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/* Copyright (c) 1994 Regents of the University of California */ |
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|
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#ifndef lint |
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static char SCCSid[] = "$SunId$ LBL"; |
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#endif |
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|
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/* |
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* Routines for 4x4 homogeneous, rigid-body transformations |
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*/ |
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|
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#include <stdio.h> |
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#include <math.h> |
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#include <string.h> |
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#include "parser.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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MAT4 m4ident = MAT4IDENT; |
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|
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static MAT4 m4tmp; /* for efficiency */ |
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|
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int xf_argc; /* total # transform args. */ |
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char **xf_argv; /* transform arguments */ |
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XF_SPEC *xf_context; /* current context */ |
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|
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static int xf_maxarg; /* # allocated arguments */ |
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|
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|
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int |
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xf_handler(ac, av) /* handle xf entity */ |
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int ac; |
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char **av; |
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{ |
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register int i; |
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register XF_SPEC *spec; |
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XF thisxf; |
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|
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if (ac == 1) { /* pop top transform */ |
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if ((spec = xf_context) == NULL) |
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return(MG_OK); /* should be error? */ |
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while (xf_argc > spec->xav0) |
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free((MEM_PTR)xf_argv[--xf_argc]); |
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xf_argv[xf_argc] = NULL; |
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xf_context = spec->prev; |
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free((MEM_PTR)spec); |
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return(MG_OK); |
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} |
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/* translate new specification */ |
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if (xf(&thisxf, ac-1, av+1) != ac-1) |
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return(MG_ETYPE); |
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/* allocate space for new transform */ |
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spec = (XF_SPEC *)malloc(sizeof(XF_SPEC)); |
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if (spec == NULL) |
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return(MG_EMEM); |
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spec->xav0 = xf_argc; |
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spec->xac = ac-1; |
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/* and store new xf arguments */ |
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if (xf_argc+ac > xf_maxarg) { |
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if (!xf_maxarg) |
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xf_argv = (char **)malloc( |
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(xf_maxarg=ac)*sizeof(char *)); |
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else |
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xf_argv = (char **)realloc((MEM_PTR)xf_argv, |
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(xf_maxarg+=ac)*sizeof(char *)); |
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if (xf_argv == NULL) |
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return(MG_EMEM); |
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} |
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for (i = 0; i < ac-1; i++) { |
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xf_argv[xf_argc] = (char *)malloc(strlen(av[i+1])+1); |
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if (xf_argv[xf_argc] == NULL) |
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return(MG_EMEM); |
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strcpy(xf_argv[xf_argc++], av[i+1]); |
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} |
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xf_argv[xf_argc] = NULL; |
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/* compute total transformation */ |
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if (xf_context != NULL) { |
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multmat4(spec->xf.xfm, xf_context->xf.xfm, thisxf.xfm); |
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spec->xf.sca = xf_context->xf.sca * thisxf.sca; |
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} else |
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spec->xf = thisxf; |
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spec->prev = xf_context; /* push new transform onto stack */ |
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xf_context = spec; |
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return(MG_OK); |
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} |
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|
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|
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void |
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xf_xfmpoint(v1, v2) /* transform a point by the current matrix */ |
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FVECT v1, v2; |
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{ |
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if (xf_context == NULL) { |
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v1[0] = v2[0]; |
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v1[1] = v2[1]; |
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v1[2] = v2[2]; |
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return; |
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} |
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multp3(v1, v2, xf_context->xf.xfm); |
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} |
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|
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|
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void |
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xf_xfmvect(v1, v2) /* transform a vector using current matrix */ |
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FVECT v1, v2; |
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{ |
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if (xf_context == NULL) { |
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v1[0] = v2[0]; |
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v1[1] = v2[1]; |
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v1[2] = v2[2]; |
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return; |
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} |
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multv3(v1, v2, xf_context->xf.xfm); |
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} |
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|
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|
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void |
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xf_rotvect(v1, v2) /* rotate a vector using current matrix */ |
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FVECT v1, v2; |
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{ |
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xf_xfmvect(v1, v2); |
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if (xf_context == NULL) |
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return; |
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v1[0] /= xf_context->xf.sca; |
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v1[1] /= xf_context->xf.sca; |
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v1[2] /= xf_context->xf.sca; |
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} |
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|
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|
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double |
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xf_scale(d) /* scale a number by the current transform */ |
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double d; |
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{ |
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if (xf_context == NULL) |
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return(d); |
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return(d*xf_context->xf.sca); |
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} |
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|
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|
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void |
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multmat4(m4a, m4b, m4c) /* multiply m4b X m4c and put into m4a */ |
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MAT4 m4a; |
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register MAT4 m4b, m4c; |
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{ |
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register int i, j; |
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|
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for (i = 4; i--; ) |
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for (j = 4; j--; ) |
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m4tmp[i][j] = m4b[i][0]*m4c[0][j] + |
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m4b[i][1]*m4c[1][j] + |
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m4b[i][2]*m4c[2][j] + |
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m4b[i][3]*m4c[3][j]; |
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|
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copymat4(m4a, m4tmp); |
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} |
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|
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|
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void |
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multv3(v3a, v3b, m4) /* transform vector v3b by m4 and put into v3a */ |
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FVECT v3a; |
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register FVECT v3b; |
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register MAT4 m4; |
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{ |
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m4tmp[0][0] = v3b[0]*m4[0][0] + v3b[1]*m4[1][0] + v3b[2]*m4[2][0]; |
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m4tmp[0][1] = v3b[0]*m4[0][1] + v3b[1]*m4[1][1] + v3b[2]*m4[2][1]; |
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m4tmp[0][2] = v3b[0]*m4[0][2] + v3b[1]*m4[1][2] + v3b[2]*m4[2][2]; |
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|
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v3a[0] = m4tmp[0][0]; |
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v3a[1] = m4tmp[0][1]; |
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v3a[2] = m4tmp[0][2]; |
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} |
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|
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|
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void |
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multp3(p3a, p3b, m4) /* transform p3b by m4 and put into p3a */ |
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register FVECT p3a; |
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FVECT p3b; |
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register MAT4 m4; |
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{ |
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multv3(p3a, p3b, m4); /* transform as vector */ |
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p3a[0] += m4[3][0]; /* translate */ |
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p3a[1] += m4[3][1]; |
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p3a[2] += m4[3][2]; |
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} |
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|
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|
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int |
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xf(ret, ac, av) /* get transform specification */ |
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register XF *ret; |
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int ac; |
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char *av[]; |
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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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} |
