--- ray/src/common/mat4.c 1989/02/02 10:34:35 1.1 +++ ray/src/common/mat4.c 2003/02/22 02:07:22 2.3 @@ -1,37 +1,78 @@ -/* Copyright (c) 1986 Regents of the University of California */ - #ifndef lint -static char SCCSid[] = "$SunId$ LBL"; +static const char RCSid[] = "$Id: mat4.c,v 2.3 2003/02/22 02:07:22 greg Exp $"; #endif - /* * mat4.c - routines dealing with 4 X 4 homogeneous transformation matrices. + */ + +/* ==================================================================== + * The Radiance Software License, Version 1.0 * - * 10/19/85 + * 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 radiance@radsite.lbl.gov. + * + * 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 + * . */ +#include "mat4.h" -static double m4tmp[4][4]; /* for efficiency */ +MAT4 m4ident = MAT4IDENT; -#define copymat4(m4a,m4b) bcopy((char *)m4b,(char *)m4a,sizeof(m4tmp)) +static MAT4 m4tmp; /* for efficiency */ -setident4(m4) -double m4[4][4]; -{ - static double ident[4][4] = { - 1.,0.,0.,0., - 0.,1.,0.,0., - 0.,0.,1.,0., - 0.,0.,0.,1., - }; - copymat4(m4, ident); -} - - +void multmat4(m4a, m4b, m4c) /* multiply m4b X m4c and put into m4a */ -double m4a[4][4]; -register double m4b[4][4], m4c[4][4]; +MAT4 m4a; +register MAT4 m4b, m4c; { register int i, j; @@ -46,84 +87,30 @@ register double m4b[4][4], m4c[4][4]; } +void multv3(v3a, v3b, m4) /* transform vector v3b by m4 and put into v3a */ -double v3a[3]; -register double v3b[3]; -register double m4[4][4]; +FVECT v3a; +register FVECT v3b; +register MAT4 m4; { - register int i; + 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]; - for (i = 0; i < 3; i++) - m4tmp[0][i] = v3b[0]*m4[0][i] + - v3b[1]*m4[1][i] + - v3b[2]*m4[2][i]; - 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 double p3a[3]; -double p3b[3]; -register double m4[4][4]; +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]; } - - -#ifdef INVMAT -/* - * invmat - computes the inverse of mat into inverse. Returns 1 - * if there exists an inverse, 0 otherwise. It uses Gause Elimination - * method. - */ - -invmat(inverse,mat) -double mat[4][4],inverse[4][4]; -{ -#define SWAP(a,b,t) (t=a,a=b,b=t) - - register int i,j,k; - register double temp; - - setident4(inverse); - copymat4(m4tmp, mat); - - for(i = 0; i < 4; i++) { - if(m4tmp[i][i] == 0) { /* Pivot is zero */ - /* Look for a raw with pivot != 0 and swap raws */ - for(j = i + 1; j < 4; j++) - if(m4tmp[j][i] != 0) { - for( k = 0; k < 4; k++) { - SWAP(m4tmp[i][k],m4tmp[j][k],temp); - SWAP(inverse[i][k],inverse[j][k],temp); - } - break; - } - if(j == 4) /* No replacing raw -> no inverse */ - return(0); - } - - temp = m4tmp[i][i]; - for(k = 0; k < 4; k++) { - m4tmp[i][k] /= temp; - inverse[i][k] /= temp; - } - for(j = 0; j < 4; j++) { - if(j != i) { - temp = m4tmp[j][i]; - for(k = 0; k < 4; k++) { - m4tmp[j][k] -= m4tmp[i][k]*temp; - inverse[j][k] -= inverse[i][k]*temp; - } - } - } - } - return(1); -} -#endif