These are some useful math functions. Note that the matrices are stored using the OpenGL convention:
![\[ \left( \begin{array}{cccc} m[0] & m[4] & m[8] & m[12] \\ m[1] & m[5] & m[9] & m[13] \\ m[2] & m[6] & m[10] & m[14] \\ m[3] & m[7] & m[11] & m[15] \\ \end{array} \right) \]](form_1.png)
| static void plAnglesFromMatrixd |
( |
double |
angles[3], |
|
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const double |
matrix[16] |
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) |
| |
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static |
Extract rotation angles from a 4x4 double matrix. The order of the rotations is:
- roll around x axis
- pitch around y axis
- yaw around z axis
| static void plAnglesFromMatrixf |
( |
float |
angles[3], |
|
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const float |
matrix[16] |
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) |
| |
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static |
Extract rotation angles from a 4x4 float matrix. The order of the rotations is:
- roll around x axis
- pitch around y axis
- yaw around z axis
| static void plCoordsFromMatrixd |
( |
double |
coords[3], |
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const double |
matrix[16] |
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) |
| |
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static |
Extract position coordinates from a 4x4 double matrix. These have the same value as the position coordinates in the quaternion transformation.
| static void plCoordsFromMatrixf |
( |
float |
coords[3], |
|
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const float |
matrix[16] |
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) |
| |
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static |
Extract position coordinates from a 4x4 float matrix. These have the same value as the position coordinates in the quaternion transformation.
| static void plRelativeTransform |
( |
const double |
a[8], |
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const double |
b[8], |
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double |
c[8] |
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) |
| |
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static |
Find the position and orientation of a tool relative to a reference tool. This is done by quaternion division.
- Parameters
-
| a | the original tool transformation |
| b | the reference tool transformation |
| c | the resulting relative transformation |
The pointer c can be the same as pointer a if you want to do the division in-place.
| static void plTransformToMatrixd |
( |
const double |
trans[8], |
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double |
matrix[16] |
|
) |
| |
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static |
Convert a quaternion transformation into a 4x4 double matrix.
| static void plTransformToMatrixf |
( |
const double |
trans[8], |
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|
float |
matrix[16] |
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) |
| |
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static |
Convert a quaternion transformation into a 4x4 float matrix.
