prj/tech/libsrc/matrix/matrixd.h

   1 /*
   2  * $Source: x:/prj/tech/libsrc/matrix/RCS/matrixd.h $
   3  * $Revision: 1.22 $
   4  * $Author: JAEMZ $
   5  * $Date: 1998/06/18 13:07:01 $
   6  */
   7
   8
   9 #ifndef __MATRIXD_H
  10 #define __MATRIXD_H
  11 #pragma once
  12
  13 #include <matrixds.h>
  14
  15 #ifdef __cplusplus
  16 extern "C"
  17 {
  18 #endif
  19
  20 // In general these babies take pointers to doubles
  21 // (or defined mxd_vector * and mxd_matrix *
  22 // normal vecs are 3, mats are 3x3
  23 // note that rather than intel I favor src -> dest
  24 // self modifiers have the "eq" post on the op.
  25 // in don't make dest = src, use the eq function
  26 // el means element wise.
  27 // coordinates are zero indexed
  28 // some functions will be implemented as macros, esp
  29 // the eq or non-eq versions of some stuff
  30
  31 // These two constructors are mostly for use in constructing matrices and vectors from
  32 // constants, but it should be fast and pretty much general purpose.  Since these are
  33 // macros beware of side effects
  34
  35
  36 // PURE VECTOR OPERATIONS
  37
  38 // v = 0
  39 void mxd_zero_vec(mxds_vector *v);
  40
  41 // create a unit vec in row n
  42 void mxd_unit_vec(mxds_vector *v,int n);
  43
  44 // copy a vec
  45 void mxd_copy_vec(mxds_vector *dest,const mxds_vector *src);
  46
  47 // dest = v1 + v2;
  48 void mxd_add_vec(mxds_vector *dest, const mxds_vector *v1, const mxds_vector *v2);
  49 // v1 += v2;
  50 void mxd_addeq_vec(mxds_vector *v1, const mxds_vector *v2);
  51
  52 // dest = v1-v2
  53 void mxd_sub_vec(mxds_vector *dest, const mxds_vector *v1, const mxds_vector *v2);
  54 // v1 -= v2;
  55 void mxd_subeq_vec(mxds_vector *v1,const mxds_vector *v2);
  56
  57 // dest = s * v
  58 void mxd_scale_vec(mxds_vector *dest,const mxds_vector *v,double s);
  59 // v *= s
  60 void mxd_scaleeq_vec(mxds_vector *v,double s);
  61
  62 // dest = v1 + s * v2
  63 void mxd_scale_add_vec(mxds_vector *dest,const mxds_vector *v1,const mxds_vector *v2,double s);
  64 // v1 += s * v2
  65 void mxd_scale_addeq_vec(mxds_vector *v1,const mxds_vector *v2,double s);
  66
  67 // basically interpolate between 2 vectors
  68 // dest = v1*(1-s) + v2*(s)
  69 // s=0 gets you v1, basically
  70 void mxd_interpolate_vec(mxds_vector *dest,const mxds_vector *v1,const mxds_vector *v2,double s);
  71
  72 // dest = v /s
  73 void mxd_div_vec(mxds_vector *dest,const mxds_vector *v,double s);
  74 // v /= s
  75 void mxd_diveq_vec(mxds_vector *v,double s);
  76
  77 // dest = v1 .* v2      // matlab notation
  78 void mxd_elmul_vec(mxds_vector *dest,const mxds_vector *v1,const mxds_vector *v2);
  79 // v1 .*= v2
  80 void mxd_elmuleq_vec(mxds_vector *v1,const mxds_vector *v2);
  81
  82 // |v1-v2|^2
  83 double mxd_dist2_vec(const mxds_vector *v1,const mxds_vector *v2);
  84
  85 // |v1-v2|
  86 double mxd_dist_vec(const mxds_vector *v1,const mxds_vector *v2);
  87
  88 // |v|^2
  89 double mxd_mag2_vec(const mxds_vector *v);
  90
  91 // |v|
  92 double mxd_mag_vec(const mxds_vector *v);
  93
  94 // dest = v1/|v1|, returns |v1|
  95 double mxd_norm_vec(mxds_vector *dest,const mxds_vector *v);
  96 // v1 /= |v1|, return |v1|
  97 double mxd_normeq_vec(mxds_vector *v1);
  98
  99 // return v1 . v2
 100 double mxd_dot_vec(const mxds_vector *v1,const mxds_vector *v2);
 101
 102 // dest = v1 x v2
 103 void mxd_cross_vec(mxds_vector *dest,const mxds_vector *v1,const mxds_vector *v2);
 104
 105 // dest = (v1 x v2) / |v1 x v2|, return |v1 x v2|
 106 double mxd_cross_norm_vec(mxds_vector *dest,const mxds_vector *v1, const mxds_vector *v2);
 107
 108 // dest = -v
 109 void mxd_neg_vec(mxds_vector *dest,const mxds_vector *v);
 110 // v = -v
 111 void mxd_negeq_vec(mxds_vector *v);
 112
 113 // print one out
 114 void mxd_prn_vec(const mxds_vector *v);
 115
 116 // A FEW MORE PURE MATRIX OPS
 117
 118 // Gives you the minimum x,y,z in the dest
 119 void mxd_min_vec(mxds_vector *dest,const mxds_vector *v1,const mxds_vector *v2);
 120 void mxd_mineq_vec(mxds_vector *dest,const mxds_vector *v);
 121
 122 // Gives you the maximum x,y,z in the dst
 123 void mxd_max_vec(mxds_vector *dest,const mxds_vector *v1,const mxds_vector *v2);
 124 void mxd_maxeq_vec(mxds_vector *dest,const mxds_vector *v);
 125
 126
 127
 128 // PURE MATRIX OPERATIONS
 129 void mxd_zero_mat(mxds_matrix *m);
 130
 131 // m = I
 132 void mxd_identity_mat(mxds_matrix *m);
 133
 134 // dest = src
 135 void mxd_copy_mat(mxds_matrix *dest,const mxds_matrix *src);
 136
 137 // dest = m * s
 138 void mxd_scale_mat(mxds_matrix *dest,const mxds_matrix *m,double s);
 139 // m *= s
 140 void mxd_scaleeq_mat(mxds_matrix *m,double s);
 141
 142 // dest = m/s
 143 void mxd_div_mat(mxds_matrix *dest,const mxds_matrix *m,double s);
 144 // m /= s
 145 void mxd_diveq_mat(mxds_matrix *m,double s);
 146
 147 // return |m|
 148 double mxd_det_mat(const mxds_matrix *m);
 149
 150 // dest = m^t
 151 void mxd_trans_mat(mxds_matrix *dest,const mxds_matrix *m);
 152 // m = m^t
 153 void mxd_transeq_mat(mxds_matrix *m);
 154
 155 // dest = m^-1, returns false if matrix degenerate
 156 bool mxd_inv_mat(mxds_matrix *dest,const mxds_matrix *m);
 157 // m = m^-1
 158 bool mxd_inveq_mat(mxds_matrix *m);
 159
 160 // normalize each column of m
 161 void mxd_normcol_mat(mxds_matrix *dest,const mxds_matrix *m);
 162 void mxd_normcoleq_mat(mxds_matrix *m);
 163
 164 // normalize each row of m
 165 void mxd_normrow_mat(mxds_matrix *dest,const mxds_matrix *m);
 166 void mxd_normroweq_mat(mxds_matrix *m);
 167
 168 // sanitize the matrix, make |m| = 1 no matter what,
 169 // trying to preserve geometry
 170 bool mxd_sanitize_mat(mxds_matrix *dest,const mxds_matrix *m,double tol);
 171 bool mxd_sanitizeeq_mat(mxds_matrix *m,double tol);
 172
 173 // dest = m1 x m2
 174 void mxd_mul_mat(mxds_matrix *dest,const mxds_matrix *m1,const mxds_matrix *m2);
 175 // m1 = m1 x m2
 176 void mxd_muleq_mat(mxds_matrix *m1,const mxds_matrix *m2);
 177
 178 // dest = m1^t x m2
 179 void mxd_tmul_mat(mxds_matrix *dest,const mxds_matrix *m1,const mxds_matrix *m2);
 180 // m2 = m1^t x m2
 181 void mxd_tmuleq_mat(const mxds_matrix *m1,mxds_matrix *m2);
 182
 183 // dest = m1 x m2^t
 184 void mxd_mult_mat(mxds_matrix *dest,const mxds_matrix *m1,const mxds_matrix *m2);
 185
 186
 187 // dest = m1 .x m2
 188 void mxd_elmul_mat(mxds_matrix *dest,const mxds_matrix *m1,const mxds_matrix *m2);
 189 // m1 .x= m2
 190 void mxd_elmuleq_mat(mxds_matrix *m1,const mxds_matrix *m2);
 191
 192 // swap rows
 193 void mxd_swaprow_mat(mxds_matrix *dest,const mxds_matrix *m1,int n1,int n2);
 194 void mxd_swaproweq_mat(mxds_matrix *m1,int n1,int n2);
 195 // swap cols
 196 void mxd_swapcol_mat(mxds_matrix *dest,const mxds_matrix *m1,int n1,int n2);
 197 void mxd_swapcoleq_mat(mxds_matrix *m1,int n1,int n2);
 198
 199 // print one out
 200 void mxd_prn_mat(const mxds_matrix *m);
 201
 202 // VECTOR ANGLE OPS
 203
 204 // Rotates a vector about the appropriate axis.
 205 // Put in for Sean.  With love, Jaemz
 206 // Assumes src and dest are different
 207 void mxd_rot_x_vec(mxds_vector *dst,const mxds_vector *src,mxs_ang ang);
 208 void mxd_rot_y_vec(mxds_vector *dst,const mxds_vector *src,mxs_ang ang);
 209 void mxd_rot_z_vec(mxds_vector *dst,const mxds_vector *src,mxs_ang ang);
 210
 211 // MATRIX ANGLE OPS
 212
 213 // convert to and from rads
 214 mxs_ang mxd_rad2ang(double rad);
 215 double mxd_ang2rad(mxs_ang ang);
 216
 217 // convert to and from degs
 218 mxs_ang mxd_deg2ang(double deg);
 219 double mxd_ang2deg(double ang);
 220
 221
 222 // get the sin and cosine out of a mxs_ang
 223 // anything else, get it yourself.  Weenie
 224 double mxd_sin(mxs_ang ang);
 225 double mxd_cos(mxs_ang ang);
 226 void mxd_sincos(mxs_ang ang,double *s, double *c);
 227
 228 // create rotation matrices to spin about that axis by ang
 229 void mxd_mk_rot_x_mat(mxds_matrix *m,mxs_ang ang);
 230 void mxd_mk_rot_y_mat(mxds_matrix *m,mxs_ang ang);
 231 void mxd_mk_rot_z_mat(mxds_matrix *m,mxs_ang ang);
 232
 233 // create rotation matrix to spin about arbitrary vector by ang
 234 void mxd_mk_rot_vec_mat(mxds_matrix *m, const mxds_vector *v, mxs_ang ang);
 235 // create rotation matrix to take x-axis to unit vecctor v
 236 void mxd_mk_move_x_mat(mxds_matrix *m, const mxds_vector *v);
 237
 238 // rotate matrix about that axis in its own frame by ang
 239 void mxd_rot_x_mat(mxds_matrix *dest,const mxds_matrix *m,mxs_ang ang);
 240 void mxd_rot_y_mat(mxds_matrix *dest,const mxds_matrix *m,mxs_ang ang);
 241 void mxd_rot_z_mat(mxds_matrix *dest,const mxds_matrix *m,mxs_ang ang);
 242
 243 // and now, lovely rad versions of the above
 244 void mxd_mk_rot_x_mat_rad(mxds_matrix *m,double ang);
 245 void mxd_mk_rot_y_mat_rad(mxds_matrix *m,double ang);
 246 void mxd_mk_rot_z_mat_rad(mxds_matrix *m,double ang);
 247
 248 // rotate matrix about that axis in its own frame by ang
 249 void mxd_rot_x_mat_rad(mxds_matrix *dest,const mxds_matrix *m,double ang);
 250 void mxd_rot_y_mat_rad(mxds_matrix *dest,const mxds_matrix *m,double ang);
 251 void mxd_rot_z_mat_rad(mxds_matrix *dest,const mxds_matrix *m,double ang);
 252
 253 // Create an orientation matrix from an angvec, using traditional
 254 // order of bank around x, pitch around y, heading around z,
 255 // all using the right hand rule
 256 void mxd_ang2mat(mxds_matrix *dest,const mxs_angvec *a);
 257
 258 // Convert a matrix into angles, using the standard
 259 // angle order of roll around x, pitch around y, heading around z
 260 void mxd_mat2ang( mxs_angvec* dest, const mxds_matrix* m);
 261
 262 // just like the above, but radians
 263 void mxd_mat2rad(mxds_vector *dest,const mxds_matrix *m);
 264
 265 // also just like the above, also in radians;
 266 void mxd_rad2mat(mxds_matrix *dest,const mxds_vector *a);
 267
 268 // Print out angvec in hex.  10000 = 2pi
 269 void mxd_prn_angvec(const mxs_angvec *a);
 270
 271
 272 // MIXED MATRIX AND VECTOR OPS
 273
 274 // element wise mul of m by v to make different coordinate
 275 // system
 276 // dest = M .* v
 277 void mxd_mat_elmul_vec(mxds_matrix *dest,const mxds_matrix *m,const mxds_vector *v);
 278 // M .*= v
 279 void mxd_mat_elmuleq_vec(mxds_matrix *m,const mxds_vector *v);
 280
 281 // dest = v^t .* M
 282 void mxd_mat_eltmul_vec(mxds_matrix *dest,const mxds_matrix *m,const mxds_vector *v);
 283 // M .*= v^t
 284 void mxd_mat_eltmuleq_vec(mxds_matrix *m,const mxds_vector *v);
 285
 286 // dest = M x v
 287 void mxd_mat_mul_vec(mxds_vector *dest,const mxds_matrix *m,const mxds_vector *v);
 288 // v x= M, this is idiotic, if anyone uses it, I'll kill them
 289 void mxd_mat_muleq_vec(const mxds_matrix *m,mxds_vector *v);
 290
 291 // dest = M^t x v, this is for multing by inverse if unit
 292 void mxd_mat_tmul_vec(mxds_vector *dest,const mxds_matrix *m, const mxds_vector *v);
 293 // v x= M^t
 294 void mxd_mat_tmuleq_vec(const mxds_matrix *m,mxds_vector *v);
 295
 296 // TRANSFORM OPS
 297
 298 // identity transform
 299 void mxd_identity_trans(mxds_trans *t);
 300
 301 // copy transform
 302 void mxd_copy_trans(mxds_trans *dest,const mxds_trans *src);
 303
 304 // invert transform that is unitary, dest != src
 305 void mxd_transpose_trans(mxds_trans *dest,const mxds_trans *src);
 306
 307 // multiply 2 transforms
 308 // dest = t1 * t2
 309 void mxd_mul_trans(mxds_trans *dest,const mxds_trans *t1,const mxds_trans *t2);
 310
 311 // transpose pre multiply 2 transforms
 312 // for instance, putting view onto a stack
 313 // dest = t1^t * t2
 314 void mxd_tmul_trans(mxds_trans *dest,const mxds_trans *t1,const mxds_trans *t2);
 315
 316 // transpose post multiply 2 transforms
 317 // for instance, putting view onto a stack
 318 // dest = t1 * t2^2
 319 void mxd_mult_trans(mxds_trans *dest,const mxds_trans *t1,const mxds_trans *t2);
 320
 321 // multiply tform by vector
 322 // dest = t * v
 323 void mxd_trans_mul_vec(mxds_vector *dest,const mxds_trans *t,const mxds_vector *v);
 324
 325 // inverse multiply tform by vector
 326 // dest = t^t * v
 327 void mxd_trans_tmul_vec(mxds_vector *dest,const mxds_trans *t,const mxds_vector *v);
 328
 329 // print one out
 330 void mxd_prn_trans(const mxds_trans *t);
 331
 332
 333 #ifdef __cplusplus
 334 };
 335 #endif
 336
 337 #endif /* __MATRIXD_H */
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