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37 #include "gromacs/math/3dtransforms.h"
42 #include "gromacs/math/vec.h"
43 #include "gromacs/utility/fatalerror.h"
47 void gmx_mat4_copy(mat4 a, mat4 b)
49 for (int i = 0; i < N; ++i)
51 for (int j = 0; j < N; ++j)
58 void gmx_mat4_transform_point(mat4 m, rvec x, vec4 v)
62 for (i = 0; (i < N); i++)
64 v[i] = m[XX][i]*x[XX]+m[YY][i]*x[YY]+m[ZZ][i]*x[ZZ]+m[WW][i];
68 void gmx_mat4_mmul(mat4 A, mat4 B, mat4 C)
72 for (i = 0; i < N; i++)
74 for (j = 0; j < N; j++)
77 for (k = 0; (k < N); k++)
79 A[i][j] += B[i][k]*C[k][j];
85 void gmx_mat4_init_unity(mat4 m)
89 for (i = 0; (i < N); i++)
91 for (j = 0; (j < N); j++)
105 void gmx_mat4_init_rotation(int axis, real angle, mat4 A)
107 gmx_mat4_init_unity(A);
112 A[YY][YY] = cos(angle);
113 A[YY][ZZ] = -sin(angle);
114 A[ZZ][YY] = sin(angle);
115 A[ZZ][ZZ] = cos(angle);
118 A[XX][XX] = cos(angle);
119 A[XX][ZZ] = sin(angle);
120 A[ZZ][XX] = -sin(angle);
121 A[ZZ][ZZ] = cos(angle);
124 A[XX][XX] = cos(angle);
125 A[XX][YY] = -sin(angle);
126 A[YY][XX] = sin(angle);
127 A[YY][YY] = cos(angle);
130 gmx_fatal(FARGS, "Error: invalid axis: %d", axis);
134 void gmx_mat4_init_translation(real tx, real ty, real tz, mat4 A)
136 gmx_mat4_init_unity(A);
142 void gmx_mat4_print(FILE *fp, const char *s, mat4 A)
148 fprintf(fp, "%s: ", s);
149 for (i = 0; i < N; i++)
152 for (j = 0; j < N; j++)
154 fprintf(fp, "%10.5f", A[i][j]);
161 void gmx_vec4_print(FILE *fp, const char *s, vec4 a)
167 fprintf(fp, "%s: ", s);
168 for (j = 0; j < N; j++)
170 fprintf(fp, "%10.5f", a[j]);