forked from 0ad/0ad
vladislavbelov
ffc4a56b9f
Fixes #6846 Differential Revision: https://code.wildfiregames.com/D5185 This was SVN commit r27965.
38 lines
1.4 KiB
C
38 lines
1.4 KiB
C
/* Copyright (C) 2009 Wildfire Games.
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* This file is part of 0 A.D.
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*
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* 0 A.D. is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 2 of the License, or
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* (at your option) any later version.
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*
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* 0 A.D. is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with 0 A.D. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**** Decompose.h - Basic declarations ****/
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#ifndef INCLUDED_DECOMPOSE
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#define INCLUDED_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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