void build_transformation_matrix(VIO_Transform *trans,
double *center,
double *translations,
double *scales,
double *shears,
double *rotations)
{
float
**T,
**SH,
**S,
**R,
**C,
**T1,
**T2,
**T3,
**T4;
int
i,j;
ALLOC2D(T ,5,5);
ALLOC2D(SH ,5,5);
ALLOC2D(S ,5,5);
ALLOC2D(R ,5,5);
ALLOC2D(C ,5,5);
ALLOC2D(T1 ,5,5);
ALLOC2D(T2 ,5,5);
ALLOC2D(T3 ,5,5);
ALLOC2D(T4 ,5,5);
/* mat = (T)(C)(SH)(S)(R)(-C) */
nr_identf(T,1,4,1,4); /* make (T)(C) */
for(i=0; i<3; i++) {
T[1+i][4] = translations[i] + center[i];
}
/* make rotation matix */
make_rots(R,
(float)(rotations[0]),
(float)(rotations[1]),
(float)(rotations[2]));
/* make shear rotation matrix */
make_shears(SH, shears);
/* make scaling matrix */
nr_identf(S,1,4,1,4);
for(i=0; i<3; i++) {
S[1+i][1+i] = scales[i];
}
nr_identf(C,1,4,1,4); /* make center */
for(i=0; i<3; i++) {
C[1+i][4] = -center[i];
}
nr_multf(T, 1,4,1,4, S ,1,4,1,4, T1 );
nr_multf(T1,1,4,1,4, SH ,1,4,1,4, T2 );
nr_multf(T2,1,4,1,4, R ,1,4,1,4, T3 );
nr_multf(T3,1,4,1,4, C ,1,4,1,4, T4 );
for(i=0; i<4; i++)
for(j=0; j<4; j++)
Transform_elem(*trans, i, j ) = T4[i+1][j+1];
FREE2D(T );
FREE2D(SH );
FREE2D(S );
FREE2D(R );
FREE2D(C );
FREE2D(T1 );
FREE2D(T2 );
FREE2D(T3 );
FREE2D(T4 );
}
/* ----------------------------- MNI Header -----------------------------------
@NAME : build_inverse_transformation_matrix
@INPUT : center, translations, scales, rotations
@OUTPUT : the inverse linear transformation matrix of mat:
since mat = (T)(C)(SH)(S)(R)(-C), then
invmat = (C)(inv(r))(inv(S))(inv(SH))(-C)(-T)
@RETURNS : nothing
@DESCRIPTION:
the matrix is to be PREmultiplied with a vector (mat*vec)
when used in the application
@METHOD :
@GLOBALS :
@CALLS :
@CREATED : Tue Jun 15 16:45:35 EST 1993 LC
@MODIFIED :
---------------------------------------------------------------------------- */
void build_inverse_transformation_matrix(VIO_Transform *trans,
double *center,
double *translations,
double *scales,
double *shears,
double *rotations)
{
float
**T,
**SH,
**S,
**R,
**C,
**T1,
**T2,
**T3,
**T4;
int
i,j;
ALLOC2D(T ,5,5);
ALLOC2D(SH ,5,5);
ALLOC2D(S ,5,5);
ALLOC2D(R ,5,5);
ALLOC2D(C ,5,5);
ALLOC2D(T1 ,5,5);
ALLOC2D(T2 ,5,5);
ALLOC2D(T3 ,5,5);
ALLOC2D(T4 ,5,5);
/* invmat = (C)(inv(r))(inv(S))(inv(SH))(-C)(-T)
mat = (T)(C)(SH)(S)(R)(-C) */
nr_identf(T,1,4,1,4); /* make (-T)(-C) */
for(i=0; i<3; i++) {
T[1+i][4] = -translations[i] - center[i];
}
/* make rotation matix */
make_rots(T1,
(float)(rotations[0]),
(float)(rotations[1]),
(float)(rotations[2]));
transpose(4,4,T1,R);
make_shears(T1,shears); /* make shear rotation matrix */
invertmatrix(4, T1, SH); /* get inverse of the matrix */
/* make scaling matrix */
nr_identf(S,1,4,1,4);
for(i=0; i<3; i++) {
if (scales[i] != 0.0)
S[1+i][1+i] = 1/scales[i];
else
S[1+i][1+i] = 1.0;
}
nr_identf(C,1,4,1,4); /* make center */
for(i=0; i<3; i++) {
C[1+i][4] = center[i];
}
nr_multf(C,1,4,1,4, R ,1,4,1,4, T1 );
nr_multf(T1,1,4,1,4, SH,1,4,1,4, T2 );
nr_multf(T2,1,4,1,4, S ,1,4,1,4, T3 );
nr_multf(T3,1,4,1,4, T ,1,4,1,4, T4 );
for(i=0; i<4; i++)
for(j=0; j<4; j++)
Transform_elem(*trans, i, j ) = T4[i+1][j+1];
FREE2D(T );
FREE2D(SH );
FREE2D(S );
FREE2D(R );
FREE2D(C );
FREE2D(T1 );
FREE2D(T2 );
FREE2D(T3 );
FREE2D(T4 );
}
static Bool InitializeAll(struct state *st)
{
XGCValues xgcv;
XWindowAttributes xgwa;
/* XSetWindowAttributes xswa;*/
Colormap cmap;
XColor color;
int n,i;
double rspeed;
st->cosilines = True;
XGetWindowAttributes(st->dpy,st->win[0],&xgwa);
cmap=xgwa.colormap;
/* xswa.backing_store=Always;
XChangeWindowAttributes(st->dpy,st->win[0],CWBackingStore,&xswa);*/
xgcv.function=GXcopy;
xgcv.foreground=get_pixel_resource (st->dpy, cmap, "background", "Background");
st->fgc[32]=XCreateGC(st->dpy,st->win[0],GCForeground|GCFunction,&xgcv);
n=0;
if (mono_p)
{
st->fgc[0]=st->fgc[32];
xgcv.foreground=get_pixel_resource (st->dpy, cmap, "foreground", "Foreground");
st->fgc[1]=XCreateGC(st->dpy,st->win[0],GCForeground|GCFunction,&xgcv);
for (i=0;i<32;i+=2) st->fgc[i]=st->fgc[0];
for (i=1;i<32;i+=2) st->fgc[i]=st->fgc[1];
} else
for (i=0;i<32;i++)
{
color.red=colors[n++]<<8;
color.green=colors[n++]<<8;
color.blue=colors[n++]<<8;
color.flags=DoRed|DoGreen|DoBlue;
XAllocColor(st->dpy,cmap,&color);
xgcv.foreground=color.pixel;
st->fgc[i]=XCreateGC(st->dpy,st->win[0],GCForeground|GCFunction,&xgcv);
}
st->cgc=XCreateGC(st->dpy,st->win[0],GCForeground|GCFunction,&xgcv);
XSetGraphicsExposures(st->dpy,st->cgc,False);
st->cosilines = get_boolean_resource(st->dpy, "random","Boolean");
#ifdef HAVE_DOUBLE_BUFFER_EXTENSION
if (get_boolean_resource (st->dpy, "useDBE", "Boolean"))
st->usedouble = True;
st->win[1] = xdbe_get_backbuffer (st->dpy, st->win[0], XdbeUndefined);
if (!st->win[1])
{
st->usedouble = False;
st->win[1] = st->win[0];
}
#endif /* HAVE_DOUBLE_BUFFER_EXTENSION */
st->delay=get_integer_resource(st->dpy, "delay","Integer");
rspeed=get_float_resource(st->dpy, "speed","Float");
if (rspeed<0.0001 || rspeed>0.2)
{
fprintf(stderr,"Speed not in valid range! (0.0001 - 0.2), using 0.1 \n");
rspeed=0.1;
}
st->sizx=xgwa.width;
st->sizy=xgwa.height;
st->midx=st->sizx>>1;
st->midy=st->sizy>>1;
st->stateX=0;
st->stateY=0;
if (!make_rots(st,rspeed,rspeed))
{
fprintf(stderr,"Not enough memory for tables!\n");
return False;
}
return True;
}
