在windows的vs环境下完成,环境配置参考GAMES101作业分析——作业0(开发环境配置) - 知乎 (zhihu.com)
是一个点的旋转的问题,这里把平移和旋转矩阵合并到一个矩阵里了
有一个要注意的就是要除180.0,否则会精度丢失
acos()是反余弦函数,cosπ = -1,所以π = acos(-1)。
#include<cmath>
#include<eigen3/Eigen/Core>
#include<eigen3/Eigen/Dense>
#include<iostream>
#define PI acos(-1)
using namespace std;
int main(){
// Basic Example of cpp
std::cout << "Example of cpp \n";
float a = 1.0, b = 2.0;
std::cout << a << std::endl;
std::cout << a/b << std::endl;
std::cout << std::sqrt(b) << std::endl;
std::cout << std::acos(-1) << std::endl;
std::cout << std::sin(30.0/180.0*acos(-1)) << std::endl;
// Example of vector
std::cout << "Example of vector \n";
// vector definition
Eigen::Vector3f v(1.0f,2.0f,3.0f);//默认是列向量
Eigen::Vector3f w(1.0f,0.0f,0.0f);
// vector output
std::cout << "Example of output \n";
std::cout << v << std::endl;
// vector add
std::cout << "Example of add \n";
std::cout << v + w << std::endl;
// vector scalar multiply
std::cout << "Example of scalar multiply \n";
std::cout << v * 3.0f << std::endl;
std::cout << 2.0f * v << std::endl;
// Example of matrix
std::cout << "Example of matrix \n";
// matrix definition
Eigen::Matrix3f i,j;
i << 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0;
j << 2.0, 3.0, 1.0, 4.0, 6.0, 5.0, 9.0, 7.0, 8.0;
// matrix output
std::cout << "Example of output \n";
std::cout << i << std::endl;
// matrix add i + j
cout << i + j << endl;
//matrix scalar multiply i * 2.0;
cout << i * j << endl;
// matrix multiply i * j
// matrix multiply vector i * v
cout << i * v << endl;
Eigen::Vector3f p(2.0, 1.0, 1.0);
Eigen::Matrix3f R;
float angle = 45 / 180.0 * PI;//防止精度丢失
R << cos(angle), -sin(angle), 1.0,
sin(angle), cos(angle), 2.0,
0, 0, 1.0;
cout << R * p << endl;
return 0;
}