static int test_bn_mat_ae(int argc, char *argv[]) { double az, el; mat_t expected, actual; if (argc != 5) { bu_exit(1, "<args> format: az el <expected_result> [%s]\n", argv[0]); } sscanf(argv[2], "%lg", &az); sscanf(argv[3], "%lg", &el); scan_mat_args(argv, 4, &expected); bn_mat_ae(actual, az, el); 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; }
/* * Returns - * -2 unknown keyword * -1 error in processing keyword * 0 OK */ int multi_words( char *words[], int nwords ) { if ( strcmp( words[0], "rot" ) == 0 ) { mat_t mat; /* Expects rotations rx, ry, rz, in degrees */ if ( nwords < 4 ) return(-1); MAT_IDN( mat ); bn_mat_angles( mat, atof( words[1] ), atof( words[2] ), atof( words[3] ) ); out_mat( mat, stdout ); return(0); } if ( strcmp( words[0], "xlate" ) == 0 ) { mat_t mat; if ( nwords < 4 ) return(-1); /* Expects translations tx, ty, tz */ MAT_IDN( mat ); MAT_DELTAS( mat, atof( words[1] ), atof( words[2] ), atof( words[3] ) ); out_mat( mat, stdout ); return(0); } if ( strcmp( words[0], "rot_at" ) == 0 ) { mat_t mat; mat_t mat1; mat_t mat2; mat_t mat3; /* JG - Expects x, y, z, rx, ry, rz */ /* Translation back to the origin by (-x, -y, -z) */ /* is done first, then the rotation, and finally */ /* back into the original position by (+x, +y, +z). */ if ( nwords < 7 ) return(-1); MAT_IDN( mat1 ); MAT_IDN( mat2 ); MAT_IDN( mat3 ); MAT_DELTAS( mat1, -atof( words[1] ), -atof( words[2] ), -atof( words[3] ) ); bn_mat_angles( mat2, atof( words[4] ), atof( words[5] ), atof( words[6] ) ); MAT_DELTAS( mat3, atof( words[1] ), atof( words[2] ), atof( words[3] ) ); bn_mat_mul( mat, mat2, mat1 ); bn_mat_mul2( mat3, mat ); out_mat( mat, stdout ); return(0); } if ( strcmp( words[0], "orient" ) == 0 ) { register int i; mat_t mat; double args[8]; /* Expects tx, ty, tz, rx, ry, rz, [scale]. */ /* All rotation is done first, then translation */ /* Note: word[0] and args[0] are the keyword */ if ( nwords < 6+1 ) return(-1); for ( i=1; i<6+1; i++ ) args[i] = 0; args[7] = 1.0; /* optional arg, default to 1 */ for ( i=1; i<nwords; i++ ) args[i] = atof( words[i] ); MAT_IDN( mat ); bn_mat_angles( mat, args[4], args[5], args[6] ); MAT_DELTAS( mat, args[1], args[2], args[3] ); if ( NEAR_ZERO( args[7], VDIVIDE_TOL ) ) { /* Nearly zero, signal error */ fprintf(stderr, "Orient scale arg is near zero ('%s')\n", words[7] ); return(-1); } else { mat[15] = 1 / args[7]; } out_mat( mat, stdout ); return(0); } if ( strcmp( words[0], "ae" ) == 0 ) { mat_t mat; fastf_t az, el; if ( nwords < 3 ) return(-1); /* Expects azimuth, elev, optional twist */ az = atof(words[1]); el = atof(words[2]); #if 0 if ( nwords == 3 ) twist = 0.0; else twist = atof(words[3]); #endif MAT_IDN( mat ); /* XXX does not take twist, for now XXX */ bn_mat_ae( mat, az, el ); out_mat( mat, stdout ); return(0); } if ( strcmp( words[0], "arb_rot_pt" ) == 0 ) { mat_t mat; point_t pt1, pt2; vect_t dir; fastf_t ang; if ( nwords < 1+3+3+1 ) return(-1); /* Expects point1, point2, angle */ VSET( pt1, atof(words[1]), atof(words[2]), atof(words[3]) ); VSET( pt2, atof(words[4]), atof(words[5]), atof(words[6]) ); ang = atof(words[7]) * bn_degtorad; VSUB2( dir, pt2, pt2 ); VUNITIZE(dir); MAT_IDN( mat ); bn_mat_arb_rot( mat, pt1, dir, ang ); out_mat( mat, stdout ); return(0); } if ( strcmp( words[0], "arb_rot_dir" ) == 0 ) { mat_t mat; point_t pt1; vect_t dir; fastf_t ang; if ( nwords < 1+3+3+1 ) return(-1); /* Expects point1, dir, angle */ VSET( pt1, atof(words[1]), atof(words[2]), atof(words[3]) ); VSET( dir, atof(words[4]), atof(words[5]), atof(words[6]) ); ang = atof(words[7]) * bn_degtorad; VUNITIZE(dir); MAT_IDN( mat ); bn_mat_arb_rot( mat, pt1, dir, ang ); out_mat( mat, stdout ); return(0); } if ( strcmp( words[0], "quat" ) == 0 ) { mat_t mat; quat_t quat; /* Usage: quat x, y, z, w */ if ( nwords < 5 ) return -1; QSET( quat, atof(words[1]), atof(words[2]), atof(words[3]), atof(words[4]) ); quat_quat2mat( mat, quat ); out_mat( mat, stdout); return 0; } if ( strcmp( words[0], "fromto" ) == 0 ) { mat_t mat; point_t cur; point_t next; vect_t from; vect_t to; /* Usage: fromto +Z cur_xyz next_xyz */ if ( nwords < 8 ) return -1; if ( strcmp( words[1], "+X" ) == 0 ) { VSET( from, 1, 0, 0 ); } else if ( strcmp( words[1], "-X" ) == 0 ) { VSET( from, -1, 0, 0 ); } else if ( strcmp( words[1], "+Y" ) == 0 ) { VSET( from, 0, 1, 0 ); } else if ( strcmp( words[1], "-Y" ) == 0 ) { VSET( from, 0, -1, 0 ); } else if ( strcmp( words[1], "+Z" ) == 0 ) { VSET( from, 0, 0, 1 ); } else if ( strcmp( words[1], "-Z" ) == 0 ) { VSET( from, 0, 0, -1 ); } else { fprintf(stderr, "fromto '%s' is not +/-XYZ\n", words[1]); return -1; } VSET( cur, atof(words[2]), atof(words[3]), atof(words[4]) ); VSET( next, atof(words[5]), atof(words[6]), atof(words[7]) ); VSUB2( to, next, cur ); VUNITIZE(to); bn_mat_fromto( mat, from, to ); /* Check to see if it worked. */ { vect_t got; MAT4X3VEC( got, mat, from ); if ( VDOT( got, to ) < 0.9 ) { bu_log("\ntabsub ERROR: At t=%s, bn_mat_fromto failed!\n", chanwords[0] ); VPRINT("\tfrom", from); VPRINT("\tto", to); VPRINT("\tgot", got); } } out_mat( mat, stdout ); return 0; } return(-2); /* Unknown keyword */ }