void Compute_Rotation_Transform (TRANSFORM *transform, const VECTOR vector)
{
register DBL cosx, cosy, cosz, sinx, siny, sinz;
MATRIX Matrix;
VECTOR Radian_Vector;
VScale (Radian_Vector, vector, M_PI_180);
MIdentity (transform->matrix);
cosx = cos (Radian_Vector[X]);
sinx = sin (Radian_Vector[X]);
cosy = cos (Radian_Vector[Y]);
siny = sin (Radian_Vector[Y]);
cosz = cos (Radian_Vector[Z]);
sinz = sin (Radian_Vector[Z]);
(transform->matrix) [1][1] = cosx;
(transform->matrix) [2][2] = cosx;
(transform->matrix) [1][2] = sinx;
(transform->matrix) [2][1] = 0.0 - sinx;
MTranspose (transform->inverse, transform->matrix);
MIdentity (Matrix);
Matrix [0][0] = cosy;
Matrix [2][2] = cosy;
Matrix [0][2] = 0.0 - siny;
Matrix [2][0] = siny;
MTimesA (transform->matrix, Matrix);
MTranspose (Matrix);
MTimesB (Matrix, transform->inverse);
MIdentity (Matrix);
Matrix [0][0] = cosz;
Matrix [1][1] = cosz;
Matrix [0][1] = sinz;
Matrix [1][0] = 0.0 - sinz;
MTimesA (transform->matrix, Matrix);
MTranspose (Matrix);
MTimesB (Matrix, transform->inverse);
}
void Compute_Axis_Rotation_Transform (TRANSFORM *transform, const VECTOR AxisVect, DBL angle)
{
DBL cosx, sinx;
VECTOR V1;
VNormalize(V1, AxisVect);
MIdentity(transform->matrix);
cosx = cos(angle);
sinx = sin(angle);
transform->matrix[0][0] = V1[X] * V1[X] + cosx * (1.0 - V1[X] * V1[X]);
transform->matrix[0][1] = V1[X] * V1[Y] * (1.0 - cosx) + V1[Z] * sinx;
transform->matrix[0][2] = V1[X] * V1[Z] * (1.0 - cosx) - V1[Y] * sinx;
transform->matrix[1][0] = V1[X] * V1[Y] * (1.0 - cosx) - V1[Z] * sinx;
transform->matrix[1][1] = V1[Y] * V1[Y] + cosx * (1.0 - V1[Y] * V1[Y]);
transform->matrix[1][2] = V1[Y] * V1[Z] * (1.0 - cosx) + V1[X] * sinx;
transform->matrix[2][0] = V1[X] * V1[Z] * (1.0 - cosx) + V1[Y] * sinx;
transform->matrix[2][1] = V1[Y] * V1[Z] * (1.0 - cosx) - V1[X] * sinx;
transform->matrix[2][2] = V1[Z] * V1[Z] + cosx * (1.0 - V1[Z] * V1[Z]);
MTranspose(transform->inverse, transform->matrix);
}
static void Transform_Quadric(OBJECT *Object, TRANSFORM *Trans)
{
QUADRIC *Quadric=(QUADRIC *)Object;
MATRIX Quadric_Matrix, Transform_Transposed;
Quadric_To_Matrix (Quadric, Quadric_Matrix);
MTimesB (Trans->inverse, Quadric_Matrix);
MTranspose (Transform_Transposed, Trans->inverse);
MTimesA (Quadric_Matrix, Transform_Transposed);
Matrix_To_Quadric (Quadric_Matrix, Quadric);
Recompute_BBox(&Object->BBox, Trans);
}
bool clickIntersection(AAContext* aaContext, POINT point, float *intersectionM)
{
UserData *userData = (UserData*) aaContext->userData;
float rayDir[4];
float viewDir[4];
RECT rect;
MMatrix P;
MMatrix iP;
ScreenToClient(aaContext->hWnd, &point);
GetClientRect(aaContext->hWnd, &rect);
viewDir[0] = 2.0f*point.x / (float) (rect.right-rect.left)-1.0f;
viewDir[1] = 2.0f*(1.0f-point.y / (float )(rect.bottom-rect.top))-1.0f;
viewDir[2] = 1.0f;
viewDir[3] = 1.0f;
MViewRotation(&iP, userData->eye);
MTranspose(&P, &iP);
MMap(rayDir, &P, viewDir);
return IntersectSphere(userData->sphere, rayDir, userData->eye, intersectionM);
}
// Posterior distribution for "theta"
void beta_gp(int *n, int *r, int *T, int *rT, int *p, double *prior_mu,
double *prior_sig, double *Qeta, double *X, double *o, int *constant,
double *betap)
{
int t, l, i, n1, p1, r1, T1, col;
n1 =*n;
p1 =*p;
r1 =*r;
T1 =*T;
col =*constant;
double *del, *chi, *ot1, *X1, *tX1, *out, *tX1QX1, *tX1Qo, *det, *mu, *I;
del = (double *) malloc((size_t)((p1*p1)*sizeof(double)));
chi = (double *) malloc((size_t)((p1*col)*sizeof(double)));
ot1 = (double *) malloc((size_t)((n1*col)*sizeof(double)));
X1 = (double *) malloc((size_t)((n1*p1)*sizeof(double)));
tX1 = (double *) malloc((size_t)((n1*p1)*sizeof(double)));
out = (double *) malloc((size_t)((n1*p1)*sizeof(double)));
tX1QX1 = (double *) malloc((size_t)((p1*p1)*sizeof(double)));
tX1Qo = (double *) malloc((size_t)((p1*col)*sizeof(double)));
det = (double *) malloc((size_t)((col)*sizeof(double)));
mu = (double *) malloc((size_t)((p1*col)*sizeof(double)));
I = (double *) malloc((size_t)((p1*p1)*sizeof(double)));
for(i=0; i<p1*p1; i++){
del[i] = 0.0;
}
for(i=0; i<p1; i++){
chi[i] = 0.0;
}
for(l=0; l<r1; l++){
for(t=0; t<T1; t++){
extract_X(t, l, n, r, T, p, X, X1); // n x p
MTranspose(X1, p, n, tX1); // p x n
MProd(X1, p, n, Qeta, n, out); // n x p
MProd(out, p, n, tX1, p, tX1QX1); // pxp
MAdd(del, p, p, tX1QX1, del); // pxp
extract_alt2(l, t, n, rT, T, o, ot1); // n x 1
MProd(ot1, constant, n, Qeta, n, out); // n x 1
MProd(out, constant, n, tX1, p, tX1Qo); // p x 1
MAdd(chi, p, constant, tX1Qo, chi); // p x 1
}
}
IdentityM(p, I);
for(i=0; i<p1*p1; i++){
del[i] = del[i] + I[i]*(1.0/prior_sig[0]);
}
free(I);
for(i=0; i<p1; i++){
chi[i] = chi[i] + prior_mu[0]/prior_sig[0];
}
MInv(del, del, p, det);
MProd(chi, constant, p, del, p, mu); // p x 1
mvrnormal(constant, mu, del, p, betap);
free(del); free(chi); free(ot1); free(X1); free(tX1);
free(out); free(tX1QX1); free(tX1Qo); free(det); free(mu);
return;
}
