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/ `+ N) y% @$ h1 ?! q#include <math.h>
( D7 U& p8 ?& C//矩阵复制4 m- _ E, _1 v1 s. ~! s: D" C
void Project_Matrix_Copy(double from_mtx[4][4], double to_mtx[4][4])
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int i,j;. ?% B: E6 G; }9 _! R% e( X, \ r
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for(i=0;i<4;i++)
, B. d' x& v$ t' J4 v2 s for(j=0;j<4;j++)3 y! M* \3 Z% k% W
to_mtx[i][j]=from_mtx[i][j];, J2 t! m5 M9 {+ B3 g& J
}
" g& |4 d- N4 Z//矩阵初始化
4 I8 \/ r) u( ]4 Z/ x; cvoid Project_Matrix_Identity(double mtx[4][4])
' Y8 Q1 e% M% m( I8 o' E, g1 V2 K{
% H. x, a' |+ s8 W int i,j;: c' L, [- J2 q+ F P
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for(i=0;i<4;i++) v' Z6 C, f( w
for(j=0;j<4;j++)
0 ~& C" u/ ^' t/ @; v2 a0 a" E& g9 B if(i==j)
, Y: g' p! c6 @+ h mtx[i][j]=1.0;/ y9 y6 L+ A2 \+ }6 o/ n0 G* K
else
) T j: O, U3 t* D mtx[i][j]=0.0;- o3 R0 A- j3 W! R9 |
}
/ `4 V# K9 ?: ?8 U' Y) D//矩阵相乘
% x$ }7 h( j1 Avoid Project_Matrix_Product(double left_mtx[4][4],double right_mtx[4][4],double get_mtx[4][4])* J4 O! H8 ]! @% h" b4 j
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! ^. H% x, A, P7 J$ ?; I# G# y, E int i,j,k;
$ m* l7 j# W/ S8 ?0 g& r( n- c double left[4][4],right[4][4];
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Project_Matrix_Copy(left_mtx,left);
K1 r# I0 |6 L3 s. P( i# {0 P Project_Matrix_Copy(right_mtx,right);
7 J- E4 _( U& z, C2 ?5 v for(i=0;i<4;i++)
+ N) D% ?6 R1 G% O$ K! I3 j for(j=0;j<4;j++)* X' L' [- y6 @% m3 \ k k; z% l
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get_mtx[i][j]=0.0;
( e# Q0 ^' P" A4 K for(k=0;k<4;k++)' y2 ]8 u( {1 i8 K
get_mtx[i][j]+=left[i][k]*right[k][j];9 O! D/ r, g7 x3 a2 R; L* N6 m" s, H
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}
1 u- j! N/ x' T) i, q//转置矩阵
8 z" n1 u3 L8 H; k" g2 Rvoid Project_MatrixGet_Transpose(double mtx[4][4],double transpose_mtx[4][4])
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int i,j;$ h+ f3 _3 |9 |2 E% M
for(i=0;i<4;i++)# K# P+ S2 D! }5 j
{
3 j& g# E5 Z9 b: m for(j=0;j<4;j++)
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transpose_mtx[i][j]=mtx[j][i];/ ]1 L) k- m7 P% m9 P# ~" _- M
}
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//从11元组获取变换矩阵$ F i+ b$ C1 L9 r4 G1 d
void Project_Matrix_Get_From_Move(double translation[3],double point[3],double rotation[3],double angle,double pos[4][4])& B& K0 _5 j" j* p6 |6 p8 m+ I5 ~
{
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) T( T- I( w. Y //Project_Matrix_Get_Rotation(rotation,point,angle,pos);
6 N" n e/ \, U' X( v, n8 N1 g int i,j;- ~1 L! M2 _7 i7 _% o/ l, f
for(i=0;i<4;i++). \+ ^8 _7 v! W( D; n6 u- }' {
for(j=0;j<4;j++)
: O0 @3 {, ]9 z% t0 {. a; Q, g if(i==j)3 I0 q7 e% C7 N: w' w$ \! T
pos[i][j]=1.0;" U3 o, m' A3 }2 U
else
. V3 Z5 O& \+ j( L% Y3 Y$ `$ W pos[i][j]=0.0;8 n# R1 v# H4 ~/ F7 J: G: S
pos[3][0]+=translation[0];
) z+ \+ W6 k+ u% U* c9 } pos[3][1]+=translation[1];
0 y" B. B- T5 Q9 \* O0 d pos[3][2]+=translation[2];
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//向量缩放8 G2 A+ O1 B+ P7 ]; d
void Project_Vector_Scale(double a[3],double scale,double b[3])
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. l; i j. [7 E7 ` b[0]=a[0]*scale;' F# E3 ]# Q& w% B
b[1]=a[1]*scale;
8 \5 x" o. p4 d" q2 g' m8 ~# N b[2]=a[2]*scale;
$ f1 Z$ d: q1 V. c8 Y: s/ {5 {}
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发表于 2014-8-25 15:14:54
