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c6 w/ J+ c+ g#include <math.h> ) C: Y( P" l0 f6 x. q. w( q* G6 R4 {& O
//矩阵复制* q& b `3 \& L( |1 ?- ?
void Project_Matrix_Copy(double from_mtx[4][4], double to_mtx[4][4])* [' ^4 a4 q* @$ P' a* q0 F
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int i,j;
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7 T/ H3 M$ L) @ for(i=0;i<4;i++)
2 V0 k8 d- N0 ^( T0 O for(j=0;j<4;j++)
) F: ]. s! a0 _+ Y1 Z" e7 [8 B to_mtx[i][j]=from_mtx[i][j];
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) u4 i: ?5 L" ?2 E//矩阵初始化 E, s$ g/ l/ A8 h
void Project_Matrix_Identity(double mtx[4][4])
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. j& Y7 F3 U; x6 a9 ^" N# | int i,j;% X; ^* w) c/ |- m# F* d9 r
T/ M9 }7 f$ U. W4 J for(i=0;i<4;i++)
; H7 }/ d; U2 S* X3 w% d3 x for(j=0;j<4;j++)
% v! t& a, x* E* Z if(i==j)3 a( o1 X( D+ v8 k+ k% |3 R* W
mtx[i][j]=1.0;0 c( C8 \. Z3 ]8 b* x8 l9 F& p: p: @
else0 K D- a; g; G
mtx[i][j]=0.0;9 _8 [* T3 \( }9 j( n
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//矩阵相乘
5 j8 M) U7 a" s Y8 j$ P) R+ d- q3 uvoid 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;
* x/ D- q, g$ e. U# T4 y double left[4][4],right[4][4];( L& k: a; t* I5 B) \9 b# O
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Project_Matrix_Copy(left_mtx,left);- f8 @# O, s: Q$ ]5 S6 ]+ R
Project_Matrix_Copy(right_mtx,right);' `+ a1 {9 E! e7 Q+ `0 K: C
for(i=0;i<4;i++)
, m( e( ~+ E; v, u/ x1 N for(j=0;j<4;j++)
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6 ^5 ~. n1 f5 C6 l! N% t get_mtx[i][j]=0.0;
B, j0 M9 z; s# `. H( E+ [ for(k=0;k<4;k++)
2 @7 ?8 r% L0 F% f get_mtx[i][j]+=left[i][k]*right[k][j];3 M; ~7 [9 R" c* _# J. C+ ?% u/ ^
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}
! `, s( g( x r. M! ~0 L/ [//转置矩阵
8 e# G$ B2 Y) {0 Q9 Vvoid Project_MatrixGet_Transpose(double mtx[4][4],double transpose_mtx[4][4])$ o* m! e: @% @! j* N4 q) v
{
2 X8 c4 {1 \3 E! q8 u' N/ R int i,j;+ Q1 ^* y8 W$ x" S& u& y: n
for(i=0;i<4;i++)+ b: d# O4 x( V; z2 L7 `0 Z8 j7 T* ^
{( s- U7 q' {5 W1 v
for(j=0;j<4;j++)
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transpose_mtx[i][j]=mtx[j][i];) k0 d+ q, s5 N& D
}
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}
8 c6 H$ i3 {) e! v | u" V! ^. G//从11元组获取变换矩阵' ~7 {6 A3 l, |8 \0 {$ W4 a! S
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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7 L( j6 K+ Y. v, G# s$ Z7 d6 x //Project_Matrix_Get_Rotation(rotation,point,angle,pos);6 \, M4 {2 l+ [- d1 W
int i,j;0 F8 B8 v) y- u6 [, _ W0 Z
for(i=0;i<4;i++)& H$ Y5 W- c r. Q
for(j=0;j<4;j++)
v) v/ D& J2 E5 d' D" ? if(i==j)) n. S; J2 \' z* b, g- h
pos[i][j]=1.0;
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pos[i][j]=0.0;4 j4 |) b$ M" _% t; T8 Z4 R; p
pos[3][0]+=translation[0];- Y' A3 f1 U, [0 s( M _+ ?% I
pos[3][1]+=translation[1];: {" d' _$ a4 w
pos[3][2]+=translation[2];3 d2 K, w! S8 [. S
}
2 g' Q& H- z- V+ C: X) O/ H+ b9 \//向量缩放
2 ~+ o0 g; [8 {3 i: ^; xvoid Project_Vector_Scale(double a[3],double scale,double b[3])5 @ ]+ S4 L9 [! |
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b[0]=a[0]*scale;
! F Y4 X4 C/ p7 O0 u b[1]=a[1]*scale;
: B* t, N+ }8 W1 ^/ [) w" q; T6 D b[2]=a[2]*scale;
3 w4 a8 h. W5 K" d}
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