A 3 element vector with single floats. More...

#include <xrt/xrt_defines.h>

Data Fields
float	x

float	y

float	z

Related Functions
(Note that these are not member functions.)
bool	math_vec3_validate (const struct xrt_vec3 *vec3)
	Check if this vec3 is valid for math operations. More...

void	math_vec3_accum (const struct xrt_vec3 additional, struct xrt_vec3 inAndOut)
	Accumulate a vector by adding in-place. More...

void	math_vec3_cross (const struct xrt_vec3 l, const struct xrt_vec3 r, struct xrt_vec3 *result)
	Cross product of a vector. More...

void	math_quat_from_angle_vector (float angle_rads, const struct xrt_vec3 vector, struct xrt_quat result)
	Create a rotation from a angle in radians and a vector. More...

void	math_quat_from_plus_x_z (const struct xrt_vec3 plus_x, const struct xrt_vec3 plus_z, struct xrt_quat *result)
	Create a rotation from two vectors plus x and z, by creating a rotation matrix by crossing z and x to get the y axis. More...

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_quat_integrate_velocity (const struct xrt_quat quat, const struct xrt_vec3 ang_vel, float dt, struct xrt_quat *result)
	Integrate an angular velocity vector (exponential map) and apply to a quaternion. More...

void	math_quat_finite_difference (const struct xrt_quat quat0, const struct xrt_quat quat1, float dt, struct xrt_vec3 *out_ang_vel)
	Compute an angular velocity vector (exponential map format) by taking the finite difference of two quaternions. More...

void	math_pose_transform_point (const struct xrt_pose transform, const struct xrt_vec3 point, struct xrt_vec3 *out_point)
	Apply a rigid-body transformation to a point. More...