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8 A1 C9 e! I) ?1 u) o! N( \7 {#include <math.h>
5 s; @ m2 L, f6 D' T$ A4 b( j//矩阵复制
/ k# v# F: M- S8 o ~ ]! Ivoid Project_Matrix_Copy(double from_mtx[4][4], double to_mtx[4][4])
, t P6 B; m, p/ u) B& t{
& X k0 k a, i int i,j;
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to_mtx[i][j]=from_mtx[i][j];( |' S4 _: X& q( [$ m" x2 H$ L
}
0 {# F x4 B/ j6 u" Y//矩阵初始化
' g8 t! |& C6 o0 vvoid Project_Matrix_Identity(double mtx[4][4])9 n5 f! f" o$ W) n ], b' F5 A5 S
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int i,j;9 H! f4 Y# g% @
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for(i=0;i<4;i++)
1 ?5 i- P- O5 Z |; L for(j=0;j<4;j++)* D# | H" G- W) {' o0 q% e2 o/ M
if(i==j)6 p) f; Z1 Z& i
mtx[i][j]=1.0;
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mtx[i][j]=0.0;# I% B8 o; \! B! K2 e% p6 L
}
; V% K! Y8 H+ b9 [5 w//矩阵相乘2 D" r/ ?2 m$ V- Z9 ^& w
void Project_Matrix_Product(double left_mtx[4][4],double right_mtx[4][4],double get_mtx[4][4])
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int i,j,k;/ W9 n) Y' H: \) {
double left[4][4],right[4][4];
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Project_Matrix_Copy(left_mtx,left);" D: a9 o5 k! Z3 T
Project_Matrix_Copy(right_mtx,right);& a4 B7 r4 [( e8 ~* S" {, i+ M/ a- ]
for(i=0;i<4;i++)& \6 C) A) D* m8 J! S5 p1 {# Q$ Q
for(j=0;j<4;j++)9 f) p, d# C* E& |+ I
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get_mtx[i][j]=0.0;
# E) E K n7 a3 @- p* V$ z for(k=0;k<4;k++)! e" W. [7 o8 z, O4 g6 O+ }
get_mtx[i][j]+=left[i][k]*right[k][j];
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6 Y; \% Z9 w$ C0 M- Q0 S//转置矩阵0 ?! I! Q' x3 W# }4 s0 {- q2 ?) o
void Project_MatrixGet_Transpose(double mtx[4][4],double transpose_mtx[4][4])5 B! d1 ?( F& I# Q/ ^
{
. T' t. e! J! y1 r int i,j;
1 |4 `: p3 S- P5 u3 x for(i=0;i<4;i++)* f% Z7 h8 Y6 _0 U+ I) h, ^) O7 q
{
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transpose_mtx[i][j]=mtx[j][i];, K# ^( x# R; ^4 k U
}
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//从11元组获取变换矩阵
2 J! B& j6 f( U: svoid Project_Matrix_Get_From_Move(double translation[3],double point[3],double rotation[3],double angle,double pos[4][4])
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//Project_Matrix_Get_Rotation(rotation,point,angle,pos);; e. z! c, t+ K) T3 ^3 \
int i,j;
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if(i==j)5 {- Q7 {& A3 l9 w( o$ C$ s- K
pos[i][j]=1.0;) V& @/ N" ]6 g$ P
else" \- }+ T) ^8 v: l! Q) `9 t
pos[i][j]=0.0; J8 s# w0 X0 ^: Z# h ^3 f7 o
pos[3][0]+=translation[0];' j( c7 s, E& ^$ |- [; ?
pos[3][1]+=translation[1];
0 Y1 F8 I2 O& |% j5 P5 l% M pos[3][2]+=translation[2];
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//向量缩放. |+ @9 `* j) t: N8 m2 u
void Project_Vector_Scale(double a[3],double scale,double b[3])
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: } z1 c7 x( q/ ]+ N0 e: o9 ~5 ^0 h b[0]=a[0]*scale;
, k* V. `0 t3 @ b[1]=a[1]*scale;
4 T3 Z6 k: F+ ?6 w* J6 x b[2]=a[2]*scale;
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