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/* Copyright (C) 2009 Wildfire Games.
* This file is part of 0 A.D.
*
* 0 A.D. is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* 0 A.D. 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with 0 A.D. If not, see <http://www.gnu.org/licenses/>.
*/
/**** Decompose.h - Basic declarations ****/
#ifndef INCLUDED_DECOMPOSE
#define INCLUDED_DECOMPOSE
typedef struct {float x, y, z, w;} Quat; /* Quaternion */
enum QuatPart {X, Y, Z, W};
typedef Quat HVect; /* Homogeneous 3D vector */
typedef float HMatrix[4][4]; /* Right-handed, for column vectors */
typedef struct {
HVect t; /* Translation components */
Quat q; /* Essential rotation */
Quat u; /* Stretch rotation */
HVect k; /* Stretch factors */
float f; /* Sign of determinant */
} AffineParts;
float polar_decomp(HMatrix M, HMatrix Q, HMatrix S);
HVect spect_decomp(HMatrix S, HMatrix U);
Quat snuggle(Quat q, HVect *k);
void decomp_affine(HMatrix A, AffineParts *parts);
void invert_affine(AffineParts *parts, AffineParts *inverse);
#endif
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