Rotation matrix ortho-normalization

gaimplay · 2004-10-27T01:17:07

I'm trying to figure out how to orthonormalize a rotation matrix so that the basis vectors would be unit length and perpendicular. This is to combat floating point precision errors that accumulate in the matrix. The way I figured it, all you need to do is take a unit vector, transform it by your current rotation matrix, then inspect the resulting vector and build a some kind of a scaling matrix that makes the resulting vector unit length, then concatenate this matrix with your current one to fix it. If I'm way off course, it would be great if someone could post some pseudo code or actual code to demonstate the correct algorithm. I'm currently using DX9 but can't find a built-in function to do this kind of thing. Any help appreciated.

Math and Physics Programming

Started by gaimplay October 25, 2004 07:04 AM

39 comments, last by minorlogic 19 years, 5 months ago

minorlogic

150

October 27, 2004 01:17 AM

Hi Dmytry.

quat 2 matrix formula -> is derived from Quaternion properties.
we just use nonunit quat to derive it.

matrix 2 qut is good known too, but produce nonunit quat and it is VERY efficient, such one i did not see anywhere.

Rotation matrix ortho-normalization

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Rotation matrix ortho-normalization

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