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
30namespace tcu
31{
32
33template <typename T, int Size>
34Matrix<T, Size+1, Size+1>		translationMatrix		(const Vector<T, Size>& translation);
35
36// 2D affine transformations.
37Matrix<float, 2, 2>				rotationMatrix			(float radians);
38Matrix<float, 2, 2>				shearMatrix				(const Vector<float, 2>& shear);
39
40// 3D axis rotations.
41Matrix<float, 3, 3>				rotationMatrixX			(float radiansX);
42Matrix<float, 3, 3>				rotationMatrixY			(float radiansY);
43Matrix<float, 3, 3>				rotationMatrixZ			(float radiansZ);
44
45// Implementations.
46
47// Builds a translation matrix for a homogenous coordinate system
48template <typename T, int Len>
49inline 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
57inline 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
71inline 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
81inline 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
95inline 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
109inline 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