src/mesa/math/m_matrix.h

   1 /*
   2  * Mesa 3-D graphics library
   3  * Version:  6.2
   4  *
   5  * Copyright (C) 1999-2004  Brian Paul   All Rights Reserved.
   6  *
   7  * Permission is hereby granted, free of charge, to any person obtaining a
   8  * copy of this software and associated documentation files (the "Software"),
   9  * to deal in the Software without restriction, including without limitation
  10  * the rights to use, copy, modify, merge, publish, distribute, sublicense,
  11  * and/or sell copies of the Software, and to permit persons to whom the
  12  * Software is furnished to do so, subject to the following conditions:
  13  *
  14  * The above copyright notice and this permission notice shall be included
  15  * in all copies or substantial portions of the Software.
  16  *
  17  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
  18  * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  19  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
  20  * BRIAN PAUL BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN
  21  * AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  22  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  23  */
  24
  25
  26 /**
  27  * \file math/m_matrix.h
  28  * Defines basic structures for matrix-handling.
  29  */
  30
  31 #ifndef _M_MATRIX_H
  32 #define _M_MATRIX_H
  33
  34
  35
  36 /**
  37  * \name Symbolic names to some of the entries in the matrix
  38  *
  39  * These are handy for the viewport mapping, which is expressed as a matrix.
  40  */
  41 /*@{*/
  42 #define MAT_SX 0
  43 #define MAT_SY 5
  44 #define MAT_SZ 10
  45 #define MAT_TX 12
  46 #define MAT_TY 13
  47 #define MAT_TZ 14
  48 /*@}*/
  49
  50
  51 /**
  52  * \defgroup MatFlags MAT_FLAG_XXX-flags
  53  *
  54  * Bitmasks to indicate different kinds of 4x4 matrices in GLmatrix::flags
  55  * It would be nice to make all these flags private to m_matrix.c
  56  */
  57 /*@{*/
  58 #define MAT_FLAG_IDENTITY       0     /**< is an identity matrix flag.
  59                                        *   (Not actually used - the identity
  60                                        *   matrix is identified by the absense
  61                                        *   of all other flags.)
  62                                        */
  63 #define MAT_FLAG_GENERAL        0x1   /**< is a general matrix flag */
  64 #define MAT_FLAG_ROTATION       0x2   /**< is a rotation matrix flag */
  65 #define MAT_FLAG_TRANSLATION    0x4   /**< is a translation matrix flag */
  66 #define MAT_FLAG_UNIFORM_SCALE  0x8   /**< is an uniform scaling matrix flag */
  67 #define MAT_FLAG_GENERAL_SCALE  0x10  /**< is a general scaling matrix flag */
  68 #define MAT_FLAG_GENERAL_3D     0x20  /**< general 3D matrix flag */
  69 #define MAT_FLAG_PERSPECTIVE    0x40  /**< is a perspective proj matrix flag */
  70 #define MAT_FLAG_SINGULAR       0x80  /**< is a singular matrix flag */
  71 #define MAT_DIRTY_TYPE          0x100  /**< matrix type is dirty */
  72 #define MAT_DIRTY_FLAGS         0x200  /**< matrix flags are dirty */
  73 #define MAT_DIRTY_INVERSE       0x400  /**< matrix inverse is dirty */
  74
  75 /** angle preserving matrix flags mask */
  76 #define MAT_FLAGS_ANGLE_PRESERVING (MAT_FLAG_ROTATION | \
  77                                     MAT_FLAG_TRANSLATION | \
  78                                     MAT_FLAG_UNIFORM_SCALE)
  79
  80 /** length preserving matrix flags mask */
  81 #define MAT_FLAGS_LENGTH_PRESERVING (MAT_FLAG_ROTATION | \
  82                                      MAT_FLAG_TRANSLATION)
  83
  84 /** 3D (non-perspective) matrix flags mask */
  85 #define MAT_FLAGS_3D (MAT_FLAG_ROTATION | \
  86                       MAT_FLAG_TRANSLATION | \
  87                       MAT_FLAG_UNIFORM_SCALE | \
  88                       MAT_FLAG_GENERAL_SCALE | \
  89                       MAT_FLAG_GENERAL_3D)
  90
  91 /** geometry related matrix flags mask */
  92 #define MAT_FLAGS_GEOMETRY (MAT_FLAG_GENERAL | \
  93                             MAT_FLAG_ROTATION | \
  94                             MAT_FLAG_TRANSLATION | \
  95                             MAT_FLAG_UNIFORM_SCALE | \
  96                             MAT_FLAG_GENERAL_SCALE | \
  97                             MAT_FLAG_GENERAL_3D | \
  98                             MAT_FLAG_PERSPECTIVE | \
  99                             MAT_FLAG_SINGULAR)
 100
 101 /** dirty matrix flags mask */
 102 #define MAT_DIRTY          (MAT_DIRTY_TYPE | \
 103                             MAT_DIRTY_FLAGS | \
 104                             MAT_DIRTY_INVERSE)
 105
 106 /*@}*/
 107
 108
 109 /**
 110  * Test geometry related matrix flags.
 111  *
 112  * \param mat a pointer to a GLmatrix structure.
 113  * \param a flags mask.
 114  *
 115  * \returns non-zero if all geometry related matrix flags are contained within
 116  * the mask, or zero otherwise.
 117  */
 118 #define TEST_MAT_FLAGS(mat, a)  \
 119     ((MAT_FLAGS_GEOMETRY & (~(a)) & ((mat)->flags) ) == 0)
 120
 121
 122 /**
 123  * Different kinds of 4x4 transformation matrices.
 124  * We use these to select specific optimized vertex transformation routines.
 125  */
 126 enum GLmatrixtype {
 127    MATRIX_GENERAL,      /**< general 4x4 matrix */
 128    MATRIX_IDENTITY,     /**< identity matrix */
 129    MATRIX_3D_NO_ROT,    /**< orthogonal projection and others... */
 130    MATRIX_PERSPECTIVE,  /**< perspective projection matrix */
 131    MATRIX_2D,           /**< 2-D transformation */
 132    MATRIX_2D_NO_ROT,    /**< 2-D scale & translate only */
 133    MATRIX_3D            /**< 3-D transformation */
 134 } ;
 135
 136 /**
 137  * Matrix type to represent 4x4 transformation matrices.
 138  */
 139 typedef struct {
 140    GLfloat *m;          /**< 16 matrix elements (16-byte aligned) */
 141    GLfloat *inv;        /**< optional 16-element inverse (16-byte aligned) */
 142    GLuint flags;        /**< possible values determined by (of \link
 143                          * MatFlags MAT_FLAG_* flags\endlink)
 144                          */
 145    enum GLmatrixtype type;
 146 } GLmatrix;
 147
 148
 149
 150
 151 extern void
 152 _math_matrix_ctr( GLmatrix *m );
 153
 154 extern void
 155 _math_matrix_dtr( GLmatrix *m );
 156
 157 extern void
 158 _math_matrix_alloc_inv( GLmatrix *m );
 159
 160 extern void
 161 _math_matrix_mul_matrix( GLmatrix *dest, const GLmatrix *a, const GLmatrix *b );
 162
 163 extern void
 164 _math_matrix_mul_floats( GLmatrix *dest, const GLfloat *b );
 165
 166 extern void
 167 _math_matrix_loadf( GLmatrix *mat, const GLfloat *m );
 168
 169 extern void
 170 _math_matrix_translate( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z );
 171
 172 extern void
 173 _math_matrix_rotate( GLmatrix *m, GLfloat angle,
 174                      GLfloat x, GLfloat y, GLfloat z );
 175
 176 extern void
 177 _math_matrix_scale( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z );
 178
 179 extern void
 180 _math_matrix_ortho( GLmatrix *mat,
 181                     GLfloat left, GLfloat right,
 182                     GLfloat bottom, GLfloat top,
 183                     GLfloat nearval, GLfloat farval );
 184
 185 extern void
 186 _math_matrix_frustum( GLmatrix *mat,
 187                       GLfloat left, GLfloat right,
 188                       GLfloat bottom, GLfloat top,
 189                       GLfloat nearval, GLfloat farval );
 190
 191 extern void
 192 _math_matrix_set_identity( GLmatrix *dest );
 193
 194 extern void
 195 _math_matrix_copy( GLmatrix *to, const GLmatrix *from );
 196
 197 extern void
 198 _math_matrix_analyse( GLmatrix *mat );
 199
 200 extern void
 201 _math_matrix_print( const GLmatrix *m );
 202
 203
 204
 205 /**
 206  * \name Related functions that don't actually operate on GLmatrix structs
 207  */
 208 /*@{*/
 209
 210 extern void
 211 _math_transposef( GLfloat to[16], const GLfloat from[16] );
 212
 213 extern void
 214 _math_transposed( GLdouble to[16], const GLdouble from[16] );
 215
 216 extern void
 217 _math_transposefd( GLfloat to[16], const GLdouble from[16] );
 218
 219
 220 /*
 221  * Transform a point (column vector) by a matrix:   Q = M * P
 222  */
 223 #define TRANSFORM_POINT( Q, M, P )                                      \
 224    Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] *  P[2] + M[12] * P[3];      \
 225    Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] *  P[2] + M[13] * P[3];      \
 226    Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14] * P[3];      \
 227    Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15] * P[3];
 228
 229
 230 #define TRANSFORM_POINT3( Q, M, P )                             \
 231    Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] *  P[2] + M[12];     \
 232    Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] *  P[2] + M[13];     \
 233    Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14];     \
 234    Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15];
 235
 236
 237 /*
 238  * Transform a normal (row vector) by a matrix:  [NX NY NZ] = N * MAT
 239  */
 240 #define TRANSFORM_NORMAL( TO, N, MAT )                          \
 241 do {                                                            \
 242    TO[0] = N[0] * MAT[0] + N[1] * MAT[1] + N[2] * MAT[2];       \
 243    TO[1] = N[0] * MAT[4] + N[1] * MAT[5] + N[2] * MAT[6];       \
 244    TO[2] = N[0] * MAT[8] + N[1] * MAT[9] + N[2] * MAT[10];      \
 245 } while (0)
 246
 247
 248 /*@}*/
 249
 250
 251 #endif