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40 #include "3dtransforms.h"
45 #include "gromacs/math/vec.h"
46 #include "gromacs/utility/fatalerror.h"
50 void gmx_mat4_copy(mat4 a, mat4 b)
52 for (int i = 0; i < N; ++i)
54 for (int j = 0; j < N; ++j)
61 void gmx_mat4_transform_point(mat4 m, const rvec x, vec4 v)
65 for (i = 0; (i < N); i++)
67 v[i] = m[XX][i] * x[XX] + m[YY][i] * x[YY] + m[ZZ][i] * x[ZZ] + m[WW][i];
71 void gmx_mat4_mmul(mat4 A, mat4 B, mat4 C)
75 for (i = 0; i < N; i++)
77 for (j = 0; j < N; j++)
80 for (k = 0; (k < N); k++)
82 A[i][j] += B[i][k] * C[k][j];
88 void gmx_mat4_init_unity(mat4 m)
92 for (i = 0; (i < N); i++)
94 for (j = 0; (j < N); j++)
108 void gmx_mat4_init_rotation(int axis, real angle, mat4 A)
110 gmx_mat4_init_unity(A);
115 A[YY][YY] = cos(angle);
116 A[YY][ZZ] = -sin(angle);
117 A[ZZ][YY] = sin(angle);
118 A[ZZ][ZZ] = cos(angle);
121 A[XX][XX] = cos(angle);
122 A[XX][ZZ] = sin(angle);
123 A[ZZ][XX] = -sin(angle);
124 A[ZZ][ZZ] = cos(angle);
127 A[XX][XX] = cos(angle);
128 A[XX][YY] = -sin(angle);
129 A[YY][XX] = sin(angle);
130 A[YY][YY] = cos(angle);
132 default: gmx_fatal(FARGS, "Error: invalid axis: %d", axis);
136 void gmx_mat4_init_translation(real tx, real ty, real tz, mat4 A)
138 gmx_mat4_init_unity(A);
144 void gmx_mat4_print(FILE* fp, const char* s, mat4 A)
150 fprintf(fp, "%s: ", s);
151 for (i = 0; i < N; i++)
154 for (j = 0; j < N; j++)
156 fprintf(fp, "%10.5f", A[i][j]);
163 void gmx_vec4_print(FILE* fp, const char* s, vec4 a)
169 fprintf(fp, "%s: ", s);
170 for (j = 0; j < N; j++)
172 fprintf(fp, "%10.5f", a[j]);