anim.c File Reference

Routines useful in animation programs. More...

#include "common.h"
#include <stdio.h>
#include <math.h>
#include "machine.h"
#include "bu.h"
#include "vmath.h"
#include "bn.h"
#include "anim.h"

Include dependency graph for anim.c:

Go to the source code of this file.

Defines
#define	M_PI   3.14159265358979323846
#define	NORMAL   0
#define	ERROR1   1
#define	ERROR2   2
#define	ASM_EMPTY   0
#define	ASM_FIRST   1
#define	ASM_FULL   2
Functions
void	anim_v_permute (mat_t m)
	Pre-multiply a rotation matrix by a matrix which maps the z-axis to the negative x-axis, the y-axis to the z-axis and the x-axis to the negative y-axis.
void	anim_v_unpermute (mat_t m)
	Undo the mapping done by anim_v_permute().
void	anim_tran (mat_t m)
	Transpose matrix in place.
int	anim_mat2zyx (const mat_t viewrot, vect_t angle)
	Convert the rotational part of a 4x4 transformation matrix to zyx form, that is to say, rotations carried out in the order z, y, and then x. The angles are stored in radians as a vector in the order x,y,z. A return value of ERROR1 means that arbitrary assumptions were necessary. ERROR2 means that the conversion failed.
int	anim_mat2ypr (mat_t viewrot, vect_t angle)
	Convert the rotational part of a 4x4 transformation matrix to yaw-pitch-roll form, that is to say, +roll degrees about the x-axis, -pitch degrees about the y-axis, and +yaw degrees about the z-axis. The angles are stored in radians as a vector in the order y,p,r. A return of ERROR1 means that arbitrary assumptions were necessary. ERROR2 means that the conversion failed.
int	anim_mat2quat (quat_t quat, const mat_t viewrot)
	This interprets the rotational part of a 4x4 transformation matrix in terms of unit quaternions. The result is stored as a vector in the order x,y,z,w. The algorithm is from Ken Shoemake, Animating Rotation with Quaternion Curves, 1985 SIGGraph Conference Proceeding, p.245.
void	anim_ypr2mat (mat_t m, const vect_t a)
	Create a premultiplication rotation matrix to turn the front of an object (its x-axis) to the given yaw, pitch, and roll, which is stored in radians in the vector a.
void	anim_ypr2vmat (mat_t m, const vect_t a)
	Create a post-multiplication rotation matrix ,which could be used to move the virtual camera to the given yaw, pitch, and roll, which are stored in radians in the given vector a. The following are equivalent sets of commands: ypr2vmat(matrix,a); or ypr2mat(matrix,a); v_permute(matrix); transpose(matrix;.
void	anim_y_p_r2mat (mat_t m, double y, double p, double r)
	Make matrix to rotate an object to the given yaw, pitch, and roll. (Specified in radians.).
void	anim_dy_p_r2mat (mat_t m, double y, double p, double r)
	Make matrix to rotate an object to the given yaw, pitch, and roll. (Specified in degrees.).
void	anim_dy_p_r2vmat (mat_t m, double yaw, double pch, double rll)
	Make a view rotation matrix, given desired yaw, pitch and roll. (Note that the matrix is a permutation of the object rotation matrix).
void	anim_x_y_z2mat (mat_t m, double x, double y, double z)
	Make a rotation matrix corresponding to a rotation of "x" radians about the x-axis, "y" radians about the y-axis, and then "z" radians about the z-axis.
void	anim_dx_y_z2mat (mat_t m, double x, double y, double z)
	Make a rotation matrix corresponding to a rotation of "x" degrees about the x-axis, "y" degrees about the y-axis, and then "z" degrees about the z-axis.
void	anim_zyx2mat (mat_t m, const vect_t a)
void	anim_z_y_x2mat (mat_t m, double x, double y, double z)
	Make a rotation matrix corresponding to a rotation of "z" radians about the z-axis, "y" radians about the y-axis, and then "x" radians about the x-axis.
void	anim_dz_y_x2mat (mat_t m, double x, double y, double z)
	Make a rotation matrix corresponding to a rotation of "z" degrees about the z-axis, "y" degrees about the y-axis, and then "x" degrees about the x-axis.
void	anim_quat2mat (mat_t m, const quat_t qq)
void	anim_dir2mat (mat_t m, const vect_t d, const vect_t d2)
void	anim_dirn2mat (mat_t m, const vect_t dx, const vect_t dn)
int	anim_steer_mat (mat_t mat, vect_t point, int end)
void	anim_add_trans (mat_t m, const vect_t post, const vect_t pre)
void	anim_rotatez (fastf_t a, vect_t d)
void	anim_mat_print (FILE *fp, const mat_t m, int s_colon)
void	anim_mat_printf (FILE *fp, const mat_t m, const char *formstr, const char *linestr, const char *endstr)
void	anim_view_rev (mat_t m)

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Detailed Description

Routines useful in animation programs.

Author:

Carl J. Nuzman

Source -

The U. S. Army Research Laboratory
Aberdeen Proving Ground, Maryland 21005-5068 USA

This file includes the following routines:

• anim_v_permute() apply camera animation permutation
• anim_v_unpermute() undo camera animation permutation
• anim_tran() transpose matrix in place
• anim_mat2zyx() extract angles from rotation matrix
• anim_mat2ypr() extract yaw,pitch,roll from rotation matrix
• anim_mat2quat() extract quaternion from rotation matrix
• anim_ypr2mat() create rotation matrix from ypr, etc.
• anim_ypr2vmat()
• anim_y_p_r2mat()
• anim_dy_p_r2mat()
• anim_dy_p_r2vmat()
• anim_x_y_z2mat()
• anim_dx_y_z2mat()
• anim_z_y_x2mat()
• anim_dz_y_x2mat()
• anim_quat2mat()
• anim_dir2mat() create rotation matrix from direction
• anim_dirn2mat() create rot matrix from dir and normal
• anim_steer_mat() automatic steering
• anim_add_trans() add pre- and post- translation to matrix
• anim_rotatez() rotate vector about z-axis
• anim_mat_print() print matrix with optional semi-colon
• anim_view_rev() reverse view matrix

Definition in file anim.c.

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