1 #ifndef _TCUMATRIXUTIL_HPP
2 #define _TCUMATRIXUTIL_HPP
3 /*-------------------------------------------------------------------------
4 * drawElements Quality Program Tester Core
5 * ----------------------------------------
6 *
7 * Copyright 2014 The Android Open Source Project
8 *
9 * Licensed under the Apache License, Version 2.0 (the "License");
10 * you may not use this file except in compliance with the License.
11 * You may obtain a copy of the License at
12 *
13 * http://www.apache.org/licenses/LICENSE-2.0
14 *
15 * Unless required by applicable law or agreed to in writing, software
16 * distributed under the License is distributed on an "AS IS" BASIS,
17 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
18 * See the License for the specific language governing permissions and
19 * limitations under the License.
20 *
21 *//*!
22 * \file
23 * \brief Matrix utility functions
24 *//*--------------------------------------------------------------------*/
25
26 #include "tcuDefs.hpp"
27 #include "tcuMatrix.hpp"
28 #include "deMath.h"
29
30 namespace tcu
31 {
32
33 template <typename T, int Size>
34 Matrix<T, Size+1, Size+1> translationMatrix (const Vector<T, Size>& translation);
35
36 // 2D affine transformations.
37 Matrix<float, 2, 2> rotationMatrix (float radians);
38 Matrix<float, 2, 2> shearMatrix (const Vector<float, 2>& shear);
39
40 // 3D axis rotations.
41 Matrix<float, 3, 3> rotationMatrixX (float radiansX);
42 Matrix<float, 3, 3> rotationMatrixY (float radiansY);
43 Matrix<float, 3, 3> rotationMatrixZ (float radiansZ);
44
45 // Implementations.
46
47 // Builds a translation matrix for a homogenous coordinate system
48 template <typename T, int Len>
translationMatrix(const Vector<T,Len> & translation)49 inline Matrix<T, Len+1, Len+1> translationMatrix (const Vector<T, Len>& translation)
50 {
51 Matrix<T, Len+1, Len+1> res = Matrix<T, Len+1, Len+1>();
52 for (int row = 0; row < Len; row++)
53 res(row, Len) = translation.m_data[row];
54 return res;
55 }
56
rotationMatrix(float radians)57 inline Matrix<float, 2, 2> rotationMatrix (float radians)
58 {
59 Matrix<float, 2, 2> mat;
60 float c = deFloatCos(radians);
61 float s = deFloatSin(radians);
62
63 mat(0, 0) = c;
64 mat(0, 1) = -s;
65 mat(1, 0) = s;
66 mat(1, 1) = c;
67
68 return mat;
69 }
70
shearMatrix(const Vector<float,2> & shear)71 inline Matrix<float, 2, 2> shearMatrix (const Vector<float, 2>& shear)
72 {
73 Matrix<float, 2, 2> mat;
74 mat(0, 0) = 1.0f;
75 mat(0, 1) = shear.x();
76 mat(1, 0) = shear.y();
77 mat(1, 1) = 1.0f + shear.x()*shear.y();
78 return mat;
79 }
80
rotationMatrixX(float radiansX)81 inline Matrix<float, 3, 3> rotationMatrixX (float radiansX)
82 {
83 Matrix<float, 3, 3> mat(1.0f);
84 float c = deFloatCos(radiansX);
85 float s = deFloatSin(radiansX);
86
87 mat(1, 1) = c;
88 mat(1, 2) = -s;
89 mat(2, 1) = s;
90 mat(2, 2) = c;
91
92 return mat;
93 }
94
rotationMatrixY(float radiansY)95 inline Matrix<float, 3, 3> rotationMatrixY (float radiansY)
96 {
97 Matrix<float, 3, 3> mat(1.0f);
98 float c = deFloatCos(radiansY);
99 float s = deFloatSin(radiansY);
100
101 mat(0, 0) = c;
102 mat(0, 2) = s;
103 mat(2, 0) = -s;
104 mat(2, 2) = c;
105
106 return mat;
107 }
108
rotationMatrixZ(float radiansZ)109 inline Matrix<float, 3, 3> rotationMatrixZ (float radiansZ)
110 {
111 Matrix<float, 3, 3> mat(1.0f);
112 float c = deFloatCos(radiansZ);
113 float s = deFloatSin(radiansZ);
114
115 mat(0, 0) = c;
116 mat(0, 1) = -s;
117 mat(1, 0) = s;
118 mat(1, 1) = c;
119
120 return mat;
121 }
122
123 } // tcu
124
125 #endif // _TCUMATRIXUTIL_HPP
126