| 1 |
#ifndef lint |
| 2 |
static const char RCSid[] = "$Id$"; |
| 3 |
#endif |
| 4 |
#include <stdio.h> |
| 5 |
#include <stdlib.h> |
| 6 |
|
| 7 |
#include "g3affine.h" |
| 8 |
#include "gbasic.h" |
| 9 |
#include "g3sphere.h" |
| 10 |
|
| 11 |
static g3AVec g3av_zero = {0.0,0.0,0.0,0.0}; |
| 12 |
|
| 13 |
static g3ATrans g3at_unit = {{1.0,0.0,0.0,0.0}, |
| 14 |
{0.0,1.0,0.0,0.0}, |
| 15 |
{0.0,0.0,1.0,0.0}, |
| 16 |
{0.0,0.0,0.0,1.0}}; |
| 17 |
|
| 18 |
static g3ATrans g3at_zero = {{0.0,0.0,0.0,0.0}, |
| 19 |
{0.0,0.0,0.0,0.0}, |
| 20 |
{0.0,0.0,0.0,0.0}, |
| 21 |
{0.0,0.0,0.0,0.0}}; |
| 22 |
|
| 23 |
void g3at_tounit(g3ATrans t) |
| 24 |
{ |
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g3at_copy(t,g3at_unit); |
| 26 |
} |
| 27 |
|
| 28 |
static int nr_gaussj(g3Float a[4][4],g3Float b[4]) |
| 29 |
{ |
| 30 |
int *indxc,*indxr,*ipiv; |
| 31 |
int i,icol,irow,j,k,l,ll; |
| 32 |
g3Float big,dum,pivinv; |
| 33 |
|
| 34 |
indxc = (int*) calloc(4,sizeof(int)); |
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indxr = (int*) calloc(4,sizeof(int)); |
| 36 |
ipiv = (int*) calloc(4,sizeof(int)); |
| 37 |
|
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icol = irow = 0; |
| 39 |
for (j=0;j<4;j++) |
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ipiv[j]=0; |
| 41 |
for (i=0;i<4;i++) { |
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big=0.0; |
| 43 |
for (j=0;j<4;j++) |
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if (ipiv[j] != 1) |
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for (k=0;k<4;k++) { |
| 46 |
if (ipiv[k] == 0) { |
| 47 |
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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} |
| 52 |
} 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]); |
| 57 |
if (irow != icol) { |
| 58 |
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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} |
| 62 |
indxr[i] = irow; |
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indxc[i] = icol; |
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if (a[icol][icol] == 0.0) |
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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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} |
| 86 |
free(ipiv); |
| 87 |
free(indxr); |
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free(indxc); |
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return 1; |
| 90 |
} |
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|
| 92 |
void g3at_translate(g3ATrans t,g3Vec tv) |
| 93 |
{ |
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int i; |
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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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|
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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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|
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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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|
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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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|
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g3at_translate(tt,tv); |
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g3at_comb(t,tt); |
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} |
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|
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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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|
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axe = g3v_create(); |
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g3at_copy(t,g3at_unit); |
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|
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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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for(i=0;i<3;i++) |
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t[i][aid] = axe[i]; |
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} |
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g3v_free(axe); |
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} |
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|
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void g3at_add_rot(g3ATrans t,g3Vec rnorm,g3Float ang) |
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{ |
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g3ATrans rt; |
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|
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g3at_rotate(rt,rnorm,ang); |
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g3at_comb_to(t,rt,t); |
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} |
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|
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void g3at_prepend_rot(g3ATrans t,g3Vec rnorm,g3Float ang) |
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{ |
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g3ATrans rt; |
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|
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g3at_rotate(rt,rnorm,ang); |
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g3at_comb(t,rt); |
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} |
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|
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void g3at_btrans(g3ATrans t,g3Vec xv,g3Vec yv,g3Vec zv) |
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{ |
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int i; |
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|
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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][0] = xv[i]; |
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t[i][1] = yv[i]; |
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t[i][2] = zv[i]; |
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} |
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} |
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|
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int g3at_inverse(g3ATrans t) |
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{ |
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g3Float v[] = {0,0,0,0}; |
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|
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if (!nr_gaussj(t,v)) { |
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fprintf(stderr,"g3at_inverse: singular matrix\n"); |
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return 0; |
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} |
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return 1; |
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} |
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|
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void g3at_apply_h(g3ATrans t,g3AVec v) |
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{ |
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int i,j; |
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g3AVec vt; |
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|
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g3av_copy(vt,v); |
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g3av_copy(v,g3av_zero); |
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for(i=0;i<4;i++) |
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for(j=0;j<4;j++) |
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v[i] += t[i][j]*vt[j]; |
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g3av_tonorm(v); |
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} |
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|
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void g3av_print(g3AVec vh,FILE* outf) |
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{ |
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int i; |
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|
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for(i=0;i<4;i++) |
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fprintf(outf,"%f ",vh[i]); |
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} |
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|
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void g3at_apply(g3ATrans t,g3Vec v) |
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{ |
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g3AVec res; |
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|
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g3av_vectohom(res,v); |
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g3at_apply_h(t,res); |
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g3v_set(v,res[0],res[1],res[2]); |
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} |
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|
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void g3at_iapply(g3Vec v,g3ATrans t) |
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{ |
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g3AVec res; |
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|
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g3av_copy(res,v); |
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g3at_iapply_h(res,t); |
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g3v_set(v,res[0],res[1],res[2]); |
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} |
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|
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void g3at_iapply_h(g3Vec v,g3ATrans t) |
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{ |
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int i,j; |
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g3AVec vt; |
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|
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g3av_copy(vt,v); |
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g3av_copy(v,g3av_zero); |
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for(i=0;i<4;i++) |
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for(j=0;j<4;j++) |
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v[i] += t[j][i]*vt[j]; |
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g3av_tonorm(v); |
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} |
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|
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void g3at_comb(g3ATrans t,g3ATrans tf) |
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{ |
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g3ATrans res; |
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|
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g3at_comb_to(res,t,tf); |
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g3at_copy(t,res); |
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} |
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|
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void g3at_comb_to(g3ATrans res,g3ATrans t,g3ATrans tf) |
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{ |
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int i,j,k; |
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g3ATrans temp; |
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g3at_copy(temp,g3at_zero); |
| 238 |
for(i=0;i<4;i++) |
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for(j=0;j<4;j++) |
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for(k=0;k<4;k++) |
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temp[i][j] += t[i][k]*tf[k][j]; |
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g3at_copy(res,temp); |
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} |
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|
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|
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void g3av_vectohom(g3AVec res,g3Vec v) |
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{ |
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int i; |
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|
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for(i=0;i<3;i++) |
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res[i] = v[i]; |
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res[3] = 1.0; |
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} |
| 254 |
|
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void g3av_homtovec(g3Vec res,g3AVec h) |
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{ |
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int i; |
| 258 |
|
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g3av_tonorm(h); |
| 260 |
for(i=0;i<3;i++) |
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res[i] = h[i]; |
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} |
| 263 |
|
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int g3av_tonorm(g3AVec v) |
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{ |
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int i; |
| 267 |
|
| 268 |
if (gb_epseq(v[3],0.0)) |
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return 0; |
| 270 |
for(i=0;i<3;i++) |
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v[i] /= v[3]; |
| 272 |
v[3] = 1.0; |
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return 1; |
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} |
| 275 |
|
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void g3av_copy(g3AVec v,g3AVec vsrc) |
| 277 |
{ |
| 278 |
int i; |
| 279 |
|
| 280 |
for(i=0;i<4;i++) |
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v[i] = vsrc[i]; |
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} |
| 283 |
|
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void g3at_print(g3ATrans t,FILE* outf) |
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{ |
| 286 |
int i,j; |
| 287 |
|
| 288 |
for(i=0;i<4;i++) { |
| 289 |
for(j=0;j<4;j++) |
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fprintf(outf,"%f ",t[i][j]); |
| 291 |
fprintf(outf,"\n"); |
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} |
| 293 |
} |
| 294 |
|
| 295 |
void g3at_copy(g3ATrans t,g3ATrans tsrc) |
| 296 |
{ |
| 297 |
int i,j; |
| 298 |
|
| 299 |
for(i=0;i<4;i++) |
| 300 |
for(j=0;j<4;j++) |
| 301 |
t[i][j] = tsrc[i][j]; |
| 302 |
} |
| 303 |
|
| 304 |
int g3at_ctrans(g3ATrans t,g3Vec vdir,g3Vec vup) |
| 305 |
{ |
| 306 |
g3Vec x,y,z; |
| 307 |
|
| 308 |
x = g3v_create(); |
| 309 |
y = g3v_create(); |
| 310 |
z = g3v_create(); |
| 311 |
g3v_copy(z,vdir); |
| 312 |
g3v_copy(x,vup); |
| 313 |
g3v_normalize(z); |
| 314 |
g3v_normalize(x); |
| 315 |
g3v_cross(y,z,x); |
| 316 |
if (!g3v_normalize(y)) { |
| 317 |
fprintf(stderr,"g3at_sph_ctrans: parallel\n"); |
| 318 |
g3v_free(x); |
| 319 |
g3v_free(y); |
| 320 |
g3v_free(z); |
| 321 |
return 0; |
| 322 |
} |
| 323 |
g3v_cross(x,y,z); |
| 324 |
if (!g3v_normalize(x)) { |
| 325 |
fprintf(stderr,"g3at_sph_ctrans: parallel\n"); |
| 326 |
g3v_free(x); |
| 327 |
g3v_free(y); |
| 328 |
g3v_free(z); |
| 329 |
return 0; |
| 330 |
} |
| 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 |
