src/mesa/math/m_matrix.h

   1 /**
   2  * \file math/m_matrix.h
   3  * Defines basic structures for matrix-handling.
   4  */
   5
   6 /*
   7  * Mesa 3-D graphics library
   8  * Version:  3.5
   9  *
  10  * Copyright (C) 1999-2001  Brian Paul   All Rights Reserved.
  11  *
  12  * Permission is hereby granted, free of charge, to any person obtaining a
  13  * copy of this software and associated documentation files (the "Software"),
  14  * to deal in the Software without restriction, including without limitation
  15  * the rights to use, copy, modify, merge, publish, distribute, sublicense,
  16  * and/or sell copies of the Software, and to permit persons to whom the
  17  * Software is furnished to do so, subject to the following conditions:
  18  *
  19  * The above copyright notice and this permission notice shall be included
  20  * in all copies or substantial portions of the Software.
  21  *
  22  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
  23  * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  24  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
  25  * BRIAN PAUL BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN
  26  * AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  27  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  28  */
  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  * To help out with the rework of the viewport_map as a matrix transform.
  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  * \defgroup MatFlags MAT_FLAG_XXX-flags
  52  *
  53  * Bitmasks to indicate different kinds of 4x4 matrices in
  54  * GLmatrix::flags
  55  */
  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 #define MAT_FLAG_GENERAL        0x1     /**< is a general matrix flag */
  63 #define MAT_FLAG_ROTATION       0x2     /**< is a rotation matrix flag */
  64 #define MAT_FLAG_TRANSLATION    0x4     /**< is a translation matrix flag */
  65 #define MAT_FLAG_UNIFORM_SCALE  0x8     /**< is an uniform scaling matrix flag */
  66 #define MAT_FLAG_GENERAL_SCALE  0x10    /**< is a general scaling matrix flag */
  67 #define MAT_FLAG_GENERAL_3D     0x20    /**< general 3D matrix flag */
  68 #define MAT_FLAG_PERSPECTIVE    0x40    /**< is a perspective projection matrix flag */
  69 #define MAT_FLAG_SINGULAR       0x80    /**< is a singular matrix flag */
  70 #define MAT_DIRTY_TYPE          0x100   /**< matrix type is dirty */
  71 #define MAT_DIRTY_FLAGS         0x200   /**< matrix flags are dirty */
  72 #define MAT_DIRTY_INVERSE       0x400   /**< matrix inverse is dirty */
  73
  74 /** angle preserving matrix flags mask */
  75 #define MAT_FLAGS_ANGLE_PRESERVING (MAT_FLAG_ROTATION | \
  76                                     MAT_FLAG_TRANSLATION | \
  77                                     MAT_FLAG_UNIFORM_SCALE)
  78
  79 /** length preserving matrix flags mask */
  80 #define MAT_FLAGS_LENGTH_PRESERVING (MAT_FLAG_ROTATION | \
  81                                      MAT_FLAG_TRANSLATION)
  82
  83 /** 3D (non-perspective) matrix flags mask */
  84 #define MAT_FLAGS_3D (MAT_FLAG_ROTATION | \
  85                       MAT_FLAG_TRANSLATION | \
  86                       MAT_FLAG_UNIFORM_SCALE | \
  87                       MAT_FLAG_GENERAL_SCALE | \
  88                       MAT_FLAG_GENERAL_3D)
  89
  90 /** geometry related matrix flags mask */
  91 #define MAT_FLAGS_GEOMETRY (MAT_FLAG_GENERAL | \
  92                             MAT_FLAG_ROTATION | \
  93                             MAT_FLAG_TRANSLATION | \
  94                             MAT_FLAG_UNIFORM_SCALE | \
  95                             MAT_FLAG_GENERAL_SCALE | \
  96                             MAT_FLAG_GENERAL_3D | \
  97                             MAT_FLAG_PERSPECTIVE | \
  98                             MAT_FLAG_SINGULAR)
  99
 100 /** dirty matrix flags mask */
 101 #define MAT_DIRTY          (MAT_DIRTY_TYPE | \
 102                             MAT_DIRTY_FLAGS | \
 103                             MAT_DIRTY_INVERSE)
 104
 105 /*@}*/
 106
 107
 108 /**
 109  * Test geometry related matrix flags.
 110  *
 111  * \param mat a pointer to a GLmatrix structure.
 112  * \param a flags mask.
 113  *
 114  * \returns non-zero if all geometry related matrix flags are contained within
 115  * the mask, or zero otherwise.
 116  */
 117 #define TEST_MAT_FLAGS(mat, a)  \
 118     ((MAT_FLAGS_GEOMETRY & (~(a)) & ((mat)->flags) ) == 0)
 119
 120
 121 /**
 122  * Different kinds of 4x4 transformation matrices.
 123  */
 124 enum GLmatrixtype {
 125         MATRIX_GENERAL,         /**< general 4x4 matrix */
 126         MATRIX_IDENTITY,        /**< identity matrix */
 127         MATRIX_3D_NO_ROT,       /**< orthogonal projection and others... */
 128         MATRIX_PERSPECTIVE,     /**< perspective projection matrix */
 129         MATRIX_2D,              /**< 2-D transformation */
 130         MATRIX_2D_NO_ROT,       /**< 2-D scale & translate only */
 131         MATRIX_3D               /**< 3-D transformation */
 132 } ;
 133
 134 /**
 135  * Matrix.
 136  */
 137 typedef struct {
 138    GLfloat *m;          /**< matrix, 16-byte aligned */
 139    GLfloat *inv;        /**< optional inverse, 16-byte aligned */
 140    GLuint flags;        /**< possible values determined by (of \link
 141                            MatFlags MAT_FLAG_* flags\endlink) */
 142    enum GLmatrixtype type;
 143 } GLmatrix;
 144
 145
 146
 147
 148 extern void
 149 _math_matrix_ctr( GLmatrix *m );
 150
 151 extern void
 152 _math_matrix_dtr( GLmatrix *m );
 153
 154 extern void
 155 _math_matrix_alloc_inv( GLmatrix *m );
 156
 157 extern void
 158 _math_matrix_mul_matrix( GLmatrix *dest, const GLmatrix *a, const GLmatrix *b );
 159
 160 extern void
 161 _math_matrix_mul_floats( GLmatrix *dest, const GLfloat *b );
 162
 163 extern void
 164 _math_matrix_loadf( GLmatrix *mat, const GLfloat *m );
 165
 166 extern void
 167 _math_matrix_translate( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z );
 168
 169 extern void
 170 _math_matrix_rotate( GLmatrix *m, GLfloat angle,
 171                      GLfloat x, GLfloat y, GLfloat z );
 172
 173 extern void
 174 _math_matrix_scale( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z );
 175
 176 extern void
 177 _math_matrix_ortho( GLmatrix *mat,
 178                     GLfloat left, GLfloat right,
 179                     GLfloat bottom, GLfloat top,
 180                     GLfloat nearval, GLfloat farval );
 181
 182 extern void
 183 _math_matrix_frustum( GLmatrix *mat,
 184                       GLfloat left, GLfloat right,
 185                       GLfloat bottom, GLfloat top,
 186                       GLfloat nearval, GLfloat farval );
 187
 188 extern void
 189 _math_matrix_set_identity( GLmatrix *dest );
 190
 191 extern void
 192 _math_matrix_copy( GLmatrix *to, const GLmatrix *from );
 193
 194 extern void
 195 _math_matrix_analyse( GLmatrix *mat );
 196
 197 extern void
 198 _math_matrix_print( const GLmatrix *m );
 199
 200
 201
 202 /**
 203  * \name Related functions that don't actually operate on GLmatrix structs
 204  */
 205 /*@{*/
 206
 207 extern void
 208 _math_transposef( GLfloat to[16], const GLfloat from[16] );
 209
 210 extern void
 211 _math_transposed( GLdouble to[16], const GLdouble from[16] );
 212
 213 extern void
 214 _math_transposefd( GLfloat to[16], const GLdouble from[16] );
 215
 216
 217 /*
 218  * Transform a point (column vector) by a matrix:   Q = M * P
 219  */
 220 #define TRANSFORM_POINT( Q, M, P )                                      \
 221    Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] *  P[2] + M[12] * P[3];      \
 222    Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] *  P[2] + M[13] * P[3];      \
 223    Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14] * P[3];      \
 224    Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15] * P[3];
 225
 226
 227 #define TRANSFORM_POINT3( Q, M, P )                             \
 228    Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] *  P[2] + M[12];     \
 229    Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] *  P[2] + M[13];     \
 230    Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14];     \
 231    Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15];
 232
 233
 234 /*
 235  * Transform a normal (row vector) by a matrix:  [NX NY NZ] = N * MAT
 236  */
 237 #define TRANSFORM_NORMAL( TO, N, MAT )                          \
 238 do {                                                            \
 239    TO[0] = N[0] * MAT[0] + N[1] * MAT[1] + N[2] * MAT[2];       \
 240    TO[1] = N[0] * MAT[4] + N[1] * MAT[5] + N[2] * MAT[6];       \
 241    TO[2] = N[0] * MAT[8] + N[1] * MAT[9] + N[2] * MAT[10];      \
 242 } while (0)
 243
 244
 245 /*@}*/
 246
 247
 248 #endif