1 /* Copyright (C) 2009 Wildfire Games.
2 * This file is part of 0 A.D.
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.
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.
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/>.
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 */
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 */
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
);