[更新]NyARToolkit/nyatlaブランチ

[nyartoolkit-and/nyartoolkit-and.git] / src / jp / nyatla / nyartoolkit / core / transmat / NyARTransMatResult.java

diff --git a/src/jp/nyatla/nyartoolkit/core/transmat/NyARTransMatResult.java b/src/jp/nyatla/nyartoolkit/core/transmat/NyARTransMatResult.java
index 372d9cb..2d7e58a 100644 (file)
--- a/src/jp/nyatla/nyartoolkit/core/transmat/NyARTransMatResult.java
+++ b/src/jp/nyatla/nyartoolkit/core/transmat/NyARTransMatResult.java
@@ -67,28 +67,26 @@ public class NyARTransMatResult extends NyARMat
         * @param i_off\r
         * @param i_trans\r
         */\r
-       public void updateMatrixValue(NyARTransRot i_rot, double[] i_off, double[] i_trans)\r
+       public void updateMatrixValue(NyARRotMatrix i_rot, double[] i_off, double[] i_trans)\r
        {\r
                double[] pa;\r
-               double[] rot = i_rot.getArray();\r
-\r
                pa = this.m[0];\r
-               pa[0] = rot[0 * 3 + 0];\r
-               pa[1] = rot[0 * 3 + 1];\r
-               pa[2] = rot[0 * 3 + 2];\r
-               pa[3] = rot[0 * 3 + 0] * i_off[0] + rot[0 * 3 + 1] * i_off[1] + rot[0 * 3 + 2] * i_off[2] + i_trans[0];\r
+               pa[0] = i_rot.m00;\r
+               pa[1] = i_rot.m01;\r
+               pa[2] = i_rot.m02;\r
+               pa[3] = i_rot.m00 * i_off[0] + i_rot.m01 * i_off[1] + i_rot.m02 * i_off[2] + i_trans[0];\r
 \r
                pa = this.m[1];\r
-               pa[0] = rot[1 * 3 + 0];\r
-               pa[1] = rot[1 * 3 + 1];\r
-               pa[2] = rot[1 * 3 + 2];\r
-               pa[3] = rot[1 * 3 + 0] * i_off[0] + rot[1 * 3 + 1] * i_off[1] + rot[1 * 3 + 2] * i_off[2] + i_trans[1];\r
+               pa[0] = i_rot.m10;\r
+               pa[1] = i_rot.m11;\r
+               pa[2] = i_rot.m12;\r
+               pa[3] = i_rot.m10 * i_off[0] + i_rot.m11 * i_off[1] + i_rot.m12 * i_off[2] + i_trans[1];\r
 \r
                pa = this.m[2];\r
-               pa[0] = rot[2 * 3 + 0];\r
-               pa[1] = rot[2 * 3 + 1];\r
-               pa[2] = rot[2 * 3 + 2];\r
-               pa[3] = rot[2 * 3 + 0] * i_off[0] + rot[2 * 3 + 1] * i_off[1] + rot[2 * 3 + 2] * i_off[2] + i_trans[2];\r
+               pa[0] = i_rot.m20;\r
+               pa[1] = i_rot.m21;\r
+               pa[2] = i_rot.m22;\r
+               pa[3] = i_rot.m20 * i_off[0] + i_rot.m21 * i_off[1] + i_rot.m22 * i_off[2] + i_trans[2];\r
 \r
                this.has_value = true;\r
                return;\r