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root/Development/ray/src/common/mat4.c

Comparing ray/src/common/mat4.c (file contents):
Revision 1.1 by greg, Thu Feb 2 10:34:35 1989 UTC vs.
Revision 2.2 by greg, Thu Jun 23 10:22:20 1994 UTC

#	Line 1 | Line 1
1	<	/* Copyright (c) 1986 Regents of the University of California */
1	>	/* Copyright (c) 1990 Regents of the University of California */
2
3		#ifndef lint
4		static char SCCSid[] = "$SunId$ LBL";
#	Line 10 | Line 10 | static char SCCSid[] = "$SunId$ LBL";
10		*     10/19/85
11		*/
12
13	+	#include  "mat4.h"
14
15	<	static double  m4tmp[4][4];             /* for efficiency */
15	>	MAT4  m4ident = MAT4IDENT;
16
17	<	#define  copymat4(m4a,m4b)      bcopy((char *)m4b,(char *)m4a,sizeof(m4tmp))
17	>	static MAT4  m4tmp;             /* for efficiency */
18
19
19	–	setident4(m4)
20	–	double  m4[4][4];
21	–	{
22	–	static double  ident[4][4] = {
23	–	1.,0.,0.,0.,
24	–	0.,1.,0.,0.,
25	–	0.,0.,1.,0.,
26	–	0.,0.,0.,1.,
27	–	};
28	–	copymat4(m4, ident);
29	–	}
30	–
31	–
20		multmat4(m4a, m4b, m4c)         /* multiply m4b X m4c and put into m4a */
21	<	double  m4a[4][4];
22	<	register double  m4b[4][4], m4c[4][4];
21	>	MAT4  m4a;
22	>	register MAT4  m4b, m4c;
23		{
24		register int  i, j;
25
#	Line 47 | Line 35 | register double  m4b[4][4], m4c[4][4];
35
36
37		multv3(v3a, v3b, m4)    /* transform vector v3b by m4 and put into v3a */
38	<	double  v3a[3];
39	<	register double  v3b[3];
40	<	register double  m4[4][4];
38	>	FVECT  v3a;
39	>	register FVECT  v3b;
40	>	register MAT4  m4;
41		{
42	<	register int  i;
42	>	m4tmp[0][0] = v3b[0]*m4[0][0] + v3b[1]*m4[1][0] + v3b[2]*m4[2][0];
43	>	m4tmp[0][1] = v3b[0]*m4[0][1] + v3b[1]*m4[1][1] + v3b[2]*m4[2][1];
44	>	m4tmp[0][2] = v3b[0]*m4[0][2] + v3b[1]*m4[1][2] + v3b[2]*m4[2][2];
45
56	–	for (i = 0; i < 3; i++)
57	–	m4tmp[0][i] = v3b[0]*m4[0][i] +
58	–	v3b[1]*m4[1][i] +
59	–	v3b[2]*m4[2][i];
60	–
46		v3a[0] = m4tmp[0][0];
47		v3a[1] = m4tmp[0][1];
48		v3a[2] = m4tmp[0][2];
#	Line 65 | Line 50 | register double  m4[4][4];
50
51
52		multp3(p3a, p3b, m4)            /* transform p3b by m4 and put into p3a */
53	<	register double  p3a[3];
54	<	double  p3b[3];
55	<	register double  m4[4][4];
53	>	register FVECT  p3a;
54	>	FVECT  p3b;
55	>	register MAT4  m4;
56		{
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		}
77	–
78	–
79	–	#ifdef  INVMAT
80	–	/*
81	–	* invmat - computes the inverse of mat into inverse.  Returns 1
82	–	* if there exists an inverse, 0 otherwise.  It uses Gause Elimination
83	–	* method.
84	–	*/
85	–
86	–	invmat(inverse,mat)
87	–	double mat[4][4],inverse[4][4];
88	–	{
89	–	#define SWAP(a,b,t) (t=a,a=b,b=t)
90	–
91	–	register int i,j,k;
92	–	register double temp;
93	–
94	–	setident4(inverse);
95	–	copymat4(m4tmp, mat);
96	–
97	–	for(i = 0; i < 4; i++) {
98	–	if(m4tmp[i][i] == 0) {    /* Pivot is zero */
99	–	/* Look for a raw with pivot != 0 and swap raws */
100	–	for(j = i + 1; j < 4; j++)
101	–	if(m4tmp[j][i] != 0) {
102	–	for( k = 0; k < 4; k++) {
103	–	SWAP(m4tmp[i][k],m4tmp[j][k],temp);
104	–	SWAP(inverse[i][k],inverse[j][k],temp);
105	–	}
106	–	break;
107	–	}
108	–	if(j == 4)      /* No replacing raw -> no inverse */
109	–	return(0);
110	–	}
111	–
112	–	temp = m4tmp[i][i];
113	–	for(k = 0; k < 4; k++) {
114	–	m4tmp[i][k] /= temp;
115	–	inverse[i][k] /= temp;
116	–	}
117	–	for(j = 0; j < 4; j++) {
118	–	if(j != i) {
119	–	temp = m4tmp[j][i];
120	–	for(k = 0; k < 4; k++) {
121	–	m4tmp[j][k] -= m4tmp[i][k]*temp;
122	–	inverse[j][k] -= inverse[i][k]*temp;
123	–	}
124	–	}
125	–	}
126	–	}
127	–	return(1);
128	–	}
129	–	#endif

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