// @returns the inverse rotation matrix around the vector and point by the specified angle
Matrix4x4 getInvRotMat (const Point3 &p, const Vector3 &v, const real_t a) {
const real_t vZ = v[2];
const real_t vX = v[0];
const real_t theta = atan2(vZ, vX);
const real_t phi = -atan2(v[1], sqrt(vX * vX + vZ * vZ));
const Matrix4x4 &transToOrigin = getInvTransMat(Vector3(p[0], p[1], p[2]));
const Matrix4x4 &A = getRotYMat(theta);
const Matrix4x4 &B = getRotZMat(phi);
const Matrix4x4 &C = getRotXMat(a);
const Matrix4x4 &invA = getInvRotYMat(theta);
const Matrix4x4 &invB = getInvRotZMat(phi);
const Matrix4x4 &transBack = getTransMat(Vector3(p[0], p[1], p[2]));
return transBack * (invA * invB * C * B * A).getTranspose() * transToOrigin;
}
// @returns the rotation matrix around the vector and point by the specified angle
Matrix4x4 getRotMat (const Vector4 &p, const Vector4 &v, const REAL a) {
// [PASS]
REAL theta = atan2(v.z, v.x);
REAL phi = -atan2(v.y, sqrt(v.x*v.x + v.z*v.z));
// translate to the origin and back
Matrix4x4 Mt = getTransMat(-p);
Matrix4x4 Mt_1 = getInvTransMat(-p);
Matrix4x4 M1 = getRotYMat(theta);
Matrix4x4 M2 = getRotZMat(phi);
Matrix4x4 M3 = getRotXMat(a);
Matrix4x4 M1_1 = getInvRotYMat(theta);
Matrix4x4 M2_1 = getInvRotZMat(phi);
return Mt_1*M1_1*M2_1*M3*M2*M1*Mt;
}
// @returns the inverse rotation matrix around the vector and
// point by the specified angle
Matrix4x4 getInvRotMat (const Vector4 &h, const Vector4 &a, const REAL lambda) {
// @DONE: [CAMTRANS] Filled in.
double theta = atan2(a.z, a.x);
double phi = -atan2(a.y, sqrt(a.x*a.x + a.z*a.z));
//want to translate by -h to move from h to the origin
Matrix4x4 Th = getTransMat(-h);
Matrix4x4 M1Inv = getInvRotYMat(theta);
Matrix4x4 M2Inv = getInvRotZMat(phi);
Matrix4x4 M3Inv = getInvRotXMat(lambda);
Matrix4x4 M2 = getRotZMat(phi);
Matrix4x4 M1 = getRotYMat(theta);
Matrix4x4 ThInv = getInvTransMat(-h);
Matrix4x4 result = ThInv * M1Inv * M2Inv * M3Inv * M2 * M1 * Th;
return result;
}
// @returns the rotation matrix around the vector and point by the specified angle
Matrix4x4 getRotMat (const Vector4 &p, const Vector4 &v, const REAL a) {
// @TODO: [CAMTRANS] Fill this in...
REAL theta = atan2(v.z, v.x);
REAL otherAngle = -atan2(v.y, sqrt(v.x*v.x+v.z*v.z));
Matrix4x4 trans = Matrix4x4(1,0,0,p.x,
0,1,0, p.y,
0,0,1, p.z,
0,0,0,1);
Matrix4x4 invTrans = Matrix4x4(1,0,0, -p.x,
0,1,0, -p.y,
0,0,1, -p.z,
0,0,0,1);
Matrix4x4 final = trans*getInvRotYMat(theta)*getInvRotZMat(otherAngle)*getRotXMat(a)*getRotZMat(otherAngle)*getRotYMat(theta)*invTrans;
return final;
}
// @returns the inverse rotation matrix about the z axis by the specified angle
Matrix4x4 getInvRotZMat (const REAL radians) {
return getRotZMat(-radians);
// @TODO: (CAMTRANS) Fill this in...
return Matrix4x4::identity();
}
// @returns the inverse rotation matrix about the z axis by the specified angle
Matrix4x4 getInvRotZMat (const REAL radians) {
return getRotZMat(-1*radians);
}
