src/common/mat4.c

#ifndef lint
static const char       RCSid[] = "$Id$";
#endif
/*
 *  mat4.c - routines dealing with 4 X 4 homogeneous transformation matrices.
 */

/* ====================================================================
 * The Radiance Software License, Version 1.0
 *
 * Copyright (c) 1990 - 2002 The Regents of the University of California,
 * through Lawrence Berkeley National Laboratory.   All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *         notice, this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in
 *       the documentation and/or other materials provided with the
 *       distribution.
 *
 * 3. The end-user documentation included with the redistribution,
 *           if any, must include the following acknowledgment:
 *             "This product includes Radiance software
 *                 (http://radsite.lbl.gov/)
 *                 developed by the Lawrence Berkeley National Laboratory
 *               (http://www.lbl.gov/)."
 *       Alternately, this acknowledgment may appear in the software itself,
 *       if and wherever such third-party acknowledgments normally appear.
 *
 * 4. The names "Radiance," "Lawrence Berkeley National Laboratory"
 *       and "The Regents of the University of California" must
 *       not be used to endorse or promote products derived from this
 *       software without prior written permission. For written
 *       permission, please contact [email protected].
 *
 * 5. Products derived from this software may not be called "Radiance",
 *       nor may "Radiance" appear in their name, without prior written
 *       permission of Lawrence Berkeley National Laboratory.
 *
 * THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESSED OR IMPLIED
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
 * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED.   IN NO EVENT SHALL Lawrence Berkeley National Laboratory OR
 * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
 * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
 * SUCH DAMAGE.
 * ====================================================================
 *
 * This software consists of voluntary contributions made by many
 * individuals on behalf of Lawrence Berkeley National Laboratory.   For more
 * information on Lawrence Berkeley National Laboratory, please see
 * <http://www.lbl.gov/>.
 */

#include  "mat4.h"

MAT4  m4ident = MAT4IDENT;

static MAT4  m4tmp;             /* for efficiency */


void
multmat4(m4a, m4b, m4c)         /* multiply m4b X m4c and put into m4a */
MAT4  m4a;
register MAT4  m4b, m4c;
{
        register int  i, j;
        
        for (i = 4; i--; )
                for (j = 4; j--; )
                        m4tmp[i][j] = m4b[i][0]*m4c[0][j] +
                                      m4b[i][1]*m4c[1][j] +
                                      m4b[i][2]*m4c[2][j] +
                                      m4b[i][3]*m4c[3][j];
        
        copymat4(m4a, m4tmp);
}


void
multv3(v3a, v3b, m4)    /* transform vector v3b by m4 and put into v3a */
FVECT  v3a;
register FVECT  v3b;
register MAT4  m4;
{
        m4tmp[0][0] = v3b[0]*m4[0][0] + v3b[1]*m4[1][0] + v3b[2]*m4[2][0];
        m4tmp[0][1] = v3b[0]*m4[0][1] + v3b[1]*m4[1][1] + v3b[2]*m4[2][1];
        m4tmp[0][2] = v3b[0]*m4[0][2] + v3b[1]*m4[1][2] + v3b[2]*m4[2][2];
        
        v3a[0] = m4tmp[0][0];
        v3a[1] = m4tmp[0][1];
        v3a[2] = m4tmp[0][2];
}


void
multp3(p3a, p3b, m4)            /* transform p3b by m4 and put into p3a */
register FVECT  p3a;
FVECT  p3b;
register MAT4  m4;
{
        multv3(p3a, p3b, m4);   /* transform as vector */
        p3a[0] += m4[3][0];     /* translate */
        p3a[1] += m4[3][1];
        p3a[2] += m4[3][2];
}
Revision:	2.3
Committed:	Sat Feb 22 02:07:22 2003 UTC (21 years, 2 months ago) by greg
Content type:	text/plain
Branch:	MAIN
Changes since 2.2:	+60 -5 lines
Log Message:	Changes and check-in for 3.5 release Includes new source files and modifications not recorded for many years See ray/doc/notes/ReleaseNotes for notes between 3.1 and 3.5 release
#	User	Rev	Content
1	greg	1.1	#ifndef lint
2	greg	2.3	static const char RCSid[] = "$Id$";
3	greg	1.1	#endif
4			/*
5			* mat4.c - routines dealing with 4 X 4 homogeneous transformation matrices.
6	greg	2.3	*/
7
8			/* ====================================================================
9			* The Radiance Software License, Version 1.0
10			*
11			* Copyright (c) 1990 - 2002 The Regents of the University of California,
12			* through Lawrence Berkeley National Laboratory. All rights reserved.
13			*
14			* Redistribution and use in source and binary forms, with or without
15			* modification, are permitted provided that the following conditions
16			* are met:
17			*
18			* 1. Redistributions of source code must retain the above copyright
19			* notice, this list of conditions and the following disclaimer.
20			*
21			* 2. Redistributions in binary form must reproduce the above copyright
22			* notice, this list of conditions and the following disclaimer in
23			* the documentation and/or other materials provided with the
24			* distribution.
25			*
26			* 3. The end-user documentation included with the redistribution,
27			* if any, must include the following acknowledgment:
28			* "This product includes Radiance software
29			* (http://radsite.lbl.gov/)
30			* developed by the Lawrence Berkeley National Laboratory
31			* (http://www.lbl.gov/)."
32			* Alternately, this acknowledgment may appear in the software itself,
33			* if and wherever such third-party acknowledgments normally appear.
34			*
35			* 4. The names "Radiance," "Lawrence Berkeley National Laboratory"
36			* and "The Regents of the University of California" must
37			* not be used to endorse or promote products derived from this
38			* software without prior written permission. For written
39			* permission, please contact [email protected].
40			*
41			* 5. Products derived from this software may not be called "Radiance",
42			* nor may "Radiance" appear in their name, without prior written
43			* permission of Lawrence Berkeley National Laboratory.
44			*
45			* THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESSED OR IMPLIED
46			* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
47			* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
48			* DISCLAIMED. IN NO EVENT SHALL Lawrence Berkeley National Laboratory OR
49			* ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
50			* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
51			* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
52			* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
53			* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
54			* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
55			* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
56			* SUCH DAMAGE.
57			* ====================================================================
58	greg	1.1	*
59	greg	2.3	* This software consists of voluntary contributions made by many
60			* individuals on behalf of Lawrence Berkeley National Laboratory. For more
61			* information on Lawrence Berkeley National Laboratory, please see
62			* <http://www.lbl.gov/>.
63	greg	1.1	*/
64
65	greg	1.5	#include "mat4.h"
66	greg	1.1
67	greg	1.6	MAT4 m4ident = MAT4IDENT;
68
69	greg	1.5	static MAT4 m4tmp; /* for efficiency */
70	greg	1.1
71
72	greg	2.3	void
73	greg	1.1	multmat4(m4a, m4b, m4c) /* multiply m4b X m4c and put into m4a */
74	greg	1.5	MAT4 m4a;
75			register MAT4 m4b, m4c;
76	greg	1.1	{
77			register int i, j;
78
79			for (i = 4; i--; )
80			for (j = 4; j--; )
81			m4tmp[i][j] = m4b[i][0]*m4c[0][j] +
82			m4b[i][1]*m4c[1][j] +
83			m4b[i][2]*m4c[2][j] +
84			m4b[i][3]*m4c[3][j];
85
86			copymat4(m4a, m4tmp);
87			}
88
89
90	greg	2.3	void
91	greg	1.1	multv3(v3a, v3b, m4) /* transform vector v3b by m4 and put into v3a */
92	greg	1.5	FVECT v3a;
93			register FVECT v3b;
94			register MAT4 m4;
95	greg	1.1	{
96	greg	1.3	m4tmp[0][0] = v3b[0]m4[0][0] + v3b[1]m4[1][0] + v3b[2]*m4[2][0];
97			m4tmp[0][1] = v3b[0]m4[0][1] + v3b[1]m4[1][1] + v3b[2]*m4[2][1];
98			m4tmp[0][2] = v3b[0]m4[0][2] + v3b[1]m4[1][2] + v3b[2]*m4[2][2];
99	greg	1.1
100			v3a[0] = m4tmp[0][0];
101			v3a[1] = m4tmp[0][1];
102			v3a[2] = m4tmp[0][2];
103			}
104
105
106	greg	2.3	void
107	greg	1.1	multp3(p3a, p3b, m4) /* transform p3b by m4 and put into p3a */
108	greg	1.5	register FVECT p3a;
109			FVECT p3b;
110			register MAT4 m4;
111	greg	1.1	{
112			multv3(p3a, p3b, m4); /* transform as vector */
113			p3a[0] += m4[3][0]; /* translate */
114			p3a[1] += m4[3][1];
115			p3a[2] += m4[3][2];
116			}