View source for Matrix3D(API)

General/'''Matrix3D''' is API for 3D Transform Matrix.

== constant ==
Dimension of row and column
 #define MATRIX_3D_WIDTH  4
 #define MATRIX_3D_HEIGHT 4

Initialize Mode(0: Not Initialize, 1: Initialize)
 #define MATRIX_3D_MODE_NOT_INITIALIZE 0
 #define MATRIX_3D_MODE_INITIALIZE 1

 #define MATRIX_3D_NEGLECT_VALUE 1e-6

== struct ==
  typedef float matrix3DParaTypeReal;
  typedef matrix3DParaTypeReal Matrix3D[MATRIX_3D_WIDTH][MATRIX_3D_HEIGHT];
  typedef char  matrix3DEulerAngleMode;

== API ==
===Initialization of Matrix===
Initialize 4x4 Matrix.
 extern void matrix3DInit(Matrix3D Matrix);

===Convert===
Create 4x4 Matrix from Rotation Matrix (2x2).
 extern void matrix3DFromRotationMatrix(Matrix3D dst, Array a); 

===Inverse Transform===
Overwrite as matrix for Inverse Transform .
 extern void matrix3DInverse(Matrix3D mat);

===Multiply===
Multiply of Matrices
 extern void matrix3DMultiply(Matrix3D A, Matrix3D B);     /* A = A*B */
 extern void matrix3DMultiplyInv(Matrix3D A, Matrix3D B);  /* B = A*B */

Multiply between Vector and Matrix
 extern void matrix3DMultiplyVector(floatVector* v, Matrix3D A); 
 extern void matrix3DMultiplyVectors(floatVector* vs, int n, Matrix3D A); 

===Read and Write file===
Read file '''fpt''', and output to '''Matrix'''.
 extern void matrix3DFileRead(FILE* fpt, Matrix3D Matrix);
Write '''Matrix''' to file '''fpt'''.
 extern void matrix3DFileWrite(FILE* fpt, Matrix3D Matrix);
Output help to file '''fpt'''.
 extern void matrix3DFileFormat(FILE* fpt);

=== Affine Matrix ===
==== Calculate Matrix ====
Calculate '''Matrix''' from rotation angle.<br>
'''mode''': rotation axis, rot: rotation angle, '''Mode''': initialization flag
 extern void matrix3DRotationSet(Matrix3D Matrix, char mode, matrix3DParaTypeReal rot, long Mode);
Rotation by order to specified axis. ('''mode''': initialization flag)
 extern void matrix3DRotationSetXYZ(Matrix3D Matrix, matrix3DParaTypeReal rotx, matrix3DParaTypeReal roty, matrix3DParaTypeReal rotz, long mode);
 extern void matrix3DRotationSetZYX(Matrix3D Matrix, matrix3DParaTypeReal rotx, matrix3DParaTypeReal roty, matrix3DParaTypeReal rotz, long mode);
 extern void matrix3DRotationSetZXY(Matrix3D Matrix, matrix3DParaTypeReal rotx, matrix3DParaTypeReal roty, matrix3DParaTypeReal rotz, long mode);
 extern void matrix3DRotationSetYXZ(Matrix3D Matrix, matrix3DParaTypeReal rotx, matrix3DParaTypeReal roty, matrix3DParaTypeReal rotz, long mode);
Parallel shift by ('''rotx''', '''roty''', '''rotz'''). ('''mode''': initialization flag)
 extern void matrix3DTranslationSet(Matrix3D Matrix, matrix3DParaTypeReal rotx, matrix3DParaTypeReal roty, matrix3DParaTypeReal rotz, long mode);
Calculation by [[Euler Angle]]('''Mode''', '''rot1''', '''rot2''', '''rot3'''). ('''mode''': initialization flag)
 extern void matrix3DRotationSetFollowingEulerAngle(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal rot1, matrix3DParaTypeReal rot2, matrix3DParaTypeReal rot3, long mode);
 extern void matrix3DRotationAntiSetFollowingEulerAngle(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal rot1, matrix3DParaTypeReal rot2, matrix3DParaTypeReal rot3, long mode);

==== Calculate Rotation Angle ====
Calculate Rotation Angle '''rot1''', '''rot2''', and '''rot3''' by '''Matrix''' and [[Euler Angle]] mode '''Mode'''.
 extern void matrix3DEulerAngleGetFromMatrix3D(Matrix3D Matrix, const char Mode[4], matrix3DParaTypeReal* rot1, matrix3DParaTypeReal* rot2, matrix3DParaTypeReal* rot3, long mode);