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Add geom::cross_product_matrix

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This commit is contained in:
Nikita Lisitsa 2024-03-15 23:26:54 +03:00
parent 1cc2c23602
commit 49eafc4806
1 changed files with 13 additions and 0 deletions
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13
libs/geom/include/psemek/geom/matrix.hpp
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@ -364,6 +364,19 @@ namespace psemek::geom
return result; return result;
} }
template <typename T>
matrix<T, 3, 3> cross_product_matrix(vector<T, 3> const & v)
{
auto r = matrix<T, 3, 3>::zero();
r[0][1] = -v[2];
r[0][2] = v[1];
r[1][0] = v[2];
r[1][2] = -v[0];
r[2][0] = -v[1];
r[2][1] = v[0];
return r;
}
template <typename T, std::size_t R, std::size_t C> template <typename T, std::size_t R, std::size_t C>
std::ostream & operator << (std::ostream & os, matrix<T, R, C> const & m) std::ostream & operator << (std::ostream & os, matrix<T, R, C> const & m)
{ {