diff options
| author | Marius Kintel <marius@kintel.net> | 2011-10-04 01:41:43 (GMT) |
|---|---|---|
| committer | Marius Kintel <marius@kintel.net> | 2011-10-04 01:41:43 (GMT) |
| commit | f5e0f3a531b0c8806e4ebc62cd91ca31275ae481 (patch) | |
| tree | 98992f8b4f632ab8e29175eb362f4d3e03e06da3 /src/csgterm.cc | |
| parent | 85948590ee0c6a353502c5493ecaf45730e08984 (diff) | |
Rewrote some hard to read linear algebra code to use Eigen
Diffstat (limited to 'src/csgterm.cc')
| -rw-r--r-- | src/csgterm.cc | 12 |
1 files changed, 4 insertions, 8 deletions
diff --git a/src/csgterm.cc b/src/csgterm.cc index 8306aaf..16ef75f 100644 --- a/src/csgterm.cc +++ b/src/csgterm.cc @@ -47,10 +47,10 @@ */ -CSGTerm::CSGTerm(const shared_ptr<PolySet> &polyset, const double matrix[16], const double color[4], const std::string &label) +CSGTerm::CSGTerm(const shared_ptr<PolySet> &polyset, const Transform3d &matrix, const double color[4], const std::string &label) : type(TYPE_PRIMITIVE), polyset(polyset), label(label), left(NULL), right(NULL) { - for (int i = 0; i < 16; i++) this->m[i] = matrix[i]; + this->m = matrix; for (int i = 0; i < 4; i++) this->color[i] = color[i]; refcounter = 1; } @@ -188,7 +188,7 @@ CSGChain::CSGChain() { } -void CSGChain::add(const shared_ptr<PolySet> &polyset, double *m, double *color, CSGTerm::type_e type, std::string label) +void CSGChain::add(const shared_ptr<PolySet> &polyset, const Transform3d &m, double *color, CSGTerm::type_e type, std::string label) { polysets.push_back(polyset); matrices.push_back(m); @@ -236,11 +236,7 @@ BoundingBox CSGChain::getBoundingBox() const if (!psbox.isNull()) { Eigen::Transform3d t; // Column-major vs. Row-major - t.matrix() << - matrices[i][0], matrices[i][4], matrices[i][8], matrices[i][12], - matrices[i][1], matrices[i][5], matrices[i][9], matrices[i][13], - matrices[i][2], matrices[i][6], matrices[i][10], matrices[i][14], - matrices[i][3], matrices[i][7], matrices[i][11], matrices[i][15]; + t = matrices[i]; bbox.extend(t * psbox.min()); bbox.extend(t * psbox.max()); } |