void aiXform::decompose(const Imath::M44d &mat, Imath::V3d &scale, Imath::V3d &shear, Imath::Quatd &rotation, Imath::V3d &translation) const
{
Imath::M44d mat_remainder(mat);
// Extract Scale, Shear
Imath::extractAndRemoveScalingAndShear(mat_remainder, scale, shear, false);
// Extract translation
translation.x = mat_remainder[3][0];
translation.y = mat_remainder[3][1];
translation.z = mat_remainder[3][2];
translation *= getConfig().scale_factor;
// Extract rotation
rotation = extractQuat(mat_remainder);
}
const Matrix /* or null */ *GaussElimComputation::matrix_remainder(
const Matrix *m)
{
if (m->get_ring() != R)
{
ERROR("encountered different rings");
return 0;
}
if (m->n_rows() != gens->rows()->rank())
{
ERROR("expected matrices to have same number of rows");
return 0;
}
MatrixConstructor mat_remainder(m->rows(), m->cols(), m->degree_shift());
for (int i = 0; i < m->n_cols(); i++)
{
vec f = R->copy_vec(m->elem(i));
reduce(f);
mat_remainder.set_column(i, f);
}
return mat_remainder.to_matrix();
}
M2_bool GaussElimComputation::matrix_lift(
const Matrix *m,
const Matrix /* or null */ **result_remainder,
const Matrix /* or null */ **result_quotient)
{
if (m->get_ring() != R)
{
ERROR("encountered different rings");
*result_remainder = 0;
*result_quotient = 0;
return false;
}
if (m->n_rows() != gens->rows()->rank())
{
ERROR("expected matrices to have same number of rows");
*result_remainder = 0;
*result_quotient = 0;
return false;
}
MatrixConstructor mat_remainder(m->rows(), m->cols(), m->degree_shift());
MatrixConstructor mat_quotient(Fsyz, m->cols(), 0);
bool all_zeroes = true;
for (int i = 0; i < m->n_cols(); i++)
{
vec f = R->copy_vec(m->elem(i));
vec fsyz = NULL;
reduce(f, fsyz);
R->negate_vec_to(fsyz);
if (f != 0) all_zeroes = false;
mat_remainder.set_column(i, f);
mat_quotient.set_column(i, fsyz);
}
*result_remainder = mat_remainder.to_matrix();
*result_quotient = mat_quotient.to_matrix();
return all_zeroes;
}