xref: /aosp_15_r20/external/mesa3d/src/mesa/math/m_matrix.h (revision 6104692788411f58d303aa86923a9ff6ecaded22)

/*
 * Mesa 3-D graphics library
 *
 * Copyright (C) 1999-2005  Brian Paul   All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a
 * copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included
 * in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
 * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
 * OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
 * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
 * OTHER DEALINGS IN THE SOFTWARE.
 */


/**
 * \file math/m_matrix.h
 * Defines basic structures for matrix-handling.
 */

#ifndef _M_MATRIX_H
#define _M_MATRIX_H


#include "util/glheader.h"


#ifdef __cplusplus
extern "C" {
#endif


/**
 * Different kinds of 4x4 transformation matrices.
 * We use these to select specific optimized vertex transformation routines.
 */
enum GLmatrixtype {
   MATRIX_GENERAL,     /**< general 4x4 matrix */
   MATRIX_IDENTITY,    /**< identity matrix */
   MATRIX_3D_NO_ROT,   /**< orthogonal projection and others... */
   MATRIX_PERSPECTIVE, /**< perspective projection matrix */
   MATRIX_2D,          /**< 2-D transformation */
   MATRIX_2D_NO_ROT,   /**< 2-D scale & translate only */
   MATRIX_3D           /**< 3-D transformation */
} ;

/**
 * Matrix type to represent 4x4 transformation matrices.
 */
typedef struct {
   alignas(16) GLfloat m[16];   /**< 16 matrix elements (16-byte aligned) */
   alignas(16) GLfloat inv[16]; /**< 16-element inverse (16-byte aligned) */
   GLuint flags;                /**< possible values determined by (of \link
                                 * MatFlags MAT_FLAG_* flags\endlink)
                                 */
   enum GLmatrixtype type;
} GLmatrix;




extern void
_math_matrix_ctr( GLmatrix *m );

extern void
_math_matrix_mul_matrix( GLmatrix *dest, const GLmatrix *a, const GLmatrix *b );

extern void
_math_matrix_mul_floats( GLmatrix *dest, const GLfloat *b );

extern void
_math_matrix_loadf( GLmatrix *mat, const GLfloat *m );

extern void
_math_matrix_translate( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z );

extern void
_math_matrix_rotate( GLmatrix *m, GLfloat angle,
                     GLfloat x, GLfloat y, GLfloat z );

extern void
_math_matrix_scale( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z );

extern void
_math_float_ortho(float *m,
                  float left, float right,
                  float bottom, float top,
                  float nearval, float farval);

extern void
_math_matrix_ortho( GLmatrix *mat,
                    GLfloat left, GLfloat right,
                    GLfloat bottom, GLfloat top,
                    GLfloat nearval, GLfloat farval );

extern void
_math_matrix_frustum( GLmatrix *mat,
                      GLfloat left, GLfloat right,
                      GLfloat bottom, GLfloat top,
                      GLfloat nearval, GLfloat farval );

extern void
_math_matrix_viewport( GLmatrix *m, const float scale[3],
                       const float translate[3], double depthMax );

extern void
_math_matrix_set_identity( GLmatrix *dest );

extern void
_math_matrix_copy( GLmatrix *to, const GLmatrix *from );

extern void
_math_matrix_push_copy(GLmatrix *to, GLmatrix *from);

extern void
_math_matrix_analyse( GLmatrix *mat );

extern GLboolean
_math_matrix_is_length_preserving( const GLmatrix *m );

extern GLboolean
_math_matrix_is_general_scale( const GLmatrix *m );

extern GLboolean
_math_matrix_is_dirty( const GLmatrix *m );


/**
 * \name Related functions that don't actually operate on GLmatrix structs
 */
/*@{*/

extern void
_math_transposef( GLfloat to[16], const GLfloat from[16] );

extern void
_math_transposed( GLdouble to[16], const GLdouble from[16] );

extern void
_math_transposefd( GLfloat to[16], const GLdouble from[16] );


/*
 * Transform a point (column vector) by a matrix:   Q = M * P
 */
#define TRANSFORM_POINT( Q, M, P )                                 \
   Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] *  P[2] + M[12] * P[3]; \
   Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] *  P[2] + M[13] * P[3]; \
   Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14] * P[3]; \
   Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15] * P[3];


#define TRANSFORM_POINT3( Q, M, P )                         \
   Q[0] = M[0] * P[0] + M[4] * P[1] + M[8] *  P[2] + M[12]; \
   Q[1] = M[1] * P[0] + M[5] * P[1] + M[9] *  P[2] + M[13]; \
   Q[2] = M[2] * P[0] + M[6] * P[1] + M[10] * P[2] + M[14]; \
   Q[3] = M[3] * P[0] + M[7] * P[1] + M[11] * P[2] + M[15];


/*
 * Transform a normal (row vector) by a matrix:  [NX NY NZ] = N * MAT
 */
#define TRANSFORM_NORMAL( TO, N, MAT )                     \
do {                                                       \
   TO[0] = N[0] * MAT[0] + N[1] * MAT[1] + N[2] * MAT[2];  \
   TO[1] = N[0] * MAT[4] + N[1] * MAT[5] + N[2] * MAT[6];  \
   TO[2] = N[0] * MAT[8] + N[1] * MAT[9] + N[2] * MAT[10]; \
} while (0)


/**
 * Transform a direction by a matrix.
 */
#define TRANSFORM_DIRECTION( TO, DIR, MAT )                      \
do {                                                             \
   TO[0] = DIR[0] * MAT[0] + DIR[1] * MAT[4] + DIR[2] * MAT[8];  \
   TO[1] = DIR[0] * MAT[1] + DIR[1] * MAT[5] + DIR[2] * MAT[9];  \
   TO[2] = DIR[0] * MAT[2] + DIR[1] * MAT[6] + DIR[2] * MAT[10]; \
} while (0)


extern void
_mesa_transform_vector(GLfloat u[4], const GLfloat v[4], const GLfloat m[16]);


/*@}*/


#ifdef __cplusplus
}
#endif

#endif