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101 lines
2.4 KiB
C++
101 lines
2.4 KiB
C++
// Copyright 2009-2021 Intel Corporation
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include "rtcore_common.h"
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RTC_NAMESPACE_BEGIN
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/*
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* Structure for transformation representation as a matrix decomposition using
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* a quaternion
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*/
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struct RTC_ALIGN(16) RTCQuaternionDecomposition
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{
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float scale_x;
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float scale_y;
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float scale_z;
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float skew_xy;
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float skew_xz;
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float skew_yz;
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float shift_x;
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float shift_y;
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float shift_z;
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float quaternion_r;
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float quaternion_i;
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float quaternion_j;
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float quaternion_k;
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float translation_x;
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float translation_y;
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float translation_z;
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};
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RTC_FORCEINLINE void rtcInitQuaternionDecomposition(struct RTCQuaternionDecomposition* qdecomp)
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{
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qdecomp->scale_x = 1.f;
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qdecomp->scale_y = 1.f;
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qdecomp->scale_z = 1.f;
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qdecomp->skew_xy = 0.f;
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qdecomp->skew_xz = 0.f;
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qdecomp->skew_yz = 0.f;
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qdecomp->shift_x = 0.f;
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qdecomp->shift_y = 0.f;
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qdecomp->shift_z = 0.f;
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qdecomp->quaternion_r = 1.f;
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qdecomp->quaternion_i = 0.f;
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qdecomp->quaternion_j = 0.f;
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qdecomp->quaternion_k = 0.f;
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qdecomp->translation_x = 0.f;
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qdecomp->translation_y = 0.f;
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qdecomp->translation_z = 0.f;
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}
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RTC_FORCEINLINE void rtcQuaternionDecompositionSetQuaternion(
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struct RTCQuaternionDecomposition* qdecomp,
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float r, float i, float j, float k)
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{
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qdecomp->quaternion_r = r;
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qdecomp->quaternion_i = i;
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qdecomp->quaternion_j = j;
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qdecomp->quaternion_k = k;
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}
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RTC_FORCEINLINE void rtcQuaternionDecompositionSetScale(
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struct RTCQuaternionDecomposition* qdecomp,
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float scale_x, float scale_y, float scale_z)
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{
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qdecomp->scale_x = scale_x;
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qdecomp->scale_y = scale_y;
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qdecomp->scale_z = scale_z;
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}
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RTC_FORCEINLINE void rtcQuaternionDecompositionSetSkew(
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struct RTCQuaternionDecomposition* qdecomp,
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float skew_xy, float skew_xz, float skew_yz)
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{
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qdecomp->skew_xy = skew_xy;
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qdecomp->skew_xz = skew_xz;
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qdecomp->skew_yz = skew_yz;
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}
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RTC_FORCEINLINE void rtcQuaternionDecompositionSetShift(
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struct RTCQuaternionDecomposition* qdecomp,
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float shift_x, float shift_y, float shift_z)
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{
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qdecomp->shift_x = shift_x;
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qdecomp->shift_y = shift_y;
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qdecomp->shift_z = shift_z;
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}
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RTC_FORCEINLINE void rtcQuaternionDecompositionSetTranslation(
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struct RTCQuaternionDecomposition* qdecomp,
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float translation_x, float translation_y, float translation_z)
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{
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qdecomp->translation_x = translation_x;
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qdecomp->translation_y = translation_y;
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qdecomp->translation_z = translation_z;
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}
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RTC_NAMESPACE_END
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