1 /* Copyright (C) 2009 Wildfire Games. 2 * This file is part of 0 A.D. 3 * 4 * 0 A.D. is free software: you can redistribute it and/or modify 5 * it under the terms of the GNU General Public License as published by 6 * the Free Software Foundation, either version 2 of the License, or 7 * (at your option) any later version. 8 * 9 * 0 A.D. is distributed in the hope that it will be useful, 10 * but WITHOUT ANY WARRANTY; without even the implied warranty of 11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 * GNU General Public License for more details. 13 * 14 * You should have received a copy of the GNU General Public License 15 * along with 0 A.D. If not, see <http://www.gnu.org/licenses/>. 16 */ 17 18 /**** Decompose.h - Basic declarations ****/ 19 #ifndef INCLUDED_DECOMPOSE 20 #define INCLUDED_DECOMPOSE 21 typedef struct {float x, y, z, w;} Quat; /* Quaternion */ 22 enum QuatPart {X, Y, Z, W}; 23 typedef Quat HVect; /* Homogeneous 3D vector */ 24 typedef float HMatrix[4][4]; /* Right-handed, for column vectors */ 25 typedef struct { 26 HVect t; /* Translation components */ 27 Quat q; /* Essential rotation */ 28 Quat u; /* Stretch rotation */ 29 HVect k; /* Stretch factors */ 30 float f; /* Sign of determinant */ 31 } AffineParts; 32 float polar_decomp(HMatrix M, HMatrix Q, HMatrix S); 33 HVect spect_decomp(HMatrix S, HMatrix U); 34 Quat snuggle(Quat q, HVect *k); 35 void decomp_affine(HMatrix A, AffineParts *parts); 36 void invert_affine(AffineParts *parts, AffineParts *inverse); 37 #endif 38