pkgeomf.h File Reference

#include "pkvaria.h"

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Data Structures
union	trans2f
struct	Box2f
union	trans3f
struct	Box3f
struct	ray3f
struct	ConvexCone2f
Defines
#define	SetVector2f(v, x, y)   SetPoint2f ( v, x, y )
#define	SetVector3f(v, x, y, z)   SetPoint3f ( v, x, y, z )
#define	Trans3RotXf(tr, angle)   Trans3Rotf ( tr, 2, 3, angle )
#define	Trans3RotYTf(tr, angle)   Trans3Rotf ( tr, 3, 1, angle )
#define	Trans3RotZTf(tr, angle)   Trans3Rotf ( tr, 1, 2, angle )
#define	RotXTrans3f(tr, angle)   RotTrans3f ( tr, 2, 3, angle )
#define	RotYTrans3f(tr, angle)   RotTrans3f ( tr, 3, 1, angle )
#define	RotZTrans3f(tr, angle)   RotTrans3f ( tr, 1, 2, angle )
#define	SetVector4f(v, X, Y, Z, W)   SetPoint4f ( v, X, Y, Z, W )
#define	SetQuaternionf(q, a, x, y, z)   SetVector4f ( q, x, y, z, a )
#define	AddQuaternionsf   AddVectors4f
Typedefs
typedef union trans2f	trans2f
typedef struct Box2f	Box2f
typedef union trans3f	trans3f
typedef struct Box3f	Box3f
typedef struct ray3f	ray3f
typedef vector4f	quaternionf
Functions
void	SetPoint2f (point2f *p, float x, float y)
void	TransPoint2f (const trans2f *tr, const point2f *p, point2f *q)
void	TransVector2f (const trans2f *tr, const vector2f *p, vector2f *q)
void	IdentTrans2f (trans2f *tr)
void	CompTrans2f (trans2f *s, trans2f *t, trans2f *u)
void	ShiftTrans2f (trans2f *tr, float tx, float ty)
void	RotTrans2f (trans2f *tr, float angle)
void	ScaleTrans2f (trans2f *tr, float sx, float sy)
void	Trans2Shiftf (trans2f *tr, float tx, float ty)
void	Trans2Rotf (trans2f *tr, float angle)
void	Trans2Scalef (trans2f *tr, float sx, float sy)
boolean	InvertTrans2f (trans2f *tr)
void	MultVector2f (double a, const vector2f *v, vector2f *w)
void	SubtractPoints2f (const point2f *p1, const point2f *p2, vector2f *v)
void	AddVector2f (const point2f *p, const vector2f *v, point2f *q)
void	AddVector2Mf (const point2f *p, const vector2f *v, double t, point2f *q)
void	InterPoint2f (const point2f *p1, const point2f *p2, double t, point2f *q)
void	Interp3Vectors2f (const vector2f *p0, const vector2f *p1, const vector2f *p2, const float *coeff, vector2f *p)
void	NormalizeVector2f (vector2f *v)
void	MidPoint2f (const point2f *p1, const point2f *p2, point2f *q)
double	DotProduct2f (const vector2f *v1, const vector2f *v2)
double	det2f (const vector2f *v1, const vector2f *v2)
void	OrtVector2f (const vector2f *v1, const vector2f *v2, vector2f *v)
void	ProjectPointOnLine2f (const point2f *p0, const point2f *p1, point2f *q)
double	Point2Distancef (point2f *p, point2f *q)
short	ExtendConvexCone2f (ConvexCone2f *cone, float a)
short	ExtendConvexCone2fv (ConvexCone2f *cone, vector2f *v)
boolean	InsideConvexCone2f (ConvexCone2f *cone, float a)
void	Trans2Point3f (const trans2f *tr, const point3f *p, point3f *q)
void	SetPoint3f (point3f *p, float x, float y, float z)
void	Point3to2f (const point3f *P, point2f *p)
void	Point2to3f (const point2f *p, float w, point3f *P)
void	Point4to2f (const point4f *P, point2f *p)
void	Point2to4f (const point2f *p, float w, point4f *P)
void	TransPoint3f (const trans3f *tr, const point3f *p, point3f *q)
void	TransVector3f (const trans3f *tr, const vector3f *v, vector3f *w)
void	TransContra3f (const trans3f *tri, const vector3f *v, vector3f *w)
void	Trans3Point2f (const trans3f *tr, const point2f *p, point2f *q)
void	Trans3Point4f (const trans3f *tr, const point4f *p, point4f *q)
void	Trans3Shiftf (trans3f *tr, float tx, float ty, float tz)
void	Trans3Mirrorf (trans3f *tr, vector3f *n)
void	Trans3Rotf (trans3f *tr, byte j, byte k, float angle)
void	Trans3RotVf (trans3f *tr, vector3f *v, float angle)
void	Trans3Scalef (trans3f *tr, float sx, float sy, float sz)
void	IdentTrans3f (trans3f *tr)
void	CompTrans3f (trans3f *s, trans3f *t, trans3f *u)
void	GeneralAffineTrans3f (trans3f *tr, vector3f *v1, vector3f *v2, vector3f *v3)
void	ShiftTrans3f (trans3f *tr, float tx, float ty, float tz)
void	MirrorTrans3f (trans3f *tr, vector3f *n)
void	RotTrans3f (trans3f *tr, byte j, byte k, float angle)
void	EulerRotTrans3f (trans3f *tr, float psi, float theta, float phi)
void	FindRotVEulerf (const vector3f *v, float angle, float *psi, float *theta, float *phi)
void	RotVTrans3f (trans3f *tr, vector3f *v, float angle)
void	ScaleTrans3f (trans3f *tr, float sx, float sy, float sz)
boolean	InvertTrans3f (trans3f *tr)
float	TrimAnglef (float angle)
void	CompEulerRotf (float psi1, float theta1, float phi1, float psi2, float theta2, float phi2, float *psi, float *theta, float *phi)
void	CompRotV3f (const vector3f *v1, float a1, const vector3f *v2, float a2, vector3f *v, float *a)
void	MultVector3f (double a, const vector3f *v, vector3f *w)
void	SubtractPoints3f (const point3f *p1, const point3f *p2, vector3f *v)
void	AddVector3f (const point3f *p, const vector3f *v, point3f *q)
void	AddVector3Mf (const point3f *p, const vector3f *v, double t, point3f *q)
void	InterPoint3f (const point3f *p1, const point3f *p2, double t, point3f *q)
void	MidPoint3f (const point3f *p1, const point3f *p2, point3f *q)
void	Interp3Vectors3f (const vector3f *p0, const vector3f *p1, const vector3f *p2, const float *coeff, vector3f *p)
void	NormalizeVector3f (vector3f *v)
double	DotProduct3f (const vector3f *v1, const vector3f *v2)
void	CrossProduct3f (const vector3f *v1, const vector3f *v2, vector3f *v)
double	det3f (const vector3f *v1, const vector3f *v2, const vector3f *v3)
void	OrtVector3f (const vector3f *v1, const vector3f *v2, vector3f *v)
void	ProjectPointOnLine3f (const point3f *p0, const point3f *p1, point3f *q)
void	ProjectPointOnPlane3f (const point3f *p0, const point3f *p1, const point3f *p2, point3f *q)
double	Point3Distancef (point3f *p, point3f *q)
void	SetPoint4f (point4f *p, float X, float Y, float Z, float W)
void	Point4to3f (const point4f *P, point3f *p)
void	Point3to4f (const point3f *p, float w, point4f *P)
void	SubtractPoints4f (const point4f *p1, const point4f *p2, vector4f *v)
void	AddVector4f (const point4f *p, const vector4f *v, point4f *q)
void	AddVector4Mf (const point4f *p, const vector4f *v, double t, point4f *q)
void	MultVector4f (double a, const vector4f *v, vector4f *w)
void	InterPoint4f (const point4f *p1, const point4f *p2, double t, point4f *q)
void	MidPoint4f (const point4f *p1, const point4f *p2, point4f *q)
void	Interp3Vectors4f (const vector4f *p0, const vector4f *p1, const vector4f *p2, const float *coeff, vector4f *p)
void	NormalizeVector4f (vector4f *v)
double	det4f (const vector4f *v0, const vector4f *v1, const vector4f *v2, const vector4f *v3)
void	CrossProduct4f (const vector4f *v0, const vector4f *v1, const vector4f *v2, vector4f *v)
void	CrossProduct4P3f (const vector4f *v0, const vector4f *v1, const vector4f *v2, vector3f *v)
double	DotProduct4f (const vector4f *v0, const vector4f *v1)
void	OutProduct4P3f (const vector4f *v0, const vector4f *v1, vector3f *v)
void	OrtVector4f (const vector4f *v1, const vector4f *v2, vector4f *v)
void	ProjectPointOnLine4f (const point4f *p0, const point4f *p1, point4f *q)
void	ProjectPointOnPlane4f (const point4f *p0, const point4f *p1, const point4f *p2, point4f *q)
float	pkg_LineRayDist3f (ray3f *ray, point3f *q0, point3f *q1, float *rparam, float *lparam, point3f *rp, point3f *lp)
void	QuaternionMultf (quaternionf *q1, quaternionf *q2, quaternionf *q)
void	QuaternionMultInvf (quaternionf *q1, quaternionf *q2, quaternionf *q)
void	QuaternionInvMultf (quaternionf *q1, quaternionf *q2, quaternionf *q)
void	QuaternionRotTrans3f (trans3f *tr, quaternionf *q)
void	Trans3QuaternionRotf (trans3f *tr, quaternionf *q)

---

Define Documentation

#define AddQuaternionsf   AddVectors4f

#define RotXTrans3f	(		tr,
			angle
	)			RotTrans3f ( tr, 2, 3, angle )

#define RotYTrans3f	(		tr,
			angle
	)			RotTrans3f ( tr, 3, 1, angle )

#define RotZTrans3f	(		tr,
			angle
	)			RotTrans3f ( tr, 1, 2, angle )

#define SetQuaternionf	(		q,
			a,
			x,
			y,
			z
	)			SetVector4f ( q, x, y, z, a )

#define SetVector2f	(		v,
			x,
			y
	)			SetPoint2f ( v, x, y )

#define SetVector3f	(		v,
			x,
			y,
			z
	)			SetPoint3f ( v, x, y, z )

#define SetVector4f	(		v,
			X,
			Y,
			Z,
			W
	)			SetPoint4f ( v, X, Y, Z, W )

#define Trans3RotXf	(		tr,
			angle
	)			Trans3Rotf ( tr, 2, 3, angle )

#define Trans3RotYTf	(		tr,
			angle
	)			Trans3Rotf ( tr, 3, 1, angle )

#define Trans3RotZTf	(		tr,
			angle
	)			Trans3Rotf ( tr, 1, 2, angle )

---

Typedef Documentation

typedef struct Box2f Box2f

typedef struct Box3f Box3f

typedef vector4f quaternionf

typedef struct ray3f ray3f

typedef union trans2f trans2f

typedef union trans3f trans3f

---

Function Documentation

void AddVector2f	(	const point2f *	p,
		const vector2f *	v,
		point2f *	q
	)

void AddVector2Mf	(	const point2f *	p,
		const vector2f *	v,
		double	t,
		point2f *	q
	)

void AddVector3f	(	const point3f *	p,
		const vector3f *	v,
		point3f *	q
	)

void AddVector3Mf	(	const point3f *	p,
		const vector3f *	v,
		double	t,
		point3f *	q
	)

void AddVector4f	(	const point4f *	p,
		const vector4f *	v,
		point4f *	q
	)

void AddVector4Mf	(	const point4f *	p,
		const vector4f *	v,
		double	t,
		point4f *	q
	)

void CompEulerRotf	(	float	psi1,
		float	theta1,
		float	phi1,
		float	psi2,
		float	theta2,
		float	phi2,
		float *	psi,
		float *	theta,
		float *	phi
	)

void CompRotV3f	(	const vector3f *	v1,
		float	a1,
		const vector3f *	v2,
		float	a2,
		vector3f *	v,
		float *	a
	)

void CompTrans2f	(	trans2f *	s,
		trans2f *	t,
		trans2f *	u
	)

void CompTrans3f	(	trans3f *	s,
		trans3f *	t,
		trans3f *	u
	)

void CrossProduct3f	(	const vector3f *	v1,
		const vector3f *	v2,
		vector3f *	v
	)

void CrossProduct4f	(	const vector4f *	v0,
		const vector4f *	v1,
		const vector4f *	v2,
		vector4f *	v
	)

void CrossProduct4P3f	(	const vector4f *	v0,
		const vector4f *	v1,
		const vector4f *	v2,
		vector3f *	v
	)

double det2f	(	const vector2f *	v1,
		const vector2f *	v2
	)

double det3f	(	const vector3f *	v1,
		const vector3f *	v2,
		const vector3f *	v3
	)

double det4f	(	const vector4f *	v0,
		const vector4f *	v1,
		const vector4f *	v2,
		const vector4f *	v3
	)

double DotProduct2f	(	const vector2f *	v1,
		const vector2f *	v2
	)

double DotProduct3f	(	const vector3f *	v1,
		const vector3f *	v2
	)

double DotProduct4f	(	const vector4f *	v0,
		const vector4f *	v1
	)

void EulerRotTrans3f	(	trans3f *	tr,
		float	psi,
		float	theta,
		float	phi
	)

short ExtendConvexCone2f	(	ConvexCone2f *	cone,
		float	a
	)

short ExtendConvexCone2fv	(	ConvexCone2f *	cone,
		vector2f *	v
	)

void FindRotVEulerf	(	const vector3f *	v,
		float	angle,
		float *	psi,
		float *	theta,
		float *	phi
	)

void GeneralAffineTrans3f	(	trans3f *	tr,
		vector3f *	v1,
		vector3f *	v2,
		vector3f *	v3
	)

void IdentTrans2f

(

trans2f *

tr

)

void IdentTrans3f

(

trans3f *

tr

)

boolean InsideConvexCone2f	(	ConvexCone2f *	cone,
		float	a
	)

void Interp3Vectors2f	(	const vector2f *	p0,
		const vector2f *	p1,
		const vector2f *	p2,
		const float *	coeff,
		vector2f *	p
	)

void Interp3Vectors3f	(	const vector3f *	p0,
		const vector3f *	p1,
		const vector3f *	p2,
		const float *	coeff,
		vector3f *	p
	)

void Interp3Vectors4f	(	const vector4f *	p0,
		const vector4f *	p1,
		const vector4f *	p2,
		const float *	coeff,
		vector4f *	p
	)

void InterPoint2f	(	const point2f *	p1,
		const point2f *	p2,
		double	t,
		point2f *	q
	)

void InterPoint3f	(	const point3f *	p1,
		const point3f *	p2,
		double	t,
		point3f *	q
	)

void InterPoint4f	(	const point4f *	p1,
		const point4f *	p2,
		double	t,
		point4f *	q
	)

boolean InvertTrans2f

(

trans2f *

tr

)

boolean InvertTrans3f

(

trans3f *

tr

)

void MidPoint2f	(	const point2f *	p1,
		const point2f *	p2,
		point2f *	q
	)

void MidPoint3f	(	const point3f *	p1,
		const point3f *	p2,
		point3f *	q
	)

void MidPoint4f	(	const point4f *	p1,
		const point4f *	p2,
		point4f *	q
	)

void MirrorTrans3f	(	trans3f *	tr,
		vector3f *	n
	)

void MultVector2f	(	double	a,
		const vector2f *	v,
		vector2f *	w
	)

void MultVector3f	(	double	a,
		const vector3f *	v,
		vector3f *	w
	)

void MultVector4f	(	double	a,
		const vector4f *	v,
		vector4f *	w
	)

void NormalizeVector2f

(

vector2f *

v

)

void NormalizeVector3f

(

vector3f *

v

)

void NormalizeVector4f

(

vector4f *

v

)

void OrtVector2f	(	const vector2f *	v1,
		const vector2f *	v2,
		vector2f *	v
	)

void OrtVector3f	(	const vector3f *	v1,
		const vector3f *	v2,
		vector3f *	v
	)

void OrtVector4f	(	const vector4f *	v1,
		const vector4f *	v2,
		vector4f *	v
	)

void OutProduct4P3f	(	const vector4f *	v0,
		const vector4f *	v1,
		vector3f *	v
	)

float pkg_LineRayDist3f	(	ray3f *	ray,
		point3f *	q0,
		point3f *	q1,
		float *	rparam,
		float *	lparam,
		point3f *	rp,
		point3f *	lp
	)

double Point2Distancef	(	point2f *	p,
		point2f *	q
	)

void Point2to3f	(	const point2f *	p,
		float	w,
		point3f *	P
	)

void Point2to4f	(	const point2f *	p,
		float	w,
		point4f *	P
	)

double Point3Distancef	(	point3f *	p,
		point3f *	q
	)

void Point3to2f	(	const point3f *	P,
		point2f *	p
	)

void Point3to4f	(	const point3f *	p,
		float	w,
		point4f *	P
	)

void Point4to2f	(	const point4f *	P,
		point2f *	p
	)

void Point4to3f	(	const point4f *	P,
		point3f *	p
	)

void ProjectPointOnLine2f	(	const point2f *	p0,
		const point2f *	p1,
		point2f *	q
	)

void ProjectPointOnLine3f	(	const point3f *	p0,
		const point3f *	p1,
		point3f *	q
	)

void ProjectPointOnLine4f	(	const point4f *	p0,
		const point4f *	p1,
		point4f *	q
	)

void ProjectPointOnPlane3f	(	const point3f *	p0,
		const point3f *	p1,
		const point3f *	p2,
		point3f *	q
	)

void ProjectPointOnPlane4f	(	const point4f *	p0,
		const point4f *	p1,
		const point4f *	p2,
		point4f *	q
	)

void QuaternionInvMultf	(	quaternionf *	q1,
		quaternionf *	q2,
		quaternionf *	q
	)

void QuaternionMultf	(	quaternionf *	q1,
		quaternionf *	q2,
		quaternionf *	q
	)

void QuaternionMultInvf	(	quaternionf *	q1,
		quaternionf *	q2,
		quaternionf *	q
	)

void QuaternionRotTrans3f	(	trans3f *	tr,
		quaternionf *	q
	)

void RotTrans2f	(	trans2f *	tr,
		float	angle
	)

void RotTrans3f	(	trans3f *	tr,
		byte	j,
		byte	k,
		float	angle
	)

void RotVTrans3f	(	trans3f *	tr,
		vector3f *	v,
		float	angle
	)

void ScaleTrans2f	(	trans2f *	tr,
		float	sx,
		float	sy
	)

void ScaleTrans3f	(	trans3f *	tr,
		float	sx,
		float	sy,
		float	sz
	)

void SetPoint2f	(	point2f *	p,
		float	x,
		float	y
	)

void SetPoint3f	(	point3f *	p,
		float	x,
		float	y,
		float	z
	)

void SetPoint4f	(	point4f *	p,
		float	X,
		float	Y,
		float	Z,
		float	W
	)

void ShiftTrans2f	(	trans2f *	tr,
		float	tx,
		float	ty
	)

void ShiftTrans3f	(	trans3f *	tr,
		float	tx,
		float	ty,
		float	tz
	)

void SubtractPoints2f	(	const point2f *	p1,
		const point2f *	p2,
		vector2f *	v
	)

void SubtractPoints3f	(	const point3f *	p1,
		const point3f *	p2,
		vector3f *	v
	)

void SubtractPoints4f	(	const point4f *	p1,
		const point4f *	p2,
		vector4f *	v
	)

void Trans2Point3f	(	const trans2f *	tr,
		const point3f *	p,
		point3f *	q
	)

void Trans2Rotf	(	trans2f *	tr,
		float	angle
	)

void Trans2Scalef	(	trans2f *	tr,
		float	sx,
		float	sy
	)

void Trans2Shiftf	(	trans2f *	tr,
		float	tx,
		float	ty
	)

void Trans3Mirrorf	(	trans3f *	tr,
		vector3f *	n
	)

void Trans3Point2f	(	const trans3f *	tr,
		const point2f *	p,
		point2f *	q
	)

void Trans3Point4f	(	const trans3f *	tr,
		const point4f *	p,
		point4f *	q
	)

void Trans3QuaternionRotf	(	trans3f *	tr,
		quaternionf *	q
	)

void Trans3Rotf	(	trans3f *	tr,
		byte	j,
		byte	k,
		float	angle
	)

void Trans3RotVf	(	trans3f *	tr,
		vector3f *	v,
		float	angle
	)

void Trans3Scalef	(	trans3f *	tr,
		float	sx,
		float	sy,
		float	sz
	)

void Trans3Shiftf	(	trans3f *	tr,
		float	tx,
		float	ty,
		float	tz
	)

void TransContra3f	(	const trans3f *	tri,
		const vector3f *	v,
		vector3f *	w
	)

void TransPoint2f	(	const trans2f *	tr,
		const point2f *	p,
		point2f *	q
	)

void TransPoint3f	(	const trans3f *	tr,
		const point3f *	p,
		point3f *	q
	)

void TransVector2f	(	const trans2f *	tr,
		const vector2f *	p,
		vector2f *	q
	)

void TransVector3f	(	const trans3f *	tr,
		const vector3f *	v,
		vector3f *	w
	)

float TrimAnglef

(

float

angle

)