--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Renderer/test_render/sys.cpp	Fri Jun 05 16:49:12 2009 +0900
@@ -0,0 +1,243 @@
+#include <stdlib.h>
+#include <iostream>
+#include <string.h>
+#include <math.h>
+#include "sys.h"
+using namespace std;
+
+void noMoreMemory()
+{
+  cout << "can't allocate memory\n";
+  exit(1);
+}
+
+void
+transMatrix(float *m0, float *m1, float *v)
+{
+    memcpy(m0, m1, sizeof(float)*16);
+
+    m0[12] = m1[12] + v[0];
+    m0[13] = m1[13] + v[1];
+    m0[14] = m1[14] + v[2];
+    m0[15] = m1[15] + v[3];
+}
+
+void
+unitMatrix(float *m)
+{
+    bzero(m, sizeof(float)*16);
+
+    m[0] = 1.0f;
+    m[5] = 1.0f;
+    m[10] = 1.0f;
+    m[15] = 1.0f;
+}
+
+void
+inversMatrix(float *m0, float *m1)
+{
+    float m[16];
+
+    for (int i = 0; i < 4; i++) {
+	for (int j = 0; j < 4; j++) {
+	    m[i*4+j] = m1[j*4+i];
+	}
+    }
+
+    m[12] = -(m1[12]*m[0] + m1[13]*m[1] + m1[14]*m[2]);
+    m[13] = -(m1[12]*m[4] + m1[13]*m[5] + m1[14]*m[6]);
+    m[14] = -(m1[12]*m[8] + m1[13]*m[9] + m1[14]*m[10]);
+    m[3] = m[7] = m[11] = 0.0f;
+    m[15] = 1.0f;
+
+    memcpy(m0, m, sizeof(float)*16);
+}
+
+/**
+ * マトリックス m にベクトル v1 を右から乗算して、v0に与える
+ * @param[out] v0 output vector (float[4])
+ * @param[in] v1 input vector (float[4])
+ * @param[in] m matrix (float[16])
+ */
+void
+applyMatrix(float *v0, float *m, float *v1)
+{
+    for (int i = 0; i < 4; i++) {
+	v0[i] = v1[0]*m[i] + v1[1]*m[i+4] + v1[2]*m[i+8] + v1[3]*m[i+12];
+    }
+}
+
+/**
+ * ベクトルの正規化
+ *
+ * @param[out] v0 output vector
+ * @param[in]  v1 input vector
+ */
+void
+normalize(float *v0, float *v1)
+{
+    float norm, dnorm;
+
+    norm = sqrt(v1[0]*v1[0] + v1[1]*v1[1] + v1[2]*v1[2]);
+    if (norm > 0) {
+	dnorm = 1.0/norm;
+	v0[0] = v1[0]*dnorm;
+	v0[1] = v1[1]*dnorm;
+	v0[2] = v1[2]*dnorm;
+	v0[3] = v1[3]*dnorm;
+    }
+}
+
+/**
+ * ベクトルの減算 v0 = v1 - v2
+ */
+void
+subVector(float *v0, float *v1, float *v2)
+{
+    v0[0] = v1[0] - v2[0];
+    v0[1] = v1[1] - v2[1];
+    v0[2] = v1[2] - v2[2];
+    v0[3] = v1[3] - v2[3];
+}
+
+/**
+ * ベクトルの外積 v0 = v1 x v2
+ */
+void
+outerProduct(float *v0, float *v1, float *v2)
+{
+    v0[0] = v1[1] * v2[2] - v1[2] * v2[1];
+    v0[1] = v1[2] * v2[0] - v1[0] * v2[2];
+    v0[2] = v1[0] * v2[1] - v1[1] * v2[0];
+    v0[3] = 0;
+}
+
+void
+transposeMatrix(float *m0, float *m1)
+{
+    float t[16];
+
+    for (int i = 0; i < 4; i++) {
+	for (int j = 0; j < 4; j++) {
+	    t[i*4+j] = m1[j*4+i];
+	}
+    }
+
+    memcpy(m0, t, sizeof(float)*16);
+}
+
+/**
+ * ベクトルの内積 f = v0 * v1
+ */
+float
+innerProduct(float *v0, float *v1)
+{
+    return (v0[0]*v1[0] + v0[1]*v1[1] + v0[2]*v1[2]);
+}
+
+void matrix4x4(float *xyz, float *xyz1, float *xyz2) //xyz[16]
+{
+  for(int t=0; t<16; t+=4)
+    {
+      for(int i=0; i<4; i++)
+	{
+	  xyz[t+i] = xyz1[t]*xyz2[i] + xyz1[t+1]*xyz2[4+i] + xyz1[t+2]*xyz2[8+i] + xyz1[t+3]*xyz2[12+i];
+	}
+    }
+}
+
+void get_matrix( float *matrix, float *rxyz, float *txyz, float *stack)
+{
+  float radx,rady,radz;
+  radx = rxyz[0]*3.14/180;
+  rady = rxyz[1]*3.14/180;
+  radz = rxyz[2]*3.14/180;
+
+  float sinx = sin(radx);
+  float cosx = cos(radx);
+  float siny = sin(rady);
+  float cosy = cos(rady);
+  float sinz = sin(radz);
+  float cosz = cos(radz);
+
+  /* View Transform */
+  matrix[0] = cosz*cosy+sinz*sinx*siny;
+  matrix[1] = sinz*cosx;
+  matrix[2] = -cosz*siny+sinz*sinx*cosy;
+  matrix[3] = 0;
+  matrix[4] = -sinz*cosy+cosz*sinx*siny;
+  matrix[5] = cosz*cosx;
+  matrix[6] = sinz*siny+cosz*sinx*cosy;
+  matrix[7] = 0;
+  matrix[8] = cosx*siny;
+  matrix[9] = -sinx;
+  matrix[10] = cosx*cosy;
+  matrix[11] = 0;
+  matrix[12] = txyz[0];
+  matrix[13] = txyz[1];
+  matrix[14] = txyz[2];
+  matrix[15] = 1;
+  
+  float m[16];
+
+  for(int i=0; i<16; i++)
+    {
+      m[i] = matrix[i];
+    }
+
+  if(stack)
+    {
+	matrix4x4(matrix, m, stack);
+    }
+
+}
+
+void rotate_x(float *xyz, float r)
+{
+  float rad = r*3.14/180;
+
+  xyz[0] = xyz[0];
+  xyz[1] = xyz[1]*cos(rad) - xyz[2]*sin(rad);
+  xyz[2] = xyz[1]*sin(rad) + xyz[2]*cos(rad);
+}
+
+void rotate_y(float *xyz, float r)
+{
+  float rad = r*3.14/180;
+
+  xyz[0] = xyz[0]*cos(rad) + xyz[2]*sin(rad);
+  xyz[1] = xyz[1];
+  xyz[2] = -xyz[0]*sin(rad) + xyz[2]*cos(rad);
+}
+
+void rotate_z(float *xyz, float r)
+{
+  float rad = r*3.14/180;
+
+  xyz[0] = xyz[0]*cos(rad) - xyz[1]*sin(rad);
+  xyz[1] = xyz[0]*sin(rad) + xyz[1]*cos(rad);
+  xyz[2] = xyz[2];
+}
+
+void rotate(float *xyz, float *matrix)
+{
+  float abc[4];
+  abc[0] = xyz[0];
+  abc[1] = xyz[1];
+  abc[2] = xyz[2];
+  abc[3] = xyz[3];
+
+  for(int i=0; i<4; i++)
+    {
+      //xyz[i] = abc[0]*rot[i] + abc[1]*rot[i+4] + abc[2]*rot[i+8] + abc[3]*rot[i+12];
+      xyz[i] = abc[0]*matrix[i] + abc[1]*matrix[i+4] + abc[2]*matrix[i+8] + abc[3]*matrix[i+12];
+    }
+}
+
+
+void translate(float *xyz, float x, float y, float z)
+{
+  xyz[0] += x;
+  xyz[1] += y;
+  xyz[2] += z;
+}