diff options
| -rw-r--r-- | pose-widget/glwidget.cpp | 23 |
1 files changed, 6 insertions, 17 deletions
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp index 93b1239f..c76896c4 100644 --- a/pose-widget/glwidget.cpp +++ b/pose-widget/glwidget.cpp @@ -54,10 +54,6 @@ void GLWidget::rotateBy(double xAngle, double yAngle, double zAngle, double x, d } -static __inline double dot(const vec2& p1, const vec2& p2) { - return p1.x() * p2.x() + p1.y() * p2.y(); -} - class Triangle { public: Triangle(const vec2& p1, @@ -67,16 +63,16 @@ public: origin = p1; v0 = vec2({ p3.x() - p1.x(), p3.y() - p1.y() }); v1 = vec2({ p2.x() - p1.x(), p2.y() - p1.y() }); - dot00 = dot(v0, v0); - dot01 = dot(v0, v1); - dot11 = dot(v1, v1); + dot00 = v0.dot(v0); + dot01 = v0.dot(v1); + dot11 = v1.dot(v1); invDenom = 1 / (dot00 * dot11 - dot01 * dot01); } bool barycentric_coords(const vec2& px, vec2& uv) const { vec2 v2({ px.x() - origin.x(), px.y() - origin.y() }); - double dot12 = dot(v1, v2); - double dot02 = dot(v0, v2); + double dot12 = v1.dot(v2); + double dot02 = v0.dot(v2); double u = (dot11 * dot02 - dot01 * dot12) * invDenom; double v = (dot00 * dot12 - dot01 * dot02) * invDenom; uv = vec2({u, v}); @@ -88,19 +84,12 @@ private: vec2 v0, v1, origin; }; -static __inline vec3 cross(const vec3& p1, const vec3& p2) -{ - return vec3({p1.y() * p2.z() - p2.y() * p1.z(), - p2.x() * p1.z() - p1.x() * p2.z(), - p1.x() * p2.y() - p1.y() * p2.x()}); -} - static __inline vec3 normal(const vec3& p1, const vec3& p2, const vec3& p3) { vec3 u({p2.x() - p1.x(), p2.y() - p1.y(), p2.z() - p1.z()}); vec3 v({p3.x() - p1.x(), p3.y() - p1.y(), p3.z() - p1.z()}); - vec3 tmp = cross(u, v); + vec3 tmp = u.cross(v); double i = 1./sqrt(tmp.x() * tmp.x() + tmp.y() * tmp.y() + tmp.z() * tmp.z()); |