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1 /*
2  * Mesa 3-D graphics library
3  *
4  * Copyright (C) 1999-2005  Brian Paul   All Rights Reserved.
5  *
6  * Permission is hereby granted, free of charge, to any person obtaining a
7  * copy of this software and associated documentation files (the "Software"),
8  * to deal in the Software without restriction, including without limitation
9  * the rights to use, copy, modify, merge, publish, distribute, sublicense,
10  * and/or sell copies of the Software, and to permit persons to whom the
11  * Software is furnished to do so, subject to the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be included
14  * in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
17  * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
19  * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
20  * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21  * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
22  * OTHER DEALINGS IN THE SOFTWARE.
23  */
24 
25 
26 /**
27  * \file math/m_matrix.h
28  * Defines basic structures for matrix-handling.
29  */
30 
31 #ifndef _M_MATRIX_H
32 #define _M_MATRIX_H
33 
34 
35 #include "main/glheader.h"
36 
37 
38 #ifdef __cplusplus
39 extern "C" {
40 #endif
41 
42 
43 /**
44  * \name Symbolic names to some of the entries in the matrix
45  *
46  * These are handy for the viewport mapping, which is expressed as a matrix.
47  */
48 /*@{*/
49 #define MAT_SX 0
50 #define MAT_SY 5
51 #define MAT_SZ 10
52 #define MAT_TX 12
53 #define MAT_TY 13
54 #define MAT_TZ 14
55 /*@}*/
56 
57 
58 /**
59  * Different kinds of 4x4 transformation matrices.
60  * We use these to select specific optimized vertex transformation routines.
61  */
62 enum GLmatrixtype {
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 */
70 } ;
71 
72 /**
73  * Matrix type to represent 4x4 transformation matrices.
74  */
75 typedef struct {
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)
80                          */
81    enum GLmatrixtype type;
82 } GLmatrix;
83 
84 
85 
86 
87 extern void
88 _math_matrix_ctr( GLmatrix *m );
89 
90 extern void
91 _math_matrix_dtr( GLmatrix *m );
92 
93 extern void
94 _math_matrix_mul_matrix( GLmatrix *dest, const GLmatrix *a, const GLmatrix *b );
95 
96 extern void
97 _math_matrix_mul_floats( GLmatrix *dest, const GLfloat *b );
98 
99 extern void
100 _math_matrix_loadf( GLmatrix *mat, const GLfloat *m );
101 
102 extern void
103 _math_matrix_translate( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z );
104 
105 extern void
106 _math_matrix_rotate( GLmatrix *m, GLfloat angle,
107 		     GLfloat x, GLfloat y, GLfloat z );
108 
109 extern void
110 _math_matrix_scale( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z );
111 
112 extern void
113 _math_matrix_ortho( GLmatrix *mat,
114 		    GLfloat left, GLfloat right,
115 		    GLfloat bottom, GLfloat top,
116 		    GLfloat nearval, GLfloat farval );
117 
118 extern void
119 _math_matrix_frustum( GLmatrix *mat,
120 		      GLfloat left, GLfloat right,
121 		      GLfloat bottom, GLfloat top,
122 		      GLfloat nearval, GLfloat farval );
123 
124 extern void
125 _math_matrix_viewport( GLmatrix *m, const float scale[3],
126                        const float translate[3], double depthMax );
127 
128 extern void
129 _math_matrix_set_identity( GLmatrix *dest );
130 
131 extern void
132 _math_matrix_copy( GLmatrix *to, const GLmatrix *from );
133 
134 extern void
135 _math_matrix_analyse( GLmatrix *mat );
136 
137 extern void
138 _math_matrix_print( const GLmatrix *m );
139 
140 extern GLboolean
141 _math_matrix_is_length_preserving( const GLmatrix *m );
142 
143 extern GLboolean
144 _math_matrix_has_rotation( const GLmatrix *m );
145 
146 extern GLboolean
147 _math_matrix_is_general_scale( const GLmatrix *m );
148 
149 extern GLboolean
150 _math_matrix_is_dirty( const GLmatrix *m );
151 
152 
153 /**
154  * \name Related functions that don't actually operate on GLmatrix structs
155  */
156 /*@{*/
157 
158 extern void
159 _math_transposef( GLfloat to[16], const GLfloat from[16] );
160 
161 extern void
162 _math_transposed( GLdouble to[16], const GLdouble from[16] );
163 
164 extern void
165 _math_transposefd( GLfloat to[16], const GLdouble from[16] );
166 
167 
168 /*
169  * Transform a point (column vector) by a matrix:   Q = M * P
170  */
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];
176 
177 
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];
183 
184 
185 /*
186  * Transform a normal (row vector) by a matrix:  [NX NY NZ] = N * MAT
187  */
188 #define TRANSFORM_NORMAL( TO, N, MAT )				\
189 do {								\
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];	\
193 } while (0)
194 
195 
196 /**
197  * Transform a direction by a matrix.
198  */
199 #define TRANSFORM_DIRECTION( TO, DIR, MAT )			\
200 do {								\
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];\
204 } while (0)
205 
206 
207 extern void
208 _mesa_transform_vector(GLfloat u[4], const GLfloat v[4], const GLfloat m[16]);
209 
210 
211 /*@}*/
212 
213 
214 #ifdef __cplusplus
215 }
216 #endif
217 
218 #endif
219