36 lines
923 B
C
36 lines
923 B
C
#include <meidogte.h>
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MATRIX *HiRotMatrix(VECTOR *r, MATRIX *m) {
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short s[3],c[3];
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MATRIX tm[3];
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s[0] = hisin(r->vx); s[1] = hisin(r->vy); s[2] = hisin(r->vz);
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c[0] = hicos(r->vx); c[1] = hicos(r->vy); c[2] = hicos(r->vz);
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// mX
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m->m[0][0] = ONE; m->m[0][1] = 0; m->m[0][2] = 0;
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m->m[1][0] = 0; m->m[1][1] = c[0]; m->m[1][2] = -s[0];
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m->m[2][0] = 0; m->m[2][1] = s[0]; m->m[2][2] = c[0];
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// mY
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tm[0].m[0][0] = c[1]; tm[0].m[0][1] = 0; tm[0].m[0][2] = s[1];
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tm[0].m[1][0] = 0; tm[0].m[1][1] = ONE; tm[0].m[1][2] = 0;
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tm[0].m[2][0] = -s[1]; tm[0].m[2][1] = 0; tm[0].m[2][2] = c[1];
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// mZ
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tm[1].m[0][0] = c[2]; tm[1].m[0][1] = -s[2]; tm[1].m[0][2] = 0;
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tm[1].m[1][0] = s[2]; tm[1].m[1][1] = c[2]; tm[1].m[1][2] = 0;
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tm[1].m[2][0] = 0; tm[1].m[2][1] = 0; tm[1].m[2][2] = ONE;
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PushMatrix();
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MulMatrix0( m, &tm[0], &tm[2] );
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MulMatrix0( &tm[2], &tm[1], m );
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PopMatrix();
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return m;
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}
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