1/*
2 * Mesa 3-D graphics library
3 * Version:  6.3
4 *
5 * Copyright (C) 1999-2005  Brian Paul   All Rights Reserved.
6 *
7 * Permission is hereby granted, free of charge, to any person obtaining a
8 * copy of this software and associated documentation files (the "Software"),
9 * to deal in the Software without restriction, including without limitation
10 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
11 * and/or sell copies of the Software, and to permit persons to whom the
12 * Software is furnished to do so, subject to the following conditions:
13 *
14 * The above copyright notice and this permission notice shall be included
15 * in all copies or substantial portions of the Software.
16 *
17 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
18 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
19 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
20 * BRIAN PAUL BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN
21 * AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
22 * CONNECTION WITH THE SOFTWARE OR THE USE OR 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
36/**
37 * \name Symbolic names to some of the entries in the matrix
38 *
39 * These are handy for the viewport mapping, which is expressed as a matrix.
40 */
41/*@{*/
42#define MAT_SX 0
43#define MAT_SY 5
44#define MAT_SZ 10
45#define MAT_TX 12
46#define MAT_TY 13
47#define MAT_TZ 14
48/*@}*/
49
50
51/**
52 * Different kinds of 4x4 transformation matrices.
53 * We use these to select specific optimized vertex transformation routines.
54 */
55enum GLmatrixtype {
56    MATRIX_GENERAL,	/**< general 4x4 matrix */
57    MATRIX_IDENTITY,	/**< identity matrix */
58    MATRIX_3D_NO_ROT,	/**< orthogonal projection and others... */
59    MATRIX_PERSPECTIVE,	/**< perspective projection matrix */
60    MATRIX_2D,		/**< 2-D transformation */
61    MATRIX_2D_NO_ROT,	/**< 2-D scale & translate only */
62    MATRIX_3D		/**< 3-D transformation */
63} ;
64
65/**
66 * Matrix type to represent 4x4 transformation matrices.
67 */
68typedef struct {
69    GLfloat m[16];
70    //GLfloat *m;		/**< 16 matrix elements (16-byte aligned) */
71    GLfloat *inv;	/**< optional 16-element inverse (16-byte aligned) */
72    GLuint flags;        /**< possible values determined by (of \link
73     * MatFlags MAT_FLAG_* flags\endlink)
74     */
75    enum GLmatrixtype type;
76} GLmatrix;
77
78
79#ifdef __cplusplus
80extern "C" {
81#endif
82
83    void
84    _math_matrix_ctr( GLmatrix *m );
85
86    void
87    _math_matrix_dtr( GLmatrix *m );
88
89    void
90    _math_matrix_alloc_inv( GLmatrix *m );
91
92    void
93    _math_matrix_mul_matrix( GLmatrix *dest, const GLmatrix *a, const GLmatrix *b );
94
95    void
96    _math_matrix_mul_floats( GLmatrix *dest, const GLfloat *b );
97
98    void
99    _math_matrix_loadf( GLmatrix *mat, const GLfloat *m );
100
101    void
102    _math_matrix_translate( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z );
103
104    void
105    _math_matrix_rotate( GLmatrix *m, GLfloat angle,
106                        GLfloat x, GLfloat y, GLfloat z );
107
108    void
109    _math_matrix_scale( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z );
110
111    void
112    _math_matrix_ortho( GLmatrix *mat,
113                       GLfloat left, GLfloat right,
114                       GLfloat bottom, GLfloat top,
115                       GLfloat nearval, GLfloat farval );
116
117    void
118    _math_matrix_perspective(GLmatrix * mat, GLfloat fovy, GLfloat aspect,
119                                  GLfloat zNear, GLfloat zFar);
120
121    void
122    _math_matrix_lookat(GLmatrix * mat, GLfloat eyex, GLfloat eyey, GLfloat eyez,
123                             GLfloat centerx, GLfloat centery, GLfloat centerz,
124                             GLfloat upx, GLfloat upy, GLfloat upz);
125    void
126    _math_matrix_frustum( GLmatrix *mat,
127                         GLfloat left, GLfloat right,
128                         GLfloat bottom, GLfloat top,
129                         GLfloat nearval, GLfloat farval );
130
131    void
132    _math_matrix_viewport(GLmatrix *m, GLint x, GLint y, GLint width, GLint height,
133                          GLfloat zNear, GLfloat zFar, GLfloat depthMax);
134
135    void
136    _math_matrix_set_identity( GLmatrix *dest );
137
138    void
139    _math_matrix_copy( GLmatrix *to, const GLmatrix *from );
140
141    void
142    _math_matrix_analyse( GLmatrix *mat );
143
144    void
145    _math_matrix_print( const GLmatrix *m );
146
147    GLboolean
148    _math_matrix_is_length_preserving( const GLmatrix *m );
149
150    GLboolean
151    _math_matrix_has_rotation( const GLmatrix *m );
152
153    GLboolean
154    _math_matrix_is_general_scale( const GLmatrix *m );
155
156    GLboolean
157    _math_matrix_is_dirty( const GLmatrix *m );
158
159
160    /**
161     * \name Related functions that don't actually operate on GLmatrix structs
162     */
163    /*@{*/
164
165    void
166    _math_transposef( GLfloat to[16], const GLfloat from[16] );
167
168    void
169    _mesa_transform_vector(GLfloat u[4], const GLfloat v[4], const GLfloat m[16]);
170
171#ifdef __cplusplus
172}
173#endif
174
175/*
176 * Transform a point (column vector) by a matrix:   Q = M * P
177 */
178#define TRANSFORM_POINT( Q, M, P )					\
179Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] *  P[2] + M[12] * P[3];	\
180Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] *  P[2] + M[13] * P[3];	\
181Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14] * P[3];	\
182Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15] * P[3];
183
184
185#define TRANSFORM_POINT3( Q, M, P )				\
186Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] *  P[2] + M[12];	\
187Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] *  P[2] + M[13];	\
188Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14];	\
189Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15];
190
191
192/*
193 * Transform a normal (row vector) by a matrix:  [NX NY NZ] = N * MAT
194 */
195#define TRANSFORM_NORMAL( TO, N, MAT )				\
196do {								\
197TO[0] = N[0] * MAT[0] + N[1] * MAT[1] + N[2] * MAT[2];	\
198TO[1] = N[0] * MAT[4] + N[1] * MAT[5] + N[2] * MAT[6];	\
199TO[2] = N[0] * MAT[8] + N[1] * MAT[9] + N[2] * MAT[10];	\
200} while (0)
201
202
203/**
204 * Transform a direction by a matrix.
205 */
206#define TRANSFORM_DIRECTION( TO, DIR, MAT )			\
207do {								\
208TO[0] = DIR[0] * MAT[0] + DIR[1] * MAT[4] + DIR[2] * MAT[8];	\
209TO[1] = DIR[0] * MAT[1] + DIR[1] * MAT[5] + DIR[2] * MAT[9];	\
210TO[2] = DIR[0] * MAT[2] + DIR[1] * MAT[6] + DIR[2] * MAT[10];\
211} while (0)
212
213
214/*@}*/
215
216
217#endif
218