xsi_math.h

Go to the documentation of this file.

//*****************************************************************************
//*****************************************************************************

#if (_MSC_VER > 1000) || defined(SGI_COMPILER)
#pragma once
#endif

#ifndef __XSIMATH_H__
#define __XSIMATH_H__

#include "sicppsdk.h"
#include "xsi_vector3.h"
#include "xsi_vector4.h"
#include "xsi_matrix3.h"
#include "xsi_matrix4.h"
#include "xsi_transformation.h"
#include "xsi_quaternion.h"
#include "xsi_rotation.h"

namespace XSI {

namespace MATH {

    class CMatrix3f;
    class CVector3f;
    class CQuaternionf;

    static const double PI(3.14159265358979323846);

    static const float PI2((float)PI*2.0f);

    static const float Invert2PI(0.5f/(float)PI);

    static const float MilliEPS(1.0e-03f);

    static const float MicroEPS(1.0e-06f);

    static const float NanoEPS(1.0e-09f);

    static const float PicoEPS(1.0e-012f);

    inline double DegreesToRadians (double in_dDegrees)
    { return (in_dDegrees * (PI/180.0));}

    inline double RadiansToDegrees (double in_dRadians)
    { return (in_dRadians * (180.0/PI));}

    SICPPSDKDECL CTransformation MapObjectPoseToWorldSpace
    (
        const CTransformation&  in_transfoObjectSpace,
        const CTransformation&  in_transfoPose
    );


    SICPPSDKDECL CVector3 MapObjectOrientationToWorldSpace
    (
        const CTransformation&  in_transfoObjectSpace,
        const CVector3&             in_vector3Orientation
    );


    SICPPSDKDECL CVector3 MapObjectPositionToWorldSpace
    (
        const CTransformation&  in_transfoObjectSpace,
        const CVector3&         in_vector3Position
    );

    SICPPSDKDECL CTransformation MapWorldPoseToObjectSpace
    (
        const CTransformation&  in_transfoObjectSpace,
        const CTransformation&  in_transfoPose
    );

    SICPPSDKDECL CVector3 MapWorldOrientationToObjectSpace
    (
        const CTransformation&  in_transfoObjectSpace,
        const CVector3&         in_vector3Orientation
    );

    SICPPSDKDECL CVector3 MapWorldPositionToObjectSpace
    (
        const CTransformation&  in_transfoObjectSpace,
        const CVector3&         in_vector3Position
    );

    SICPPSDKDECL CTransformation MapObjectPoseToObjectSpace
    (
        const CTransformation&  in_transfoObjectSpace,
        const CTransformation&  in_transfoSpace,
        const CTransformation&  in_transfoPose
    );

    SICPPSDKDECL CVector3 MapObjectOrientationToObjectSpace
    (
        const CTransformation&  in_transfoObjectSpace,
        const CTransformation&  in_transfoSpace,
        const CVector3&         in_vector3Orientation
    );


    SICPPSDKDECL CVector3 MapObjectPositionToObjectSpace
    (
        const CTransformation&  in_transfoObjectSpace,
        const CTransformation&  in_transfoSpace,
        const CVector3&         in_vector3Position
    );

    SICPPSDK_INLINE void LimitValue( float& io_fVal, float in_fMin, float in_fMax );
    SICPPSDKDECL void MatToEuler( const CMatrix3f& in_mat, CVector3f& io_vct, const short in_order );
    SICPPSDKDECL void EulerToMat( const CVector3f& in_vct, CMatrix3f& out_mat, const short in_order );
    SICPPSDKDECL void EulerToQuat( const CVector3f& in_vct, CQuaternionf& out_quat, const short in_order);
};

};

SICPPSDK_INLINE void XSI::MATH::LimitValue( float& io_fVal, float in_fMin, float in_fMax )
{
   if( io_fVal < in_fMin )
      io_fVal = in_fMin;
   else if( io_fVal > in_fMax )
      io_fVal = in_fMax;
}

#endif // __XSIMATH_H__