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Torque/SDK/lib/dtsSDKPlus/decomp/Decompose.h

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