pybricks.geometry: add 3x3 identity matrix

pybricks · Jan 5, 2021 · 4d0e68f · 4d0e68f
1 parent da9bd26
commit 4d0e68f
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Showing 2 changed files with 15 additions and 0 deletions.
diff --git a/pybricks/geometry.h b/pybricks/geometry.h
@@ -28,6 +28,7 @@ typedef struct _pb_type_Matrix_obj_t {
 const pb_type_Matrix_obj_t pb_Axis_X_obj;
 const pb_type_Matrix_obj_t pb_Axis_Y_obj;
 const pb_type_Matrix_obj_t pb_Axis_Z_obj;
+const pb_type_Matrix_obj_t pb_Matrix_identity3_obj;
 
 mp_obj_t pb_type_Matrix_make_vector(size_t m, float *data, bool normalize);
 

diff --git a/pybricks/geometry/pb_module_geometry.c b/pybricks/geometry/pb_module_geometry.c
@@ -45,6 +45,20 @@ const pb_type_Matrix_obj_t pb_Axis_Z_obj = {
     .n = 1,
 };
 
+STATIC const float pb_Matrix_identity3_data[] = {
+    1.0f, 0.0f, 0.0f,
+    0.0f, 1.0f, 0.0f,
+    0.0f, 0.0f, 1.0f,
+};
+
+const pb_type_Matrix_obj_t pb_Matrix_identity3_obj = {
+    {&pb_type_Matrix},
+    .data = (float *)pb_Matrix_identity3_data,
+    .scale = 1.0f,
+    .m = 3,
+    .n = 3,
+};
+
 STATIC const mp_rom_map_elem_t pb_Axis_table[] = {
     { MP_ROM_QSTR(MP_QSTR_X),     MP_ROM_PTR(&pb_Axis_X_obj)},
     { MP_ROM_QSTR(MP_QSTR_Y),     MP_ROM_PTR(&pb_Axis_Y_obj)},