MatP* pivot_local_transform(const struct Pivot* pivot, Mat local_transform) {
Mat rotation = {0};
quat_invert(pivot->orientation, rotation);
mat_rotate(NULL, rotation, rotation);
Mat translation = {0};
vec_invert(pivot->position, translation);
mat_translate(NULL, translation, translation);
mat_mul(translation, rotation, local_transform);
return local_transform;
}
void SCANLINE::compute_invert(vector<float> &device_xyz)
{
//1 renormal
device_xyz[0] = (2/(Xmax - Xmin))*(device_xyz[0])-1 ;//x
device_xyz[1] = (2/(Ymax - Ymin))*(device_xyz[1])-1 ;//y
//2 times invert matrix
device_xyz.push_back(1); //add w value
vector<float> vec_invert(device_xyz);
//scale normalize vertices data to device
matrix_multi_4x1(device_xyz, M_Invert, vec_invert);
for(int j = 0; j<4; j++)
device_xyz[j] = device_xyz[j]/device_xyz[3];
// for(int j = 0; j<4; j++)
// datatest<<setw(15)<<device_xyz[j];
// datatest<<endl;
}
