Quality-of-service routing (QoSR), seeking to find a feasible path with multiple constraints, is an NP-complete problem. We propose a novel precomputation approach to multi-constrained intra-domain QoS routing (PMCP). It is assumed that a router maintains the link state information of the entire domain. PMCP cares each QoS weight to several degrees, and computes a number of QoS coefficients uniformly distributed in the multi-dimensional QoS metric space. Based on each coefficient, a linear QoS function is constructed to convert the multiple QoS metrics to a single QoS value. We then create a shortest path tree with respect to the QoS value by Dijkstra’s algorithm. Finally, according to the multiple coefficients, different shortest path trees are calculated to compose the QoS routing table. We analyze linear QoS functions in the QoS metric space, and give a mathematical model to determine the feasibility of a QoS request in the space. After PMCP is introduced, we analyze its computational complexity and present a method of QoS routing table lookup. Extensive simulations evaluate the performance of the proposed algorithm and present a comparative study.