35 lines
1.1 KiB
C++
Executable File
35 lines
1.1 KiB
C++
Executable File
//-----------------------------------------------------------------------------
|
|
// Torque Game Engine
|
|
// Copyright (C) GarageGames.com, Inc.
|
|
//-----------------------------------------------------------------------------
|
|
|
|
/**** Decompose.h - Basic declarations ****/
|
|
#ifndef _H_Decompose
|
|
#define _H_Decompose
|
|
|
|
#include "../DTSPlusTypes.h"
|
|
|
|
namespace GraphicGems
|
|
{
|
|
|
|
typedef struct {F64 x, y, z, w;} Quat; /* Quaternion */
|
|
enum QuatPart {X, Y, Z, W};
|
|
typedef Quat HVect; /* Homogeneous 3D vector */
|
|
typedef F64 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 */
|
|
F64 f; /* Sign of determinant */
|
|
} AffineParts;
|
|
F64 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
|