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Copy pathtrans.c
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trans.c
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/*
* Please see README for copying information.
*/
#include "globals.h"
#include <math.h>
void transform(double a[][3],double a2[][2], double xr,double yr,
double zr, int points)
{
double x[3][3];
double y[3][3];
double z[3][3];
double t[3][3];
double temp[3][3];
int i,j,k;
double sum;
x[0][0] = 1; x[0][1] = 0; x[0][2] = 0;
x[1][0] = 0; x[1][1] = cos(xr); x[1][2] = -sin(xr);
x[2][0] = 0; x[2][1] = sin(xr); x[2][2] = cos(xr);
y[0][0] = cos(yr); y[0][1] = 0; y[0][2] = sin(yr);
y[1][0] = 0; y[1][1] = 1; y[1][2] = 0;
y[2][0] = -sin(yr); y[2][1] = 0; y[2][2] = cos(yr);
z[0][0] = cos(zr); z[0][1] = -sin(zr); z[0][2] = 0;
z[1][0] = sin(zr); z[1][1] = cos(zr); z[1][2] = 0;
z[2][0] = 0; z[2][1] = 0; z[2][2] = 1;
for (i=0;i<3;i++) {
for (j=0;j<3;j++) {
for(sum=0,k=0;k<3;k++) {
sum += y[i][k] * x[k][j];
}
temp[i][j] = sum;
}
}
for (i=0;i<3;i++) {
for (j=0;j<3;j++) {
for(sum=0,k=0;k<3;k++) {
sum += z[i][k] * temp[k][j];
}
t[i][j] = sum;
}
}
for (i=0;i<points;i++) {
for(j=0;j<2;j++) {
for(sum=0,k=0;k<3;k++) {
sum += a[i][k] * t[k][j];
}
a2[i][j] = sum;
}
}
}