The problem is in Polygon::FindAxisLeastPenetration: double Polygon::FindAxisLeastPenetration(unsigned int *faceIndex, const Polygon &polygonA, const Polygon &polygonB) const { double bestDistance = -std::numeric_limits<double>::infinity(); unsigned int bestIndex; for (unsigned int i = 0; i < polygonA.points.size(); i++) { Vector2D n = polygonA.normals[i]; Vector2D nw = polygonA.rotationMatrix * n; //ROTATION Matrix22 buT = polygonB.rotationMatrix.Transposed();...

Was just trying to do some rendering with OpenGL and I happened to think about that: how would you run transformations in a fixed coordinate system. In other words, if you rotate an object around one axis you will see that the others are going to rotate too? Therefore, following...

I am currently trying to find an equivalent for the following equation: vec_res = inverse(VM) * (q * (VM * vec_input) * conjugate(q)) where VM is a standard view matrix , q is a normalized quaternion, and vec_input a vector. In the form: vec_res = A * vec_input; or vec_res...

I'm asking a question that has been asked a million times before, but I still haven't found a good answer after going through these and also resorting to other sites: How to rotate a graphic over global axes, and not to local axes? rotating objects in opengl How to rotate...

I've tried to search both on google and here the solution to my problem and I don't think it has been asked before (or may I be using the wrong words in my search? ^^') Anyway, this is what I want to have: a OpenGL surface view (showing a cube...

I'm working with quite large rotation matrices, which have the inherent property to have a large number of zeros. In order to reduce memory use and possibly reduce computation cost when multiplying these rotation matrices with other matrices/vectors, I would like to use a sparse matrix data structure. I have...

So I previously asked a question more about what ind of sensor to use for the application I'm building. After some research I know now that it's the rotation vector that I want to use for I want to be able to move a virtual cube on my tablet according...