95 lines
2.5 KiB
C++
95 lines
2.5 KiB
C++
#include <cstdio>
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#include <cstring>
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#include <cmath>
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#include <algorithm>
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#define forn(i,n) for(int i=0; i<(int)(n); i++)
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using namespace std;
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const int N = 4;
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const double eps = 1e-6;
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const double pi = acos(-1.0);
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struct matrix {
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int n;
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double a[N][N];
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void clear() {forn(i,n)forn(j,n)a[i][j]=0;}
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matrix(){}
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matrix(int z):n(z){clear();}
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matrix operator * (const matrix& u){
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matrix ans(n);
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forn(i,n) forn(k,n) forn(j,n)
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ans.a[i][j] += a[i][k] * u.a[k][j];
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return ans;
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}
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matrix pow(int k){
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matrix r(n), t=*this;
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forn(i,n) r.a[i][i]=1.0;
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while (k){
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if (k&1) r = t*r;
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t = t*t;
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k >>= 1;
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} return r;
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}
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};
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char op[20];
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matrix dfs(int tim){
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matrix res(4);
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forn(i,4)res.a[i][i]=1;
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double r[5];
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while (~scanf("%s", op)){
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if (op[0] == 'e') break;
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matrix tmp(4);
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forn(i,4)tmp.a[i][i]=1;
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if (op[0] == 't'){
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forn(i,3) scanf("%lf", &r[i]);
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forn(i,3) tmp.a[i][3]=r[i];
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}
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else if (op[0] == 's'){
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forn(i,3) scanf("%lf", &r[i]);
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forn(i,3) tmp.a[i][i]=r[i];
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}
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else if (op[0] == 'r' && op[1] == 'o'){
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double t=0.0, c, s;
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forn(i,4) scanf("%lf", &r[i]);
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forn(i,3) t += r[i]*r[i];
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t = sqrt(t);
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forn(i,3) r[i] /= t;
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r[3] = r[3]/180*pi;
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c = cos(r[3]), s = sin(r[3]);
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forn(i,3){
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forn(j,3){
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bool f = (i+1)%3==j;
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if (i == j) tmp.a[i][j]=(1-c)*r[i]*r[j]+c;
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else tmp.a[i][j]=(1-c)*r[i]*r[j]+s*(f?-r[3^i^j]:r[3^i^j]);
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}
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}
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}
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else {
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int tim2;
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scanf("%d", &tim2);
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tmp = dfs(tim2);
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}
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res = tmp*res;
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}
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return res.pow(tim);
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}
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double p[5], q[5];
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int main()
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{
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int n;
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while (~scanf("%d", &n) && n){
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matrix tmp(4);
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forn(i,4)tmp.a[i][i]=1;
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tmp = dfs(1)*tmp;
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forn(i,n){
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forn(j,3) scanf("%lf",&p[j]);
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p[3] = 1.0;
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forn(j,3){
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q[j] = 0.0;
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forn(k,4) q[j]+=tmp.a[j][k]*p[k];
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}
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forn(j,3) printf("%.2f%c",q[j]+eps,j==2?'\n':' ');
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}
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puts("");
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}
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return 0;
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}
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