Fix rotational alignment.

3 files changed, 12 insertions, 25 deletions

diff --git a/libdimension-python/dimension.pxd b/libdimension-python/dimension.pxd
index cd28f24..22e9764 100644
--- a/libdimension-python/dimension.pxd
+++ b/libdimension-python/dimension.pxd
@@ -91,9 +91,6 @@ cdef extern from "../libdimension/dimension.h":
   double dmnsn_vector_norm(dmnsn_vector v)
   dmnsn_vector dmnsn_vector_normalized(dmnsn_vector v)
 
-  double dmnsn_vector_axis_angle(dmnsn_vector v1, dmnsn_vector v2,
-                                 dmnsn_vector axis)
-
   dmnsn_vector dmnsn_zero
   dmnsn_vector dmnsn_x
   dmnsn_vector dmnsn_y
@@ -114,6 +111,8 @@ cdef extern from "../libdimension/dimension.h":
   dmnsn_matrix dmnsn_scale_matrix(dmnsn_vector s)
   dmnsn_matrix dmnsn_translation_matrix(dmnsn_vector d)
   dmnsn_matrix dmnsn_rotation_matrix(dmnsn_vector theta)
+  dmnsn_matrix dmnsn_alignment_matrix(dmnsn_vector frm, dmnsn_vector to,
+                                      dmnsn_vector axis1, dmnsn_vector axis2)
 
   ##########
   # Colors #
diff --git a/libdimension-python/dimension.pyx b/libdimension-python/dimension.pyx
index 9a5fd80..54b7e66 100644
--- a/libdimension-python/dimension.pyx
+++ b/libdimension-python/dimension.pyx
@@ -643,11 +643,7 @@ cdef class Cone(Object):
 
     cdef Matrix trans = translate(Y)
     trans = scale(1.0, dir.norm()/2, 1.0)*trans
-
-    cdef double thetaX = dmnsn_vector_axis_angle(dmnsn_y, dir._v, dmnsn_x)
-    cdef double thetaZ = dmnsn_vector_axis_angle(dmnsn_y, dir._v, dmnsn_z)
-    trans = _rawRotate(thetaX*X)*_rawRotate(thetaZ*Z)*trans
-
+    trans = _rawMatrix(dmnsn_alignment_matrix(dmnsn_y, dir._v, dmnsn_x, dmnsn_z))*trans
     trans = translate(bottom)*trans
 
     self._intrinsicTransform(trans)
@@ -786,22 +782,14 @@ cdef class PerspectiveCamera(Camera):
     cdef Vector vsky = Vector(sky)
 
     # Line up the top of the viewport with the sky vector
-    cdef double thetaSkyX = dmnsn_vector_axis_angle(dmnsn_y, vsky._v, dmnsn_x)
-    cdef double thetaSkyZ = dmnsn_vector_axis_angle(dmnsn_y, vsky._v, dmnsn_z)
-    cdef Matrix alignSky = _rawRotate(thetaSkyX*X)*_rawRotate(thetaSkyZ*Z)
-    self.transform(alignSky)
-    cdef Vector right = alignSky*X
+    cdef Matrix alignSky = _rawMatrix(dmnsn_alignment_matrix(dmnsn_y, vsky._v,
+                                                             dmnsn_z, dmnsn_x))
     cdef Vector forward = alignSky*Z
+    cdef Vector right   = alignSky*X
 
     # Line up the look at point with lookAt
-    cdef double thetaLookAtSky = dmnsn_vector_axis_angle(
-      forward._v, dir._v, vsky._v
-    )
-    cdef double thetaLookAtRight = dmnsn_vector_axis_angle(
-      forward._v, dir._v, right._v
-    )
-    self.transform(_rawRotate(thetaLookAtSky*vsky))
-    self.transform(_rawRotate(thetaLookAtRight*right))
+    self.transform(_rawMatrix(dmnsn_alignment_matrix(forward._v, dir._v,
+                                                     vsky._v, right._v)))
 
     # Move the camera into position
     self.transform(translate(Vector(location)))
diff --git a/libdimension-python/tests/demo.py b/libdimension-python/tests/demo.py
index 4b68114..c024812 100755
--- a/libdimension-python/tests/demo.py
+++ b/libdimension-python/tests/demo.py
@@ -153,10 +153,10 @@ skySphere = SkySphere(
 )
 
 # Scene
-scene = Scene(canvas      = canvas,
-              objects     = objects,
-              lights      = lights,
-              camera      = camera)
+scene = Scene(canvas  = canvas,
+              objects = objects,
+              lights  = lights,
+              camera  = camera)
 scene.defaultTexture = Texture(finish = Ambient(0.1) + Diffuse(0.6))
 scene.background     = Clear
 scene.skySphere      = skySphere