--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/old/simple_pack/sys.cpp	Mon Oct 12 09:39:35 2009 +0900
@@ -0,0 +1,116 @@
+#include <iostream>
+#include <math.h>
+#include "sys.h"
+using namespace std;
+
+void noMoreMemory()
+{
+  cout << "can't allocate memory\n";
+  exit(1);
+}
+
+void matrix4x4(float *xyz, float *xyz1, float *xyz2) //xyz[16]
+{
+  for(int t=0; t<16; t+=4)
+    {
+      for(int i=0; i<4; i++)
+	{
+	  xyz[t+i] = xyz1[t]*xyz2[i] + xyz1[t+1]*xyz2[4+i] + xyz1[t+2]*xyz2[8+i] + xyz1[t+3]*xyz2[12+i];
+	}
+    }
+}
+
+void get_matrix( float *matrix, float *rxyz, float *txyz, float *stack)
+{
+  float radx,rady,radz;
+  radx = rxyz[0]*3.14/180;
+  rady = rxyz[1]*3.14/180;
+  radz = rxyz[2]*3.14/180;
+
+  float sinx = sin(radx);
+  float cosx = cos(radx);
+  float siny = sin(rady);
+  float cosy = cos(rady);
+  float sinz = sin(radz);
+  float cosz = cos(radz);
+
+  matrix[0] = cosz*cosy+sinz*sinx*siny;
+  matrix[1] =sinz*cosx;
+  matrix[2] = -cosz*siny+sinz*sinx*cosy;
+  matrix[3] = 0;
+  matrix[4] = -sinz*cosy+cosz*sinx*siny;
+  matrix[5] = cosz*cosx;
+  matrix[6] = sinz*siny+cosz*sinx*cosy;
+  matrix[7] = 0;
+  matrix[8] = cosx*siny;
+  matrix[9] = -sinx;
+  matrix[10] = cosx*cosy;
+  matrix[11] = 0;
+  matrix[12] = txyz[0];
+  matrix[13] = txyz[1];
+  matrix[14] = txyz[2];
+  matrix[15] = 1;
+
+  float m[16];
+
+  for(int i=0; i<16; i++)
+    {
+      m[i] = matrix[i];
+    }
+
+  if(stack)
+    {
+      matrix4x4(matrix, m, stack);
+    }
+
+}
+
+void rotate_x(float *xyz, float r)
+{
+  float rad = r*3.14/180;
+
+  xyz[0] = xyz[0];
+  xyz[1] = xyz[1]*cos(rad) - xyz[2]*sin(rad);
+  xyz[2] = xyz[1]*sin(rad) + xyz[2]*cos(rad);
+}
+
+void rotate_y(float *xyz, float r)
+{
+  float rad = r*3.14/180;
+
+  xyz[0] = xyz[0]*cos(rad) + xyz[2]*sin(rad);
+  xyz[1] = xyz[1];
+  xyz[2] = -xyz[0]*sin(rad) + xyz[2]*cos(rad);
+}
+
+void rotate_z(float *xyz, float r)
+{
+  float rad = r*3.14/180;
+
+  xyz[0] = xyz[0]*cos(rad) - xyz[1]*sin(rad);
+  xyz[1] = xyz[0]*sin(rad) + xyz[1]*cos(rad);
+  xyz[2] = xyz[2];
+}
+
+void rotate(float *xyz, float *matrix)
+{
+  float abc[4];
+  abc[0] = xyz[0];
+  abc[1] = xyz[1];
+  abc[2] = xyz[2];
+  abc[3] = xyz[3];
+
+  for(int i=0; i<4; i++)
+    {
+      //xyz[i] = abc[0]*rot[i] + abc[1]*rot[i+4] + abc[2]*rot[i+8] + abc[3]*rot[i+12];
+      xyz[i] = abc[0]*matrix[i] + abc[1]*matrix[i+4] + abc[2]*matrix[i+8] + abc[3]*matrix[i+12];
+    }
+}
+
+
+void translate(float *xyz, float x, float y, float z)
+{
+  xyz[0] += x;
+  xyz[1] += y;
+  xyz[2] += z;
+}