position.c
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/**************************************************************************
* *
* Copyright (C) 1995, Silicon Graphics, Inc. *
* *
* These coded instructions, statements, and computer programs contain *
* unpublished proprietary information of Silicon Graphics, Inc., and *
* are protected by Federal copyright law. They may not be disclosed *
* to third parties or copied or duplicated in any form, in whole or *
* in part, without the prior written consent of Silicon Graphics, Inc. *
* *
**************************************************************************/
#include "guint.h"
/*
* Return position matrix given roll, pitch, and yaw in degrees
* plus scale and position.
*
* r = roll (degrees)
* p = pitch (degrees)
* h = yaw (degrees)
* s = scale
* x,y,z = position (world coordinates)
*
*/
void guPositionF(float mf[4][4], float r, float p, float h, float s,
float x, float y, float z)
{
static float dtor = 3.1415926 / 180.0;
float sinr, sinp, sinh;
float cosr, cosp, cosh;
r *= dtor;
p *= dtor;
h *= dtor;
sinr = sinf(r);
cosr = cosf(r);
sinp = sinf(p);
cosp = cosf(p);
sinh = sinf(h);
cosh = cosf(h);
mf[0][0] = (cosp*cosh) * s;
mf[0][1] = (cosp*sinh) * s;
mf[0][2] = (-sinp) * s;
mf[0][3] = 0.0;
mf[1][0] = (sinr*sinp*cosh - cosr*sinh) * s;
mf[1][1] = (sinr*sinp*sinh + cosr*cosh) * s;
mf[1][2] = (sinr*cosp) * s;
mf[1][3] = 0.0;
mf[2][0] = (cosr*sinp*cosh + sinr*sinh) * s;
mf[2][1] = (cosr*sinp*sinh - sinr*cosh) * s;
mf[2][2] = (cosr*cosp) * s;
mf[2][3] = 0.0;
mf[3][0] = x;
mf[3][1] = y;
mf[3][2] = z;
mf[3][3] = 1.0;
}
void guPosition(Mtx *m, float r, float p, float h, float s,
float x, float y, float z)
{
float mf[4][4];
guPositionF(mf, r, p, h, s, x, y, z);
guMtxF2L(mf, m);
}