1 /* #include "HEADERS.h" */
2 /* Copyright 1988, Brown Computer Graphics Group. All Rights Reserved. */
4 /* --------------------------------------------------------------------------
5 * This file contains routines that operate solely on matrices.
6 * -------------------------------------------------------------------------*/
9 # include <memory.h> /* required for memset() and memcpy() */
13 #include <Math/mat3defs.h>
17 /* #include "macros.h" */
19 /* -------------------------- Static Routines ---------------------------- */
21 /* ------------------------- Internal Routines --------------------------- */
23 /* -------------------------- Public Routines ---------------------------- */
27 * Sets a matrix to identity.
31 MAT3identity (register MAT3mat mat)
35 #ifdef USE_MEM /* WIN32 */
36 memset(mat, 0x00, sizeof(MAT3mat));
38 bzero (mat, sizeof(MAT3mat));
41 for (i = 0; i < 4; i++)
46 * Sets a matrix to zero.
50 MAT3zero (MAT3mat mat)
52 #ifdef USE_MEM /* WIN32 */
53 memset(mat,0x00, sizeof(MAT3mat));
55 bzero (mat, sizeof(MAT3mat));
61 * Copies one matrix to another.
65 MAT3copy(MAT3mat to, MAT3mat from)
67 #ifdef USE_MEM /* WIN32 */
68 memcpy(to, from, sizeof(MAT3mat));
70 bcopy(from, to, sizeof(MAT3mat));
75 * This multiplies two matrices, producing a third, which may the same as
76 * either of the first two.
80 MAT3mult (double (*result_mat)[4], register double (*mat1)[4], register double (*mat2)[4])
85 for (i = 0; i < 4; i++)
86 for (j = 0; j < 4; j++)
87 tmp_mat[i][j] = (mat1[i][0] * mat2[0][j] +
88 mat1[i][1] * mat2[1][j] +
89 mat1[i][2] * mat2[2][j] +
90 mat1[i][3] * mat2[3][j]);
91 MAT3copy (result_mat, tmp_mat);
95 * This returns the transpose of a matrix. The result matrix may be
96 * the same as the one to transpose.
100 MAT3transpose (double (*result_mat)[4], register double (*mat)[4])
105 for (i = 0; i < 4; i++)
106 for (j = 0; j < 4; j++)
107 tmp_mat[i][j] = mat[j][i];
109 MAT3copy (result_mat, tmp_mat);
114 * This prints the given matrix to the given file pointer.
118 MAT3print(double (*mat)[4], FILE *fp)
120 MAT3print_formatted(mat, fp, CNULL, CNULL, CNULL, CNULL);
124 * This prints the given matrix to the given file pointer.
125 * use the format string to pass to fprintf. head and tail
126 * are printed at the beginning and end of each line.
130 MAT3print_formatted(double (*mat)[4], FILE *fp, char *title, char *head, char *format, char *tail)
134 /* This is to allow this to be called easily from a debugger */
135 if (fp == NULL) fp = stderr;
137 if (title == NULL) title = "MAT3 matrix:\n";
138 if (head == NULL) head = " ";
139 if (format == NULL) format = "%#8.4lf ";
140 if (tail == NULL) tail = "\n";
142 (void) fprintf(fp, title);
144 for (i = 0; i < 4; i++) {
145 (void) fprintf(fp, head);
146 for (j = 0; j < 4; j++) (void) fprintf(fp, format, mat[i][j]);
147 (void) fprintf(fp, tail);