source/collada/Decompose.h

   1 /* Copyright (C) 2009 Wildfire Games.
   2  * This file is part of 0 A.D.
   3  *
   4  * 0 A.D. is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * 0 A.D. is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with 0 A.D.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 /**** Decompose.h - Basic declarations ****/
  19 #ifndef INCLUDED_DECOMPOSE
  20 #define INCLUDED_DECOMPOSE
  21 typedef struct {float x, y, z, w;} Quat; /* Quaternion */
  22 enum QuatPart {X, Y, Z, W};
  23 typedef Quat HVect; /* Homogeneous 3D vector */
  24 typedef float HMatrix[4][4]; /* Right-handed, for column vectors */
  25 typedef struct {
  26     HVect t;    /* Translation components */
  27     Quat  q;    /* Essential rotation     */
  28     Quat  u;    /* Stretch rotation       */
  29     HVect k;    /* Stretch factors        */
  30     float f;    /* Sign of determinant    */
  31 } AffineParts;
  32 float polar_decomp(HMatrix M, HMatrix Q, HMatrix S);
  33 HVect spect_decomp(HMatrix S, HMatrix U);
  34 Quat snuggle(Quat q, HVect *k);
  35 void decomp_affine(HMatrix A, AffineParts *parts);
  36 void invert_affine(AffineParts *parts, AffineParts *inverse);
  37 #endif