Revision: | 2.4 |
Committed: | Tue Feb 25 02:47:21 2003 UTC (22 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" |
# | 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 | #include "copyright.h" |
9 | |
10 | #include "mat4.h" |
11 | |
12 | MAT4 m4ident = MAT4IDENT; |
13 | |
14 | static MAT4 m4tmp; /* for efficiency */ |
15 | |
16 | |
17 | void |
18 | multmat4(m4a, m4b, m4c) /* multiply m4b X m4c and put into m4a */ |
19 | MAT4 m4a; |
20 | register MAT4 m4b, m4c; |
21 | { |
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 | void |
36 | multv3(v3a, v3b, m4) /* transform vector v3b by m4 and put into v3a */ |
37 | FVECT v3a; |
38 | register FVECT v3b; |
39 | register MAT4 m4; |
40 | { |
41 | 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 | |
45 | v3a[0] = m4tmp[0][0]; |
46 | v3a[1] = m4tmp[0][1]; |
47 | v3a[2] = m4tmp[0][2]; |
48 | } |
49 | |
50 | |
51 | void |
52 | multp3(p3a, p3b, m4) /* transform p3b by m4 and put into p3a */ |
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 | } |