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
#	Content
1	#ifndef lint
2	static const char RCSid[] = "$Id$";
3	#endif
4	/*
5	* mat4.c - routines dealing with 4 X 4 homogeneous transformation matrices.
6	*/
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	*
59	* 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	*/
64
65	#include "mat4.h"
66
67	MAT4 m4ident = MAT4IDENT;
68
69	static MAT4 m4tmp; /* for efficiency */
70
71
72	void
73	multmat4(m4a, m4b, m4c) /* multiply m4b X m4c and put into m4a */
74	MAT4 m4a;
75	register MAT4 m4b, m4c;
76	{
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	void
91	multv3(v3a, v3b, m4) /* transform vector v3b by m4 and put into v3a */
92	FVECT v3a;
93	register FVECT v3b;
94	register MAT4 m4;
95	{
96	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
100	v3a[0] = m4tmp[0][0];
101	v3a[1] = m4tmp[0][1];
102	v3a[2] = m4tmp[0][2];
103	}
104
105
106	void
107	multp3(p3a, p3b, m4) /* transform p3b by m4 and put into p3a */
108	register FVECT p3a;
109	FVECT p3b;
110	register MAT4 m4;
111	{
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	}