SMC_Frame_Inverse (FUN) ¶ FUNCTION SMC_Frame_Inverse Inverts a frame. The resulting frame represents the inverse transformation. InOut: Scope Name Type Inout fDst SMC_Frame Inout Const fSrc SMC_Frame
FrameQ ¶ SMC_FrameQ (Struct) SMC_FrameQ_FromFrame (Function) SMC_FrameQ_LInt (Function) SMC_FrameQ_ToFrame (Function)
SMC_FrameQ (STRUCT) ¶ TYPE SMC_FrameQ : STRUCT A frame represents a coordinate system given by the orientation of the axes and origin vector. The representation of the coordinate system is always expressed relative to a base coordinate system. A different representation than SMC_Frame : the orientation is stored as a unit quaternion instead of a rotation matrix. InOut: Name Type Comment q SMC_Quat The orientation of the axes as a unit quaternion, expressed in base coordinates. t SMC_Vector3D The offset of the origin in base coordinates.
SMC_FrameQ_FromFrame (FUN) ¶ FUNCTION SMC_FrameQ_FromFrame InOut: Scope Name Type Inout fq SMC_FrameQ Inout Const f SMC_Frame
SMC_FrameQ_LInt (FUN) ¶ FUNCTION SMC_FrameQ_LInt Linearly interpolates between two frames: fDst := fLhs*(1-lambda) + fRhs*lambda. (The orientations are interpolated using the slerp function.) InOut: Scope Name Type Inout fDst SMC_FrameQ Inout Const fLhs SMC_FrameQ fRhs SMC_FrameQ Input lambda LREAL
SMC_FrameQ_ToFrame (FUN) ¶ FUNCTION SMC_FrameQ_ToFrame InOut: Scope Name Type Inout f SMC_Frame Inout Const fq SMC_FrameQ
Matrix3 ¶ SMC_Matrix3 (Struct) SMC_Matrix3_Apply (Function) SMC_Matrix3_ApplyL (Function) SMC_Matrix3_ApplyQuat (Function) SMC_Matrix3_Equals (Function) SMC_Matrix3_FromAxisAngle (Function) SMC_Matrix3_FromCols (Function) SMC_Matrix3_FromRollPitchYaw_deg (Function) SMC_Matrix3_FromYawPitchRoll (Function) SMC_Matrix3_FromZYZ_deg (Function) SMC_Matrix3_GetCol (Function) SMC_Matrix3_GetRow (Function) SMC_Matrix3_IsRotation (Function) SMC_Matrix3_Mult (Function) SMC_Matrix3_MultS (Function) SMC_Matrix3_NormalizeRotation (Function) SMC_Matrix3_RotDist (Function) SMC_Matrix3_RotateX (Function) SMC_Matrix3_RotateY (Function) SMC_Matrix3_RotateZ (Function) SMC_Matrix3_Serialize (Function) SMC_Matrix3_Set (Function) SMC_Matrix3_SetDiag (Function) SMC_Matrix3_SetRow (Function) SMC_Matrix3_ToRollPitchYaw_deg (Function) SMC_Matrix3_ToYawPitchRoll (Function) SMC_Matrix3_ToZYZ_deg (Function) SMC_Matrix3_Translate (Function) SMC_Matrix3_Transpose (Function) SMC_Matrix3_TransposeI (Function)
SMC_Matrix3 (STRUCT) ¶ TYPE SMC_Matrix3 : STRUCT Represents a 3x3 matrix of LREALs in row-major storage format. InOut: Name Type aElems ARRAY [0..8] OF LREAL
SMC_Matrix3_Apply (FUN) ¶ FUNCTION SMC_Matrix3_Apply Multiplies a matrix mR with a column vector vPos: vDst := mR * vPos. InOut: Scope Name Type Inout vDst SMC_Vector3D Inout Const mR SMC_Matrix3 vPos SMC_Vector3D
SMC_Matrix3_ApplyL (FUN) ¶ FUNCTION SMC_Matrix3_ApplyL : BOOL Multiplies a matrix mR with a row vector vPos: vDst := vPos * mR . InOut: Scope Name Type Comment Inout vDst SMC_VECTOR3D The result vPos * mR Inout Const mR SMC_Matrix3 The matrix vPos SMC_VECTOR3D The vector to multiply Return SMC_Matrix3_ApplyL BOOL