S_ObjectNormalized.hxx

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inline Point3 S_ObjectNormalized::support(const Vector3 & v) const
{
  Vector3 vp(v);
  vp = v * mRot_; // ie : mRot.transpose*v (applying inverse transformation on the support vector)
  Scalar norm = vp.norm();
  if(norm > sch::epsilon)
  {
    vp /= norm;
  }
  else
  {
    vp.Set(1, 0, 0);
  }
  int k = -1;
  Point3 p(mRot_ * l_Support(vp, k));
  return p + trans_;
}
 
inline Point3 S_ObjectNormalized::support(const Vector3 & v, int & LastFeature) const
{
  Vector3 vp(v);
  vp = v * mRot_; // ie : mRot.transpose*v (applying inverse transformation on the support vector)
  Scalar norm = vp.norm();
  if(norm > sch::epsilon)
  {
    vp /= norm;
  }
  else
  {
    vp.Set(1, 0, 0);
  }
 
  Point3 p(mRot_ * l_Support(vp, LastFeature));
  return p + trans_;
}