diff options
Diffstat (limited to 'redist/linmath.h')
| -rw-r--r-- | redist/linmath.h | 74 |
1 files changed, 39 insertions, 35 deletions
diff --git a/redist/linmath.h b/redist/linmath.h index 57b98d3..782a13d 100644 --- a/redist/linmath.h +++ b/redist/linmath.h @@ -47,6 +47,14 @@ #define FLT_FABS FLT_FABS__ #endif +typedef FLT LinmathQuat[4]; // This is the [wxyz] quaternion, in wxyz format. +typedef FLT LinmathPoint3d[3]; +typedef FLT linmathVec3d[3]; + +typedef struct LinmathPose { + LinmathPoint3d Pos; + LinmathQuat Rot; +} LinmathPose; //NOTE: Inputs may never be output with cross product. void cross3d( FLT * out, const FLT * a, const FLT * b ); @@ -72,52 +80,48 @@ FLT anglebetween3d( FLT * a, FLT * b ); void rotatearoundaxis(FLT *outvec3, FLT *invec3, FLT *axis, FLT angle); void angleaxisfrom2vect(FLT *angle, FLT *axis, FLT *src, FLT *dest); -void axisanglefromquat(FLT *angle, FLT *axis, FLT *quat); - +void axisanglefromquat(FLT *angle, FLT *axis, LinmathQuat quat); //Quaternion things... -void quatsetnone( FLT * q ); -void quatcopy( FLT * qout, const FLT * qin ); -void quatfromeuler( FLT * q, const FLT * euler ); -void quattoeuler( FLT * euler, const FLT * q ); -void quatfromaxisangle( FLT * q, const FLT * axis, FLT radians ); -FLT quatmagnitude( const FLT * q ); -FLT quatinvsqmagnitude( const FLT * q ); -void quatnormalize( FLT * qout, const FLT * qin ); //Safe for in to be same as out. -void quattomatrix( FLT * matrix44, const FLT * q ); -void quatfrommatrix( FLT * q, const FLT * matrix44 ); -void quatfrommatrix33(FLT *q, const FLT *matrix33); -void quatgetconjugate( FLT * qout, const FLT * qin ); -void quatgetreciprocal( FLT * qout, const FLT * qin ); -void quatsub( FLT * qout, const FLT * a, const FLT * b ); -void quatadd( FLT * qout, const FLT * a, const FLT * b ); -void quatrotateabout( FLT * qout, const FLT * a, const FLT * b ); //same as quat multiply, not piecewise multiply. -void quatscale( FLT * qout, const FLT * qin, FLT s ); -FLT quatinnerproduct( const FLT * qa, const FLT * qb ); -void quatouterproduct( FLT * outvec3, FLT * qa, FLT * qb ); -void quatevenproduct( FLT * q, FLT * qa, FLT * qb ); -void quatoddproduct( FLT * outvec3, FLT * qa, FLT * qb ); -void quatslerp( FLT * q, const FLT * qa, const FLT * qb, FLT t ); -void quatrotatevector( FLT * vec3out, const FLT * quat, const FLT * vec3in ); -void quatfrom2vectors(FLT *q, const FLT *src, const FLT *dest); - -//Poses are Position: [x, y, z] Quaternion: [q, x, y, z] -typedef FLT *LINMATH_POSE; - -// Points are [x, y, z] -typedef FLT *LINMATH_POINT; +typedef FLT LinmathEulerAngle[3]; + +void quatsetnone(LinmathQuat q); +void quatcopy(LinmathQuat q, const LinmathQuat qin); +void quatfromeuler(LinmathQuat q, const LinmathEulerAngle euler); +void quattoeuler(LinmathEulerAngle euler, const LinmathQuat q); +void quatfromaxisangle(LinmathQuat q, const FLT *axis, FLT radians); +FLT quatmagnitude(const LinmathQuat q); +FLT quatinvsqmagnitude(const LinmathQuat q); +void quatnormalize(LinmathQuat qout, const LinmathQuat qin); // Safe for in to be same as out. +void quattomatrix(FLT *matrix44, const LinmathQuat q); +void quatfrommatrix(LinmathQuat q, const FLT *matrix44); +void quatfrommatrix33(LinmathQuat q, const FLT *matrix33); +void quatgetconjugate(LinmathQuat qout, const LinmathQuat qin); +void quatgetreciprocal(LinmathQuat qout, const LinmathQuat qin); +void quatsub(LinmathQuat qout, const LinmathQuat a, const LinmathQuat b); +void quatadd(LinmathQuat qout, const LinmathQuat a, const LinmathQuat b); +void quatrotateabout(LinmathQuat qout, const LinmathQuat a, + const LinmathQuat b); // same as quat multiply, not piecewise multiply. +void quatscale(LinmathQuat qout, const LinmathQuat qin, FLT s); +FLT quatinnerproduct(const LinmathQuat qa, const LinmathQuat qb); +void quatouterproduct(FLT *outvec3, LinmathQuat qa, LinmathQuat qb); +void quatevenproduct(LinmathQuat q, LinmathQuat qa, LinmathQuat qb); +void quatoddproduct(FLT *outvec3, LinmathQuat qa, LinmathQuat qb); +void quatslerp(LinmathQuat q, const LinmathQuat qa, const LinmathQuat qb, FLT t); +void quatrotatevector(FLT *vec3out, const LinmathQuat quat, const FLT *vec3in); +void quatfrom2vectors(LinmathQuat q, const FLT *src, const FLT *dest); // This is the quat equivalent of 'pout = pose * pin' if pose were a 4x4 matrix in homogenous space -void ApplyPoseToPoint(LINMATH_POINT pout, const LINMATH_POSE pose, const LINMATH_POINT pin); +void ApplyPoseToPoint(LinmathPoint3d pout, const LinmathPose *pose, const LinmathPoint3d pin); // This is the quat equivalent of 'pout = lhs_pose * rhs_pose' if poses were a 4x4 matrix in homogenous space -void ApplyPoseToPose(LINMATH_POSE pout, const LINMATH_POSE lhs_pose, const LINMATH_POSE rhs_pose); +void ApplyPoseToPose(LinmathPose *pout, const LinmathPose *lhs_pose, const LinmathPose *rhs_pose); // This is the quat equivlant of 'pose_in^-1'; so that ApplyPoseToPose(..., InvertPose(..., pose_in), pose_in) == // Identity ( [0, 0, 0], [1, 0, 0, 0] ) // by definition. -void InvertPose(LINMATH_POSE poseout, const LINMATH_POSE pose_in); +void InvertPose(LinmathPose *poseout, const LinmathPose *pose_in); // Matrix Stuff |