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#include <math.h> 6 f; ~- u! `, _ D
//矩阵复制
/ \8 y) |1 G1 l; E& ~: p1 kvoid Project_Matrix_Copy(double from_mtx[4][4], double to_mtx[4][4])
% w! X% E4 W/ `9 y: ~( v% @{
) B4 t" a& a: L2 h1 g. j int i,j;
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. E Q$ n" a4 h+ H# x2 Z; r for(i=0;i<4;i++)3 k6 X% h3 V: w
for(j=0;j<4;j++)
' e( g2 B2 c& p' U) Y8 P: }& q to_mtx[i][j]=from_mtx[i][j];
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//矩阵初始化6 [$ E; }9 Z3 s* h
void Project_Matrix_Identity(double mtx[4][4])
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int i,j;4 X. e# q0 `( I! |1 u& t
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for(i=0;i<4;i++)$ ^0 i( ?' `' d, Q" c! L/ @, h
for(j=0;j<4;j++)
8 R+ i. H3 Z& ^% s0 @5 J! C if(i==j)& `3 X! z- g$ X5 S9 P# x& P
mtx[i][j]=1.0;7 n5 F# h, L& F% k$ |$ f# w
else; q8 s$ D$ I ]9 [! J, M
mtx[i][j]=0.0;
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//矩阵相乘
# K. R; V h$ Z/ [void Project_Matrix_Product(double left_mtx[4][4],double right_mtx[4][4],double get_mtx[4][4])
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g J7 k& [0 I! z7 G int i,j,k;
& a0 N U) n4 O7 _- Z% H4 q. `- q: a double left[4][4],right[4][4];
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* L" A T( W7 o# t Project_Matrix_Copy(left_mtx,left);; [6 |4 ]8 F1 p/ K6 \* T+ `5 _5 n' o
Project_Matrix_Copy(right_mtx,right);9 k- e' ~6 f. u
for(i=0;i<4;i++)
& f: t9 @9 k2 S" Q, P0 m for(j=0;j<4;j++)
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- E# W/ @. a# n+ [. v$ c3 u get_mtx[i][j]=0.0;. L/ N0 M9 l$ c
for(k=0;k<4;k++)
1 [5 x, U. b1 U$ m- [/ x get_mtx[i][j]+=left[i][k]*right[k][j];
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//转置矩阵( [. ?4 |' ?* I* w0 b) t
void Project_MatrixGet_Transpose(double mtx[4][4],double transpose_mtx[4][4])' `: F: U5 N, S
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int i,j;
. }) l8 ^2 h. `/ \* B9 I& h for(i=0;i<4;i++)
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for(j=0;j<4;j++)% X f; @& H$ M; i- P5 x
{
# i' a5 T# D, j+ I transpose_mtx[i][j]=mtx[j][i];
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}
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//从11元组获取变换矩阵
* `7 H% y5 b; zvoid Project_Matrix_Get_From_Move(double translation[3],double point[3],double rotation[3],double angle,double pos[4][4])8 C. m. g( b$ V k
{
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/ I* W1 W: ^9 g //Project_Matrix_Get_Rotation(rotation,point,angle,pos);
3 Z6 X3 h/ [9 S9 `( Y int i,j;
/ Q! h9 g' N; x1 v' s" @ for(i=0;i<4;i++)
1 S& q. C1 `7 ~8 ]3 W! l for(j=0;j<4;j++)
! Y+ T9 i8 a( L U if(i==j)# w3 N2 V% W- i
pos[i][j]=1.0;/ w) j' J _9 W) F/ {
else
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pos[3][0]+=translation[0];6 o( S' ?$ \+ S1 s
pos[3][1]+=translation[1];7 [% s% t; c @9 {$ h7 c
pos[3][2]+=translation[2];
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% P/ G% g4 e2 Q( M) O S6 { S//向量缩放
" q* k0 V9 }# V( s+ Evoid Project_Vector_Scale(double a[3],double scale,double b[3])1 m1 o) [0 |1 j0 o
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b[0]=a[0]*scale;
' t4 `6 K! T2 S0 c$ w+ \5 C$ F6 @" w b[1]=a[1]*scale;
1 `" j1 Q( Q0 u$ R/ v b[2]=a[2]*scale;8 x6 S8 N- o7 \3 b1 r
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