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Minor bug fixes in math librrary

This commit is contained in:
Dander7BD 2013-12-19 22:06:48 +01:00
parent bbc489eac9
commit ec9f2379c7
1 changed files with 6 additions and 6 deletions
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12
Code/OysterMath/LinearMath.h
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@ -269,7 +269,7 @@ namespace LinearAlgebra3D
template<typename ScalarType>
inline ::LinearAlgebra::Vector4<ScalarType> ExtractAngularAxis( const ::LinearAlgebra::Matrix4x4<ScalarType> &orientationMatrix )
{
return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(orientationMatrix.v[1].z, orientationMatrix.v[2].x, orientationMatrix.v[0].y, 1) );
return ::std::asin( ::LinearAlgebra::Vector4<ScalarType>(orientationMatrix.v[1].z, orientationMatrix.v[2].x, orientationMatrix.v[0].y, 0) );
}
template<typename ScalarType>
@ -332,7 +332,7 @@ namespace LinearAlgebra3D
}
template<typename ScalarType>
inline ::LinearAlgebra::Matrix4x4<ScalarType> & RotationMatrix( const ::LinearAlgebra::Quaternion<ScalarType> &rotationQuaternion, ::LinearAlgebra::Matrix4x4<ScalarType> targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
inline ::LinearAlgebra::Matrix4x4<ScalarType> & RotationMatrix( const ::LinearAlgebra::Quaternion<ScalarType> &rotationQuaternion, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
{
::LinearAlgebra::Quaternion<ScalarType> conjugate = rotationQuaternion.GetConjugate();
@ -344,7 +344,7 @@ namespace LinearAlgebra3D
}
template<typename ScalarType>
inline ::LinearAlgebra::Matrix4x4<ScalarType> & OrientationMatrix( const ::LinearAlgebra::Quaternion<ScalarType> &rotationQuaternion, const ::LinearAlgebra::Vector3<ScalarType> &translation, ::LinearAlgebra::Matrix4x4<ScalarType> targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
inline ::LinearAlgebra::Matrix4x4<ScalarType> & OrientationMatrix( const ::LinearAlgebra::Quaternion<ScalarType> &rotationQuaternion, const ::LinearAlgebra::Vector3<ScalarType> &translation, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
{
::LinearAlgebra::Quaternion<ScalarType> conjugate = rotationQuaternion.GetConjugate();
@ -356,7 +356,7 @@ namespace LinearAlgebra3D
}
template<typename ScalarType>
inline ::LinearAlgebra::Matrix4x4<ScalarType> & OrientationMatrix( const ::LinearAlgebra::Quaternion<ScalarType> &rotationQuaternion, const ::LinearAlgebra::Vector4<ScalarType> &translation, ::LinearAlgebra::Matrix4x4<ScalarType> targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
inline ::LinearAlgebra::Matrix4x4<ScalarType> & OrientationMatrix( const ::LinearAlgebra::Quaternion<ScalarType> &rotationQuaternion, const ::LinearAlgebra::Vector4<ScalarType> &translation, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
{
::LinearAlgebra::Quaternion<ScalarType> conjugate = rotationQuaternion.GetConjugate();
@ -368,14 +368,14 @@ namespace LinearAlgebra3D
}
template<typename ScalarType>
inline ::LinearAlgebra::Matrix4x4<ScalarType> & ViewMatrix( const ::LinearAlgebra::Quaternion<ScalarType> &rotationQuaternion, const ::LinearAlgebra::Vector3<ScalarType> &translation, ::LinearAlgebra::Matrix4x4<ScalarType> targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
inline ::LinearAlgebra::Matrix4x4<ScalarType> & ViewMatrix( const ::LinearAlgebra::Quaternion<ScalarType> &rotationQuaternion, const ::LinearAlgebra::Vector3<ScalarType> &translation, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
{
OrientationMatrix( rotationQuaternion, translation, targetMem );
return InverseOrientationMatrix( targetMem, targetMem );
}
template<typename ScalarType>
inline ::LinearAlgebra::Matrix4x4<ScalarType> & ViewMatrix( const ::LinearAlgebra::Quaternion<ScalarType> &rotationQuaternion, const ::LinearAlgebra::Vector4<ScalarType> &translation, ::LinearAlgebra::Matrix4x4<ScalarType> targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
inline ::LinearAlgebra::Matrix4x4<ScalarType> & ViewMatrix( const ::LinearAlgebra::Quaternion<ScalarType> &rotationQuaternion, const ::LinearAlgebra::Vector4<ScalarType> &translation, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem = ::LinearAlgebra::Matrix4x4<ScalarType>() )
{
OrientationMatrix( rotationQuaternion, translation, targetMem );
return InverseOrientationMatrix( targetMem, targetMem );