5 # The latest update : 10/01/97 at 02:34:25
7 #@(#) Matrix3D.h ver 1.13
10 #@(#) Usage : Matrix3D.h
15 #define MATRIX_3D_WIDTH 4
16 #define MATRIX_3D_HEIGHT 4
18 #define MATRIX_3D_MODE_NOT_INITIALIZE 0
19 #define MATRIX_3D_MODE_INITIALIZE 1
21 #define MATRIX_3D_NEGLECT_VALUE 1e-6
26 typedef float matrix3DParaTypeReal;
27 typedef matrix3DParaTypeReal Matrix3D[MATRIX_3D_WIDTH][MATRIX_3D_HEIGHT];
29 typedef char matrix3DEulerAngleMode;
31 typedef struct EulerAngleInfo {
41 Matrix3D: Attention Arrays Order
43 [0][0] [1][0] [2][0] [3][0]
44 [0][1] [1][1] [2][1] [3][1]
45 [0][2] [1][2] [2][2] [3][2]
46 [0][3] [1][3] [2][3] [3][3]
58 extern void matrix3DInit(Matrix3D Matrix);
62 extern void matrix3DCopy(Matrix3D dst, Matrix3D src);
64 extern void matrix3DFromRotationMatrix(Matrix3D dst, Array a);
65 extern void matrix3DInverse(Matrix3D mat);
67 extern void matrix3DMultiply(Matrix3D A, Matrix3D B); /* A = A*B */
68 extern void matrix3DMultiplyInv(Matrix3D A, Matrix3D B); /* B = A*B */
70 extern void matrix3DMultiplyVector(floatVector* v, Matrix3D A);
71 extern void matrix3DMultiplyVectors(floatVector* vs, int n, Matrix3D A);
73 extern void matrix3DFileFormat(FILE* fpt);
74 extern void matrix3DFileRead(FILE* fpt, Matrix3D Matrix);
75 extern void matrix3DFileWrite(FILE* fpt, Matrix3D Matrix);
78 extern void matrix3DRotationSet(Matrix3D Matrix, char mode, matrix3DParaTypeReal rot, long Mode);
79 extern void matrix3DTranslationSet(Matrix3D Matrix, matrix3DParaTypeReal rotx, matrix3DParaTypeReal roty, matrix3DParaTypeReal rotz, long mode);
80 extern void matrix3DRotationSetXYZ(Matrix3D Matrix, matrix3DParaTypeReal rotx, matrix3DParaTypeReal roty, matrix3DParaTypeReal rotz, long mode);
81 extern void matrix3DRotationSetZYX(Matrix3D Matrix, matrix3DParaTypeReal rotx, matrix3DParaTypeReal roty, matrix3DParaTypeReal rotz, long mode);
82 extern void matrix3DRotationSetZXY(Matrix3D Matrix, matrix3DParaTypeReal rotx, matrix3DParaTypeReal roty, matrix3DParaTypeReal rotz, long mode);
83 extern void matrix3DRotationSetYXZ(Matrix3D Matrix, matrix3DParaTypeReal rotx, matrix3DParaTypeReal roty, matrix3DParaTypeReal rotz, long mode);
88 extern void matrix3DRotationSetFollowingEulerAngle(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal rot1, matrix3DParaTypeReal rot2, matrix3DParaTypeReal rot3, long mode);
89 extern void matrix3DRotationAntiSetFollowingEulerAngle(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal rot1, matrix3DParaTypeReal rot2, matrix3DParaTypeReal rot3, long mode);
90 extern void matrix3DEulerAngleGetFromMatrix3D(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal* rot1, matrix3DParaTypeReal* rot2, matrix3DParaTypeReal* rot3, long mode);
101 typedef struct {float x, y, z, w;} Quat; /* Quaternion */
102 typedef matrix3DParaTypeReal HMatrix3D[4][4];
103 typedef Quat EulerAngles; /* (x,y,z)=ang 1,2,3, w=order code */
106 enum QuatPart {X, Y, Z, W};
109 /* by Ken Shoemake, 1993 */
110 /*** Order type constants, constructors, extractors ***/
111 /* There are 24 possible conventions, designated by: */
112 /* o EulAxI = axis used initially : 3 */
113 /* o EulPar = parity of axis permutation : 2 */
114 /* o EulRep = repetition of initial axis as last : 2 */
115 /* o EulFrm = frame from which axes are taken : 2 */
116 /* Axes I,J,K will be a permutation of X,Y,Z. */
117 /* Axis H will be either I or K, depending on EulRep. */
118 /* Frame S takes axes from initial static frame. */
119 /* If ord = (AxI=X, Par=Even, Rep=No, Frm=S), then */
120 /* {a,b,c,ord} means Rz(c)Ry(b)Rx(a), where Rz(c)v */
121 /* rotates v around Z by c radians. */
126 #define EulFrm(ord) ((unsigned)(ord)&1)
129 #define EulRep(ord) (((unsigned)(ord)>>1)&1)
132 #define EulPar(ord) (((unsigned)(ord)>>2)&1)
133 #define EulSafe "\000\001\002\000"
134 #define EulNext "\001\002\000\001"
137 /* prototype begin */
138 #define EulAxI(ord) ((int)(EulSafe[(((unsigned)(ord)>>3)&3)]))
139 #define EulAxJ(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)==EulParOdd)]))
140 #define EulAxK(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)!=EulParOdd)]))
141 #define EulAxH(ord) ((EulRep(ord)==EulRepNo)?EulAxK(ord):EulAxI(ord))
142 /* EulGetOrd unpacks all useful information about order simultaneously. */
143 #define EulGetOrd(ord,i,j,k,h,n,s,f) {unsigned o=ord;f=o&1;o>>=1;s=o&1;o>>=1;\
144 n=o&1;o>>=1;i=EulSafe[o&3];j=EulNext[i+n];k=EulNext[i+1-n];h=s?k:i;}
145 /* EulOrd creates an order value between 0 and 23 from 4-tuple choices. */
146 #define EulOrd(i,p,r,f) (((((((i)<<1)+(p))<<1)+(r))<<1)+(f))
148 #define EulOrdXYZs EulOrd(X,EulParEven,EulRepNo,EulFrmS)
149 #define EulOrdXYXs EulOrd(X,EulParEven,EulRepYes,EulFrmS)
150 #define EulOrdXZYs EulOrd(X,EulParOdd,EulRepNo,EulFrmS)
151 #define EulOrdXZXs EulOrd(X,EulParOdd,EulRepYes,EulFrmS)
152 #define EulOrdYZXs EulOrd(Y,EulParEven,EulRepNo,EulFrmS)
153 #define EulOrdYZYs EulOrd(Y,EulParEven,EulRepYes,EulFrmS)
154 #define EulOrdYXZs EulOrd(Y,EulParOdd,EulRepNo,EulFrmS)
155 #define EulOrdYXYs EulOrd(Y,EulParOdd,EulRepYes,EulFrmS)
156 #define EulOrdZXYs EulOrd(Z,EulParEven,EulRepNo,EulFrmS)
157 #define EulOrdZXZs EulOrd(Z,EulParEven,EulRepYes,EulFrmS)
158 #define EulOrdZYXs EulOrd(Z,EulParOdd,EulRepNo,EulFrmS)
159 #define EulOrdZYZs EulOrd(Z,EulParOdd,EulRepYes,EulFrmS)
161 #define EulOrdZYXr EulOrd(X,EulParEven,EulRepNo,EulFrmR)
162 #define EulOrdXYXr EulOrd(X,EulParEven,EulRepYes,EulFrmR)
163 #define EulOrdYZXr EulOrd(X,EulParOdd,EulRepNo,EulFrmR)
164 #define EulOrdXZXr EulOrd(X,EulParOdd,EulRepYes,EulFrmR)
165 #define EulOrdXZYr EulOrd(Y,EulParEven,EulRepNo,EulFrmR)
166 #define EulOrdYZYr EulOrd(Y,EulParEven,EulRepYes,EulFrmR)
167 #define EulOrdZXYr EulOrd(Y,EulParOdd,EulRepNo,EulFrmR)
168 #define EulOrdYXYr EulOrd(Y,EulParOdd,EulRepYes,EulFrmR)
169 #define EulOrdYXZr EulOrd(Z,EulParEven,EulRepNo,EulFrmR)
170 #define EulOrdZXZr EulOrd(Z,EulParEven,EulRepYes,EulFrmR)
171 #define EulOrdXYZr EulOrd(Z,EulParOdd,EulRepNo,EulFrmR)
172 #define EulOrdZYZr EulOrd(Z,EulParOdd,EulRepYes,EulFrmR)
174 EulerAngles Eul_(float ai, float aj, float ah, int order);
175 Quat Eul_ToQuat(EulerAngles ea);
176 void Eul_ToHMatrix(EulerAngles ea, HMatrix3D M);
177 EulerAngles Eul_FromHMatrix(HMatrix3D M, int order);
178 EulerAngles Eul_FromQuat(Quat q, int order);
181 #endif /* MATRIX_3D_H */