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/* EINA - EFL data type library
* Copyright (C) 2015 Cedric Bail
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library.
* If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef EINA_QUATERNION_H_
#define EINA_QUATERNION_H_
typedef struct _Eina_Quaternion_F16p16 Eina_Quaternion_F16p16;
typedef struct _Eina_Quaternion Eina_Quaternion;
typedef struct _Eina_Point_3D Eina_Point_3D;
typedef struct _Eina_Point_3D_F16p16 Eina_Point_3D_F16p16;
struct _Eina_Quaternion
{
double x;
double y;
double z;
double w;
};
struct _Eina_Quaternion_F16p16
{
Eina_F16p16 x;
Eina_F16p16 y;
Eina_F16p16 z;
Eina_F16p16 w;
};
struct _Eina_Point_3D
{
double x;
double y;
double z;
};
struct _Eina_Point_3D_F16p16
{
Eina_F16p16 x;
Eina_F16p16 y;
Eina_F16p16 z;
};
EAPI void eina_quaternion_f16p16_set(Eina_Quaternion *out,
Eina_F16p16 x, Eina_F16p16 y,
Eina_F16p16 z, Eina_F16p16 w); /**< @since 1.15 */
EAPI Eina_F16p16 eina_quaternion_f16p16_norm(const Eina_Quaternion_F16p16 *q); /**< @since 1.15 */
EAPI void eina_quaternion_f16p16_negative(Eina_Quaternion_F16p16 *out,
const Eina_Quaternion_F16p16 *in); /**< @since 1.15 */
EAPI void eina_quaternion_f16p16_add(Eina_Quaternion_F16p16 *out,
const Eina_Quaternion_F16p16 *a,
const Eina_Quaternion_F16p16 *b); /**< @since 1.15 */
EAPI void eina_quaternion_f16p16_mul(Eina_Quaternion_F16p16 *out,
const Eina_Quaternion_F16p16 *a,
const Eina_Quaternion_F16p16 *b); /**< @since 1.15 */
EAPI void eina_quaternion_f16p16_scale(Eina_Quaternion_F16p16 *out,
const Eina_Quaternion_F16p16 *a,
Eina_F16p16 b); /**< @since 1.15 */
EAPI void eina_quaternion_f16p16_conjugate(Eina_Quaternion_F16p16 *out,
const Eina_Quaternion_F16p16 *in); /**< @since 1.15 */
EAPI Eina_F16p16 eina_quaternion_f16p16_dot(const Eina_Quaternion_F16p16 *a,
const Eina_Quaternion_F16p16 *b); /**< @since 1.15 */
EAPI void eina_quaternion_f16p16_lerp(Eina_Quaternion_F16p16 *out,
const Eina_Quaternion_F16p16 *a,
const Eina_Quaternion_F16p16 *b,
Eina_F16p16 pos); /**< @since 1.15 */
EAPI void eina_quaternion_f16p16_slerp(Eina_Quaternion_F16p16 *out,
const Eina_Quaternion_F16p16 *a,
const Eina_Quaternion_F16p16 *b,
Eina_F16p16 pos); /**< @since 1.15 */
EAPI void eina_quaternion_f16p16_nlerp(Eina_Quaternion_F16p16 *out,
const Eina_Quaternion_F16p16 *a,
const Eina_Quaternion_F16p16 *b,
Eina_F16p16 pos); /**< @since 1.15 */
EAPI void eina_quaternion_f16p16_rotate(Eina_Point_3D_F16p16 *p,
const Eina_Point_3D_F16p16 *center,
const Eina_Quaternion_F16p16 *q); /**< @since 1.15 */
EAPI void eina_quaternion_f16p16_rotation_matrix3_get(Eina_Matrix3_F16p16 *m,
const Eina_Quaternion_F16p16 *q); /**< @since 1.15 */
EAPI void eina_quaternion_set(Eina_Quaternion *q, double x,
double y, double z, double w);
EAPI double eina_quaternion_norm(const Eina_Quaternion *q); /**< @since 1.15 */
EAPI void eina_quaternion_negative(Eina_Quaternion *out,
const Eina_Quaternion *in); /**< @since 1.15 */
EAPI void eina_quaternion_add(Eina_Quaternion *out,
const Eina_Quaternion *a,
const Eina_Quaternion *b); /**< @since 1.15 */
EAPI void eina_quaternion_mul(Eina_Quaternion *out,
const Eina_Quaternion *a,
const Eina_Quaternion *b); /**< @since 1.15 */
EAPI void eina_quaternion_scale(Eina_Quaternion *out,
const Eina_Quaternion *a,
double b); /**< @since 1.15 */
EAPI void eina_quaternion_conjugate(Eina_Quaternion *out,
const Eina_Quaternion *in); /**< @since 1.15 */
EAPI double eina_quaternion_dot(const Eina_Quaternion *a,
const Eina_Quaternion *b); /**< @since 1.15 */
EAPI void eina_quaternion_normalized(Eina_Quaternion *out,
const Eina_Quaternion *in); /**< @since 1.15 */
EAPI void eina_quaternion_lerp(Eina_Quaternion *out,
const Eina_Quaternion *a,
const Eina_Quaternion *b,
double pos); /**< @since 1.15 */
EAPI void eina_quaternion_slerp(Eina_Quaternion *out,
const Eina_Quaternion *a,
const Eina_Quaternion *b,
double pos); /**< @since 1.15 */
EAPI void eina_quaternion_nlerp(Eina_Quaternion *out,
const Eina_Quaternion *a,
const Eina_Quaternion *b,
double pos); /**< @since 1.15 */
EAPI void eina_quaternion_rotate(Eina_Point_3D *p,
const Eina_Point_3D *center,
const Eina_Quaternion *q); /**< @since 1.15 */
EAPI void eina_quaternion_rotation_matrix3_get(Eina_Matrix3 *m,
const Eina_Quaternion *q); /**< @since 1.15 */
EAPI void eina_matrix3_quaternion_get(Eina_Quaternion *q,
const Eina_Matrix3 *m); /**< @since 1.15 */
EAPI Eina_Bool eina_matrix4_quaternion_to(Eina_Quaternion *rotation,
Eina_Quaternion *perspective,
Eina_Point_3D *translation,
Eina_Point_3D *scale,
Eina_Point_3D *skew,
const Eina_Matrix4 *m); /**< @since 1.16 */
EAPI void eina_quaternion_matrix4_to(Eina_Matrix4 *m,
const Eina_Quaternion *rotation,
const Eina_Quaternion *perspective,
const Eina_Point_3D *translation,
const Eina_Point_3D *scale,
const Eina_Point_3D *skew); /**< @since 1.16 */
/**
* @brief Compute the inverse of the given quaternion.
*
* @param out The quaternion to invert.
* @param q The quaternion matrix.
*
* This function inverses the quaternion @p q and stores the result in
* @p out.
*
* @since 1.17
*/
EAPI void eina_quaternion_inverse(Eina_Quaternion *out, const Eina_Quaternion *q);
/**
* @brief Set array to quaternion.
*
* @param dst The result quaternion
* @param v The the array[4] for set
*
* Set to quaternion first 4 elements from array
*
* @since 1.17
*/
EAPI void eina_quaternion_array_set(Eina_Quaternion *dst, const double *v);
/**
* @brief Copy quternion.
*
* @param dst The quaternion copy
* @param src The quaternion for copy.
*
* @since 1.17
*/
EAPI void eina_quaternion_copy(Eina_Quaternion *dst,
const Eina_Quaternion *src);
/**
* @brief Homogeneous quaternion
*
* @param out The resulting quaternion
* @param v The given quaternion
*
* @since 1.17
*/
EAPI void eina_quaternion_homogeneous_regulate(Eina_Quaternion *out,
const Eina_Quaternion *v);
/**
* @brief Subtract two quaternions
*
* @param out The resulting quaternion
* @param a The first member of the subtract
* @param b The second member of the subtract
*
* @since 1.17
*/
EAPI void eina_quaternion_subtract(Eina_Quaternion *out, const Eina_Quaternion *a,
const Eina_Quaternion *b);
/**
* @brief Return the length of the given quaternion.
*
* @param v The quaternion.
* @return The length.
*
* @since 1.17
*/
EAPI double eina_quaternion_length_get(const Eina_Quaternion *v);
/**
* @brief Return the length in square of the given quaternion.
*
* @param v The quaternion.
* @return The length in square.
*
* @since 1.17
*/
EAPI double eina_quaternion_length_square_get(const Eina_Quaternion *v);
/**
* @brief Return the distance between of two quaternions.
*
* @param a The first quaternion.
* @param b The second quaternion.
* @return The distance.
*
* @since 1.17
*/
EAPI double eina_quaternion_distance_get(const Eina_Quaternion *a,
const Eina_Quaternion *b);
/**
* @brief Return the distance in square between of two quaternions.
*
* @param a The first quaternion.
* @param b The second quaternion.
* @return The distance in square.
*
* @since 1.17
*/
EAPI double eina_quaternion_distance_square_get(const Eina_Quaternion *a,
const Eina_Quaternion *b);
/**
* @brief Transform quaternion.
*
* @param out The result quaternion.
* @param v The quaternion for transform.
* @param m The matrix for transform.
*
* @since 1.17
*/
EAPI void eina_quaternion_transform(Eina_Quaternion *out, const Eina_Quaternion *v,
const Eina_Matrix4 *m);
/**
* @brief Return the angle plains between of two quaternions.
*
* @param a The first quaternion.
* @param b The second quaternion.
* @return The angle.
*
* @since 1.17
*/
EAPI double eina_quaternion_angle_plains(Eina_Quaternion *a, Eina_Quaternion *b);
#endif
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