-/**
- * \file m_matrix.c
- * Matrix operations.
- *
- * \note
- * -# 4x4 transformation matrices are stored in memory in column major order.
- * -# Points/vertices are to be thought of as column vectors.
- * -# Transformation of a point p by a matrix M is: p' = M * p
- */
-
/*
* Mesa 3-D graphics library
- * Version: 5.1
*
- * Copyright (C) 1999-2003 Brian Paul All Rights Reserved.
+ * Copyright (C) 1999-2005 Brian Paul All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
- * BRIAN PAUL BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN
- * AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+ * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+
+/**
+ * \file m_matrix.c
+ * Matrix operations.
+ *
+ * \note
+ * -# 4x4 transformation matrices are stored in memory in column major order.
+ * -# Points/vertices are to be thought of as column vectors.
+ * -# Transformation of a point p by a matrix M is: p' = M * p
*/
-#include "glheader.h"
-#include "imports.h"
-#include "macros.h"
-#include "imports.h"
+#include "c99_math.h"
+#include "main/glheader.h"
+#include "main/imports.h"
+#include "main/macros.h"
#include "m_matrix.h"
+/**
+ * \defgroup MatFlags MAT_FLAG_XXX-flags
+ *
+ * Bitmasks to indicate different kinds of 4x4 matrices in GLmatrix::flags
+ */
+/*@{*/
+#define MAT_FLAG_IDENTITY 0 /**< is an identity matrix flag.
+ * (Not actually used - the identity
+ * matrix is identified by the absense
+ * of all other flags.)
+ */
+#define MAT_FLAG_GENERAL 0x1 /**< is a general matrix flag */
+#define MAT_FLAG_ROTATION 0x2 /**< is a rotation matrix flag */
+#define MAT_FLAG_TRANSLATION 0x4 /**< is a translation matrix flag */
+#define MAT_FLAG_UNIFORM_SCALE 0x8 /**< is an uniform scaling matrix flag */
+#define MAT_FLAG_GENERAL_SCALE 0x10 /**< is a general scaling matrix flag */
+#define MAT_FLAG_GENERAL_3D 0x20 /**< general 3D matrix flag */
+#define MAT_FLAG_PERSPECTIVE 0x40 /**< is a perspective proj matrix flag */
+#define MAT_FLAG_SINGULAR 0x80 /**< is a singular matrix flag */
+#define MAT_DIRTY_TYPE 0x100 /**< matrix type is dirty */
+#define MAT_DIRTY_FLAGS 0x200 /**< matrix flags are dirty */
+#define MAT_DIRTY_INVERSE 0x400 /**< matrix inverse is dirty */
+
+/** angle preserving matrix flags mask */
+#define MAT_FLAGS_ANGLE_PRESERVING (MAT_FLAG_ROTATION | \
+ MAT_FLAG_TRANSLATION | \
+ MAT_FLAG_UNIFORM_SCALE)
+
+/** geometry related matrix flags mask */
+#define MAT_FLAGS_GEOMETRY (MAT_FLAG_GENERAL | \
+ MAT_FLAG_ROTATION | \
+ MAT_FLAG_TRANSLATION | \
+ MAT_FLAG_UNIFORM_SCALE | \
+ MAT_FLAG_GENERAL_SCALE | \
+ MAT_FLAG_GENERAL_3D | \
+ MAT_FLAG_PERSPECTIVE | \
+ MAT_FLAG_SINGULAR)
+
+/** length preserving matrix flags mask */
+#define MAT_FLAGS_LENGTH_PRESERVING (MAT_FLAG_ROTATION | \
+ MAT_FLAG_TRANSLATION)
+
+
+/** 3D (non-perspective) matrix flags mask */
+#define MAT_FLAGS_3D (MAT_FLAG_ROTATION | \
+ MAT_FLAG_TRANSLATION | \
+ MAT_FLAG_UNIFORM_SCALE | \
+ MAT_FLAG_GENERAL_SCALE | \
+ MAT_FLAG_GENERAL_3D)
+
+/** dirty matrix flags mask */
+#define MAT_DIRTY (MAT_DIRTY_TYPE | \
+ MAT_DIRTY_FLAGS | \
+ MAT_DIRTY_INVERSE)
+
+/*@}*/
+
+
+/**
+ * Test geometry related matrix flags.
+ *
+ * \param mat a pointer to a GLmatrix structure.
+ * \param a flags mask.
+ *
+ * \returns non-zero if all geometry related matrix flags are contained within
+ * the mask, or zero otherwise.
+ */
+#define TEST_MAT_FLAGS(mat, a) \
+ ((MAT_FLAGS_GEOMETRY & (~(a)) & ((mat)->flags) ) == 0)
+
+
+
/**
* Names of the corresponding GLmatrixtype values.
*/
{
dest->flags |= (MAT_FLAG_GENERAL |
MAT_DIRTY_TYPE |
- MAT_DIRTY_INVERSE);
+ MAT_DIRTY_INVERSE |
+ MAT_DIRTY_FLAGS);
matmul4( dest->m, dest->m, m );
}
void
_math_matrix_print( const GLmatrix *m )
{
+ GLfloat prod[16];
+
_mesa_debug(NULL, "Matrix type: %s, flags: %x\n", types[m->type], m->flags);
print_matrix_floats(m->m);
_mesa_debug(NULL, "Inverse: \n");
- if (m->inv) {
- GLfloat prod[16];
- print_matrix_floats(m->inv);
- matmul4(prod, m->m, m->inv);
- _mesa_debug(NULL, "Mat * Inverse:\n");
- print_matrix_floats(prod);
- }
- else {
- _mesa_debug(NULL, " - not available\n");
- }
+ print_matrix_floats(m->inv);
+ matmul4(prod, m->m, m->inv);
+ _mesa_debug(NULL, "Mat * Inverse:\n");
+ print_matrix_floats(prod);
}
/*@}*/
/*@{*/
/**
- * Swaps the values of two floating pointer variables.
+ * Swaps the values of two floating point variables.
*
* Used by invert_matrix_general() to swap the row pointers.
*/
r3[7] = 1.0, r3[4] = r3[5] = r3[6] = 0.0;
/* choose pivot - or die */
- if (fabs(r3[0])>fabs(r2[0])) SWAP_ROWS(r3, r2);
- if (fabs(r2[0])>fabs(r1[0])) SWAP_ROWS(r2, r1);
- if (fabs(r1[0])>fabs(r0[0])) SWAP_ROWS(r1, r0);
+ if (fabsf(r3[0])>fabsf(r2[0])) SWAP_ROWS(r3, r2);
+ if (fabsf(r2[0])>fabsf(r1[0])) SWAP_ROWS(r2, r1);
+ if (fabsf(r1[0])>fabsf(r0[0])) SWAP_ROWS(r1, r0);
if (0.0 == r0[0]) return GL_FALSE;
/* eliminate first variable */
if (s != 0.0) { r1[7] -= m1 * s; r2[7] -= m2 * s; r3[7] -= m3 * s; }
/* choose pivot - or die */
- if (fabs(r3[1])>fabs(r2[1])) SWAP_ROWS(r3, r2);
- if (fabs(r2[1])>fabs(r1[1])) SWAP_ROWS(r2, r1);
+ if (fabsf(r3[1])>fabsf(r2[1])) SWAP_ROWS(r3, r2);
+ if (fabsf(r2[1])>fabsf(r1[1])) SWAP_ROWS(r2, r1);
if (0.0 == r1[1]) return GL_FALSE;
/* eliminate second variable */
s = r1[7]; if (0.0 != s) { r2[7] -= m2 * s; r3[7] -= m3 * s; }
/* choose pivot - or die */
- if (fabs(r3[2])>fabs(r2[2])) SWAP_ROWS(r3, r2);
+ if (fabsf(r3[2])>fabsf(r2[2])) SWAP_ROWS(r3, r2);
if (0.0 == r2[2]) return GL_FALSE;
/* eliminate third variable */
det = pos + neg;
- if (det*det < 1e-25)
+ if (fabsf(det) < 1e-25)
return GL_FALSE;
det = 1.0F / det;
}
else {
/* pure translation */
- MEMCPY( out, Identity, sizeof(Identity) );
+ memcpy( out, Identity, sizeof(Identity) );
MAT(out,0,3) = - MAT(in,0,3);
MAT(out,1,3) = - MAT(in,1,3);
MAT(out,2,3) = - MAT(in,2,3);
*/
static GLboolean invert_matrix_identity( GLmatrix *mat )
{
- MEMCPY( mat->inv, Identity, sizeof(Identity) );
+ memcpy( mat->inv, Identity, sizeof(Identity) );
return GL_TRUE;
}
if (MAT(in,0,0) == 0 || MAT(in,1,1) == 0 || MAT(in,2,2) == 0 )
return GL_FALSE;
- MEMCPY( out, Identity, 16 * sizeof(GLfloat) );
+ memcpy( out, Identity, 16 * sizeof(GLfloat) );
MAT(out,0,0) = 1.0F / MAT(in,0,0);
MAT(out,1,1) = 1.0F / MAT(in,1,1);
MAT(out,2,2) = 1.0F / MAT(in,2,2);
if (MAT(in,0,0) == 0 || MAT(in,1,1) == 0)
return GL_FALSE;
- MEMCPY( out, Identity, 16 * sizeof(GLfloat) );
+ memcpy( out, Identity, 16 * sizeof(GLfloat) );
MAT(out,0,0) = 1.0F / MAT(in,0,0);
MAT(out,1,1) = 1.0F / MAT(in,1,1);
if (MAT(in,2,3) == 0)
return GL_FALSE;
- MEMCPY( out, Identity, 16 * sizeof(GLfloat) );
+ memcpy( out, Identity, 16 * sizeof(GLfloat) );
MAT(out,0,0) = 1.0F / MAT(in,0,0);
MAT(out,1,1) = 1.0F / MAT(in,1,1);
return GL_TRUE;
} else {
mat->flags |= MAT_FLAG_SINGULAR;
- MEMCPY( mat->inv, Identity, sizeof(Identity) );
+ memcpy( mat->inv, Identity, sizeof(Identity) );
return GL_FALSE;
}
}
s = (GLfloat) sin( angle * DEG2RAD );
c = (GLfloat) cos( angle * DEG2RAD );
- MEMCPY(m, Identity, sizeof(GLfloat)*16);
+ memcpy(m, Identity, sizeof(GLfloat)*16);
optimized = GL_FALSE;
#define M(row,col) m[col*4+row]
}
if (!optimized) {
- const GLfloat mag = SQRTF(x * x + y * y + z * z);
+ const GLfloat mag = sqrtf(x * x + y * y + z * z);
if (mag <= 1.0e-4) {
/* no rotation, leave mat as-is */
* Y-axis to bring the axis vector parallel with the X-axis. The
* rotation about the X-axis is then performed. Ry and Rz are
* simply the respective inverse transforms to bring the arbitrary
- * axis back to it's original orientation. The first transforms
+ * axis back to its original orientation. The first transforms
* Rz' and Ry' are considered inverses, since the data from the
* arbitrary axis gives you info on how to get to it, not how
* to get away from it, and an inverse must be applied.
GLfloat bottom, GLfloat top,
GLfloat nearval, GLfloat farval )
{
- GLfloat x, y, z;
- GLfloat tx, ty, tz;
GLfloat m[16];
- x = 2.0F / (right-left);
- y = 2.0F / (top-bottom);
- z = -2.0F / (farval-nearval);
- tx = -(right+left) / (right-left);
- ty = -(top+bottom) / (top-bottom);
- tz = -(farval+nearval) / (farval-nearval);
-
#define M(row,col) m[col*4+row]
- M(0,0) = x; M(0,1) = 0.0F; M(0,2) = 0.0F; M(0,3) = tx;
- M(1,0) = 0.0F; M(1,1) = y; M(1,2) = 0.0F; M(1,3) = ty;
- M(2,0) = 0.0F; M(2,1) = 0.0F; M(2,2) = z; M(2,3) = tz;
- M(3,0) = 0.0F; M(3,1) = 0.0F; M(3,2) = 0.0F; M(3,3) = 1.0F;
+ M(0,0) = 2.0F / (right-left);
+ M(0,1) = 0.0F;
+ M(0,2) = 0.0F;
+ M(0,3) = -(right+left) / (right-left);
+
+ M(1,0) = 0.0F;
+ M(1,1) = 2.0F / (top-bottom);
+ M(1,2) = 0.0F;
+ M(1,3) = -(top+bottom) / (top-bottom);
+
+ M(2,0) = 0.0F;
+ M(2,1) = 0.0F;
+ M(2,2) = -2.0F / (farval-nearval);
+ M(2,3) = -(farval+nearval) / (farval-nearval);
+
+ M(3,0) = 0.0F;
+ M(3,1) = 0.0F;
+ M(3,2) = 0.0F;
+ M(3,3) = 1.0F;
#undef M
matrix_multf( mat, m, (MAT_FLAG_GENERAL_SCALE|MAT_FLAG_TRANSLATION));
m[2] *= x; m[6] *= y; m[10] *= z;
m[3] *= x; m[7] *= y; m[11] *= z;
- if (fabs(x - y) < 1e-8 && fabs(x - z) < 1e-8)
+ if (fabsf(x - y) < 1e-8 && fabsf(x - z) < 1e-8)
mat->flags |= MAT_FLAG_UNIFORM_SCALE;
else
mat->flags |= MAT_FLAG_GENERAL_SCALE;
MAT_DIRTY_INVERSE);
}
+
+/**
+ * Set matrix to do viewport and depthrange mapping.
+ * Transforms Normalized Device Coords to window/Z values.
+ */
+void
+_math_matrix_viewport(GLmatrix *m, const double scale[3],
+ const double translate[3], double depthMax)
+{
+ m->m[MAT_SX] = scale[0];
+ m->m[MAT_TX] = translate[0];
+ m->m[MAT_SY] = scale[1];
+ m->m[MAT_TY] = translate[1];
+ m->m[MAT_SZ] = depthMax*scale[2];
+ m->m[MAT_TZ] = depthMax*translate[2];
+ m->flags = MAT_FLAG_GENERAL_SCALE | MAT_FLAG_TRANSLATION;
+ m->type = MATRIX_3D_NO_ROT;
+}
+
+
/**
* Set a matrix to the identity matrix.
*
void
_math_matrix_set_identity( GLmatrix *mat )
{
- MEMCPY( mat->m, Identity, 16*sizeof(GLfloat) );
-
- if (mat->inv)
- MEMCPY( mat->inv, Identity, 16*sizeof(GLfloat) );
+ memcpy( mat->m, Identity, 16*sizeof(GLfloat) );
+ memcpy( mat->inv, Identity, 16*sizeof(GLfloat) );
mat->type = MATRIX_IDENTITY;
mat->flags &= ~(MAT_DIRTY_FLAGS|
mat->type = MATRIX_2D_NO_ROT;
if ((mask & MASK_NO_2D_SCALE) != MASK_NO_2D_SCALE)
- mat->flags = MAT_FLAG_GENERAL_SCALE;
+ mat->flags |= MAT_FLAG_GENERAL_SCALE;
}
else if ((mask & MASK_2D) == (GLuint) MASK_2D) {
GLfloat mm = DOT2(m, m);
if (mat->inv && (mat->flags & MAT_DIRTY_INVERSE)) {
matrix_invert( mat );
+ mat->flags &= ~MAT_DIRTY_INVERSE;
}
- mat->flags &= ~(MAT_DIRTY_FLAGS|
- MAT_DIRTY_TYPE|
- MAT_DIRTY_INVERSE);
+ mat->flags &= ~(MAT_DIRTY_FLAGS | MAT_DIRTY_TYPE);
}
/*@}*/
+/**
+ * Test if the given matrix preserves vector lengths.
+ */
+GLboolean
+_math_matrix_is_length_preserving( const GLmatrix *m )
+{
+ return TEST_MAT_FLAGS( m, MAT_FLAGS_LENGTH_PRESERVING);
+}
+
+
+/**
+ * Test if the given matrix does any rotation.
+ * (or perhaps if the upper-left 3x3 is non-identity)
+ */
+GLboolean
+_math_matrix_has_rotation( const GLmatrix *m )
+{
+ if (m->flags & (MAT_FLAG_GENERAL |
+ MAT_FLAG_ROTATION |
+ MAT_FLAG_GENERAL_3D |
+ MAT_FLAG_PERSPECTIVE))
+ return GL_TRUE;
+ else
+ return GL_FALSE;
+}
+
+
+GLboolean
+_math_matrix_is_general_scale( const GLmatrix *m )
+{
+ return (m->flags & MAT_FLAG_GENERAL_SCALE) ? GL_TRUE : GL_FALSE;
+}
+
+
+GLboolean
+_math_matrix_is_dirty( const GLmatrix *m )
+{
+ return (m->flags & MAT_DIRTY) ? GL_TRUE : GL_FALSE;
+}
+
+
/**********************************************************************/
/** \name Matrix setup */
/*@{*/
void
_math_matrix_copy( GLmatrix *to, const GLmatrix *from )
{
- MEMCPY( to->m, from->m, sizeof(Identity) );
+ memcpy( to->m, from->m, sizeof(Identity) );
+ memcpy(to->inv, from->inv, 16 * sizeof(GLfloat));
to->flags = from->flags;
to->type = from->type;
-
- if (to->inv != 0) {
- if (from->inv == 0) {
- matrix_invert( to );
- }
- else {
- MEMCPY(to->inv, from->inv, sizeof(GLfloat)*16);
- }
- }
}
/**
void
_math_matrix_loadf( GLmatrix *mat, const GLfloat *m )
{
- MEMCPY( mat->m, m, 16*sizeof(GLfloat) );
+ memcpy( mat->m, m, 16*sizeof(GLfloat) );
mat->flags = (MAT_FLAG_GENERAL | MAT_DIRTY);
}
void
_math_matrix_ctr( GLmatrix *m )
{
- m->m = (GLfloat *) ALIGN_MALLOC( 16 * sizeof(GLfloat), 16 );
+ m->m = _mesa_align_malloc( 16 * sizeof(GLfloat), 16 );
if (m->m)
- MEMCPY( m->m, Identity, sizeof(Identity) );
- m->inv = NULL;
+ memcpy( m->m, Identity, sizeof(Identity) );
+ m->inv = _mesa_align_malloc( 16 * sizeof(GLfloat), 16 );
+ if (m->inv)
+ memcpy( m->inv, Identity, sizeof(Identity) );
m->type = MATRIX_IDENTITY;
m->flags = 0;
}
void
_math_matrix_dtr( GLmatrix *m )
{
- if (m->m) {
- ALIGN_FREE( m->m );
- m->m = NULL;
- }
- if (m->inv) {
- ALIGN_FREE( m->inv );
- m->inv = NULL;
- }
-}
+ _mesa_align_free( m->m );
+ m->m = NULL;
-/**
- * Allocate a matrix inverse.
- *
- * \param m matrix.
- *
- * Allocates the matrix inverse, GLmatrix::inv, and sets it to Identity.
- */
-void
-_math_matrix_alloc_inv( GLmatrix *m )
-{
- if (!m->inv) {
- m->inv = (GLfloat *) ALIGN_MALLOC( 16 * sizeof(GLfloat), 16 );
- if (m->inv)
- MEMCPY( m->inv, Identity, 16 * sizeof(GLfloat) );
- }
+ _mesa_align_free( m->inv );
+ m->inv = NULL;
}
/*@}*/
/*@}*/
+
+/**
+ * Transform a 4-element row vector (1x4 matrix) by a 4x4 matrix. This
+ * function is used for transforming clipping plane equations and spotlight
+ * directions.
+ * Mathematically, u = v * m.
+ * Input: v - input vector
+ * m - transformation matrix
+ * Output: u - transformed vector
+ */
+void
+_mesa_transform_vector( GLfloat u[4], const GLfloat v[4], const GLfloat m[16] )
+{
+ const GLfloat v0 = v[0], v1 = v[1], v2 = v[2], v3 = v[3];
+#define M(row,col) m[row + col*4]
+ u[0] = v0 * M(0,0) + v1 * M(1,0) + v2 * M(2,0) + v3 * M(3,0);
+ u[1] = v0 * M(0,1) + v1 * M(1,1) + v2 * M(2,1) + v3 * M(3,1);
+ u[2] = v0 * M(0,2) + v1 * M(1,2) + v2 * M(2,2) + v3 * M(3,2);
+ u[3] = v0 * M(0,3) + v1 * M(1,3) + v2 * M(2,3) + v3 * M(3,3);
+#undef M
+}
projects / mesa.git / blobdiff