/cygdrive/d/src/svn/vrut/trunk/modules/iovrml/decompose.h

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/**** Decompose.h - Basic declarations ****/
#ifndef __DECOMPOSE__H__
#define __DECOMPOSE__H__
typedef struct {float x, y, z, w;} Quat; /* Quaternion */
enum QuatPart {X, Y, Z, W};
typedef Quat HVect; /* Homogeneous 3D vector */
typedef float HMatrix[4][4]; /* Right-handed, for column vectors */
typedef struct {
    HVect t;  /* Translation components */
    Quat  q;  /* Essential rotation         */
    Quat  u;  /* Stretch rotation    */
    HVect k;  /* Stretch factors     */
    float f;  /* Sign of determinant        */
} AffineParts;
float polar_decomp(HMatrix M, HMatrix Q, HMatrix S);
HVect spect_decomp(HMatrix S, HMatrix U);
Quat snuggle(Quat q, HVect *k);
void decomp_affine(HMatrix A, AffineParts *parts);
void invert_affine(AffineParts *parts, AffineParts *inverse);
#endif

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