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Summary: Add a lightweight coordinate system utility to momentum/math/ for converting vectors, quaternions, and rotation matrices between coordinate systems with different up axes, handedness, and length units. This consolidates coordinate transform logic that was previously scattered across the codebase (io/gltf/coordinate_utils.h, io/marker/conversions.h) into a single, well-tested utility. API: CoordinateSystem struct + free functions (changeVector, changeQuaternion, changeRotationMatrix) with toMomentum*/fromMomentum* convenience wrappers. Also updates BUCK to add coordinate_system as a dependency for io_marker and io_gltf targets, which will be used in subsequent diffs in this stack. Differential Revision: D95260371
Summary: Refactor io/marker/conversions.cpp to use the new math/coordinate_system.h utility for unit conversion (scaleFactor), eliminating the manual Unit switch. The axis remapping is preserved exactly as-is because the marker I/O internally uses a Z-up convention, which is inconsistent with momentum's canonical Y-up. Fixing this requires downstream validation and is deferred. No behavior change -- this is a pure refactor. Differential Revision: D95260370
Summary:
Refactor io/gltf/utils/coordinate_utils.h to use the new
math/coordinate_system.h utility for vector unit conversions.
Defines kGltfCoordinateSystem = {Y-up, Right, Meter} and uses
scaleFactor() instead of hardcoded toCm()/toM() constants.
Quaternion component reordering (glTF xyzw vs Eigen wxyz) is
preserved as-is -- this is a data format concern, not a coordinate
system operation.
No behavior change -- this is a pure refactor.
Differential Revision: D95260372
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Summary:
Refactor io/gltf/utils/coordinate_utils.h to use the new
math/coordinate_system.h utility for vector unit conversions.
Defines kGltfCoordinateSystem = {Y-up, Right, Meter} and uses
scaleFactor() instead of hardcoded toCm()/toM() constants.
Quaternion component reordering (glTF xyzw vs Eigen wxyz) is
preserved as-is -- this is a data format concern, not a coordinate
system operation.
No behavior change -- this is a pure refactor.
Differential Revision: D95260372