void ShadedModel::setWorldMatrix(mat4 mat) {
prog->setUniform(mat,"WorldMatrix");
//update normal matrix
mat3 normMat(
mat[0][0], mat[1][0], mat[2][0],
mat[0][1], mat[1][1], mat[2][1],
mat[0][2], mat[1][2], mat[2][2]);
//glUniformMatrix3fv(normalMatrix, 1, GL_TRUE, normMat);
prog->setUniform(normMat, "NormalMatrix");
// update lights
updateLightPositions();
//TODO: need to save?
}
void VfunctionsTest::testNormJ()
{
mslam::RealType data[4] =
{
1.000000000000000000e+00,
4.125607846284472073e-03,
3.812299856873190788e-03,
-1.630117227660913225e-04
};
mslam::RealType targetData[4 * 4] =
{
3.157934715637507523e-05,
-4.125412418737937729e-03,
-3.812119270536476565e-03,
1.630040009994514845e-04,
-4.125412418737937729e-03,
9.999671901185915868e-01,
-1.572730917349752375e-05,
6.724905854990989835e-07,
-3.812119270536476565e-03,
-1.572730917349752375e-05,
9.999696770106860644e-01,
6.214201296799663458e-07,
1.630040009994514845e-04,
6.724905854990989835e-07,
6.214201296799663458e-07,
9.999841833808724711e-01
};
mslam::RealMatrix normMat(4, 4, targetData);
mslam::RealMatrix r;
CPPUNIT_ASSERT_NO_THROW(r = mslam::normJac(mslam::RealVector(data,
4)));
CPPUNIT_ASSERT_EQUAL(0, cv::countNonZero(cv::abs(r - normMat) > 1e-10));
}
