| Revision: | 2.4 |
| Committed: | Tue Feb 25 02:47:21 2003 UTC (21 years, 2 months ago) by greg |
| Content type: | text/plain |
| Branch: | MAIN |
| CVS Tags: | rad5R4, rad5R2, rad4R2P2, rad5R0, rad5R1, rad3R7P2, rad3R7P1, rad4R2, rad4R1, rad4R0, rad3R5, rad3R6, rad3R6P1, rad3R8, rad3R9, rad4R2P1, rad5R3, HEAD |
| Changes since 2.3: | +1 -56 lines |
| Log Message: | Replaced inline copyright notice with #include "copyright.h" |
| # | 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 | greg | 2.4 | #include "copyright.h" |
| 9 | greg | 1.1 | |
| 10 | greg | 1.5 | #include "mat4.h" |
| 11 | greg | 1.1 | |
| 12 | greg | 1.6 | MAT4 m4ident = MAT4IDENT; |
| 13 | |||
| 14 | greg | 1.5 | static MAT4 m4tmp; /* for efficiency */ |
| 15 | greg | 1.1 | |
| 16 | |||
| 17 | greg | 2.3 | void |
| 18 | greg | 1.1 | multmat4(m4a, m4b, m4c) /* multiply m4b X m4c and put into m4a */ |
| 19 | greg | 1.5 | MAT4 m4a; |
| 20 | register MAT4 m4b, m4c; | ||
| 21 | greg | 1.1 | { |
| 22 | register int i, j; | ||
| 23 | |||
| 24 | for (i = 4; i--; ) | ||
| 25 | for (j = 4; j--; ) | ||
| 26 | m4tmp[i][j] = m4b[i][0]*m4c[0][j] + | ||
| 27 | m4b[i][1]*m4c[1][j] + | ||
| 28 | m4b[i][2]*m4c[2][j] + | ||
| 29 | m4b[i][3]*m4c[3][j]; | ||
| 30 | |||
| 31 | copymat4(m4a, m4tmp); | ||
| 32 | } | ||
| 33 | |||
| 34 | |||
| 35 | greg | 2.3 | void |
| 36 | greg | 1.1 | multv3(v3a, v3b, m4) /* transform vector v3b by m4 and put into v3a */ |
| 37 | greg | 1.5 | FVECT v3a; |
| 38 | register FVECT v3b; | ||
| 39 | register MAT4 m4; | ||
| 40 | greg | 1.1 | { |
| 41 | greg | 1.3 | m4tmp[0][0] = v3b[0]*m4[0][0] + v3b[1]*m4[1][0] + v3b[2]*m4[2][0]; |
| 42 | m4tmp[0][1] = v3b[0]*m4[0][1] + v3b[1]*m4[1][1] + v3b[2]*m4[2][1]; | ||
| 43 | m4tmp[0][2] = v3b[0]*m4[0][2] + v3b[1]*m4[1][2] + v3b[2]*m4[2][2]; | ||
| 44 | greg | 1.1 | |
| 45 | v3a[0] = m4tmp[0][0]; | ||
| 46 | v3a[1] = m4tmp[0][1]; | ||
| 47 | v3a[2] = m4tmp[0][2]; | ||
| 48 | } | ||
| 49 | |||
| 50 | |||
| 51 | greg | 2.3 | void |
| 52 | greg | 1.1 | multp3(p3a, p3b, m4) /* transform p3b by m4 and put into p3a */ |
| 53 | greg | 1.5 | register FVECT p3a; |
| 54 | FVECT p3b; | ||
| 55 | register MAT4 m4; | ||
| 56 | greg | 1.1 | { |
| 57 | multv3(p3a, p3b, m4); /* transform as vector */ | ||
| 58 | p3a[0] += m4[3][0]; /* translate */ | ||
| 59 | p3a[1] += m4[3][1]; | ||
| 60 | p3a[2] += m4[3][2]; | ||
| 61 | } |