cv/mgflib/xf.c

#ifndef lint
static const char       RCSid[] = "$Id: xf.c,v 1.15 2011/01/14 05:46:12 greg Exp $";
#endif
/*
 * Routines for 4x4 homogeneous, rigid-body transformations
 */

#include <stdio.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include "parser.h"

#define  d2r(a)         ((PI/180.)*(a))

#define  checkarg(a,l)  if (av[i][a] || badarg(ac-i-1,av+i+1,l)) goto done

MAT4  m4ident = MAT4IDENT;

static MAT4  m4tmp;             /* for efficiency */

XF_SPEC *xf_context = NULL;     /* current context */
char    **xf_argend;            /* end of transform argument list */
static char     **xf_argbeg;    /* beginning of transform argument list */


int
xf_handler(ac, av)              /* handle xf entity */
int     ac;
char    **av;
{
        register XF_SPEC        *spec;
        register int    n;
        int     rv;

        if (ac == 1) {                  /* something with existing transform */
                if ((spec = xf_context) == NULL)
                        return(MG_ECNTXT);
                n = -1;
                if (spec->xarr != NULL) {       /* check for iteration */
                        register struct xf_array        *ap = spec->xarr;

                        (void)xf_aname((struct xf_array *)NULL);
                        n = ap->ndim;
                        while (n--) {
                                if (++ap->aarg[n].i < ap->aarg[n].n)
                                        break;
                                (void)strcpy(ap->aarg[n].arg, "0");
                                ap->aarg[n].i = 0;
                        }
                        if (n >= 0) {
                                if ((rv = mg_fgoto(&ap->spos)) != MG_OK)
                                        return(rv);
                                sprintf(ap->aarg[n].arg, "%d", ap->aarg[n].i);
                                (void)xf_aname(ap);
                        }
                }
                if (n < 0) {                    /* pop transform */
                        xf_context = spec->prev;
                        free_xf(spec);
                        return(MG_OK);
                }
        } else {                        /* else allocate transform */
                if ((spec = new_xf(ac-1, av+1)) == NULL)
                        return(MG_EMEM);
                if (spec->xarr != NULL)
                        (void)xf_aname(spec->xarr);
                spec->prev = xf_context;        /* push onto stack */
                xf_context = spec;
        }
                                        /* translate new specification */
        n = xf_ac(spec);
        n -= xf_ac(spec->prev);         /* incremental comp. is more eff. */
        if (xf(&spec->xf, n, xf_av(spec)) != n)
                return(MG_ETYPE);
                                        /* check for vertex reversal */
        if ((spec->rev = (spec->xf.sca < 0.)))
                spec->xf.sca = -spec->xf.sca;
                                        /* compute total transformation */
        if (spec->prev != NULL) {
                multmat4(spec->xf.xfm, spec->xf.xfm, spec->prev->xf.xfm);
                spec->xf.sca *= spec->prev->xf.sca;
                spec->rev ^= spec->prev->rev;
        }
        spec->xid = comp_xfid(spec->xf.xfm);    /* compute unique ID */
        return(MG_OK);
}


XF_SPEC *
new_xf(ac, av)                  /* allocate new transform structure */
int     ac;
char    **av;
{
        register XF_SPEC        *spec;
        register int    i;
        char    *cp;
        int     n, ndim;

        ndim = 0;
        n = 0;                          /* compute space req'd by arguments */
        for (i = 0; i < ac; i++)
                if (!strcmp(av[i], "-a")) {
                        ndim++;
                        i++;
                } else
                        n += strlen(av[i]) + 1;
        if (ndim > XF_MAXDIM)
                return(NULL);
        spec = (XF_SPEC *)malloc(sizeof(XF_SPEC) + n);
        if (spec == NULL)
                return(NULL);
        if (ndim) {
                spec->xarr = (struct xf_array *)malloc(sizeof(struct xf_array));
                if (spec->xarr == NULL)
                        return(NULL);
                mg_fgetpos(&spec->xarr->spos);
                spec->xarr->ndim = 0;           /* incremented below */
        } else
                spec->xarr = NULL;
        spec->xac = ac + xf_argc;
                                        /* and store new xf arguments */
        if (xf_argbeg == NULL || xf_av(spec) < xf_argbeg) {
                register char   **newav =
                                (char **)malloc((spec->xac+1)*sizeof(char *));
                if (newav == NULL)
                        return(NULL);
                for (i = xf_argc; i-- > 0; )
                        newav[ac+i] = xf_argend[i-xf_context->xac];
                *(xf_argend = newav + spec->xac) = NULL;
                if (xf_argbeg != NULL)
                        free(xf_argbeg);
                xf_argbeg = newav;
        }
        cp = (char *)(spec + 1);        /* use memory allocated above */
        for (i = 0; i < ac; i++)
                if (!strcmp(av[i], "-a")) {
                        xf_av(spec)[i++] = "-i";
                        xf_av(spec)[i] = strcpy(
                                        spec->xarr->aarg[spec->xarr->ndim].arg,
                                        "0");
                        spec->xarr->aarg[spec->xarr->ndim].i = 0;
                        spec->xarr->aarg[spec->xarr->ndim++].n = atoi(av[i]);
                } else {
                        xf_av(spec)[i] = strcpy(cp, av[i]);
                        cp += strlen(av[i]) + 1;
                }
        return(spec);
}


void
free_xf(spec)                   /* free a transform */
register XF_SPEC        *spec;
{
        if (spec->xarr != NULL)
                free(spec->xarr);
        free(spec);
}


int
xf_aname(ap)                    /* put out name for this instance */
register struct xf_array        *ap;
{
        static char     oname[10*XF_MAXDIM];
        static char     *oav[3] = {mg_ename[MG_E_OBJECT], oname};
        register int    i;
        register char   *cp1, *cp2;

        if (ap == NULL)
                return(mg_handle(MG_E_OBJECT, 1, oav));
        cp1 = oname;
        *cp1 = 'a';
        for (i = 0; i < ap->ndim; i++) {
                for (cp2 = ap->aarg[i].arg; *cp2; )
                        *++cp1 = *cp2++;
                *++cp1 = '.';
        }
        *cp1 = '\0';
        return(mg_handle(MG_E_OBJECT, 2, oav));
}


long
comp_xfid(xfm)                  /* compute unique ID from matrix */
register MAT4   xfm;
{
        static char     shifttab[64] = { 15, 5, 11, 5, 6, 3,
                                9, 15, 13, 2, 13, 5, 2, 12, 14, 11,
                                11, 12, 12, 3, 2, 11, 8, 12, 1, 12,
                                5, 4, 15, 9, 14, 5, 13, 14, 2, 10,
                                10, 14, 12, 3, 5, 5, 14, 6, 12, 11,
                                13, 9, 12, 8, 1, 6, 5, 12, 7, 13,
                                15, 8, 9, 2, 6, 11, 9, 11 };
        register int    i;
        register long   xid;

        xid = 0;                        /* compute unique transform id */
        for (i = 0; i < sizeof(MAT4)/sizeof(unsigned short); i++)
                xid ^= (long)(((unsigned short *)xfm)[i]) << shifttab[i&63];
        return(xid);
}


void
xf_clear()                      /* clear transform stack */
{
        register XF_SPEC        *spec;

        if (xf_argbeg != NULL) {
                free(xf_argbeg);
                xf_argbeg = xf_argend = NULL;
        }
        while ((spec = xf_context) != NULL) {
                xf_context = spec->prev;
                free_xf(spec);
        }
}


void
xf_xfmpoint(v1, v2)             /* transform a point by the current matrix */
FVECT   v1, v2;
{
        if (xf_context == NULL) {
                VCOPY(v1, v2);
                return;
        }
        multp3(v1, v2, xf_context->xf.xfm);
}


void
xf_xfmvect(v1, v2)              /* transform a vector using current matrix */
FVECT   v1, v2;
{
        if (xf_context == NULL) {
                VCOPY(v1, v2);
                return;
        }
        multv3(v1, v2, xf_context->xf.xfm);
}


void
xf_rotvect(v1, v2)              /* rotate a vector using current matrix */
FVECT   v1, v2;
{
        xf_xfmvect(v1, v2);
        if (xf_context == NULL)
                return;
        v1[0] /= xf_context->xf.sca;
        v1[1] /= xf_context->xf.sca;
        v1[2] /= xf_context->xf.sca;
}


double
xf_scale(d)                     /* scale a number by the current transform */
double  d;
{
        if (xf_context == NULL)
                return(d);
        return(d*xf_context->xf.sca);
}


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];
}


int
xf(ret, ac, av)                 /* get transform specification */
register XF  *ret;
int  ac;
char  **av;
{
        MAT4  xfmat, m4;
        double  xfsca, dtmp;
        int  i, icnt;

        setident4(ret->xfm);
        ret->sca = 1.0;

        icnt = 1;
        setident4(xfmat);
        xfsca = 1.0;

        for (i = 0; i < ac && av[i][0] == '-'; i++) {
        
                setident4(m4);
                
                switch (av[i][1]) {
        
                case 't':                       /* translate */
                        checkarg(2,"fff");
                        m4[3][0] = atof(av[++i]);
                        m4[3][1] = atof(av[++i]);
                        m4[3][2] = atof(av[++i]);
                        break;

                case 'r':                       /* rotate */
                        switch (av[i][2]) {
                        case 'x':
                                checkarg(3,"f");
                                dtmp = d2r(atof(av[++i]));
                                m4[1][1] = m4[2][2] = cos(dtmp);
                                m4[2][1] = -(m4[1][2] = sin(dtmp));
                                break;
                        case 'y':
                                checkarg(3,"f");
                                dtmp = d2r(atof(av[++i]));
                                m4[0][0] = m4[2][2] = cos(dtmp);
                                m4[0][2] = -(m4[2][0] = sin(dtmp));
                                break;
                        case 'z':
                                checkarg(3,"f");
                                dtmp = d2r(atof(av[++i]));
                                m4[0][0] = m4[1][1] = cos(dtmp);
                                m4[1][0] = -(m4[0][1] = sin(dtmp));
                                break;
                        default:
                                goto done;
                        }
                        break;

                case 's':                       /* scale */
                        checkarg(2,"f");
                        dtmp = atof(av[i+1]);
                        if (dtmp == 0.0) goto done;
                        i++;
                        xfsca *=
                        m4[0][0] = 
                        m4[1][1] = 
                        m4[2][2] = dtmp;
                        break;

                case 'm':                       /* mirror */
                        switch (av[i][2]) {
                        case 'x':
                                checkarg(3,"");
                                xfsca *=
                                m4[0][0] = -1.0;
                                break;
                        case 'y':
                                checkarg(3,"");
                                xfsca *=
                                m4[1][1] = -1.0;
                                break;
                        case 'z':
                                checkarg(3,"");
                                xfsca *=
                                m4[2][2] = -1.0;
                                break;
                        default:
                                goto done;
                        }
                        break;

                case 'i':                       /* iterate */
                        checkarg(2,"i");
                        while (icnt-- > 0) {
                                multmat4(ret->xfm, ret->xfm, xfmat);
                                ret->sca *= xfsca;
                        }
                        icnt = atoi(av[++i]);
                        setident4(xfmat);
                        xfsca = 1.0;
                        continue;

                default:
                        goto done;

                }
                multmat4(xfmat, xfmat, m4);
        }
done:
        while (icnt-- > 0) {
                multmat4(ret->xfm, ret->xfm, xfmat);
                ret->sca *= xfsca;
        }
        return(i);
}
Revision:	1.16
Committed:	Tue Feb 22 15:58:42 2011 UTC (14 years, 10 months ago) by greg
Content type:	text/plain
Branch:	MAIN
CVS Tags:	HEAD
Changes since 1.15:	+1 -1 lines
State:	*FILE REMOVED*
Log Message:	Finish of code reorg, moving MGF library into src/cv and src/common
#	User	Rev	Content
1	greg	1.1	#ifndef lint
2	greg	1.16	static const char RCSid[] = "$Id: xf.c,v 1.15 2011/01/14 05:46:12 greg Exp $";
3	greg	1.1	#endif
4			/*
5			* Routines for 4x4 homogeneous, rigid-body transformations
6			*/
7
8			#include <stdio.h>
9			#include <math.h>
10	gregl	1.13	#include <stdlib.h>
11	greg	1.1	#include <string.h>
12			#include "parser.h"
13
14			#define d2r(a) ((PI/180.)*(a))
15
16			#define checkarg(a,l) if (av[i][a] \|\| badarg(ac-i-1,av+i+1,l)) goto done
17
18			MAT4 m4ident = MAT4IDENT;
19
20			static MAT4 m4tmp; /* for efficiency */
21
22	greg	1.14	XF_SPEC xf_context = NULL; / current context */
23	greg	1.9	char *xf_argend; / end of transform argument list */
24			static char *xf_argbeg; / beginning of transform argument list */
25	greg	1.1
26
27			int
28			xf_handler(ac, av) /* handle xf entity */
29			int ac;
30			char **av;
31			{
32			register XF_SPEC *spec;
33	greg	1.5	register int n;
34			int rv;
35	greg	1.1
36	greg	1.5	if (ac == 1) { /* something with existing transform */
37	greg	1.1	if ((spec = xf_context) == NULL)
38	greg	1.11	return(MG_ECNTXT);
39	greg	1.5	n = -1;
40			if (spec->xarr != NULL) { /* check for iteration */
41			register struct xf_array *ap = spec->xarr;
42
43	greg	1.12	(void)xf_aname((struct xf_array *)NULL);
44	greg	1.5	n = ap->ndim;
45			while (n--) {
46			if (++ap->aarg[n].i < ap->aarg[n].n)
47			break;
48			(void)strcpy(ap->aarg[n].arg, "0");
49			ap->aarg[n].i = 0;
50			}
51			if (n >= 0) {
52			if ((rv = mg_fgoto(&ap->spos)) != MG_OK)
53			return(rv);
54			sprintf(ap->aarg[n].arg, "%d", ap->aarg[n].i);
55	greg	1.12	(void)xf_aname(ap);
56			}
57	greg	1.5	}
58			if (n < 0) { /* pop transform */
59			xf_context = spec->prev;
60	greg	1.12	free_xf(spec);
61	greg	1.5	return(MG_OK);
62			}
63			} else { /* else allocate transform */
64			if ((spec = new_xf(ac-1, av+1)) == NULL)
65			return(MG_EMEM);
66	greg	1.12	if (spec->xarr != NULL)
67			(void)xf_aname(spec->xarr);
68	greg	1.5	spec->prev = xf_context; /* push onto stack */
69			xf_context = spec;
70	greg	1.1	}
71			/* translate new specification */
72	greg	1.9	n = xf_ac(spec);
73	greg	1.12	n -= xf_ac(spec->prev); /* incremental comp. is more eff. */
74	greg	1.9	if (xf(&spec->xf, n, xf_av(spec)) != n)
75	greg	1.1	return(MG_ETYPE);
76	greg	1.7	/* check for vertex reversal */
77	greg	1.8	if ((spec->rev = (spec->xf.sca < 0.)))
78			spec->xf.sca = -spec->xf.sca;
79	greg	1.5	/* compute total transformation */
80			if (spec->prev != NULL) {
81	greg	1.8	multmat4(spec->xf.xfm, spec->xf.xfm, spec->prev->xf.xfm);
82			spec->xf.sca *= spec->prev->xf.sca;
83	greg	1.7	spec->rev ^= spec->prev->rev;
84	greg	1.8	}
85	greg	1.5	spec->xid = comp_xfid(spec->xf.xfm); /* compute unique ID */
86			return(MG_OK);
87			}
88
89
90	greg	1.12	XF_SPEC *
91	greg	1.5	new_xf(ac, av) /* allocate new transform structure */
92			int ac;
93			char **av;
94			{
95			register XF_SPEC *spec;
96			register int i;
97			char *cp;
98			int n, ndim;
99
100			ndim = 0;
101			n = 0; /* compute space req'd by arguments */
102			for (i = 0; i < ac; i++)
103			if (!strcmp(av[i], "-a")) {
104			ndim++;
105			i++;
106			} else
107			n += strlen(av[i]) + 1;
108			if (ndim > XF_MAXDIM)
109			return(NULL);
110			spec = (XF_SPEC *)malloc(sizeof(XF_SPEC) + n);
111	greg	1.1	if (spec == NULL)
112	greg	1.5	return(NULL);
113			if (ndim) {
114			spec->xarr = (struct xf_array *)malloc(sizeof(struct xf_array));
115			if (spec->xarr == NULL)
116			return(NULL);
117			mg_fgetpos(&spec->xarr->spos);
118			spec->xarr->ndim = 0; /* incremented below */
119			} else
120			spec->xarr = NULL;
121	greg	1.9	spec->xac = ac + xf_argc;
122	greg	1.1	/* and store new xf arguments */
123	greg	1.9	if (xf_argbeg == NULL \|\| xf_av(spec) < xf_argbeg) {
124			register char **newav =
125			(char *)malloc((spec->xac+1)sizeof(char *));
126			if (newav == NULL)
127	greg	1.5	return(NULL);
128	greg	1.9	for (i = xf_argc; i-- > 0; )
129			newav[ac+i] = xf_argend[i-xf_context->xac];
130			*(xf_argend = newav + spec->xac) = NULL;
131			if (xf_argbeg != NULL)
132	greg	1.15	free(xf_argbeg);
133	greg	1.9	xf_argbeg = newav;
134	greg	1.1	}
135	greg	1.5	cp = (char )(spec + 1); / use memory allocated above */
136			for (i = 0; i < ac; i++)
137			if (!strcmp(av[i], "-a")) {
138	greg	1.9	xf_av(spec)[i++] = "-i";
139			xf_av(spec)[i] = strcpy(
140	greg	1.5	spec->xarr->aarg[spec->xarr->ndim].arg,
141			"0");
142			spec->xarr->aarg[spec->xarr->ndim].i = 0;
143	greg	1.9	spec->xarr->aarg[spec->xarr->ndim++].n = atoi(av[i]);
144	greg	1.5	} else {
145	greg	1.9	xf_av(spec)[i] = strcpy(cp, av[i]);
146	greg	1.5	cp += strlen(av[i]) + 1;
147			}
148			return(spec);
149			}
150	greg	1.4
151	greg	1.5
152	greg	1.12	void
153			free_xf(spec) /* free a transform */
154			register XF_SPEC *spec;
155			{
156			if (spec->xarr != NULL)
157	greg	1.15	free(spec->xarr);
158			free(spec);
159	greg	1.12	}
160
161
162			int
163			xf_aname(ap) /* put out name for this instance */
164	greg	1.5	register struct xf_array *ap;
165			{
166			static char oname[10*XF_MAXDIM];
167			static char *oav[3] = {mg_ename[MG_E_OBJECT], oname};
168			register int i;
169			register char cp1, cp2;
170
171			if (ap == NULL)
172			return(mg_handle(MG_E_OBJECT, 1, oav));
173			cp1 = oname;
174			*cp1 = 'a';
175			for (i = 0; i < ap->ndim; i++) {
176			for (cp2 = ap->aarg[i].arg; *cp2; )
177			++cp1 = cp2++;
178			*++cp1 = '.';
179			}
180			*cp1 = '\0';
181			return(mg_handle(MG_E_OBJECT, 2, oav));
182	greg	1.1	}
183
184
185	greg	1.12	long
186	greg	1.5	comp_xfid(xfm) /* compute unique ID from matrix */
187			register MAT4 xfm;
188			{
189			static char shifttab[64] = { 15, 5, 11, 5, 6, 3,
190			9, 15, 13, 2, 13, 5, 2, 12, 14, 11,
191			11, 12, 12, 3, 2, 11, 8, 12, 1, 12,
192			5, 4, 15, 9, 14, 5, 13, 14, 2, 10,
193			10, 14, 12, 3, 5, 5, 14, 6, 12, 11,
194			13, 9, 12, 8, 1, 6, 5, 12, 7, 13,
195			15, 8, 9, 2, 6, 11, 9, 11 };
196			register int i;
197			register long xid;
198
199			xid = 0; /* compute unique transform id */
200			for (i = 0; i < sizeof(MAT4)/sizeof(unsigned short); i++)
201			xid ^= (long)(((unsigned short *)xfm)[i]) << shifttab[i&63];
202			return(xid);
203			}
204
205
206	greg	1.1	void
207	greg	1.2	xf_clear() /* clear transform stack */
208			{
209			register XF_SPEC *spec;
210
211	greg	1.9	if (xf_argbeg != NULL) {
212	greg	1.15	free(xf_argbeg);
213	greg	1.9	xf_argbeg = xf_argend = NULL;
214	greg	1.2	}
215			while ((spec = xf_context) != NULL) {
216			xf_context = spec->prev;
217	greg	1.12	free_xf(spec);
218	greg	1.2	}
219			}
220
221
222			void
223	greg	1.1	xf_xfmpoint(v1, v2) /* transform a point by the current matrix */
224			FVECT v1, v2;
225			{
226			if (xf_context == NULL) {
227	greg	1.10	VCOPY(v1, v2);
228	greg	1.1	return;
229			}
230			multp3(v1, v2, xf_context->xf.xfm);
231			}
232
233
234			void
235			xf_xfmvect(v1, v2) /* transform a vector using current matrix */
236			FVECT v1, v2;
237			{
238			if (xf_context == NULL) {
239	greg	1.10	VCOPY(v1, v2);
240	greg	1.1	return;
241			}
242			multv3(v1, v2, xf_context->xf.xfm);
243			}
244
245
246			void
247			xf_rotvect(v1, v2) /* rotate a vector using current matrix */
248			FVECT v1, v2;
249			{
250			xf_xfmvect(v1, v2);
251			if (xf_context == NULL)
252			return;
253			v1[0] /= xf_context->xf.sca;
254			v1[1] /= xf_context->xf.sca;
255			v1[2] /= xf_context->xf.sca;
256			}
257
258
259			double
260			xf_scale(d) /* scale a number by the current transform */
261			double d;
262			{
263			if (xf_context == NULL)
264			return(d);
265			return(d*xf_context->xf.sca);
266			}
267
268
269			void
270			multmat4(m4a, m4b, m4c) /* multiply m4b X m4c and put into m4a */
271			MAT4 m4a;
272			register MAT4 m4b, m4c;
273			{
274			register int i, j;
275
276			for (i = 4; i--; )
277			for (j = 4; j--; )
278			m4tmp[i][j] = m4b[i][0]*m4c[0][j] +
279			m4b[i][1]*m4c[1][j] +
280			m4b[i][2]*m4c[2][j] +
281			m4b[i][3]*m4c[3][j];
282
283			copymat4(m4a, m4tmp);
284			}
285
286
287			void
288			multv3(v3a, v3b, m4) /* transform vector v3b by m4 and put into v3a */
289			FVECT v3a;
290			register FVECT v3b;
291			register MAT4 m4;
292			{
293			m4tmp[0][0] = v3b[0]m4[0][0] + v3b[1]m4[1][0] + v3b[2]*m4[2][0];
294			m4tmp[0][1] = v3b[0]m4[0][1] + v3b[1]m4[1][1] + v3b[2]*m4[2][1];
295			m4tmp[0][2] = v3b[0]m4[0][2] + v3b[1]m4[1][2] + v3b[2]*m4[2][2];
296
297			v3a[0] = m4tmp[0][0];
298			v3a[1] = m4tmp[0][1];
299			v3a[2] = m4tmp[0][2];
300			}
301
302
303			void
304			multp3(p3a, p3b, m4) /* transform p3b by m4 and put into p3a */
305			register FVECT p3a;
306			FVECT p3b;
307			register MAT4 m4;
308			{
309			multv3(p3a, p3b, m4); /* transform as vector */
310			p3a[0] += m4[3][0]; /* translate */
311			p3a[1] += m4[3][1];
312			p3a[2] += m4[3][2];
313			}
314
315
316			int
317			xf(ret, ac, av) /* get transform specification */
318			register XF *ret;
319			int ac;
320	greg	1.3	char **av;
321	greg	1.1	{
322			MAT4 xfmat, m4;
323			double xfsca, dtmp;
324			int i, icnt;
325
326			setident4(ret->xfm);
327			ret->sca = 1.0;
328
329			icnt = 1;
330			setident4(xfmat);
331			xfsca = 1.0;
332
333			for (i = 0; i < ac && av[i][0] == '-'; i++) {
334
335			setident4(m4);
336
337			switch (av[i][1]) {
338
339			case 't': /* translate */
340			checkarg(2,"fff");
341			m4[3][0] = atof(av[++i]);
342			m4[3][1] = atof(av[++i]);
343			m4[3][2] = atof(av[++i]);
344			break;
345
346			case 'r': /* rotate */
347			switch (av[i][2]) {
348			case 'x':
349			checkarg(3,"f");
350			dtmp = d2r(atof(av[++i]));
351			m4[1][1] = m4[2][2] = cos(dtmp);
352			m4[2][1] = -(m4[1][2] = sin(dtmp));
353			break;
354			case 'y':
355			checkarg(3,"f");
356			dtmp = d2r(atof(av[++i]));
357			m4[0][0] = m4[2][2] = cos(dtmp);
358			m4[0][2] = -(m4[2][0] = sin(dtmp));
359			break;
360			case 'z':
361			checkarg(3,"f");
362			dtmp = d2r(atof(av[++i]));
363			m4[0][0] = m4[1][1] = cos(dtmp);
364			m4[1][0] = -(m4[0][1] = sin(dtmp));
365			break;
366			default:
367			goto done;
368			}
369			break;
370
371			case 's': /* scale */
372			checkarg(2,"f");
373			dtmp = atof(av[i+1]);
374			if (dtmp == 0.0) goto done;
375			i++;
376			xfsca *=
377			m4[0][0] =
378			m4[1][1] =
379			m4[2][2] = dtmp;
380			break;
381
382			case 'm': /* mirror */
383			switch (av[i][2]) {
384			case 'x':
385			checkarg(3,"");
386			xfsca *=
387			m4[0][0] = -1.0;
388			break;
389			case 'y':
390			checkarg(3,"");
391			xfsca *=
392			m4[1][1] = -1.0;
393			break;
394			case 'z':
395			checkarg(3,"");
396			xfsca *=
397			m4[2][2] = -1.0;
398			break;
399			default:
400			goto done;
401			}
402			break;
403
404			case 'i': /* iterate */
405			checkarg(2,"i");
406			while (icnt-- > 0) {
407			multmat4(ret->xfm, ret->xfm, xfmat);
408			ret->sca *= xfsca;
409			}
410			icnt = atoi(av[++i]);
411			setident4(xfmat);
412			xfsca = 1.0;
413			continue;
414
415			default:
416			goto done;
417
418			}
419			multmat4(xfmat, xfmat, m4);
420			}
421			done:
422			while (icnt-- > 0) {
423			multmat4(ret->xfm, ret->xfm, xfmat);
424			ret->sca *= xfsca;
425			}
426			return(i);
427			}