2 * Copyright (c) 2018 Samsung Electronics Co., Ltd.
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
19 #include <dali/public-api/math/matrix3.h>
22 #include <cstring> // for memcpy
26 #include <dali/public-api/math/math-utils.h>
46 const size_t NUM_BYTES_IN_ROW = 3*sizeof(float);
47 const size_t NUM_BYTES_IN_MATRIX = 9*sizeof(float);
53 const Matrix3 Matrix3::IDENTITY(1.0f, 0.0f, 0.0f,
60 memset(m, 0, NUM_BYTES_IN_MATRIX);
63 Matrix3::Matrix3(const Matrix3& m)
65 memcpy( mElements, m.mElements, NUM_BYTES_IN_MATRIX );
68 Matrix3::Matrix3(const Matrix& matrix)
70 const float* m4 = matrix.AsFloat();
71 memcpy(&mElements[S00], m4, NUM_BYTES_IN_ROW);
72 memcpy(&mElements[S10], m4+4, NUM_BYTES_IN_ROW);
73 memcpy(&mElements[S20], m4+8, NUM_BYTES_IN_ROW);
76 Matrix3::Matrix3(float s00, float s01, float s02, float s10, float s11, float s12, float s20, float s21, float s22)
90 void Matrix3::SetIdentity()
92 memset(mElements, 0, NUM_BYTES_IN_MATRIX);
98 Matrix3& Matrix3::operator=( const Matrix3& matrix )
100 // no point copying if self assigning
101 if( this != &matrix )
103 memcpy( AsFloat(), matrix.AsFloat(), NUM_BYTES_IN_MATRIX );
108 Matrix3& Matrix3::operator=( const Matrix& matrix )
110 const float* m4 = matrix.AsFloat();
111 memcpy(&mElements[S00], m4, NUM_BYTES_IN_ROW);
112 memcpy(&mElements[S10], m4+4, NUM_BYTES_IN_ROW);
113 memcpy(&mElements[S20], m4+8, NUM_BYTES_IN_ROW);
117 bool Matrix3::Invert()
119 bool succeeded = false;
122 cof[S00] = (mElements[S11] * mElements[S22] - mElements[S12] * mElements[S21]);
123 cof[S01] = (mElements[S02] * mElements[S21] - mElements[S01] * mElements[S22]);
124 cof[S02] = (mElements[S01] * mElements[S12] - mElements[S02] * mElements[S11]);
126 cof[S10] = (mElements[S12] * mElements[S20] - mElements[S10] * mElements[S22]);
127 cof[S11] = (mElements[S00] * mElements[S22] - mElements[S02] * mElements[S20]);
128 cof[S12] = (mElements[S02] * mElements[S10] - mElements[S00] * mElements[S12]);
130 cof[S20] = (mElements[S10] * mElements[S21] - mElements[S11] * mElements[S20]);
131 cof[S21] = (mElements[S01] * mElements[S20] - mElements[S00] * mElements[S21]);
132 cof[S22] = (mElements[S00] * mElements[S11] - mElements[S01] * mElements[S10]);
134 float det = mElements[S00] * cof[S00] + mElements[S01] * cof[S10] + mElements[S02] * cof[S20];
136 // In the case where the determinant is exactly zero, the matrix is non-invertible
137 if( ! EqualsZero( det ) )
140 for (int i = 0; i < 9; i++)
142 mElements[i] = cof[i] * det;
149 bool Matrix3::Transpose()
152 tmp = mElements[S01]; mElements[S01] = mElements[S10]; mElements[S10]=tmp;
153 tmp = mElements[S02]; mElements[S02] = mElements[S20]; mElements[S20]=tmp;
154 tmp = mElements[S21]; mElements[S21] = mElements[S12]; mElements[S12]=tmp;
158 bool Matrix3::ScaledInverseTranspose()
160 bool succeeded = false;
163 cof[S00] = (mElements[S11] * mElements[S22] - mElements[S12] * mElements[S21]);
164 cof[S01] = (mElements[S02] * mElements[S21] - mElements[S01] * mElements[S22]);
165 cof[S02] = (mElements[S01] * mElements[S12] - mElements[S02] * mElements[S11]);
167 cof[S10] = (mElements[S12] * mElements[S20] - mElements[S10] * mElements[S22]);
168 cof[S11] = (mElements[S00] * mElements[S22] - mElements[S02] * mElements[S20]);
169 cof[S12] = (mElements[S02] * mElements[S10] - mElements[S00] * mElements[S12]);
171 cof[S20] = (mElements[S10] * mElements[S21] - mElements[S11] * mElements[S20]);
172 cof[S21] = (mElements[S01] * mElements[S20] - mElements[S00] * mElements[S21]);
173 cof[S22] = (mElements[S00] * mElements[S11] - mElements[S01] * mElements[S10]);
175 float det = mElements[S00] * cof[S00] + mElements[S01] * cof[S10] + mElements[S02] * cof[S20];
177 // In the case where the determinant is exactly zero, the matrix is non-invertible
178 if( ! EqualsZero( det ) )
180 // Use average rather than determinant to remove rounding to zero errors in further multiplication
182 for(size_t i=0;i<9;i++)
186 float scale = 9.0f/sum; // Inverse of the average values
189 // Ensure the signs of the inverse are correct
193 mElements[S00] = cof[S00] * scale;
194 mElements[S01] = cof[S10] * scale;
195 mElements[S02] = cof[S20] * scale;
197 mElements[S10] = cof[S01] * scale;
198 mElements[S11] = cof[S11] * scale;
199 mElements[S12] = cof[S21] * scale;
201 mElements[S20] = cof[S02] * scale;
202 mElements[S21] = cof[S12] * scale;
203 mElements[S22] = cof[S22] * scale;
210 void Matrix3::Scale(float scale)
212 mElements[S00] *= scale;
213 mElements[S01] *= scale;
214 mElements[S02] *= scale;
215 mElements[S10] *= scale;
216 mElements[S11] *= scale;
217 mElements[S12] *= scale;
218 mElements[S20] *= scale;
219 mElements[S21] *= scale;
220 mElements[S22] *= scale;
223 float Matrix3::Magnitude() const
226 for(size_t i=0;i<9;i++)
228 avg+=fabsf(mElements[i]);
234 void Matrix3::Multiply( Matrix3& result, const Matrix3& lhs, const Matrix3& rhs )
236 float* temp = result.AsFloat();
237 const float* rhsPtr = rhs.AsFloat();
238 const float* lhsPtr = lhs.AsFloat();
240 for( int i=0; i < 3; i++ )
246 float value0 = lhsPtr[loc];
247 float value1 = lhsPtr[loc1];
248 float value2 = lhsPtr[loc2];
249 temp[loc] = (value0 * rhsPtr[0]) +
250 (value1 * rhsPtr[3]) +
251 (value2 * rhsPtr[6]);
253 temp[loc1] = (value0 * rhsPtr[1]) +
254 (value1 * rhsPtr[4]) +
255 (value2 * rhsPtr[7]);
257 temp[loc2] = (value0 * rhsPtr[2]) +
258 (value1 * rhsPtr[5]) +
259 (value2 * rhsPtr[8]);
263 bool Matrix3::operator==(const Matrix3 & rhs) const
266 Equals( mElements[0], rhs.mElements[0]) &&
267 Equals( mElements[1], rhs.mElements[1]) &&
268 Equals( mElements[2], rhs.mElements[2]) &&
269 Equals( mElements[3], rhs.mElements[3]) &&
270 Equals( mElements[4], rhs.mElements[4]) &&
271 Equals( mElements[5], rhs.mElements[5]) &&
272 Equals( mElements[6], rhs.mElements[6]) &&
273 Equals( mElements[7], rhs.mElements[7]) &&
274 Equals( mElements[8], rhs.mElements[8]));
277 bool Matrix3::operator!=(const Matrix3& rhs) const
279 return !(*this == rhs);
282 std::ostream& operator<< (std::ostream& o, const Matrix3& matrix)
284 return o << "[ " << matrix.mElements[0] << ", " << matrix.mElements[1] << ", " << matrix.mElements[2] << ", "
285 << matrix.mElements[3] << ", " << matrix.mElements[4] << ", " << matrix.mElements[5] << ", "
286 << matrix.mElements[6] << ", " << matrix.mElements[7] << ", " << matrix.mElements[8] << " ]";