Routines useful for moving geometry. More...

Collaboration diagram for Animation:

Files
file	anim.h

Macros
#define	ANIM_STEER_NEW 0

#define	ANIM_STEER_END 1

#define	VSUBUNIT(a, b, c)

#define	FVSCAN(f, a) fscanf(f, "%lf %lf %lf", (a), (a)+1, (a)+2)

#define	FMATSCAN(f, m)

#define	VSCAN(a) scanf("%lf %lf %lf", (a), (a)+1, (a)+2)

#define	VPRINTS(t, a) printf("%s %f %f %f ", t, (a)[0], (a)[1], (a)[2])

#define	VPRINTN(t, a) printf("%s %f %f %f\n", t, (a)[0], (a)[1], (a)[2])

#define	MAT_MOVE(m, n) MAT_COPY(m, n)

#define	MAT3ZERO(m)

#define	MAT3IDN(m)

#define	MAT3MUL(o, a, b)

#define	MAT3SUM(o, a, b)

#define	MAT3DIF(o, a, b)

#define	MAT3SCALE(o, a, s)

#define	MAT3MOVE(o, a)

#define	MAT3XVEC(u, m, v)

#define	MAT3TO4(o, i)

#define	MAT4TO3(o, i)

#define	MAKE_TILDE(m, v)

#define	INERTIAL_MAT3(m, a, b)

Typedefs
typedef fastf_t	mat3_t[9]

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. More...

void	anim_v_unpermute (mat_t m)
	Undo the mapping done by anim_v_permute(). More...

void	anim_tran (mat_t m)
	Transpose matrix in place. More...

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. More...

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. More...

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. More...

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. More...

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: More...

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.) More...

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.) More...

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). More...

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. More...

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. More...

void	anim_zyx2mat (mat_t m, const vect_t a)
	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. More...

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. More...

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. More...

void	anim_quat2mat (mat_t m, const quat_t qq)
	Make 4x4 matrix from the given quaternion Note: these quaternions are the conjugates of the quaternions used in the librt/qmath.c quat_quat2mat() More...

void	anim_dir2mat (mat_t m, const vect_t d, const vect_t d2)
	make a matrix which turns a vehicle from the x-axis to point in the desired direction, staying "right-side up" (i.e. the y-axis never has a z-component). A second direction vector is consulted when the given direction is vertical. This is intended to represent the direction from a previous frame. More...

void	anim_dirn2mat (mat_t m, const vect_t dx, const vect_t dn)
	make a matrix which turns a vehicle from the x-axis to point in the desired direction, staying "right-side up". In cases where the direction is vertical, the second vector is consulted. The second vector defines a normal to the vertical plane into which the vehicle's x and z axes should be put. A good choice to put here is the direction of the vehicle's y-axis in the previous frame. More...

int	anim_steer_mat (mat_t mat, vect_t point, int end)
	given the next frame's position, remember the value of the previous frame's position and calculate a matrix which points the x-axis in the direction defined by those two positions. Return new matrix, and the remembered value of the current position, as arguments; return 1 as the normal value, and 0 when there is not yet information to remember. More...

void	anim_add_trans (mat_t m, const vect_t post, const vect_t pre)
	Add pre- and post- translation to a rotation matrix. The resulting matrix has the effect of performing the first translation, followed by the rotation, followed by the second translation. More...

void	anim_rotatez (fastf_t a, vect_t d)
	Rotate the vector "d" through "a" radians about the z-axis. More...

void	anim_mat_print (FILE *fp, const mat_t m, int s_colon)
	print out 4X4 matrix, with optional colon More...

void	anim_mat_printf (FILE fp, const mat_t m, const char formstr, const char linestr, const char endstr)
	print out 4X4 matrix. formstr must be less than twenty chars More...

void	anim_view_rev (mat_t m)
	Reverse the direction of a view matrix, keeping it right-side up. More...

Detailed Description

Routines useful for moving geometry.

Orientation conventions: The default object orientation is facing the positive x-axis, with the positive y-axis to the object's left and the positive z-axis above the object.

The default view orientation for rt and mged is facing the negative z-axis, with the negative x-axis leading to the left and the positive y-axis going upwards.

Macro Definition Documentation

◆ ANIM_STEER_NEW

#define ANIM_STEER_NEW 0

Definition at line 47 of file anim.h.

◆ ANIM_STEER_END

#define ANIM_STEER_END 1

Definition at line 48 of file anim.h.

◆ VSUBUNIT

#define VSUBUNIT	(	a,
		b,
		c
	)

Value:

        { \
        VSUB2(a, b, c); \
        VUNITIZE(a); \
    }

Definition at line 50 of file anim.h.

◆ FVSCAN

#define FVSCAN	(	f,
		a
	)	fscanf(f, "%lf %lf %lf", (a), (a)+1, (a)+2)

Definition at line 54 of file anim.h.

◆ FMATSCAN

#define FMATSCAN	(	f,
		m
	)

Value:

        { \
        FVSCAN(f, (m)); \
        FVSCAN(f, (m)+4); \
        FVSCAN(f, (m)+8); \
        FVSCAN(f, (m)+12); \
    }

Definition at line 55 of file anim.h.

◆ VSCAN

#define VSCAN ( a ) scanf("%lf %lf %lf", (a), (a)+1, (a)+2)

Definition at line 61 of file anim.h.

◆ VPRINTS

#define VPRINTS	(	t,
		a
	)	printf("%s %f %f %f ", t, (a)[0], (a)[1], (a)[2])

Definition at line 62 of file anim.h.

◆ VPRINTN

#define VPRINTN	(	t,
		a
	)	printf("%s %f %f %f\n", t, (a)[0], (a)[1], (a)[2])

Definition at line 63 of file anim.h.

◆ MAT_MOVE

#define MAT_MOVE	(	m,
		n
	)	MAT_COPY(m, n)

Definition at line 65 of file anim.h.

◆ MAT3ZERO

#define MAT3ZERO ( m )

Value:

{\

int _j; for (_j=0;_j<9;_j++) m[_j]=0.0;}

Definition at line 71 of file anim.h.

◆ MAT3IDN

#define MAT3IDN ( m )

Value:

        {\
        int _j; for (_j=0;_j<9;_j++) m[_j]=0.0;\
        m[0] = m[4] = m[8] = 1.0;}

Definition at line 74 of file anim.h.

◆ MAT3MUL

#define MAT3MUL	(	o,
		a,
		b
	)

Value:

        {\
        (o)[0] = (a)[0]*(b)[0] + (a)[1]*(b)[3] + (a)[2]*(b)[6];\
        (o)[1] = (a)[0]*(b)[1] + (a)[1]*(b)[4] + (a)[2]*(b)[7];\
        (o)[2] = (a)[0]*(b)[2] + (a)[1]*(b)[5] + (a)[2]*(b)[8];\
        (o)[3] = (a)[3]*(b)[0] + (a)[4]*(b)[3] + (a)[5]*(b)[6];\
        (o)[4] = (a)[3]*(b)[1] + (a)[4]*(b)[4] + (a)[5]*(b)[7];\
        (o)[5] = (a)[3]*(b)[2] + (a)[4]*(b)[5] + (a)[5]*(b)[8];\
        (o)[6] = (a)[6]*(b)[0] + (a)[7]*(b)[3] + (a)[8]*(b)[6];\
        (o)[7] = (a)[6]*(b)[1] + (a)[7]*(b)[4] + (a)[8]*(b)[7];\
        (o)[8] = (a)[6]*(b)[2] + (a)[7]*(b)[5] + (a)[8]*(b)[8];}

Definition at line 78 of file anim.h.

◆ MAT3SUM

#define MAT3SUM	(	o,
		a,
		b
	)

Value:

{\

int _j; for (_j=0;_j<9;_j++) (o)[_j]=(a)[_j]+(b)[_j];}

Definition at line 89 of file anim.h.

◆ MAT3DIF

#define MAT3DIF	(	o,
		a,
		b
	)

Value:

{\

int _j; for (_j=0;_j<9;_j++) (o)[_j]=(a)[_j]-(b)[_j];}

Definition at line 92 of file anim.h.

◆ MAT3SCALE

#define MAT3SCALE	(	o,
		a,
		s
	)

Value:

{\

int _j; for (_j=0;_j<9;_j++) (o)[_j]=(a)[_j] * (s);}

Definition at line 95 of file anim.h.

◆ MAT3MOVE

#define MAT3MOVE	(	o,
		a
	)

Value:

{\

int _j; for (_j=0;_j<9;_j++) (o)[_j] = (a)[_j];}

Definition at line 98 of file anim.h.

◆ MAT3XVEC

#define MAT3XVEC	(	u,
		m,
		v
	)

Value:

        {\
        (u)[0] = (m)[0]*(v)[0] + (m)[1]*(v)[1] + (m)[2]*(v)[2];\
        (u)[1] = (m)[3]*(v)[0] + (m)[4]*(v)[1] + (m)[5]*(v)[2];\
        (u)[2] = (m)[6]*(v)[0] + (m)[7]*(v)[1] + (m)[8]*(v)[2];}

Definition at line 101 of file anim.h.

◆ MAT3TO4

#define MAT3TO4	(	o,
		i
	)

Value:

        {\
        (o)[0] = (i)[0];\
        (o)[1] = (i)[1];\
        (o)[2] = (i)[2];\
        (o)[4] = (i)[3];\
        (o)[5] = (i)[4];\
        (o)[6] = (i)[5];\
        (o)[8] = (i)[6];\
        (o)[9] = (i)[7];\
        (o)[10] = (i)[8];\
        (o)[3]=(o)[7]=(o)[11]=(o)[12]=(o)[13]=(o)[14]=0.0;\
        (o)[15]=1.0;}

Definition at line 106 of file anim.h.

◆ MAT4TO3

#define MAT4TO3	(	o,
		i
	)

Value:

        {\
        (o)[0] = (i)[0];\
        (o)[1] = (i)[1];\
        (o)[2] = (i)[2];\
        (o)[3] = (i)[4];\
        (o)[4] = (i)[5];\
        (o)[5] = (i)[6];\
        (o)[6] = (i)[8];\
        (o)[7] = (i)[9];\
        (o)[8] = (i)[10];}

Definition at line 119 of file anim.h.

◆ MAKE_TILDE

#define MAKE_TILDE	(	m,
		v
	)

Value:

        {\
        MAT3ZERO(m);\
        m[1]= -v[2];    m[2]=v[1];      m[3]= v[2];\
        m[5]= -v[0];    m[6]= -v[1];    m[7]= v[0];}

tilde matrix: [M]a = v X a

Definition at line 131 of file anim.h.

◆ INERTIAL_MAT3

#define INERTIAL_MAT3	(	m,
		a,
		b
	)

Value:

        {\
        (m)[0] =  (a)[0]; (m)[1] = -(b)[0]; (m)[2] = -(b)[1];\
        (m)[3] = -(b)[0]; (m)[4] =  (a)[1]; (m)[5] = -(b)[2];\
        (m)[6] = -(b)[1]; (m)[7] = -(b)[2]; (m)[8]=  (a)[2];}

a = Ix Iy Iz b = Ixy Ixz Iyz

Definition at line 137 of file anim.h.

Typedef Documentation

◆ mat3_t

typedef fastf_t mat3_t[9]

Definition at line 69 of file anim.h.

Function Documentation

◆ anim_v_permute()

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.

This has the effect of twisting an object in the default view orientation into the default object orientation before applying the matrix. Given a matrix designed to operate on an object, yield a matrix which operates on the view.

◆ anim_v_unpermute()

void anim_v_unpermute ( mat_t m )

Undo the mapping done by anim_v_permute().

This has the effect of twisting an object in the default object orientation into the default view orientation before applying the matrix. Given a matrix designed to operate on the view, yield a matrix which operates on an object.

◆ anim_tran()

void anim_tran ( mat_t m )

Transpose matrix in place.

◆ anim_mat2zyx()

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.

◆ anim_mat2ypr()

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.

◆ anim_mat2quat()

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.

◆ anim_ypr2mat()

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.

◆ anim_ypr2vmat()

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;

◆ anim_y_p_r2mat()

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.)

◆ anim_dy_p_r2mat()

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.)

◆ anim_dy_p_r2vmat()

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).

◆ anim_x_y_z2mat()

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.

◆ anim_dx_y_z2mat()

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.

◆ anim_zyx2mat()

void anim_zyx2mat	(	mat_t	m,
		const vect_t	a
	)

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.

◆ anim_z_y_x2mat()

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.

◆ anim_dz_y_x2mat()

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.

◆ anim_quat2mat()

void anim_quat2mat	(	mat_t	m,
		const quat_t	qq
	)

Make 4x4 matrix from the given quaternion Note: these quaternions are the conjugates of the quaternions used in the librt/qmath.c quat_quat2mat()

◆ anim_dir2mat()

void anim_dir2mat	(	mat_t	m,
		const vect_t	d,
		const vect_t	d2
	)

make a matrix which turns a vehicle from the x-axis to point in the desired direction, staying "right-side up" (i.e. the y-axis never has a z-component). A second direction vector is consulted when the given direction is vertical. This is intended to represent the direction from a previous frame.

◆ anim_dirn2mat()

void anim_dirn2mat	(	mat_t	m,
		const vect_t	dx,
		const vect_t	dn
	)

make a matrix which turns a vehicle from the x-axis to point in the desired direction, staying "right-side up". In cases where the direction is vertical, the second vector is consulted. The second vector defines a normal to the vertical plane into which the vehicle's x and z axes should be put. A good choice to put here is the direction of the vehicle's y-axis in the previous frame.

◆ anim_steer_mat()

int anim_steer_mat	(	mat_t	mat,
		vect_t	point,
		int	end
	)

given the next frame's position, remember the value of the previous frame's position and calculate a matrix which points the x-axis in the direction defined by those two positions. Return new matrix, and the remembered value of the current position, as arguments; return 1 as the normal value, and 0 when there is not yet information to remember.

◆ anim_add_trans()

void anim_add_trans	(	mat_t	m,
		const vect_t	post,
		const vect_t	pre
	)

Add pre- and post- translation to a rotation matrix. The resulting matrix has the effect of performing the first translation, followed by the rotation, followed by the second translation.

◆ anim_rotatez()

void anim_rotatez	(	fastf_t	a,
		vect_t	d
	)

Rotate the vector "d" through "a" radians about the z-axis.

◆ anim_mat_print()

void anim_mat_print	(	FILE *	fp,
		const mat_t	m,
		int	s_colon
	)

print out 4X4 matrix, with optional colon

◆ anim_mat_printf()

void anim_mat_printf	(	FILE *	fp,
		const mat_t	m,
		const char *	formstr,
		const char *	linestr,
		const char *	endstr
	)

print out 4X4 matrix. formstr must be less than twenty chars

◆ anim_view_rev()

void anim_view_rev ( mat_t m )

Reverse the direction of a view matrix, keeping it right-side up.

Files

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

◆ ANIM_STEER_NEW

◆ ANIM_STEER_END

◆ VSUBUNIT

◆ FVSCAN

◆ FMATSCAN

◆ VSCAN

◆ VPRINTS

◆ VPRINTN

◆ MAT_MOVE

◆ MAT3ZERO

◆ MAT3IDN

◆ MAT3MUL

◆ MAT3SUM

◆ MAT3DIF

◆ MAT3SCALE

◆ MAT3MOVE

◆ MAT3XVEC

◆ MAT3TO4

◆ MAT4TO3

◆ MAKE_TILDE

◆ INERTIAL_MAT3

Typedef Documentation

◆ mat3_t

Function Documentation

◆ anim_v_permute()

◆ anim_v_unpermute()

◆ anim_tran()

◆ anim_mat2zyx()

◆ anim_mat2ypr()

◆ anim_mat2quat()

◆ anim_ypr2mat()

◆ anim_ypr2vmat()

◆ anim_y_p_r2mat()

◆ anim_dy_p_r2mat()

◆ anim_dy_p_r2vmat()

◆ anim_x_y_z2mat()

◆ anim_dx_y_z2mat()

◆ anim_zyx2mat()

◆ anim_z_y_x2mat()

◆ anim_dz_y_x2mat()

◆ anim_quat2mat()

◆ anim_dir2mat()

◆ anim_dirn2mat()

◆ anim_steer_mat()

◆ anim_add_trans()

◆ anim_rotatez()

◆ anim_mat_print()

◆ anim_mat_printf()

◆ anim_view_rev()