class wcPt3D {public:	GLfloat x, y, z;};typedef GLfloat Matrix4x4[4][4];// 打印矩阵void printMatrix4x4(Matrix4x4 mat){	printf("[");	for (int row = 0; row < 4; ++row)	{		for (int col = 0; col < 4; ++col)		{			printf("%.2f, ", mat[row][col]);		}		printf("\n");	}	printf("]\n");}// 转置矩阵void matrix4x4Transpose(Matrix4x4 mat){	Matrix4x4 mat_transp;	for (int row = 0; row < 4; ++row)	{		for (int col = 0; col < 4; ++col)		{			mat_transp[col][row] = mat[row][col];		}	}	for (int row = 0; row < 4; ++row)	{		for (int col = 0; col < 4; ++col)		{			mat[row][col] = mat_transp[row][col];		}	}}// 初始化为单位矩阵void matrix4x4SetIdentity(Matrix4x4 &mat){	for (int row = 0; row < 4; ++row)	{		for (int col = 0; col < 4; ++col)		{			mat[row][col] = (row == col);		}	}}/*	四阶矩阵相乘并将结果保存到mat2*/void matrix4x4PreMultiply(Matrix4x4 mat1, Matrix4x4 mat2){	Matrix4x4 mat_ret;	for (int row = 0; row < 4; ++row)	{		for (int col = 0; col < 4; ++col)		{			GLfloat sum = 0;			for (int i = 0; i < 4; ++i)			{				sum += mat1[row][i] * mat2[i][col];			}			mat_ret[row][col] = sum;		}	}	for (int row = 0; row < 4; ++row)	{		for (int col = 0; col < 4; ++col)		{			mat2[row][col] = mat_ret[row][col];		}	}}// 位移void translate3D(Matrix4x4 mat, const GLfloat tx,const GLfloat ty,const GLfloat tz){	Matrix4x4 trans_mat;	matrix4x4SetIdentity(trans_mat);	trans_mat[0][3] = tx;	trans_mat[1][3] = ty;	trans_mat[2][3] = tz;	matrix4x4PreMultiply(trans_mat, mat);}// 缩放void scale3D(Matrix4x4 mat, const GLfloat sx, const GLfloat sy, const GLfloat sz){	Matrix4x4 mat_scale;	matrix4x4SetIdentity(mat_scale);	mat_scale[0][0] = sx;	mat_scale[1][1] = sy;	mat_scale[2][2] = sz;	matrix4x4PreMultiply(mat_scale, mat);}