pkgeomd.h File Reference

#include "pkvaria.h"

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Data Structures
union	trans2d
struct	Box2d
union	trans3d
struct	Box3d
struct	ray3d
struct	ConvexCone2d
Defines
#define	SetVector2d(v, x, y)   SetPoint2d ( v, x, y )
#define	SetVector3d(v, x, y, z)   SetPoint3d ( v, x, y, z )
#define	Trans3RotXd(tr, angle)   Trans3Rotd ( tr, 2, 3, angle )
#define	Trans3RotYd(tr, angle)   Trans3Rotd ( tr, 3, 1, angle )
#define	Trans3RotZd(tr, angle)   Trans3Rotd ( tr, 1, 2, angle )
#define	RotXTrans3d(tr, angle)   RotTrans3d ( tr, 2, 3, angle )
#define	RotYTrans3d(tr, angle)   RotTrans3d ( tr, 3, 1, angle )
#define	RotZTrans3d(tr, angle)   RotTrans3d ( tr, 1, 2, angle )
#define	SetVector4d(v, X, Y, Z, W)   SetPoint4d ( v, X, Y, Z, W )
#define	SetQuaterniond(q, a, x, y, z)   SetVector4d ( q, x, y, z, a )
#define	AddQuaternionsd   AddVectors4d
Typedefs
typedef union trans2d	trans2d
typedef struct Box2d	Box2d
typedef union trans3d	trans3d
typedef struct Box3d	Box3d
typedef struct ray3d	ray3d
typedef vector4d	quaterniond
Functions
void	SetPoint2d (point2d *p, double x, double y)
void	TransPoint2d (const trans2d *tr, const point2d *p, point2d *q)
void	TransVector2d (const trans2d *tr, const vector2d *p, vector2d *q)
void	IdentTrans2d (trans2d *tr)
void	CompTrans2d (trans2d *s, trans2d *t, trans2d *u)
void	ShiftTrans2d (trans2d *tr, double tx, double ty)
void	RotTrans2d (trans2d *tr, double angle)
void	ScaleTrans2d (trans2d *tr, double sx, double sy)
void	Trans2Shiftd (trans2d *tr, double tx, double ty)
void	Trans2Rotd (trans2d *tr, double angle)
void	Trans2Scaled (trans2d *tr, double sx, double sy)
boolean	InvertTrans2d (trans2d *tr)
void	MultVector2d (double a, const vector2d *v, vector2d *w)
void	SubtractPoints2d (const point2d *p1, const point2d *p2, vector2d *v)
void	AddVector2d (const point2d *p, const vector2d *v, point2d *q)
void	AddVector2Md (const point2d *p, const vector2d *v, double t, point2d *q)
void	InterPoint2d (const point2d *p1, const point2d *p2, double t, point2d *q)
void	MidPoint2d (const point2d *p1, const point2d *p2, point2d *q)
void	Interp3Vectors2d (const vector2d *p0, const vector2d *p1, const vector2d *p2, const double *coeff, vector2d *p)
void	NormalizeVector2d (vector2d *v)
double	DotProduct2d (const vector2d *v1, const vector2d *v2)
double	det2d (const vector2d *v1, const vector2d *v2)
void	OrtVector2d (const vector2d *v1, const vector2d *v2, vector2d *v)
void	ProjectPointOnLine2d (const point2d *p0, const point2d *p1, point2d *q)
double	Point2Distanced (point2d *p, point2d *q)
short	ExtendConvexCone2d (ConvexCone2d *cone, double a)
short	ExtendConvexCone2dv (ConvexCone2d *cone, vector2d *v)
boolean	InsideConvexCone2d (ConvexCone2d *cone, double a)
void	Trans2Point3d (const trans2d *tr, const point3d *p, point3d *q)
void	SetPoint3d (point3d *p, double x, double y, double z)
void	Point3to2d (const point3d *P, point2d *p)
void	Point2to3d (const point2d *p, double w, point3d *P)
void	Point4to2d (const point4d *P, point2d *p)
void	Point2to4d (const point2d *p, float w, point4d *P)
void	TransPoint3d (const trans3d *tr, const point3d *p, point3d *q)
void	TransVector3d (const trans3d *tr, const vector3d *v, vector3d *w)
void	TransContra3d (const trans3d *tri, const vector3d *v, vector3d *w)
void	Trans3Point2d (const trans3d *tr, const point2d *p, point2d *q)
void	Trans3Point4d (const trans3d *tr, const point4d *p, point4d *q)
void	Trans3Shiftd (trans3d *tr, double tx, double ty, double tz)
void	Trans3Mirrord (trans3d *tr, vector3d *n)
void	Trans3Rotd (trans3d *tr, byte j, byte k, double angle)
void	Trans3RotVd (trans3d *tr, vector3d *v, double angle)
void	Trans3Scaled (trans3d *tr, double sx, double sy, double sz)
void	IdentTrans3d (trans3d *tr)
void	CompTrans3d (trans3d *s, trans3d *t, trans3d *u)
void	GeneralAffineTrans3d (trans3d *tr, vector3d *v1, vector3d *v2, vector3d *v3)
void	ShiftTrans3d (trans3d *tr, double tx, double ty, double tz)
void	MirrorTrans3d (trans3d *tr, vector3d *n)
void	RotTrans3d (trans3d *tr, byte j, byte k, double angle)
void	EulerRotTrans3d (trans3d *tr, double psi, double theta, double phi)
void	FindRotVEulerd (const vector3d *v, double angle, double *psi, double *theta, double *phi)
void	RotVTrans3d (trans3d *tr, vector3d *v, double angle)
void	ScaleTrans3d (trans3d *tr, double sx, double sy, double sz)
boolean	InvertTrans3d (trans3d *tr)
double	TrimAngled (double angle)
void	CompEulerRotd (double psi1, double theta1, double phi1, double psi2, double theta2, double phi2, double *psi, double *theta, double *phi)
void	CompRotV3d (const vector3d *v1, double a1, const vector3d *v2, double a2, vector3d *v, double *a)
void	MultVector3d (double a, const vector3d *v, vector3d *w)
void	SubtractPoints3d (const point3d *p1, const point3d *p2, vector3d *v)
void	AddVector3d (const point3d *p, const vector3d *v, point3d *q)
void	AddVector3Md (const point3d *p, const vector3d *v, double t, point3d *q)
void	InterPoint3d (const point3d *p1, const point3d *p2, double t, point3d *q)
void	MidPoint3d (const point3d *p1, const point3d *p2, point3d *q)
void	Interp3Vectors3d (const vector3d *p0, const vector3d *p1, const vector3d *p2, const double *coeff, vector3d *p)
void	NormalizeVector3d (vector3d *v)
double	DotProduct3d (const vector3d *v1, const vector3d *v2)
void	CrossProduct3d (const vector3d *v1, const vector3d *v2, vector3d *v)
double	det3d (const vector3d *v1, const vector3d *v2, const vector3d *v3)
void	OrtVector3d (const vector3d *v1, const vector3d *v2, vector3d *v)
void	ProjectPointOnLine3d (const point3d *p0, const point3d *p1, point3d *q)
void	ProjectPointOnPlane3d (const point3d *p0, const point3d *p1, const point3d *p2, point3d *q)
double	Point3Distanced (point3d *p, point3d *q)
void	SetPoint4d (point4d *p, double X, double Y, double Z, double W)
void	Point4to3d (const point4d *P, point3d *p)
void	Point3to4d (const point3d *p, double w, point4d *P)
void	SubtractPoints4d (const point4d *p1, const point4d *p2, vector4d *v)
void	AddVector4d (const point4d *p, const vector4d *v, point4d *q)
void	AddVector4Md (const point4d *p, const vector4d *v, double t, point4d *q)
void	MultVector4d (double a, const vector4d *v, vector4d *w)
void	InterPoint4d (const point4d *p1, const point4d *p2, double t, point4d *q)
void	MidPoint4d (const point4d *p1, const point4d *p2, point4d *q)
void	Interp3Vectors4d (const vector4d *p0, const vector4d *p1, const vector4d *p2, const double *coeff, vector4d *p)
void	NormalizeVector4d (vector4d *v)
double	det4d (const vector4d *v0, const vector4d *v1, const vector4d *v2, const vector4d *v3)
void	CrossProduct4d (const vector4d *v0, const vector4d *v1, const vector4d *v2, vector4d *v)
void	CrossProduct4P3d (const vector4d *v0, const vector4d *v1, const vector4d *v2, vector3d *v)
double	DotProduct4d (const vector4d *v0, const vector4d *v1)
void	OutProduct4P3d (const vector4d *v0, const vector4d *v1, vector3d *v)
void	OrtVector4d (const vector4d *v1, const vector4d *v2, vector4d *v)
void	ProjectPointOnLine4d (const point4d *p0, const point4d *p1, point4d *q)
void	ProjectPointOnPlane4d (const point4d *p0, const point4d *p1, const point4d *p2, point4d *q)
double	pkg_LineRayDist3d (ray3d *ray, point3d *q0, point3d *q1, double *rparam, double *lparam, point3d *rp, point3d *lp)
void	QuaternionMultd (quaterniond *q1, quaterniond *q2, quaterniond *q)
void	QuaternionMultInvd (quaterniond *q1, quaterniond *q2, quaterniond *q)
void	QuaternionInvMultd (quaterniond *q1, quaterniond *q2, quaterniond *q)
void	QuaternionRotTrans3d (trans3d *tr, quaterniond *q)
void	Trans3QuaternionRotd (trans3d *tr, quaterniond *q)

---

Define Documentation

#define AddQuaternionsd   AddVectors4d

#define RotXTrans3d	(		tr,
			angle
	)			RotTrans3d ( tr, 2, 3, angle )

#define RotYTrans3d	(		tr,
			angle
	)			RotTrans3d ( tr, 3, 1, angle )

#define RotZTrans3d	(		tr,
			angle
	)			RotTrans3d ( tr, 1, 2, angle )

#define SetQuaterniond	(		q,
			a,
			x,
			y,
			z
	)			SetVector4d ( q, x, y, z, a )

#define SetVector2d	(		v,
			x,
			y
	)			SetPoint2d ( v, x, y )

#define SetVector3d	(		v,
			x,
			y,
			z
	)			SetPoint3d ( v, x, y, z )

#define SetVector4d	(		v,
			X,
			Y,
			Z,
			W
	)			SetPoint4d ( v, X, Y, Z, W )

#define Trans3RotXd	(		tr,
			angle
	)			Trans3Rotd ( tr, 2, 3, angle )

#define Trans3RotYd	(		tr,
			angle
	)			Trans3Rotd ( tr, 3, 1, angle )

#define Trans3RotZd	(		tr,
			angle
	)			Trans3Rotd ( tr, 1, 2, angle )

---

Typedef Documentation

typedef struct Box2d Box2d

typedef struct Box3d Box3d

typedef vector4d quaterniond

typedef struct ray3d ray3d

typedef union trans2d trans2d

typedef union trans3d trans3d

---

Function Documentation

void AddVector2d	(	const point2d *	p,
		const vector2d *	v,
		point2d *	q
	)

void AddVector2Md	(	const point2d *	p,
		const vector2d *	v,
		double	t,
		point2d *	q
	)

void AddVector3d	(	const point3d *	p,
		const vector3d *	v,
		point3d *	q
	)

void AddVector3Md	(	const point3d *	p,
		const vector3d *	v,
		double	t,
		point3d *	q
	)

void AddVector4d	(	const point4d *	p,
		const vector4d *	v,
		point4d *	q
	)

void AddVector4Md	(	const point4d *	p,
		const vector4d *	v,
		double	t,
		point4d *	q
	)

void CompEulerRotd	(	double	psi1,
		double	theta1,
		double	phi1,
		double	psi2,
		double	theta2,
		double	phi2,
		double *	psi,
		double *	theta,
		double *	phi
	)

void CompRotV3d	(	const vector3d *	v1,
		double	a1,
		const vector3d *	v2,
		double	a2,
		vector3d *	v,
		double *	a
	)

void CompTrans2d	(	trans2d *	s,
		trans2d *	t,
		trans2d *	u
	)

void CompTrans3d	(	trans3d *	s,
		trans3d *	t,
		trans3d *	u
	)

void CrossProduct3d	(	const vector3d *	v1,
		const vector3d *	v2,
		vector3d *	v
	)

void CrossProduct4d	(	const vector4d *	v0,
		const vector4d *	v1,
		const vector4d *	v2,
		vector4d *	v
	)

void CrossProduct4P3d	(	const vector4d *	v0,
		const vector4d *	v1,
		const vector4d *	v2,
		vector3d *	v
	)

double det2d	(	const vector2d *	v1,
		const vector2d *	v2
	)

double det3d	(	const vector3d *	v1,
		const vector3d *	v2,
		const vector3d *	v3
	)

double det4d	(	const vector4d *	v0,
		const vector4d *	v1,
		const vector4d *	v2,
		const vector4d *	v3
	)

double DotProduct2d	(	const vector2d *	v1,
		const vector2d *	v2
	)

double DotProduct3d	(	const vector3d *	v1,
		const vector3d *	v2
	)

double DotProduct4d	(	const vector4d *	v0,
		const vector4d *	v1
	)

void EulerRotTrans3d	(	trans3d *	tr,
		double	psi,
		double	theta,
		double	phi
	)

short ExtendConvexCone2d	(	ConvexCone2d *	cone,
		double	a
	)

short ExtendConvexCone2dv	(	ConvexCone2d *	cone,
		vector2d *	v
	)

void FindRotVEulerd	(	const vector3d *	v,
		double	angle,
		double *	psi,
		double *	theta,
		double *	phi
	)

void GeneralAffineTrans3d	(	trans3d *	tr,
		vector3d *	v1,
		vector3d *	v2,
		vector3d *	v3
	)

void IdentTrans2d

(

trans2d *

tr

)

void IdentTrans3d

(

trans3d *

tr

)

boolean InsideConvexCone2d	(	ConvexCone2d *	cone,
		double	a
	)

void Interp3Vectors2d	(	const vector2d *	p0,
		const vector2d *	p1,
		const vector2d *	p2,
		const double *	coeff,
		vector2d *	p
	)

void Interp3Vectors3d	(	const vector3d *	p0,
		const vector3d *	p1,
		const vector3d *	p2,
		const double *	coeff,
		vector3d *	p
	)

void Interp3Vectors4d	(	const vector4d *	p0,
		const vector4d *	p1,
		const vector4d *	p2,
		const double *	coeff,
		vector4d *	p
	)

void InterPoint2d	(	const point2d *	p1,
		const point2d *	p2,
		double	t,
		point2d *	q
	)

void InterPoint3d	(	const point3d *	p1,
		const point3d *	p2,
		double	t,
		point3d *	q
	)

void InterPoint4d	(	const point4d *	p1,
		const point4d *	p2,
		double	t,
		point4d *	q
	)

boolean InvertTrans2d

(

trans2d *

tr

)

boolean InvertTrans3d

(

trans3d *

tr

)

void MidPoint2d	(	const point2d *	p1,
		const point2d *	p2,
		point2d *	q
	)

void MidPoint3d	(	const point3d *	p1,
		const point3d *	p2,
		point3d *	q
	)

void MidPoint4d	(	const point4d *	p1,
		const point4d *	p2,
		point4d *	q
	)

void MirrorTrans3d	(	trans3d *	tr,
		vector3d *	n
	)

void MultVector2d	(	double	a,
		const vector2d *	v,
		vector2d *	w
	)

void MultVector3d	(	double	a,
		const vector3d *	v,
		vector3d *	w
	)

void MultVector4d	(	double	a,
		const vector4d *	v,
		vector4d *	w
	)

void NormalizeVector2d

(

vector2d *

v

)

void NormalizeVector3d

(

vector3d *

v

)

void NormalizeVector4d

(

vector4d *

v

)

void OrtVector2d	(	const vector2d *	v1,
		const vector2d *	v2,
		vector2d *	v
	)

void OrtVector3d	(	const vector3d *	v1,
		const vector3d *	v2,
		vector3d *	v
	)

void OrtVector4d	(	const vector4d *	v1,
		const vector4d *	v2,
		vector4d *	v
	)

void OutProduct4P3d	(	const vector4d *	v0,
		const vector4d *	v1,
		vector3d *	v
	)

double pkg_LineRayDist3d	(	ray3d *	ray,
		point3d *	q0,
		point3d *	q1,
		double *	rparam,
		double *	lparam,
		point3d *	rp,
		point3d *	lp
	)

double Point2Distanced	(	point2d *	p,
		point2d *	q
	)

void Point2to3d	(	const point2d *	p,
		double	w,
		point3d *	P
	)

void Point2to4d	(	const point2d *	p,
		float	w,
		point4d *	P
	)

double Point3Distanced	(	point3d *	p,
		point3d *	q
	)

void Point3to2d	(	const point3d *	P,
		point2d *	p
	)

void Point3to4d	(	const point3d *	p,
		double	w,
		point4d *	P
	)

void Point4to2d	(	const point4d *	P,
		point2d *	p
	)

void Point4to3d	(	const point4d *	P,
		point3d *	p
	)

void ProjectPointOnLine2d	(	const point2d *	p0,
		const point2d *	p1,
		point2d *	q
	)

void ProjectPointOnLine3d	(	const point3d *	p0,
		const point3d *	p1,
		point3d *	q
	)

void ProjectPointOnLine4d	(	const point4d *	p0,
		const point4d *	p1,
		point4d *	q
	)

void ProjectPointOnPlane3d	(	const point3d *	p0,
		const point3d *	p1,
		const point3d *	p2,
		point3d *	q
	)

void ProjectPointOnPlane4d	(	const point4d *	p0,
		const point4d *	p1,
		const point4d *	p2,
		point4d *	q
	)

void QuaternionInvMultd	(	quaterniond *	q1,
		quaterniond *	q2,
		quaterniond *	q
	)

void QuaternionMultd	(	quaterniond *	q1,
		quaterniond *	q2,
		quaterniond *	q
	)

void QuaternionMultInvd	(	quaterniond *	q1,
		quaterniond *	q2,
		quaterniond *	q
	)

void QuaternionRotTrans3d	(	trans3d *	tr,
		quaterniond *	q
	)

void RotTrans2d	(	trans2d *	tr,
		double	angle
	)

void RotTrans3d	(	trans3d *	tr,
		byte	j,
		byte	k,
		double	angle
	)

void RotVTrans3d	(	trans3d *	tr,
		vector3d *	v,
		double	angle
	)

void ScaleTrans2d	(	trans2d *	tr,
		double	sx,
		double	sy
	)

void ScaleTrans3d	(	trans3d *	tr,
		double	sx,
		double	sy,
		double	sz
	)

void SetPoint2d	(	point2d *	p,
		double	x,
		double	y
	)

void SetPoint3d	(	point3d *	p,
		double	x,
		double	y,
		double	z
	)

void SetPoint4d	(	point4d *	p,
		double	X,
		double	Y,
		double	Z,
		double	W
	)

void ShiftTrans2d	(	trans2d *	tr,
		double	tx,
		double	ty
	)

void ShiftTrans3d	(	trans3d *	tr,
		double	tx,
		double	ty,
		double	tz
	)

void SubtractPoints2d	(	const point2d *	p1,
		const point2d *	p2,
		vector2d *	v
	)

void SubtractPoints3d	(	const point3d *	p1,
		const point3d *	p2,
		vector3d *	v
	)

void SubtractPoints4d	(	const point4d *	p1,
		const point4d *	p2,
		vector4d *	v
	)

void Trans2Point3d	(	const trans2d *	tr,
		const point3d *	p,
		point3d *	q
	)

void Trans2Rotd	(	trans2d *	tr,
		double	angle
	)

void Trans2Scaled	(	trans2d *	tr,
		double	sx,
		double	sy
	)

void Trans2Shiftd	(	trans2d *	tr,
		double	tx,
		double	ty
	)

void Trans3Mirrord	(	trans3d *	tr,
		vector3d *	n
	)

void Trans3Point2d	(	const trans3d *	tr,
		const point2d *	p,
		point2d *	q
	)

void Trans3Point4d	(	const trans3d *	tr,
		const point4d *	p,
		point4d *	q
	)

void Trans3QuaternionRotd	(	trans3d *	tr,
		quaterniond *	q
	)

void Trans3Rotd	(	trans3d *	tr,
		byte	j,
		byte	k,
		double	angle
	)

void Trans3RotVd	(	trans3d *	tr,
		vector3d *	v,
		double	angle
	)

void Trans3Scaled	(	trans3d *	tr,
		double	sx,
		double	sy,
		double	sz
	)

void Trans3Shiftd	(	trans3d *	tr,
		double	tx,
		double	ty,
		double	tz
	)

void TransContra3d	(	const trans3d *	tri,
		const vector3d *	v,
		vector3d *	w
	)

void TransPoint2d	(	const trans2d *	tr,
		const point2d *	p,
		point2d *	q
	)

void TransPoint3d	(	const trans3d *	tr,
		const point3d *	p,
		point3d *	q
	)

void TransVector2d	(	const trans2d *	tr,
		const vector2d *	p,
		vector2d *	q
	)

void TransVector3d	(	const trans3d *	tr,
		const vector3d *	v,
		vector3d *	w
	)

double TrimAngled

(

double

angle

)