src/glu/sgi/libutil/project.c

   1 /*
   2 ** License Applicability. Except to the extent portions of this file are
   3 ** made subject to an alternative license as permitted in the SGI Free
   4 ** Software License B, Version 1.1 (the "License"), the contents of this
   5 ** file are subject only to the provisions of the License. You may not use
   6 ** this file except in compliance with the License. You may obtain a copy
   7 ** of the License at Silicon Graphics, Inc., attn: Legal Services, 1600
   8 ** Amphitheatre Parkway, Mountain View, CA 94043-1351, or at:
   9 **
  10 ** http://oss.sgi.com/projects/FreeB
  11 **
  12 ** Note that, as provided in the License, the Software is distributed on an
  13 ** "AS IS" basis, with ALL EXPRESS AND IMPLIED WARRANTIES AND CONDITIONS
  14 ** DISCLAIMED, INCLUDING, WITHOUT LIMITATION, ANY IMPLIED WARRANTIES AND
  15 ** CONDITIONS OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A
  16 ** PARTICULAR PURPOSE, AND NON-INFRINGEMENT.
  17 **
  18 ** Original Code. The Original Code is: OpenGL Sample Implementation,
  19 ** Version 1.2.1, released January 26, 2000, developed by Silicon Graphics,
  20 ** Inc. The Original Code is Copyright (c) 1991-2000 Silicon Graphics, Inc.
  21 ** Copyright in any portions created by third parties is as indicated
  22 ** elsewhere herein. All Rights Reserved.
  23 **
  24 ** Additional Notice Provisions: The application programming interfaces
  25 ** established by SGI in conjunction with the Original Code are The
  26 ** OpenGL(R) Graphics System: A Specification (Version 1.2.1), released
  27 ** April 1, 1999; The OpenGL(R) Graphics System Utility Library (Version
  28 ** 1.3), released November 4, 1998; and OpenGL(R) Graphics with the X
  29 ** Window System(R) (Version 1.3), released October 19, 1998. This software
  30 ** was created using the OpenGL(R) version 1.2.1 Sample Implementation
  31 ** published by SGI, but has not been independently verified as being
  32 ** compliant with the OpenGL(R) version 1.2.1 Specification.
  33 **
  34 ** $Date: 2006/05/01 16:01:17 $ $Revision: 1.6 $
  35 ** $Header: /home/krh/git/sync/mesa-cvs-repo/Mesa/src/glu/sgi/libutil/project.c,v 1.6 2006/05/01 16:01:17 brianp Exp $
  36 */
  37
  38 #include "gluos.h"
  39 #include <math.h>
  40 #include <GL/gl.h>
  41 #include <GL/glu.h>
  42 #include "gluint.h"
  43
  44 /*
  45 ** Make m an identity matrix
  46 */
  47 static void __gluMakeIdentityd(GLdouble m[16])
  48 {
  49     m[0+4*0] = 1; m[0+4*1] = 0; m[0+4*2] = 0; m[0+4*3] = 0;
  50     m[1+4*0] = 0; m[1+4*1] = 1; m[1+4*2] = 0; m[1+4*3] = 0;
  51     m[2+4*0] = 0; m[2+4*1] = 0; m[2+4*2] = 1; m[2+4*3] = 0;
  52     m[3+4*0] = 0; m[3+4*1] = 0; m[3+4*2] = 0; m[3+4*3] = 1;
  53 }
  54
  55 static void __gluMakeIdentityf(GLfloat m[16])
  56 {
  57     m[0+4*0] = 1; m[0+4*1] = 0; m[0+4*2] = 0; m[0+4*3] = 0;
  58     m[1+4*0] = 0; m[1+4*1] = 1; m[1+4*2] = 0; m[1+4*3] = 0;
  59     m[2+4*0] = 0; m[2+4*1] = 0; m[2+4*2] = 1; m[2+4*3] = 0;
  60     m[3+4*0] = 0; m[3+4*1] = 0; m[3+4*2] = 0; m[3+4*3] = 1;
  61 }
  62
  63 void GLAPIENTRY
  64 gluOrtho2D(GLdouble left, GLdouble right, GLdouble bottom, GLdouble top)
  65 {
  66     glOrtho(left, right, bottom, top, -1, 1);
  67 }
  68
  69 #define __glPi 3.14159265358979323846
  70
  71 void GLAPIENTRY
  72 gluPerspective(GLdouble fovy, GLdouble aspect, GLdouble zNear, GLdouble zFar)
  73 {
  74     GLdouble m[4][4];
  75     double sine, cotangent, deltaZ;
  76     double radians = fovy / 2 * __glPi / 180;
  77
  78     deltaZ = zFar - zNear;
  79     sine = sin(radians);
  80     if ((deltaZ == 0) || (sine == 0) || (aspect == 0)) {
  81         return;
  82     }
  83     cotangent = COS(radians) / sine;
  84
  85     __gluMakeIdentityd(&m[0][0]);
  86     m[0][0] = cotangent / aspect;
  87     m[1][1] = cotangent;
  88     m[2][2] = -(zFar + zNear) / deltaZ;
  89     m[2][3] = -1;
  90     m[3][2] = -2 * zNear * zFar / deltaZ;
  91     m[3][3] = 0;
  92     glMultMatrixd(&m[0][0]);
  93 }
  94
  95 static void normalize(float v[3])
  96 {
  97     float r;
  98
  99     r = sqrt( v[0]*v[0] + v[1]*v[1] + v[2]*v[2] );
 100     if (r == 0.0) return;
 101
 102     v[0] /= r;
 103     v[1] /= r;
 104     v[2] /= r;
 105 }
 106
 107 static void cross(float v1[3], float v2[3], float result[3])
 108 {
 109     result[0] = v1[1]*v2[2] - v1[2]*v2[1];
 110     result[1] = v1[2]*v2[0] - v1[0]*v2[2];
 111     result[2] = v1[0]*v2[1] - v1[1]*v2[0];
 112 }
 113
 114 void GLAPIENTRY
 115 gluLookAt(GLdouble eyex, GLdouble eyey, GLdouble eyez, GLdouble centerx,
 116           GLdouble centery, GLdouble centerz, GLdouble upx, GLdouble upy,
 117           GLdouble upz)
 118 {
 119     float forward[3], side[3], up[3];
 120     GLfloat m[4][4];
 121
 122     forward[0] = centerx - eyex;
 123     forward[1] = centery - eyey;
 124     forward[2] = centerz - eyez;
 125
 126     up[0] = upx;
 127     up[1] = upy;
 128     up[2] = upz;
 129
 130     normalize(forward);
 131
 132     /* Side = forward x up */
 133     cross(forward, up, side);
 134     normalize(side);
 135
 136     /* Recompute up as: up = side x forward */
 137     cross(side, forward, up);
 138
 139     __gluMakeIdentityf(&m[0][0]);
 140     m[0][0] = side[0];
 141     m[1][0] = side[1];
 142     m[2][0] = side[2];
 143
 144     m[0][1] = up[0];
 145     m[1][1] = up[1];
 146     m[2][1] = up[2];
 147
 148     m[0][2] = -forward[0];
 149     m[1][2] = -forward[1];
 150     m[2][2] = -forward[2];
 151
 152     glMultMatrixf(&m[0][0]);
 153     glTranslated(-eyex, -eyey, -eyez);
 154 }
 155
 156 static void __gluMultMatrixVecd(const GLdouble matrix[16], const GLdouble in[4],
 157                       GLdouble out[4])
 158 {
 159     int i;
 160
 161     for (i=0; i<4; i++) {
 162         out[i] =
 163             in[0] * matrix[0*4+i] +
 164             in[1] * matrix[1*4+i] +
 165             in[2] * matrix[2*4+i] +
 166             in[3] * matrix[3*4+i];
 167     }
 168 }
 169
 170 /*
 171 ** Invert 4x4 matrix.
 172 ** Contributed by David Moore (See Mesa bug #6748)
 173 */
 174 static int __gluInvertMatrixd(const GLdouble m[16], GLdouble invOut[16])
 175 {
 176     double inv[16], det;
 177     int i;
 178
 179     inv[0] =   m[5]*m[10]*m[15] - m[5]*m[11]*m[14] - m[9]*m[6]*m[15]
 180              + m[9]*m[7]*m[14] + m[13]*m[6]*m[11] - m[13]*m[7]*m[10];
 181     inv[4] =  -m[4]*m[10]*m[15] + m[4]*m[11]*m[14] + m[8]*m[6]*m[15]
 182              - m[8]*m[7]*m[14] - m[12]*m[6]*m[11] + m[12]*m[7]*m[10];
 183     inv[8] =   m[4]*m[9]*m[15] - m[4]*m[11]*m[13] - m[8]*m[5]*m[15]
 184              + m[8]*m[7]*m[13] + m[12]*m[5]*m[11] - m[12]*m[7]*m[9];
 185     inv[12] = -m[4]*m[9]*m[14] + m[4]*m[10]*m[13] + m[8]*m[5]*m[14]
 186              - m[8]*m[6]*m[13] - m[12]*m[5]*m[10] + m[12]*m[6]*m[9];
 187     inv[1] =  -m[1]*m[10]*m[15] + m[1]*m[11]*m[14] + m[9]*m[2]*m[15]
 188              - m[9]*m[3]*m[14] - m[13]*m[2]*m[11] + m[13]*m[3]*m[10];
 189     inv[5] =   m[0]*m[10]*m[15] - m[0]*m[11]*m[14] - m[8]*m[2]*m[15]
 190              + m[8]*m[3]*m[14] + m[12]*m[2]*m[11] - m[12]*m[3]*m[10];
 191     inv[9] =  -m[0]*m[9]*m[15] + m[0]*m[11]*m[13] + m[8]*m[1]*m[15]
 192              - m[8]*m[3]*m[13] - m[12]*m[1]*m[11] + m[12]*m[3]*m[9];
 193     inv[13] =  m[0]*m[9]*m[14] - m[0]*m[10]*m[13] - m[8]*m[1]*m[14]
 194              + m[8]*m[2]*m[13] + m[12]*m[1]*m[10] - m[12]*m[2]*m[9];
 195     inv[2] =   m[1]*m[6]*m[15] - m[1]*m[7]*m[14] - m[5]*m[2]*m[15]
 196              + m[5]*m[3]*m[14] + m[13]*m[2]*m[7] - m[13]*m[3]*m[6];
 197     inv[6] =  -m[0]*m[6]*m[15] + m[0]*m[7]*m[14] + m[4]*m[2]*m[15]
 198              - m[4]*m[3]*m[14] - m[12]*m[2]*m[7] + m[12]*m[3]*m[6];
 199     inv[10] =  m[0]*m[5]*m[15] - m[0]*m[7]*m[13] - m[4]*m[1]*m[15]
 200              + m[4]*m[3]*m[13] + m[12]*m[1]*m[7] - m[12]*m[3]*m[5];
 201     inv[14] = -m[0]*m[5]*m[14] + m[0]*m[6]*m[13] + m[4]*m[1]*m[14]
 202              - m[4]*m[2]*m[13] - m[12]*m[1]*m[6] + m[12]*m[2]*m[5];
 203     inv[3] =  -m[1]*m[6]*m[11] + m[1]*m[7]*m[10] + m[5]*m[2]*m[11]
 204              - m[5]*m[3]*m[10] - m[9]*m[2]*m[7] + m[9]*m[3]*m[6];
 205     inv[7] =   m[0]*m[6]*m[11] - m[0]*m[7]*m[10] - m[4]*m[2]*m[11]
 206              + m[4]*m[3]*m[10] + m[8]*m[2]*m[7] - m[8]*m[3]*m[6];
 207     inv[11] = -m[0]*m[5]*m[11] + m[0]*m[7]*m[9] + m[4]*m[1]*m[11]
 208              - m[4]*m[3]*m[9] - m[8]*m[1]*m[7] + m[8]*m[3]*m[5];
 209     inv[15] =  m[0]*m[5]*m[10] - m[0]*m[6]*m[9] - m[4]*m[1]*m[10]
 210              + m[4]*m[2]*m[9] + m[8]*m[1]*m[6] - m[8]*m[2]*m[5];
 211
 212     det = m[0]*inv[0] + m[1]*inv[4] + m[2]*inv[8] + m[3]*inv[12];
 213     if (det == 0)
 214         return GL_FALSE;
 215
 216     det = 1.0 / det;
 217
 218     for (i = 0; i < 16; i++)
 219         invOut[i] = inv[i] * det;
 220
 221     return GL_TRUE;
 222 }
 223
 224 static void __gluMultMatricesd(const GLdouble a[16], const GLdouble b[16],
 225                                 GLdouble r[16])
 226 {
 227     int i, j;
 228
 229     for (i = 0; i < 4; i++) {
 230         for (j = 0; j < 4; j++) {
 231             r[i*4+j] =
 232                 a[i*4+0]*b[0*4+j] +
 233                 a[i*4+1]*b[1*4+j] +
 234                 a[i*4+2]*b[2*4+j] +
 235                 a[i*4+3]*b[3*4+j];
 236         }
 237     }
 238 }
 239
 240 GLint GLAPIENTRY
 241 gluProject(GLdouble objx, GLdouble objy, GLdouble objz,
 242               const GLdouble modelMatrix[16],
 243               const GLdouble projMatrix[16],
 244               const GLint viewport[4],
 245               GLdouble *winx, GLdouble *winy, GLdouble *winz)
 246 {
 247     double in[4];
 248     double out[4];
 249
 250     in[0]=objx;
 251     in[1]=objy;
 252     in[2]=objz;
 253     in[3]=1.0;
 254     __gluMultMatrixVecd(modelMatrix, in, out);
 255     __gluMultMatrixVecd(projMatrix, out, in);
 256     if (in[3] == 0.0) return(GL_FALSE);
 257     in[0] /= in[3];
 258     in[1] /= in[3];
 259     in[2] /= in[3];
 260     /* Map x, y and z to range 0-1 */
 261     in[0] = in[0] * 0.5 + 0.5;
 262     in[1] = in[1] * 0.5 + 0.5;
 263     in[2] = in[2] * 0.5 + 0.5;
 264
 265     /* Map x,y to viewport */
 266     in[0] = in[0] * viewport[2] + viewport[0];
 267     in[1] = in[1] * viewport[3] + viewport[1];
 268
 269     *winx=in[0];
 270     *winy=in[1];
 271     *winz=in[2];
 272     return(GL_TRUE);
 273 }
 274
 275 GLint GLAPIENTRY
 276 gluUnProject(GLdouble winx, GLdouble winy, GLdouble winz,
 277                 const GLdouble modelMatrix[16],
 278                 const GLdouble projMatrix[16],
 279                 const GLint viewport[4],
 280                 GLdouble *objx, GLdouble *objy, GLdouble *objz)
 281 {
 282     double finalMatrix[16];
 283     double in[4];
 284     double out[4];
 285
 286     __gluMultMatricesd(modelMatrix, projMatrix, finalMatrix);
 287     if (!__gluInvertMatrixd(finalMatrix, finalMatrix)) return(GL_FALSE);
 288
 289     in[0]=winx;
 290     in[1]=winy;
 291     in[2]=winz;
 292     in[3]=1.0;
 293
 294     /* Map x and y from window coordinates */
 295     in[0] = (in[0] - viewport[0]) / viewport[2];
 296     in[1] = (in[1] - viewport[1]) / viewport[3];
 297
 298     /* Map to range -1 to 1 */
 299     in[0] = in[0] * 2 - 1;
 300     in[1] = in[1] * 2 - 1;
 301     in[2] = in[2] * 2 - 1;
 302
 303     __gluMultMatrixVecd(finalMatrix, in, out);
 304     if (out[3] == 0.0) return(GL_FALSE);
 305     out[0] /= out[3];
 306     out[1] /= out[3];
 307     out[2] /= out[3];
 308     *objx = out[0];
 309     *objy = out[1];
 310     *objz = out[2];
 311     return(GL_TRUE);
 312 }
 313
 314 GLint GLAPIENTRY
 315 gluUnProject4(GLdouble winx, GLdouble winy, GLdouble winz, GLdouble clipw,
 316               const GLdouble modelMatrix[16],
 317               const GLdouble projMatrix[16],
 318               const GLint viewport[4],
 319               GLclampd nearVal, GLclampd farVal,
 320               GLdouble *objx, GLdouble *objy, GLdouble *objz,
 321               GLdouble *objw)
 322 {
 323     double finalMatrix[16];
 324     double in[4];
 325     double out[4];
 326
 327     __gluMultMatricesd(modelMatrix, projMatrix, finalMatrix);
 328     if (!__gluInvertMatrixd(finalMatrix, finalMatrix)) return(GL_FALSE);
 329
 330     in[0]=winx;
 331     in[1]=winy;
 332     in[2]=winz;
 333     in[3]=clipw;
 334
 335     /* Map x and y from window coordinates */
 336     in[0] = (in[0] - viewport[0]) / viewport[2];
 337     in[1] = (in[1] - viewport[1]) / viewport[3];
 338     in[2] = (in[2] - nearVal) / (farVal - nearVal);
 339
 340     /* Map to range -1 to 1 */
 341     in[0] = in[0] * 2 - 1;
 342     in[1] = in[1] * 2 - 1;
 343     in[2] = in[2] * 2 - 1;
 344
 345     __gluMultMatrixVecd(finalMatrix, in, out);
 346     if (out[3] == 0.0) return(GL_FALSE);
 347     *objx = out[0];
 348     *objy = out[1];
 349     *objz = out[2];
 350     *objw = out[3];
 351     return(GL_TRUE);
 352 }
 353
 354 void GLAPIENTRY
 355 gluPickMatrix(GLdouble x, GLdouble y, GLdouble deltax, GLdouble deltay,
 356                   GLint viewport[4])
 357 {
 358     if (deltax <= 0 || deltay <= 0) {
 359         return;
 360     }
 361
 362     /* Translate and scale the picked region to the entire window */
 363     glTranslatef((viewport[2] - 2 * (x - viewport[0])) / deltax,
 364             (viewport[3] - 2 * (y - viewport[1])) / deltay, 0);
 365     glScalef(viewport[2] / deltax, viewport[3] / deltay, 1.0);
 366 }