From 50b5e6445e78113afb40493d58f018c045e9c18e Mon Sep 17 00:00:00 2001
From: Jakob Bornecrantz <jakob@collabora.com>
Date: Sun, 8 Oct 2023 14:52:06 +0100
Subject: [PATCH] a/math: Organize base and api file [NFC]

---
 src/xrt/auxiliary/math/m_api.h    | 28 ++++++++++++++++---------
 src/xrt/auxiliary/math/m_base.cpp | 34 +++++++++++++++++++------------
 2 files changed, 39 insertions(+), 23 deletions(-)

diff --git a/src/xrt/auxiliary/math/m_api.h b/src/xrt/auxiliary/math/m_api.h
index 2386f5b1e..1f7e55b53 100644
--- a/src/xrt/auxiliary/math/m_api.h
+++ b/src/xrt/auxiliary/math/m_api.h
@@ -154,15 +154,6 @@ math_vec3_scalar_mul(float scalar, struct xrt_vec3 *inAndOut);
 void
 math_vec3_cross(const struct xrt_vec3 *l, const struct xrt_vec3 *r, struct xrt_vec3 *result);
 
-/*!
- * Cross product of a vector.
- *
- * @relates xrt_vec3
- * @ingroup aux_math
- */
-void
-math_vec3_f64_cross(const struct xrt_vec3_f64 *l, const struct xrt_vec3_f64 *r, struct xrt_vec3_f64 *result);
-
 /*!
  * Get translation vector from isometry matrix (col-major).
  *
@@ -181,15 +172,32 @@ math_vec3_translation_from_isometry(const struct xrt_matrix_4x4 *isometry, struc
 void
 math_vec3_normalize(struct xrt_vec3 *in);
 
+
+/*
+ *
+ * 64 bit vector functions.
+ *
+ */
+
+/*!
+ * Cross product of a vec3_f64.
+ *
+ * @relates xrt_vec3_f64
+ * @ingroup aux_math
+ */
+void
+math_vec3_f64_cross(const struct xrt_vec3_f64 *l, const struct xrt_vec3_f64 *r, struct xrt_vec3_f64 *result);
+
 /*!
  * Normalize a vec3_f64 in place.
  *
- * @relates xrt_vec3
+ * @relates xrt_vec3_f64
  * @ingroup aux_math
  */
 void
 math_vec3_f64_normalize(struct xrt_vec3_f64 *in);
 
+
 /*
  *
  * Quat functions.
diff --git a/src/xrt/auxiliary/math/m_base.cpp b/src/xrt/auxiliary/math/m_base.cpp
index 9095eb64d..6ad7a0256 100644
--- a/src/xrt/auxiliary/math/m_base.cpp
+++ b/src/xrt/auxiliary/math/m_base.cpp
@@ -172,12 +172,33 @@ math_vec3_normalize(struct xrt_vec3 *in)
 	map_vec3(*in) = map_vec3(*in).normalized();
 }
 
+extern "C" void
+math_vec3_translation_from_isometry(const struct xrt_matrix_4x4 *transform, struct xrt_vec3 *result)
+{
+	Eigen::Isometry3f isometry{map_matrix_4x4(*transform)};
+	map_vec3(*result) = isometry.translation();
+}
+
+
+/*
+ *
+ * Exported 64 bit vector functions.
+ *
+ */
+
+extern "C" void
+math_vec3_f64_cross(const struct xrt_vec3_f64 *l, const struct xrt_vec3_f64 *r, struct xrt_vec3_f64 *result)
+{
+	map_vec3_f64(*result) = map_vec3_f64(*l).cross(map_vec3_f64(*r));
+}
+
 extern "C" void
 math_vec3_f64_normalize(struct xrt_vec3_f64 *in)
 {
 	map_vec3_f64(*in) = map_vec3_f64(*in).normalized();
 }
 
+
 /*
  *
  * Exported quaternion functions.
@@ -789,19 +810,6 @@ m_mat4_f64_multiply(const struct xrt_matrix_4x4_f64 *left,
 	map_matrix_4x4_f64(*result) = l * r;
 }
 
-extern "C" void
-math_vec3_f64_cross(const struct xrt_vec3_f64 *l, const struct xrt_vec3_f64 *r, struct xrt_vec3_f64 *result)
-{
-	map_vec3_f64(*result) = map_vec3_f64(*l).cross(map_vec3_f64(*r));
-}
-
-extern "C" void
-math_vec3_translation_from_isometry(const struct xrt_matrix_4x4 *transform, struct xrt_vec3 *result)
-{
-	Eigen::Isometry3f isometry{map_matrix_4x4(*transform)};
-	map_vec3(*result) = isometry.translation();
-}
-
 extern "C" void
 m_mat4_f64_orientation(const struct xrt_quat *quat, struct xrt_matrix_4x4_f64 *result)
 {