# sgu265Wizards(计算几何)

## 题意：

1.平移(x,y,z)⇒(x+a,y+b,z+c)；

2.缩放(x,y,z)⇒(ax,by,cz)；

3.绕一个向量(x,y,z)顺时针旋转α角(角度制)。

## tip：

#include <cstdio>
#include <iostream>
#include <algorithm>
#include <cstring>
#include <cmath>
using namespace std;
const double PI = acos(-1.0);
struct Tmatrix{
double mat[4][4];
void init(){
for(int i = 0 ;i < 4; i++)for(int j = 0 ; j < 4 ; j++)  mat[i][j] = 0.0;
}
Tmatrix mul(Tmatrix b){
Tmatrix p;
p.init();
for(int i =  0 ;i <= 3 ;i++){
for(int k = 0 ; k <= 3 ; k++){
for(int j = 0 ; j <= 3 ; j++){
p.mat[i][j] += mat[i][k]*b.mat[k][j];
}
}
}
return p;
}
}ans;
struct Tpoint{
double x,y,z;
friend Tpoint operator + (const Tpoint &a, const Tpoint &b) {return Tpoint(a.x+b.x, a.y+b.y, a.z+b.z);}
friend Tpoint operator - (const Tpoint &a, const Tpoint &b) {return Tpoint(a.x-b.x, a.y-b.y, a.z-b.z);}
friend Tpoint operator * (const Tpoint &a, double k) {return Tpoint(a.x*k, a.y*k, a.z*k);}
friend Tpoint operator / (const Tpoint &a, double k) {return Tpoint(a.x/k, a.y/k, a.z/k);}
friend double operator * (const Tpoint &a, const Tpoint &b) {return a.x*b.x+a.y*b.y+a.z*b.z;}
friend Tpoint operator ^ (const Tpoint &a, const Tpoint &b) {return Tpoint(a.y*b.z-a.z*b.y, a.z*b.x-a.x*b.z, a.x*b.y-a.y*b.x);}
double len() {return sqrt((*this)*(*this));}

Tpoint (double x = 0,double y = 0,double z = 0):x(x),y(y),z(z){}
scanf("%lf%lf%lf",&x,&y,&z);
}
void print(){
printf("%.2f %.2f %.2f\n",x,y,z);
}

};

Tmatrix m;
m.init();
for(int i = 0 ; i < 4; i++)
m.mat[i][i]  = 1;

return m;
}
Tmatrix scal(double tx,double ty,double tz){
Tmatrix m;
m.init();
m.mat[0][0] = tx;m.mat[1][1] = ty;m.mat[2][2] = tz;m.mat[3][3] = 1;
return m;
}
Tmatrix rot(Tpoint p,Tpoint vv,double t){
Tmatrix m;
Tpoint tmp = vv/vv.len();
//cout <<vv.x<<"  "<<vv.y<<"  "<<vv.z<<endl;
double u = tmp.x;
double v = tmp.y;
double w = tmp.z;
double a = p.x;
double b = p.y;
double c = p.z;
double mak[4][4] = { {u*u+(v*v+w*w)*cos(t),    u*v*(1-cos(t))-w*sin(t), u*w*(1-cos(t))+v*sin(t), (a*(v*v+w*w)-u*(b*v+c*w))*(1-cos(t))+(b*w-c*v)*sin(t)},
{u*v*(1-cos(t))+w*sin(t), v*v+(u*u+w*w)*cos(t),    v*w*(1-cos(t))-u*sin(t), (b*(u*u+w*w)-v*(a*u+c*w))*(1-cos(t))+(c*u-a*w)*sin(t)},
{u*w*(1-cos(t))-v*sin(t), v*w*(1-cos(t))+u*sin(t), w*w+(u*u+v*v)*cos(t),    (c*(u*u+v*v)-w*(a*u+b*v))*(1-cos(t))+(a*v-b*u)*sin(t)},
{ 0.0,                    0.0,                     0.0,                      1.0} };
for(int i = 0 ; i < 4; i++)
for(int j = 0 ; j < 4; j++)
m.mat[i][j] = mak[i][j];
return m;
}
int n;
char s[3];
void init(){
scanf("%d",&n);
ans.init();
for(int i = 0 ; i < 4 ; i++)    ans.mat[i][i] = 1;

for(int i = 0 ; i < n ; i++){
scanf("%s",s);
//printf("%s\n",s);
Tpoint a;
//a.print();
if(s[0] == 'T'){
ans = trans(a.x,a.y,a.z).mul(ans);
}
else if(s[0] == 'S'){
ans = scal(a.x,a.y,a.z).mul(ans);
}
else{
double ang;
scanf("%lf",&ang);
ang = ang*PI/180;
ans = rot(Tpoint(0,0,0),a,ang).mul(ans);
}
//cout <<ans.mat[0][0]<<"  "<<ans.mat[0][1] <<"  "<<ans.mat[0][2]<<"  "<<ans.mat[0][3]<<endl;
//cout <<ans.mat[1][0]<<"  "<<ans.mat[1][1] <<"  "<<ans.mat[1][2]<<"  "<<ans.mat[1][3]<<endl;
//cout <<ans.mat[2][0]<<"  "<<ans.mat[2][1] <<"  "<<ans.mat[2][2]<<"  "<<ans.mat[2][3]<<endl;
//cout <<ans.mat[3][0]<<"  "<<ans.mat[3][1] <<"  "<<ans.mat[3][2]<<"  "<<ans.mat[3][3]<<endl;
}

}
void sov(){
scanf("%d",&n);
for(int i = 0  ; i < n ; i++){
Tpoint a,b;
//cout <<a.x<<"  "<<a.y<<"  "<<a.z<<endl;
b.x = a.x*ans.mat[0][0]+ans.mat[0][1]*a.y+ans.mat[0][2]*a.z+ans.mat[0][3];
b.y = a.x*ans.mat[1][0]+ans.mat[1][1]*a.y+ans.mat[1][2]*a.z+ans.mat[1][3];
b.z = a.x*ans.mat[2][0]+ans.mat[2][1]*a.y+ans.mat[2][2]*a.z+ans.mat[2][3];
b.print();
}
}
int main(){
init();
sov();
}
/*
1
R 0.0 0.0 1.0 2.0
3
2.0 3.0 4.0
*/