--- /dev/null
+/****************************************************************************************/\r
+/* XFORM3D.H */\r
+/* */\r
+/* Author: */\r
+/* Description: 3D transform interface */\r
+/* */\r
+/* The contents of this file are subject to the Genesis3D Public License */\r
+/* Version 1.01 (the "License"); you may not use this file except in */\r
+/* compliance with the License. You may obtain a copy of the License at */\r
+/* http://www.genesis3d.com */\r
+/* */\r
+/* Software distributed under the License is distributed on an "AS IS" */\r
+/* basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See */\r
+/* the License for the specific language governing rights and limitations */\r
+/* under the License. */\r
+/* */\r
+/* The Original Code is Genesis3D, released March 25, 1999. */\r
+/* Genesis3D Version 1.1 released November 15, 1999 */\r
+/* Copyright (C) 1999 WildTangent, Inc. All Rights Reserved */\r
+/* */\r
+/****************************************************************************************/\r
+#ifndef GE_XFORM_H\r
+#define GE_XFORM_H\r
+\r
+\r
+#include "Vec3d.h"\r
+\r
+#ifdef __cplusplus\r
+extern "C" {\r
+#endif\r
+\r
+typedef struct\r
+{ \r
+ geFloat AX,AY,AZ; // e[0][0],e[0][1],e[0][2]\r
+ geFloat BX,BY,BZ; // e[1][0],e[1][1],e[1][2]\r
+ geFloat CX,CY,CZ; // e[2][0],e[2][1],e[2][2]\r
+ geVec3d Translation; // e[0][3],e[1][3],e[2][3]\r
+ // 0,0,0,1 // e[3][0],e[3][1],e[3][2]\r
+} geXForm3d;\r
+\r
+/* this is essentially a 'standard' 4x4 transform matrix,\r
+ with the bottom row always 0,0,0,1\r
+\r
+ | AX, AY, AZ, Translation.X | \r
+ | BX, BY, BZ, Translation.Y | \r
+ | CX, CY, CZ, Translation.Z | \r
+ | 0, 0, 0, 1 | \r
+*/\r
+\r
+// all geXForm3d_Set* functions return a right-handed transform.\r
+\r
+#define GEXFORM3D_MINIMUM_SCALE (0.00001f)\r
+\r
+\r
+GENESISAPI void GENESISCC geXForm3d_Copy(\r
+ const geXForm3d *Src, \r
+ geXForm3d *Dst);\r
+ // copies Src to Dst. \r
+\r
+GENESISAPI geBoolean GENESISCC geXForm3d_IsValid(const geXForm3d *M);\r
+ // returns GE_TRUE if M is 'valid' \r
+ // 'valid' means that M is non NULL, and there are no NAN's in the matrix.\r
+\r
+//MRB BEGIN\r
+GENESISAPI geBoolean GENESISCC geXForm3d_IsIdentity(const geXForm3d *M);\r
+ // returns GE_TRUE if M is an identity matrix \r
+//MRB END\r
+\r
+GENESISAPI geBoolean GENESISCC geXForm3d_IsOrthonormal(const geXForm3d *M);\r
+ // returns GE_TRUE if M is orthonormal \r
+ // (if the rows and columns are all normalized (transform has no scaling or shearing)\r
+ // and is orthogonal (row1 cross row2 = row3 & col1 cross col2 = col3)\r
+ // * does not check for right-handed convention *\r
+\r
+GENESISAPI geBoolean GENESISCC geXForm3d_IsOrthogonal(const geXForm3d *M);\r
+ // returns GE_TRUE if M is orthogonal\r
+ // (row1 cross row2 = row3 & col1 cross col2 = col3)\r
+ // * does not check for right-handed convention *\r
+\r
+GENESISAPI void GENESISCC geXForm3d_Orthonormalize(geXForm3d *M);\r
+ // essentially removes scaling (or other distortions) from \r
+ // an orthogonal (or nearly orthogonal) matrix \r
+ // returns a right-handed matrix\r
+\r
+\r
+GENESISAPI void GENESISCC geXForm3d_SetIdentity(geXForm3d *M); \r
+ // sets M to an identity matrix (clears it)\r
+ \r
+GENESISAPI void GENESISCC geXForm3d_SetXRotation(geXForm3d *M,geFloat RadianAngle);\r
+ // sets up a transform that rotates RadianAngle about X axis\r
+ // all existing contents of M are replaced\r
+ \r
+GENESISAPI void GENESISCC geXForm3d_SetYRotation(geXForm3d *M,geFloat RadianAngle);\r
+ // sets up a transform that rotates RadianAngle about Y axis\r
+ // all existing contents of M are replaced\r
+\r
+GENESISAPI void GENESISCC geXForm3d_SetZRotation(geXForm3d *M,geFloat RadianAngle);\r
+ // sets up a transform that rotates RadianAngle about Z axis\r
+ // all existing contents of M are replaced\r
+\r
+GENESISAPI void GENESISCC geXForm3d_SetTranslation(geXForm3d *M,geFloat x, geFloat y, geFloat z);\r
+ // sets up a transform that translates x,y,z\r
+ // all existing contents of M are replaced\r
+\r
+GENESISAPI void GENESISCC geXForm3d_SetScaling(geXForm3d *M,geFloat x, geFloat y, geFloat z);\r
+ // sets up a transform that scales by x,y,z\r
+ // all existing contents of M are replaced\r
+\r
+GENESISAPI void GENESISCC geXForm3d_RotateX(geXForm3d *M,geFloat RadianAngle); \r
+ // Rotates M by RadianAngle about X axis \r
+ // applies the rotation to the existing contents of M\r
+\r
+GENESISAPI void GENESISCC geXForm3d_RotateY(geXForm3d *M,geFloat RadianAngle);\r
+ // Rotates M by RadianAngle about Y axis\r
+ // applies the rotation to the existing contents of M\r
+\r
+GENESISAPI void GENESISCC geXForm3d_RotateZ(geXForm3d *M,geFloat RadianAngle);\r
+ // Rotates M by RadianAngle about Z axis\r
+ // applies the rotation to the existing contents of M\r
+\r
+GENESISAPI void GENESISCC geXForm3d_Translate(geXForm3d *M,geFloat x, geFloat y, geFloat z); \r
+ // Translates M by x,y,z\r
+ // applies the translation to the existing contents of M\r
+\r
+GENESISAPI void GENESISCC geXForm3d_Scale(geXForm3d *M,geFloat x, geFloat y, geFloat z); \r
+ // Scales M by x,y,z\r
+ // applies the scale to the existing contents of M\r
+\r
+GENESISAPI void GENESISCC geXForm3d_Multiply(\r
+ const geXForm3d *M1, \r
+ const geXForm3d *M2, \r
+ geXForm3d *MProduct);\r
+ // MProduct = matrix multiply of M1*M2\r
+ // Concatenates the transformation in the M2 matrix onto the transformation in M1\r
+\r
+GENESISAPI void GENESISCC geXForm3d_Transform(\r
+ const geXForm3d *M,\r
+ const geVec3d *V, \r
+ geVec3d *Result);\r
+ // Result is Matrix M * Vector V: V Tranformed by M\r
+\r
+GENESISAPI void GENESISCC geXForm3d_TransformArray( const geXForm3d *XForm, \r
+ const geVec3d *Source, \r
+ geVec3d *Dest, \r
+ int32 Count);\r
+\r
+GENESISAPI void GENESISCC geXForm3d_Rotate(\r
+ const geXForm3d *M,\r
+ const geVec3d *V, \r
+ geVec3d *Result);\r
+ // Result is Matrix M * Vector V: V Rotated by M (no translation)\r
+\r
+\r
+/***\r
+*\r
+ "Left,Up,In" are just the basis vectors in the new coordinate space.\r
+ You can get them by multiplying the unit bases into the transforms.\r
+*\r
+******/\r
+\r
+GENESISAPI void GENESISCC geXForm3d_GetLeft(const geXForm3d *M, geVec3d *Left);\r
+ // Gets a vector that is 'left' in the frame of reference of M (facing -Z)\r
+\r
+GENESISAPI void GENESISCC geXForm3d_GetUp(const geXForm3d *M, geVec3d *Up);\r
+ // Gets a vector that is 'up' in the frame of reference of M (facing -Z)\r
+\r
+GENESISAPI void GENESISCC geXForm3d_GetIn(const geXForm3d *M, geVec3d *In);\r
+ // Gets a vector that is 'in' in the frame of reference of M (facing -Z)\r
+\r
+GENESISAPI void GENESISCC geXForm3d_GetTranspose(const geXForm3d *M, geXForm3d *MTranspose);\r
+ // Gets the Transpose transform of M (M^T) \r
+ // Transpose of a matrix is the switch of the rows and columns\r
+ // The transpose is usefull because it is rapidly computed and is equal to the inverse \r
+ // transform for orthonormal transforms [inverse is (M') where M*M' = Identity ]\r
+\r
+GENESISAPI void GENESISCC geXForm3d_TransposeTransform(\r
+ const geXForm3d *M, \r
+ const geVec3d *V, \r
+ geVec3d *Result);\r
+ // applies the transpose transform of M to V. Result = (M^T) * V\r
+\r
+/*****\r
+*\r
+ the Euler angles are subsequent rotations :\r
+ by Angles->Z around the Z axis\r
+ then by Angles->Y around the Y axis, in the newly rotate coordinates\r
+ then by Angles->X around the X axis\r
+*\r
+******/ \r
+\r
+GENESISAPI void GENESISCC geXForm3d_GetEulerAngles(const geXForm3d *M, geVec3d *Angles);\r
+ // Finds Euler angles from M and puts them into Angles\r
+ \r
+GENESISAPI void GENESISCC geXForm3d_SetEulerAngles(geXForm3d *M, const geVec3d *Angles);\r
+ // Applies Euler angles to build M\r
+\r
+GENESISAPI void GENESISCC geXForm3d_SetFromLeftUpIn(\r
+ geXForm3d *M,\r
+ const geVec3d *Left, \r
+ const geVec3d *Up, \r
+ const geVec3d *In);\r
+ // Builds an geXForm3d from orthonormal Left, Up and In vectors\r
+\r
+GENESISAPI void GENESISCC geXForm3d_Mirror(\r
+ const geXForm3d *Source, \r
+ const geVec3d *PlaneNormal, \r
+ geFloat PlaneDist, \r
+ geXForm3d *Dest);\r
+ // Mirrors a XForm3d about a plane\r
+\r
+\r
+//--------------\r
+\r
+#ifndef NDEBUG\r
+ GENESISAPI void GENESISCC geXForm3d_SetMaximalAssertionMode( geBoolean Enable );\r
+#else\r
+ #define geXForm3d_SetMaximalAssertionMode(Enable)\r
+#endif\r
+\r
+#ifdef __cplusplus\r
+}\r
+#endif\r
+\r
+#endif\r
+\r
projects / genesis3d.git / blobdiff