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mutter/cogl/cogl-matrix.c
Robert Bragg d1434d1c33 math: Adds an experimental quaternion API 
This adds an experimental quaternion utility API. It's not yet fully
documented but it's complete enough that people can start to experiment
with using it. It adds the following functions:

    cogl_quaternion_init_identity
    cogl_quaternion_init
    cogl_quaternion_init_from_angle_vector
    cogl_quaternion_init_from_array
    cogl_quaternion_init_from_x_rotation
    cogl_quaternion_init_from_y_rotation
    cogl_quaternion_init_from_z_rotation
    cogl_quaternion_equal
    cogl_quaternion_copy
    cogl_quaternion_free
    cogl_quaternion_get_rotation_angle
    cogl_quaternion_get_rotation_axis
    cogl_quaternion_normalize
    cogl_quaternion_dot_product
    cogl_quaternion_invert
    cogl_quaternion_multiply
    cogl_quaternion_pow
    cogl_quaternion_slerp
    cogl_quaternion_nlerp
    cogl_quaternion_squad
    cogl_get_static_identity_quaternion
    cogl_get_static_zero_quaternion

Since it's experimental API you'll need to define
COGL_ENABLE_EXPERIMENTAL_API before including cogl.h.
2011-05-16 14:11:47 +01:00

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/*
* Cogl
*
* An object oriented GL/GLES Abstraction/Utility Layer
*
* Copyright (C) 2008,2009 Intel Corporation.
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library. If not, see <http://www.gnu.org/licenses/>.
*
*
*
* Authors:
* Robert Bragg <robert@linux.intel.com>
*/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#define USE_MESA_MATRIX_API
#include <cogl.h>
#include "cogl-debug.h"
#include <cogl-quaternion.h>
#include <cogl-quaternion-private.h>
#include <cogl-matrix.h>
#include <cogl-matrix-private.h>
#ifdef USE_MESA_MATRIX_API
#include <cogl-matrix-mesa.h>
#endif
#include <glib.h>
#include <math.h>
#include <string.h>
#ifdef _COGL_SUPPORTS_GTYPE_INTEGRATION
#include <cogl-gtype-private.h>
COGL_GTYPE_DEFINE_BOXED ("Matrix", matrix,
cogl_matrix_copy,
cogl_matrix_free);
#endif
void
_cogl_matrix_print (CoglMatrix *matrix)
{
float *m = (float *)matrix;
int y;
for (y = 0; y < 4; y++)
g_print ("\t%6.4f %6.4f %6.4f %6.4f\n", m[y], m[4+y], m[8+y], m[12+y]);
}
void
cogl_matrix_init_identity (CoglMatrix *matrix)
{
#ifndef USE_MESA_MATRIX_API
matrix->xx = 1; matrix->xy = 0; matrix->xz = 0; matrix->xw = 0;
matrix->yx = 0; matrix->yy = 1; matrix->yz = 0; matrix->yw = 0;
matrix->zx = 0; matrix->zy = 0; matrix->zz = 1; matrix->zw = 0;
matrix->wx = 0; matrix->wy = 0; matrix->wz = 0; matrix->ww = 1;
#else
_math_matrix_init_identity (matrix);
#endif
_COGL_MATRIX_DEBUG_PRINT (matrix);
}
void
cogl_matrix_init_from_quaternion (CoglMatrix *matrix,
CoglQuaternion *quaternion)
{
_math_matrix_init_from_quaternion (matrix, quaternion);
}
void
cogl_matrix_multiply (CoglMatrix *result,
const CoglMatrix *a,
const CoglMatrix *b)
{
#ifndef USE_MESA_MATRIX_API
CoglMatrix r;
/* row 0 */
r.xx = a->xx * b->xx + a->xy * b->yx + a->xz * b->zx + a->xw * b->wx;
r.xy = a->xx * b->xy + a->xy * b->yy + a->xz * b->zy + a->xw * b->wy;
r.xz = a->xx * b->xz + a->xy * b->yz + a->xz * b->zz + a->xw * b->wz;
r.xw = a->xx * b->xw + a->xy * b->yw + a->xz * b->zw + a->xw * b->ww;
/* row 1 */
r.yx = a->yx * b->xx + a->yy * b->yx + a->yz * b->zx + a->yw * b->wx;
r.yy = a->yx * b->xy + a->yy * b->yy + a->yz * b->zy + a->yw * b->wy;
r.yz = a->yx * b->xz + a->yy * b->yz + a->yz * b->zz + a->yw * b->wz;
r.yw = a->yx * b->xw + a->yy * b->yw + a->yz * b->zw + a->yw * b->ww;
/* row 2 */
r.zx = a->zx * b->xx + a->zy * b->yx + a->zz * b->zx + a->zw * b->wx;
r.zy = a->zx * b->xy + a->zy * b->yy + a->zz * b->zy + a->zw * b->wy;
r.zz = a->zx * b->xz + a->zy * b->yz + a->zz * b->zz + a->zw * b->wz;
r.zw = a->zx * b->xw + a->zy * b->yw + a->zz * b->zw + a->zw * b->ww;
/* row 3 */
r.wx = a->wx * b->xx + a->wy * b->yx + a->wz * b->zx + a->ww * b->wx;
r.wy = a->wx * b->xy + a->wy * b->yy + a->wz * b->zy + a->ww * b->wy;
r.wz = a->wx * b->xz + a->wy * b->yz + a->wz * b->zz + a->ww * b->wz;
r.ww = a->wx * b->xw + a->wy * b->yw + a->wz * b->zw + a->ww * b->ww;
/* The idea was that having this unrolled; it might be easier for the
* compiler to vectorize, but that's probably not true. Mesa does it
* using a single for (i=0; i<4; i++) approach, maybe that's better...
*/
*result = r;
#else
_math_matrix_multiply (result, a, b);
#endif
_COGL_MATRIX_DEBUG_PRINT (result);
}
void
cogl_matrix_rotate (CoglMatrix *matrix,
float angle,
float x,
float y,
float z)
{
#ifndef USE_MESA_MATRIX_API
CoglMatrix rotation;
CoglMatrix result;
float c, s;
angle *= G_PI / 180.0f;
c = cosf (angle);
s = sinf (angle);
rotation.xx = x * x * (1.0f - c) + c;
rotation.yx = y * x * (1.0f - c) + z * s;
rotation.zx = x * z * (1.0f - c) - y * s;
rotation.wx = 0.0f;
rotation.xy = x * y * (1.0f - c) - z * s;
rotation.yy = y * y * (1.0f - c) + c;
rotation.zy = y * z * (1.0f - c) + x * s;
rotation.wy = 0.0f;
rotation.xz = x * z * (1.0f - c) + y * s;
rotation.yz = y * z * (1.0f - c) - x * s;
rotation.zz = z * z * (1.0f - c) + c;
rotation.wz = 0.0f;
rotation.xw = 0.0f;
rotation.yw = 0.0f;
rotation.zw = 0.0f;
rotation.ww = 1.0f;
cogl_matrix_multiply (&result, matrix, &rotation);
*matrix = result;
#else
_math_matrix_rotate (matrix, angle, x, y, z);
#endif
_COGL_MATRIX_DEBUG_PRINT (matrix);
}
void
cogl_matrix_translate (CoglMatrix *matrix,
float x,
float y,
float z)
{
#ifndef USE_MESA_MATRIX_API
matrix->xw = matrix->xx * x + matrix->xy * y + matrix->xz * z + matrix->xw;
matrix->yw = matrix->yx * x + matrix->yy * y + matrix->yz * z + matrix->yw;
matrix->zw = matrix->zx * x + matrix->zy * y + matrix->zz * z + matrix->zw;
matrix->ww = matrix->wx * x + matrix->wy * y + matrix->wz * z + matrix->ww;
#else
_math_matrix_translate (matrix, x, y, z);
#endif
_COGL_MATRIX_DEBUG_PRINT (matrix);
}
void
cogl_matrix_scale (CoglMatrix *matrix,
float sx,
float sy,
float sz)
{
#ifndef USE_MESA_MATRIX_API
matrix->xx *= sx; matrix->xy *= sy; matrix->xz *= sz;
matrix->yx *= sx; matrix->yy *= sy; matrix->yz *= sz;
matrix->zx *= sx; matrix->zy *= sy; matrix->zz *= sz;
matrix->wx *= sx; matrix->wy *= sy; matrix->wz *= sz;
#else
_math_matrix_scale (matrix, sx, sy, sz);
#endif
_COGL_MATRIX_DEBUG_PRINT (matrix);
}
void
cogl_matrix_frustum (CoglMatrix *matrix,
float left,
float right,
float bottom,
float top,
float z_near,
float z_far)
{
#ifndef USE_MESA_MATRIX_API
float x, y, a, b, c, d;
CoglMatrix frustum;
x = (2.0f * z_near) / (right - left);
y = (2.0f * z_near) / (top - bottom);
a = (right + left) / (right - left);
b = (top + bottom) / (top - bottom);
c = -(z_far + z_near) / ( z_far - z_near);
d = -(2.0f * z_far* z_near) / (z_far - z_near);
frustum.xx = x;
frustum.yx = 0.0f;
frustum.zx = 0.0f;
frustum.wx = 0.0f;
frustum.xy = 0.0f;
frustum.yy = y;
frustum.zy = 0.0f;
frustum.wy = 0.0f;
frustum.xz = a;
frustum.yz = b;
frustum.zz = c;
frustum.wz = -1.0f;
frustum.xw = 0.0f;
frustum.yw = 0.0f;
frustum.zw = d;
frustum.ww = 0.0f;
cogl_matrix_multiply (matrix, matrix, &frustum);
#else
_math_matrix_frustum (matrix, left, right, bottom, top, z_near, z_far);
#endif
_COGL_MATRIX_DEBUG_PRINT (matrix);
}
void
cogl_matrix_perspective (CoglMatrix *matrix,
float fov_y,
float aspect,
float z_near,
float z_far)
{
float ymax = z_near * tan (fov_y * G_PI / 360.0);
cogl_matrix_frustum (matrix,
-ymax * aspect, /* left */
ymax * aspect, /* right */
-ymax, /* bottom */
ymax, /* top */
z_near,
z_far);
_COGL_MATRIX_DEBUG_PRINT (matrix);
}
void
cogl_matrix_ortho (CoglMatrix *matrix,
float left,
float right,
float bottom,
float top,
float near_val,
float far_val)
{
#ifndef USE_MESA_MATRIX_API
CoglMatrix ortho;
/* column 0 */
ortho.xx = 2.0 / (right - left);
ortho.yx = 0.0;
ortho.zx = 0.0;
ortho.wx = 0.0;
/* column 1 */
ortho.xy = 0.0;
ortho.yy = 2.0 / (top - bottom);
ortho.zy = 0.0;
ortho.wy = 0.0;
/* column 2 */
ortho.xz = 0.0;
ortho.yz = 0.0;
ortho.zz = -2.0 / (far_val - near_val);
ortho.wz = 0.0;
/* column 3 */
ortho.xw = -(right + left) / (right - left);
ortho.yw = -(top + bottom) / (top - bottom);
ortho.zw = -(far_val + near_val) / (far_val - near_val);
ortho.ww = 1.0;
cogl_matrix_multiply (matrix, matrix, &ortho);
#else
_math_matrix_ortho (matrix, left, right, bottom, top, near_val, far_val);
#endif
_COGL_MATRIX_DEBUG_PRINT (matrix);
}
void
cogl_matrix_view_2d_in_frustum (CoglMatrix *matrix,
float left,
float right,
float bottom,
float top,
float z_near,
float z_2d,
float width_2d,
float height_2d)
{
float left_2d_plane = left / z_near * z_2d;
float right_2d_plane = right / z_near * z_2d;
float bottom_2d_plane = bottom / z_near * z_2d;
float top_2d_plane = top / z_near * z_2d;
float width_2d_start = right_2d_plane - left_2d_plane;
float height_2d_start = top_2d_plane - bottom_2d_plane;
/* Factors to scale from framebuffer geometry to frustum
* cross-section geometry. */
float width_scale = width_2d_start / width_2d;
float height_scale = height_2d_start / height_2d;
cogl_matrix_translate (matrix,
left_2d_plane, top_2d_plane, -z_2d);
cogl_matrix_scale (matrix, width_scale, -height_scale, width_scale);
}
/* Assuming a symmetric perspective matrix is being used for your
* projective transform this convenience function lets you compose a
* view transform such that geometry on the z=0 plane will map to
* screen coordinates with a top left origin of (0,0) and with the
* given width and height.
*/
void
cogl_matrix_view_2d_in_perspective (CoglMatrix *matrix,
float fov_y,
float aspect,
float z_near,
float z_2d,
float width_2d,
float height_2d)
{
float top = z_near * tan (fov_y * G_PI / 360.0);
cogl_matrix_view_2d_in_frustum (matrix,
-top * aspect,
top * aspect,
-top,
top,
z_near,
z_2d,
width_2d,
height_2d);
}
void
cogl_matrix_init_from_array (CoglMatrix *matrix, const float *array)
{
#ifndef USE_MESA_MATRIX_API
memcpy (matrix, array, sizeof (float) * 16);
#else
_math_matrix_init_from_array (matrix, array);
#endif
_COGL_MATRIX_DEBUG_PRINT (matrix);
}
gboolean
cogl_matrix_equal (gconstpointer v1, gconstpointer v2)
{
const CoglMatrix *a = v1;
const CoglMatrix *b = v2;
g_return_val_if_fail (v1 != NULL, FALSE);
g_return_val_if_fail (v2 != NULL, FALSE);
/* We want to avoid having a fuzzy _equal() function (e.g. that uses
* an arbitrary epsilon value) since this function noteably conforms
* to the prototype suitable for use with g_hash_table_new() and a
* fuzzy hash function isn't really appropriate for comparing hash
* table keys since it's possible that you could end up fetching
* different values if you end up with multiple similar keys in use
* at the same time. If you consider that fuzzyness allows cases
* such as A == B == C but A != C then you could also end up loosing
* values in a hash table.
*
* We do at least use the == operator to compare values though so
* that -0 is considered equal to 0.
*/
/* XXX: We don't compare the flags, inverse matrix or padding */
if (a->xx == b->xx &&
a->xy == b->xy &&
a->xz == b->xz &&
a->xw == b->xw &&
a->yx == b->yx &&
a->yy == b->yy &&
a->yz == b->yz &&
a->yw == b->yw &&
a->zx == b->zx &&
a->zy == b->zy &&
a->zz == b->zz &&
a->zw == b->zw &&
a->wx == b->wx &&
a->wy == b->wy &&
a->wz == b->wz &&
a->ww == b->ww)
return TRUE;
else
return FALSE;
}
CoglMatrix *
cogl_matrix_copy (const CoglMatrix *matrix)
{
if (G_LIKELY (matrix))
return g_slice_dup (CoglMatrix, matrix);
return NULL;
}
void
cogl_matrix_free (CoglMatrix *matrix)
{
g_slice_free (CoglMatrix, matrix);
}
const float *
cogl_matrix_get_array (const CoglMatrix *matrix)
{
return (float *)matrix;
}
gboolean
cogl_matrix_get_inverse (const CoglMatrix *matrix, CoglMatrix *inverse)
{
#ifndef USE_MESA_MATRIX_API
#warning "cogl_matrix_get_inverse not supported without Mesa matrix API"
cogl_matrix_init_identity (inverse);
return FALSE;
#else
if (_math_matrix_update_inverse ((CoglMatrix *)matrix))
{
cogl_matrix_init_from_array (inverse, matrix->inv);
return TRUE;
}
else
{
cogl_matrix_init_identity (inverse);
return FALSE;
}
#endif
}
void
cogl_matrix_transform_point (const CoglMatrix *matrix,
float *x,
float *y,
float *z,
float *w)
{
float _x = *x, _y = *y, _z = *z, _w = *w;
*x = matrix->xx * _x + matrix->xy * _y + matrix->xz * _z + matrix->xw * _w;
*y = matrix->yx * _x + matrix->yy * _y + matrix->yz * _z + matrix->yw * _w;
*z = matrix->zx * _x + matrix->zy * _y + matrix->zz * _z + matrix->zw * _w;
*w = matrix->wx * _x + matrix->wy * _y + matrix->wz * _z + matrix->ww * _w;
}
typedef struct _Point2f
{
float x;
float y;
} Point2f;
typedef struct _Point3f
{
float x;
float y;
float z;
} Point3f;
typedef struct _Point4f
{
float x;
float y;
float z;
float w;
} Point4f;
static void
_cogl_matrix_transform_points_f2 (const CoglMatrix *matrix,
size_t stride_in,
const void *points_in,
size_t stride_out,
void *points_out,
int n_points)
{
int i;
for (i = 0; i < n_points; i++)
{
Point2f p = *(Point2f *)((guint8 *)points_in + i * stride_in);
Point3f *o = (Point3f *)((guint8 *)points_out + i * stride_out);
o->x = matrix->xx * p.x + matrix->xy * p.y + matrix->xw;
o->y = matrix->yx * p.x + matrix->yy * p.y + matrix->yw;
o->z = matrix->zx * p.x + matrix->zy * p.y + matrix->zw;
}
}
static void
_cogl_matrix_project_points_f2 (const CoglMatrix *matrix,
size_t stride_in,
const void *points_in,
size_t stride_out,
void *points_out,
int n_points)
{
int i;
for (i = 0; i < n_points; i++)
{
Point2f p = *(Point2f *)((guint8 *)points_in + i * stride_in);
Point4f *o = (Point4f *)((guint8 *)points_out + i * stride_out);
o->x = matrix->xx * p.x + matrix->xy * p.y + matrix->xw;
o->y = matrix->yx * p.x + matrix->yy * p.y + matrix->yw;
o->z = matrix->zx * p.x + matrix->zy * p.y + matrix->zw;
o->w = matrix->wx * p.x + matrix->wy * p.y + matrix->ww;
}
}
static void
_cogl_matrix_transform_points_f3 (const CoglMatrix *matrix,
size_t stride_in,
const void *points_in,
size_t stride_out,
void *points_out,
int n_points)
{
int i;
for (i = 0; i < n_points; i++)
{
Point3f p = *(Point3f *)((guint8 *)points_in + i * stride_in);
Point3f *o = (Point3f *)((guint8 *)points_out + i * stride_out);
o->x = matrix->xx * p.x + matrix->xy * p.y +
matrix->xz * p.z + matrix->xw;
o->y = matrix->yx * p.x + matrix->yy * p.y +
matrix->yz * p.z + matrix->yw;
o->z = matrix->zx * p.x + matrix->zy * p.y +
matrix->zz * p.z + matrix->zw;
}
}
static void
_cogl_matrix_project_points_f3 (const CoglMatrix *matrix,
size_t stride_in,
const void *points_in,
size_t stride_out,
void *points_out,
int n_points)
{
int i;
for (i = 0; i < n_points; i++)
{
Point3f p = *(Point3f *)((guint8 *)points_in + i * stride_in);
Point4f *o = (Point4f *)((guint8 *)points_out + i * stride_out);
o->x = matrix->xx * p.x + matrix->xy * p.y +
matrix->xz * p.z + matrix->xw;
o->y = matrix->yx * p.x + matrix->yy * p.y +
matrix->yz * p.z + matrix->yw;
o->z = matrix->zx * p.x + matrix->zy * p.y +
matrix->zz * p.z + matrix->zw;
o->w = matrix->wx * p.x + matrix->wy * p.y +
matrix->wz * p.z + matrix->ww;
}
}
static void
_cogl_matrix_project_points_f4 (const CoglMatrix *matrix,
size_t stride_in,
const void *points_in,
size_t stride_out,
void *points_out,
int n_points)
{
int i;
for (i = 0; i < n_points; i++)
{
Point4f p = *(Point4f *)((guint8 *)points_in + i * stride_in);
Point4f *o = (Point4f *)((guint8 *)points_out + i * stride_out);
o->x = matrix->xx * p.x + matrix->xy * p.y +
matrix->xz * p.z + matrix->xw * p.w;
o->y = matrix->yx * p.x + matrix->yy * p.y +
matrix->yz * p.z + matrix->yw * p.w;
o->z = matrix->zx * p.x + matrix->zy * p.y +
matrix->zz * p.z + matrix->zw * p.w;
o->w = matrix->wx * p.x + matrix->wy * p.y +
matrix->wz * p.z + matrix->ww * p.w;
}
}
void
cogl_matrix_transform_points (const CoglMatrix *matrix,
int n_components,
size_t stride_in,
const void *points_in,
size_t stride_out,
void *points_out,
int n_points)
{
/* The results of transforming always have three components... */
g_return_if_fail (stride_out >= sizeof (Point3f));
if (n_components == 2)
_cogl_matrix_transform_points_f2 (matrix,
stride_in, points_in,
stride_out, points_out,
n_points);
else
{
g_return_if_fail (n_components == 3);
_cogl_matrix_transform_points_f3 (matrix,
stride_in, points_in,
stride_out, points_out,
n_points);
}
}
void
cogl_matrix_project_points (const CoglMatrix *matrix,
int n_components,
size_t stride_in,
const void *points_in,
size_t stride_out,
void *points_out,
int n_points)
{
if (n_components == 2)
_cogl_matrix_project_points_f2 (matrix,
stride_in, points_in,
stride_out, points_out,
n_points);
else if (n_components == 3)
_cogl_matrix_project_points_f3 (matrix,
stride_in, points_in,
stride_out, points_out,
n_points);
else
{
g_return_if_fail (n_components == 4);
_cogl_matrix_project_points_f4 (matrix,
stride_in, points_in,
stride_out, points_out,
n_points);
}
}
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