MatVec.h File Reference

#include <math.h>
#include <stdio.h>
#include "PQP_Compile.h"

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Defines
#define	myfabs(x)   ((x < 0) ? -x : x)
#define	ROTATE(a, i, j, k, l)   g=a[i][j]; h=a[k][l]; a[i][j]=g-s*(h+g*tau); a[k][l]=h+s*(g-h*tau);
Functions
void	McM (PQP_REAL Mr[3][3], const PQP_REAL M[3][3])
void	McolcMcol (PQP_REAL Mr[3][3], int cr, const PQP_REAL M[3][3], int c)
void	McolcV (PQP_REAL Vr[3], const PQP_REAL M[3][3], int c)
void	Meigen (PQP_REAL vout[3][3], PQP_REAL dout[3], PQP_REAL a[3][3])
void	Mfprint (FILE *f, const PQP_REAL M[3][3])
void	Midentity (PQP_REAL M[3][3])
void	Mprint (const PQP_REAL M[3][3])
void	Mprintg (const PQP_REAL M[3][3])
void	Mqinverse (PQP_REAL Mr[3][3], PQP_REAL m[3][3])
void	MRotQ (PQP_REAL destMatrix[3][3], PQP_REAL srcQuat[4])
void	MRotX (PQP_REAL Mr[3][3], PQP_REAL t)
void	MRotY (PQP_REAL Mr[3][3], PQP_REAL t)
void	MRotZ (PQP_REAL Mr[3][3], PQP_REAL t)
void	MskewV (PQP_REAL M[3][3], const PQP_REAL v[3])
void	MTcM (PQP_REAL Mr[3][3], const PQP_REAL M[3][3])
void	MTxM (PQP_REAL Mr[3][3], const PQP_REAL M1[3][3], const PQP_REAL M2[3][3])
void	MTxV (PQP_REAL Vr[3], const PQP_REAL M1[3][3], const PQP_REAL V1[3])
void	MVtoOGL (double oglm[16], const PQP_REAL R[3][3], const PQP_REAL T[3])
void	MxM (PQP_REAL Mr[3][3], const PQP_REAL M1[3][3], const PQP_REAL M2[3][3])
void	MxMpV (PQP_REAL Mr[3][3], const PQP_REAL M1[3][3], const PQP_REAL M2[3][3], const PQP_REAL T[3])
void	MxMT (PQP_REAL Mr[3][3], const PQP_REAL M1[3][3], const PQP_REAL M2[3][3])
void	MxV (PQP_REAL Vr[3], const PQP_REAL M1[3][3], const PQP_REAL V1[3])
void	MxVpV (PQP_REAL Vr[3], const PQP_REAL M1[3][3], const PQP_REAL V1[3], const PQP_REAL V2[3])
void	OGLtoMV (PQP_REAL R[3][3], PQP_REAL T[3], const double oglm[16])
void	sMTxV (PQP_REAL Vr[3], PQP_REAL s1, const PQP_REAL M1[3][3], const PQP_REAL V1[3])
void	sMxV (PQP_REAL Vr[3], PQP_REAL s1, const PQP_REAL M1[3][3], const PQP_REAL V1[3])
void	sMxVpV (PQP_REAL Vr[3], PQP_REAL s1, const PQP_REAL M1[3][3], const PQP_REAL V1[3], const PQP_REAL V2[3])
void	VcrossV (PQP_REAL Vr[3], const PQP_REAL V1[3], const PQP_REAL V2[3])
void	VcV (PQP_REAL Vr[3], const PQP_REAL V[3])
PQP_REAL	VdistV2 (const PQP_REAL V1[3], const PQP_REAL V2[3])
PQP_REAL	VdotV (const PQP_REAL V1[3], const PQP_REAL V2[3])
void	Vfprint (FILE *f, const PQP_REAL V[3])
void	Videntity (PQP_REAL T[3])
PQP_REAL	Vlength (PQP_REAL V[3])
void	VmV (PQP_REAL Vr[3], const PQP_REAL V1[3], const PQP_REAL V2[3])
void	Vnormalize (PQP_REAL V[3])
void	Vprint (const PQP_REAL V[3])
void	Vprintg (const PQP_REAL V[3])
void	VpV (PQP_REAL Vr[3], const PQP_REAL V1[3], const PQP_REAL V2[3])
void	VpVxS (PQP_REAL Vr[3], const PQP_REAL V1[3], const PQP_REAL V2[3], PQP_REAL s)
void	VxS (PQP_REAL Vr[3], const PQP_REAL V[3], PQP_REAL s)
Variables
const PQP_REAL	M_PI = (PQP_REAL)3.14159265359
const int	QW = 3
const int	QX = 0
const int	QY = 1
const int	QZ = 2

---

Define Documentation

#define myfabs

(

x

)

((x < 0) ? -x : x)

Definition at line 73 of file MatVec.h.

#define ROTATE	(		a,
			i,
			j,
			k,
			l
	)		g=a[i][j]; h=a[k][l]; a[i][j]=g-s*(h+g*tau); a[k][l]=h+s*(g-h*tau);

Definition at line 786 of file MatVec.h.

---

Function Documentation

void McM	(	PQP_REAL	Mr[3][3],
		const PQP_REAL	M[3][3]
	)		[inline]

Definition at line 148 of file MatVec.h.

void McolcMcol	(	PQP_REAL	Mr[3][3],
		int	cr,
		const PQP_REAL	M[3][3],
		int	c
	)		[inline]

Definition at line 182 of file MatVec.h.

void McolcV	(	PQP_REAL	Vr[3],
		const PQP_REAL	M[3][3],
		int	c
	)		[inline]

Definition at line 173 of file MatVec.h.

void Meigen	(	PQP_REAL	vout[3][3],
		PQP_REAL	dout[3],
		PQP_REAL	a[3][3]
	)		[inline]

Definition at line 790 of file MatVec.h.

void Mfprint	(	FILE *	f,
		const PQP_REAL	M[3][3]
	)		[inline]

Definition at line 91 of file MatVec.h.

void Midentity

(

PQP_REAL

M[3][3]

)

[inline]

Definition at line 132 of file MatVec.h.

void Mprint

(

const PQP_REAL

M[3][3]

)

[inline]

Definition at line 101 of file MatVec.h.

void Mprintg

(

const PQP_REAL

M[3][3]

)

[inline]

Definition at line 80 of file MatVec.h.

void Mqinverse	(	PQP_REAL	Mr[3][3],
		PQP_REAL	m[3][3]
	)		[inline]

Definition at line 648 of file MatVec.h.

void MRotQ	(	PQP_REAL	destMatrix[3][3],
		PQP_REAL	srcQuat[4]
	)		[inline]

Definition at line 612 of file MatVec.h.

void MRotX	(	PQP_REAL	Mr[3][3],
		PQP_REAL	t
	)		[inline]

Definition at line 537 of file MatVec.h.

void MRotY	(	PQP_REAL	Mr[3][3],
		PQP_REAL	t
	)		[inline]

Definition at line 550 of file MatVec.h.

void MRotZ	(	PQP_REAL	Mr[3][3],
		PQP_REAL	t
	)		[inline]

Definition at line 524 of file MatVec.h.

void MskewV	(	PQP_REAL	M[3][3],
		const PQP_REAL	v[3]
	)		[inline]

Definition at line 459 of file MatVec.h.

void MTcM	(	PQP_REAL	Mr[3][3],
		const PQP_REAL	M[3][3]
	)		[inline]

Definition at line 157 of file MatVec.h.

void MTxM	(	PQP_REAL	Mr[3][3],
		const PQP_REAL	M1[3][3],
		const PQP_REAL	M2[3][3]
	)		[inline]

Definition at line 300 of file MatVec.h.

void MTxV	(	PQP_REAL	Vr[3],
		const PQP_REAL	M1[3][3],
		const PQP_REAL	V1[3]
	)		[inline]

Definition at line 386 of file MatVec.h.

void MVtoOGL	(	double	oglm[16],
		const PQP_REAL	R[3][3],
		const PQP_REAL	T[3]
	)		[inline]

Definition at line 563 of file MatVec.h.

void MxM	(	PQP_REAL	Mr[3][3],
		const PQP_REAL	M1[3][3],
		const PQP_REAL	M2[3][3]
	)		[inline]

Definition at line 233 of file MatVec.h.

void MxMpV	(	PQP_REAL	Mr[3][3],
		const PQP_REAL	M1[3][3],
		const PQP_REAL	M2[3][3],
		const PQP_REAL	T[3]
	)		[inline]

Definition at line 191 of file MatVec.h.

void MxMT	(	PQP_REAL	Mr[3][3],
		const PQP_REAL	M1[3][3],
		const PQP_REAL	M2[3][3]
	)		[inline]

Definition at line 267 of file MatVec.h.

void MxV	(	PQP_REAL	Vr[3],
		const PQP_REAL	M1[3][3],
		const PQP_REAL	V1[3]
	)		[inline]

Definition at line 333 of file MatVec.h.

void MxVpV	(	PQP_REAL	Vr[3],
		const PQP_REAL	M1[3][3],
		const PQP_REAL	V1[3],
		const PQP_REAL	V2[3]
	)		[inline]

Definition at line 349 of file MatVec.h.

void OGLtoMV	(	PQP_REAL	R[3][3],
		PQP_REAL	T[3],
		const double	oglm[16]
	)		[inline]

Definition at line 585 of file MatVec.h.

void sMTxV	(	PQP_REAL	Vr[3],
		PQP_REAL	s1,
		const PQP_REAL	M1[3][3],
		const PQP_REAL	V1[3]
	)		[inline]

Definition at line 401 of file MatVec.h.

void sMxV	(	PQP_REAL	Vr[3],
		PQP_REAL	s1,
		const PQP_REAL	M1[3][3],
		const PQP_REAL	V1[3]
	)		[inline]

Definition at line 416 of file MatVec.h.

void sMxVpV	(	PQP_REAL	Vr[3],
		PQP_REAL	s1,
		const PQP_REAL	M1[3][3],
		const PQP_REAL	V1[3],
		const PQP_REAL	V2[3]
	)		[inline]

Definition at line 368 of file MatVec.h.

void VcrossV	(	PQP_REAL	Vr[3],
		const PQP_REAL	V1[3],
		const PQP_REAL	V2[3]
	)		[inline]

Definition at line 473 of file MatVec.h.

void VcV	(	PQP_REAL	Vr[3],
		const PQP_REAL	V[3]
	)		[inline]

Definition at line 166 of file MatVec.h.

PQP_REAL VdistV2	(	const PQP_REAL	V1[3],
		const PQP_REAL	V2[3]
	)		[inline]

Definition at line 506 of file MatVec.h.

PQP_REAL VdotV	(	const PQP_REAL	V1[3],
		const PQP_REAL	V2[3]
	)		[inline]

Definition at line 499 of file MatVec.h.

void Vfprint	(	FILE *	f,
		const PQP_REAL	V[3]
	)		[inline]

Definition at line 118 of file MatVec.h.

void Videntity

(

PQP_REAL

T[3]

)

[inline]

Definition at line 141 of file MatVec.h.

PQP_REAL Vlength

(

PQP_REAL

V[3]

)

[inline]

Definition at line 482 of file MatVec.h.

void VmV	(	PQP_REAL	Vr[3],
		const PQP_REAL	V1[3],
		const PQP_REAL	V2[3]
	)		[inline]

Definition at line 432 of file MatVec.h.

void Vnormalize

(

PQP_REAL

V[3]

)

[inline]

Definition at line 489 of file MatVec.h.

void Vprint

(

const PQP_REAL

V[3]

)

[inline]

Definition at line 125 of file MatVec.h.

void Vprintg

(

const PQP_REAL

V[3]

)

[inline]

Definition at line 111 of file MatVec.h.

void VpV	(	PQP_REAL	Vr[3],
		const PQP_REAL	V1[3],
		const PQP_REAL	V2[3]
	)		[inline]

Definition at line 441 of file MatVec.h.

void VpVxS	(	PQP_REAL	Vr[3],
		const PQP_REAL	V1[3],
		const PQP_REAL	V2[3],
		PQP_REAL	s
	)		[inline]

Definition at line 450 of file MatVec.h.

void VxS	(	PQP_REAL	Vr[3],
		const PQP_REAL	V[3],
		PQP_REAL	s
	)		[inline]

Definition at line 515 of file MatVec.h.

---

Variable Documentation

const PQP_REAL M_PI = (PQP_REAL)3.14159265359

Definition at line 49 of file MatVec.h.

const int QW = 3

Definition at line 608 of file MatVec.h.

const int QX = 0

Definition at line 605 of file MatVec.h.

const int QY = 1

Definition at line 606 of file MatVec.h.

const int QZ = 2

Definition at line 607 of file MatVec.h.