| 1 | /* |
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| 2 | Copyright 2018 Google Inc. All Rights Reserved. |
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| 3 | |
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| 4 | Licensed under the Apache License, Version 2.0 (the "License"); |
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| 5 | you may not use this file except in compliance with the License. |
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| 6 | You may obtain a copy of the License at |
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| 7 | |
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| 8 | http://www.apache.org/licenses/LICENSE-2.0 |
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| 9 | |
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| 10 | Unless required by applicable law or agreed to in writing, software |
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| 11 | distributed under the License is distributed on an "AS-IS" BASIS, |
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| 12 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
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| 13 | See the License for the specific language governing permissions and |
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| 14 | limitations under the License. |
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| 15 | */ |
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| 16 | |
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| 17 | #ifndef RESONANCE_AUDIO_PLATFORM_COMMON_UTILS_H_ |
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| 18 | #define RESONANCE_AUDIO_PLATFORM_COMMON_UTILS_H_ |
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| 19 | |
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| 20 | #include "Eigen/Dense" |
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| 21 | |
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| 22 | namespace vraudio { |
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| 23 | |
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| 24 | // Flips the z-axis of a transformation matrix, which effectively allows |
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| 25 | // switching between the left-handed and right-handed coordinate systems. |
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| 26 | // |
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| 27 | // @param matrix 4x4 transformation matrix. |
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| 28 | // @return 4x4 transformation matrix with the z-axis flipped. |
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| 29 | void FlipZAxis(Eigen::Matrix4f* matrix); |
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| 30 | |
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| 31 | // Returns the position vector of a transformation matrix. |
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| 32 | // |
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| 33 | // @param matrix 4x4 transformation matrix. |
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| 34 | // @return 3D position vector. |
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| 35 | Eigen::Vector3f GetPosition(const Eigen::Matrix4f& matrix); |
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| 36 | |
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| 37 | // Returns the rotation quaternion of a transformation matrix. |
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| 38 | // |
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| 39 | // @param matrix 4x4 transformation matrix. |
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| 40 | // @return Quaternion representation of the rotation. |
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| 41 | Eigen::Quaternionf GetQuaternion(const Eigen::Matrix4f& matrix); |
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| 42 | |
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| 43 | // Returns a transformation matrix from position, forward & up vectors. |
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| 44 | // |
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| 45 | // @param position Position vector. |
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| 46 | // @param forward Forward direction vector describing rotation. |
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| 47 | // @param up Up direction vector describing rotation. |
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| 48 | // @return 4x4 transformation matrix. |
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| 49 | Eigen::Matrix4f GetTransformMatrix(const Eigen::Vector3f& position, |
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| 50 | const Eigen::Vector3f& forward, |
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| 51 | const Eigen::Vector3f& up); |
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| 52 | |
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| 53 | } // namespace vraudio |
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| 54 | |
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| 55 | #endif // RESONANCE_AUDIO_PLATFORM_COMMON_UTILS_H_ |
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| 56 | |
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