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38 #include "gmxpre.h"
39
40 #include "3dtransforms.h"
41
42 #include <cmath>
43 #include <cstdio>
44
45 #include "gromacs/math/vec.h"
46 #include "gromacs/utility/fatalerror.h"
47
48 #define N 4
49
gmx_mat4_copy(mat4 a,mat4 b)50 void gmx_mat4_copy(mat4 a, mat4 b)
51 {
52 for (int i = 0; i < N; ++i)
53 {
54 for (int j = 0; j < N; ++j)
55 {
56 b[i][j] = a[i][j];
57 }
58 }
59 }
60
gmx_mat4_transform_point(mat4 m,const rvec x,vec4 v)61 void gmx_mat4_transform_point(mat4 m, const rvec x, vec4 v)
62 {
63 int i;
64
65 for (i = 0; (i < N); i++)
66 {
67 v[i] = m[XX][i] * x[XX] + m[YY][i] * x[YY] + m[ZZ][i] * x[ZZ] + m[WW][i];
68 }
69 }
70
gmx_mat4_mmul(mat4 A,mat4 B,mat4 C)71 void gmx_mat4_mmul(mat4 A, mat4 B, mat4 C)
72 {
73 int i, j, k;
74
75 for (i = 0; i < N; i++)
76 {
77 for (j = 0; j < N; j++)
78 {
79 A[i][j] = 0;
80 for (k = 0; (k < N); k++)
81 {
82 A[i][j] += B[i][k] * C[k][j];
83 }
84 }
85 }
86 }
87
gmx_mat4_init_unity(mat4 m)88 void gmx_mat4_init_unity(mat4 m)
89 {
90 int i, j;
91
92 for (i = 0; (i < N); i++)
93 {
94 for (j = 0; (j < N); j++)
95 {
96 if (i == j)
97 {
98 m[i][j] = 1.0;
99 }
100 else
101 {
102 m[i][j] = 0.0;
103 }
104 }
105 }
106 }
107
gmx_mat4_init_rotation(int axis,real angle,mat4 A)108 void gmx_mat4_init_rotation(int axis, real angle, mat4 A)
109 {
110 gmx_mat4_init_unity(A);
111
112 switch (axis)
113 {
114 case XX:
115 A[YY][YY] = cos(angle);
116 A[YY][ZZ] = -sin(angle);
117 A[ZZ][YY] = sin(angle);
118 A[ZZ][ZZ] = cos(angle);
119 break;
120 case YY:
121 A[XX][XX] = cos(angle);
122 A[XX][ZZ] = sin(angle);
123 A[ZZ][XX] = -sin(angle);
124 A[ZZ][ZZ] = cos(angle);
125 break;
126 case ZZ:
127 A[XX][XX] = cos(angle);
128 A[XX][YY] = -sin(angle);
129 A[YY][XX] = sin(angle);
130 A[YY][YY] = cos(angle);
131 break;
132 default: gmx_fatal(FARGS, "Error: invalid axis: %d", axis);
133 }
134 }
135
gmx_mat4_init_translation(real tx,real ty,real tz,mat4 A)136 void gmx_mat4_init_translation(real tx, real ty, real tz, mat4 A)
137 {
138 gmx_mat4_init_unity(A);
139 A[3][XX] = tx;
140 A[3][YY] = ty;
141 A[3][ZZ] = tz;
142 }
143
gmx_mat4_print(FILE * fp,const char * s,mat4 A)144 void gmx_mat4_print(FILE* fp, const char* s, mat4 A)
145 {
146 int i, j;
147
148 if (fp)
149 {
150 fprintf(fp, "%s: ", s);
151 for (i = 0; i < N; i++)
152 {
153 fprintf(fp, "\t");
154 for (j = 0; j < N; j++)
155 {
156 fprintf(fp, "%10.5f", A[i][j]);
157 }
158 fprintf(fp, "\n");
159 }
160 }
161 }
162
gmx_vec4_print(FILE * fp,const char * s,vec4 a)163 void gmx_vec4_print(FILE* fp, const char* s, vec4 a)
164 {
165 int j;
166
167 if (fp)
168 {
169 fprintf(fp, "%s: ", s);
170 for (j = 0; j < N; j++)
171 {
172 fprintf(fp, "%10.5f", a[j]);
173 }
174 fprintf(fp, "\n");
175 }
176 }
177