void LWQUAT_applyMatrix(LWFMatrix4 M, LWFQuat Q, LWFQuat qu) /* Uses Q as a regular old 3-vector */
{
QSET(qu, 0.0f);
qu[X] = M[0][0]*Q[X] + M[0][1]*Q[Y] + M[0][2]*Q[Z] + M[0][3]*Q[W] ;
qu[Y] = M[1][0]*Q[X] + M[1][1]*Q[Y] + M[1][2]*Q[Z] + M[1][3]*Q[W] ;
qu[Z] = M[2][0]*Q[X] + M[2][1]*Q[Y] + M[2][2]*Q[Z] + M[2][3]*Q[W] ;
qu[W] = M[3][0]*Q[X] + M[3][1]*Q[Y] + M[3][2]*Q[Z] + M[3][3]*Q[W] ;
}
/*
* 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 */
}
