Beispiel #1
0
static void
_ConvertMatrixToComponents(const GfMatrix4d &matrix, 
                           GfVec3d *translation, 
                           GfVec3f *rotation,
                           GfVec3f *scale)
{
    GfMatrix4d rotMat(1.0);
    GfVec3d doubleScale(1.0);
    GfMatrix4d scaleOrientMatUnused, perspMatUnused;
    matrix.Factor(&scaleOrientMatUnused, &doubleScale, &rotMat, 
                    translation, &perspMatUnused);

    *scale = GfVec3f(doubleScale[0], doubleScale[1], doubleScale[2]);

    if (!rotMat.Orthonormalize(/* issueWarning */ false))
        TF_WARN("Failed to orthonormalize rotation matrix.");

    _RotMatToRotXYZ(rotMat, rotation);
}
static void
_MatrixToVectorsWithPivotInvariant(
    const GfMatrix4d &m,
    const GfVec3d pivotPosition,
    const GfVec3d pivotOrientation,
    GfVec3d *translation, 
    GfVec3d *rotation, 
    GfVec3d *scale, 
    GfVec3d *scaleOrientation) 
{

    GfMatrix3d pivotOrientMat = _EulerXYZToMatrix3d(pivotOrientation);

    GfMatrix4d pp    = GfMatrix4d(1.0).SetTranslate( pivotPosition);
    GfMatrix4d ppInv = GfMatrix4d(1.0).SetTranslate(-pivotPosition);
    GfMatrix4d po    = GfMatrix4d(1.0).SetRotate(pivotOrientMat);
    GfMatrix4d poInv = GfMatrix4d(1.0).SetRotate(pivotOrientMat.GetInverse());

    GfMatrix4d factorMe = po * pp * m * ppInv;

    GfMatrix4d scaleOrientMat, factoredRotMat, perspMat;

    factorMe.Factor(&scaleOrientMat, scale, &factoredRotMat, 
                    translation, &perspMat);

    GfMatrix4d rotMat = factoredRotMat * poInv;

    if(not rotMat.Orthonormalize(/* issueWarning */ false))
        TF_WARN("Failed to orthonormalize rotMat.");

    _RotMatToRotTriplet(rotMat, rotation);

    if(not scaleOrientMat.Orthonormalize(/* issueWarning */ false))
        TF_WARN("Failed to orthonormalize scaleOrientMat.");

    _RotMatToRotTriplet(scaleOrientMat, scaleOrientation);
}