scene_fk.h

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/* -*- mode: C; c-basic-offset: 4; -*- */
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#ifndef AMINO_SCENE_FK_H
#define AMINO_SCENE_FK_H
 
#include "scenegraph.h"
#include "rxtype.h"
 
struct aa_rx_fk;
 
AA_API struct aa_rx_fk *
aa_rx_fk_alloc(const struct aa_rx_sg *scene_graph, struct aa_mem_region *reg);
 
AA_API struct aa_rx_fk *
aa_rx_fk_malloc(const struct aa_rx_sg *scene_graph);
 
AA_API void
aa_rx_fk_cpy(struct aa_rx_fk *dst, const struct aa_rx_fk *src);
 
AA_API double *
aa_rx_fk_data( const struct aa_rx_fk *fk );
 
AA_API size_t
aa_rx_fk_ld( const struct aa_rx_fk *fk );
 
AA_API size_t
aa_rx_fk_cnt( const struct aa_rx_fk *fk );
 
AA_API void
aa_rx_fk_destroy(struct aa_rx_fk * fk);
 
AA_API void
aa_rx_fk_all( struct aa_rx_fk *fk,
              const struct aa_dvec *q );
 
AA_API double *
aa_rx_fk_ref(const struct aa_rx_fk *fk, aa_rx_frame_id id);
 
AA_API void
aa_rx_fk_get_abs_qutr(const struct aa_rx_fk *fk, aa_rx_frame_id id, double E[7]);
 
AA_API void
aa_rx_fk_get_rel_qutr(const struct aa_rx_fk *fk,
                      aa_rx_frame_id parent, aa_rx_frame_id child,
                      double E[7]);
 
 
AA_API void
aa_rx_fk_set_rel(struct aa_rx_fk *fk, aa_rx_frame_id id, const double E[AA_RX_TF_LEN]);
 
AA_API void
aa_rx_fk_rot_abs( const struct aa_rx_fk *fk, aa_rx_frame_id id,
                  const double *v_id, double *v_abs );
 
#endif /*AMINO_SCENE_FK_H*/