Base implementations for math library. More...

#include "math/m_api.h"
#include "math/m_eigen_interop.hpp"
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <assert.h>

Include dependency graph for m_base.cpp:

Enumerations
enum	accumulate_pose_flags { OFFSET, LEGACY }

Functions
bool	math_vec3_validate (const struct xrt_vec3 *vec3)

void	math_vec3_accum (const struct xrt_vec3 additional, struct xrt_vec3 inAndOut)

void	math_vec3_cross (const struct xrt_vec3 l, const struct xrt_vec3 r, struct xrt_vec3 *result)

void	math_quat_from_angle_vector (float angle_rads, const struct xrt_vec3 vector, struct xrt_quat result)

void	math_quat_from_matrix_3x3 (const struct xrt_matrix_3x3 mat, struct xrt_quat result)

void	math_quat_from_plus_x_z (const struct xrt_vec3 plus_x, const struct xrt_vec3 plus_z, struct xrt_quat *result)

bool	math_quat_validate (const struct xrt_quat *quat)

void	math_quat_normalize (struct xrt_quat *inout)

void	math_quat_rotate (const struct xrt_quat left, const struct xrt_quat right, struct xrt_quat *result)

void	math_quat_rotate_vec3 (const struct xrt_quat left, const struct xrt_vec3 right, struct xrt_vec3 *result)
	Rotate a vector. More...

void	math_matrix_3x3_transform_vec3 (const struct xrt_matrix_3x3 left, const struct xrt_vec3 right, struct xrt_vec3 *result)

bool	math_pose_validate (const struct xrt_pose *pose)

void	math_pose_invert (const struct xrt_pose pose, struct xrt_pose outPose)

void	math_pose_transform (const struct xrt_pose transform, const struct xrt_pose pose, struct xrt_pose *outPose)

void	math_pose_transform_point (const struct xrt_pose transform, const struct xrt_vec3 point, struct xrt_vec3 *out_point)

void	math_pose_openxr_locate (const struct xrt_pose space_pose, const struct xrt_pose relative_pose, const struct xrt_pose base_space_pose, struct xrt_pose result)

void	math_relation_reset (struct xrt_space_relation *out)

void	math_relation_apply_offset (const struct xrt_pose offset, struct xrt_space_relation in_out_relation)

void	accumulate_transform (const struct xrt_pose transform, struct xrt_space_relation in_out_relation)

void	math_relation_accumulate_relation (const struct xrt_space_relation additional_relation, struct xrt_space_relation in_out_relation)

void	math_relation_openxr_locate (const struct xrt_pose space_pose, const struct xrt_space_relation relative_relation, const struct xrt_pose base_space_pose, struct xrt_space_relation result)

Detailed Description

Base implementations for math library.

Author: Jakob Bornecrantz jakob.nosp@m.@col.nosp@m.labor.nosp@m.a.co.nosp@m.m; Ryan Pavlik ryan..nosp@m.pavl.nosp@m.ik@co.nosp@m.llab.nosp@m.ora.c.nosp@m.om

Enumeration Type Documentation

◆ accumulate_pose_flags

enum accumulate_pose_flags

Enumerator
OFFSET
LEGACY

Function Documentation

◆ accumulate_transform()

void accumulate_transform	(	const struct xrt_pose *	transform,
		struct xrt_space_relation *	in_out_relation
	)

◆ math_matrix_3x3_transform_vec3()

void math_matrix_3x3_transform_vec3	(	const struct xrt_matrix_3x3 *	left,
		const struct xrt_vec3 *	right,
		struct xrt_vec3 *	result
	)

References xrt_matrix_3x3::v.

◆ math_pose_invert()

void math_pose_invert	(	const struct xrt_pose *	pose,
		struct xrt_pose *	outPose
	)

void math_pose_openxr_locate	(	const struct xrt_pose *	space_pose,
		const struct xrt_pose *	relative_pose,
		const struct xrt_pose *	base_space_pose,
		struct xrt_pose *	result
	)

◆ math_pose_transform()

void math_pose_transform	(	const struct xrt_pose *	transform,
		const struct xrt_pose *	pose,
		struct xrt_pose *	outPose
	)

void math_pose_transform_point	(	const struct xrt_pose *	transform,
		const struct xrt_vec3 *	point,
		struct xrt_vec3 *	out_point
	)

bool math_pose_validate ( const struct xrt_pose * pose )

◆ math_quat_from_angle_vector()

void math_quat_from_angle_vector	(	float	angle_rads,
		const struct xrt_vec3 *	vector,
		struct xrt_quat *	result
	)

void math_quat_from_matrix_3x3	(	const struct xrt_matrix_3x3 *	mat,
		struct xrt_quat *	result
	)

◆ math_quat_from_plus_x_z()

void math_quat_from_plus_x_z	(	const struct xrt_vec3 *	plus_x,
		const struct xrt_vec3 *	plus_z,
		struct xrt_quat *	result
	)

◆ math_quat_normalize()

void math_quat_normalize ( struct xrt_quat * inout )

void math_quat_rotate	(	const struct xrt_quat *	left,
		const struct xrt_quat *	right,
		struct xrt_quat *	result
	)

bool math_quat_validate ( const struct xrt_quat * quat )

void math_relation_accumulate_relation	(	const struct xrt_space_relation *	additional_relation,
		struct xrt_space_relation *	in_out_relation
	)

◆ math_relation_apply_offset()

void math_relation_apply_offset	(	const struct xrt_pose *	offset,
		struct xrt_space_relation *	in_out_relation
	)

void math_relation_openxr_locate	(	const struct xrt_pose *	space_pose,
		const struct xrt_space_relation *	relative_relation,
		const struct xrt_pose *	base_space_pose,
		struct xrt_space_relation *	result
	)

void math_relation_reset ( struct xrt_space_relation * out )

void math_vec3_accum	(	const struct xrt_vec3 *	additional,
		struct xrt_vec3 *	inAndOut
	)

void math_vec3_cross	(	const struct xrt_vec3 *	l,
		const struct xrt_vec3 *	r,
		struct xrt_vec3 *	result
	)

bool math_vec3_validate ( const struct xrt_vec3 * vec3 )

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ accumulate_pose_flags

Function Documentation

◆ accumulate_transform()

◆ math_matrix_3x3_transform_vec3()

◆ math_pose_invert()

◆ math_pose_openxr_locate()

◆ math_pose_transform()

◆ math_pose_transform_point()

◆ math_pose_validate()

◆ math_quat_from_angle_vector()

◆ math_quat_from_matrix_3x3()

◆ math_quat_from_plus_x_z()

◆ math_quat_normalize()

◆ math_quat_rotate()

◆ math_quat_validate()

◆ math_relation_accumulate_relation()

◆ math_relation_apply_offset()

◆ math_relation_openxr_locate()

◆ math_relation_reset()

◆ math_vec3_accum()

◆ math_vec3_cross()

◆ math_vec3_validate()