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 template <typename T, int Rows, int Cols>
37 Matrix<T, Cols, Rows> transpose(const Matrix<T, Rows, Cols> &mat);
38
39 // 2D affine transformations.
40 Matrix<float, 2, 2> rotationMatrix(float radians);
41 Matrix<float, 2, 2> shearMatrix(const Vector<float, 2> &shear);
42
43 // 3D axis rotations.
44 Matrix<float, 3, 3> rotationMatrixX(float radiansX);
45 Matrix<float, 3, 3> rotationMatrixY(float radiansY);
46 Matrix<float, 3, 3> rotationMatrixZ(float radiansZ);
47
48 // Implementations.
49
50 // Builds a translation matrix for a homogenous coordinate system
51 template <typename T, int Len>
translationMatrix(const Vector<T,Len> & translation)52 inline Matrix<T, Len + 1, Len + 1> translationMatrix(const Vector<T, Len> &translation)
53 {
54 Matrix<T, Len + 1, Len + 1> res = Matrix<T, Len + 1, Len + 1>();
55 for (int row = 0; row < Len; row++)
56 res(row, Len) = translation.m_data[row];
57 return res;
58 }
59
60 template <typename T, int Rows, int Cols>
transpose(const Matrix<T,Rows,Cols> & mat)61 inline Matrix<T, Cols, Rows> transpose(const Matrix<T, Rows, Cols> &mat)
62 {
63 Matrix<T, Cols, Rows> res;
64 for (int row = 0; row < Rows; row++)
65 for (int col = 0; col < Cols; col++)
66 res(col, row) = mat(row, col);
67 return res;
68 }
69
rotationMatrix(float radians)70 inline Matrix<float, 2, 2> rotationMatrix(float radians)
71 {
72 Matrix<float, 2, 2> mat;
73 float c = deFloatCos(radians);
74 float s = deFloatSin(radians);
75
76 mat(0, 0) = c;
77 mat(0, 1) = -s;
78 mat(1, 0) = s;
79 mat(1, 1) = c;
80
81 return mat;
82 }
83
shearMatrix(const Vector<float,2> & shear)84 inline Matrix<float, 2, 2> shearMatrix(const Vector<float, 2> &shear)
85 {
86 Matrix<float, 2, 2> mat;
87 mat(0, 0) = 1.0f;
88 mat(0, 1) = shear.x();
89 mat(1, 0) = shear.y();
90 mat(1, 1) = 1.0f + shear.x() * shear.y();
91 return mat;
92 }
93
rotationMatrixX(float radiansX)94 inline Matrix<float, 3, 3> rotationMatrixX(float radiansX)
95 {
96 Matrix<float, 3, 3> mat(1.0f);
97 float c = deFloatCos(radiansX);
98 float s = deFloatSin(radiansX);
99
100 mat(1, 1) = c;
101 mat(1, 2) = -s;
102 mat(2, 1) = s;
103 mat(2, 2) = c;
104
105 return mat;
106 }
107
rotationMatrixY(float radiansY)108 inline Matrix<float, 3, 3> rotationMatrixY(float radiansY)
109 {
110 Matrix<float, 3, 3> mat(1.0f);
111 float c = deFloatCos(radiansY);
112 float s = deFloatSin(radiansY);
113
114 mat(0, 0) = c;
115 mat(0, 2) = s;
116 mat(2, 0) = -s;
117 mat(2, 2) = c;
118
119 return mat;
120 }
121
rotationMatrixZ(float radiansZ)122 inline Matrix<float, 3, 3> rotationMatrixZ(float radiansZ)
123 {
124 Matrix<float, 3, 3> mat(1.0f);
125 float c = deFloatCos(radiansZ);
126 float s = deFloatSin(radiansZ);
127
128 mat(0, 0) = c;
129 mat(0, 1) = -s;
130 mat(1, 0) = s;
131 mat(1, 1) = c;
132
133 return mat;
134 }
135
136 } // namespace tcu
137
138 #endif // _TCUMATRIXUTIL_HPP
139