mirrors/monado
1
0
Fork 0
mirror of https://gitlab.freedesktop.org/monado/monado.git synced 2024-12-29 11:06:18 +00:00
Code Issues Actions Packages Projects Releases Wiki Activity

math: Add some more functions

Browse source
This commit is contained in:
Jakob Bornecrantz 2019-12-29 21:00:26 +00:00 committed by Ryan Pavlik
parent 796d9c49ec
commit 5bf65b41fa
2 changed files with 79 additions and 1 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

36
src/xrt/auxiliary/math/m_api.h
View file

@ -95,6 +95,17 @@ math_vec3_validate(const struct xrt_vec3 *vec3);
void
math_vec3_accum(const struct xrt_vec3 *additional, struct xrt_vec3 *inAndOut);
/*!
* Cross product of a vector.
*
* @relates xrt_vec3
* @ingroup aux_math
*/
void
math_vec3_cross(const struct xrt_vec3 *l,
const struct xrt_vec3 *r,
struct xrt_vec3 *result);
/*
*
@ -113,6 +124,19 @@ void
math_quat_from_matrix_3x3(const struct xrt_matrix_3x3 *mat,
struct xrt_quat *result);
/*!
* Create a rotation from two vectors plus x and z, by creating a rotation
* matrix by crossing z and x to get the y axis.
*
* @relates xrt_quat
* @relates xrt_vec3
* @ingroup aux_math
*/
void
math_quat_from_plus_x_z(const struct xrt_vec3 *plus_x,
const struct xrt_vec3 *plus_z,
struct xrt_quat *result);
/*!
* Check if this quat can be used in transformation operations.
*
@ -230,6 +254,18 @@ math_pose_transform(const struct xrt_pose *transform,
const struct xrt_pose *pose,
struct xrt_pose *outPose);
/*!
* Apply a rigid-body transformation to a point.
*
* @relates xrt_pose
* @relates xrt_vec3
* @ingroup aux_math
*/
void
math_pose_transform_point(const struct xrt_pose *transform,
const struct xrt_vec3 *point,
struct xrt_vec3 *out_point);
/*!
* Combine the poses of the target and base space with the relative pose of
* those spaces. In a way that OpenXR specifies in the function xrLocateSpace.

44
src/xrt/auxiliary/math/m_base.cpp
View file

@ -74,6 +74,14 @@ math_vec3_accum(const struct xrt_vec3 *additional, struct xrt_vec3 *inAndOut)
map_vec3(*inAndOut) += map_vec3(*additional);
}
extern "C" void
math_vec3_cross(const struct xrt_vec3 *l,
const struct xrt_vec3 *r,
struct xrt_vec3 *result)
{
map_vec3(*result) = map_vec3(*l).cross(map_vec3(*r));
}
/*
*
@ -81,7 +89,6 @@ math_vec3_accum(const struct xrt_vec3 *additional, struct xrt_vec3 *inAndOut)
*
*/
extern "C" void
math_quat_from_matrix_3x3(const struct xrt_matrix_3x3 *mat,
struct xrt_quat *result)
@ -94,6 +101,29 @@ math_quat_from_matrix_3x3(const struct xrt_matrix_3x3 *mat,
map_quat(*result) = q;
}
extern "C" void
math_quat_from_plus_x_z(const struct xrt_vec3 *plus_x,
const struct xrt_vec3 *plus_z,
struct xrt_quat *result)
{
xrt_vec3 plus_y;
math_vec3_cross(plus_z, plus_x, &plus_y);
xrt_matrix_3x3 m = {{
plus_x->x,
plus_y.x,
plus_z->x,
plus_x->y,
plus_y.y,
plus_z->y,
plus_x->z,
plus_y.z,
plus_z->z,
}};
math_quat_from_matrix_3x3(&m, result);
}
extern "C" bool
math_quat_validate(const struct xrt_quat *quat)
{
@ -227,6 +257,18 @@ math_pose_transform(const struct xrt_pose *transform,
memcpy(outPose, &newPose, sizeof(xrt_pose));
}
extern "C" void
math_pose_transform_point(const struct xrt_pose *transform,
const struct xrt_vec3 *point,
struct xrt_vec3 *out_point)
{
assert(transform != NULL);
assert(point != NULL);
assert(out_point != NULL);
map_vec3(*out_point) = transform_point(*transform, *point);
}
extern "C" void
math_pose_openxr_locate(const struct xrt_pose *space_pose,
const struct xrt_pose *relative_pose,