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++ // Copyright 2009-2021 Intel Corporation
++ // SPDX-License-Identifier: Apache-2.0
++
++ #pragma once
++
++ #include "rtcore_common.h"
++
++ RTC_NAMESPACE_BEGIN
++
++ /*
++ * Structure for transformation respresentation as a matrix decomposition using
++ * a quaternion
++ */
++ struct RTC_ALIGN(16) RTCQuaternionDecomposition
++ {
++ float scale_x;
++ float scale_y;
++ float scale_z;
++ float skew_xy;
++ float skew_xz;
++ float skew_yz;
++ float shift_x;
++ float shift_y;
++ float shift_z;
++ float quaternion_r;
++ float quaternion_i;
++ float quaternion_j;
++ float quaternion_k;
++ float translation_x;
++ float translation_y;
++ float translation_z;
++ };
++
++ RTC_FORCEINLINE void rtcInitQuaternionDecomposition(struct RTCQuaternionDecomposition* qdecomp)
++ {
++ qdecomp->scale_x = 1.f;
++ qdecomp->scale_y = 1.f;
++ qdecomp->scale_z = 1.f;
++ qdecomp->skew_xy = 0.f;
++ qdecomp->skew_xz = 0.f;
++ qdecomp->skew_yz = 0.f;
++ qdecomp->shift_x = 0.f;
++ qdecomp->shift_y = 0.f;
++ qdecomp->shift_z = 0.f;
++ qdecomp->quaternion_r = 1.f;
++ qdecomp->quaternion_i = 0.f;
++ qdecomp->quaternion_j = 0.f;
++ qdecomp->quaternion_k = 0.f;
++ qdecomp->translation_x = 0.f;
++ qdecomp->translation_y = 0.f;
++ qdecomp->translation_z = 0.f;
++ }
++
++ RTC_FORCEINLINE void rtcQuaternionDecompositionSetQuaternion(
++ struct RTCQuaternionDecomposition* qdecomp,
++ float r, float i, float j, float k)
++ {
++ qdecomp->quaternion_r = r;
++ qdecomp->quaternion_i = i;
++ qdecomp->quaternion_j = j;
++ qdecomp->quaternion_k = k;
++ }
++
++ RTC_FORCEINLINE void rtcQuaternionDecompositionSetScale(
++ struct RTCQuaternionDecomposition* qdecomp,
++ float scale_x, float scale_y, float scale_z)
++ {
++ qdecomp->scale_x = scale_x;
++ qdecomp->scale_y = scale_y;
++ qdecomp->scale_z = scale_z;
++ }
++
++ RTC_FORCEINLINE void rtcQuaternionDecompositionSetSkew(
++ struct RTCQuaternionDecomposition* qdecomp,
++ float skew_xy, float skew_xz, float skew_yz)
++ {
++ qdecomp->skew_xy = skew_xy;
++ qdecomp->skew_xz = skew_xz;
++ qdecomp->skew_yz = skew_yz;
++ }
++
++ RTC_FORCEINLINE void rtcQuaternionDecompositionSetShift(
++ struct RTCQuaternionDecomposition* qdecomp,
++ float shift_x, float shift_y, float shift_z)
++ {
++ qdecomp->shift_x = shift_x;
++ qdecomp->shift_y = shift_y;
++ qdecomp->shift_z = shift_z;
++ }
++
++ RTC_FORCEINLINE void rtcQuaternionDecompositionSetTranslation(
++ struct RTCQuaternionDecomposition* qdecomp,
++ float translation_x, float translation_y, float translation_z)
++ {
++ qdecomp->translation_x = translation_x;
++ qdecomp->translation_y = translation_y;
++ qdecomp->translation_z = translation_z;
++ }
++
++ RTC_NAMESPACE_END
++