1 |
greg |
1.1 |
/* Copyright (c) 1994 Regents of the University of California */ |
2 |
|
|
|
3 |
|
|
#ifndef lint |
4 |
|
|
static char SCCSid[] = "$SunId$ LBL"; |
5 |
|
|
#endif |
6 |
|
|
|
7 |
|
|
/* |
8 |
|
|
* Routines for 4x4 homogeneous, rigid-body transformations |
9 |
|
|
*/ |
10 |
|
|
|
11 |
|
|
#include <stdio.h> |
12 |
|
|
#include <math.h> |
13 |
|
|
#include <string.h> |
14 |
|
|
#include "parser.h" |
15 |
|
|
|
16 |
|
|
#define d2r(a) ((PI/180.)*(a)) |
17 |
|
|
|
18 |
|
|
#define checkarg(a,l) if (av[i][a] || badarg(ac-i-1,av+i+1,l)) goto done |
19 |
|
|
|
20 |
|
|
MAT4 m4ident = MAT4IDENT; |
21 |
|
|
|
22 |
|
|
static MAT4 m4tmp; /* for efficiency */ |
23 |
|
|
|
24 |
|
|
int xf_argc; /* total # transform args. */ |
25 |
|
|
char **xf_argv; /* transform arguments */ |
26 |
|
|
XF_SPEC *xf_context; /* current context */ |
27 |
|
|
|
28 |
|
|
static int xf_maxarg; /* # allocated arguments */ |
29 |
|
|
|
30 |
|
|
|
31 |
|
|
int |
32 |
|
|
xf_handler(ac, av) /* handle xf entity */ |
33 |
|
|
int ac; |
34 |
|
|
char **av; |
35 |
|
|
{ |
36 |
|
|
register int i; |
37 |
|
|
register XF_SPEC *spec; |
38 |
|
|
XF thisxf; |
39 |
|
|
|
40 |
|
|
if (ac == 1) { /* pop top transform */ |
41 |
|
|
if ((spec = xf_context) == NULL) |
42 |
|
|
return(MG_OK); /* should be error? */ |
43 |
|
|
while (xf_argc > spec->xav0) |
44 |
|
|
free((MEM_PTR)xf_argv[--xf_argc]); |
45 |
|
|
xf_argv[xf_argc] = NULL; |
46 |
|
|
xf_context = spec->prev; |
47 |
|
|
free((MEM_PTR)spec); |
48 |
|
|
return(MG_OK); |
49 |
|
|
} |
50 |
|
|
/* translate new specification */ |
51 |
|
|
if (xf(&thisxf, ac-1, av+1) != ac-1) |
52 |
|
|
return(MG_ETYPE); |
53 |
|
|
/* allocate space for new transform */ |
54 |
|
|
spec = (XF_SPEC *)malloc(sizeof(XF_SPEC)); |
55 |
|
|
if (spec == NULL) |
56 |
|
|
return(MG_EMEM); |
57 |
|
|
spec->xav0 = xf_argc; |
58 |
|
|
spec->xac = ac-1; |
59 |
|
|
/* and store new xf arguments */ |
60 |
|
|
if (xf_argc+ac > xf_maxarg) { |
61 |
|
|
if (!xf_maxarg) |
62 |
|
|
xf_argv = (char **)malloc( |
63 |
|
|
(xf_maxarg=ac)*sizeof(char *)); |
64 |
|
|
else |
65 |
|
|
xf_argv = (char **)realloc((MEM_PTR)xf_argv, |
66 |
|
|
(xf_maxarg+=ac)*sizeof(char *)); |
67 |
|
|
if (xf_argv == NULL) |
68 |
|
|
return(MG_EMEM); |
69 |
|
|
} |
70 |
|
|
for (i = 0; i < ac-1; i++) { |
71 |
|
|
xf_argv[xf_argc] = (char *)malloc(strlen(av[i+1])+1); |
72 |
|
|
if (xf_argv[xf_argc] == NULL) |
73 |
|
|
return(MG_EMEM); |
74 |
|
|
strcpy(xf_argv[xf_argc++], av[i+1]); |
75 |
|
|
} |
76 |
|
|
xf_argv[xf_argc] = NULL; |
77 |
|
|
/* compute total transformation */ |
78 |
|
|
if (xf_context != NULL) { |
79 |
|
|
multmat4(spec->xf.xfm, xf_context->xf.xfm, thisxf.xfm); |
80 |
|
|
spec->xf.sca = xf_context->xf.sca * thisxf.sca; |
81 |
|
|
} else |
82 |
|
|
spec->xf = thisxf; |
83 |
|
|
spec->prev = xf_context; /* push new transform onto stack */ |
84 |
|
|
xf_context = spec; |
85 |
|
|
return(MG_OK); |
86 |
|
|
} |
87 |
|
|
|
88 |
|
|
|
89 |
|
|
void |
90 |
greg |
1.2 |
xf_clear() /* clear transform stack */ |
91 |
|
|
{ |
92 |
|
|
register XF_SPEC *spec; |
93 |
|
|
|
94 |
|
|
while (xf_argc) |
95 |
|
|
free((MEM_PTR)xf_argv[--xf_argc]); |
96 |
|
|
if (xf_maxarg) { |
97 |
|
|
free((MEM_PTR)xf_argv); |
98 |
|
|
xf_argv = NULL; |
99 |
|
|
xf_maxarg = 0; |
100 |
|
|
} |
101 |
|
|
while ((spec = xf_context) != NULL) { |
102 |
|
|
xf_context = spec->prev; |
103 |
|
|
free((MEM_PTR)spec); |
104 |
|
|
} |
105 |
|
|
} |
106 |
|
|
|
107 |
|
|
|
108 |
|
|
void |
109 |
greg |
1.1 |
xf_xfmpoint(v1, v2) /* transform a point by the current matrix */ |
110 |
|
|
FVECT v1, v2; |
111 |
|
|
{ |
112 |
|
|
if (xf_context == NULL) { |
113 |
|
|
v1[0] = v2[0]; |
114 |
|
|
v1[1] = v2[1]; |
115 |
|
|
v1[2] = v2[2]; |
116 |
|
|
return; |
117 |
|
|
} |
118 |
|
|
multp3(v1, v2, xf_context->xf.xfm); |
119 |
|
|
} |
120 |
|
|
|
121 |
|
|
|
122 |
|
|
void |
123 |
|
|
xf_xfmvect(v1, v2) /* transform a vector using current matrix */ |
124 |
|
|
FVECT v1, v2; |
125 |
|
|
{ |
126 |
|
|
if (xf_context == NULL) { |
127 |
|
|
v1[0] = v2[0]; |
128 |
|
|
v1[1] = v2[1]; |
129 |
|
|
v1[2] = v2[2]; |
130 |
|
|
return; |
131 |
|
|
} |
132 |
|
|
multv3(v1, v2, xf_context->xf.xfm); |
133 |
|
|
} |
134 |
|
|
|
135 |
|
|
|
136 |
|
|
void |
137 |
|
|
xf_rotvect(v1, v2) /* rotate a vector using current matrix */ |
138 |
|
|
FVECT v1, v2; |
139 |
|
|
{ |
140 |
|
|
xf_xfmvect(v1, v2); |
141 |
|
|
if (xf_context == NULL) |
142 |
|
|
return; |
143 |
|
|
v1[0] /= xf_context->xf.sca; |
144 |
|
|
v1[1] /= xf_context->xf.sca; |
145 |
|
|
v1[2] /= xf_context->xf.sca; |
146 |
|
|
} |
147 |
|
|
|
148 |
|
|
|
149 |
|
|
double |
150 |
|
|
xf_scale(d) /* scale a number by the current transform */ |
151 |
|
|
double d; |
152 |
|
|
{ |
153 |
|
|
if (xf_context == NULL) |
154 |
|
|
return(d); |
155 |
|
|
return(d*xf_context->xf.sca); |
156 |
|
|
} |
157 |
|
|
|
158 |
|
|
|
159 |
|
|
void |
160 |
|
|
multmat4(m4a, m4b, m4c) /* multiply m4b X m4c and put into m4a */ |
161 |
|
|
MAT4 m4a; |
162 |
|
|
register MAT4 m4b, m4c; |
163 |
|
|
{ |
164 |
|
|
register int i, j; |
165 |
|
|
|
166 |
|
|
for (i = 4; i--; ) |
167 |
|
|
for (j = 4; j--; ) |
168 |
|
|
m4tmp[i][j] = m4b[i][0]*m4c[0][j] + |
169 |
|
|
m4b[i][1]*m4c[1][j] + |
170 |
|
|
m4b[i][2]*m4c[2][j] + |
171 |
|
|
m4b[i][3]*m4c[3][j]; |
172 |
|
|
|
173 |
|
|
copymat4(m4a, m4tmp); |
174 |
|
|
} |
175 |
|
|
|
176 |
|
|
|
177 |
|
|
void |
178 |
|
|
multv3(v3a, v3b, m4) /* transform vector v3b by m4 and put into v3a */ |
179 |
|
|
FVECT v3a; |
180 |
|
|
register FVECT v3b; |
181 |
|
|
register MAT4 m4; |
182 |
|
|
{ |
183 |
|
|
m4tmp[0][0] = v3b[0]*m4[0][0] + v3b[1]*m4[1][0] + v3b[2]*m4[2][0]; |
184 |
|
|
m4tmp[0][1] = v3b[0]*m4[0][1] + v3b[1]*m4[1][1] + v3b[2]*m4[2][1]; |
185 |
|
|
m4tmp[0][2] = v3b[0]*m4[0][2] + v3b[1]*m4[1][2] + v3b[2]*m4[2][2]; |
186 |
|
|
|
187 |
|
|
v3a[0] = m4tmp[0][0]; |
188 |
|
|
v3a[1] = m4tmp[0][1]; |
189 |
|
|
v3a[2] = m4tmp[0][2]; |
190 |
|
|
} |
191 |
|
|
|
192 |
|
|
|
193 |
|
|
void |
194 |
|
|
multp3(p3a, p3b, m4) /* transform p3b by m4 and put into p3a */ |
195 |
|
|
register FVECT p3a; |
196 |
|
|
FVECT p3b; |
197 |
|
|
register MAT4 m4; |
198 |
|
|
{ |
199 |
|
|
multv3(p3a, p3b, m4); /* transform as vector */ |
200 |
|
|
p3a[0] += m4[3][0]; /* translate */ |
201 |
|
|
p3a[1] += m4[3][1]; |
202 |
|
|
p3a[2] += m4[3][2]; |
203 |
|
|
} |
204 |
|
|
|
205 |
|
|
|
206 |
|
|
int |
207 |
|
|
xf(ret, ac, av) /* get transform specification */ |
208 |
|
|
register XF *ret; |
209 |
|
|
int ac; |
210 |
greg |
1.3 |
char **av; |
211 |
greg |
1.1 |
{ |
212 |
|
|
MAT4 xfmat, m4; |
213 |
|
|
double xfsca, dtmp; |
214 |
|
|
int i, icnt; |
215 |
|
|
|
216 |
|
|
setident4(ret->xfm); |
217 |
|
|
ret->sca = 1.0; |
218 |
|
|
|
219 |
|
|
icnt = 1; |
220 |
|
|
setident4(xfmat); |
221 |
|
|
xfsca = 1.0; |
222 |
|
|
|
223 |
|
|
for (i = 0; i < ac && av[i][0] == '-'; i++) { |
224 |
|
|
|
225 |
|
|
setident4(m4); |
226 |
|
|
|
227 |
|
|
switch (av[i][1]) { |
228 |
|
|
|
229 |
|
|
case 't': /* translate */ |
230 |
|
|
checkarg(2,"fff"); |
231 |
|
|
m4[3][0] = atof(av[++i]); |
232 |
|
|
m4[3][1] = atof(av[++i]); |
233 |
|
|
m4[3][2] = atof(av[++i]); |
234 |
|
|
break; |
235 |
|
|
|
236 |
|
|
case 'r': /* rotate */ |
237 |
|
|
switch (av[i][2]) { |
238 |
|
|
case 'x': |
239 |
|
|
checkarg(3,"f"); |
240 |
|
|
dtmp = d2r(atof(av[++i])); |
241 |
|
|
m4[1][1] = m4[2][2] = cos(dtmp); |
242 |
|
|
m4[2][1] = -(m4[1][2] = sin(dtmp)); |
243 |
|
|
break; |
244 |
|
|
case 'y': |
245 |
|
|
checkarg(3,"f"); |
246 |
|
|
dtmp = d2r(atof(av[++i])); |
247 |
|
|
m4[0][0] = m4[2][2] = cos(dtmp); |
248 |
|
|
m4[0][2] = -(m4[2][0] = sin(dtmp)); |
249 |
|
|
break; |
250 |
|
|
case 'z': |
251 |
|
|
checkarg(3,"f"); |
252 |
|
|
dtmp = d2r(atof(av[++i])); |
253 |
|
|
m4[0][0] = m4[1][1] = cos(dtmp); |
254 |
|
|
m4[1][0] = -(m4[0][1] = sin(dtmp)); |
255 |
|
|
break; |
256 |
|
|
default: |
257 |
|
|
goto done; |
258 |
|
|
} |
259 |
|
|
break; |
260 |
|
|
|
261 |
|
|
case 's': /* scale */ |
262 |
|
|
checkarg(2,"f"); |
263 |
|
|
dtmp = atof(av[i+1]); |
264 |
|
|
if (dtmp == 0.0) goto done; |
265 |
|
|
i++; |
266 |
|
|
xfsca *= |
267 |
|
|
m4[0][0] = |
268 |
|
|
m4[1][1] = |
269 |
|
|
m4[2][2] = dtmp; |
270 |
|
|
break; |
271 |
|
|
|
272 |
|
|
case 'm': /* mirror */ |
273 |
|
|
switch (av[i][2]) { |
274 |
|
|
case 'x': |
275 |
|
|
checkarg(3,""); |
276 |
|
|
xfsca *= |
277 |
|
|
m4[0][0] = -1.0; |
278 |
|
|
break; |
279 |
|
|
case 'y': |
280 |
|
|
checkarg(3,""); |
281 |
|
|
xfsca *= |
282 |
|
|
m4[1][1] = -1.0; |
283 |
|
|
break; |
284 |
|
|
case 'z': |
285 |
|
|
checkarg(3,""); |
286 |
|
|
xfsca *= |
287 |
|
|
m4[2][2] = -1.0; |
288 |
|
|
break; |
289 |
|
|
default: |
290 |
|
|
goto done; |
291 |
|
|
} |
292 |
|
|
break; |
293 |
|
|
|
294 |
|
|
case 'i': /* iterate */ |
295 |
|
|
checkarg(2,"i"); |
296 |
|
|
while (icnt-- > 0) { |
297 |
|
|
multmat4(ret->xfm, ret->xfm, xfmat); |
298 |
|
|
ret->sca *= xfsca; |
299 |
|
|
} |
300 |
|
|
icnt = atoi(av[++i]); |
301 |
|
|
setident4(xfmat); |
302 |
|
|
xfsca = 1.0; |
303 |
|
|
continue; |
304 |
|
|
|
305 |
|
|
default: |
306 |
|
|
goto done; |
307 |
|
|
|
308 |
|
|
} |
309 |
|
|
multmat4(xfmat, xfmat, m4); |
310 |
|
|
} |
311 |
|
|
done: |
312 |
|
|
while (icnt-- > 0) { |
313 |
|
|
multmat4(ret->xfm, ret->xfm, xfmat); |
314 |
|
|
ret->sca *= xfsca; |
315 |
|
|
} |
316 |
|
|
return(i); |
317 |
|
|
} |