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#include <math.h>
, S& k* m, n# Q/ ~* ~" h# L//矩阵复制$ t+ C, E& r& s
void Project_Matrix_Copy(double from_mtx[4][4], double to_mtx[4][4])
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1 {+ s/ l; J! R* D! {, @ N9 r int i,j;$ Z6 L+ J' L" l: {
9 {- F' g2 F" _4 c" _' H for(i=0;i<4;i++)
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to_mtx[i][j]=from_mtx[i][j];
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/ h# a/ ?/ c7 n/ a0 @+ e//矩阵初始化
9 x# U: H7 N* W x) M1 p9 k+ Qvoid Project_Matrix_Identity(double mtx[4][4])
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; k9 N% m8 a4 R: R9 p; T int i,j;6 f$ Q! f" N8 J$ x% a, H* B' ^
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for(i=0;i<4;i++)
1 y) N7 k9 N# u for(j=0;j<4;j++)
2 R" y7 q! \8 j- I if(i==j)
7 g# f' F7 c' T! ?: u: {1 x! [ mtx[i][j]=1.0;
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mtx[i][j]=0.0;
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) t. A! K7 a0 e# O9 t1 \9 D3 h//矩阵相乘8 U3 I: T! o' ?7 r; ]/ b* X
void Project_Matrix_Product(double left_mtx[4][4],double right_mtx[4][4],double get_mtx[4][4])
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0 H. [1 `& i* v: E3 P/ s( F int i,j,k;! R4 t$ ?, w0 v9 z% M6 L
double left[4][4],right[4][4];
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! T g" P: A& q% F# o Project_Matrix_Copy(left_mtx,left);
# y! w7 S- Z0 \/ \& |$ Z; G* S Project_Matrix_Copy(right_mtx,right);
1 a! x4 m; q! f for(i=0;i<4;i++)
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get_mtx[i][j]=0.0;: h- l. i% k* P7 q" a8 i
for(k=0;k<4;k++)! g) X6 |6 r) [. j1 O. }
get_mtx[i][j]+=left[i][k]*right[k][j];6 S& f9 Z2 |2 j1 p
}
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//转置矩阵* }9 b) H) v& @4 m Z1 a
void Project_MatrixGet_Transpose(double mtx[4][4],double transpose_mtx[4][4])
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int i,j;
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for(j=0;j<4;j++)
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( {5 h; `4 L- @ transpose_mtx[i][j]=mtx[j][i];8 f3 y0 g3 ~: A# y4 M
}
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//从11元组获取变换矩阵& W, g. t8 b9 p0 q( H& n
void 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);. F/ m5 J/ L, A& B4 M c# t5 {0 Z1 Z. a1 a
int i,j;% {3 m; _& i8 `; v
for(i=0;i<4;i++)
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pos[i][j]=1.0;& k/ u' G0 Q; Q5 E. n
else: P0 Q0 Z2 B4 T5 F! l9 g0 m
pos[i][j]=0.0;% s: F1 y* Q/ d9 |, f0 R H( B
pos[3][0]+=translation[0];& Q1 s- A/ X( Z d% f
pos[3][1]+=translation[1];
% q6 ]3 h# D. M$ m0 C- w pos[3][2]+=translation[2];7 U& r5 O" j! D8 F+ k4 f! Z! p/ A7 m. @
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//向量缩放
+ o# k7 f4 x2 Y$ S- P5 qvoid Project_Vector_Scale(double a[3],double scale,double b[3])- x( }0 ]% U) k& V+ U. f
{
6 A3 G+ z2 H0 g( Y: ? b[0]=a[0]*scale;
2 a* S/ q. H! O2 W' n b[1]=a[1]*scale;7 h# R. @! m: v9 x) k4 L( \
b[2]=a[2]*scale;
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