Mani Monajjemi
60 linhas
2.0 KiB
C
60 linhas
2.0 KiB
C
/**
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* \brief Matrix 3d declaration
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* \author Sylvain Gaeremynck <sylvain.gaeremynck@parrot.fr>
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* \version 1.0
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* \date 04/06/2007
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* \warning Subject to completion
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*/
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#ifndef _MATRIX3D_H_
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#define _MATRIX3D_H_
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#include <VP_Os/vp_os_types.h>
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typedef struct _matrix3d_t {
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float32_t m00, m01, m02, m03;
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float32_t m10, m11, m12, m13;
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float32_t m20, m21, m22, m23;
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float32_t m30, m31, m32, m33;
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} matrix3d_t;
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struct _vector31_t;
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extern matrix3d_t matrix3d_id; // identity matrix
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// Set m to zero
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void matrix3d_zero(matrix3d_t* m);
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// Set m to identity
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void matrix3d_identity(matrix3d_t* m);
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// Initialize m from euler angles
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C_RESULT matrix3d_euler(matrix3d_t* m, float32_t phi, float32_t theta, float32_t psi);
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// Initialize m from a position and a direction
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C_RESULT matrix3d_vector( matrix3d_t* m, struct _vector31_t* pos, struct _vector31_t* dir,
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struct _vector31_t* right, struct _vector31_t* up);
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// Initialize m from a position and a normalized orientation
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C_RESULT matrix3d_orientation(matrix3d_t* m, const struct _vector31_t* pos, const struct _vector31_t* dir,
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const struct _vector31_t* right, const struct _vector31_t* up);
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// Compute transposed matrix
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C_RESULT matrix3d_transpose(matrix3d_t* out, matrix3d_t* in);
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// Common arithmetic operation
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C_RESULT matrix3d_add(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2);
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C_RESULT matrix3d_sub(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2);
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C_RESULT matrix3d_mul(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2);
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// Common 3d transformation
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C_RESULT matrix3d_translate(matrix3d_t* m, struct _vector31_t* tr);
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C_RESULT matrix3d_add_translate(matrix3d_t* m, struct _vector31_t* tr);
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C_RESULT matrix3d_rotate_euler(matrix3d_t* m, float32_t phi, float32_t theta, float32_t psi);
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C_RESULT matrix3d_rotate_axis(matrix3d_t* m, struct _vector31_t* axis, float32_t value);
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C_RESULT matrix3d_transform(matrix3d_t* m, struct _vector31_t* v);
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#endif // _MATRIX3D_H_
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