| Revision: | 2.4 |
| Committed: | Tue Feb 25 02:47:21 2003 UTC (22 years, 8 months ago) by greg |
| Content type: | text/plain |
| Branch: | MAIN |
| CVS Tags: | rad5R4, rad5R2, rad5R3, rad5R0, rad5R1, rad4R2, rad3R7P2, rad3R7P1, rad6R0, rad4R1, rad4R0, rad3R5, rad3R6, rad3R6P1, rad3R8, rad3R9, rad4R2P1, rad4R2P2, HEAD |
| Changes since 2.3: | +1 -56 lines |
| Log Message: | Replaced inline copyright notice with #include "copyright.h" |
| # | Content |
|---|---|
| 1 | #ifndef lint |
| 2 | static const char RCSid[] = "$Id$"; |
| 3 | #endif |
| 4 | /* |
| 5 | * mat4.c - routines dealing with 4 X 4 homogeneous transformation matrices. |
| 6 | */ |
| 7 | |
| 8 | #include "copyright.h" |
| 9 | |
| 10 | #include "mat4.h" |
| 11 | |
| 12 | MAT4 m4ident = MAT4IDENT; |
| 13 | |
| 14 | static MAT4 m4tmp; /* for efficiency */ |
| 15 | |
| 16 | |
| 17 | void |
| 18 | multmat4(m4a, m4b, m4c) /* multiply m4b X m4c and put into m4a */ |
| 19 | MAT4 m4a; |
| 20 | register MAT4 m4b, m4c; |
| 21 | { |
| 22 | register int i, j; |
| 23 | |
| 24 | for (i = 4; i--; ) |
| 25 | for (j = 4; j--; ) |
| 26 | m4tmp[i][j] = m4b[i][0]*m4c[0][j] + |
| 27 | m4b[i][1]*m4c[1][j] + |
| 28 | m4b[i][2]*m4c[2][j] + |
| 29 | m4b[i][3]*m4c[3][j]; |
| 30 | |
| 31 | copymat4(m4a, m4tmp); |
| 32 | } |
| 33 | |
| 34 | |
| 35 | void |
| 36 | multv3(v3a, v3b, m4) /* transform vector v3b by m4 and put into v3a */ |
| 37 | FVECT v3a; |
| 38 | register FVECT v3b; |
| 39 | register MAT4 m4; |
| 40 | { |
| 41 | m4tmp[0][0] = v3b[0]*m4[0][0] + v3b[1]*m4[1][0] + v3b[2]*m4[2][0]; |
| 42 | m4tmp[0][1] = v3b[0]*m4[0][1] + v3b[1]*m4[1][1] + v3b[2]*m4[2][1]; |
| 43 | m4tmp[0][2] = v3b[0]*m4[0][2] + v3b[1]*m4[1][2] + v3b[2]*m4[2][2]; |
| 44 | |
| 45 | v3a[0] = m4tmp[0][0]; |
| 46 | v3a[1] = m4tmp[0][1]; |
| 47 | v3a[2] = m4tmp[0][2]; |
| 48 | } |
| 49 | |
| 50 | |
| 51 | void |
| 52 | multp3(p3a, p3b, m4) /* transform p3b by m4 and put into p3a */ |
| 53 | register FVECT p3a; |
| 54 | FVECT p3b; |
| 55 | register MAT4 m4; |
| 56 | { |
| 57 | multv3(p3a, p3b, m4); /* transform as vector */ |
| 58 | p3a[0] += m4[3][0]; /* translate */ |
| 59 | p3a[1] += m4[3][1]; |
| 60 | p3a[2] += m4[3][2]; |
| 61 | } |