2 * Mesa 3-D graphics library
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27 * \file math/m_matrix.h
28 * Defines basic structures for matrix-handling.
35 #include "main/glheader.h"
44 * \name Symbolic names to some of the entries in the matrix
46 * These are handy for the viewport mapping, which is expressed as a matrix.
59 * Different kinds of 4x4 transformation matrices.
60 * We use these to select specific optimized vertex transformation routines.
63 MATRIX_GENERAL
, /**< general 4x4 matrix */
64 MATRIX_IDENTITY
, /**< identity matrix */
65 MATRIX_3D_NO_ROT
, /**< orthogonal projection and others... */
66 MATRIX_PERSPECTIVE
, /**< perspective projection matrix */
67 MATRIX_2D
, /**< 2-D transformation */
68 MATRIX_2D_NO_ROT
, /**< 2-D scale & translate only */
69 MATRIX_3D
/**< 3-D transformation */
73 * Matrix type to represent 4x4 transformation matrices.
76 GLfloat
*m
; /**< 16 matrix elements (16-byte aligned) */
77 GLfloat
*inv
; /**< 16-element inverse (16-byte aligned) */
78 GLuint flags
; /**< possible values determined by (of \link
79 * MatFlags MAT_FLAG_* flags\endlink)
81 enum GLmatrixtype type
;
88 _math_matrix_ctr( GLmatrix
*m
);
91 _math_matrix_dtr( GLmatrix
*m
);
94 _math_matrix_mul_matrix( GLmatrix
*dest
, const GLmatrix
*a
, const GLmatrix
*b
);
97 _math_matrix_mul_floats( GLmatrix
*dest
, const GLfloat
*b
);
100 _math_matrix_loadf( GLmatrix
*mat
, const GLfloat
*m
);
103 _math_matrix_translate( GLmatrix
*mat
, GLfloat x
, GLfloat y
, GLfloat z
);
106 _math_matrix_rotate( GLmatrix
*m
, GLfloat angle
,
107 GLfloat x
, GLfloat y
, GLfloat z
);
110 _math_matrix_scale( GLmatrix
*mat
, GLfloat x
, GLfloat y
, GLfloat z
);
113 _math_matrix_ortho( GLmatrix
*mat
,
114 GLfloat left
, GLfloat right
,
115 GLfloat bottom
, GLfloat top
,
116 GLfloat nearval
, GLfloat farval
);
119 _math_matrix_frustum( GLmatrix
*mat
,
120 GLfloat left
, GLfloat right
,
121 GLfloat bottom
, GLfloat top
,
122 GLfloat nearval
, GLfloat farval
);
125 _math_matrix_viewport( GLmatrix
*m
, const float scale
[3],
126 const float translate
[3], double depthMax
);
129 _math_matrix_set_identity( GLmatrix
*dest
);
132 _math_matrix_copy( GLmatrix
*to
, const GLmatrix
*from
);
135 _math_matrix_analyse( GLmatrix
*mat
);
138 _math_matrix_print( const GLmatrix
*m
);
141 _math_matrix_is_length_preserving( const GLmatrix
*m
);
144 _math_matrix_has_rotation( const GLmatrix
*m
);
147 _math_matrix_is_general_scale( const GLmatrix
*m
);
150 _math_matrix_is_dirty( const GLmatrix
*m
);
154 * \name Related functions that don't actually operate on GLmatrix structs
159 _math_transposef( GLfloat to
[16], const GLfloat from
[16] );
162 _math_transposed( GLdouble to
[16], const GLdouble from
[16] );
165 _math_transposefd( GLfloat to
[16], const GLdouble from
[16] );
169 * Transform a point (column vector) by a matrix: Q = M * P
171 #define TRANSFORM_POINT( Q, M, P ) \
172 Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] * P[2] + M[12] * P[3]; \
173 Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] * P[2] + M[13] * P[3]; \
174 Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14] * P[3]; \
175 Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15] * P[3];
178 #define TRANSFORM_POINT3( Q, M, P ) \
179 Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] * P[2] + M[12]; \
180 Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] * P[2] + M[13]; \
181 Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14]; \
182 Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15];
186 * Transform a normal (row vector) by a matrix: [NX NY NZ] = N * MAT
188 #define TRANSFORM_NORMAL( TO, N, MAT ) \
190 TO[0] = N[0] * MAT[0] + N[1] * MAT[1] + N[2] * MAT[2]; \
191 TO[1] = N[0] * MAT[4] + N[1] * MAT[5] + N[2] * MAT[6]; \
192 TO[2] = N[0] * MAT[8] + N[1] * MAT[9] + N[2] * MAT[10]; \
197 * Transform a direction by a matrix.
199 #define TRANSFORM_DIRECTION( TO, DIR, MAT ) \
201 TO[0] = DIR[0] * MAT[0] + DIR[1] * MAT[4] + DIR[2] * MAT[8]; \
202 TO[1] = DIR[0] * MAT[1] + DIR[1] * MAT[5] + DIR[2] * MAT[9]; \
203 TO[2] = DIR[0] * MAT[2] + DIR[1] * MAT[6] + DIR[2] * MAT[10];\
208 _mesa_transform_vector(GLfloat u
[4], const GLfloat v
[4], const GLfloat m
[16]);