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rot_decode bugfix: relax check to approximate for last row of

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transformation matrix.
This commit is contained in:
Adrian Mariano 2020-11-12 09:19:25 -05:00
parent dafc1a8aac
commit 74615a9fe0
1 changed files with 1 additions and 1 deletions
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affine.scad
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@ -486,7 +486,7 @@ function is_2d_transform(t) = // z-parameters are zero, except we allow t[2][
// rot_decode(left(12)*xrot(-33)); // Returns [33, [-1,0,0], [0,0,0], [-12,0,0]]
// rot_decode(translate([3,4,5])); // Returns [0, [0,0,1], [0,0,0], [3,4,5]]
function rot_decode(M) =
assert(is_matrix(M,4,4) && M[3]==[0,0,0,1], "Input matrix must be a 4x4 matrix representing a 3d transformation")
assert(is_matrix(M,4,4) && approx(M[3],[0,0,0,1]), "Input matrix must be a 4x4 matrix representing a 3d transformation")
let(R = submatrix(M,[0:2],[0:2]))
assert(approx(det3(R),1) && approx(norm_fro(R * transpose(R)-ident(3)),0),"Input matrix is not a rotation")
let(