241 lines
8.7 KiB
C
241 lines
8.7 KiB
C
/*
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---------------------------------------------------------------------------
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Open Asset Import Library (ASSIMP)
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---------------------------------------------------------------------------
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Copyright (c) 2006-2010, ASSIMP Development Team
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All rights reserved.
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Redistribution and use of this software in source and binary forms,
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with or without modification, are permitted provided that the following
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conditions are met:
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* Redistributions of source code must retain the above
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copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above
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copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other
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materials provided with the distribution.
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* Neither the name of the ASSIMP team, nor the names of its
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contributors may be used to endorse or promote products
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derived from this software without specific prior
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written permission of the ASSIMP Development Team.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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---------------------------------------------------------------------------
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*/
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/** @file aiMatrix4x4.h
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* @brief 4x4 matrix structure, including operators when compiling in C++
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*/
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#ifndef AI_MATRIX4X4_H_INC
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#define AI_MATRIX4X4_H_INC
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct aiMatrix3x3;
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struct aiQuaternion;
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#include "./Compiler/pushpack1.h"
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// ---------------------------------------------------------------------------
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/** @brief Represents a row-major 4x4 matrix, use this for homogeneous
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* coordinates.
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*
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* There's much confusion about matrix layouts (colum vs. row order).
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* This is *always* a row-major matrix. Even with the
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* aiProcess_ConvertToLeftHanded flag.
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*/
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struct aiMatrix4x4
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{
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#ifdef __cplusplus
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// default c'tor, init to zero
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aiMatrix4x4 () :
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a1(1.0f), a2(0.0f), a3(0.0f), a4(0.0f),
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b1(0.0f), b2(1.0f), b3(0.0f), b4(0.0f),
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c1(0.0f), c2(0.0f), c3(1.0f), c4(0.0f),
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d1(0.0f), d2(0.0f), d3(0.0f), d4(1.0f)
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{}
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// from single values
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aiMatrix4x4 ( float _a1, float _a2, float _a3, float _a4,
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float _b1, float _b2, float _b3, float _b4,
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float _c1, float _c2, float _c3, float _c4,
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float _d1, float _d2, float _d3, float _d4) :
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a1(_a1), a2(_a2), a3(_a3), a4(_a4),
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b1(_b1), b2(_b2), b3(_b3), b4(_b4),
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c1(_c1), c2(_c2), c3(_c3), c4(_c4),
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d1(_d1), d2(_d2), d3(_d3), d4(_d4)
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{}
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// -------------------------------------------------------------------
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/** @brief Constructor from 3x3 matrix.
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* The remaining elements are set to identity.
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*/
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explicit aiMatrix4x4( const aiMatrix3x3& m);
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public:
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// array access operators
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float* operator[] (unsigned int p_iIndex);
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const float* operator[] (unsigned int p_iIndex) const;
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// comparison operators
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bool operator== (const aiMatrix4x4 m) const;
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bool operator!= (const aiMatrix4x4 m) const;
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// Matrix multiplication. Not commutative.
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aiMatrix4x4& operator *= (const aiMatrix4x4& m);
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aiMatrix4x4 operator * (const aiMatrix4x4& m) const;
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public:
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// -------------------------------------------------------------------
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/** @brief Transpose the matrix
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*/
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aiMatrix4x4& Transpose();
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// -------------------------------------------------------------------
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/** @brief Invert the matrix.
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* If the matrix is not invertible all elements are set to qnan.
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* Beware, use (f != f) to check whether a float f is qnan.
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*/
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aiMatrix4x4& Inverse();
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float Determinant() const;
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// -------------------------------------------------------------------
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/** @brief Returns true of the matrix is the identity matrix.
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* The check is performed against a not so small epsilon.
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*/
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inline bool IsIdentity() const;
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// -------------------------------------------------------------------
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/** @brief Decompose a trafo matrix into its original components
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* @param scaling Receives the output scaling for the x,y,z axes
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* @param rotation Receives the output rotation as a hamilton
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* quaternion
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* @param position Receives the output position for the x,y,z axes
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*/
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void Decompose (aiVector3D& scaling, aiQuaternion& rotation,
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aiVector3D& position) const;
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// -------------------------------------------------------------------
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/** @brief Decompose a trafo matrix with no scaling into its
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* original components
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* @param rotation Receives the output rotation as a hamilton
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* quaternion
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* @param position Receives the output position for the x,y,z axes
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*/
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void DecomposeNoScaling (aiQuaternion& rotation,
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aiVector3D& position) const;
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// -------------------------------------------------------------------
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/** @brief Creates a trafo matrix from a set of euler angles
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* @param x Rotation angle for the x-axis, in radians
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* @param y Rotation angle for the y-axis, in radians
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* @param z Rotation angle for the z-axis, in radians
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*/
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aiMatrix4x4& FromEulerAnglesXYZ(float x, float y, float z);
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aiMatrix4x4& FromEulerAnglesXYZ(const aiVector3D& blubb);
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public:
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// -------------------------------------------------------------------
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/** @brief Returns a rotation matrix for a rotation around the x axis
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* @param a Rotation angle, in radians
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* @param out Receives the output matrix
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* @return Reference to the output matrix
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*/
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static aiMatrix4x4& RotationX(float a, aiMatrix4x4& out);
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// -------------------------------------------------------------------
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/** @brief Returns a rotation matrix for a rotation around the y axis
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* @param a Rotation angle, in radians
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* @param out Receives the output matrix
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* @return Reference to the output matrix
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*/
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static aiMatrix4x4& RotationY(float a, aiMatrix4x4& out);
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// -------------------------------------------------------------------
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/** @brief Returns a rotation matrix for a rotation around the z axis
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* @param a Rotation angle, in radians
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* @param out Receives the output matrix
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* @return Reference to the output matrix
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*/
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static aiMatrix4x4& RotationZ(float a, aiMatrix4x4& out);
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// -------------------------------------------------------------------
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/** Returns a rotation matrix for a rotation around an arbitrary axis.
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* @param a Rotation angle, in radians
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* @param axis Rotation axis, should be a normalized vector.
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* @param out Receives the output matrix
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* @return Reference to the output matrix
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*/
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static aiMatrix4x4& Rotation(float a, const aiVector3D& axis,
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aiMatrix4x4& out);
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// -------------------------------------------------------------------
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/** @brief Returns a translation matrix
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* @param v Translation vector
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* @param out Receives the output matrix
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* @return Reference to the output matrix
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*/
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static aiMatrix4x4& Translation( const aiVector3D& v, aiMatrix4x4& out);
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// -------------------------------------------------------------------
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/** @brief Returns a scaling matrix
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* @param v Scaling vector
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* @param out Receives the output matrix
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* @return Reference to the output matrix
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*/
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static aiMatrix4x4& Scaling( const aiVector3D& v, aiMatrix4x4& out);
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// -------------------------------------------------------------------
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/** @brief A function for creating a rotation matrix that rotates a
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* vector called "from" into another vector called "to".
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* Input : from[3], to[3] which both must be *normalized* non-zero vectors
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* Output: mtx[3][3] -- a 3x3 matrix in colum-major form
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* Authors: Tomas M<>ller, John Hughes
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* "Efficiently Building a Matrix to Rotate One Vector to Another"
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* Journal of Graphics Tools, 4(4):1-4, 1999
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*/
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static aiMatrix4x4& FromToMatrix(const aiVector3D& from,
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const aiVector3D& to, aiMatrix4x4& out);
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#endif // __cplusplus
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float a1, a2, a3, a4;
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float b1, b2, b3, b4;
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float c1, c2, c3, c4;
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float d1, d2, d3, d4;
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} PACK_STRUCT; // !class aiMatrix4x4
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#include "./Compiler/poppack1.h"
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#ifdef __cplusplus
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} // end extern "C"
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#endif // __cplusplus
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#endif // AI_MATRIX4X4_H_INC
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