//----------------------------------------------------------------------------------------------
// A simple program by Vincenzo Amendola in C/C++ to manipulate an object of given coordinates
// in 3-dimensional space. The algorithm is particularly efficient with x1, y1, z1 derived using
// matrix algebra... a GUI may be added to visualise the transformations.
//----------------------------------------------------------------------------------------------
 
#include <iostream.h>
#include <math.h>

int main()
{
double x, y, z, x1, y1, z1, dx, dy, dz, sx, sy, sz;
double deg_to_rad = 3.1415926536/180;	// pi/180
double a, b, c;
double sa, sb, sc, ca, cb, cc;

	cout<<"Enter coordinates x, y, z (separate with spaces): ";
		cin>>x; cin>>y; cin>>z;
	cout<<"Enter translation coefficients dx, dy, dz (separate with spaces): ";
		cin>>dx; cin>>dy; cin>>dz;
	cout<<"Enter scaling factors sx, sy, sz (separate with spaces): ";
		cin>>sx; cin>>sy; cin>>sz;
	cout<<"Enter rotation angles(deg) a, b, c (separate with spaces): ";
		cin>>a; cin>>b; cin>>c;

//----------------------------------------------------------------------------------------------

	sa = sin(a * deg_to_rad); sb = sin(b * deg_to_rad); sc = sin(c * deg_to_rad);
	ca = cos(a * deg_to_rad); cb = cos(b * deg_to_rad); cc = cos(c * deg_to_rad);

	x1 = (sx*cb*cc*x +sy*sa*sb*cc*y -sy*sc*ca*y +sz*sb*ca*cc*z +sz*sa*sc*z
			+sx*cb*cc*dx +sy*sa*sb*cc*dy +sz*sb*ca*cc*dx -sy*sc*ca*dy +sz*sa*sc*dz);
	y1 = (sx*sc*cb*x +sy*sa*sb*sc*y +sy*ca*cc*y +sz*sb*sc*ca*z -sz*sa*cc*z
			+sx*sc*cb*dx +sy*sa*sb*sc*dy +sz*sb*sc*ca*dz +sy*ca*cc*dy -sz*sa*cc*dz);
	z1 = (-sx*sb*x +sy*sa*cb*y +sz*ca*cb*z -sx*sb*dx +sy*sa*cb*dy +sz*ca*cb*dz);

// Perspective projection is not included. To include this use the following:
// xp = distance_value * (x/z)
// yp = distance_value * (y/z)
//----------------------------------------------------------------------------------------------

	cout<<"\nNew coordinates: "<<x1<<" "<<y1<<" "<<z1;

return 0;
}