81 lines
1.7 KiB
C++
81 lines
1.7 KiB
C++
#include "solvespace.h"
|
|
|
|
void MakeMatrix(double *mat, double a11, double a12, double a13, double a14,
|
|
double a21, double a22, double a23, double a24,
|
|
double a31, double a32, double a33, double a34,
|
|
double a41, double a42, double a43, double a44)
|
|
{
|
|
mat[ 0] = a11;
|
|
mat[ 1] = a21;
|
|
mat[ 2] = a31;
|
|
mat[ 3] = a41;
|
|
mat[ 4] = a12;
|
|
mat[ 5] = a22;
|
|
mat[ 6] = a32;
|
|
mat[ 7] = a42;
|
|
mat[ 8] = a13;
|
|
mat[ 9] = a23;
|
|
mat[10] = a33;
|
|
mat[11] = a43;
|
|
mat[12] = a14;
|
|
mat[13] = a24;
|
|
mat[14] = a34;
|
|
mat[15] = a44;
|
|
}
|
|
|
|
|
|
Vector Vector::Cross(Vector b)
|
|
{
|
|
Vector r;
|
|
|
|
r.x = -(z*b.y) + (y*b.z);
|
|
r.y = (z*b.x) - (x*b.z);
|
|
r.z = -(y*b.x) + (x*b.y);
|
|
|
|
return r;
|
|
}
|
|
|
|
double Vector::Dot(Vector b)
|
|
{
|
|
return (x*b.x + y*b.y + z*b.z);
|
|
}
|
|
|
|
Vector Vector::RotatedAbout(Vector axis, double theta)
|
|
{
|
|
double c = cos(theta);
|
|
double s = sin(theta);
|
|
|
|
Vector r;
|
|
|
|
r.x = (x)*(c + (1 - c)*(axis.x)*(axis.x)) +
|
|
(y)*((1 - c)*(axis.x)*(axis.y) - s*(axis.z)) +
|
|
(z)*((1 - c)*(axis.x)*(axis.z) + s*(axis.y));
|
|
|
|
r.y = (x)*((1 - c)*(axis.y)*(axis.x) + s*(axis.z)) +
|
|
(y)*(c + (1 - c)*(axis.y)*(axis.y)) +
|
|
(z)*((1 - c)*(axis.y)*(axis.z) - s*(axis.x));
|
|
|
|
r.z = (x)*((1 - c)*(axis.z)*(axis.x) - s*(axis.y)) +
|
|
(y)*((1 - c)*(axis.z)*(axis.y) + s*(axis.x)) +
|
|
(z)*(c + (1 - c)*(axis.z)*(axis.z));
|
|
|
|
return r;
|
|
}
|
|
|
|
double Vector::Magnitude(void)
|
|
{
|
|
return sqrt(x*x + y*y + z*z);
|
|
}
|
|
|
|
Vector Vector::ScaledBy(double v)
|
|
{
|
|
Vector r;
|
|
|
|
r.x = x * v;
|
|
r.y = y * v;
|
|
r.z = z * v;
|
|
|
|
return r;
|
|
}
|
|
|