Functions | |
| bool | checkOrthogonality (Vector3 &v1, Vector3 &v2, Vector3 &v3, PREC eps=1e-6) |
| void | makeCoordinateSystem (Vector3 &v1, Vector3 &v2, Vector3 &v3) |
| This function makes an orthogonal normed right-hand coordinate system. If the z-axis is the input, then v1 is the x-axis and v2 the y-axis. | |
| void | makeZAxisUp (Matrix33 &A_IK) |