2 * \brief Matrix 3d declaration
3 * \author Sylvain Gaeremynck <sylvain.gaeremynck@parrot.fr>
6 * \warning Subject to completion
12 #include <VP_Os/vp_os_types.h>
14 typedef struct _matrix3d_t {
15 float32_t m00, m01, m02, m03;
16 float32_t m10, m11, m12, m13;
17 float32_t m20, m21, m22, m23;
18 float32_t m30, m31, m32, m33;
23 extern matrix3d_t matrix3d_id; // identity matrix
26 void matrix3d_zero(matrix3d_t* m);
29 void matrix3d_identity(matrix3d_t* m);
31 // Initialize m from euler angles
32 C_RESULT matrix3d_euler(matrix3d_t* m, float32_t phi, float32_t theta, float32_t psi);
34 // Initialize m from a position and a direction
35 C_RESULT matrix3d_vector( matrix3d_t* m, struct _vector31_t* pos, struct _vector31_t* dir,
36 struct _vector31_t* right, struct _vector31_t* up);
38 // Initialize m from a position and a normalized orientation
39 C_RESULT matrix3d_orientation(matrix3d_t* m, const struct _vector31_t* pos, const struct _vector31_t* dir,
40 const struct _vector31_t* right, const struct _vector31_t* up);
42 // Compute transposed matrix
43 C_RESULT matrix3d_transpose(matrix3d_t* out, matrix3d_t* in);
45 // Common arithmetic operation
46 C_RESULT matrix3d_add(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2);
47 C_RESULT matrix3d_sub(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2);
48 C_RESULT matrix3d_mul(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2);
50 // Common 3d transformation
51 C_RESULT matrix3d_translate(matrix3d_t* m, struct _vector31_t* tr);
52 C_RESULT matrix3d_add_translate(matrix3d_t* m, struct _vector31_t* tr);
54 C_RESULT matrix3d_rotate_euler(matrix3d_t* m, float32_t phi, float32_t theta, float32_t psi);
55 C_RESULT matrix3d_rotate_axis(matrix3d_t* m, struct _vector31_t* axis, float32_t value);
57 C_RESULT matrix3d_transform(matrix3d_t* m, struct _vector31_t* v);
59 #endif // _MATRIX3D_H_