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#ifndef lint |
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static const char RCSid[] = "$Id: xf.c,v 2.7 2003/06/27 22:27:45 greg Exp $"; |
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#endif |
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/* |
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* xf.c - routines to convert transform arguments into 4X4 matrix. |
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* |
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* External symbols declared in rtmath.h |
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*/ |
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|
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#include <stdlib.h> |
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#include "rtmath.h" |
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#include "rtio.h" |
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|
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#define d2r(a) ((PI/180.)*(a)) |
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|
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#define checkarg(a,l) if (av[i][a] || badarg(ac-i-1,av+i+1,l)) goto done |
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|
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|
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int |
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xf(XF *ret, int ac, char *av[]) /* get transform specification */ |
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{ |
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MAT4 xfmat, m4; |
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double xfsca, dtmp; |
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int i, icnt; |
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|
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setident4(ret->xfm); |
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ret->sca = 1.0; |
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|
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icnt = 1; |
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setident4(xfmat); |
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xfsca = 1.0; |
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|
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for (i = 0; i < ac && av[i][0] == '-'; i++) { |
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|
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setident4(m4); |
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|
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switch (av[i][1]) { |
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|
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case 't': /* translate */ |
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checkarg(2,"fff"); |
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m4[3][0] = atof(av[++i]); |
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m4[3][1] = atof(av[++i]); |
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m4[3][2] = atof(av[++i]); |
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break; |
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|
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case 'r': /* rotate */ |
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switch (av[i][2]) { |
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case 'x': |
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checkarg(3,"f"); |
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dtmp = d2r(atof(av[++i])); |
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m4[1][1] = m4[2][2] = cos(dtmp); |
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m4[2][1] = -(m4[1][2] = sin(dtmp)); |
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break; |
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case 'y': |
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checkarg(3,"f"); |
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dtmp = d2r(atof(av[++i])); |
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m4[0][0] = m4[2][2] = cos(dtmp); |
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m4[0][2] = -(m4[2][0] = sin(dtmp)); |
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break; |
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case 'z': |
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checkarg(3,"f"); |
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dtmp = d2r(atof(av[++i])); |
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m4[0][0] = m4[1][1] = cos(dtmp); |
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m4[1][0] = -(m4[0][1] = sin(dtmp)); |
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break; |
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default: |
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goto done; |
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} |
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break; |
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|
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case 's': /* scale */ |
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checkarg(2,"f"); |
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dtmp = atof(av[i+1]); |
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if (dtmp == 0.0) goto done; |
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i++; |
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xfsca *= |
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m4[0][0] = |
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m4[1][1] = |
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m4[2][2] = dtmp; |
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break; |
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|
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case 'm': /* mirror */ |
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switch (av[i][2]) { |
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case 'x': |
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checkarg(3,""); |
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xfsca *= |
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m4[0][0] = -1.0; |
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break; |
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case 'y': |
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checkarg(3,""); |
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xfsca *= |
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m4[1][1] = -1.0; |
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break; |
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case 'z': |
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checkarg(3,""); |
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xfsca *= |
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m4[2][2] = -1.0; |
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break; |
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default: |
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goto done; |
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} |
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break; |
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|
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case 'i': /* iterate */ |
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checkarg(2,"i"); |
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while (icnt-- > 0) { |
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multmat4(ret->xfm, ret->xfm, xfmat); |
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ret->sca *= xfsca; |
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} |
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icnt = atoi(av[++i]); |
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setident4(xfmat); |
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xfsca = 1.0; |
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continue; |
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|
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default: |
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goto done; |
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|
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} |
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multmat4(xfmat, xfmat, m4); |
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} |
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done: |
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while (icnt-- > 0) { |
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multmat4(ret->xfm, ret->xfm, xfmat); |
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ret->sca *= xfsca; |
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} |
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return(i); |
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} |
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|
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|
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int |
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invxf(XF *ret, int ac, char *av[]) /* invert transform specification */ |
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{ |
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MAT4 xfmat, m4; |
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double xfsca, dtmp; |
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int i, icnt; |
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|
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setident4(ret->xfm); |
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ret->sca = 1.0; |
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|
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icnt = 1; |
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setident4(xfmat); |
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xfsca = 1.0; |
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|
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for (i = 0; i < ac && av[i][0] == '-'; i++) { |
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|
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setident4(m4); |
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|
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switch (av[i][1]) { |
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|
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case 't': /* translate */ |
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checkarg(2,"fff"); |
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m4[3][0] = -atof(av[++i]); |
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m4[3][1] = -atof(av[++i]); |
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m4[3][2] = -atof(av[++i]); |
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break; |
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|
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case 'r': /* rotate */ |
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switch (av[i][2]) { |
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case 'x': |
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checkarg(3,"f"); |
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dtmp = -d2r(atof(av[++i])); |
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m4[1][1] = m4[2][2] = cos(dtmp); |
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m4[2][1] = -(m4[1][2] = sin(dtmp)); |
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break; |
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case 'y': |
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checkarg(3,"f"); |
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dtmp = -d2r(atof(av[++i])); |
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m4[0][0] = m4[2][2] = cos(dtmp); |
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m4[0][2] = -(m4[2][0] = sin(dtmp)); |
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break; |
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case 'z': |
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checkarg(3,"f"); |
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dtmp = -d2r(atof(av[++i])); |
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m4[0][0] = m4[1][1] = cos(dtmp); |
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m4[1][0] = -(m4[0][1] = sin(dtmp)); |
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break; |
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default: |
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goto done; |
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} |
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break; |
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|
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case 's': /* scale */ |
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checkarg(2,"f"); |
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dtmp = atof(av[i+1]); |
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if (dtmp == 0.0) goto done; |
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i++; |
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xfsca *= |
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m4[0][0] = |
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m4[1][1] = |
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m4[2][2] = 1.0 / dtmp; |
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break; |
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|
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case 'm': /* mirror */ |
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switch (av[i][2]) { |
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case 'x': |
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checkarg(3,""); |
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xfsca *= |
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m4[0][0] = -1.0; |
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break; |
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case 'y': |
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checkarg(3,""); |
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xfsca *= |
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m4[1][1] = -1.0; |
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break; |
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case 'z': |
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checkarg(3,""); |
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xfsca *= |
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m4[2][2] = -1.0; |
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break; |
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default: |
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goto done; |
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} |
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break; |
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|
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case 'i': /* iterate */ |
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checkarg(2,"i"); |
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while (icnt-- > 0) { |
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multmat4(ret->xfm, xfmat, ret->xfm); |
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ret->sca *= xfsca; |
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} |
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icnt = atoi(av[++i]); |
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setident4(xfmat); |
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xfsca = 1.0; |
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break; |
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|
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default: |
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goto done; |
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|
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} |
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multmat4(xfmat, m4, xfmat); /* left multiply */ |
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} |
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done: |
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while (icnt-- > 0) { |
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multmat4(ret->xfm, xfmat, ret->xfm); |
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ret->sca *= xfsca; |
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} |
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return(i); |
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} |
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|
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|
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int |
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fullxf(FULLXF *fx, int ac, char *av[]) /* compute both forward and inverse */ |
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{ |
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xf(&fx->f, ac, av); |
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return(invxf(&fx->b, ac, av)); |
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} |
