--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Makefile	Wed Jul 23 13:57:33 2008 +0800
@@ -0,0 +1,22 @@
+SRCS = coord.c
+TESTCASE_OBJS = ${SRCS:C/(.*)\.c/testcase-\1.o/g}
+CFLAGS=-I/usr/local/include
+
+all: testcase
+
+testcase: testcase.o $(TESTCASE_OBJS)
+	$(CC) $(LDFLAGS) -o $@ $(.ALLSRC) -L/usr/local/lib -lcunit
+
+.for i in $(TESTCASE_OBJS)
+${i}: ${i:C/testcase-(.*).o/\1.c/}
+	$(CC) $(CFLAGS) -DUNITTEST -g -c -o $@ $(.ALLSRC)
+.endfor
+
+testcase.o:	testcase.c
+	$(CC) $(CFLAGS) -c $(.ALLSRC)
+
+clean:
+	for i in *.o *~$(BINS); do \
+		echo "delete $$i"; \
+		rm -f $$i; \
+	done

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/coord.c	Wed Jul 23 13:57:33 2008 +0800
@@ -0,0 +1,141 @@
+#include <stdio.h>
+#include <string.h>
+
+typedef struct coord {
+    int seq;
+    float matrix[6];
+    float aggr_matrix[6];
+    struct coord *parent;
+    struct coord *children, *sibling;
+} coord_t;
+
+static void mul_matrix(float *m1, float *m2, float *dst) {
+    dst[0] = m1[0] * m2[0] + m1[1] * m2[3];
+    dst[1] = m1[0] * m2[1] + m1[1] * m2[4];
+    dst[2] = m1[0] * m2[2] + m1[1] * m2[5] + m1[2];
+    dst[3] = m1[3] * m2[0] + m1[4] * m2[3];
+    dst[4] = m1[3] * m2[1] + m1[4] * m2[4];
+    dst[5] = m1[3] * m2[2] + m1[4] * m2[5] + m1[5];
+}
+
+static void compute_transform_function(coord_t *visit) {
+    if(visit->parent)
+	mul_matrix(visit->parent->aggr_matrix,
+		   visit->matrix, visit->aggr_matrix);
+    else
+	memcpy(visit->aggr_matrix, visit->matrix, sizeof(visit->matrix));
+}
+
+/*! \brief Update aggregate matrices of elements under a sub-tree.
+ *
+ * A subtree is specified by the root of it.  All elements in the subtree
+ * are effected by that changes of matrix of the subtree root.
+ */
+void update_aggr_matrix(coord_t *start) {
+    coord_t *visit, *child, *next;
+
+    compute_transform_function(start);
+
+    visit = start;
+    while(visit) {
+	child = visit->children;
+	while(child) {
+	    compute_transform_function(child);
+	    child = child->sibling;
+	}
+
+	if(visit->children)
+	    visit = visit->children;
+	else if(visit->sibling)
+	    visit = visit->sibling;
+	else {
+	    next = NULL;
+	    while(visit->parent && visit->parent != start) {
+		visit = visit->parent;
+		if(visit->sibling) {
+		    next = visit->sibling;
+		    break;
+		}
+	    }
+	    visit = next;
+	}
+    }
+}
+
+void coord_init(coord_t *co, coord_t *parent) {
+    memset(co, 0, sizeof(coord_t));
+    if(parent) {
+	co->parent = parent;
+	co->sibling = parent->children;
+	parent->children = co;
+    }
+    co->matrix[0] = 1;
+    co->matrix[4] = 1;
+}
+
+#ifdef UNITTEST
+
+#include <CUnit/Basic.h>
+
+void test_update_aggr_matrix(void) {
+    coord_t elms[6];
+
+    coord_init(elms, NULL);
+    coord_init(elms + 1, elms);
+    coord_init(elms + 2, elms);
+    coord_init(elms + 3, elms + 1);
+    coord_init(elms + 4, elms + 1);
+    coord_init(elms + 5, elms + 2);
+
+    /* | 2 -1 0 |
+     * | 0  1 0 |
+     * | 0  0 1 |
+     */
+    elms[0].matrix[0] = 2;
+    elms[0].matrix[1] = -1;
+
+    /* | 1 3 0 |
+     * | 5 1 0 |
+     * | 0 0 1 |
+     */
+    elms[1].matrix[1] = 3;
+    elms[1].matrix[3] = 5;
+
+    update_aggr_matrix(elms);
+
+    /* | -3 5 0 |
+     * | 5  1 0 | 
+     * | 0  0 1 |
+     */
+    CU_ASSERT(elms[3].aggr_matrix[0] == -3);
+    CU_ASSERT(elms[3].aggr_matrix[1] == 5);
+    CU_ASSERT(elms[3].aggr_matrix[2] == 0);
+    CU_ASSERT(elms[3].aggr_matrix[3] == 5);
+    CU_ASSERT(elms[3].aggr_matrix[4] == 1);
+    CU_ASSERT(elms[3].aggr_matrix[5] == 0);
+
+    CU_ASSERT(elms[4].aggr_matrix[0] == -3);
+    CU_ASSERT(elms[4].aggr_matrix[1] == 5);
+    CU_ASSERT(elms[4].aggr_matrix[2] == 0);
+    CU_ASSERT(elms[4].aggr_matrix[3] == 5);
+    CU_ASSERT(elms[4].aggr_matrix[4] == 1);
+    CU_ASSERT(elms[4].aggr_matrix[5] == 0);
+
+    CU_ASSERT(elms[5].aggr_matrix[0] == 2);
+    CU_ASSERT(elms[5].aggr_matrix[1] == -1);
+    CU_ASSERT(elms[5].aggr_matrix[2] == 0);
+    CU_ASSERT(elms[5].aggr_matrix[3] == 0);
+    CU_ASSERT(elms[5].aggr_matrix[4] == 1);
+    CU_ASSERT(elms[5].aggr_matrix[5] == 0);
+}
+
+CU_pSuite get_coord_suite(void) {
+    CU_pSuite suite;
+
+    suite = CU_add_suite("Suite_coord", NULL, NULL);
+    CU_ADD_TEST(suite, test_update_aggr_matrix);
+
+    return suite;
+}
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/testcase.c	Wed Jul 23 13:57:33 2008 +0800
@@ -0,0 +1,19 @@
+#include <CUnit/Basic.h>
+
+extern CU_pSuite get_coord_suite(void);
+
+int
+main(int argc, char * const argv[]) {
+    CU_pSuite suite;
+
+    if(CU_initialize_registry() != CUE_SUCCESS)
+	return CU_get_error();
+
+    get_coord_suite();
+
+    CU_basic_set_mode(CU_BRM_VERBOSE);
+    CU_basic_run_tests();
+    CU_cleanup_registry();
+
+    return CU_get_error();
+}