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m/space: Move functions to correct section

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This commit is contained in:
Jakob Bornecrantz 2022-12-24 01:18:06 +00:00
parent 7130fc57ca
commit 1c046dc523
1 changed files with 35 additions and 34 deletions
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69
src/xrt/auxiliary/math/m_space.cpp
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@ -17,40 +17,6 @@
#include <stdio.h>
#include <assert.h>
extern "C" void
m_space_relation_invert(struct xrt_space_relation *relation, struct xrt_space_relation *out_relation)
{
assert(relation != NULL);
assert(out_relation != NULL);
out_relation->relation_flags = relation->relation_flags;
math_pose_invert(&relation->pose, &out_relation->pose);
out_relation->linear_velocity = m_vec3_mul_scalar(relation->linear_velocity, -1);
out_relation->angular_velocity = m_vec3_mul_scalar(relation->angular_velocity, -1);
}
extern "C" void
m_space_relation_interpolate(struct xrt_space_relation *a,
struct xrt_space_relation *b,
float t,
enum xrt_space_relation_flags flags,
struct xrt_space_relation *out_relation)
{
out_relation->relation_flags = flags;
if (flags & XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) {
math_quat_slerp(&a->pose.orientation, &b->pose.orientation, t, &out_relation->pose.orientation);
}
if (flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) {
out_relation->pose.position = m_vec3_lerp(a->pose.position, b->pose.position, t);
}
if (flags & XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT) {
out_relation->linear_velocity = m_vec3_lerp(a->linear_velocity, b->linear_velocity, t);
}
if (flags & XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT) {
out_relation->angular_velocity = m_vec3_lerp(a->angular_velocity, b->angular_velocity, t);
}
}
/*
*
@ -324,3 +290,38 @@ m_relation_chain_resolve(const struct xrt_relation_chain *xrc, struct xrt_space_
*out_relation = r;
}
extern "C" void
m_space_relation_invert(struct xrt_space_relation *relation, struct xrt_space_relation *out_relation)
{
assert(relation != NULL);
assert(out_relation != NULL);
out_relation->relation_flags = relation->relation_flags;
math_pose_invert(&relation->pose, &out_relation->pose);
out_relation->linear_velocity = m_vec3_mul_scalar(relation->linear_velocity, -1);
out_relation->angular_velocity = m_vec3_mul_scalar(relation->angular_velocity, -1);
}
extern "C" void
m_space_relation_interpolate(struct xrt_space_relation *a,
struct xrt_space_relation *b,
float t,
enum xrt_space_relation_flags flags,
struct xrt_space_relation *out_relation)
{
out_relation->relation_flags = flags;
if (flags & XRT_SPACE_RELATION_ORIENTATION_VALID_BIT) {
math_quat_slerp(&a->pose.orientation, &b->pose.orientation, t, &out_relation->pose.orientation);
}
if (flags & XRT_SPACE_RELATION_POSITION_VALID_BIT) {
out_relation->pose.position = m_vec3_lerp(a->pose.position, b->pose.position, t);
}
if (flags & XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT) {
out_relation->linear_velocity = m_vec3_lerp(a->linear_velocity, b->linear_velocity, t);
}
if (flags & XRT_SPACE_RELATION_ANGULAR_VELOCITY_VALID_BIT) {
out_relation->angular_velocity = m_vec3_lerp(a->angular_velocity, b->angular_velocity, t);
}
}