htransform.h

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#ifndef HTRANSFORMH
#define HTRANSFORMH

#include "boolean.h"
#include "defines.h" /*for the DIM_SP,... constants*/

#include <stdio.h>

/************************************************************************************/
#define DIM_SP 3

#define TX 0

#define TY 1

#define TZ 2

#define RX 3

#define RY 4

#define RZ 5

#define AXIS_X 0

#define AXIS_Y 1

#define AXIS_Z 2

#define AXIS_H 3  
/************************************************************************************/

typedef double THTransform[DIM_SP+1][DIM_SP+1];

void HTransformIdentity(THTransform *t); 

void HTransformZero(THTransform *t); 

void HTransformCopy(THTransform *t_dst,THTransform *t_org); 

boolean HTransformIsIdentity(THTransform *t); 

boolean HTransformIsZero(THTransform *t);

boolean HTransformIsTranslation(THTransform *t);

void HTransformTx(double tx,THTransform *t);

void HTransformTy(double ty,THTransform *t);

void HTransformTz(double tz,THTransform *t);

void HTransformTxyz(double tx,double ty,double tz,THTransform *t);

void HTransformRx(double rx,THTransform *t);

void HTransformRy(double ry,THTransform *t);

void HTransformRz(double rz,THTransform *t);

void HTransformRx2(double s,double c,THTransform *t);

void HTransformRy2(double s,double c,THTransform *t);

void HTransformRz2(double s,double c,THTransform *t);

void HTransformScale(double s,THTransform *t); 
                

void HTransformScaleX(double s,THTransform *t); 

void HTransformScaleY(double s,THTransform *t); 

void HTransformScaleZ(double s,THTransform *t); 
    
void HTransformCreate(unsigned int dof_r3,double v,THTransform *t);


void HTransformSetElement(unsigned int i,unsigned int j,double v,THTransform *t);

double HTransformGetElement(unsigned int i,unsigned int j,THTransform *t);

void HTransformFromVectors(double *x,double *y,double *z,double *h,THTransform *t);

void HTransform2GLMatrix(double *m,THTransform *t);

void HTransformFromGLMatrix(double *m,THTransform *t);
void HTransformProduct(THTransform *t1,THTransform *t2,THTransform *t3);

void HTransformAdd(THTransform *t1,THTransform *t2,THTransform *t3);

void HTransformSubstract(THTransform *t1,THTransform *t2,THTransform *t3);

void HTransformInverse(THTransform *t,THTransform *ti);

void HTransformOrthonormalize(THTransform *t,THTransform *ta);

void HTransformX2Vect(double sy,double sz,
                      double *p1,double *p2,THTransform *t);

void HTransformYawPitchRoll(double a,double b,double c,THTransform *t);

void GetYawPitchRoll(double *a,double *b,double *c,THTransform *t);

void HTransformTranspose(THTransform *t,THTransform *tt);

void HTransformAcumTrans(double tx,double ty,double tz,THTransform *t);


void HTransformAcumTrans2(THTransform *t_in,double tx,double ty,double tz,THTransform *t);

void HTransformAcumRot(unsigned int type,double s,double c,THTransform *t);

void HTransformAcumRot2(THTransform *t_in,unsigned int type,double s,double c,THTransform *t);

void HTransformApply(double *p_in,double *p_out,THTransform *t);


void HTransformApplyRot(double *p_in,double *p_out,THTransform *t);

void HTransformPrint(FILE *f,THTransform *t);

void HTransformPrintT(FILE *f,THTransform *t);

void HTransformPrettyPrint(FILE *f,THTransform *t);

void HTransformDelete(THTransform *t);

#endif