fbmath.h

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#ifndef __FBMATH_H__
#define __FBMATH_H__
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#include <kaydaradef.h>
#ifndef FBSDK_DLL

    #define FBSDK_DLL K_DLLIMPORT
#endif

#include <fbsdk/fbtypes.h>

#ifdef FBSDKUseNamespace
    namespace FBSDKNamespace {
#endif

const double FBMat2EulerDegenerateForPrecision10 = 16.0e-10;     //Default precision since Mobu 2016 for converting rotation matrix to Euler vector

enum FBRotationOrder { 
    kFBXYZ,     
    kFBXZY,     
    kFBYXZ,     
    kFBYZX,     
    kFBZXY,     
    kFBZYX,     
};

FB_DEFINE_ENUM( FBSDK_DLL, RotationOrder ); 

// Matrix

FBSDK_DLL void FBMatrixInverse (FBMatrix  &pMatrix, const FBMatrix  &pSrc);

FBSDK_DLL void FBMatrixTranspose (FBMatrix  &pMatrix, const FBMatrix  &pSrc);

FBSDK_DLL void FBMatrixMult (FBMatrix  &pMatrix, const FBMatrix  &pA, const FBMatrix  &pB);

FBSDK_DLL void FBVertexMatrixMult( FBVertex &pOutVertex, const FBMatrix &pMatrix,   const FBVertex &pVertex );

FBSDK_DLL void FBVectorMatrixMult( FBVector4d &pOutVector, const FBMatrix &pMatrix, const FBVector4d &pVector );

// T,R/Q,S to Matrix
// N.B. Rotation is in EulerXYZ
FBSDK_DLL void FBTranslationToMatrix    (FBMatrix  &pMatrix,        const FBTVector& pVector);

FBSDK_DLL void FBRotationToMatrix       (FBMatrix  &pMatrix,        const FBRVector& pVector, FBRotationOrder pRotationOrder = kFBXYZ);

FBSDK_DLL void FBScalingToMatrix        (FBMatrix  &pMatrix,        const FBSVector& pVector);

FBSDK_DLL void FBTRSToMatrix            (FBMatrix  &pMatrix,        const FBTVector& pTVector, const FBRVector& pRVector, const FBSVector& pSVector);

FBSDK_DLL void FBTQSToMatrix            (FBMatrix  &pMatrix, const FBTVector& pTVector, const FBQuaternion& pQuaternion, const FBSVector& pSVector);

// Matrix to T,R/Q,S
// Rotation is in EulerXYZ
FBSDK_DLL void FBMatrixToTranslation    (FBTVector &pVector,        const FBMatrix& pMatrix);

FBSDK_DLL void FBMatrixToRotation       (FBRVector &pVector,        const FBMatrix& pMatrix, FBRotationOrder pRotationOrder = kFBXYZ);

FBSDK_DLL void FBMatrixToScaling        (FBSVector &pVector,        const FBMatrix& pMatrix);

FBSDK_DLL void FBMatrixToTRS            (FBTVector &pTVector, FBRVector &pRVector, FBSVector &pSVector, const FBMatrix& pMatrix);

FBSDK_DLL void FBMatrixToTQS            (FBTVector &pTVector, FBQuaternion &pQuaternion, FBSVector &pSVector, const FBMatrix& pMatrix);

// Quaternion

FBSDK_DLL void FBRotationToQuaternion   (FBQuaternion &pQuaternion, const FBRVector& pVector, FBRotationOrder pRotationOrder = kFBXYZ);

FBSDK_DLL void FBQuaternionToRotation   (FBRVector &pVector,        const FBQuaternion& pQuaternion, FBRotationOrder pRotationOrder = kFBXYZ);

FBSDK_DLL void FBMatrixToQuaternion(FBQuaternion &pQuaternion,  const FBMatrix& pMatrix);

FBSDK_DLL void FBQuaternionToMatrix(FBMatrix &pMatrix,      const FBQuaternion& pQuaternion);


// Local/Global conversions

FBSDK_DLL void FBGetLocalMatrix         (FBMatrix &pMatrix, const FBMatrix& pMatrixParent, const FBMatrix& pMatrixChild);

FBSDK_DLL void FBGetGlobalMatrix        (FBMatrix &pMatrix, const FBMatrix& pMatrixParent, const FBMatrix& pLocalMatrix);


FBSDK_DLL void FBMatrixOrthogonalize    (FBMatrix &pMatrix);

// Vector operations

FBSDK_DLL void      FBAdd               (FBTVector &pResult, const FBTVector &pV1, const FBTVector &pV2);

FBSDK_DLL void      FBSub               (FBTVector &pResult, const FBTVector &pV1, const FBTVector &pV2);

FBSDK_DLL void      FBMult              (FBTVector &pResult, const FBTVector &pV1, double pV2);

FBSDK_DLL void      FBMult              (FBTVector &pResult, const FBTVector &pV1, const FBTVector &pV2);

FBSDK_DLL void      FBMult              (FBMatrix &pResult, const FBMatrix &pM, const FBSVector &pV);

FBSDK_DLL double    FBDot               (const FBTVector &pV1, const FBTVector &pV2);

FBSDK_DLL double    FBLength            (const FBTVector &pV);

// Quaternion operations

FBSDK_DLL void      FBQAdd              (FBQuaternion &pResult, const FBQuaternion &pQ1, const FBQuaternion &pQ2);

FBSDK_DLL void      FBQSub              (FBQuaternion &pResult, const FBQuaternion &pQ1, const FBQuaternion &pQ2);

FBSDK_DLL void      FBQMult             (FBQuaternion &pResult, const FBQuaternion &pQ1, double pQ2);

FBSDK_DLL void      FBQMult             (FBQuaternion &pResult, const FBQuaternion &pQ1, const FBQuaternion &pQ2);

FBSDK_DLL double    FBQDot              (const FBQuaternion &pQ1, const FBQuaternion &pQ2);

FBSDK_DLL double    FBQLength           (const FBQuaternion &pQ);

// Vertex operations

FBSDK_DLL double    FBLength            (const FBVertex &pV);

// Rotation utilities

FBSDK_DLL void  FBInterpolateRotation( FBRVector &pROut, const FBRVector &pR0, const FBRVector &pR1, double pU );

FBSDK_DLL void  FBInterpolateRotation( FBQuaternion &pQOut, const FBQuaternion &pQ0, const FBQuaternion &pQ1, double pU );

FBSDK_DLL void      FBGetContinuousRotation ( FBRVector &pROut, const FBRVector &pR0, const FBRVector &pR1 );

// Miscellaneous utilities 

FBSDK_DLL double    FBClamp     (double pV, double pL, double pH);

FBSDK_DLL void  FBBigEndianToNative     (unsigned short &pV);

FBSDK_DLL void  FBLittleEndianToNative  (unsigned short &pV);

FBSDK_DLL void FBMatrixToRotationWithPrecision      (FBRVector &pVector, const FBMatrix& pMatrix, FBRotationOrder pRotationOrder, double pPrecision = FBMat2EulerDegenerateForPrecision10);

FBSDK_DLL void FBQuaternionToRotationWithPrecision  (FBRVector &pVector, const FBQuaternion& pQuaternion, FBRotationOrder pRotationOrder, double pPrecision = FBMat2EulerDegenerateForPrecision10);

#ifdef FBSDKUseNamespace
    }
#endif
#endif