struct xrt_vec2 *size,
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struct xrt_matrix_4x4 *result);
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/*
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*
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* Pose functions.
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src/xrt/auxiliary/math/m_base.cpp
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src/xrt/auxiliary/math/m_base.cpp
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map_matrix_4x4(*result) = transformation.matrix().inverse();
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}
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void
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math_matrix_4x4_quad_model(const struct xrt_pose *pose,
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const struct xrt_vec2 *size,
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struct xrt_matrix_4x4 *result)
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{
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Eigen::Vector3f position = copy(&pose->position);
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Eigen::Quaternionf orientation = copy(&pose->orientation);
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auto scale = Eigen::Scaling(size->x, size->y, 1.0f);
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Eigen::Translation3f translation(position);
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Eigen::Affine3f transformation = translation * orientation * scale;
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map_matrix_4x4(*result) = transformation.matrix();
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}
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/*
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*
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* Exported pose functions.