21 lines
766 B
C
21 lines
766 B
C
/**** Decompose.h - Basic declarations ****/
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#ifndef _H_Decompose
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#define _H_Decompose
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typedef struct {float x, y, z, w;} Quat; /* Quaternion */
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enum QuatPart {X, Y, Z, W};
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typedef Quat HVect; /* Homogeneous 3D vector */
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typedef float HMatrix[4][4]; /* Right-handed, for column vectors */
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typedef struct {
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HVect t; /* Translation components */
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Quat q; /* Essential rotation */
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Quat u; /* Stretch rotation */
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HVect k; /* Stretch factors */
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float f; /* Sign of determinant */
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} AffineParts;
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float polar_decomp(HMatrix M, HMatrix Q, HMatrix S);
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HVect spect_decomp(HMatrix S, HMatrix U);
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Quat snuggle(Quat q, HVect *k);
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void decomp_affine(HMatrix A, AffineParts *parts);
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void invert_affine(AffineParts *parts, AffineParts *inverse);
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#endif
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