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Diffstat (limited to 'gfx/vr/osvr/Util/MatrixConventionsC.h')
| -rw-r--r-- | gfx/vr/osvr/Util/MatrixConventionsC.h | 190 |
1 files changed, 190 insertions, 0 deletions
diff --git a/gfx/vr/osvr/Util/MatrixConventionsC.h b/gfx/vr/osvr/Util/MatrixConventionsC.h new file mode 100644 index 000000000..b1f2c2797 --- /dev/null +++ b/gfx/vr/osvr/Util/MatrixConventionsC.h @@ -0,0 +1,190 @@ +/** @file + @brief Header + + Must be c-safe! + + @date 2015 + + @author + Sensics, Inc. + <http://sensics.com/osvr> +*/ + +/* +// Copyright 2015 Sensics, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +*/ + +#ifndef INCLUDED_MatrixConventionsC_h_GUID_6FC7A4C6_E6C5_4A96_1C28_C3D21B909681 +#define INCLUDED_MatrixConventionsC_h_GUID_6FC7A4C6_E6C5_4A96_1C28_C3D21B909681 + +/* Internal Includes */ +#include <osvr/Util/Export.h> +#include <osvr/Util/APIBaseC.h> +#include <osvr/Util/StdInt.h> +#include <osvr/Util/Pose3C.h> +#include <osvr/Util/ReturnCodesC.h> + +/* Library/third-party includes */ +/* none */ + +/* Standard includes */ +/* none */ + +OSVR_EXTERN_C_BEGIN + +/** @defgroup MatrixConvention Matrix conventions and bit flags + @ingroup UtilMath +*/ + +/** @brief Type for passing matrix convention flags. + @ingroup MatrixConvention +*/ +typedef uint16_t OSVR_MatrixConventions; + +#ifndef OSVR_DOXYGEN_EXTERNAL +/** @brief Bitmasks for testing matrix conventions. + @ingroup MatrixConvention +*/ +typedef enum OSVR_MatrixMasks { + OSVR_MATRIX_MASK_ROWMAJOR = 0x1, + OSVR_MATRIX_MASK_ROWVECTORS = 0x2, + OSVR_MATRIX_MASK_LHINPUT = 0x4, + OSVR_MATRIX_MASK_UNSIGNEDZ = 0x8 +} OSVR_MatrixMasks; +#endif + +/** @defgroup MatrixFlags Matrix flags + @ingroup MatrixConvention + + Bit flags for specifying matrix options. Only one option may be specified + per enum, with all the specified options combined with bitwise-or `|`. + + Most methods that take matrix flags only obey ::OSVR_MatrixOrderingFlags and + ::OSVR_MatrixVectorFlags - the flags that affect memory order. The remaining + flags are for use with projection matrix generation API methods. + + @{ +*/ +/** @brief Flag bit controlling output memory order */ +typedef enum OSVR_MatrixOrderingFlags { + /** @brief Column-major memory order (default) */ + OSVR_MATRIX_COLMAJOR = 0x0, + /** @brief Row-major memory order */ + OSVR_MATRIX_ROWMAJOR = OSVR_MATRIX_MASK_ROWMAJOR +} OSVR_MatrixOrderingFlags; + +/** @brief Flag bit controlling expected input to matrices. + (Related to ::OSVR_MatrixOrderingFlags - setting one to non-default results + in an output change, but setting both to non-default results in effectively + no change in the output. If this blows your mind, just ignore this aside and + carry on.) +*/ +typedef enum OSVR_MatrixVectorFlags { + /** @brief Matrix transforms column vectors (default) */ + OSVR_MATRIX_COLVECTORS = 0x0, + /** @brief Matrix transforms row vectors */ + OSVR_MATRIX_ROWVECTORS = OSVR_MATRIX_MASK_ROWVECTORS +} OSVR_MatrixVectorFlags; + +/** @brief Flag bit to indicate coordinate system input to projection matrix */ +typedef enum OSVR_ProjectionMatrixInputFlags { + /** @brief Matrix takes vectors from a right-handed coordinate system + (default) */ + OSVR_MATRIX_RHINPUT = 0x0, + /** @brief Matrix takes vectors from a left-handed coordinate system */ + OSVR_MATRIX_LHINPUT = OSVR_MATRIX_MASK_LHINPUT + +} OSVR_ProjectionMatrixInputFlags; + +/** @brief Flag bit to indicate the desired post-projection Z value convention + */ +typedef enum OSVR_ProjectionMatrixZFlags { + /** @brief Matrix maps the near and far planes to signed Z values (in the + range [-1, 1]) (default)*/ + OSVR_MATRIX_SIGNEDZ = 0x0, + /** @brief Matrix maps the near and far planes to unsigned Z values (in the + range [0, 1]) */ + OSVR_MATRIX_UNSIGNEDZ = OSVR_MATRIX_MASK_UNSIGNEDZ +} OSVR_ProjectionMatrixZFlags; +/** @} */ /* end of matrix flags group */ + +enum { + /** @brief Constant for the number of elements in the matrices we use - 4x4. + @ingroup MatrixConvention + */ + OSVR_MATRIX_SIZE = 16 +}; + +/** @addtogroup UtilMath + @{ +*/ +/** @brief Set a matrix of doubles based on a Pose3. + @param pose The Pose3 to convert + @param flags Memory ordering flag - see @ref MatrixFlags + @param[out] mat an array of 16 doubles +*/ +OSVR_UTIL_EXPORT OSVR_ReturnCode osvrPose3ToMatrixd( + OSVR_Pose3 const *pose, OSVR_MatrixConventions flags, double *mat); + +/** @brief Set a matrix of floats based on a Pose3. + @param pose The Pose3 to convert + @param flags Memory ordering flag - see @ref MatrixFlags + @param[out] mat an array of 16 floats +*/ +OSVR_UTIL_EXPORT OSVR_ReturnCode osvrPose3ToMatrixf( + OSVR_Pose3 const *pose, OSVR_MatrixConventions flags, float *mat); +/** @} */ + +OSVR_EXTERN_C_END + +#ifdef __cplusplus +/** @brief Set a matrix based on a Pose3. (C++-only overload - detecting scalar + * type) */ +inline OSVR_ReturnCode osvrPose3ToMatrix(OSVR_Pose3 const *pose, + OSVR_MatrixConventions flags, + double *mat) { + return osvrPose3ToMatrixd(pose, flags, mat); +} + +/** @brief Set a matrix based on a Pose3. (C++-only overload - detecting scalar + * type) */ +inline OSVR_ReturnCode osvrPose3ToMatrix(OSVR_Pose3 const *pose, + OSVR_MatrixConventions flags, + float *mat) { + return osvrPose3ToMatrixf(pose, flags, mat); +} + +/** @brief Set a matrix based on a Pose3. (C++-only overload - detects scalar + * and takes array rather than pointer) */ +template <typename Scalar> +inline OSVR_ReturnCode osvrPose3ToMatrix(OSVR_Pose3 const *pose, + OSVR_MatrixConventions flags, + Scalar mat[OSVR_MATRIX_SIZE]) { + return osvrPose3ToMatrix(pose, flags, &(mat[0])); +} +/** @brief Set a matrix based on a Pose3. (C++-only overload - detects scalar, + * takes array, takes pose by reference) */ +template <typename Scalar> +inline OSVR_ReturnCode osvrPose3ToMatrix(OSVR_Pose3 const &pose, + OSVR_MatrixConventions flags, + Scalar mat[OSVR_MATRIX_SIZE]) { + return osvrPose3ToMatrix(&pose, flags, &(mat[0])); +} + +#endif + +/** @} */ + +#endif |