BRLCAD

Files  
file  tabdata.c 
Routines for processing tables (curves) of data with one independent parameter which is common to many sets of dependent data values.  
Functions  
void  anim_v_permute (mat_t m) 
Routines useful in animation programs. 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 yawpitchroll form, that is to say, +roll degrees about the xaxis, pitch degrees about the yaxis, and +yaw degrees about the zaxis. 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 xaxis) 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 postmultiplication 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 xaxis, "y" radians about the yaxis, and then "z" radians about the zaxis. 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 xaxis, "y" degrees about the yaxis, and then "z" degrees about the zaxis. More...  
void  anim_zyx2mat (mat_t m, const vect_t a) 
Make a rotation matrix corresponding to a rotation of "z" radians about the zaxis, "y" radians about the yaxis, and then "x" radians about the xaxis. 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 zaxis, "y" radians about the yaxis, and then "x" radians about the xaxis. 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 zaxis, "y" degrees about the yaxis, and then "x" degrees about the xaxis. 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 xaxis to point in the desired direction, staying "rightside up" (i.e. the yaxis never has a zcomponent). 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 xaxis to point in the desired direction, staying "rightside 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 yaxis 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 xaxis 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 zaxis. 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 rightside up. More...  
void anim_v_permute  (  mat_t  m  ) 
Routines useful in animation programs.
Orientation conventions: The default object orientation is facing the positive xaxis, with the positive yaxis to the object's left and the positive zaxis above the object.
The default view orientation for rt and mged is facing the negative zaxis, with the negative xaxis leading to the left and the positive yaxis going upwards. Premultiply a rotation matrix by a matrix which maps the zaxis to the negative xaxis, the yaxis to the zaxis and the xaxis to the negative yaxis.
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.
Definition at line 38 of file anim.c.
Referenced by ged_ypr().
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.
Definition at line 53 of file anim.c.
Referenced by ged_ypr().
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 yawpitchroll form, that is to say, +roll degrees about the xaxis, pitch degrees about the yaxis, and +yaw degrees about the zaxis. 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.
Definition at line 149 of file anim.c.
References ERROR1, ERROR2, M_PI, NORMAL, and ZERO.
Referenced by ged_ypr().
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  
) 
void anim_ypr2vmat  (  mat_t  m, 
const vect_t  a  
) 
Create a postmultiplication 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  
) 
void anim_dy_p_r2mat  (  mat_t  m, 
double  y,  
double  p,  
double  r  
) 
void anim_dy_p_r2vmat  (  mat_t  m, 
double  yaw,  
double  pch,  
double  rll  
) 
void anim_x_y_z2mat  (  mat_t  m, 
double  x,  
double  y,  
double  z  
) 
void anim_dx_y_z2mat  (  mat_t  m, 
double  x,  
double  y,  
double  z  
) 
void anim_zyx2mat  (  mat_t  m, 
const vect_t  a  
) 
void anim_z_y_x2mat  (  mat_t  m, 
double  x,  
double  y,  
double  z  
) 
void anim_dz_y_x2mat  (  mat_t  m, 
double  x,  
double  y,  
double  z  
) 
void anim_quat2mat  (  mat_t  m, 
const quat_t  
) 
void anim_dir2mat  (  mat_t  m, 
const vect_t  d,  
const vect_t  d2  
) 
make a matrix which turns a vehicle from the xaxis to point in the desired direction, staying "rightside up" (i.e. the yaxis never has a zcomponent). A second direction vector is consulted when the given direction is vertical. This is intended to represent the direction from a previous frame.
Definition at line 580 of file anim.c.
void anim_dirn2mat  (  mat_t  m, 
const vect_t  dx,  
const vect_t  dn  
) 
make a matrix which turns a vehicle from the xaxis to point in the desired direction, staying "rightside 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 yaxis in the previous frame.
Definition at line 624 of file anim.c.
References bu_log(), sign(), and VSET.
Referenced by 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 xaxis 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.
Definition at line 691 of file anim.c.
References anim_dirn2mat(), ASM_EMPTY, ASM_FIRST, ASM_FULL, and VSET.
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  
) 