/** * \file math/m_matrix.h * Defines basic structures for matrix-handling. */ /* * Mesa 3-D graphics library * Version: 3.5 * * Copyright (C) 1999-2001 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"), * to deal in the Software without restriction, including without limitation * the rights to use, copy, modify, merge, publish, distribute, sublicense, * and/or sell copies of the Software, and to permit persons to whom the * Software is furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included * in all copies or substantial portions of 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. */ #ifndef _M_MATRIX_H #define _M_MATRIX_H /** * \name Symbolic names to some of the entries in the matrix * * To help out with the rework of the viewport_map as a matrix transform. */ /*@{*/ #define MAT_SX 0 #define MAT_SY 5 #define MAT_SZ 10 #define MAT_TX 12 #define MAT_TY 13 #define MAT_TZ 14 /*@}*/ /** * \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 projection 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) /** 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) /** 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) /** 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) /** * Different kinds of 4x4 transformation matrices. */ enum GLmatrixtype { MATRIX_GENERAL, /**< general 4x4 matrix */ MATRIX_IDENTITY, /**< identity matrix */ MATRIX_3D_NO_ROT, /**< orthogonal projection and others... */ MATRIX_PERSPECTIVE, /**< perspective projection matrix */ MATRIX_2D, /**< 2-D transformation */ MATRIX_2D_NO_ROT, /**< 2-D scale & translate only */ MATRIX_3D /**< 3-D transformation */ } ; /** * Matrix. */ typedef struct { GLfloat *m; /**< matrix, 16-byte aligned */ GLfloat *inv; /**< optional inverse, 16-byte aligned */ GLuint flags; /**< possible values determined by (of \link MatFlags MAT_FLAG_* flags\endlink) */ enum GLmatrixtype type; } GLmatrix; extern void _math_matrix_ctr( GLmatrix *m ); extern void _math_matrix_dtr( GLmatrix *m ); extern void _math_matrix_alloc_inv( GLmatrix *m ); extern void _math_matrix_mul_matrix( GLmatrix *dest, const GLmatrix *a, const GLmatrix *b ); extern void _math_matrix_mul_floats( GLmatrix *dest, const GLfloat *b ); extern void _math_matrix_loadf( GLmatrix *mat, const GLfloat *m ); extern void _math_matrix_translate( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z ); extern void _math_matrix_rotate( GLmatrix *m, GLfloat angle, GLfloat x, GLfloat y, GLfloat z ); extern void _math_matrix_scale( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z ); extern void _math_matrix_ortho( GLmatrix *mat, GLfloat left, GLfloat right, GLfloat bottom, GLfloat top, GLfloat nearval, GLfloat farval ); extern void _math_matrix_frustum( GLmatrix *mat, GLfloat left, GLfloat right, GLfloat bottom, GLfloat top, GLfloat nearval, GLfloat farval ); extern void _math_matrix_set_identity( GLmatrix *dest ); extern void _math_matrix_copy( GLmatrix *to, const GLmatrix *from ); extern void _math_matrix_analyse( GLmatrix *mat ); extern void _math_matrix_print( const GLmatrix *m ); /** * \name Related functions that don't actually operate on GLmatrix structs */ /*@{*/ extern void _math_transposef( GLfloat to[16], const GLfloat from[16] ); extern void _math_transposed( GLdouble to[16], const GLdouble from[16] ); extern void _math_transposefd( GLfloat to[16], const GLdouble from[16] ); /* * Transform a point (column vector) by a matrix: Q = M * P */ #define TRANSFORM_POINT( Q, M, P ) \ Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] * P[2] + M[12] * P[3]; \ Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] * P[2] + M[13] * P[3]; \ Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14] * P[3]; \ Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15] * P[3]; #define TRANSFORM_POINT3( Q, M, P ) \ Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] * P[2] + M[12]; \ Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] * P[2] + M[13]; \ Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14]; \ Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15]; /* * Transform a normal (row vector) by a matrix: [NX NY NZ] = N * MAT */ #define TRANSFORM_NORMAL( TO, N, MAT ) \ do { \ TO[0] = N[0] * MAT[0] + N[1] * MAT[1] + N[2] * MAT[2]; \ TO[1] = N[0] * MAT[4] + N[1] * MAT[5] + N[2] * MAT[6]; \ TO[2] = N[0] * MAT[8] + N[1] * MAT[9] + N[2] * MAT[10]; \ } while (0) /*@}*/ #endif