/*- // ========================================================================== // Copyright (C) 1995 - 2006 Autodesk, Inc., and/or its licensors. All // rights reserved. // // The coded instructions, statements, computer programs, and/or related // material (collectively the "Data") in these files contain unpublished // information proprietary to Autodesk, Inc. ("Autodesk") and/or its // licensors, which is protected by U.S. and Canadian federal copyright law // and by international treaties. // // The Data may not be disclosed or distributed to third parties or be // copied or duplicated, in whole or in part, without the prior written // consent of Autodesk. // // The copyright notices in the Software and this entire statement, // including the above license grant, this restriction and the following // disclaimer, must be included in all copies of the Software, in whole // or in part, and all derivative works of the Software, unless such copies // or derivative works are solely in the form of machine-executable object // code generated by a source language processor. // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND. // AUTODESK DOES NOT MAKE AND HEREBY DISCLAIMS ANY EXPRESS OR IMPLIED // WARRANTIES INCLUDING, BUT NOT LIMITED TO, THE WARRANTIES OF // NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, // OR ARISING FROM A COURSE OF DEALING, USAGE, OR TRADE PRACTICE. IN NO // EVENT WILL AUTODESK AND/OR ITS LICENSORS BE LIABLE FOR ANY LOST // REVENUES, DATA, OR PROFITS, OR SPECIAL, DIRECT, INDIRECT, OR // CONSEQUENTIAL DAMAGES, EVEN IF AUTODESK AND/OR ITS LICENSORS HAS // BEEN ADVISED OF THE POSSIBILITY OR PROBABILITY OF SUCH DAMAGES. // ========================================================================== */ /* * mocapserver.h - Definitions for writing motion capture servers for * Maya * */ #if !defined(__CAPSERVER_H__) #define __CAPSERVER_H__ 1 #if defined(__cplusplus) extern "C" { #endif #ifdef _WIN32 #define PROTOTYPES #endif /* * Use the high level "am i in the devkit" flag to control the rotation * order flag */ #define CAP_ROTATION_ORDER_MAYA 1 #define CAP_ROTATION_ORDER_KIN 0 #ifndef CAP_ROTATION_ORDER # ifdef MAYA_MOCAP_DEVKIT # define CAP_ROTATION_ORDER CAP_ROTATION_ORDER_MAYA # else # define CAP_ROTATION_ORDER CAP_ROTATION_ORDER_KIN # endif #endif /* * Define basic motion capture types */ typedef struct _CapChannel *CapChannel; /* Opaque pointer to a channel */ typedef float CapPosition[3]; /* A 3D position */ typedef float CapQuaternion[4]; /* A quaternion */ typedef float CapMatrix[4][4]; /* A 4x4 matrix */ typedef float CapMatrix3[3][3]; /* A 3x3 matrix */ /* * Enumerated types */ typedef enum CapSeverity { CAP_SEV_DEBUG, CAP_SEV_INFO, CAP_SEV_WARNING, CAP_SEV_ERROR, CAP_SEV_FATAL, _CAP_SEV_LAST } CapSeverity; /* * Note: don't change the order of these. They match the * TrackUsage enum in track.h. (At least UNKNOWN through LENS do.) */ typedef enum CapChannelUsage { CAP_USAGE_NONE = -1, CAP_USAGE_UNKNOWN, CAP_USAGE_POSITION, CAP_USAGE_ORIENTATION, CAP_USAGE_XPOS, CAP_USAGE_YPOS, CAP_USAGE_ZPOS, CAP_USAGE_XROT, CAP_USAGE_YROT, CAP_USAGE_ZROT, CAP_USAGE_XSCALE, CAP_USAGE_YSCALE, CAP_USAGE_ZSCALE, CAP_USAGE_SCALE, CAP_USAGE_ATTACH, CAP_USAGE_COUPLING, CAP_USAGE_FILEINTERP, CAP_USAGE_SHAPE, CAP_USAGE_WEIGHT, CAP_USAGE_HITHER, CAP_USAGE_YON, CAP_USAGE_LENS, CAP_USAGE_POS_ORIENT, _CAP_USAGE_LAST } CapChannelUsage; /* * Rotation order for converting Euler angles to quaternions */ typedef enum CapRotationOrder { /* * these rotation orders are kept for backward compatibility * and define rotations compatible with Kinemation/TAV naming */ CAP_ROT_XYZ_KIN, CAP_ROT_XZY_KIN, CAP_ROT_YXZ_KIN, CAP_ROT_YZX_KIN, CAP_ROT_ZXY_KIN, CAP_ROT_ZYX_KIN, /* * the following rotation order names are reversed from the * Kinemation/TAV set but are compatible with PA/Maya names */ CAP_ROT_XYZ_MAYA = CAP_ROT_ZYX_KIN, CAP_ROT_XZY_MAYA = CAP_ROT_YZX_KIN, CAP_ROT_YXZ_MAYA = CAP_ROT_ZXY_KIN, CAP_ROT_YZX_MAYA = CAP_ROT_XZY_KIN, CAP_ROT_ZXY_MAYA = CAP_ROT_YXZ_KIN, CAP_ROT_ZYX_MAYA = CAP_ROT_XYZ_KIN } CapRotationOrder; /* * This allows us to neither break old code, nor have to rewrite the * the entire interface for a consistant "guard_string" implementation */ #if CAP_ROTATION_ORDER == CAP_ROTATION_ORDER_MAYA # define CAP_ROT_XYZ CAP_ROT_XYZ_MAYA # define CAP_ROT_XZY CAP_ROT_XZY_MAYA # define CAP_ROT_YXZ CAP_ROT_YXZ_MAYA # define CAP_ROT_YZX CAP_ROT_YZX_MAYA # define CAP_ROT_ZXY CAP_ROT_ZXY_MAYA # define CAP_ROT_ZYX CAP_ROT_ZYX_MAYA #elif CAP_ROTATION_ORDER == CAP_ROTATION_ORDER_KIN # define CAP_ROT_XYZ CAP_ROT_XYZ_KIN # define CAP_ROT_XZY CAP_ROT_XZY_KIN # define CAP_ROT_YXZ CAP_ROT_YXZ_KIN # define CAP_ROT_YZX CAP_ROT_YZX_KIN # define CAP_ROT_ZXY CAP_ROT_ZXY_KIN # define CAP_ROT_ZYX CAP_ROT_ZYX_KIN #else This compiler error indicates that you have not set a valid value for the symbol CAP_ROTATION_ORDER. #endif typedef enum CapCommand { CAP_CMD_ERROR, CAP_CMD_AUTHORIZE, CAP_CMD_INIT, CAP_CMD_VERSION, CAP_CMD_INFO, CAP_CMD_DATA, CAP_CMD_START_RECORD, CAP_CMD_STOP_RECORD, CAP_CMD_CLOSE, CAP_CMD_QUIT, _CAP_CMD_LAST } CapCommand; /* * Figure out if we should use prototypes or not */ #if !defined(_PROTO) #if defined(PROTOTYPES) || defined(FUNCPROTO) || defined(__STDC__) || defined(__EXTENSIONS__) || defined(__cplusplus) #define _PROTO(x) x #else #define _PROTO(x) () #endif #endif // !defined(_PROTO) /* * Capture library function declarations/prototypes */ int CapWaitTimeout _PROTO((int fd, int msec)); /* ========== CapDaemonize ========== * * SYNOPSIS * Turn this process into a daemon * * PARAMETERS * None * * DESCRIPTION * This routine turns the current process into a daemon process. * A daemon process runs in the background in its own process * group with no controlling terminal. Important signals are * also handled correctly. * * RETURN VALUE * 0 if no error occurred or -1 if there was a problem. * if -1 is returned, errno is set appropriately. * * NOTES * On Unix, this routine causes the process to make a lot of changes: * o ALL files are closed (including stdin, stdout, and stderr). * o The pid changes (done with fork()). * o The parent pid changes to 1. * o The trapped signals may change (SIGHUP is ignored) * o The current directory changes to /. * o The umask is cleared. */ int CapDaemonize _PROTO((void)); /* ========== CapError ========== * * SYNOPSIS * Generate an error message at an appropriate place * * PARAMETERS * int client_fd File desc of socket to client * CapSeverity severity The severity of the error * char *pgm The name of the program * char *fmt A printf style format string * ... Args for the format string as necessary * * DESCRIPTION * This routine generates an appropriately placed error message. * If the client file descriptor is valid, the message is passed * to the client. Otherwise, if we are running as a daemon, the * message is sent to syslog, else it is sent to stderr. * * RETURN VALUE * 0 if no error occurred or -1 if there was a problem. * if -1 is returned, errno is set appropriately. */ int CapError _PROTO((int client_fd, CapSeverity sev, char *pgm, char *fmt,...)); /* ========== CapServe ========== * * SYNOPSIS * Create a socket, wait for a connection and return the file * descriptor. (This routine is unneeded if the server is * being started by inetd.) * * PARAMETERS * char *server The server name * * DESCRIPTION * This routine takes a server name, creates the socket, and * waits for a connection. It then removes the original sockets * and returns the connection to the client. * * A server name takes one of two formats: either : * or . The : format creates an Internet * family socket on the LOCAL host (the part is IGNORED) * for the specified port. The port can be an integer port number * or a service name that can be found by getservbyname(). * The format specifies a pathname to use as the address * of a Unix family socket for local connections only. If * starts with a '/', it is taken to be an absolute path * otherwise, the path is assumed to be relative to "/tmp/". * * RETURN VALUE * The file descriptor on which the client is connected or * -1 if there was some error (errno will be set appropriately). */ int CapServe _PROTO((char *server)); /* ========== CapCreateInetSocket ========== * * SYNOPSIS * Create an internet socket and return its file descriptor * * PARAMETERS * char *service The service name in /etc/services * short def_port The default port number if service does * not work * * DESCRIPTION * This routine creates an internet socket and returns its file * descriptor. If service is not NULL, it is looked up in * /etc/services to get the port number to use. If it is NULL * or the lookup fails, def_port is used instead. * * RETURN VALUE * 0 if no error occurred or -1 if there was a problem. * if -1 is returned, errno is set appropriately. */ int CapCreateInetSocket _PROTO((char *service, short def_port)); /* ========== CapCreateUnixSocket ========== * * SYNOPSIS * Create a unix socket and return its file descriptor * * PARAMETERS * char *name The file name to create. If the * name does not contain a '/' then * "/tmp/" is prepended. * * DESCRIPTION * This routine creates a unix socket and returns its file * descriptor. If name contains a '/' then use that name * directly. If it does not contain a '/' then "/tmp/" is * prepended to the name. * * RETURN VALUE * 0 if no error occurred or -1 if there was a problem. * if -1 is returned, errno is set appropriately. */ int CapCreateUnixSocket _PROTO((char *name)); /* ========== CapUnlinkUnixSocket ========== * * SYNOPSIS * Unlinks a unix socket and return its file descriptor * * PARAMETERS * char *name The file name to create. * * DESCRIPTION * This routine unlinks a unix socket. * If name contains a '/' then use that name * directly. If it does not contain a '/' then "/tmp/" is * prepended to the name. */ void CapUnlinkUnixSocket(char *name); /* ========== CapGetCommand ========== * * SYNOPSIS * Wait for and return the next command from the client * * PARAMETERS * int client_fd The socket connection to the client * * DESCRIPTION * This routine will read and return the next command from * the client. Any additional data that is passed with the * command will be saved in a static area for later querying. * * RETURN VALUE * A CapCommand value */ CapCommand CapGetCommand _PROTO((int client_fd)); /* ========== CapGetAuthInfo ========== * * SYNOPSIS * Return the authorization info that is in the client_query_buf * * PARAMETERS * int client_fd The client connection * char *user The remote user * char *host The remote host * char *realhost The remote host as looked up from * the address of the client connection * * DESCRIPTION * This routine returns the authorization info that is available * if the current command is CAP_CMD_AUTHORIZE. * * RETURN VALUE * 0 if there is no error or -1 if the last command was not * CAP_CMD_AUTHORIZE. */ int CapGetAuthInfo _PROTO((int client_fd, char *ruser, char *rhost, char *realrhost)); /* ========== CapInitialize ========== * * SYNOPSIS * Initialize the communications link * * PARAMETERS * int client_fd The client file descriptor * * DESCRIPTION * Do the initial handshake with the client and determine * if the two processes can speak the same protocol. * * RETURN VALUE * 0 if there is no error or -1 if there was some error. */ int CapInitialize _PROTO((int client_fd, char *name)); /* ========== CapAuthorize ========== * * SYNOPSIS * Send authorization back to the client * * PARAMETERS * int client_fd The client file descriptor * int authorized The authorization flag * * DESCRIPTION * Tell the client whether he is authorized to use this server * or not. * * RETURN VALUE * -1 if there was an error. 0 if everything is Ok. */ int CapAuthorize _PROTO((int client_fd, int authorized)); /* ========== CapVersion ========== * * SYNOPSIS * Send server version info to the client * * PARAMETERS * int client_fd The client file descriptor * char *server_name The name of the server * char *version The version number of the server * char *description A 1-line description of the server * * DESCRIPTION * Send the version information to the client. * * RETURN VALUE * 0 if no error occurred or -1 if there was an error. */ int CapVersion _PROTO((int client_fd, char *server_name, char *server_version, char *description)); /* ========== CapInfo ========== * * SYNOPSIS * Send channel info from the server to the client. * * PARAMETERS * int client_fd The client file descriptor * * DESCRIPTION * Send a description of the available data from to the client * * RETURN VALUE * 0 if there was no error or -1 if there was. */ int CapInfo _PROTO((int client_fd, float min_rate, float max_rate, float def_rate, unsigned int buf_size, int dynamic)); /* ========== CapGetRequestedFrame ========== * * SYNOPSIS * Return the requested frame that is in the client_query_buf * * PARAMETERS * int client_fd The client connection * * DESCRIPTION * This routine returns the frame number that was passed from the * client with the CAP_CMD_DATA command. * * RETURN VALUE * The frame number passed in the CAP_CMD_DATA command or -1 if * there is some error. */ int CapGetRequestedFrame _PROTO((int client_fd)); /* ========== CapGetRequestedTime ========== * * SYNOPSIS * Return the requested time that is in the client_query_buf * * PARAMETERS * int client_fd The client connection * * DESCRIPTION * This routine returns the frame number that was passed from the * client with the CAP_CMD_DATA command. * * RETURN VALUE * The frame number passed in the CAP_CMD_DATA command or -1.0 if * there is some error. */ float CapGetRequestedTime _PROTO((int client_fd)); /* ========== CapData ========== * * SYNOPSIS * Send the data to a client * * PARAMETERS * int client_fd The client file descriptor * * DESCRIPTION * This routine sends all the saved data to the client. * * RETURN VALUE * Returns -1 for an error or 0 for no error. If there is an * error, errno is set to an appropriate value. */ int CapData _PROTO((int client_fd)); /* ========== CapSetData ========== * * SYNOPSIS * Set the data for a channel * * PARAMETERS * CapChannel channel The channel * void *data A pointer to the data * * DESCRIPTION * This routine saves the data for later sending to the client. * The data passed in is assumed to match the data type of the * channel. * * RETURN VALUE * Returns -1 for an error or 0 for no error. If there is an * error, errno is set to an appropriate value. */ int CapSetData _PROTO((CapChannel channel, void *data)); /* ========== CapStartRecord ========== * * SYNOPSIS * Start recording * * PARAMETERS * int client_fd The client file descriptor * int sample_rate The samples per second * * DESCRIPTION * This routine allocates space for recorded data and * tells the client what the sample rate will be * * RETURN VALUE * Returns -1 for an error or 0 for no error. If there is an * error, errno is set to an appropriate value. */ int CapStartRecord _PROTO((int client_fd, float sample_rate, unsigned int buf_size)); int CapRecord _PROTO((int client_fd, float time)); /* ========== CapStopRecord ========== * * SYNOPSIS * Stop recording and send the recorded data to the client * * PARAMETERS * int client_fd The client file descriptor * * DESCRIPTION * This routine transmits the recorded data to the client * * RETURN VALUE * Returns -1 for an error or 0 for no error. If there is an * error, errno is set to an appropriate value. */ int CapStopRecord _PROTO((int client_fd)); /* ========== CapCreateChannel ========== * * SYNOPSIS * Create a new channel and add it to the channel hierarchy * * PARAMETERS * char *name The new channel's name * CapChannelUsage usage How the channel's data is to be used * int data_type The type of the channel (1, 3, 4, 6, or 7) * * DESCRIPTION * This routine creates a new channel in the channel hierarchy * and returns a handle to the new channel. * * RETURN VALUE * The handle for the newly created handle or NULL if there was * some error. */ CapChannel CapCreateChannel _PROTO((char *name, CapChannelUsage usage, int data_type)); /* ========== CapGetRequestedRecordRate ========== * * SYNOPSIS * Return the record sample rate provided by the client * * PARAMETERS * int client_fd The client connection * * DESCRIPTION * This routine returns the sample rate that was passed from the * client with the CAP_CMD_START_RECORD command. * * RETURN VALUE * The sample rate passed in the CAP_CMD_START_RECORD command or -1.0 if * there is some error. */ float CapGetRequestedRecordRate _PROTO((int client_fd)); /* ========== CapGetRequestedRecordSize ========== * * SYNOPSIS * Return the record buffer size provided by the client * * PARAMETERS * int client_fd The client connection * * DESCRIPTION * This routine returns the buffer size that was passed from the * client with the CAP_CMD_START_RECORD command. * * RETURN VALUE * The buffer size passed in the CAP_CMD_START_RECORD command or 1 if * there is some error. */ int CapGetRequestedRecordSize _PROTO((int client_fd)); #define EXPAND_ERROR_BUF 256 /* * ========== CapExpandFilename ========== * * SYNOPSIS * Expand any environment variables or ~[user] in a filepath * * PARAMETERS * char *in_name the incoming path * char *out_name the outgoing path - the caller * must ensure that out_name points to * enough space to hold the expanded result * (MAXPATHLEN, defined in sys/param.h). * * DESCRIPTION * CapExpandFilename does the following: * 1. On Unix, look for a ~[username] at the start of in_name, * which is expanded to the login directory for that user. * 2. Expand any environment variables. They can be * anywhere in the in_name, are started with a $, and * ended with a / or end-of-string. * * RETURN VALUE * a pointer to out_name on success * * If the routine fails, the routine returns NULL and * the global string CapExpandErrorMsg contains * the reason for failure. */ extern char CapExpandErrorMsg[EXPAND_ERROR_BUF]; char *CapExpandFilename _PROTO((const char *in_name, char *out_name)); /* ***********************************/ /* Math functions */ /* ***********************************/ /* ========== CapQuat2Euler ========== * * SYNOPSIS * Convert a quaternion to Euler angles. * * PARAMETERS * CapRotationOrder order The order of rotations * CapQuaternion q The quaternion * float *x The x-rotation * float *y The y-rotation * float *z The z-rotation * * DESCRIPTION * This routine converts a quaternion to Euler angles. * * The quaternion is assumed to be a unit quaternion stored * in w, x, y, z order. */ void CapQuat2Euler _PROTO((CapRotationOrder order, CapQuaternion q, float *x, float *y, float *z)); /* ========== CapEuler2Quat ========== * * SYNOPSIS * Convert Euler angles to a quaternion * * PARAMETERS * CapRotationOrder order The rotation order * float x The x-rotation in radians * float y The y-rotation in radians * float z The z-rotation in radians * CapQuaternion q The quaternion * * DESCRIPTION * This routine converts the Euler angles (in the given order) * to a quaternion. */ void CapEuler2Quat _PROTO((CapRotationOrder order, float x, float y, float z, CapQuaternion q)); /* ========== CapQuat2Matrix ========== * * SYNOPSIS * Convert a quaternion to a 4x4 matrix * * PARAMETERS * CapQuaternion q The quaternion * CapMatrix m The matrix * * DESCRIPTION * This routine converts a quaternion to a matrix. */ void CapQuat2Matrix _PROTO((CapQuaternion q, CapMatrix m)); /* ========== CapMatrix2Quat ========== * * SYNOPSIS * Convert (the orientation part of) a 4x4 matrix to a quaternion * * PARAMETERS * CapMatrix m The matrix * CapQuaternion q The quaternion * * DESCRIPTION * This routine takes the upper-left 3x3 submatrix from a 4x4 and * converts it to a quaternion. */ void CapMatrix2Quat _PROTO((CapMatrix m, CapQuaternion q)); /* ========== CapQuat2Matrix3 ========== * * SYNOPSIS * Convert a quaternion to a 3x3 matrix * * PARAMETERS * CapQuaternion q The quaternion * CapMatrix3 m The matrix * * DESCRIPTION * This routine converts a quaternion to a 3x3 matrix. */ void CapQuat2Matrix3 _PROTO((CapQuaternion q, CapMatrix3 m)); /* ========== CapMatrix32Quat ========== * * SYNOPSIS * Convert a 3x3 matrix to a quaternion * * PARAMETERS * CapMatrix3 m The 3x3 matrix * CapQuaternion q The quaternion * * DESCRIPTION * This routine converts a 3x3 rotation matrix to a quaternion. */ void CapMatrix32Quat _PROTO((CapMatrix3 m, CapQuaternion q)); /* ========== CapQuatMult ========== * * SYNOPSIS * Multiply 2 quaternions * * PARAMETERS * CapQuaternion q1 A quaternion * CapQuaternion q2 A quaternion * CapQuaternion q0 The result * * DESCRIPTION * This routine creates a composite quaternion that is equivalent * to rotating by q2, then q1. */ void CapQuatMult _PROTO((CapQuaternion q1, CapQuaternion q2, CapQuaternion q0)); /* ========== CapQuatRotate ========== * * SYNOPSIS * Rotate a vector by a quaternion * * PARAMETERS * CapQuaternion q The quaternion * CapPosition p The point * CapPosition r The result * * DESCRIPTION * This routine rotates the point p by the quaternion q and stores * the result in r. * * NOTES * This assumes that the quaternion q is normalized */ void CapQuatRotate _PROTO((CapQuaternion q, CapPosition p, CapPosition r)); /* ========== CapQuatMagnitude ========== * * SYNOPSIS * Return the magnitude of a quaternion * * PARAMETERS * CapQuaternion q The quaternion * * RETURN VALUE * The magnitude of the quaternion. * * DESCRIPTION * This routine returns the magnitude of a quaternion. */ float CapQuatMagnitude _PROTO((CapQuaternion q)); /* ========== CapQuatNormalize ========== * * SYNOPSIS * Normalize the quaternion * * PARAMETERS * CapQuaternion q The quaternion * * DESCRIPTION * This routine normalizes a quaternion in place. */ void CapQuatNormalize _PROTO((CapQuaternion q, CapQuaternion qn)); /* ========== CapQuatInvert ========== * * SYNOPSIS * Invert a quaternion * * PARAMETERS * CapQuaternion q The quaternion * CapQuaternion qi The inverse quaternion * * DESCRIPTION * This routine returns the invers of a quaternion. The quaternion * does not have to be normalized. */ void CapQuatInvert _PROTO((CapQuaternion q, CapQuaternion qi)); /* ========== CapEuler2Matrix ========== * * SYNOPSIS * Convert Euler angles to a matrix * * PARAMETERS * CapRotationOrder order The rotation order * float x The x-rotation * float y The y-rotation * float z The z-rotation * CapMatrix m The matrix * * DESCRIPTION * This routine converts the Euler angles (in the given order) * to a matrix. */ void CapEuler2Matrix _PROTO((CapRotationOrder order, float x, float y, float z, CapMatrix m)); /* ========== CapEuler2Matrix3 ========== * * SYNOPSIS * Convert Euler angles to a 3x3 matrix * * PARAMETERS * CapRotationOrder order The rotation order * float x The x-rotation * float y The y-rotation * float z The z-rotation * CapMatrix3 m The 3x3 matrix * * DESCRIPTION * This routine converts the Euler angles (in the given order) * to a 3x3 matrix. */ void CapEuler2Matrix3 _PROTO((CapRotationOrder order, float x, float y, float z, CapMatrix3 m)); /* ========== CapMatrix2Euler ========== * * SYNOPSIS * Convert a matrix to Euler angles. * * PARAMETERS * CapRotationOrder ord The order of rotations * CapMatrix m The matrix * float *x The x-rotation * float *y The y-rotation * float *z The z-rotation * * DESCRIPTION * This routine converts a matrix to Euler angles. */ void CapMatrix2Euler _PROTO((CapRotationOrder ord, CapMatrix m, float *x, float *y, float *z)); /* ========== CapMatrix32Euler ========== * * SYNOPSIS * Convert a 3x3 matrix to Euler angles. * * PARAMETERS * CapRotationOrder ord The order of rotations * CapMatrix3 m The 3x3 matrix * float *x The x-rotation * float *y The y-rotation * float *z The z-rotation * * DESCRIPTION * This routine converts a matrix to Euler angles. */ void CapMatrix32Euler _PROTO((CapRotationOrder ord, CapMatrix3 m, float *x, float *y, float *z)); #if defined(__cplusplus) } #endif #endif /* __CAPSERVER_H__ */