X-Git-Url: https://git.libre-soc.org/?a=blobdiff_plain;f=src%2Fmesa%2Fmath%2Fm_matrix.c;h=ecf564c00897fba672703203d7a30a2b78cec37b;hb=05e7f7f4388bde882b7ce74124000a4d435affff;hp=de002adb5d2b8843c89514be29c5bf3261695931;hpb=22144ab7552f0799bcfca506bf4ffa7f70a06649;p=mesa.git diff --git a/src/mesa/math/m_matrix.c b/src/mesa/math/m_matrix.c index de002adb5d2..ecf564c0089 100644 --- a/src/mesa/math/m_matrix.c +++ b/src/mesa/math/m_matrix.c @@ -1,10 +1,7 @@ -/* $Id: m_matrix.c,v 1.8 2001/03/12 00:48:41 gareth Exp $ */ - /* * Mesa 3-D graphics library - * Version: 3.5 * - * Copyright (C) 1999-2001 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"), @@ -19,31 +16,107 @@ * 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. */ -/* - * Matrix operations +/** + * \file m_matrix.c + * Matrix operations. * - * NOTES: - * 1. 4x4 transformation matrices are stored in memory in column major order. - * 2. Points/vertices are to be thought of as column vectors. - * 3. Transformation of a point p by a matrix M is: p' = M * p + * \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 -#include "glheader.h" -#include "macros.h" -#include "mem.h" -#include "mmath.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 absence + * 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. + */ static const char *types[] = { "MATRIX_GENERAL", "MATRIX_IDENTITY", @@ -55,6 +128,9 @@ static const char *types[] = { }; +/** + * Identity matrix. + */ static GLfloat Identity[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, @@ -64,22 +140,27 @@ static GLfloat Identity[16] = { +/**********************************************************************/ +/** \name Matrix multiplication */ +/*@{*/ -/* - * This matmul was contributed by Thomas Malik - * - * Perform a 4x4 matrix multiplication (product = a x b). - * Input: a, b - matrices to multiply - * Output: product - product of a and b - * WARNING: (product != b) assumed - * NOTE: (product == a) allowed - * - * KW: 4*16 = 64 muls - */ #define A(row,col) a[(col<<2)+row] #define B(row,col) b[(col<<2)+row] #define P(row,col) product[(col<<2)+row] +/** + * Perform a full 4x4 matrix multiplication. + * + * \param a matrix. + * \param b matrix. + * \param product will receive the product of \p a and \p b. + * + * \warning Is assumed that \p product != \p b. \p product == \p a is allowed. + * + * \note KW: 4*16 = 64 multiplications + * + * \author This \c matmul was contributed by Thomas Malik + */ static void matmul4( GLfloat *product, const GLfloat *a, const GLfloat *b ) { GLint i; @@ -92,9 +173,13 @@ static void matmul4( GLfloat *product, const GLfloat *a, const GLfloat *b ) } } - -/* Multiply two matrices known to occupy only the top three rows, such - * as typical model matrices, and ortho matrices. +/** + * Multiply two matrices known to occupy only the top three rows, such + * as typical model matrices, and orthogonal matrices. + * + * \param a matrix. + * \param b matrix. + * \param product will receive the product of \p a and \p b. */ static void matmul34( GLfloat *product, const GLfloat *a, const GLfloat *b ) { @@ -112,14 +197,20 @@ static void matmul34( GLfloat *product, const GLfloat *a, const GLfloat *b ) P(3,3) = 1; } - #undef A #undef B #undef P - -/* +/** * Multiply a matrix by an array of floats with known properties. + * + * \param mat pointer to a GLmatrix structure containing the left multiplication + * matrix, and that will receive the product result. + * \param m right multiplication matrix array. + * \param flags flags of the matrix \p m. + * + * Joins both flags and marks the type and inverse as dirty. Calls matmul34() + * if both matrices are 3D, or matmul4() otherwise. */ static void matrix_multf( GLmatrix *mat, const GLfloat *m, GLuint flags ) { @@ -131,43 +222,133 @@ static void matrix_multf( GLmatrix *mat, const GLfloat *m, GLuint flags ) matmul4( mat->m, mat->m, m ); } +/** + * Matrix multiplication. + * + * \param dest destination matrix. + * \param a left matrix. + * \param b right matrix. + * + * Joins both flags and marks the type and inverse as dirty. Calls matmul34() + * if both matrices are 3D, or matmul4() otherwise. + */ +void +_math_matrix_mul_matrix( GLmatrix *dest, const GLmatrix *a, const GLmatrix *b ) +{ + dest->flags = (a->flags | + b->flags | + MAT_DIRTY_TYPE | + MAT_DIRTY_INVERSE); + if (TEST_MAT_FLAGS(dest, MAT_FLAGS_3D)) + matmul34( dest->m, a->m, b->m ); + else + matmul4( dest->m, a->m, b->m ); +} + +/** + * Matrix multiplication. + * + * \param dest left and destination matrix. + * \param m right matrix array. + * + * Marks the matrix flags with general flag, and type and inverse dirty flags. + * Calls matmul4() for the multiplication. + */ +void +_math_matrix_mul_floats( GLmatrix *dest, const GLfloat *m ) +{ + dest->flags |= (MAT_FLAG_GENERAL | + MAT_DIRTY_TYPE | + MAT_DIRTY_INVERSE | + MAT_DIRTY_FLAGS); + + matmul4( dest->m, dest->m, m ); +} + +/*@}*/ + + +/**********************************************************************/ +/** \name Matrix output */ +/*@{*/ + +/** + * Print a matrix array. + * + * \param m matrix array. + * + * Called by _math_matrix_print() to print a matrix or its inverse. + */ static void print_matrix_floats( const GLfloat m[16] ) { int i; for (i=0;i<4;i++) { - fprintf(stderr,"\t%f %f %f %f\n", m[i], m[4+i], m[8+i], m[12+i] ); + _mesa_debug(NULL,"\t%f %f %f %f\n", m[i], m[4+i], m[8+i], m[12+i] ); } } +/** + * Dumps the contents of a GLmatrix structure. + * + * \param m pointer to the GLmatrix structure. + */ void _math_matrix_print( const GLmatrix *m ) { - fprintf(stderr, "Matrix type: %s, flags: %x\n", types[m->type], m->flags); + GLfloat prod[16]; + + _mesa_debug(NULL, "Matrix type: %s, flags: %x\n", types[m->type], m->flags); print_matrix_floats(m->m); - fprintf(stderr, "Inverse: \n"); - if (m->inv) { - GLfloat prod[16]; - print_matrix_floats(m->inv); - matmul4(prod, m->m, m->inv); - fprintf(stderr, "Mat * Inverse:\n"); - print_matrix_floats(prod); - } - else { - fprintf(stderr, " - not available\n"); - } + _mesa_debug(NULL, "Inverse: \n"); + print_matrix_floats(m->inv); + matmul4(prod, m->m, m->inv); + _mesa_debug(NULL, "Mat * Inverse:\n"); + print_matrix_floats(prod); } +/*@}*/ + + +/** + * References an element of 4x4 matrix. + * + * \param m matrix array. + * \param c column of the desired element. + * \param r row of the desired element. + * + * \return value of the desired element. + * + * Calculate the linear storage index of the element and references it. + */ +#define MAT(m,r,c) (m)[(c)*4+(r)] +/**********************************************************************/ +/** \name Matrix inversion */ +/*@{*/ +/** + * Swaps the values of two floating point variables. + * + * Used by invert_matrix_general() to swap the row pointers. + */ #define SWAP_ROWS(a, b) { GLfloat *_tmp = a; (a)=(b); (b)=_tmp; } -#define MAT(m,r,c) (m)[(c)*4+(r)] -/* +/** * Compute inverse of 4x4 transformation matrix. + * + * \param mat pointer to a GLmatrix structure. The matrix inverse will be + * stored in the GLmatrix::inv attribute. + * + * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix). + * + * \author * Code contributed by Jacques Leroy jle@star.be - * Return GL_TRUE for success, GL_FALSE for failure (singular matrix) + * + * Calculates the inverse matrix by performing the gaussian matrix reduction + * with partial pivoting followed by back/substitution with the loops manually + * unrolled. */ static GLboolean invert_matrix_general( GLmatrix *mat ) { @@ -196,9 +377,9 @@ static GLboolean invert_matrix_general( GLmatrix *mat ) 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 */ @@ -216,8 +397,8 @@ static GLboolean invert_matrix_general( GLmatrix *mat ) 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 */ @@ -230,7 +411,7 @@ static GLboolean invert_matrix_general( GLmatrix *mat ) 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 */ @@ -242,11 +423,11 @@ static GLboolean invert_matrix_general( GLmatrix *mat ) /* last check */ if (0.0 == r3[3]) return GL_FALSE; - s = 1.0/r3[3]; /* now back substitute row 3 */ + s = 1.0F/r3[3]; /* now back substitute row 3 */ r3[4] *= s; r3[5] *= s; r3[6] *= s; r3[7] *= s; m2 = r2[3]; /* now back substitute row 2 */ - s = 1.0/r2[2]; + s = 1.0F/r2[2]; r2[4] = s * (r2[4] - r3[4] * m2), r2[5] = s * (r2[5] - r3[5] * m2), r2[6] = s * (r2[6] - r3[6] * m2), r2[7] = s * (r2[7] - r3[7] * m2); m1 = r1[3]; @@ -257,7 +438,7 @@ static GLboolean invert_matrix_general( GLmatrix *mat ) r0[6] -= r3[6] * m0, r0[7] -= r3[7] * m0; m1 = r1[2]; /* now back substitute row 1 */ - s = 1.0/r1[1]; + s = 1.0F/r1[1]; r1[4] = s * (r1[4] - r2[4] * m1), r1[5] = s * (r1[5] - r2[5] * m1), r1[6] = s * (r1[6] - r2[6] * m1), r1[7] = s * (r1[7] - r2[7] * m1); m0 = r0[2]; @@ -265,7 +446,7 @@ static GLboolean invert_matrix_general( GLmatrix *mat ) r0[6] -= r2[6] * m0, r0[7] -= r2[7] * m0; m0 = r0[1]; /* now back substitute row 0 */ - s = 1.0/r0[0]; + s = 1.0F/r0[0]; r0[4] = s * (r0[4] - r1[4] * m0), r0[5] = s * (r0[5] - r1[5] * m0), r0[6] = s * (r0[6] - r1[6] * m0), r0[7] = s * (r0[7] - r1[7] * m0); @@ -282,8 +463,20 @@ static GLboolean invert_matrix_general( GLmatrix *mat ) } #undef SWAP_ROWS - -/* Adapted from graphics gems II. +/** + * Compute inverse of a general 3d transformation matrix. + * + * \param mat pointer to a GLmatrix structure. The matrix inverse will be + * stored in the GLmatrix::inv attribute. + * + * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix). + * + * \author Adapted from graphics gems II. + * + * Calculates the inverse of the upper left by first calculating its + * determinant and multiplying it to the symmetric adjust matrix of each + * element. Finally deals with the translation part by transforming the + * original translation vector using by the calculated submatrix inverse. */ static GLboolean invert_matrix_3d_general( GLmatrix *mat ) { @@ -316,10 +509,10 @@ static GLboolean invert_matrix_3d_general( GLmatrix *mat ) det = pos + neg; - if (det*det < 1e-25) + if (fabsf(det) < 1e-25) return GL_FALSE; - det = 1.0 / det; + det = 1.0F / det; MAT(out,0,0) = ( (MAT(in,1,1)*MAT(in,2,2) - MAT(in,2,1)*MAT(in,1,2) )*det); MAT(out,0,1) = (- (MAT(in,0,1)*MAT(in,2,2) - MAT(in,2,1)*MAT(in,0,2) )*det); MAT(out,0,2) = ( (MAT(in,0,1)*MAT(in,1,2) - MAT(in,1,1)*MAT(in,0,2) )*det); @@ -344,7 +537,19 @@ static GLboolean invert_matrix_3d_general( GLmatrix *mat ) return GL_TRUE; } - +/** + * Compute inverse of a 3d transformation matrix. + * + * \param mat pointer to a GLmatrix structure. The matrix inverse will be + * stored in the GLmatrix::inv attribute. + * + * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix). + * + * If the matrix is not an angle preserving matrix then calls + * invert_matrix_3d_general for the actual calculation. Otherwise calculates + * the inverse matrix analyzing and inverting each of the scaling, rotation and + * translation parts. + */ static GLboolean invert_matrix_3d( GLmatrix *mat ) { const GLfloat *in = mat->m; @@ -362,7 +567,7 @@ static GLboolean invert_matrix_3d( GLmatrix *mat ) if (scale == 0.0) return GL_FALSE; - scale = 1.0 / scale; + scale = 1.0F / scale; /* Transpose and scale the 3 by 3 upper-left submatrix. */ MAT(out,0,0) = scale * MAT(in,0,0); @@ -389,7 +594,7 @@ static GLboolean invert_matrix_3d( GLmatrix *mat ) } 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); @@ -415,15 +620,32 @@ static GLboolean invert_matrix_3d( GLmatrix *mat ) return GL_TRUE; } - - +/** + * Compute inverse of an identity transformation matrix. + * + * \param mat pointer to a GLmatrix structure. The matrix inverse will be + * stored in the GLmatrix::inv attribute. + * + * \return always GL_TRUE. + * + * Simply copies Identity into GLmatrix::inv. + */ static GLboolean invert_matrix_identity( GLmatrix *mat ) { - MEMCPY( mat->inv, Identity, sizeof(Identity) ); + memcpy( mat->inv, Identity, sizeof(Identity) ); return GL_TRUE; } - +/** + * Compute inverse of a no-rotation 3d transformation matrix. + * + * \param mat pointer to a GLmatrix structure. The matrix inverse will be + * stored in the GLmatrix::inv attribute. + * + * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix). + * + * Calculates the + */ static GLboolean invert_matrix_3d_no_rot( GLmatrix *mat ) { const GLfloat *in = mat->m; @@ -432,10 +654,10 @@ static GLboolean invert_matrix_3d_no_rot( GLmatrix *mat ) 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) ); - MAT(out,0,0) = 1.0 / MAT(in,0,0); - MAT(out,1,1) = 1.0 / MAT(in,1,1); - MAT(out,2,2) = 1.0 / MAT(in,2,2); + 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->flags & MAT_FLAG_TRANSLATION) { MAT(out,0,3) = - (MAT(in,0,3) * MAT(out,0,0)); @@ -446,7 +668,17 @@ static GLboolean invert_matrix_3d_no_rot( GLmatrix *mat ) return GL_TRUE; } - +/** + * Compute inverse of a no-rotation 2d transformation matrix. + * + * \param mat pointer to a GLmatrix structure. The matrix inverse will be + * stored in the GLmatrix::inv attribute. + * + * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix). + * + * Calculates the inverse matrix by applying the inverse scaling and + * translation to the identity matrix. + */ static GLboolean invert_matrix_2d_no_rot( GLmatrix *mat ) { const GLfloat *in = mat->m; @@ -455,9 +687,9 @@ static GLboolean invert_matrix_2d_no_rot( GLmatrix *mat ) if (MAT(in,0,0) == 0 || MAT(in,1,1) == 0) return GL_FALSE; - MEMCPY( out, Identity, 16 * sizeof(GLfloat) ); - MAT(out,0,0) = 1.0 / MAT(in,0,0); - MAT(out,1,1) = 1.0 / MAT(in,1,1); + 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->flags & MAT_FLAG_TRANSLATION) { MAT(out,0,3) = - (MAT(in,0,3) * MAT(out,0,0)); @@ -467,7 +699,8 @@ static GLboolean invert_matrix_2d_no_rot( GLmatrix *mat ) return GL_TRUE; } - +#if 0 +/* broken */ static GLboolean invert_matrix_perspective( GLmatrix *mat ) { const GLfloat *in = mat->m; @@ -476,10 +709,10 @@ static GLboolean invert_matrix_perspective( GLmatrix *mat ) 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) = 1.0 / MAT(in,0,0); - MAT(out,1,1) = 1.0 / MAT(in,1,1); + MAT(out,0,0) = 1.0F / MAT(in,0,0); + MAT(out,1,1) = 1.0F / MAT(in,1,1); MAT(out,0,3) = MAT(in,0,2); MAT(out,1,3) = MAT(in,1,2); @@ -487,27 +720,50 @@ static GLboolean invert_matrix_perspective( GLmatrix *mat ) MAT(out,2,2) = 0; MAT(out,2,3) = -1; - MAT(out,3,2) = 1.0 / MAT(in,2,3); + MAT(out,3,2) = 1.0F / MAT(in,2,3); MAT(out,3,3) = MAT(in,2,2) * MAT(out,3,2); return GL_TRUE; } +#endif - +/** + * Matrix inversion function pointer type. + */ typedef GLboolean (*inv_mat_func)( GLmatrix *mat ); - +/** + * Table of the matrix inversion functions according to the matrix type. + */ static inv_mat_func inv_mat_tab[7] = { invert_matrix_general, invert_matrix_identity, invert_matrix_3d_no_rot, +#if 0 + /* Don't use this function for now - it fails when the projection matrix + * is premultiplied by a translation (ala Chromium's tilesort SPU). + */ invert_matrix_perspective, +#else + invert_matrix_general, +#endif invert_matrix_3d, /* lazy! */ invert_matrix_2d_no_rot, invert_matrix_3d }; - +/** + * Compute inverse of a transformation matrix. + * + * \param mat pointer to a GLmatrix structure. The matrix inverse will be + * stored in the GLmatrix::inv attribute. + * + * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix). + * + * Calls the matrix inversion function in inv_mat_tab corresponding to the + * given matrix type. In case of failure, updates the MAT_FLAG_SINGULAR flag, + * and copies the identity matrix into GLmatrix::inv. + */ static GLboolean matrix_invert( GLmatrix *mat ) { if (inv_mat_tab[mat->type](mat)) { @@ -515,136 +771,210 @@ static GLboolean matrix_invert( GLmatrix *mat ) return GL_TRUE; } else { mat->flags |= MAT_FLAG_SINGULAR; - MEMCPY( mat->inv, Identity, sizeof(Identity) ); + memcpy( mat->inv, Identity, sizeof(Identity) ); return GL_FALSE; } } +/*@}*/ +/**********************************************************************/ +/** \name Matrix generation */ +/*@{*/ - - -/* +/** * Generate a 4x4 transformation matrix from glRotate parameters, and - * postmultiply the input matrix by it. + * post-multiply the input matrix by it. + * + * \author + * This function was contributed by Erich Boleyn (erich@uruk.org). + * Optimizations contributed by Rudolf Opalla (rudi@khm.de). */ void _math_matrix_rotate( GLmatrix *mat, GLfloat angle, GLfloat x, GLfloat y, GLfloat z ) { - /* This function contributed by Erich Boleyn (erich@uruk.org) */ - GLfloat mag, s, c; - GLfloat xx, yy, zz, xy, yz, zx, xs, ys, zs, one_c; + GLfloat xx, yy, zz, xy, yz, zx, xs, ys, zs, one_c, s, c; GLfloat m[16]; + GLboolean optimized; - s = sin( angle * DEG2RAD ); - c = cos( angle * DEG2RAD ); + s = (GLfloat) sin( angle * M_PI / 180.0 ); + c = (GLfloat) cos( angle * M_PI / 180.0 ); - mag = GL_SQRT( x*x + y*y + z*z ); - - if (mag <= 1.0e-4) { - /* generate an identity matrix and return */ - MEMCPY(m, Identity, sizeof(GLfloat)*16); - return; - } - - x /= mag; - y /= mag; - z /= mag; + memcpy(m, Identity, sizeof(GLfloat)*16); + optimized = GL_FALSE; #define M(row,col) m[col*4+row] - /* - * Arbitrary axis rotation matrix. - * - * This is composed of 5 matrices, Rz, Ry, T, Ry', Rz', multiplied - * like so: Rz * Ry * T * Ry' * Rz'. T is the final rotation - * (which is about the X-axis), and the two composite transforms - * Ry' * Rz' and Rz * Ry are (respectively) the rotations necessary - * from the arbitrary axis to the X-axis then back. They are - * all elementary rotations. - * - * Rz' is a rotation about the Z-axis, to bring the axis vector - * into the x-z plane. Then Ry' is applied, rotating about the - * 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 - * 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. - * - * The basic calculation used is to recognize that the arbitrary - * axis vector (x, y, z), since it is of unit length, actually - * represents the sines and cosines of the angles to rotate the - * X-axis to the same orientation, with theta being the angle about - * Z and phi the angle about Y (in the order described above) - * as follows: - * - * cos ( theta ) = x / sqrt ( 1 - z^2 ) - * sin ( theta ) = y / sqrt ( 1 - z^2 ) - * - * cos ( phi ) = sqrt ( 1 - z^2 ) - * sin ( phi ) = z - * - * Note that cos ( phi ) can further be inserted to the above - * formulas: - * - * cos ( theta ) = x / cos ( phi ) - * sin ( theta ) = y / sin ( phi ) - * - * ...etc. Because of those relations and the standard trigonometric - * relations, it is pssible to reduce the transforms down to what - * is used below. It may be that any primary axis chosen will give the - * same results (modulo a sign convention) using thie method. - * - * Particularly nice is to notice that all divisions that might - * have caused trouble when parallel to certain planes or - * axis go away with care paid to reducing the expressions. - * After checking, it does perform correctly under all cases, since - * in all the cases of division where the denominator would have - * been zero, the numerator would have been zero as well, giving - * the expected result. - */ + if (x == 0.0F) { + if (y == 0.0F) { + if (z != 0.0F) { + optimized = GL_TRUE; + /* rotate only around z-axis */ + M(0,0) = c; + M(1,1) = c; + if (z < 0.0F) { + M(0,1) = s; + M(1,0) = -s; + } + else { + M(0,1) = -s; + M(1,0) = s; + } + } + } + else if (z == 0.0F) { + optimized = GL_TRUE; + /* rotate only around y-axis */ + M(0,0) = c; + M(2,2) = c; + if (y < 0.0F) { + M(0,2) = -s; + M(2,0) = s; + } + else { + M(0,2) = s; + M(2,0) = -s; + } + } + } + else if (y == 0.0F) { + if (z == 0.0F) { + optimized = GL_TRUE; + /* rotate only around x-axis */ + M(1,1) = c; + M(2,2) = c; + if (x < 0.0F) { + M(1,2) = s; + M(2,1) = -s; + } + else { + M(1,2) = -s; + M(2,1) = s; + } + } + } - xx = x * x; - yy = y * y; - zz = z * z; - xy = x * y; - yz = y * z; - zx = z * x; - xs = x * s; - ys = y * s; - zs = z * s; - one_c = 1.0F - c; - - M(0,0) = (one_c * xx) + c; - M(0,1) = (one_c * xy) - zs; - M(0,2) = (one_c * zx) + ys; - M(0,3) = 0.0F; - - M(1,0) = (one_c * xy) + zs; - M(1,1) = (one_c * yy) + c; - M(1,2) = (one_c * yz) - xs; - M(1,3) = 0.0F; - - M(2,0) = (one_c * zx) - ys; - M(2,1) = (one_c * yz) + xs; - M(2,2) = (one_c * zz) + c; - M(2,3) = 0.0F; + if (!optimized) { + const GLfloat mag = sqrtf(x * x + y * y + z * z); - M(3,0) = 0.0F; - M(3,1) = 0.0F; - M(3,2) = 0.0F; - M(3,3) = 1.0F; + if (mag <= 1.0e-4) { + /* no rotation, leave mat as-is */ + return; + } + x /= mag; + y /= mag; + z /= mag; + + + /* + * Arbitrary axis rotation matrix. + * + * This is composed of 5 matrices, Rz, Ry, T, Ry', Rz', multiplied + * like so: Rz * Ry * T * Ry' * Rz'. T is the final rotation + * (which is about the X-axis), and the two composite transforms + * Ry' * Rz' and Rz * Ry are (respectively) the rotations necessary + * from the arbitrary axis to the X-axis then back. They are + * all elementary rotations. + * + * Rz' is a rotation about the Z-axis, to bring the axis vector + * into the x-z plane. Then Ry' is applied, rotating about the + * 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 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. + * + * The basic calculation used is to recognize that the arbitrary + * axis vector (x, y, z), since it is of unit length, actually + * represents the sines and cosines of the angles to rotate the + * X-axis to the same orientation, with theta being the angle about + * Z and phi the angle about Y (in the order described above) + * as follows: + * + * cos ( theta ) = x / sqrt ( 1 - z^2 ) + * sin ( theta ) = y / sqrt ( 1 - z^2 ) + * + * cos ( phi ) = sqrt ( 1 - z^2 ) + * sin ( phi ) = z + * + * Note that cos ( phi ) can further be inserted to the above + * formulas: + * + * cos ( theta ) = x / cos ( phi ) + * sin ( theta ) = y / sin ( phi ) + * + * ...etc. Because of those relations and the standard trigonometric + * relations, it is pssible to reduce the transforms down to what + * is used below. It may be that any primary axis chosen will give the + * same results (modulo a sign convention) using thie method. + * + * Particularly nice is to notice that all divisions that might + * have caused trouble when parallel to certain planes or + * axis go away with care paid to reducing the expressions. + * After checking, it does perform correctly under all cases, since + * in all the cases of division where the denominator would have + * been zero, the numerator would have been zero as well, giving + * the expected result. + */ + + xx = x * x; + yy = y * y; + zz = z * z; + xy = x * y; + yz = y * z; + zx = z * x; + xs = x * s; + ys = y * s; + zs = z * s; + one_c = 1.0F - c; + + /* We already hold the identity-matrix so we can skip some statements */ + M(0,0) = (one_c * xx) + c; + M(0,1) = (one_c * xy) - zs; + M(0,2) = (one_c * zx) + ys; +/* M(0,3) = 0.0F; */ + + M(1,0) = (one_c * xy) + zs; + M(1,1) = (one_c * yy) + c; + M(1,2) = (one_c * yz) - xs; +/* M(1,3) = 0.0F; */ + + M(2,0) = (one_c * zx) - ys; + M(2,1) = (one_c * yz) + xs; + M(2,2) = (one_c * zz) + c; +/* M(2,3) = 0.0F; */ + +/* + 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_ROTATION ); } - +/** + * Apply a perspective projection matrix. + * + * \param mat matrix to apply the projection. + * \param left left clipping plane coordinate. + * \param right right clipping plane coordinate. + * \param bottom bottom clipping plane coordinate. + * \param top top clipping plane coordinate. + * \param nearval distance to the near clipping plane. + * \param farval distance to the far clipping plane. + * + * Creates the projection matrix and multiplies it with \p mat, marking the + * MAT_FLAG_PERSPECTIVE flag. + */ void _math_matrix_frustum( GLmatrix *mat, GLfloat left, GLfloat right, @@ -654,12 +984,12 @@ _math_matrix_frustum( GLmatrix *mat, GLfloat x, y, a, b, c, d; GLfloat m[16]; - x = (2.0*nearval) / (right-left); - y = (2.0*nearval) / (top-bottom); + x = (2.0F*nearval) / (right-left); + y = (2.0F*nearval) / (top-bottom); a = (right+left) / (right-left); b = (top+bottom) / (top-bottom); c = -(farval+nearval) / ( farval-nearval); - d = -(2.0*farval*nearval) / (farval-nearval); /* error? */ + d = -(2.0F*farval*nearval) / (farval-nearval); /* error? */ #define M(row,col) m[col*4+row] M(0,0) = x; M(0,1) = 0.0F; M(0,2) = a; M(0,3) = 0.0F; @@ -671,33 +1001,156 @@ _math_matrix_frustum( GLmatrix *mat, matrix_multf( mat, m, MAT_FLAG_PERSPECTIVE ); } +/** + * Apply an orthographic projection matrix. + * + * \param mat matrix to apply the projection. + * \param left left clipping plane coordinate. + * \param right right clipping plane coordinate. + * \param bottom bottom clipping plane coordinate. + * \param top top clipping plane coordinate. + * \param nearval distance to the near clipping plane. + * \param farval distance to the far clipping plane. + * + * Creates the projection matrix and multiplies it with \p mat, marking the + * MAT_FLAG_GENERAL_SCALE and MAT_FLAG_TRANSLATION flags. + */ void _math_matrix_ortho( GLmatrix *mat, GLfloat left, GLfloat right, GLfloat bottom, GLfloat top, GLfloat nearval, GLfloat farval ) { - GLfloat x, y, z; - GLfloat tx, ty, tz; GLfloat m[16]; - x = 2.0 / (right-left); - y = 2.0 / (top-bottom); - z = -2.0 / (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)); } +/** + * Multiply a matrix with a general scaling matrix. + * + * \param mat matrix. + * \param x x axis scale factor. + * \param y y axis scale factor. + * \param z z axis scale factor. + * + * Multiplies in-place the elements of \p mat by the scale factors. Checks if + * the scales factors are roughly the same, marking the MAT_FLAG_UNIFORM_SCALE + * flag, or MAT_FLAG_GENERAL_SCALE. Marks the MAT_DIRTY_TYPE and + * MAT_DIRTY_INVERSE dirty flags. + */ +void +_math_matrix_scale( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z ) +{ + GLfloat *m = mat->m; + m[0] *= x; m[4] *= y; m[8] *= z; + m[1] *= x; m[5] *= y; m[9] *= z; + m[2] *= x; m[6] *= y; m[10] *= z; + m[3] *= x; m[7] *= y; m[11] *= z; + + 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->flags |= (MAT_DIRTY_TYPE | + MAT_DIRTY_INVERSE); +} + +/** + * Multiply a matrix with a translation matrix. + * + * \param mat matrix. + * \param x translation vector x coordinate. + * \param y translation vector y coordinate. + * \param z translation vector z coordinate. + * + * Adds the translation coordinates to the elements of \p mat in-place. Marks + * the MAT_FLAG_TRANSLATION flag, and the MAT_DIRTY_TYPE and MAT_DIRTY_INVERSE + * dirty flags. + */ +void +_math_matrix_translate( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z ) +{ + GLfloat *m = mat->m; + m[12] = m[0] * x + m[4] * y + m[8] * z + m[12]; + m[13] = m[1] * x + m[5] * y + m[9] * z + m[13]; + m[14] = m[2] * x + m[6] * y + m[10] * z + m[14]; + m[15] = m[3] * x + m[7] * y + m[11] * z + m[15]; + + mat->flags |= (MAT_FLAG_TRANSLATION | + MAT_DIRTY_TYPE | + 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. + * + * \param mat matrix. + * + * Copies ::Identity into \p GLmatrix::m, and into GLmatrix::inv if not NULL. + * Sets the matrix type to identity, and clear the dirty flags. + */ +void +_math_matrix_set_identity( GLmatrix *mat ) +{ + memcpy( mat->m, Identity, 16*sizeof(GLfloat) ); + memcpy( mat->inv, Identity, 16*sizeof(GLfloat) ); + + mat->type = MATRIX_IDENTITY; + mat->flags &= ~(MAT_DIRTY_FLAGS| + MAT_DIRTY_TYPE| + MAT_DIRTY_INVERSE); +} + +/*@}*/ + + +/**********************************************************************/ +/** \name Matrix analysis */ +/*@{*/ #define ZERO(x) (1<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); @@ -850,9 +1307,10 @@ static void analyse_from_scratch( GLmatrix *mat ) } } - -/* Analyse a matrix given that its flags are accurate - this is the - * more common operation, hopefully. +/** + * Analyze a matrix given that its flags are accurate. + * + * This is the more common operation, hopefully. */ static void analyse_from_flags( GLmatrix *mat ) { @@ -892,7 +1350,16 @@ static void analyse_from_flags( GLmatrix *mat ) } } - +/** + * Analyze and update a matrix. + * + * \param mat matrix. + * + * If the matrix type is dirty then calls either analyse_from_scratch() or + * analyse_from_flags() to determine its type, according to whether the flags + * are dirty or not, respectively. If the matrix has an inverse and it's dirty + * then calls matrix_invert(). Finally clears the dirty flags. + */ void _math_matrix_analyse( GLmatrix *mat ) { @@ -905,150 +1372,143 @@ _math_matrix_analyse( GLmatrix *mat ) 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); } +/*@}*/ -void -_math_matrix_copy( GLmatrix *to, const GLmatrix *from ) -{ - MEMCPY( to->m, from->m, sizeof(Identity) ); - 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); - } - } +/** + * 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); } -void -_math_matrix_scale( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z ) +/** + * 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 ) { - GLfloat *m = mat->m; - m[0] *= x; m[4] *= y; m[8] *= z; - m[1] *= x; m[5] *= y; m[9] *= z; - 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) - mat->flags |= MAT_FLAG_UNIFORM_SCALE; + if (m->flags & (MAT_FLAG_GENERAL | + MAT_FLAG_ROTATION | + MAT_FLAG_GENERAL_3D | + MAT_FLAG_PERSPECTIVE)) + return GL_TRUE; else - mat->flags |= MAT_FLAG_GENERAL_SCALE; - - mat->flags |= (MAT_DIRTY_TYPE | - MAT_DIRTY_INVERSE); + return GL_FALSE; } -void -_math_matrix_translate( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z ) +GLboolean +_math_matrix_is_general_scale( const GLmatrix *m ) { - GLfloat *m = mat->m; - m[12] = m[0] * x + m[4] * y + m[8] * z + m[12]; - m[13] = m[1] * x + m[5] * y + m[9] * z + m[13]; - m[14] = m[2] * x + m[6] * y + m[10] * z + m[14]; - m[15] = m[3] * x + m[7] * y + m[11] * z + m[15]; - - mat->flags |= (MAT_FLAG_TRANSLATION | - MAT_DIRTY_TYPE | - MAT_DIRTY_INVERSE); + return (m->flags & MAT_FLAG_GENERAL_SCALE) ? GL_TRUE : GL_FALSE; } -void -_math_matrix_loadf( GLmatrix *mat, const GLfloat *m ) -{ - MEMCPY( mat->m, m, 16*sizeof(GLfloat) ); - mat->flags = (MAT_FLAG_GENERAL | MAT_DIRTY); -} - -void -_math_matrix_ctr( GLmatrix *m ) +GLboolean +_math_matrix_is_dirty( const GLmatrix *m ) { - if ( m->m == 0 ) { - m->m = (GLfloat *) ALIGN_MALLOC( 16 * sizeof(GLfloat), 16 ); - } - MEMCPY( m->m, Identity, sizeof(Identity) ); - m->inv = 0; - m->type = MATRIX_IDENTITY; - m->flags = 0; + return (m->flags & MAT_DIRTY) ? GL_TRUE : GL_FALSE; } -void -_math_matrix_dtr( GLmatrix *m ) -{ - if ( m->m != 0 ) { - ALIGN_FREE( m->m ); - m->m = 0; - } - if ( m->inv != 0 ) { - ALIGN_FREE( m->inv ); - m->inv = 0; - } -} +/**********************************************************************/ +/** \name Matrix setup */ +/*@{*/ +/** + * Copy a matrix. + * + * \param to destination matrix. + * \param from source matrix. + * + * Copies all fields in GLmatrix, creating an inverse array if necessary. + */ void -_math_matrix_alloc_inv( GLmatrix *m ) +_math_matrix_copy( GLmatrix *to, const GLmatrix *from ) { - if ( m->inv == 0 ) { - m->inv = (GLfloat *) ALIGN_MALLOC( 16 * sizeof(GLfloat), 16 ); - MEMCPY( m->inv, Identity, 16 * sizeof(GLfloat) ); - } + memcpy( to->m, from->m, sizeof(Identity) ); + memcpy(to->inv, from->inv, 16 * sizeof(GLfloat)); + to->flags = from->flags; + to->type = from->type; } - +/** + * Loads a matrix array into GLmatrix. + * + * \param m matrix array. + * \param mat matrix. + * + * Copies \p m into GLmatrix::m and marks the MAT_FLAG_GENERAL and MAT_DIRTY + * flags. + */ void -_math_matrix_mul_matrix( GLmatrix *dest, const GLmatrix *a, const GLmatrix *b ) +_math_matrix_loadf( GLmatrix *mat, const GLfloat *m ) { - dest->flags = (a->flags | - b->flags | - MAT_DIRTY_TYPE | - MAT_DIRTY_INVERSE); - - if (TEST_MAT_FLAGS(dest, MAT_FLAGS_3D)) - matmul34( dest->m, a->m, b->m ); - else - matmul4( dest->m, a->m, b->m ); + memcpy( mat->m, m, 16*sizeof(GLfloat) ); + mat->flags = (MAT_FLAG_GENERAL | MAT_DIRTY); } - +/** + * Matrix constructor. + * + * \param m matrix. + * + * Initialize the GLmatrix fields. + */ void -_math_matrix_mul_floats( GLmatrix *dest, const GLfloat *m ) +_math_matrix_ctr( GLmatrix *m ) { - dest->flags |= (MAT_FLAG_GENERAL | - MAT_DIRTY_TYPE | - MAT_DIRTY_INVERSE); - - matmul4( dest->m, dest->m, m ); + m->m = _mesa_align_malloc( 16 * sizeof(GLfloat), 16 ); + if (m->m) + 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; } +/** + * Matrix destructor. + * + * \param m matrix. + * + * Frees the data in a GLmatrix. + */ void -_math_matrix_set_identity( GLmatrix *mat ) +_math_matrix_dtr( GLmatrix *m ) { - MEMCPY( mat->m, Identity, 16*sizeof(GLfloat) ); - - if (mat->inv) - MEMCPY( mat->inv, Identity, 16*sizeof(GLfloat) ); + _mesa_align_free( m->m ); + m->m = NULL; - mat->type = MATRIX_IDENTITY; - mat->flags &= ~(MAT_DIRTY_FLAGS| - MAT_DIRTY_TYPE| - MAT_DIRTY_INVERSE); + _mesa_align_free( m->inv ); + m->inv = NULL; } +/*@}*/ + +/**********************************************************************/ +/** \name Matrix transpose */ +/*@{*/ +/** + * Transpose a GLfloat matrix. + * + * \param to destination array. + * \param from source array. + */ void _math_transposef( GLfloat to[16], const GLfloat from[16] ) { @@ -1070,7 +1530,12 @@ _math_transposef( GLfloat to[16], const GLfloat from[16] ) to[15] = from[15]; } - +/** + * Transpose a GLdouble matrix. + * + * \param to destination array. + * \param from source array. + */ void _math_transposed( GLdouble to[16], const GLdouble from[16] ) { @@ -1092,23 +1557,53 @@ _math_transposed( GLdouble to[16], const GLdouble from[16] ) to[15] = from[15]; } +/** + * Transpose a GLdouble matrix and convert to GLfloat. + * + * \param to destination array. + * \param from source array. + */ void _math_transposefd( GLfloat to[16], const GLdouble from[16] ) { - to[0] = from[0]; - to[1] = from[4]; - to[2] = from[8]; - to[3] = from[12]; - to[4] = from[1]; - to[5] = from[5]; - to[6] = from[9]; - to[7] = from[13]; - to[8] = from[2]; - to[9] = from[6]; - to[10] = from[10]; - to[11] = from[14]; - to[12] = from[3]; - to[13] = from[7]; - to[14] = from[11]; - to[15] = from[15]; + to[0] = (GLfloat) from[0]; + to[1] = (GLfloat) from[4]; + to[2] = (GLfloat) from[8]; + to[3] = (GLfloat) from[12]; + to[4] = (GLfloat) from[1]; + to[5] = (GLfloat) from[5]; + to[6] = (GLfloat) from[9]; + to[7] = (GLfloat) from[13]; + to[8] = (GLfloat) from[2]; + to[9] = (GLfloat) from[6]; + to[10] = (GLfloat) from[10]; + to[11] = (GLfloat) from[14]; + to[12] = (GLfloat) from[3]; + to[13] = (GLfloat) from[7]; + to[14] = (GLfloat) from[11]; + to[15] = (GLfloat) from[15]; +} + +/*@}*/ + + +/** + * 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 }