static int test_bn_mat_xform_about_pt(int argc, char *argv[]) { mat_t xform, expected, actual; point_t p; if (argc != 5) { bu_exit(1, "<args> format: M P <expected_result> [%s]\n", argv[0]); } scan_mat_args(argv, 2, &xform); sscanf(argv[3], "%lg,%lg,%lg", &p[0], &p[1], &p[2]); scan_mat_args(argv, 4, &expected); bn_mat_xform_about_pt(actual, xform, p); return !mat_equal(expected, actual); }
int bn_math_cmd(ClientData clientData, Tcl_Interp *interp, int argc, char **argv) { void (*math_func)(); struct bu_vls result; math_func = (void (*)())clientData; /* object-to-function cast */ bu_vls_init(&result); if (math_func == bn_mat_mul) { mat_t o, a, b; if (argc < 3 || bn_decode_mat(a, argv[1]) < 16 || bn_decode_mat(b, argv[2]) < 16) { bu_vls_printf(&result, "usage: %s matA matB", argv[0]); goto error; } bn_mat_mul(o, a, b); bn_encode_mat(&result, o); } else if (math_func == bn_mat_inv || math_func == bn_mat_trn) { mat_t o, a; if (argc < 2 || bn_decode_mat(a, argv[1]) < 16) { bu_vls_printf(&result, "usage: %s mat", argv[0]); goto error; } (*math_func)(o, a); bn_encode_mat(&result, o); } else if (math_func == bn_matXvec) { mat_t m; hvect_t i, o; if (argc < 3 || bn_decode_mat(m, argv[1]) < 16 || bn_decode_hvect(i, argv[2]) < 4) { bu_vls_printf(&result, "usage: %s mat hvect", argv[0]); goto error; } bn_matXvec(o, m, i); bn_encode_hvect(&result, o); } else if (math_func == bn_mat4x3pnt) { mat_t m; point_t i, o; if (argc < 3 || bn_decode_mat(m, argv[1]) < 16 || bn_decode_vect(i, argv[2]) < 3) { bu_vls_printf(&result, "usage: %s mat point", argv[0]); goto error; } bn_mat4x3pnt(o, m, i); bn_encode_vect(&result, o); } else if (math_func == bn_mat4x3vec) { mat_t m; vect_t i, o; if (argc < 3 || bn_decode_mat(m, argv[1]) < 16 || bn_decode_vect(i, argv[2]) < 3) { bu_vls_printf(&result, "usage: %s mat vect", argv[0]); goto error; } bn_mat4x3vec(o, m, i); bn_encode_vect(&result, o); } else if (math_func == bn_hdivide) { hvect_t i; vect_t o; if (argc < 2 || bn_decode_hvect(i, argv[1]) < 4) { bu_vls_printf(&result, "usage: %s hvect", argv[0]); goto error; } bn_hdivide(o, i); bn_encode_vect(&result, o); } else if (math_func == bn_vjoin1) { point_t o; point_t b, d; fastf_t c; if (argc < 4) { bu_vls_printf(&result, "usage: %s pnt scale dir", argv[0]); goto error; } if ( bn_decode_vect(b, argv[1]) < 3) goto error; if (Tcl_GetDouble(interp, argv[2], &c) != TCL_OK) goto error; if ( bn_decode_vect(d, argv[3]) < 3) goto error; VJOIN1( o, b, c, d ); /* bn_vjoin1( o, b, c, d ) */ bn_encode_vect(&result, o); } else if ( math_func == bn_vblend) { point_t a, c, e; fastf_t b, d; if ( argc < 5 ) { bu_vls_printf(&result, "usage: %s scale pnt scale pnt", argv[0]); goto error; } if ( Tcl_GetDouble(interp, argv[1], &b) != TCL_OK) goto error; if ( bn_decode_vect( c, argv[2] ) < 3) goto error; if ( Tcl_GetDouble(interp, argv[3], &d) != TCL_OK) goto error; if ( bn_decode_vect( e, argv[4] ) < 3) goto error; VBLEND2( a, b, c, d, e ) bn_encode_vect( &result, a ); } else if (math_func == bn_mat_ae) { mat_t o; double az, el; if (argc < 3) { bu_vls_printf(&result, "usage: %s azimuth elevation", argv[0]); goto error; } if (Tcl_GetDouble(interp, argv[1], &az) != TCL_OK) goto error; if (Tcl_GetDouble(interp, argv[2], &el) != TCL_OK) goto error; bn_mat_ae(o, (fastf_t)az, (fastf_t)el); bn_encode_mat(&result, o); } else if (math_func == bn_ae_vec) { fastf_t az, el; vect_t v; if (argc < 2 || bn_decode_vect(v, argv[1]) < 3) { bu_vls_printf(&result, "usage: %s vect", argv[0]); goto error; } bn_ae_vec(&az, &el, v); bu_vls_printf(&result, "%g %g", az, el); } else if (math_func == bn_aet_vec) { fastf_t az, el, twist, accuracy; vect_t vec_ae, vec_twist; if (argc < 4 || bn_decode_vect(vec_ae, argv[1]) < 3 || bn_decode_vect(vec_twist, argv[2]) < 3 || sscanf(argv[3], "%lf", &accuracy) < 1) { bu_vls_printf(&result, "usage: %s vec_ae vec_twist accuracy", argv[0]); goto error; } bn_aet_vec(&az, &el, &twist, vec_ae, vec_twist, accuracy); bu_vls_printf(&result, "%g %g %g", az, el, twist); } else if (math_func == bn_mat_angles) { mat_t o; double alpha, beta, ggamma; if (argc < 4) { bu_vls_printf(&result, "usage: %s alpha beta gamma", argv[0]); goto error; } if (Tcl_GetDouble(interp, argv[1], &alpha) != TCL_OK) goto error; if (Tcl_GetDouble(interp, argv[2], &beta) != TCL_OK) goto error; if (Tcl_GetDouble(interp, argv[3], &ggamma) != TCL_OK) goto error; bn_mat_angles(o, alpha, beta, ggamma); bn_encode_mat(&result, o); } else if (math_func == bn_eigen2x2) { fastf_t val1, val2; vect_t vec1, vec2; double a, b, c; if (argc < 4) { bu_vls_printf(&result, "usage: %s a b c", argv[0]); goto error; } if (Tcl_GetDouble(interp, argv[1], &a) != TCL_OK) goto error; if (Tcl_GetDouble(interp, argv[2], &c) != TCL_OK) goto error; if (Tcl_GetDouble(interp, argv[3], &b) != TCL_OK) goto error; bn_eigen2x2(&val1, &val2, vec1, vec2, (fastf_t)a, (fastf_t)b, (fastf_t)c); bu_vls_printf(&result, "%g %g {%g %g %g} {%g %g %g}", val1, val2, V3ARGS(vec1), V3ARGS(vec2)); } else if (math_func == bn_mat_fromto) { mat_t o; vect_t from, to; if (argc < 3 || bn_decode_vect(from, argv[1]) < 3 || bn_decode_vect(to, argv[2]) < 3) { bu_vls_printf(&result, "usage: %s vecFrom vecTo", argv[0]); goto error; } bn_mat_fromto(o, from, to); bn_encode_mat(&result, o); } else if (math_func == bn_mat_xrot || math_func == bn_mat_yrot || math_func == bn_mat_zrot) { mat_t o; double s, c; if (argc < 3) { bu_vls_printf(&result, "usage: %s sinAngle cosAngle", argv[0]); goto error; } if (Tcl_GetDouble(interp, argv[1], &s) != TCL_OK) goto error; if (Tcl_GetDouble(interp, argv[2], &c) != TCL_OK) goto error; (*math_func)(o, s, c); bn_encode_mat(&result, o); } else if (math_func == bn_mat_lookat) { mat_t o; vect_t dir; int yflip; if (argc < 3 || bn_decode_vect(dir, argv[1]) < 3) { bu_vls_printf(&result, "usage: %s dir yflip", argv[0]); goto error; } if (Tcl_GetBoolean(interp, argv[2], &yflip) != TCL_OK) goto error; bn_mat_lookat(o, dir, yflip); bn_encode_mat(&result, o); } else if (math_func == bn_vec_ortho || math_func == bn_vec_perp) { vect_t ov, vec; if (argc < 2 || bn_decode_vect(vec, argv[1]) < 3) { bu_vls_printf(&result, "usage: %s vec", argv[0]); goto error; } (*math_func)(ov, vec); bn_encode_vect(&result, ov); } else if (math_func == bn_mat_scale_about_pt_wrapper) { mat_t o; vect_t v; double scale; int status; if (argc < 3 || bn_decode_vect(v, argv[1]) < 3) { bu_vls_printf(&result, "usage: %s pt scale", argv[0]); goto error; } if (Tcl_GetDouble(interp, argv[2], &scale) != TCL_OK) goto error; bn_mat_scale_about_pt_wrapper(&status, o, v, scale); if (status != 0) { bu_vls_printf(&result, "error performing calculation"); goto error; } bn_encode_mat(&result, o); } else if (math_func == bn_mat_xform_about_pt) { mat_t o, xform; vect_t v; if (argc < 3 || bn_decode_mat(xform, argv[1]) < 16 || bn_decode_vect(v, argv[2]) < 3) { bu_vls_printf(&result, "usage: %s xform pt", argv[0]); goto error; } bn_mat_xform_about_pt(o, xform, v); bn_encode_mat(&result, o); } else if (math_func == bn_mat_arb_rot) { mat_t o; point_t pt; vect_t dir; double angle; if (argc < 4 || bn_decode_vect(pt, argv[1]) < 3 || bn_decode_vect(dir, argv[2]) < 3) { bu_vls_printf(&result, "usage: %s pt dir angle", argv[0]); goto error; } if (Tcl_GetDouble(interp, argv[3], &angle) != TCL_OK) return TCL_ERROR; bn_mat_arb_rot(o, pt, dir, (fastf_t)angle); bn_encode_mat(&result, o); } else if (math_func == quat_mat2quat) { mat_t mat; quat_t quat; if (argc < 2 || bn_decode_mat(mat, argv[1]) < 16) { bu_vls_printf(&result, "usage: %s mat", argv[0]); goto error; } quat_mat2quat(quat, mat); bn_encode_quat(&result, quat); } else if (math_func == quat_quat2mat) { mat_t mat; quat_t quat; if (argc < 2 || bn_decode_quat(quat, argv[1]) < 4) { bu_vls_printf(&result, "usage: %s quat", argv[0]); goto error; } quat_quat2mat(mat, quat); bn_encode_mat(&result, mat); } else if (math_func == bn_quat_distance_wrapper) { quat_t q1, q2; double d; if (argc < 3 || bn_decode_quat(q1, argv[1]) < 4 || bn_decode_quat(q2, argv[2]) < 4) { bu_vls_printf(&result, "usage: %s quatA quatB", argv[0]); goto error; } bn_quat_distance_wrapper(&d, q1, q2); bu_vls_printf(&result, "%g", d); } else if (math_func == quat_double || math_func == quat_bisect || math_func == quat_make_nearest) { quat_t oqot, q1, q2; if (argc < 3 || bn_decode_quat(q1, argv[1]) < 4 || bn_decode_quat(q2, argv[2]) < 4) { bu_vls_printf(&result, "usage: %s quatA quatB", argv[0]); goto error; } (*math_func)(oqot, q1, q2); bn_encode_quat(&result, oqot); } else if (math_func == quat_slerp) { quat_t oq, q1, q2; double d; if (argc < 4 || bn_decode_quat(q1, argv[1]) < 4 || bn_decode_quat(q2, argv[2]) < 4) { bu_vls_printf(&result, "usage: %s quat1 quat2 factor", argv[0]); goto error; } if (Tcl_GetDouble(interp, argv[3], &d) != TCL_OK) goto error; quat_slerp(oq, q1, q2, d); bn_encode_quat(&result, oq); } else if (math_func == quat_sberp) { quat_t oq, q1, qa, qb, q2; double d; if (argc < 6 || bn_decode_quat(q1, argv[1]) < 4 || bn_decode_quat(qa, argv[2]) < 4 || bn_decode_quat(qb, argv[3]) < 4 || bn_decode_quat(q2, argv[4]) < 4) { bu_vls_printf(&result, "usage: %s quat1 quatA quatB quat2 factor", argv[0]); goto error; } if (Tcl_GetDouble(interp, argv[5], &d) != TCL_OK) goto error; quat_sberp(oq, q1, qa, qb, q2, d); bn_encode_quat(&result, oq); } else if (math_func == quat_exp || math_func == quat_log) { quat_t qout, qin; if (argc < 2 || bn_decode_quat(qin, argv[1]) < 4) { bu_vls_printf(&result, "usage: %s quat", argv[0]); goto error; } (*math_func)(qout, qin); bn_encode_quat(&result, qout); } else if (math_func == (void (*)())bn_isect_line3_line3) { double t, u; point_t pt, a; vect_t dir, c; int i; static const struct bn_tol tol = { BN_TOL_MAGIC, 0.005, 0.005*0.005, 1e-6, 1-1e-6 }; if (argc != 5) { bu_vls_printf(&result, "Usage: bn_isect_line3_line3 pt dir pt dir (%d args specified)", argc-1); goto error; } if (bn_decode_vect(pt, argv[1]) < 3) { bu_vls_printf(&result, "bn_isect_line3_line3 no pt: %s\n", argv[0]); goto error; } if (bn_decode_vect(dir, argv[2]) < 3) { bu_vls_printf(&result, "bn_isect_line3_line3 no dir: %s\n", argv[0]); goto error; } if (bn_decode_vect(a, argv[3]) < 3) { bu_vls_printf(&result, "bn_isect_line3_line3 no a pt: %s\n", argv[0]); goto error; } if (bn_decode_vect(c, argv[4]) < 3) { bu_vls_printf(&result, "bn_isect_line3_line3 no c dir: %s\n", argv[0]); goto error; } i = bn_isect_line3_line3(&t, &u, pt, dir, a, c, &tol); if (i != 1) { bu_vls_printf(&result, "bn_isect_line3_line3 no intersection: %s\n", argv[0]); goto error; } VJOIN1(a, pt, t, dir); bn_encode_vect(&result, a); } else if (math_func == (void (*)())bn_isect_line2_line2) { double dist[2]; point_t pt, a; vect_t dir, c; int i; static const struct bn_tol tol = { BN_TOL_MAGIC, 0.005, 0.005*0.005, 1e-6, 1-1e-6 }; if (argc != 5) { bu_vls_printf(&result, "Usage: bn_isect_line2_line2 pt dir pt dir (%d args specified)", argc-1); goto error; } /* i = bn_isect_line2_line2 {0 0} {1 0} {1 1} {0 -1} */ VSETALL(pt, 0.0); VSETALL(dir, 0.0); VSETALL(a, 0.0); VSETALL(c, 0.0); if (bn_decode_vect(pt, argv[1]) < 2) { bu_vls_printf(&result, "bn_isect_line2_line2 no pt: %s\n", argv[0]); goto error; } if (bn_decode_vect(dir, argv[2]) < 2) { bu_vls_printf(&result, "bn_isect_line2_line2 no dir: %s\n", argv[0]); goto error; } if (bn_decode_vect(a, argv[3]) < 2) { bu_vls_printf(&result, "bn_isect_line2_line2 no a pt: %s\n", argv[0]); goto error; } if (bn_decode_vect(c, argv[4]) < 2) { bu_vls_printf(&result, "bn_isect_line2_line2 no c dir: %s\n", argv[0]); goto error; } i = bn_isect_line2_line2(dist, pt, dir, a, c, &tol); if (i != 1) { bu_vls_printf(&result, "bn_isect_line2_line2 no intersection: %s\n", argv[0]); goto error; } VJOIN1(a, pt, dist[0], dir); bu_vls_printf(&result, "%g %g", a[0], a[1]); } else { bu_vls_printf(&result, "libbn/bn_tcl.c: math function %s not supported yet\n", argv[0]); goto error; } Tcl_AppendResult(interp, bu_vls_addr(&result), (char *)NULL); bu_vls_free(&result); return TCL_OK; error: Tcl_AppendResult(interp, bu_vls_addr(&result), (char *)NULL); bu_vls_free(&result); return TCL_ERROR; }
int ged_orotate(struct ged *gedp, int argc, const char *argv[]) { struct directory *dp; struct _ged_trace_data gtd; struct rt_db_internal intern; /* intentionally double for scan */ double xrot, yrot, zrot; mat_t rmat; mat_t pmat; mat_t emat; mat_t tmpMat; mat_t invXform; point_t rpp_min; point_t rpp_max; point_t keypoint; static const char *usage = "obj rX rY rZ [kX kY kZ]"; GED_CHECK_DATABASE_OPEN(gedp, GED_ERROR); GED_CHECK_READ_ONLY(gedp, GED_ERROR); GED_CHECK_ARGC_GT_0(gedp, argc, GED_ERROR); /* initialize result */ bu_vls_trunc(gedp->ged_result_str, 0); /* must be wanting help */ if (argc == 1) { bu_vls_printf(gedp->ged_result_str, "Usage: %s %s", argv[0], usage); return GED_HELP; } if (argc != 5 && argc != 8) { bu_vls_printf(gedp->ged_result_str, "Usage: %s %s", argv[0], usage); return GED_ERROR; } if (sscanf(argv[2], "%lf", &xrot) != 1) { bu_vls_printf(gedp->ged_result_str, "%s: bad rX value - %s", argv[0], argv[2]); return GED_ERROR; } if (sscanf(argv[3], "%lf", &yrot) != 1) { bu_vls_printf(gedp->ged_result_str, "%s: bad rY value - %s", argv[0], argv[3]); return GED_ERROR; } if (sscanf(argv[4], "%lf", &zrot) != 1) { bu_vls_printf(gedp->ged_result_str, "%s: bad rZ value - %s", argv[0], argv[4]); return GED_ERROR; } if (argc == 5) { /* Use the object's center as the keypoint. */ if (_ged_get_obj_bounds2(gedp, 1, argv+1, >d, rpp_min, rpp_max) == GED_ERROR) return GED_ERROR; dp = gtd.gtd_obj[gtd.gtd_objpos-1]; if (!(dp->d_flags & RT_DIR_SOLID)) { if (_ged_get_obj_bounds(gedp, 1, argv+1, 1, rpp_min, rpp_max) == GED_ERROR) return GED_ERROR; } VADD2(keypoint, rpp_min, rpp_max); VSCALE(keypoint, keypoint, 0.5); } else { double scan[3]; /* The user has provided the keypoint. */ MAT_IDN(gtd.gtd_xform); if (sscanf(argv[5], "%lf", &scan[X]) != 1) { bu_vls_printf(gedp->ged_result_str, "%s: bad kX value - %s", argv[0], argv[5]); return GED_ERROR; } if (sscanf(argv[6], "%lf", &scan[Y]) != 1) { bu_vls_printf(gedp->ged_result_str, "%s: bad kY value - %s", argv[0], argv[6]); return GED_ERROR; } if (sscanf(argv[7], "%lf", &scan[Z]) != 1) { bu_vls_printf(gedp->ged_result_str, "%s: bad kZ value - %s", argv[0], argv[7]); return GED_ERROR; } VSCALE(keypoint, scan, gedp->ged_wdbp->dbip->dbi_local2base); if ((dp = db_lookup(gedp->ged_wdbp->dbip, argv[1], LOOKUP_QUIET)) == RT_DIR_NULL) { bu_vls_printf(gedp->ged_result_str, "%s: %s not found", argv[0], argv[1]); return GED_ERROR; } } bn_mat_angles(rmat, xrot, yrot, zrot); bn_mat_xform_about_pt(pmat, rmat, keypoint); bn_mat_inv(invXform, gtd.gtd_xform); bn_mat_mul(tmpMat, invXform, pmat); bn_mat_mul(emat, tmpMat, gtd.gtd_xform); GED_DB_GET_INTERNAL(gedp, &intern, dp, emat, &rt_uniresource, GED_ERROR); RT_CK_DB_INTERNAL(&intern); GED_DB_PUT_INTERNAL(gedp, dp, &intern, &rt_uniresource, GED_ERROR); return GED_OK; }
/** * make a copy of a v5 solid by adding it to our book-keeping list, * adding it to the db directory, and writing it out to disk. */ static void copy_v5_solid(struct db_i *_dbip, struct directory *proto, struct clone_state *state, int idx) { size_t i; mat_t matrix; MAT_IDN(matrix); /* mirror */ if (state->miraxis != W) { matrix[state->miraxis*5] = -1.0; matrix[3 + state->miraxis*4] -= 2 * (matrix[3 + state->miraxis*4] - state->mirpos); } /* translate */ if (state->trans[W] > SMALL_FASTF) MAT_DELTAS_ADD_VEC(matrix, state->trans); /* rotation */ if (state->rot[W] > SMALL_FASTF) { mat_t m2, t; bn_mat_angles(m2, state->rot[X], state->rot[Y], state->rot[Z]); if (state->rpnt[W] > SMALL_FASTF) { mat_t m3; bn_mat_xform_about_pt(m3, m2, state->rpnt); bn_mat_mul(t, matrix, m3); } else bn_mat_mul(t, matrix, m2); MAT_COPY(matrix, t); } /* make n copies */ for (i = 0; i < state->n_copies; i++) { char *argv[6] = {"wdb_copy", (char *)NULL, (char *)NULL, (char *)NULL, (char *)NULL, (char *)NULL}; struct bu_vls *name; int ret; struct directory *dp = (struct directory *)NULL; struct rt_db_internal intern; if (i==0) dp = proto; else dp = db_lookup(_dbip, bu_vls_addr(&obj_list.names[idx].dest[i-1]), LOOKUP_QUIET); if (!dp) { continue; } name = get_name(_dbip, dp, state, i); /* get new name */ bu_vls_strcpy(&obj_list.names[idx].dest[i], bu_vls_addr(name)); /* actually copy the primitive to the new name */ argv[1] = proto->d_namep; argv[2] = bu_vls_addr(name); ret = wdb_copy_cmd(_dbip->dbi_wdbp, 3, (const char **)argv); if (ret != TCL_OK) bu_log("WARNING: failure cloning \"%s\" to \"%s\"\n", proto->d_namep, bu_vls_addr(name)); /* get the original objects matrix */ if (rt_db_get_internal(&intern, dp, _dbip, matrix, &rt_uniresource) < 0) { bu_log("ERROR: clone internal error copying %s\n", proto->d_namep); bu_vls_free(name); return; } RT_CK_DB_INTERNAL(&intern); /* pull the new name */ dp = db_lookup(_dbip, bu_vls_addr(name), LOOKUP_QUIET); bu_vls_free(name); if (!dp) { bu_vls_free(name); continue; } /* write the new matrix to the new object */ if (rt_db_put_internal(dp, wdbp->dbip, &intern, &rt_uniresource) < 0) bu_log("ERROR: clone internal error copying %s\n", proto->d_namep); rt_db_free_internal(&intern); } /* end iteration over each copy */ return; }
int _ged_do_rot(struct ged *gedp, char coord, mat_t rmat, int (*func)()) { mat_t temp1, temp2; if (func != (int (*)())0) return (*func)(gedp, coord, gedp->ged_gvp->gv_rotate_about, rmat); switch (coord) { case 'm': /* transform model rotations into view rotations */ bn_mat_inv(temp1, gedp->ged_gvp->gv_rotation); bn_mat_mul(temp2, gedp->ged_gvp->gv_rotation, rmat); bn_mat_mul(rmat, temp2, temp1); break; case 'v': default: break; } /* Calculate new view center */ if (gedp->ged_gvp->gv_rotate_about != 'v') { point_t rot_pt; point_t new_origin; mat_t viewchg, viewchginv; point_t new_cent_view; point_t new_cent_model; switch (gedp->ged_gvp->gv_rotate_about) { case 'e': VSET(rot_pt, 0.0, 0.0, 1.0); break; case 'k': MAT4X3PNT(rot_pt, gedp->ged_gvp->gv_model2view, gedp->ged_gvp->gv_keypoint); break; case 'm': /* rotate around model center (0, 0, 0) */ VSET(new_origin, 0.0, 0.0, 0.0); MAT4X3PNT(rot_pt, gedp->ged_gvp->gv_model2view, new_origin); break; default: return GED_ERROR; } bn_mat_xform_about_pt(viewchg, rmat, rot_pt); bn_mat_inv(viewchginv, viewchg); /* Convert origin in new (viewchg) coords back to old view coords */ VSET(new_origin, 0.0, 0.0, 0.0); MAT4X3PNT(new_cent_view, viewchginv, new_origin); MAT4X3PNT(new_cent_model, gedp->ged_gvp->gv_view2model, new_cent_view); MAT_DELTAS_VEC_NEG(gedp->ged_gvp->gv_center, new_cent_model); } /* pure rotation */ bn_mat_mul2(rmat, gedp->ged_gvp->gv_rotation); ged_view_update(gedp->ged_gvp); return GED_OK; }