1 /* 2 * Copyright (C) 2015 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 package com.example.android.rs.vr.engine; 17 18 import android.util.Log; 19 20 import java.text.*; 21 import java.util.*; 22 23 /** 24 * Generic matrix code 25 * Written for maximum portability between desktop and Android 26 * Not in performance critical sections 27 */ 28 public class Matrix { 29 30 private static final String LOGTAG = "Matrix"; 31 public double[] m; 32 makeRotation()33 public void makeRotation() { 34 { 35 double[] v = {m[0], m[4], m[8]}; 36 VectorUtil.normalize(v); 37 m[0] = v[0]; 38 m[4] = v[1]; 39 m[8] = v[2]; 40 } 41 { 42 double[] v = {m[1], m[5], m[9]}; 43 VectorUtil.normalize(v); 44 m[1] = v[0]; 45 m[5] = v[1]; 46 m[9] = v[2]; 47 } 48 { 49 double[] v = {m[2], m[6], m[10]}; 50 VectorUtil.normalize(v); 51 m[2] = v[0]; 52 m[6] = v[1]; 53 m[10] = v[2]; 54 } 55 56 } 57 trim(String s)58 private static String trim(String s) { 59 return s.substring(s.length() - 7); 60 } 61 print()62 public void print() { 63 DecimalFormat df = new DecimalFormat(" ##0.000"); 64 for (int i = 0; i < 4; i++) { 65 String s=""; 66 for (int j = 0; j < 4; j++) { 67 s+= ((j == 0) ? "[ " : " , ") + trim(" "+df.format(m[i * 4 + j])); 68 } 69 Log.v(LOGTAG, s+"]"); 70 } 71 } 72 Matrix()73 public Matrix() { 74 m = new double[4 * 4]; 75 setToUnit(); 76 } 77 Matrix(Matrix matrix)78 public Matrix(Matrix matrix) { 79 this(Arrays.copyOf(matrix.m, matrix.m.length)); 80 } 81 Matrix(double[] m)82 protected Matrix(double[] m) { 83 this.m = m; 84 } 85 setToUnit()86 public void setToUnit() { 87 for (int i = 1; i < m.length; i++) { 88 m[i] = 0; 89 } 90 m[0] = 1; 91 m[5] = 1; 92 m[10] = 1; 93 m[15] = 1; 94 } 95 mult4(float[] src, float[] dest)96 public void mult4(float[] src, float[] dest) { 97 for (int i = 0; i < 4; i++) { 98 int col = i * 4; 99 double sum = 0; 100 for (int j = 0; j < 4; j++) { 101 sum += m[col + j] * src[j]; 102 } 103 dest[i] = (float) sum; 104 } 105 } 106 mult3(float[] src, float[] dest)107 public void mult3(float[] src, float[] dest) { 108 for (int i = 0; i < 3; i++) { 109 int col = i * 4; 110 double sum = m[col + 3]; 111 for (int j = 0; j < 3; j++) { 112 sum += m[col + j] * src[j]; 113 } 114 dest[i] = (float) sum; 115 } 116 } 117 mult3v(float[] src, float[] dest)118 public void mult3v(float[] src, float[] dest) { 119 for (int i = 0; i < 3; i++) { 120 int col = i * 4; 121 double sum = 0; 122 for (int j = 0; j < 3; j++) { 123 sum += m[col + j] * src[j]; 124 } 125 dest[i] = (float) sum; 126 } 127 } 128 mult4(double[] src, double[] dest)129 public void mult4(double[] src, double[] dest) { 130 for (int i = 0; i < 4; i++) { 131 int col = i * 4; 132 double sum = 0; 133 for (int j = 0; j < 4; j++) { 134 sum += m[col + j] * src[j]; 135 } 136 dest[i] = (float) sum; 137 } 138 } 139 mult3(double[] src, double[] dest)140 public void mult3(double[] src, double[] dest) { 141 for (int i = 0; i < 3; i++) { 142 int col = i * 4; 143 double sum = m[col + 3]; 144 for (int j = 0; j < 3; j++) { 145 sum += m[col + j] * src[j]; 146 } 147 dest[i] = (float) sum; 148 } 149 } 150 mult3v(double[] src, double[] dest)151 public void mult3v(double[] src, double[] dest) { 152 for (int i = 0; i < 3; i++) { 153 int col = i * 4; 154 double sum = 0; 155 for (int j = 0; j < 3; j++) { 156 sum += m[col + j] * src[j]; 157 } 158 dest[i] = (float) sum; 159 } 160 } 161 vecmult(double[] src)162 public double[] vecmult(double[] src) { 163 double[] ret = new double[3]; 164 mult3v(src, ret); 165 return ret; 166 } 167 mult3(float[] src, int off1, float[] dest, int off2)168 public void mult3(float[] src, int off1, float[] dest, int off2) { 169 170 int col = 0 * 4; 171 double sum = m[col + 3]; 172 for (int j = 0; j < 3; j++) { 173 sum += m[col + j] * src[j + off1]; 174 } 175 float v0 = (float) sum; 176 177 178 col = 1 * 4; 179 sum = m[col + 3]; 180 for (int j = 0; j < 3; j++) { 181 sum += m[col + j] * src[j + off1]; 182 } 183 184 float v1 = (float) sum; 185 186 187 col = 2 * 4; 188 sum = m[col + 3]; 189 for (int j = 0; j < 3; j++) { 190 sum += m[col + j] * src[j + off1]; 191 } 192 float v2 = (float) sum; 193 194 dest[off2] = v0; 195 dest[1 + off2] = v1; 196 dest[2 + off2] = v2; 197 198 } 199 invers()200 public Matrix invers() { 201 double[] inv = new double[16]; 202 203 inv[0] = m[5] * m[10] * m[15] - 204 m[5] * m[11] * m[14] - 205 m[9] * m[6] * m[15] + 206 m[9] * m[7] * m[14] + 207 m[13] * m[6] * m[11] - 208 m[13] * m[7] * m[10]; 209 210 inv[4] = -m[4] * m[10] * m[15] + 211 m[4] * m[11] * m[14] + 212 m[8] * m[6] * m[15] - 213 m[8] * m[7] * m[14] - 214 m[12] * m[6] * m[11] + 215 m[12] * m[7] * m[10]; 216 217 inv[8] = m[4] * m[9] * m[15] - 218 m[4] * m[11] * m[13] - 219 m[8] * m[5] * m[15] + 220 m[8] * m[7] * m[13] + 221 m[12] * m[5] * m[11] - 222 m[12] * m[7] * m[9]; 223 224 inv[12] = -m[4] * m[9] * m[14] + 225 m[4] * m[10] * m[13] + 226 m[8] * m[5] * m[14] - 227 m[8] * m[6] * m[13] - 228 m[12] * m[5] * m[10] + 229 m[12] * m[6] * m[9]; 230 231 inv[1] = -m[1] * m[10] * m[15] + 232 m[1] * m[11] * m[14] + 233 m[9] * m[2] * m[15] - 234 m[9] * m[3] * m[14] - 235 m[13] * m[2] * m[11] + 236 m[13] * m[3] * m[10]; 237 238 inv[5] = m[0] * m[10] * m[15] - 239 m[0] * m[11] * m[14] - 240 m[8] * m[2] * m[15] + 241 m[8] * m[3] * m[14] + 242 m[12] * m[2] * m[11] - 243 m[12] * m[3] * m[10]; 244 245 inv[9] = -m[0] * m[9] * m[15] + 246 m[0] * m[11] * m[13] + 247 m[8] * m[1] * m[15] - 248 m[8] * m[3] * m[13] - 249 m[12] * m[1] * m[11] + 250 m[12] * m[3] * m[9]; 251 252 inv[13] = m[0] * m[9] * m[14] - 253 m[0] * m[10] * m[13] - 254 m[8] * m[1] * m[14] + 255 m[8] * m[2] * m[13] + 256 m[12] * m[1] * m[10] - 257 m[12] * m[2] * m[9]; 258 259 inv[2] = m[1] * m[6] * m[15] - 260 m[1] * m[7] * m[14] - 261 m[5] * m[2] * m[15] + 262 m[5] * m[3] * m[14] + 263 m[13] * m[2] * m[7] - 264 m[13] * m[3] * m[6]; 265 266 inv[6] = -m[0] * m[6] * m[15] + 267 m[0] * m[7] * m[14] + 268 m[4] * m[2] * m[15] - 269 m[4] * m[3] * m[14] - 270 m[12] * m[2] * m[7] + 271 m[12] * m[3] * m[6]; 272 273 inv[10] = m[0] * m[5] * m[15] - 274 m[0] * m[7] * m[13] - 275 m[4] * m[1] * m[15] + 276 m[4] * m[3] * m[13] + 277 m[12] * m[1] * m[7] - 278 m[12] * m[3] * m[5]; 279 280 inv[14] = -m[0] * m[5] * m[14] + 281 m[0] * m[6] * m[13] + 282 m[4] * m[1] * m[14] - 283 m[4] * m[2] * m[13] - 284 m[12] * m[1] * m[6] + 285 m[12] * m[2] * m[5]; 286 287 inv[3] = -m[1] * m[6] * m[11] + 288 m[1] * m[7] * m[10] + 289 m[5] * m[2] * m[11] - 290 m[5] * m[3] * m[10] - 291 m[9] * m[2] * m[7] + 292 m[9] * m[3] * m[6]; 293 294 inv[7] = m[0] * m[6] * m[11] - 295 m[0] * m[7] * m[10] - 296 m[4] * m[2] * m[11] + 297 m[4] * m[3] * m[10] + 298 m[8] * m[2] * m[7] - 299 m[8] * m[3] * m[6]; 300 301 inv[11] = -m[0] * m[5] * m[11] + 302 m[0] * m[7] * m[9] + 303 m[4] * m[1] * m[11] - 304 m[4] * m[3] * m[9] - 305 m[8] * m[1] * m[7] + 306 m[8] * m[3] * m[5]; 307 308 inv[15] = m[0] * m[5] * m[10] - 309 m[0] * m[6] * m[9] - 310 m[4] * m[1] * m[10] + 311 m[4] * m[2] * m[9] + 312 m[8] * m[1] * m[6] - 313 m[8] * m[2] * m[5]; 314 315 316 double det; 317 det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12]; 318 319 if (det == 0) { 320 return null; 321 } 322 323 det = 1.0 / det; 324 325 double[] out = new double[16]; 326 327 for (int i = 0; i < 16; i++) { 328 out[i] = inv[i] * det; 329 } 330 331 Matrix ret = new Matrix(out); 332 return ret; 333 } 334 getAsFloats(float[] fm)335 public void getAsFloats(float[] fm) { 336 for (int y = 0; y < 4; y++) { 337 int col = y * 4; 338 339 for (int x = 0; x < 4; x++) 340 fm[y + x * 4] = (float) m[x + y * 4]; 341 } 342 } 343 mult(Matrix b)344 Matrix mult(Matrix b) { 345 return new Matrix(multiply(this.m, b.m)); 346 } 347 premult(Matrix b)348 Matrix premult(Matrix b) { 349 return new Matrix(multiply(b.m, this.m)); 350 } 351 multiply(double a[], double b[])352 private static double[] multiply(double a[], double b[]) { 353 double[] resultant = new double[16]; 354 for (int i = 0; i < 4; i++) { 355 for (int j = 0; j < 4; j++) { 356 for (int k = 0; k < 4; k++) { 357 resultant[i + 4 * j] += a[i + 4 * k] * b[k + 4 * j]; 358 } 359 } 360 } 361 362 return resultant; 363 } 364 clone(Matrix src)365 public void clone(Matrix src) { 366 System.arraycopy(src.m, 0, m, 0, m.length); 367 } 368 } 369