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// $Id$
#ifndef GEOMETRY
#define GEOMETRY
#include "rigidbody.h"
#include <iostream>
#include <string.h> //for memcpy
namespace PTools{
// class Rigidbody;
typedef dbl Mat44[4][4];
void MakeRotationMatrix(Coord3D A, Coord3D B, dbl theta, dbl out[4][4]);
// void XRotation(const Rigidbody& source, Rigidbody &result, dbl alpha); // rotation autour de l'axe X
inline void mat44xVect(const dbl mat[ 4 ][ 4 ], const Coord3D& vect, Coord3D& out )
{
out.x = vect.x * mat[ 0 ][ 0 ] + vect.y * mat[ 0 ][ 1 ] + vect.z * mat[ 0 ][ 2 ] + mat[ 0 ][ 3 ] ;
out.y = vect.x * mat[ 1 ][ 0 ] + vect.y * mat[ 1 ][ 1 ] + vect.z * mat[ 1 ][ 2 ] + mat[ 1 ][ 3 ] ;
out.z = vect.x * mat[ 2 ][ 0 ] + vect.y * mat[ 2 ][ 1 ] + vect.z * mat[ 2 ][ 2 ] + mat[ 2 ][ 3 ] ;
}
void mat44xrigid(const Rigidbody& source, Rigidbody& result, dbl mat[4][4]);
void ABrotate(Coord3D A, Coord3D B, Rigidbody& target, dbl theta);
// void EulerZYZ(const Rigidbody & source, Rigidbody & cible, dbl theta, dbl phi, dbl psi);
// void AttractEuler(const Rigidbody& source, Rigidbody& dest, dbl phi, dbl ssi, dbl rot);
void mat44xmat44( const dbl mat1[4][4], const dbl mat2[4][4], dbl result[4][4] );
//void MultMat4x4(dbl R1[4][4], dbl R2[4][4], dbl out[4][4]);
///vectorial product
void VectProd(const Coord3D& u,const Coord3D& v, Coord3D& UvectV);
void printmat44(const dbl mat[4][4]);
///returns the scalar product between two Coord3D object
inline dbl ScalProd( const Coord3D& a, const Coord3D& b )
{
return a.x * b.x + a.y * b.y + a.z * b.z ;
}
dbl Dihedral(const Coord3D& a, const Coord3D& b, const Coord3D& c, const Coord3D& d);
dbl Angle(const Coord3D& vector1, const Coord3D& vector2);
dbl MakeTranslationMat44(Coord3D t, dbl out[4][4] );
#endif //ifndef GEOMETRY
}
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