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/*******************************************************************************
* *
* Viewmol *
* *
* M A T R I X . C *
* *
* Copyright (c) Joerg-R. Hill, October 2003 *
* *
********************************************************************************
*
* $Id: matrix.c,v 1.6 2004/08/29 14:54:32 jrh Exp $
* $Log: matrix.c,v $
* Revision 1.6 2004/08/29 14:54:32 jrh
* Release 2.4.1
*
* Revision 1.5 2003/11/07 11:06:42 jrh
* Release 2.4
*
* Revision 1.4 2000/12/10 15:11:04 jrh
* Release 2.3
*
* Revision 1.3 1999/05/24 01:26:19 jrh
* Release 2.2.1
*
* Revision 1.2 1999/02/07 21:52:01 jrh
* Release 2.2
*
* Revision 1.1 1998/01/26 00:35:07 jrh
* Initial revision
*
*/
#include<math.h>
#include<stdio.h>
#include<GL/gl.h>
#include<GL/glu.h>
#include<X11/StringDefs.h>
#include "viewmol.h"
extern void quaternionToMatrix(GLenum, float *);
void getMatrix(double matrix[4][4]);
void multMatrix(double matrix1[4][4], double matrix2[4][4], double matrix3[4][4]);
void transformCoordinates(int, float input[4], float output[4]);
void makeMatrix(double, float, float, float, float mat[3][3]);
extern struct WINDOW windows[];
extern float *rotObject;
void getMatrix(double matrix[4][4])
{
double mvmat[4][4], prmat[4][4];
glGetDoublev(GL_MODELVIEW_MATRIX, &mvmat[0][0]);
glGetDoublev(GL_PROJECTION_MATRIX, &prmat[0][0]);
multMatrix(mvmat, prmat, matrix);
}
void multMatrix(double matrix1[4][4], double matrix2[4][4], double matrix3[4][4])
{
register int i, j, k;
for (i=0; i<4; i++)
{
for (j=0; j<4; j++)
{
matrix3[i][j]=0.0;
for (k=0; k<4; k++)
matrix3[i][j]+=matrix1[i][k]*matrix2[k][j];
}
}
}
void transposeMatrix(double matrix[4][4])
{
double help;
register int i, j;
for (i=0; i<4; i++)
{
for (j=i+1; j<4; j++)
{
help=matrix[i][j];
matrix[i][j]=matrix[j][i];
matrix[j][i]=help;
}
}
}
void transformCoordinates(int which, float input[4], float output[4])
{
float matrix[4][4];
glPushMatrix();
glLoadIdentity();
quaternionToMatrix(GL_MODELVIEW, &rotObject[4*which]);
glGetFloatv(GL_MODELVIEW_MATRIX, &matrix[0][0]);
glPopMatrix();
output[0]=matrix[0][0]*input[0]+matrix[1][0]*input[1]+matrix[2][0]*input[2]+matrix[3][0]*input[3];
output[1]=matrix[0][1]*input[0]+matrix[1][1]*input[1]+matrix[2][1]*input[2]+matrix[3][1]*input[3];
output[2]=matrix[0][2]*input[0]+matrix[1][2]*input[1]+matrix[2][2]*input[2]+matrix[3][2]*input[3];
output[3]=matrix[0][3]*input[0]+matrix[1][3]*input[1]+matrix[2][3]*input[2]+matrix[3][3]*input[3];
}
void getScreenCoordinates(double xw, double yw, double zw, double *xs,
double *ys, double *zs)
{
GLdouble mvMatrix[16], prMatrix[16];
GLint viewport[4];
glGetDoublev(GL_MODELVIEW_MATRIX, mvMatrix);
glGetDoublev(GL_PROJECTION_MATRIX, prMatrix);
glGetIntegerv(GL_VIEWPORT, viewport);
gluProject(xw, yw, zw, mvMatrix, prMatrix, viewport, xs, ys, zs);
*ys=(double)viewport[3]-(*ys);
}
void getWorldCoordinates(double xs, double ys, double zs, double *xw,
double *yw, double *zw)
{
GLdouble mvMatrix[16], prMatrix[16];
GLint viewport[4];
glGetDoublev(GL_MODELVIEW_MATRIX, mvMatrix);
glGetDoublev(GL_PROJECTION_MATRIX, prMatrix);
glGetIntegerv(GL_VIEWPORT, viewport);
gluUnProject(xs, ys, zs, mvMatrix, prMatrix, viewport, xw, yw, zw);
}
void rotateAxis(float axis[3], float about[3], double angle)
{
float mat[3][3], s1, s2;
makeMatrix((-angle), about[0], about[1], about[2], mat);
s1=axis[0];
s2=axis[1];
axis[0]=mat[0][0]*s1+mat[1][0]*s2+mat[2][0]*axis[2];
axis[1]=mat[0][1]*s1+mat[1][1]*s2+mat[2][1]*axis[2];
axis[2]=mat[0][2]*s1+mat[1][2]*s2+mat[2][2]*axis[2];
}
void makeMatrix(double angle, float x, float y, float z, float mat[3][3])
{
double torad=atan(1.0)/45.0;
float mag, s, c;
float xx, yy, zz, xy, yz, zx, xs, ys, zs, one_c;
angle*=torad;
s=(float)sin(angle);
c=(float)cos(angle);
mag=1.0/sqrt(x*x+y*y+z*z);
x*=mag;
y*=mag;
z*=mag;
xx=x*x;
yy=y*y;
zz=z*z;
xy=x*y;
yz=y*z;
zx=z*x;
xs=x*s;
ys=y*s;
zs=z*s;
one_c=1.0F-c;
mat[0][0]=(one_c*xx)+c;
mat[0][1]=(one_c*xy)-zs;
mat[0][2]=(one_c*zx)+ys;
mat[1][0]=(one_c*xy)+zs;
mat[1][1]=(one_c*yy)+c;
mat[1][2]=(one_c*yz)-xs;
mat[2][0]=(one_c*zx)-ys;
mat[2][1]=(one_c*yz)+xs;
mat[2][2]=(one_c*zz)+c;
}
void printMatrix(int which)
{
double matrix[4][4];
int i;
glGetDoublev(which, &matrix[0][0]);
for (i=0; i<4; i++)
printf("%f %f %f %f\n", matrix[i][0], matrix[i][1], matrix[i][2], matrix[i][3]);
}
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