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a/math: Organize base and api file [NFC]

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This commit is contained in:
Jakob Bornecrantz 2023-10-08 14:52:06 +01:00
parent 017834c8ad
commit 50b5e6445e
2 changed files with 39 additions and 23 deletions
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28
src/xrt/auxiliary/math/m_api.h
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@ -154,15 +154,6 @@ math_vec3_scalar_mul(float scalar, struct xrt_vec3 *inAndOut);
void void
math_vec3_cross(const struct xrt_vec3 *l, const struct xrt_vec3 *r, struct xrt_vec3 *result); 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). * 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 void
math_vec3_normalize(struct xrt_vec3 *in); 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. * Normalize a vec3_f64 in place.
* *
* @relates xrt_vec3 * @relates xrt_vec3_f64
* @ingroup aux_math * @ingroup aux_math
*/ */
void void
math_vec3_f64_normalize(struct xrt_vec3_f64 *in); math_vec3_f64_normalize(struct xrt_vec3_f64 *in);
/* /*
* *
* Quat functions. * Quat functions.

34
src/xrt/auxiliary/math/m_base.cpp
View file

@ -172,12 +172,33 @@ math_vec3_normalize(struct xrt_vec3 *in)
map_vec3(*in) = map_vec3(*in).normalized(); 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 extern "C" void
math_vec3_f64_normalize(struct xrt_vec3_f64 *in) math_vec3_f64_normalize(struct xrt_vec3_f64 *in)
{ {
map_vec3_f64(*in) = map_vec3_f64(*in).normalized(); map_vec3_f64(*in) = map_vec3_f64(*in).normalized();
} }
/* /*
* *
* Exported quaternion functions. * 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; 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 extern "C" void
m_mat4_f64_orientation(const struct xrt_quat *quat, struct xrt_matrix_4x4_f64 *result) m_mat4_f64_orientation(const struct xrt_quat *quat, struct xrt_matrix_4x4_f64 *result)
{ {