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Add a method to transform Ray3 with 4x4 matrix

pull/3/head
Hleb Valoshka 2019-10-21 16:35:21 +03:00
parent 5342437c79
commit 6e90626feb
1 changed files with 9 additions and 0 deletions
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9
src/celmath/ray.h
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@ -30,6 +30,15 @@ template<class T> class Ray3
return Ray3<T>(m * origin, m * direction);
}
Ray3<T> transform(const Eigen::Matrix<T, 4, 4>& m) const
{
Eigen::Matrix<T, 4, 1> o(Eigen::Matrix<T, 4, 1>::Ones());
o.head(3) = origin;
Eigen::Matrix<T, 4, 1> d(Eigen::Matrix<T, 4, 1>::Zero());
d.head(3) = direction;
return Ray3<T>((m * o).head(3), (m * d).head(3));
}
public:
Eigen::Matrix<T, 3, 1> origin;
Eigen::Matrix<T, 3, 1> direction;