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greg |
2.2 |
#ifndef lint
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static const char RCSid[] = "$Id$";
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#endif
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greg |
2.1 |
#include <stdio.h>
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#include <stdlib.h>
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| 7 |
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#include "g3affine.h"
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#include "gbasic.h"
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#include "g3sphere.h"
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| 11 |
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static g3AVec g3av_zero = {0.0,0.0,0.0,0.0};
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| 13 |
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static g3ATrans g3at_unit = {{1.0,0.0,0.0,0.0},
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{0.0,1.0,0.0,0.0},
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{0.0,0.0,1.0,0.0},
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{0.0,0.0,0.0,1.0}};
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static g3ATrans g3at_zero = {{0.0,0.0,0.0,0.0},
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{0.0,0.0,0.0,0.0},
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{0.0,0.0,0.0,0.0},
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{0.0,0.0,0.0,0.0}};
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| 23 |
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void g3at_tounit(g3ATrans t)
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{
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g3at_copy(t,g3at_unit);
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}
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static int nr_gaussj(g3Float a[4][4],g3Float b[4])
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{
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int *indxc,*indxr,*ipiv;
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int i,icol,irow,j,k,l,ll;
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g3Float big,dum,pivinv;
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| 34 |
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indxc = (int*) calloc(4,sizeof(int));
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indxr = (int*) calloc(4,sizeof(int));
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ipiv = (int*) calloc(4,sizeof(int));
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| 38 |
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icol = irow = 0;
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for (j=0;j<4;j++)
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ipiv[j]=0;
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for (i=0;i<4;i++) {
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big=0.0;
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for (j=0;j<4;j++)
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if (ipiv[j] != 1)
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for (k=0;k<4;k++) {
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if (ipiv[k] == 0) {
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if (fabs(a[j][k]) >= big) {
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big = fabs(a[j][k]);
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irow = j;
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icol = k;
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}
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} else if (ipiv[k] > 1) {
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return 0;
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}
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}
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++(ipiv[icol]);
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if (irow != icol) {
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for (l=0;l<4;l++)
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GB_SWAP(a[irow][l],a[icol][l])
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GB_SWAP(b[irow],b[icol])
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}
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indxr[i] = irow;
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indxc[i] = icol;
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if (a[icol][icol] == 0.0)
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| 65 |
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return 0;
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pivinv = 1.0/a[icol][icol];
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a[icol][icol] = 1.0;
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for (l=0;l<4;l++)
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a[icol][l] *= pivinv;
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b[icol] *= pivinv;
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for (ll=0;ll<4;ll++) {
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if (ll != icol) {
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dum = a[ll][icol];
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a[ll][icol] = 0.0;
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for (l=0;l<4;l++)
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a[ll][l] -= a[icol][l]*dum;
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b[ll] -= b[icol]*dum;
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}
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}
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}
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for (l=3;l>=0;l--) {
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if (indxr[l] != indxc[l])
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for (k=0;k<4;k++)
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GB_SWAP(a[k][indxr[l]],a[k][indxc[l]]);
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}
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free(ipiv);
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free(indxr);
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free(indxc);
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return 1;
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}
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void g3at_translate(g3ATrans t,g3Vec tv)
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{
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| 94 |
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int i;
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| 95 |
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g3at_copy(t,g3at_unit);
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for(i=0;i<3;i++)
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t[i][3] += tv[i];
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}
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| 100 |
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void g3at_add_trans(g3ATrans t,g3Vec tv)
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{
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g3ATrans tt;
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g3at_translate(tt,tv);
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g3at_comb_to(t,tt,t);
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}
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| 108 |
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void g3at_prepend_trans(g3ATrans t,g3Vec tv)
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{
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g3ATrans tt;
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| 112 |
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g3at_translate(tt,tv);
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g3at_comb(t,tt);
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}
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| 116 |
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void g3at_rotate(g3ATrans t,g3Vec rnorm,g3Float ang)
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{
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g3Vec axe;
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int aid,i;
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| 120 |
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| 121 |
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axe = g3v_create();
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g3at_copy(t,g3at_unit);
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| 124 |
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for(aid=0;aid<3;aid++) {
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g3v_zero(axe);
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axe[aid] = 1.0;
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g3v_rotate(axe,axe,rnorm,ang);
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| 128 |
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for(i=0;i<3;i++)
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t[i][aid] = axe[i];
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}
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| 131 |
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g3v_free(axe);
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}
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| 134 |
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void g3at_add_rot(g3ATrans t,g3Vec rnorm,g3Float ang)
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| 135 |
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{
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| 136 |
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g3ATrans rt;
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| 137 |
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| 138 |
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g3at_rotate(rt,rnorm,ang);
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| 139 |
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g3at_comb_to(t,rt,t);
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| 140 |
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}
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| 141 |
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| 142 |
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void g3at_prepend_rot(g3ATrans t,g3Vec rnorm,g3Float ang)
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| 143 |
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{
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| 144 |
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g3ATrans rt;
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| 145 |
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| 146 |
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g3at_rotate(rt,rnorm,ang);
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| 147 |
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g3at_comb(t,rt);
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| 148 |
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}
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| 149 |
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| 150 |
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void g3at_btrans(g3ATrans t,g3Vec xv,g3Vec yv,g3Vec zv)
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| 151 |
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{
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| 152 |
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int i;
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| 153 |
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| 154 |
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g3at_copy(t,g3at_unit);
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| 155 |
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for(i=0;i<3;i++) {
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t[i][0] = xv[i];
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t[i][1] = yv[i];
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| 158 |
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t[i][2] = zv[i];
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| 159 |
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}
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| 160 |
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}
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| 161 |
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| 162 |
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int g3at_inverse(g3ATrans t)
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| 163 |
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{
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| 164 |
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g3Float v[] = {0,0,0,0};
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| 165 |
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| 166 |
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if (!nr_gaussj(t,v)) {
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| 167 |
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fprintf(stderr,"g3at_inverse: singular matrix\n");
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| 168 |
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return 0;
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| 169 |
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}
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| 170 |
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return 1;
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| 171 |
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}
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| 172 |
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| 173 |
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void g3at_apply_h(g3ATrans t,g3AVec v)
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| 174 |
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{
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| 175 |
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int i,j;
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| 176 |
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g3AVec vt;
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| 177 |
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| 178 |
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g3av_copy(vt,v);
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| 179 |
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g3av_copy(v,g3av_zero);
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| 180 |
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for(i=0;i<4;i++)
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| 181 |
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for(j=0;j<4;j++)
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| 182 |
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v[i] += t[i][j]*vt[j];
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| 183 |
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g3av_tonorm(v);
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| 184 |
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}
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| 185 |
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| 186 |
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void g3av_print(g3AVec vh,FILE* outf)
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{
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| 188 |
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int i;
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| 189 |
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| 190 |
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for(i=0;i<4;i++)
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| 191 |
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fprintf(outf,"%f ",vh[i]);
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| 192 |
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}
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| 193 |
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| 194 |
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void g3at_apply(g3ATrans t,g3Vec v)
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| 195 |
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{
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| 196 |
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g3AVec res;
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| 197 |
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| 198 |
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g3av_vectohom(res,v);
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| 199 |
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g3at_apply_h(t,res);
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| 200 |
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g3v_set(v,res[0],res[1],res[2]);
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| 201 |
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}
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| 202 |
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| 203 |
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void g3at_iapply(g3Vec v,g3ATrans t)
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| 204 |
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{
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| 205 |
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g3AVec res;
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| 206 |
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| 207 |
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g3av_copy(res,v);
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| 208 |
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g3at_iapply_h(res,t);
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| 209 |
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g3v_set(v,res[0],res[1],res[2]);
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| 210 |
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}
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| 211 |
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| 212 |
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void g3at_iapply_h(g3Vec v,g3ATrans t)
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| 213 |
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{
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| 214 |
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int i,j;
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| 215 |
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g3AVec vt;
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| 216 |
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| 217 |
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g3av_copy(vt,v);
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| 218 |
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g3av_copy(v,g3av_zero);
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| 219 |
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for(i=0;i<4;i++)
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| 220 |
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for(j=0;j<4;j++)
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| 221 |
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v[i] += t[j][i]*vt[j];
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| 222 |
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g3av_tonorm(v);
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| 223 |
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}
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| 224 |
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| 225 |
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void g3at_comb(g3ATrans t,g3ATrans tf)
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| 226 |
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{
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| 227 |
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g3ATrans res;
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| 228 |
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| 229 |
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g3at_comb_to(res,t,tf);
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| 230 |
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g3at_copy(t,res);
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| 231 |
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}
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| 232 |
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| 233 |
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void g3at_comb_to(g3ATrans res,g3ATrans t,g3ATrans tf)
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| 234 |
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{
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| 235 |
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int i,j,k;
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| 236 |
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g3ATrans temp;
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| 237 |
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g3at_copy(temp,g3at_zero);
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| 238 |
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for(i=0;i<4;i++)
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| 239 |
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for(j=0;j<4;j++)
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| 240 |
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for(k=0;k<4;k++)
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| 241 |
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temp[i][j] += t[i][k]*tf[k][j];
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| 242 |
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g3at_copy(res,temp);
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| 243 |
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}
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| 244 |
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| 245 |
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| 246 |
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void g3av_vectohom(g3AVec res,g3Vec v)
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| 247 |
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{
|
| 248 |
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int i;
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| 249 |
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| 250 |
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for(i=0;i<3;i++)
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| 251 |
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res[i] = v[i];
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| 252 |
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res[3] = 1.0;
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| 253 |
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}
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| 254 |
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| 255 |
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void g3av_homtovec(g3Vec res,g3AVec h)
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| 256 |
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{
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| 257 |
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int i;
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| 258 |
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| 259 |
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g3av_tonorm(h);
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| 260 |
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for(i=0;i<3;i++)
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| 261 |
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res[i] = h[i];
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| 262 |
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}
|
| 263 |
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| 264 |
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int g3av_tonorm(g3AVec v)
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| 265 |
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{
|
| 266 |
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int i;
|
| 267 |
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|
| 268 |
|
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if (gb_epseq(v[3],0.0))
|
| 269 |
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return 0;
|
| 270 |
|
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for(i=0;i<3;i++)
|
| 271 |
|
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v[i] /= v[3];
|
| 272 |
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v[3] = 1.0;
|
| 273 |
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return 1;
|
| 274 |
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}
|
| 275 |
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|
| 276 |
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void g3av_copy(g3AVec v,g3AVec vsrc)
|
| 277 |
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{
|
| 278 |
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int i;
|
| 279 |
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|
| 280 |
|
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for(i=0;i<4;i++)
|
| 281 |
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v[i] = vsrc[i];
|
| 282 |
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}
|
| 283 |
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|
| 284 |
|
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void g3at_print(g3ATrans t,FILE* outf)
|
| 285 |
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{
|
| 286 |
|
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int i,j;
|
| 287 |
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|
| 288 |
|
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for(i=0;i<4;i++) {
|
| 289 |
|
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for(j=0;j<4;j++)
|
| 290 |
|
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fprintf(outf,"%f ",t[i][j]);
|
| 291 |
|
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fprintf(outf,"\n");
|
| 292 |
|
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}
|
| 293 |
|
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}
|
| 294 |
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|
| 295 |
|
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void g3at_copy(g3ATrans t,g3ATrans tsrc)
|
| 296 |
|
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{
|
| 297 |
|
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int i,j;
|
| 298 |
|
|
|
| 299 |
|
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for(i=0;i<4;i++)
|
| 300 |
|
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for(j=0;j<4;j++)
|
| 301 |
|
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t[i][j] = tsrc[i][j];
|
| 302 |
|
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}
|
| 303 |
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|
| 304 |
|
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int g3at_ctrans(g3ATrans t,g3Vec vdir,g3Vec vup)
|
| 305 |
|
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{
|
| 306 |
|
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g3Vec x,y,z;
|
| 307 |
|
|
|
| 308 |
|
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x = g3v_create();
|
| 309 |
|
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y = g3v_create();
|
| 310 |
|
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z = g3v_create();
|
| 311 |
|
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g3v_copy(z,vdir);
|
| 312 |
|
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g3v_copy(x,vup);
|
| 313 |
|
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g3v_normalize(z);
|
| 314 |
|
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g3v_normalize(x);
|
| 315 |
|
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g3v_cross(y,z,x);
|
| 316 |
|
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if (!g3v_normalize(y)) {
|
| 317 |
|
|
fprintf(stderr,"g3at_sph_ctrans: parallel\n");
|
| 318 |
|
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g3v_free(x);
|
| 319 |
|
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g3v_free(y);
|
| 320 |
|
|
g3v_free(z);
|
| 321 |
|
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return 0;
|
| 322 |
|
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}
|
| 323 |
|
|
g3v_cross(x,y,z);
|
| 324 |
|
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if (!g3v_normalize(x)) {
|
| 325 |
|
|
fprintf(stderr,"g3at_sph_ctrans: parallel\n");
|
| 326 |
|
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g3v_free(x);
|
| 327 |
|
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g3v_free(y);
|
| 328 |
|
|
g3v_free(z);
|
| 329 |
|
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return 0;
|
| 330 |
|
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}
|
| 331 |
|
|
g3at_btrans(t,x,y,z);
|
| 332 |
|
|
g3v_free(x);
|
| 333 |
|
|
g3v_free(y);
|
| 334 |
|
|
g3v_free(z);
|
| 335 |
|
|
return 1;
|
| 336 |
|
|
}
|
| 337 |
|
|
|
| 338 |
|
|
int g3at_sph_ctrans(g3ATrans t,g3Vec vdir,g3Vec vup)
|
| 339 |
|
|
{
|
| 340 |
|
|
g3Vec x,z;
|
| 341 |
|
|
int res;
|
| 342 |
|
|
|
| 343 |
|
|
x = g3v_create();
|
| 344 |
|
|
z = g3v_create();
|
| 345 |
|
|
g3v_copy(z,vdir);
|
| 346 |
|
|
g3v_copy(x,vup);
|
| 347 |
|
|
z[G3S_RAD] = x[G3S_RAD] = 1.0;
|
| 348 |
|
|
g3s_sphtocc(x,x);
|
| 349 |
|
|
g3s_sphtocc(z,z);
|
| 350 |
|
|
res = g3at_ctrans(t,z,x);
|
| 351 |
|
|
g3v_free(x);
|
| 352 |
|
|
g3v_free(z);
|
| 353 |
|
|
|
| 354 |
|
|
return res;
|
| 355 |
|
|
}
|
| 356 |
|
|
|
| 357 |
|
|
#ifdef GL_CONVERSIONS
|
| 358 |
|
|
void g3at_get_openGL(g3ATrans t,GLdouble* glm)
|
| 359 |
|
|
{
|
| 360 |
|
|
int r,c;
|
| 361 |
|
|
|
| 362 |
|
|
for(r=0;r<4;r++)
|
| 363 |
|
|
for(c=0;c<4;c++)
|
| 364 |
|
|
glm[c+(r*4)] = t[c][r];
|
| 365 |
|
|
}
|
| 366 |
|
|
|
| 367 |
|
|
void g3at_from_openGL(g3ATrans t,GLdouble* glm)
|
| 368 |
|
|
{
|
| 369 |
|
|
int r,c;
|
| 370 |
|
|
|
| 371 |
|
|
for(r=0;r<4;r++)
|
| 372 |
|
|
for(c=0;c<4;c++)
|
| 373 |
|
|
t[c][r] = glm[c+(r*4)];
|
| 374 |
|
|
}
|
| 375 |
|
|
#endif
|
| 376 |
|
|
|
| 377 |
|
|
#ifdef G3AFFINETEST
|
| 378 |
|
|
|
| 379 |
|
|
|
| 380 |
|
|
int main(int argc,char** argv)
|
| 381 |
|
|
{
|
| 382 |
|
|
g3Vec v,iv,x,y,z;
|
| 383 |
|
|
g3ATrans t,it;
|
| 384 |
|
|
|
| 385 |
|
|
g3at_copy(t,g3at_unit);
|
| 386 |
|
|
v = g3v_create();
|
| 387 |
|
|
iv = g3v_create();
|
| 388 |
|
|
x = g3v_create();
|
| 389 |
|
|
y = g3v_create();
|
| 390 |
|
|
z = g3v_create();
|
| 391 |
|
|
g3v_set(z,1,0,0);
|
| 392 |
|
|
g3v_set(x,atof(argv[1]),atof(argv[2]),atof(argv[3]));
|
| 393 |
|
|
//g3v_set(y,atof(argv[4]),atof(argv[5]),atof(argv[6]));
|
| 394 |
|
|
//g3v_set(z,atof(argv[7]),atof(argv[8]),atof(argv[9]));
|
| 395 |
|
|
g3at_tounit(t);
|
| 396 |
|
|
g3at_rotate(t,z,DEG2RAD(-90));
|
| 397 |
|
|
g3v_set(z,0,0,1);
|
| 398 |
|
|
g3at_rotate(it,z,DEG2RAD(180));
|
| 399 |
|
|
g3at_comb_to(t,it,t);
|
| 400 |
|
|
g3at_apply(t,x);
|
| 401 |
|
|
g3v_print(x,stdout);
|
| 402 |
|
|
printf("\n");
|
| 403 |
|
|
//g3v_print(y,stdout);
|
| 404 |
|
|
//printf("\n");
|
| 405 |
|
|
exit(19);
|
| 406 |
|
|
g3v_set(z,1,DEG2RAD(atof(argv[1])),DEG2RAD(atof(argv[2])));
|
| 407 |
|
|
g3v_set(x,1,DEG2RAD(atof(argv[3])),DEG2RAD(atof(argv[4])));
|
| 408 |
|
|
g3at_sph_ctrans(t,z,x);
|
| 409 |
|
|
g3at_copy(it,t);
|
| 410 |
|
|
g3at_inverse(it);
|
| 411 |
|
|
g3at_print(t,stderr);
|
| 412 |
|
|
fprintf(stderr,"\n");
|
| 413 |
|
|
g3v_set(v,1,DEG2RAD(atof(argv[5])),DEG2RAD(atof(argv[6])));
|
| 414 |
|
|
g3s_sphtocc(v,v);
|
| 415 |
|
|
g3v_copy(iv,v);
|
| 416 |
|
|
g3at_apply(it,iv);
|
| 417 |
|
|
g3at_apply(t,v);
|
| 418 |
|
|
g3s_cctosph(v,v);
|
| 419 |
|
|
g3s_cctosph(iv,iv);
|
| 420 |
|
|
g3s_sphwrap(v);
|
| 421 |
|
|
g3s_sphwrap(iv);
|
| 422 |
|
|
fprintf(stderr,"tt %f %f\n",RAD2DEG(v[1]),RAD2DEG(v[2]));
|
| 423 |
|
|
fprintf(stderr,"ise %f %f\n",RAD2DEG(iv[1]),RAD2DEG(iv[2]));
|
| 424 |
|
|
return EXIT_SUCCESS;
|
| 425 |
|
|
}
|
| 426 |
|
|
|
| 427 |
|
|
#endif
|
