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/* Copyright (c) 1986 Regents of the University of California */ |
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#ifndef lint |
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static char SCCSid[] = "$SunId$ LBL"; |
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static const char RCSid[] = "$Id$"; |
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#endif |
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/* |
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* mat4.c - routines dealing with 4 X 4 homogeneous transformation matrices. |
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*/ |
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/* ==================================================================== |
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* The Radiance Software License, Version 1.0 |
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* |
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* 10/19/85 |
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* Copyright (c) 1990 - 2002 The Regents of the University of California, |
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* through Lawrence Berkeley National Laboratory. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* |
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* 3. The end-user documentation included with the redistribution, |
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* if any, must include the following acknowledgment: |
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* "This product includes Radiance software |
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* (http://radsite.lbl.gov/) |
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* developed by the Lawrence Berkeley National Laboratory |
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* (http://www.lbl.gov/)." |
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* Alternately, this acknowledgment may appear in the software itself, |
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* if and wherever such third-party acknowledgments normally appear. |
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* |
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* 4. The names "Radiance," "Lawrence Berkeley National Laboratory" |
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* and "The Regents of the University of California" must |
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* not be used to endorse or promote products derived from this |
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* software without prior written permission. For written |
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* permission, please contact [email protected]. |
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* |
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* 5. Products derived from this software may not be called "Radiance", |
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* nor may "Radiance" appear in their name, without prior written |
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* permission of Lawrence Berkeley National Laboratory. |
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* |
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* THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESSED OR IMPLIED |
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* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES |
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* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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* DISCLAIMED. IN NO EVENT SHALL Lawrence Berkeley National Laboratory OR |
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* ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF |
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* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT |
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* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
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* SUCH DAMAGE. |
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* ==================================================================== |
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* |
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* This software consists of voluntary contributions made by many |
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* individuals on behalf of Lawrence Berkeley National Laboratory. For more |
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* information on Lawrence Berkeley National Laboratory, please see |
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* <http://www.lbl.gov/>. |
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*/ |
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#include "mat4.h" |
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static double m4tmp[4][4]; /* for efficiency */ |
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MAT4 m4ident = MAT4IDENT; |
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#define copymat4(m4a,m4b) bcopy((char *)m4b,(char *)m4a,sizeof(m4tmp)) |
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static MAT4 m4tmp; /* for efficiency */ |
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setident4(m4) |
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double m4[4][4]; |
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{ |
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static double ident[4][4] = { |
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1.,0.,0.,0., |
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0.,1.,0.,0., |
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0.,0.,1.,0., |
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0.,0.,0.,1., |
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}; |
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copymat4(m4, ident); |
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} |
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void |
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multmat4(m4a, m4b, m4c) /* multiply m4b X m4c and put into m4a */ |
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double m4a[4][4]; |
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register double m4b[4][4], m4c[4][4]; |
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MAT4 m4a; |
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register MAT4 m4b, m4c; |
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{ |
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register int i, j; |
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} |
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void |
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multv3(v3a, v3b, m4) /* transform vector v3b by m4 and put into v3a */ |
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double v3a[3]; |
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register double v3b[3]; |
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register double m4[4][4]; |
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FVECT v3a; |
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register FVECT v3b; |
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register MAT4 m4; |
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{ |
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register int i; |
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m4tmp[0][0] = v3b[0]*m4[0][0] + v3b[1]*m4[1][0] + v3b[2]*m4[2][0]; |
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m4tmp[0][1] = v3b[0]*m4[0][1] + v3b[1]*m4[1][1] + v3b[2]*m4[2][1]; |
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m4tmp[0][2] = v3b[0]*m4[0][2] + v3b[1]*m4[1][2] + v3b[2]*m4[2][2]; |
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for (i = 0; i < 3; i++) |
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m4tmp[0][i] = v3b[0]*m4[0][i] + |
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v3b[1]*m4[1][i] + |
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v3b[2]*m4[2][i]; |
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v3a[0] = m4tmp[0][0]; |
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v3a[1] = m4tmp[0][1]; |
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v3a[2] = m4tmp[0][2]; |
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} |
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void |
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multp3(p3a, p3b, m4) /* transform p3b by m4 and put into p3a */ |
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register double p3a[3]; |
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double p3b[3]; |
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register double m4[4][4]; |
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register FVECT p3a; |
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FVECT p3b; |
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register MAT4 m4; |
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{ |
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multv3(p3a, p3b, m4); /* transform as vector */ |
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p3a[0] += m4[3][0]; /* translate */ |
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p3a[1] += m4[3][1]; |
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p3a[2] += m4[3][2]; |
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} |
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#ifdef INVMAT |
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/* |
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* invmat - computes the inverse of mat into inverse. Returns 1 |
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* if there exists an inverse, 0 otherwise. It uses Gause Elimination |
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* method. |
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*/ |
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|
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invmat(inverse,mat) |
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double mat[4][4],inverse[4][4]; |
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{ |
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#define SWAP(a,b,t) (t=a,a=b,b=t) |
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|
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register int i,j,k; |
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register double temp; |
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setident4(inverse); |
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copymat4(m4tmp, mat); |
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for(i = 0; i < 4; i++) { |
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if(m4tmp[i][i] == 0) { /* Pivot is zero */ |
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/* Look for a raw with pivot != 0 and swap raws */ |
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for(j = i + 1; j < 4; j++) |
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if(m4tmp[j][i] != 0) { |
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for( k = 0; k < 4; k++) { |
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SWAP(m4tmp[i][k],m4tmp[j][k],temp); |
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SWAP(inverse[i][k],inverse[j][k],temp); |
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} |
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break; |
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} |
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if(j == 4) /* No replacing raw -> no inverse */ |
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return(0); |
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} |
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temp = m4tmp[i][i]; |
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for(k = 0; k < 4; k++) { |
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m4tmp[i][k] /= temp; |
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inverse[i][k] /= temp; |
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} |
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for(j = 0; j < 4; j++) { |
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if(j != i) { |
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temp = m4tmp[j][i]; |
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for(k = 0; k < 4; k++) { |
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m4tmp[j][k] -= m4tmp[i][k]*temp; |
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inverse[j][k] -= inverse[i][k]*temp; |
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} |
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} |
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} |
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} |
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return(1); |
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} |
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#endif |
