xsi_math.h

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

#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__