包括以下函数
1)平移(tx,ty,tz)的矩阵Txyz
void matTxyz(float Txyz[4][4],float tx,float ty,float tz)
2)绕x轴旋转theta角的矩阵Rx
void matRx(float Rx[4][4],float theta)
3)绕y轴旋转theta角的矩阵Ry
void matRy(float Ry[4][4],float theta)
4)绕z轴旋转theta角的矩阵Rz
void matRz(float Rz[4][4],float theta)
5)绕指定轴(起点(0,0,0),终点(x,y,z))旋转theta角的矩阵R
void matR(float R[4][4],float theta,float x,float y,float z)
6)缩放矩阵Sxyz
void matSxyz(float Sxyz[4][4],float sx,float sy,float sz)
7)4阶方阵相乘 R=A*B
void MatMul(float R[4][4],const float A[4][4],const float B[4][4])
8)4阶方阵与4维向量相乘 PV=Mat*Vector
void MVMul(float PV[],const float Mat[][4],const float Vector[])(Include the following functions
1) The matrix txyz of translation (TX, ty, TZ)
void matTxyz(float Txyz[4][4],float tx,float ty,float tz)
2) Matrix RX of rotation theta angle around X axis
void matRx(float Rx[4][4],float theta)
3) Matrix ry of rotation theta angle about y axis
void matRy(float Ry[4][4],float theta)
4) Matrix RZ of rotation theta angle about Z axis
void matRz(float Rz[4][4],float theta)
5) Rotate the matrix R of theta angle around the specified axis (start point (0,0,0), end point (x, y, z))
void matR(float R[4][4],float theta,float x,float y,float z)
6) Scaling matrix sxyz
void matSxyz(float Sxyz[4][4],float sx,float sy,float sz)
7) Fourth order square matrix multiplication r = a * B
void MatMul(float R[4][4],const float A[4][4],const float B[4][4])
8) Fourth order square matrix multiplied by 4-dimensional vector PV = mat * vector
void MVMul(float PV[],const float Mat[][4],const float Vector[]))