/**
* Create a perspective matrix that transforms the +/1 viewing cube,
* with the actual eye position (not at Z=+1) specified in viewing
* coords, into a related space where the eye has been sheared onto
* the Z axis and repositioned at Z=(0, 0, 1), with the same
* perspective field of view as before.
*
* The Zbuffer clips off stuff with negative Z values.
*
* pmat = persp * xlate * shear
*/
void
ged_mike_persp_mat(mat_t pmat,
const point_t eye)
{
mat_t shear;
mat_t persp;
mat_t xlate;
mat_t t1, t2;
point_t sheared_eye;
if (eye[Z] <= SMALL) {
VPRINT("mike_persp_mat(): ERROR, z<0, eye", eye);
return;
}
/* Shear "eye" to +Z axis */
MAT_IDN(shear);
shear[2] = -eye[X]/eye[Z];
shear[6] = -eye[Y]/eye[Z];
MAT4X3VEC(sheared_eye, shear, eye);
if (!NEAR_ZERO(sheared_eye[X], .01) || !NEAR_ZERO(sheared_eye[Y], .01)) {
VPRINT("ERROR sheared_eye", sheared_eye);
return;
}
/* Translate along +Z axis to put sheared_eye at (0, 0, 1). */
MAT_IDN(xlate);
/* XXX should I use MAT_DELTAS_VEC_NEG()? X and Y should be 0 now */
MAT_DELTAS(xlate, 0, 0, 1-sheared_eye[Z]);
/* Build perspective matrix inline, substituting fov=2*atan(1, Z) */
MAT_IDN(persp);
/* From page 492 of Graphics Gems */
persp[0] = sheared_eye[Z]; /* scaling: fov aspect term */
persp[5] = sheared_eye[Z]; /* scaling: determines fov */
/* From page 158 of Rogers Mathematical Elements */
/* Z center of projection at Z=+1, r=-1/1 */
persp[14] = -1;
bn_mat_mul(t1, xlate, shear);
bn_mat_mul(t2, persp, t1);
/* Now, move eye from Z=1 to Z=0, for clipping purposes */
MAT_DELTAS(xlate, 0, 0, -1);
bn_mat_mul(pmat, xlate, t2);
}
void
do_tree(char *name, char *lname, int level)
{
int i;
char nm[64];
char *leafp;
int scale;
struct wmember head;
struct wmember *wp;
BU_LIST_INIT(&head.l);
if (level <= 1)
leafp = lname;
else
leafp = nm;
scale = 100;
for (i=1; i<level; i++)
scale *= 2;
snprintf(nm, 64, "%sL", name);
wp = mk_addmember(leafp, &head.l, NULL, WMOP_UNION);
MAT_IDN(wp->wm_mat);
snprintf(nm, 64, "%sR", name);
wp = mk_addmember(leafp, &head.l, NULL, WMOP_UNION);
MAT_DELTAS(wp->wm_mat, 1*scale, 0, 0);
snprintf(nm, 64, "%sB", name);
wp = mk_addmember(leafp, &head.l, NULL, WMOP_UNION);
MAT_DELTAS(wp->wm_mat, 0.5*scale, sin60*scale, 0);
snprintf(nm, 64, "%sT", name);
wp = mk_addmember(leafp, &head.l, NULL, WMOP_UNION);
MAT_DELTAS(wp->wm_mat, 0.5*scale, sin60/3*scale, sin60*scale);
/* Set region flag on lowest level */
mk_lcomb(outfp, name, &head, level<=1, NULL, NULL, NULL, 0);
/* Loop for children if level > 1 */
if (level <= 1)
return;
for (i=0; i<4; i++) {
snprintf(nm, 64, "%s%c", name, "LRBTx"[i]);
do_tree(nm, lname, level-1);
}
}
void
make_pillar(char *prefix, int ix, int iy, fastf_t *center, fastf_t *lwh, struct wmember *headp)
/* center of base */
{
vect_t min, max;
unsigned char rgb[4]; /* needs all 4 */
char pilname[32], rname[32], sname[32], oname[32];
int i;
struct wmember head;
struct wmember *wp;
BU_LIST_INIT( &head.l );
snprintf( pilname, 32, "%s%d,%d", prefix, ix, iy );
snprintf( rname, 32, "%s.r", pilname );
snprintf( sname, 32, "%s.s", pilname );
snprintf( oname, 32, "Obj%d,%d", ix, iy );
VMOVE( min, center );
min[X] -= lwh[X];
min[Y] -= lwh[Y];
VADD2( max, center, lwh );
mk_rpp( outfp, sname, min, max );
/* Needs to be in a region, with color! */
get_rgb(rgb);
i = PICK_MAT;
mk_region1( outfp, rname, sname,
mtab[i].mt_name, mtab[i].mt_param, rgb );
(void)mk_addmember( rname, &head.l, NULL, WMOP_UNION );
wp = mk_addmember( oname, &head.l, NULL, WMOP_UNION );
MAT_DELTAS( wp->wm_mat, center[X], center[Y], center[Z]+lwh[Z] );
mk_lfcomb( outfp, pilname, &head, 0 );
(void)mk_addmember( pilname, &(headp->l), NULL, WMOP_UNION );
}
int
Getcurve(int curve, struct ptlist **curv_pts)
{
int type;
int npts = 0;
int i, j;
double pi;
struct ptlist *ptr, *prev;
pi = atan2(0.0, -1.0);
(*curv_pts) = NULL;
prev = NULL;
switch (dir[curve]->type) {
case 110: {
/* line */
point_t pt1;
Readrec(dir[curve]->param);
Readint(&type, "");
if (type != dir[curve]->type) {
bu_log("Error in Getcurve, looking for curve type %d, found %d\n" ,
dir[curve]->type, type);
npts = 0;
break;
}
BU_ALLOC((*curv_pts), struct ptlist);
ptr = (*curv_pts);
/* Read first point */
for (i = 0; i < 3; i++)
Readcnv(&pt1[i], "");
MAT4X3PNT(ptr->pt, *dir[curve]->rot, pt1);
ptr->prev = NULL;
prev = ptr;
BU_ALLOC(ptr->next, struct ptlist);
ptr = ptr->next;
/* Read second point */
for (i = 0; i < 3; i++)
Readcnv(&pt1[i], "");
MAT4X3PNT(ptr->pt, *dir[curve]->rot, pt1);
ptr->next = NULL;
ptr->prev = prev;
npts = 2;
break;
}
case 100: {
/* circular arc */
point_t center, start, stop, tmp;
fastf_t common_z, ang1, ang2, delta;
double cosdel, sindel, rx, ry;
delta = (2.0*pi)/ARCSEGS;
Readrec(dir[curve]->param);
Readint(&type, "");
if (type != dir[curve]->type) {
bu_log("Error in Getcurve, looking for curve type %d, found %d\n" ,
dir[curve]->type, type);
npts = 0;
break;
}
/* Read common Z coordinate */
Readcnv(&common_z, "");
/* Read center point */
Readcnv(¢er[X], "");
Readcnv(¢er[Y], "");
center[Z] = common_z;
/* Read start point */
Readcnv(&start[X], "");
Readcnv(&start[Y], "");
start[Z] = common_z;
/* Read stop point */
Readcnv(&stop[X], "");
Readcnv(&stop[Y], "");
stop[Z] = common_z;
ang1 = atan2(start[Y] - center[Y], start[X] - center[X]);
ang2 = atan2(stop[Y] - center[Y], stop[X] - center[X]);
while (ang2 <= ang1)
ang2 += (2.0*pi);
npts = (ang2 - ang1)/delta;
npts++;
V_MAX(npts, 3);
delta = (ang2 - ang1)/(npts-1);
cosdel = cos(delta);
sindel = sin(delta);
/* Calculate points on curve */
BU_ALLOC((*curv_pts), struct ptlist);
ptr = (*curv_pts);
prev = NULL;
MAT4X3PNT(ptr->pt, *dir[curve]->rot, start);
ptr->prev = prev;
prev = ptr;
BU_ALLOC(ptr->next, struct ptlist);
ptr = ptr->next;
ptr->prev = prev;
VMOVE(tmp, start);
for (i = 1; i < npts; i++) {
rx = tmp[X] - center[X];
ry = tmp[Y] - center[Y];
tmp[X] = center[X] + rx*cosdel - ry*sindel;
tmp[Y] = center[Y] + rx*sindel + ry*cosdel;
MAT4X3PNT(ptr->pt, *dir[curve]->rot, tmp);
prev = ptr;
BU_ALLOC(ptr->next, struct ptlist);
ptr = ptr->next;
ptr->prev = prev;
}
ptr = prev;
bu_free((char *)ptr->next, "Getcurve: ptr->next");
ptr->next = NULL;
break;
}
case 106: {
/* copius data */
int interpflag; /* interpretation flag
1 => x, y pairs (common z-coord)
2 => x, y, z coords
3 => x, y, z coords and i, j, k vectors */
int ntuples; /* number of points */
fastf_t common_z; /* common z-coordinate */
point_t pt1; /* temporary storage for incoming point */
Readrec(dir[curve]->param);
Readint(&type, "");
if (type != dir[curve]->type) {
bu_log("Error in Getcurve, looking for curve type %d, found %d\n" ,
dir[curve]->type, type);
npts = 0;
break;
}
Readint(&interpflag, "");
Readint(&ntuples, "");
switch (dir[curve]->form) {
case 1:
case 11:
case 40:
case 63: {
/* data are coordinate pairs with common z */
if (interpflag != 1) {
bu_log("Error in Getcurve for copius data entity D%07d, IP=%d, should be 1\n",
dir[curve]->direct, interpflag);
npts = 0;
break;
}
Readcnv(&common_z, "");
BU_ALLOC((*curv_pts), struct ptlist);
ptr = (*curv_pts);
ptr->prev = NULL;
for (i = 0; i < ntuples; i++) {
Readcnv(&pt1[X], "");
Readcnv(&pt1[Y], "");
pt1[Z] = common_z;
MAT4X3PNT(ptr->pt, *dir[curve]->rot, pt1);
prev = ptr;
BU_ALLOC(ptr->next, struct ptlist);
ptr = ptr->next;
ptr->prev = prev;
ptr->next = NULL;
}
ptr = ptr->prev;
bu_free((char *)ptr->next, "Getcurve: ptr->next");
ptr->next = NULL;
npts = ntuples;
break;
}
case 2:
case 12: {
/* data are coordinate triples */
if (interpflag != 2) {
bu_log("Error in Getcurve for copius data entity D%07d, IP=%d, should be 2\n",
dir[curve]->direct, interpflag);
npts = 0;
break;
}
BU_ALLOC((*curv_pts), struct ptlist);
ptr = (*curv_pts);
ptr->prev = NULL;
for (i = 0; i < ntuples; i++) {
Readcnv(&pt1[X], "");
Readcnv(&pt1[Y], "");
Readcnv(&pt1[Z], "");
MAT4X3PNT(ptr->pt, *dir[curve]->rot, pt1);
prev = ptr;
BU_ALLOC(ptr->next, struct ptlist);
ptr = ptr->next;
ptr->prev = prev;
}
ptr = ptr->prev;
bu_free((char *)ptr->next, "Getcurve: ptr->next");
ptr->next = NULL;
npts = ntuples;
break;
}
default: {
bu_log("Error in Getcurve for copius data entity D%07d, form %d is not a legal choice\n",
dir[curve]->direct, dir[curve]->form);
npts = 0;
break;
}
}
break;
}
case 112: {
/* parametric spline */
struct spline *splroot;
struct segment *seg, *seg1;
vect_t tmp;
double a;
Readrec(dir[curve]->param);
Readint(&type, "");
if (type != dir[curve]->type) {
bu_log("Error in Getcurve, looking for curve type %d, found %d\n" ,
dir[curve]->type, type);
npts = 0;
break;
}
Readint(&i, ""); /* Skip over type */
Readint(&i, ""); /* Skip over continuity */
BU_ALLOC(splroot, struct spline);
splroot->start = NULL;
Readint(&splroot->ndim, ""); /* 2->planar, 3->3d */
Readint(&splroot->nsegs, ""); /* Number of segments */
Readdbl(&a, ""); /* first breakpoint */
/* start a linked list of segments */
seg = splroot->start;
for (i = 0; i < splroot->nsegs; i++) {
if (seg == NULL) {
BU_ALLOC(seg, struct segment);
splroot->start = seg;
} else {
BU_ALLOC(seg->next, struct segment);
seg = seg->next;
}
seg->segno = i+1;
seg->next = NULL;
seg->tmin = a; /* set minimum T for this segment */
Readflt(&seg->tmax, ""); /* get maximum T for segment */
a = seg->tmax;
}
/* read coefficients for polynomials */
seg = splroot->start;
for (i = 0; i < splroot->nsegs; i++) {
for (j = 0; j < 4; j++)
Readflt(&seg->cx[j], ""); /* x coeff's */
for (j = 0; j < 4; j++)
Readflt(&seg->cy[j], ""); /* y coeff's */
for (j = 0; j < 4; j++)
Readflt(&seg->cz[j], ""); /* z coeff's */
seg = seg->next;
}
/* Calculate points */
BU_ALLOC((*curv_pts), struct ptlist);
ptr = (*curv_pts);
prev = NULL;
ptr->prev = NULL;
npts = 0;
seg = splroot->start;
while (seg != NULL) {
/* plot 9 points per segment (This should
be replaced by some logic) */
for (i = 0; i < 9; i++) {
a = (fastf_t)i/(8.0)*(seg->tmax-seg->tmin);
tmp[0] = splinef(seg->cx, a);
tmp[1] = splinef(seg->cy, a);
if (splroot->ndim == 3)
tmp[2] = splinef(seg->cz, a);
else
tmp[2] = seg->cz[0];
MAT4X3PNT(ptr->pt, *dir[curve]->rot, tmp);
for (j = 0; j < 3; j++)
ptr->pt[j] *= conv_factor;
npts++;
prev = ptr;
BU_ALLOC(ptr->next, struct ptlist);
ptr = ptr->next;
ptr->prev = prev;
}
seg = seg->next;
}
ptr = ptr->prev;
bu_free((char *)ptr->next, "Getcurve: ptr->next");
ptr->next = NULL;
/* free the used memory */
seg = splroot->start;
while (seg != NULL) {
seg1 = seg;
seg = seg->next;
bu_free((char *)seg1, "Getcurve: seg1");
}
bu_free((char *)splroot, "Getcurve: splroot");
splroot = NULL;
break;
}
case 104: {
/* conic arc */
double A, B, C, D, E, F, a, b, c, del, I, theta, dpi, t1, t2, xc, yc;
point_t v1, v2, tmp;
mat_t rot1;
int num_points;
Readrec(dir[curve]->param);
Readint(&type, "");
if (type != dir[curve]->type) {
bu_log("Error in Getcurve, looking for curve type %d, found %d\n" ,
dir[curve]->type, type);
npts = 0;
break;
}
/* read coefficients */
Readdbl(&A, "");
Readdbl(&B, "");
Readdbl(&C, "");
Readdbl(&D, "");
Readdbl(&E, "");
Readdbl(&F, "");
/* read common z-coordinate */
Readflt(&v1[2], "");
v2[2] = v1[2];
/* read start point */
Readflt(&v1[0], "");
Readflt(&v1[1], "");
/* read terminate point */
Readflt(&v2[0], "");
Readflt(&v2[1], "");
type = 0;
if (dir[curve]->form == 1) {
/* Ellipse */
if (fabs(E) < SMALL)
E = 0.0;
if (fabs(B) < SMALL)
B = 0.0;
if (fabs(D) < SMALL)
D = 0.0;
if (ZERO(B) && ZERO(D) && ZERO(E))
type = 1;
else
bu_log("Entity #%d is an incorrectly formatted ellipse\n", curve);
}
/* make coeff of X**2 equal to 1.0 */
a = A*C - B*B/4.0;
if (fabs(a) < 1.0 && fabs(a) > TOL) {
a = fabs(A);
if (fabs(B) < a && !ZERO(B))
a = fabs(B);
V_MIN(a, fabs(C));
A = A/a;
B = B/a;
C = C/a;
D = D/a;
E = E/a;
F = F/a;
a = A*C - B*B/4.0;
}
if (!type) {
/* check for type of conic */
del = A*(C*F-E*E/4.0)-0.5*B*(B*F/2.0-D*E/4.0)+0.5*D*(B*E/4.0-C*D/2.0);
I = A+C;
if (ZERO(del)) {
/* not a conic */
bu_log("Entity #%d, claims to be conic arc, but isn't\n", curve);
break;
} else if (a > 0.0 && del*I < 0.0)
type = 1; /* ellipse */
else if (a < 0.0)
type = 2; /* hyperbola */
else if (ZERO(a))
type = 3; /* parabola */
else {
/* imaginary ellipse */
bu_log("Entity #%d is an imaginary ellipse!!\n", curve);
break;
}
}
switch (type) {
double p, r1;
case 3: /* parabola */
/* make A+C == 1.0 */
if (!EQUAL(A+C, 1.0)) {
b = A+C;
A = A/b;
B = B/b;
C = C/b;
D = D/b;
E = E/b;
F = F/b;
}
/* theta is the angle that the parabola axis is rotated
about the origin from the x-axis */
theta = 0.5*atan2(B, C-A);
/* p is the distance from vertex to directrix */
p = (-E*sin(theta) - D*cos(theta))/4.0;
if (fabs(p) < TOL) {
bu_log("Cannot plot entity %d, p=%g\n", curve, p);
break;
}
/* calculate vertex (xc, yc). This is based on the
parametric representation:
x = xc + a*t*t*cos(theta) - t*sin(theta)
y = yc + a*t*t*sin(theta) + t*cos(theta)
and the fact that v1 and v2 are on the curve
*/
a = 1.0/(4.0*p);
b = ((v1[0]-v2[0])*cos(theta) + (v1[1]-v2[1])*sin(theta))/a;
c = ((v1[1]-v2[1])*cos(theta) - (v1[0]-v2[0])*sin(theta));
if (fabs(c) < TOL*TOL) {
bu_log("Cannot plot entity %d\n", curve);
break;
}
b = b/c;
t1 = (b + c)/2.0; /* value of 't' at v1 */
t2 = (b - c)/2.0; /* value of 't' at v2 */
xc = v1[0] - a*t1*t1*cos(theta) + t1*sin(theta);
yc = v1[1] - a*t1*t1*sin(theta) - t1*cos(theta);
/* Calculate points */
BU_ALLOC((*curv_pts), struct ptlist);
ptr = (*curv_pts);
ptr->prev = NULL;
prev = NULL;
npts = 0;
num_points = ARCSEGS+1;
dpi = (t2-t1)/(double)num_points; /* parameter increment */
/* start point */
VSET(tmp, xc, yc, v1[2]);
MAT4X3PNT(ptr->pt, *dir[curve]->rot, tmp);
VSCALE(ptr->pt, ptr->pt, conv_factor);
npts++;
prev = ptr;
BU_ALLOC(ptr->next, struct ptlist);
ptr = ptr->next;
ptr->prev = prev;
/* middle points */
b = cos(theta);
c = sin(theta);
for (i = 1; i < num_points-1; i++) {
r1 = t1 + dpi*i;
tmp[0] = xc + a*r1*r1*b - r1*c;
tmp[1] = yc + a*r1*r1*c + r1*b;
MAT4X3PNT(ptr->pt, *dir[curve]->rot, tmp);
VSCALE(ptr->pt, ptr->pt, conv_factor);
npts++;
prev = ptr;
BU_ALLOC(ptr->next, struct ptlist);
ptr = ptr->next;
ptr->prev = prev;
}
/* plot terminate point */
tmp[0] = v2[0];
tmp[1] = v2[1];
MAT4X3PNT(ptr->pt, *dir[curve]->rot, tmp);
for (j = 0; j < 3; j++)
ptr->pt[j] *= conv_factor;
npts++;
ptr->next = NULL;
break;
case 1: /* ellipse */
case 2: {
/* hyperbola */
double A1, C1, F1, alpha, beta;
mat_t rot2;
point_t v3;
/* calculate center of ellipse or hyperbola */
xc = (B*E/4.0 - D*C/2.0)/a;
yc = (B*D/4.0 - A*E/2.0)/a;
/* theta is angle that the curve axis is rotated about
the origin from the x-axis */
if (!ZERO(B))
theta = 0.5*atan2(B, A-C);
else
theta = 0.0;
/* calculate coeff's for same curve, but with
vertex at origin and theta = 0.0 */
A1 = A + 0.5*B*tan(theta);
C1 = C - 0.5*B*tan(theta);
F1 = F - A*xc*xc - B*xc*yc - C*yc*yc;
if (type == 2 && F1/A1 > 0.0)
theta += pi/2.0;
/* set-up matrix to translate and rotate
the start and terminate points to match
the simpler curve (A1, C1, and F1 coeff's) */
for (i = 0; i < 16; i++)
rot1[i] = idn[i];
MAT_DELTAS(rot1, -xc, -yc, 0.0);
MAT4X3PNT(tmp, rot1, v1);
VMOVE(v1, tmp);
MAT4X3PNT(tmp, rot1, v2);
VMOVE(v2, tmp);
MAT_DELTAS(rot1, 0.0, 0.0, 0.0);
rot1[0] = cos(theta);
rot1[1] = sin(theta);
rot1[4] = (-rot1[1]);
rot1[5] = rot1[0];
MAT4X3PNT(tmp, rot1, v1);
VMOVE(v1, tmp);
MAT4X3PNT(tmp, rot1, v2);
VMOVE(v2, tmp);
MAT_DELTAS(rot1, 0.0, 0.0, 0.0);
/* calculate:
alpha = start angle
beta = terminate angle
*/
beta = 0.0;
if (EQUAL(v2[0], v1[0]) && EQUAL(v2[1], v1[1])) {
/* full circle */
alpha = 0.0;
beta = 2.0*pi;
}
a = sqrt(fabs(F1/A1)); /* semi-axis length */
b = sqrt(fabs(F1/C1)); /* semi-axis length */
if (type == 1) {
/* ellipse */
alpha = atan2(a*v1[1], b*v1[0]);
if (ZERO(beta)) {
beta = atan2(a*v2[1], b*v2[0]);
beta = beta - alpha;
}
} else {
/* hyperbola */
alpha = myarcsinh(v1[1]/b);
beta = myarcsinh(v2[1]/b);
if (fabs(a*cosh(beta) - v2[0]) > 0.01)
a = (-a);
beta = beta - alpha;
}
num_points = ARCSEGS;
/* set-up matrix to translate and rotate
the simpler curve back to the original
position */
MAT_DELTAS(rot1, xc, yc, 0.0);
rot1[1] = (-rot1[1]);
rot1[4] = (-rot1[4]);
#if defined(USE_BN_MULT_)
/* o <= a X b */
bn_mat_mul(rot2, *(dir[curve]->rot), rot1);
#else
/* a X b => o */
Matmult(*(dir[curve]->rot), rot1, rot2);
#endif
/* calculate start point */
BU_ALLOC((*curv_pts), struct ptlist);
ptr = (*curv_pts);
prev = NULL;
ptr->prev = NULL;
npts = 0;
VSCALE(v3, v1, conv_factor);
MAT4X3PNT(ptr->pt, rot2, v3);
npts++;
prev = ptr;
BU_ALLOC(ptr->next, struct ptlist);
ptr = ptr->next;
ptr->prev = prev;
/* middle points */
for (i = 1; i < num_points; i++) {
point_t tmp2 = {0.0, 0.0, 0.0};
theta = alpha + (double)i/(double)num_points*beta;
if (type == 2) {
tmp2[0] = a*cosh(theta);
tmp2[1] = b*sinh(theta);
} else {
tmp2[0] = a*cos(theta);
tmp2[1] = b*sin(theta);
}
VSCALE(tmp2, tmp2, conv_factor);
MAT4X3PNT(ptr->pt, rot2, tmp2);
npts++;
prev = ptr;
BU_ALLOC(ptr->next, struct ptlist);
ptr = ptr->next;
ptr->prev = prev;
}
/* terminate point */
VSCALE(v2, v2, conv_factor);
MAT4X3PNT(ptr->pt, rot2, v2);
npts++;
ptr->next = NULL;
break;
}
}
break;
}
case 102: /* composite curve */ {
int ncurves, *curvptr;
struct ptlist *tmp_ptr;
Readrec(dir[curve]->param);
Readint(&type, "");
if (type != dir[curve]->type) {
bu_log("Error in Getcurve, looking for curve type %d, found %d\n" ,
dir[curve]->type, type);
npts = 0;
break;
}
Readint(&ncurves, "");
curvptr = (int *)bu_calloc(ncurves, sizeof(int), "Getcurve: curvptr");
for (i = 0; i < ncurves; i++) {
Readint(&curvptr[i], "");
curvptr[i] = (curvptr[i]-1)/2;
}
npts = 0;
(*curv_pts) = NULL;
for (i = 0; i < ncurves; i++) {
npts += Getcurve(curvptr[i], &tmp_ptr);
if ((*curv_pts) == NULL)
(*curv_pts) = tmp_ptr;
else {
ptr = (*curv_pts);
while (ptr->next != NULL)
ptr = ptr->next;
ptr->next = tmp_ptr;
ptr->next->prev = ptr;
if (NEAR_EQUAL(ptr->pt[X], tmp_ptr->pt[X], TOL) &&
NEAR_EQUAL(ptr->pt[Y], tmp_ptr->pt[Y], TOL) &&
NEAR_EQUAL(ptr->pt[Z], tmp_ptr->pt[Z], TOL)) {
ptr->next = ptr->next->next;
if (ptr->next != NULL)
ptr->next->prev = ptr;
bu_free((char *)tmp_ptr, "Getcurve: tmp_ptr");
npts--;
}
}
}
break;
}
case 126: {
/* rational B-spline */
int k, m, n, a, prop1, prop2, prop3, prop4;
fastf_t *t; /* knot values */
fastf_t *w; /* weights */
point_t *cntrl_pts; /* control points */
fastf_t v0, v1; /* starting and stopping parameter values */
fastf_t v; /* current parameter value */
fastf_t delv; /* parameter increment */
Readrec(dir[curve]->param);
Readint(&type, "");
if (type != dir[curve]->type) {
bu_log("Error in Getcurve, looking for curve type %d, found %d\n" ,
dir[curve]->type, type);
npts = 0;
break;
}
Readint(&k, "");
Readint(&m, "");
Readint(&prop1, "");
Readint(&prop2, "");
Readint(&prop3, "");
Readint(&prop4, "");
n = k - m + 1;
a = n + 2 * m;
t = (fastf_t *)bu_calloc(a+1, sizeof(fastf_t), "Getcurve: spline t");
for (i = 0; i < a+1; i++)
Readflt(&t[i], "");
Knot(a+1, t);
w = (fastf_t *)bu_calloc(k+1, sizeof(fastf_t), "Getcurve: spline w");
for (i = 0; i < k+1; i++)
Readflt(&w[i], "");
cntrl_pts = (point_t *)bu_calloc(k+1, sizeof(point_t), "Getcurve: spline cntrl_pts");
for (i = 0; i < k+1; i++) {
fastf_t tmp;
for (j = 0; j < 3; j++) {
Readcnv(&tmp, "");
cntrl_pts[i][j] = tmp;
}
}
Readflt(&v0, "");
Readflt(&v1, "");
delv = (v1 - v0)/((fastf_t)(3*k));
/* Calculate points */
BU_ALLOC((*curv_pts), struct ptlist);
ptr = (*curv_pts);
ptr->prev = NULL;
prev = NULL;
npts = 0;
v = v0;
while (v < v1) {
point_t tmp;
B_spline(v, k, m+1, cntrl_pts, w, tmp);
MAT4X3PNT(ptr->pt, *dir[curve]->rot, tmp);
npts++;
prev = ptr;
BU_ALLOC(ptr->next, struct ptlist);
ptr = ptr->next;
ptr->prev = prev;
v += delv;
}
VMOVE(ptr->pt, cntrl_pts[k]);
npts++;
ptr->next = NULL;
/* Free memory */
Freeknots();
bu_free((char *)cntrl_pts, "Getcurve: spline cntrl_pts");
bu_free((char *)w, "Getcurve: spline w");
bu_free((char *)t, "Getcurve: spline t");
break;
}
}
return npts;
}
/*
* 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 */
}
