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* W, |/ [4 t* N#include <math.h>
; x& {4 p) Y2 P/ H//矩阵复制
! C# f8 ~+ u4 P- u* Q u, Evoid Project_Matrix_Copy(double from_mtx[4][4], double to_mtx[4][4])
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int i,j;" C5 K6 D* Z( }0 W4 l3 A
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for(i=0;i<4;i++)
j8 Q0 Q, c2 O, `" ?! h" Y; |* N for(j=0;j<4;j++)
" q& | K R" b: A& E to_mtx[i][j]=from_mtx[i][j];
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//矩阵初始化
, G" ~1 F2 @7 k+ C" d8 zvoid Project_Matrix_Identity(double mtx[4][4])* N6 i4 b5 m$ E) T6 D, \
{
$ Z% ^) D# j' q5 ^8 n+ ?# b int i,j;
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for(i=0;i<4;i++): i* E$ w3 A# _; j0 G0 e
for(j=0;j<4;j++)
+ n2 ^" X& _( E G if(i==j)* c# [" k" @" m- Z" g: v
mtx[i][j]=1.0;7 n0 n; Q& I1 W/ E$ W
else3 f9 ]# I9 k$ q
mtx[i][j]=0.0;
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& l" [$ @! f, |6 V9 w v+ g//矩阵相乘. e5 x- r- I& X! d- Y7 p6 Z
void Project_Matrix_Product(double left_mtx[4][4],double right_mtx[4][4],double get_mtx[4][4]) S1 P$ Q6 o, }* o, C
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" c Y3 T3 ]2 b) Y- Z$ ] int i,j,k;2 u5 u' X" j. }$ m( S; w; K
double left[4][4],right[4][4];
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Project_Matrix_Copy(left_mtx,left);+ t+ ?- v" W' k
Project_Matrix_Copy(right_mtx,right);( G) e- J* n8 T
for(i=0;i<4;i++): z- G9 D. U" I+ E
for(j=0;j<4;j++)
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get_mtx[i][j]=0.0;# |( Z* G. T) I1 O2 M; K
for(k=0;k<4;k++)& j- E! k0 {6 D6 v' V7 Y
get_mtx[i][j]+=left[i][k]*right[k][j];
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}
; [( O: v% n" U3 Z//转置矩阵
1 I9 y) N" p# {1 o! cvoid Project_MatrixGet_Transpose(double mtx[4][4],double transpose_mtx[4][4]) _8 Z- B/ `) y- i& w
{
5 I' R A+ V7 s) `; u3 ^- E int i,j;# X- S: P; w5 R6 X* Q2 N- c
for(i=0;i<4;i++)3 b Y. s* v' ?3 U- @6 D
{$ c2 }. {1 w; ?3 U8 Z5 o' Z
for(j=0;j<4;j++)
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, d( ~( |4 q- G4 O6 k transpose_mtx[i][j]=mtx[j][i];
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//从11元组获取变换矩阵
& K0 r+ B D, [- F8 ^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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: p$ x* w* q( u7 }5 R. P- U //Project_Matrix_Get_Rotation(rotation,point,angle,pos);% S, h9 `! r) a; Z
int i,j;. y5 Q* J- D' G1 L' `% l0 T
for(i=0;i<4;i++)
% v ^# [4 C" x+ K- O for(j=0;j<4;j++): f- e! R: U# {/ |/ y
if(i==j), I; w8 f# t* ?, h/ _
pos[i][j]=1.0;
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6 N/ i( p- k9 L; ]$ B3 }# i pos[i][j]=0.0;0 j, A P7 _. N/ O8 P
pos[3][0]+=translation[0];
4 H/ S& J0 U. h1 b1 K pos[3][1]+=translation[1];% }" k; ]5 y6 X
pos[3][2]+=translation[2];7 ~' `5 e2 Y4 r* V9 r
}
: s7 L1 P: M7 l: |//向量缩放
" ^$ ^3 H& f4 P5 xvoid Project_Vector_Scale(double a[3],double scale,double b[3])+ [4 I' M$ @/ M9 g$ v- ?+ n+ j
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b[0]=a[0]*scale;
# I4 Y- L9 c; \- x( I b[1]=a[1]*scale;
: [( H# ?- q8 i0 @0 o b[2]=a[2]*scale;
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