Changeset 5677 in orxonox.OLD for trunk/src/lib

Timestamp:

Nov 21, 2005, 10:02:56 PM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: more optimisations

File:

• trunk/src/lib/math/matrix.cc (modified) (1 diff)

trunk/src/lib/math/matrix.cc

@@ -88 +88 @@
   int eigenValuesCount = this->getEigenValues(eigenValues);
 
-  /* eigenvec creation */
-  eigVc1.x = -1/this->m13*(this->m33 - eigenValues.x) +
-      (this->m32*(-this->m31*this->m32 + this->m12*this->m33 - this->m12*eigenValues.x)) /
-      this->m13*(-this->m13*this->m22 - this->m12*this->m23 + this->m13*eigenValues.x);
+  if (eigenValuesCount == 2 || eigenValuesCount == 3)
+  {
+    /* eigenvec creation */
+    eigVc1.x = -1/this->m13*(this->m33 - eigenValues.x) +
+        (this->m32*(-this->m31*this->m32 + this->m12*this->m33 - this->m12*eigenValues.x)) /
+        this->m13*(-this->m13*this->m22 - this->m12*this->m23 + this->m13*eigenValues.x);
 
-  eigVc1.y = -( -this->m13*this->m23 + this->m12*this->m33 - this->m12*eigenValues.x) /
-      (-this->m31*this->m22 + this->m12*this->m23 + this->m13*eigenValues.x);
+    eigVc1.y = -( -this->m13*this->m23 + this->m12*this->m33 - this->m12*eigenValues.x) /
+        (-this->m31*this->m22 + this->m12*this->m23 + this->m13*eigenValues.x);
 
-  eigVc1.z = 1.0f;
+    eigVc1.z = 1.0f;
 
-  eigVc2.x = -1/this->m13*(this->m33 - eigenValues.y) +
-      (this->m32*(-this->m31*this->m32 + this->m12*this->m33 - this->m12*eigenValues.y)) /
-      this->m13*(-this->m13*this->m22 - this->m12*this->m23 + this->m13*eigenValues.y);
+    eigVc2.x = -1/this->m13*(this->m33 - eigenValues.y) +
+        (this->m32*(-this->m31*this->m32 + this->m12*this->m33 - this->m12*eigenValues.y)) /
+        this->m13*(-this->m13*this->m22 - this->m12*this->m23 + this->m13*eigenValues.y);
 
-  eigVc2.y = -( -this->m13*this->m23 + this->m12*this->m33 - this->m12*eigenValues.y) /
-      (-this->m31*this->m22 + this->m12*this->m23 + this->m13*eigenValues.y);
+    eigVc2.y = -( -this->m13*this->m23 + this->m12*this->m33 - this->m12*eigenValues.y) /
+        (-this->m31*this->m22 + this->m12*this->m23 + this->m13*eigenValues.y);
 
-  eigVc2.z = 1.0f;
+    eigVc2.z = 1.0f;
 
-  eigVc3 = eigVc1.cross(eigVc2);
-
+    eigVc3 = eigVc1.cross(eigVc2);
+  }
+  else if (eigenValuesCount == 1)
+  {
+    eigVc1 = Vector(1,0,0);
+    eigVc2 = Vector(0,1,0);
+    eigVc3 = Vector(0,0,1);
+  }
   eigVc1.normalize();
   eigVc2.normalize();