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1 #include <iostream>
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2 #include <math.h>
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3 #include "sys.h"
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4 using namespace std;
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5
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6 void noMoreMemory()
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7 {
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8 cout << "can't allocate memory\n";
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9 exit(1);
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10 }
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11
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12 void matrix4x4(float *xyz, float *xyz1, float *xyz2) //xyz[16]
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13 {
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14 for(int t=0; t<16; t+=4)
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15 {
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16 for(int i=0; i<4; i++)
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17 {
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18 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];
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19 }
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20 }
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21 }
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22
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23 void get_matrix( float *matrix, float *rxyz, float *txyz, float *stack)
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24 {
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25 float radx,rady,radz;
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26 radx = rxyz[0]*3.14/180;
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27 rady = rxyz[1]*3.14/180;
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28 radz = rxyz[2]*3.14/180;
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29
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30 float sinx = sin(radx);
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31 float cosx = cos(radx);
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32 float siny = sin(rady);
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33 float cosy = cos(rady);
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34 float sinz = sin(radz);
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35 float cosz = cos(radz);
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36
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37 matrix[0] = cosz*cosy+sinz*sinx*siny;
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38 matrix[1] =sinz*cosx;
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39 matrix[2] = -cosz*siny+sinz*sinx*cosy;
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40 matrix[3] = 0;
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41 matrix[4] = -sinz*cosy+cosz*sinx*siny;
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42 matrix[5] = cosz*cosx;
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43 matrix[6] = sinz*siny+cosz*sinx*cosy;
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44 matrix[7] = 0;
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45 matrix[8] = cosx*siny;
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46 matrix[9] = -sinx;
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47 matrix[10] = cosx*cosy;
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48 matrix[11] = 0;
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49 matrix[12] = txyz[0];
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50 matrix[13] = txyz[1];
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51 matrix[14] = txyz[2];
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52 matrix[15] = 1;
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53
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54 float m[16];
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55
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56 for(int i=0; i<16; i++)
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57 {
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58 m[i] = matrix[i];
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59 }
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60
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61 if(stack)
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62 {
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63 matrix4x4(matrix, m, stack);
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64 }
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65
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66 }
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67
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68 void rotate_x(float *xyz, float r)
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69 {
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70 float rad = r*3.14/180;
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71
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72 xyz[0] = xyz[0];
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73 xyz[1] = xyz[1]*cos(rad) - xyz[2]*sin(rad);
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74 xyz[2] = xyz[1]*sin(rad) + xyz[2]*cos(rad);
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75 }
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76
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77 void rotate_y(float *xyz, float r)
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78 {
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79 float rad = r*3.14/180;
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80
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81 xyz[0] = xyz[0]*cos(rad) + xyz[2]*sin(rad);
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82 xyz[1] = xyz[1];
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83 xyz[2] = -xyz[0]*sin(rad) + xyz[2]*cos(rad);
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84 }
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85
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86 void rotate_z(float *xyz, float r)
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87 {
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88 float rad = r*3.14/180;
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89
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90 xyz[0] = xyz[0]*cos(rad) - xyz[1]*sin(rad);
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91 xyz[1] = xyz[0]*sin(rad) + xyz[1]*cos(rad);
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92 xyz[2] = xyz[2];
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93 }
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94
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95 void rotate(float *xyz, float *matrix)
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96 {
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97 float abc[4];
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98 abc[0] = xyz[0];
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99 abc[1] = xyz[1];
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100 abc[2] = xyz[2];
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101 abc[3] = xyz[3];
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102
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103 for(int i=0; i<4; i++)
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104 {
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105 //xyz[i] = abc[0]*rot[i] + abc[1]*rot[i+4] + abc[2]*rot[i+8] + abc[3]*rot[i+12];
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106 xyz[i] = abc[0]*matrix[i] + abc[1]*matrix[i+4] + abc[2]*matrix[i+8] + abc[3]*matrix[i+12];
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107 }
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108 }
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109
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110
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111 void translate(float *xyz, float x, float y, float z)
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112 {
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113 xyz[0] += x;
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114 xyz[1] += y;
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115 xyz[2] += z;
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116 }
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