| 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 |
static XF_SPEC *new_xf(); |
| 31 |
static long comp_xfid(); |
| 32 |
static int put_oname(); |
| 33 |
|
| 34 |
|
| 35 |
int |
| 36 |
xf_handler(ac, av) /* handle xf entity */ |
| 37 |
int ac; |
| 38 |
char **av; |
| 39 |
{ |
| 40 |
register XF_SPEC *spec; |
| 41 |
register int n; |
| 42 |
int rv; |
| 43 |
XF thisxf; |
| 44 |
|
| 45 |
if (ac == 1) { /* something with existing transform */ |
| 46 |
if ((spec = xf_context) == NULL) |
| 47 |
return(MG_OK); /* should be error? */ |
| 48 |
n = -1; |
| 49 |
if (spec->xarr != NULL) { /* check for iteration */ |
| 50 |
register struct xf_array *ap = spec->xarr; |
| 51 |
|
| 52 |
(void)put_oname((struct xf_array *)NULL); |
| 53 |
n = ap->ndim; |
| 54 |
while (n--) { |
| 55 |
if (++ap->aarg[n].i < ap->aarg[n].n) |
| 56 |
break; |
| 57 |
(void)strcpy(ap->aarg[n].arg, "0"); |
| 58 |
ap->aarg[n].i = 0; |
| 59 |
} |
| 60 |
if (n >= 0) { |
| 61 |
if ((rv = mg_fgoto(&ap->spos)) != MG_OK) |
| 62 |
return(rv); |
| 63 |
sprintf(ap->aarg[n].arg, "%d", ap->aarg[n].i); |
| 64 |
(void)put_oname(ap); |
| 65 |
} else |
| 66 |
free((MEM_PTR)ap); |
| 67 |
} |
| 68 |
if (n < 0) { /* pop transform */ |
| 69 |
xf_argv[xf_argc=spec->xav0] = NULL; |
| 70 |
xf_context = spec->prev; |
| 71 |
free((MEM_PTR)spec); |
| 72 |
return(MG_OK); |
| 73 |
} |
| 74 |
} else { /* else allocate transform */ |
| 75 |
if ((spec = new_xf(ac-1, av+1)) == NULL) |
| 76 |
return(MG_EMEM); |
| 77 |
spec->prev = xf_context; /* push onto stack */ |
| 78 |
xf_context = spec; |
| 79 |
} |
| 80 |
/* translate new specification */ |
| 81 |
if (xf(&thisxf, spec->xac, &xf_argv[spec->xav0]) != spec->xac) |
| 82 |
return(MG_ETYPE); |
| 83 |
/* compute total transformation */ |
| 84 |
if (spec->prev != NULL) { |
| 85 |
multmat4(spec->xf.xfm, thisxf.xfm, spec->prev->xf.xfm); |
| 86 |
spec->xf.sca = thisxf.sca * spec->prev->xf.sca; |
| 87 |
} else |
| 88 |
spec->xf = thisxf; |
| 89 |
spec->xid = comp_xfid(spec->xf.xfm); /* compute unique ID */ |
| 90 |
return(MG_OK); |
| 91 |
} |
| 92 |
|
| 93 |
|
| 94 |
static XF_SPEC * |
| 95 |
new_xf(ac, av) /* allocate new transform structure */ |
| 96 |
int ac; |
| 97 |
char **av; |
| 98 |
{ |
| 99 |
register XF_SPEC *spec; |
| 100 |
register int i; |
| 101 |
char *cp; |
| 102 |
int n, ndim; |
| 103 |
|
| 104 |
ndim = 0; |
| 105 |
n = 0; /* compute space req'd by arguments */ |
| 106 |
for (i = 0; i < ac; i++) |
| 107 |
if (!strcmp(av[i], "-a")) { |
| 108 |
ndim++; |
| 109 |
i++; |
| 110 |
} else |
| 111 |
n += strlen(av[i]) + 1; |
| 112 |
if (ndim > XF_MAXDIM) |
| 113 |
return(NULL); |
| 114 |
spec = (XF_SPEC *)malloc(sizeof(XF_SPEC) + n); |
| 115 |
if (spec == NULL) |
| 116 |
return(NULL); |
| 117 |
if (ndim) { |
| 118 |
spec->xarr = (struct xf_array *)malloc(sizeof(struct xf_array)); |
| 119 |
if (spec->xarr == NULL) |
| 120 |
return(NULL); |
| 121 |
mg_fgetpos(&spec->xarr->spos); |
| 122 |
spec->xarr->ndim = 0; /* incremented below */ |
| 123 |
} else |
| 124 |
spec->xarr = NULL; |
| 125 |
spec->xav0 = xf_argc; |
| 126 |
spec->xac = ac; |
| 127 |
/* and store new xf arguments */ |
| 128 |
if (xf_argc+ac+1 > xf_maxarg) { |
| 129 |
if (!xf_maxarg) |
| 130 |
xf_argv = (char **)malloc( |
| 131 |
(xf_maxarg=ac+1)*sizeof(char *)); |
| 132 |
else |
| 133 |
xf_argv = (char **)realloc((MEM_PTR)xf_argv, |
| 134 |
(xf_maxarg=xf_argc+ac+1)*sizeof(char *)); |
| 135 |
if (xf_argv == NULL) |
| 136 |
return(NULL); |
| 137 |
} |
| 138 |
cp = (char *)(spec + 1); /* use memory allocated above */ |
| 139 |
for (i = 0; i < ac; i++) |
| 140 |
if (!strcmp(av[i], "-a")) { |
| 141 |
xf_argv[xf_argc++] = "-i"; |
| 142 |
xf_argv[xf_argc++] = strcpy( |
| 143 |
spec->xarr->aarg[spec->xarr->ndim].arg, |
| 144 |
"0"); |
| 145 |
spec->xarr->aarg[spec->xarr->ndim].i = 0; |
| 146 |
spec->xarr->aarg[spec->xarr->ndim++].n = atoi(av[++i]); |
| 147 |
} else { |
| 148 |
xf_argv[xf_argc++] = strcpy(cp, av[i]); |
| 149 |
cp += strlen(av[i]) + 1; |
| 150 |
} |
| 151 |
xf_argv[xf_argc] = NULL; |
| 152 |
if (spec->xarr != NULL) |
| 153 |
(void)put_oname(spec->xarr); |
| 154 |
return(spec); |
| 155 |
} |
| 156 |
|
| 157 |
|
| 158 |
static int |
| 159 |
put_oname(ap) /* put out name for this instance */ |
| 160 |
register struct xf_array *ap; |
| 161 |
{ |
| 162 |
static char oname[10*XF_MAXDIM]; |
| 163 |
static char *oav[3] = {mg_ename[MG_E_OBJECT], oname}; |
| 164 |
register int i; |
| 165 |
register char *cp1, *cp2; |
| 166 |
|
| 167 |
if (ap == NULL) |
| 168 |
return(mg_handle(MG_E_OBJECT, 1, oav)); |
| 169 |
cp1 = oname; |
| 170 |
*cp1 = 'a'; |
| 171 |
for (i = 0; i < ap->ndim; i++) { |
| 172 |
for (cp2 = ap->aarg[i].arg; *cp2; ) |
| 173 |
*++cp1 = *cp2++; |
| 174 |
*++cp1 = '.'; |
| 175 |
} |
| 176 |
*cp1 = '\0'; |
| 177 |
return(mg_handle(MG_E_OBJECT, 2, oav)); |
| 178 |
} |
| 179 |
|
| 180 |
|
| 181 |
static long |
| 182 |
comp_xfid(xfm) /* compute unique ID from matrix */ |
| 183 |
register MAT4 xfm; |
| 184 |
{ |
| 185 |
static char shifttab[64] = { 15, 5, 11, 5, 6, 3, |
| 186 |
9, 15, 13, 2, 13, 5, 2, 12, 14, 11, |
| 187 |
11, 12, 12, 3, 2, 11, 8, 12, 1, 12, |
| 188 |
5, 4, 15, 9, 14, 5, 13, 14, 2, 10, |
| 189 |
10, 14, 12, 3, 5, 5, 14, 6, 12, 11, |
| 190 |
13, 9, 12, 8, 1, 6, 5, 12, 7, 13, |
| 191 |
15, 8, 9, 2, 6, 11, 9, 11 }; |
| 192 |
register int i; |
| 193 |
register long xid; |
| 194 |
|
| 195 |
xid = 0; /* compute unique transform id */ |
| 196 |
for (i = 0; i < sizeof(MAT4)/sizeof(unsigned short); i++) |
| 197 |
xid ^= (long)(((unsigned short *)xfm)[i]) << shifttab[i&63]; |
| 198 |
return(xid); |
| 199 |
} |
| 200 |
|
| 201 |
|
| 202 |
void |
| 203 |
xf_clear() /* clear transform stack */ |
| 204 |
{ |
| 205 |
register XF_SPEC *spec; |
| 206 |
|
| 207 |
if (xf_maxarg) { |
| 208 |
free((MEM_PTR)xf_argv); |
| 209 |
xf_argv = NULL; |
| 210 |
xf_maxarg = 0; |
| 211 |
} |
| 212 |
xf_argc = 0; |
| 213 |
while ((spec = xf_context) != NULL) { |
| 214 |
xf_context = spec->prev; |
| 215 |
if (spec->xarr != NULL) |
| 216 |
free((MEM_PTR)spec->xarr); |
| 217 |
free((MEM_PTR)spec); |
| 218 |
} |
| 219 |
} |
| 220 |
|
| 221 |
|
| 222 |
void |
| 223 |
xf_xfmpoint(v1, v2) /* transform a point by the current matrix */ |
| 224 |
FVECT v1, v2; |
| 225 |
{ |
| 226 |
if (xf_context == NULL) { |
| 227 |
v1[0] = v2[0]; |
| 228 |
v1[1] = v2[1]; |
| 229 |
v1[2] = v2[2]; |
| 230 |
return; |
| 231 |
} |
| 232 |
multp3(v1, v2, xf_context->xf.xfm); |
| 233 |
} |
| 234 |
|
| 235 |
|
| 236 |
void |
| 237 |
xf_xfmvect(v1, v2) /* transform a vector using current matrix */ |
| 238 |
FVECT v1, v2; |
| 239 |
{ |
| 240 |
if (xf_context == NULL) { |
| 241 |
v1[0] = v2[0]; |
| 242 |
v1[1] = v2[1]; |
| 243 |
v1[2] = v2[2]; |
| 244 |
return; |
| 245 |
} |
| 246 |
multv3(v1, v2, xf_context->xf.xfm); |
| 247 |
} |
| 248 |
|
| 249 |
|
| 250 |
void |
| 251 |
xf_rotvect(v1, v2) /* rotate a vector using current matrix */ |
| 252 |
FVECT v1, v2; |
| 253 |
{ |
| 254 |
xf_xfmvect(v1, v2); |
| 255 |
if (xf_context == NULL) |
| 256 |
return; |
| 257 |
v1[0] /= xf_context->xf.sca; |
| 258 |
v1[1] /= xf_context->xf.sca; |
| 259 |
v1[2] /= xf_context->xf.sca; |
| 260 |
} |
| 261 |
|
| 262 |
|
| 263 |
double |
| 264 |
xf_scale(d) /* scale a number by the current transform */ |
| 265 |
double d; |
| 266 |
{ |
| 267 |
if (xf_context == NULL) |
| 268 |
return(d); |
| 269 |
return(d*xf_context->xf.sca); |
| 270 |
} |
| 271 |
|
| 272 |
|
| 273 |
void |
| 274 |
multmat4(m4a, m4b, m4c) /* multiply m4b X m4c and put into m4a */ |
| 275 |
MAT4 m4a; |
| 276 |
register MAT4 m4b, m4c; |
| 277 |
{ |
| 278 |
register int i, j; |
| 279 |
|
| 280 |
for (i = 4; i--; ) |
| 281 |
for (j = 4; j--; ) |
| 282 |
m4tmp[i][j] = m4b[i][0]*m4c[0][j] + |
| 283 |
m4b[i][1]*m4c[1][j] + |
| 284 |
m4b[i][2]*m4c[2][j] + |
| 285 |
m4b[i][3]*m4c[3][j]; |
| 286 |
|
| 287 |
copymat4(m4a, m4tmp); |
| 288 |
} |
| 289 |
|
| 290 |
|
| 291 |
void |
| 292 |
multv3(v3a, v3b, m4) /* transform vector v3b by m4 and put into v3a */ |
| 293 |
FVECT v3a; |
| 294 |
register FVECT v3b; |
| 295 |
register MAT4 m4; |
| 296 |
{ |
| 297 |
m4tmp[0][0] = v3b[0]*m4[0][0] + v3b[1]*m4[1][0] + v3b[2]*m4[2][0]; |
| 298 |
m4tmp[0][1] = v3b[0]*m4[0][1] + v3b[1]*m4[1][1] + v3b[2]*m4[2][1]; |
| 299 |
m4tmp[0][2] = v3b[0]*m4[0][2] + v3b[1]*m4[1][2] + v3b[2]*m4[2][2]; |
| 300 |
|
| 301 |
v3a[0] = m4tmp[0][0]; |
| 302 |
v3a[1] = m4tmp[0][1]; |
| 303 |
v3a[2] = m4tmp[0][2]; |
| 304 |
} |
| 305 |
|
| 306 |
|
| 307 |
void |
| 308 |
multp3(p3a, p3b, m4) /* transform p3b by m4 and put into p3a */ |
| 309 |
register FVECT p3a; |
| 310 |
FVECT p3b; |
| 311 |
register MAT4 m4; |
| 312 |
{ |
| 313 |
multv3(p3a, p3b, m4); /* transform as vector */ |
| 314 |
p3a[0] += m4[3][0]; /* translate */ |
| 315 |
p3a[1] += m4[3][1]; |
| 316 |
p3a[2] += m4[3][2]; |
| 317 |
} |
| 318 |
|
| 319 |
|
| 320 |
int |
| 321 |
xf(ret, ac, av) /* get transform specification */ |
| 322 |
register XF *ret; |
| 323 |
int ac; |
| 324 |
char **av; |
| 325 |
{ |
| 326 |
MAT4 xfmat, m4; |
| 327 |
double xfsca, dtmp; |
| 328 |
int i, icnt; |
| 329 |
|
| 330 |
setident4(ret->xfm); |
| 331 |
ret->sca = 1.0; |
| 332 |
|
| 333 |
icnt = 1; |
| 334 |
setident4(xfmat); |
| 335 |
xfsca = 1.0; |
| 336 |
|
| 337 |
for (i = 0; i < ac && av[i][0] == '-'; i++) { |
| 338 |
|
| 339 |
setident4(m4); |
| 340 |
|
| 341 |
switch (av[i][1]) { |
| 342 |
|
| 343 |
case 't': /* translate */ |
| 344 |
checkarg(2,"fff"); |
| 345 |
m4[3][0] = atof(av[++i]); |
| 346 |
m4[3][1] = atof(av[++i]); |
| 347 |
m4[3][2] = atof(av[++i]); |
| 348 |
break; |
| 349 |
|
| 350 |
case 'r': /* rotate */ |
| 351 |
switch (av[i][2]) { |
| 352 |
case 'x': |
| 353 |
checkarg(3,"f"); |
| 354 |
dtmp = d2r(atof(av[++i])); |
| 355 |
m4[1][1] = m4[2][2] = cos(dtmp); |
| 356 |
m4[2][1] = -(m4[1][2] = sin(dtmp)); |
| 357 |
break; |
| 358 |
case 'y': |
| 359 |
checkarg(3,"f"); |
| 360 |
dtmp = d2r(atof(av[++i])); |
| 361 |
m4[0][0] = m4[2][2] = cos(dtmp); |
| 362 |
m4[0][2] = -(m4[2][0] = sin(dtmp)); |
| 363 |
break; |
| 364 |
case 'z': |
| 365 |
checkarg(3,"f"); |
| 366 |
dtmp = d2r(atof(av[++i])); |
| 367 |
m4[0][0] = m4[1][1] = cos(dtmp); |
| 368 |
m4[1][0] = -(m4[0][1] = sin(dtmp)); |
| 369 |
break; |
| 370 |
default: |
| 371 |
goto done; |
| 372 |
} |
| 373 |
break; |
| 374 |
|
| 375 |
case 's': /* scale */ |
| 376 |
checkarg(2,"f"); |
| 377 |
dtmp = atof(av[i+1]); |
| 378 |
if (dtmp == 0.0) goto done; |
| 379 |
i++; |
| 380 |
xfsca *= |
| 381 |
m4[0][0] = |
| 382 |
m4[1][1] = |
| 383 |
m4[2][2] = dtmp; |
| 384 |
break; |
| 385 |
|
| 386 |
case 'm': /* mirror */ |
| 387 |
switch (av[i][2]) { |
| 388 |
case 'x': |
| 389 |
checkarg(3,""); |
| 390 |
xfsca *= |
| 391 |
m4[0][0] = -1.0; |
| 392 |
break; |
| 393 |
case 'y': |
| 394 |
checkarg(3,""); |
| 395 |
xfsca *= |
| 396 |
m4[1][1] = -1.0; |
| 397 |
break; |
| 398 |
case 'z': |
| 399 |
checkarg(3,""); |
| 400 |
xfsca *= |
| 401 |
m4[2][2] = -1.0; |
| 402 |
break; |
| 403 |
default: |
| 404 |
goto done; |
| 405 |
} |
| 406 |
break; |
| 407 |
|
| 408 |
case 'i': /* iterate */ |
| 409 |
checkarg(2,"i"); |
| 410 |
while (icnt-- > 0) { |
| 411 |
multmat4(ret->xfm, ret->xfm, xfmat); |
| 412 |
ret->sca *= xfsca; |
| 413 |
} |
| 414 |
icnt = atoi(av[++i]); |
| 415 |
setident4(xfmat); |
| 416 |
xfsca = 1.0; |
| 417 |
continue; |
| 418 |
|
| 419 |
default: |
| 420 |
goto done; |
| 421 |
|
| 422 |
} |
| 423 |
multmat4(xfmat, xfmat, m4); |
| 424 |
} |
| 425 |
done: |
| 426 |
while (icnt-- > 0) { |
| 427 |
multmat4(ret->xfm, ret->xfm, xfmat); |
| 428 |
ret->sca *= xfsca; |
| 429 |
} |
| 430 |
return(i); |
| 431 |
} |
