C++ (Cpp) Mat3::setZcol Examples

Example #1

File: MultiBody.cpp Project: BackupTheBerlios/artbody-svn

MatX jointFrame(const Vect3 &loc, const Vect3 &axis_, const Vect3 &ref_)
{
  Vect3 axis, ref, other;
  Mat3 R;

  axis.normalize(axis_);
  ref.displace(ref_, axis, - ref_.dot(axis));  // in case ref & axis not perp
  ref.normalize(ref);
  other.cross(axis, ref);

  R.setXcol(ref);
  R.setYcol(other);
  R.setZcol(axis);

  return MatX(R, loc);
}