fbmath.h

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#ifndef __FBMATH_H__
#define __FBMATH_H__
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#include <kaydaradef.h>
#ifndef FBSDK_DLL

    #define FBSDK_DLL K_DLLIMPORT
#endif

#include <fbsdk/fbtypes.h>

#ifdef FBSDKUseNamespace
    namespace FBSDKNamespace {
#endif

enum FBRotationOrder { 
    kFBXYZ,     
    kFBXZY,     
    kFBYXZ,     
    kFBYZX,     
    kFBZXY,     
    kFBZYX,     
};

FB_DEFINE_ENUM( FBSDK_DLL, RotationOrder ); 

// Matrix

FBSDK_DLL void FBMatrixInverse (FBMatrix  &pMatrix,FBMatrix  &pSrc);

FBSDK_DLL void FBMatrixTranspose (FBMatrix  &pMatrix,FBMatrix  &pSrc);

FBSDK_DLL void FBMatrixMult (FBMatrix  &pMatrix,FBMatrix  &pA,FBMatrix  &pB);

FBSDK_DLL void FBVertexMatrixMult( FBVertex &pOutVertex, FBMatrix &pMatrix, FBVertex &pVertex );

FBSDK_DLL void FBVectorMatrixMult( FBVector4d &pOutVector, FBMatrix &pMatrix, FBVector4d &pVector );

// T,R,S to Matrix
// N.B. Rotation is in EulerXYZ
FBSDK_DLL void FBTranslationToMatrix    (FBMatrix  &pMatrix,        FBTVector pVector);

FBSDK_DLL void FBRotationToMatrix       (FBMatrix  &pMatrix,        FBRVector pVector, FBRotationOrder pRotationOrder = kFBXYZ);

FBSDK_DLL void FBScalingToMatrix        (FBMatrix  &pMatrix,        FBSVector pVector);

FBSDK_DLL void FBTRSToMatrix            (FBMatrix  &pMatrix,        FBTVector pTVector, FBRVector pRVector, FBSVector pSVector);

// Matrix to T,R,S
// Rotation is in EulerXYZ
FBSDK_DLL void FBMatrixToTranslation    (FBTVector &pVector,        FBMatrix pMatrix);

FBSDK_DLL void FBMatrixToRotation       (FBRVector &pVector,        FBMatrix pMatrix, FBRotationOrder pRotationOrder = kFBXYZ);

FBSDK_DLL void FBMatrixToScaling        (FBSVector &pVector,        FBMatrix pMatrix);

FBSDK_DLL void FBMatrixToTRS            (FBTVector &pTVector, FBRVector &pRVector, FBSVector &pSVector,FBMatrix pMatrix);

// Quaternion

FBSDK_DLL void FBRotationToQuaternion   (FBQuaternion &pQuaternion, FBRVector pVector, FBRotationOrder pRotationOrder = kFBXYZ);

FBSDK_DLL void FBQuaternionToRotation   (FBRVector &pVector,        FBQuaternion pQuaternion, FBRotationOrder pRotationOrder = kFBXYZ);


// Local/Global conversions

FBSDK_DLL void FBGetLocalMatrix         (FBMatrix &pMatrix, FBMatrix pMatrixParent, FBMatrix pMatrixChild);

FBSDK_DLL void FBGetGlobalMatrix        (FBMatrix &pMatrix, FBMatrix pMatrixParent, FBMatrix pLocalMatrix);


FBSDK_DLL void FBMatrixOrthogonalize    (FBMatrix &pMatrix);

// Vector operations

FBSDK_DLL void      FBAdd               (FBTVector &pResult, FBTVector &pV1, FBTVector &pV2);

FBSDK_DLL void      FBSub               (FBTVector &pResult, FBTVector &pV1, FBTVector &pV2);

FBSDK_DLL void      FBMult              (FBTVector &pResult, FBTVector &pV1, double pV2);

FBSDK_DLL void      FBMult              (FBTVector &pResult, FBTVector &pV1, FBTVector &pV2);

FBSDK_DLL void      FBMult              (FBMatrix &pResult, FBMatrix &pM, FBSVector &pV);

FBSDK_DLL double    FBDot               (FBTVector &pV1, FBTVector &pV2);

FBSDK_DLL double    FBLength            (FBTVector &pV);

// Quaternion operations

FBSDK_DLL void      FBQAdd              (FBQuaternion &pResult, const FBQuaternion &pQ1, const FBQuaternion &pQ2);

FBSDK_DLL void      FBQSub              (FBQuaternion &pResult, const FBQuaternion &pQ1, const FBQuaternion &pQ2);

FBSDK_DLL void      FBQMult             (FBQuaternion &pResult, const FBQuaternion &pQ1, double pQ2);

FBSDK_DLL void      FBQMult             (FBQuaternion &pResult, const FBQuaternion &pQ1, const FBQuaternion &pQ2);

FBSDK_DLL double    FBQDot              (const FBQuaternion &pQ1, const FBQuaternion &pQ2);

FBSDK_DLL double    FBQLength           (const FBQuaternion &pQ);

// Vertex operations

FBSDK_DLL double    FBLength            (FBVertex &pV);

// Rotation utilities

FBSDK_DLL void  FBInterpolateRotation( FBRVector &pROut, const FBRVector &pR0, const FBRVector &pR1, double pU );

FBSDK_DLL void  FBInterpolateRotation( FBQuaternion &pQOut, const FBQuaternion &pQ0, const FBQuaternion &pQ1, double pU );

FBSDK_DLL void      FBGetContinuousRotation ( FBRVector &pROut, FBRVector &pR0, FBRVector &pR1 );

// Miscellaneous utilities 

FBSDK_DLL double    FBClamp     (double pV, double pL, double pH);

FBSDK_DLL void  FBBigEndianToNative     (unsigned short &pV);

FBSDK_DLL void  FBLittleEndianToNative  (unsigned short &pV);


#ifdef FBSDKUseNamespace
    }
#endif
#endif