rotate3D.h

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/* This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
   License as published by the Free Software Foundation; either
   version 2.1 of the License, or (at your option) any later version.

   This library is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   Lesser General Public License for more details.

   You should have received a copy of the GNU Lesser General Public
   License along with this library; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef _GAN_ROTATE3D_H
#define _GAN_ROTATE3D_H

#include <stdarg.h>
#include <gandalf/linalg/3vector.h>
#include <gandalf/linalg/4vector.h>
#include <gandalf/linalg/3x3matrix.h>
#include <gandalf/linalg/3x4matrix.h>
#include <gandalf/linalg/4x4matrix.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum
{
   GAN_ROT3D_QUATERNION,

   GAN_ROT3D_EXPONENTIAL,

   GAN_ROT3D_ANGLE_AXIS,

   GAN_ROT3D_MATRIX
} Gan_Rot3D_Type;

typedef struct Gan_Quaternion
{
   double q0; 
   double q1; 
   double q2; 
   double q3; 
} Gan_Quaternion;

typedef struct Gan_Rot3D
{
   Gan_Rot3D_Type type;

   union
   {
      Gan_Quaternion q;

      Gan_Vector3 r;

      struct { Gan_Vector3 axis; double angle; } aa;

      Gan_Matrix33 R;
   } data;
} Gan_Rot3D;

typedef struct Gan_Rot3D_Cov
{
   Gan_Rot3D_Type type;

   union
   {
      Gan_SquMatrix44 q;

      Gan_SquMatrix33 r;
   } data;
} Gan_Rot3D_Cov;

/* quaternion functions */

 void           gan_quat_fill_q ( Gan_Quaternion *q,
                                 double q0, double q1,
                                 double q2, double q3 );
 Gan_Quaternion gan_quat_fill_s ( double q0, double q1,
                                 double q2, double q3 );
 Gan_Quaternion gan_quat_scale_s  ( Gan_Quaternion *q, double s );
 Gan_Quaternion gan_quat_divide_s ( Gan_Quaternion *q, double s );
 Gan_Quaternion gan_quat_unit_s ( Gan_Quaternion *q );

 Gan_Quaternion *gan_quat_scale_q ( Gan_Quaternion *q1, double s,
                                   Gan_Quaternion *q2 );

 Gan_Quaternion *gan_quat_scale_i ( Gan_Quaternion *q1, double s );

 Gan_Quaternion *gan_quat_divide_q ( Gan_Quaternion *q1, double s,
                                    Gan_Quaternion *q2 );

 Gan_Quaternion *gan_quat_divide_i ( Gan_Quaternion *q1, double s );

 Gan_Quaternion *gan_quat_unit_q ( Gan_Quaternion *q1, Gan_Quaternion *q2 );

 Gan_Quaternion *gan_quat_unit_i ( Gan_Quaternion *q1 );

 double gan_quat_sqrlen_q ( Gan_Quaternion *q1 );

 double gan_quat_sqrlen_s ( Gan_Quaternion *q1 );

 Gan_Quaternion *gan_quat_add_q ( Gan_Quaternion *q1, Gan_Quaternion *q2,
                                 Gan_Quaternion *q3 );

 Gan_Quaternion *gan_quat_sub_q ( Gan_Quaternion *q1, Gan_Quaternion *q2,
                                 Gan_Quaternion *q3 );

 Gan_Bool gan_rot3D_build_quaternion ( Gan_Rot3D *rot,
                                      double q0, double q1,
                                      double q2, double q3 );
 Gan_Bool gan_rot3D_build_exponential ( Gan_Rot3D *rot,
                                       double rx, double ry, double rz );
 Gan_Bool gan_rot3D_build_angle_axis ( Gan_Rot3D *rot,
                                      double angle,
                                      double ax, double ay, double az );
 Gan_Bool gan_rot3D_build_matrix ( Gan_Rot3D *rot,
                                  double Rxx, double Rxy, double Rxz,
                                  double Ryx, double Ryy, double Ryz,
                                  double Rzx, double Rzy, double Rzz );
 Gan_Bool  gan_rot3D_ident_q ( Gan_Rot3D *rot, Gan_Rot3D_Type type );
 Gan_Rot3D gan_rot3D_ident_s ( Gan_Rot3D_Type type );
 Gan_Bool  gan_rot3D_apply_v3_q ( Gan_Rot3D *rot,
                                 Gan_Vector3 *X, Gan_Vector3 *X_new );
 Gan_Vector3 gan_rot3D_apply_v3_s ( Gan_Rot3D *rot, Gan_Vector3 *X );
 Gan_Bool  gan_rot3D_mult_q ( Gan_Rot3D *rot1, Gan_Rot3D *rot2,
                             Gan_Rot3D *rot3 );
 Gan_Rot3D gan_rot3D_mult_s ( Gan_Rot3D *rot1, Gan_Rot3D *rot2 );
 Gan_Bool  gan_rot3D_multI_q ( Gan_Rot3D *rot1, Gan_Rot3D *rot2,
                              Gan_Rot3D *rot3 );
 Gan_Rot3D gan_rot3D_multI_s ( Gan_Rot3D *rot1, Gan_Rot3D *rot2 );
 Gan_Bool  gan_rot3D_scale_q ( Gan_Rot3D *rot_s, double scale,
                              Gan_Rot3D *rot_d );
 Gan_Rot3D gan_rot3D_scale_s ( Gan_Rot3D *rot_s, double scale );
 Gan_Bool  gan_rot3D_divide_q ( Gan_Rot3D *rot_s, double scale,
                              Gan_Rot3D *rot_d );
 Gan_Rot3D gan_rot3D_divide_s ( Gan_Rot3D *rot_s, double scale );
 Gan_Bool  gan_rot3D_add_q ( Gan_Rot3D *rot1, Gan_Rot3D *rot2, Gan_Rot3D *rot3);
 Gan_Rot3D gan_rot3D_add_s ( Gan_Rot3D *rot1, Gan_Rot3D *rot2 );
 Gan_Bool  gan_rot3D_sub_q ( Gan_Rot3D *rot1, Gan_Rot3D *rot2, Gan_Rot3D *rot3);
 Gan_Rot3D gan_rot3D_sub_s ( Gan_Rot3D *rot1, Gan_Rot3D *rot2 );
 Gan_Bool  gan_rot3D_convert_q ( Gan_Rot3D *rot_s, Gan_Rot3D_Type type,
                                Gan_Rot3D *rot_d );
 Gan_Rot3D gan_rot3D_convert_s ( Gan_Rot3D *rot_s, Gan_Rot3D_Type type );
 Gan_Bool  gan_rot3D_from_quaternion_q ( Gan_Rot3D *rot,
                                      Gan_Quaternion *q, Gan_Rot3D_Type type );
 Gan_Bool  gan_rot3D_from_exponential_q ( Gan_Rot3D *rot,
                                         Gan_Vector3 *r, Gan_Rot3D_Type type );
 Gan_Rot3D gan_rot3D_from_quaternion_s ( Gan_Quaternion *q,
                                        Gan_Rot3D_Type type );
 Gan_Rot3D gan_rot3D_from_exponential_s ( Gan_Vector3 *r, Gan_Rot3D_Type type );
 Gan_Bool  gan_rot3D_from_angle_axis_q ( Gan_Rot3D *rot,
                                        double angle, Gan_Vector3 *axis,
                                        Gan_Rot3D_Type type );
 Gan_Rot3D gan_rot3D_from_angle_axis_s ( double angle, Gan_Vector3 *axis,
                                        Gan_Rot3D_Type type );
 Gan_Bool  gan_rot3D_from_matrix_q ( Gan_Rot3D *rot,
                                    Gan_Matrix33 *R, Gan_Rot3D_Type type );
 Gan_Rot3D gan_rot3D_from_matrix_s ( Gan_Matrix33 *R, Gan_Rot3D_Type type );
 Gan_Bool  gan_rot3D_matrix_adjust ( Gan_Matrix33 *R );

 Gan_Bool gan_rot3D_scale_i ( Gan_Rot3D *rot, double s );

 Gan_Bool gan_rot3D_divide_i ( Gan_Rot3D *rot, double s );

 Gan_Bool gan_rot3D_increment ( Gan_Rot3D *rot1, Gan_Rot3D *rot2 );

 Gan_Bool gan_rot3D_add_i2 ( Gan_Rot3D *rot1, Gan_Rot3D *rot2 );

 Gan_Bool gan_rot3D_decrement ( Gan_Rot3D *rot1, Gan_Rot3D *rot2 );

 Gan_Bool gan_rot3D_sub_i2 ( Gan_Rot3D *rot1, Gan_Rot3D *rot2 );

#ifdef __cplusplus
}
#endif

#endif /* #ifndef _GAN_ROTATE3D_H */

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