2 * Copyright (c) 2014 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 <dali/public-api/math/math-utils.h>
47 const size_t NUM_BYTES_IN_ROW = 3*sizeof(float);
48 const size_t NUM_BYTES_IN_MATRIX = 9*sizeof(float);
54 const Matrix3 Matrix3::IDENTITY(1.0f, 0.0f, 0.0f,
61 memset(m, 0, NUM_BYTES_IN_MATRIX);
67 Matrix3::Matrix3(const Matrix3& m)
69 memcpy( mElements, m.mElements, NUM_BYTES_IN_MATRIX );
72 Matrix3::Matrix3(const Matrix& matrix)
74 const float* m4 = matrix.AsFloat();
75 memcpy(&mElements[S00], m4, NUM_BYTES_IN_ROW);
76 memcpy(&mElements[S10], m4+4, NUM_BYTES_IN_ROW);
77 memcpy(&mElements[S20], m4+8, NUM_BYTES_IN_ROW);
80 Matrix3::Matrix3(float s00, float s01, float s02, float s10, float s11, float s12, float s20, float s21, float s22)
94 void Matrix3::SetIdentity()
96 memset(mElements, 0, NUM_BYTES_IN_MATRIX);
102 Matrix3& Matrix3::operator=( const Matrix3& matrix )
104 // no point copying if self assigning
105 if( this != &matrix )
107 memcpy( AsFloat(), matrix.AsFloat(), NUM_BYTES_IN_MATRIX );
112 Matrix3& Matrix3::operator=( const Matrix& matrix )
114 const float* m4 = matrix.AsFloat();
115 memcpy(&mElements[S00], m4, NUM_BYTES_IN_ROW);
116 memcpy(&mElements[S10], m4+4, NUM_BYTES_IN_ROW);
117 memcpy(&mElements[S20], m4+8, NUM_BYTES_IN_ROW);
121 bool Matrix3::Invert()
123 bool succeeded = false;
126 cof[S00] = (mElements[S11] * mElements[S22] - mElements[S12] * mElements[S21]);
127 cof[S01] = (mElements[S02] * mElements[S21] - mElements[S01] * mElements[S22]);
128 cof[S02] = (mElements[S01] * mElements[S12] - mElements[S02] * mElements[S11]);
130 cof[S10] = (mElements[S12] * mElements[S20] - mElements[S10] * mElements[S22]);
131 cof[S11] = (mElements[S00] * mElements[S22] - mElements[S02] * mElements[S20]);
132 cof[S12] = (mElements[S02] * mElements[S10] - mElements[S00] * mElements[S12]);
134 cof[S20] = (mElements[S10] * mElements[S21] - mElements[S11] * mElements[S20]);
135 cof[S21] = (mElements[S01] * mElements[S20] - mElements[S00] * mElements[S21]);
136 cof[S22] = (mElements[S00] * mElements[S11] - mElements[S01] * mElements[S10]);
138 float det = mElements[S00] * cof[S00] + mElements[S01] * cof[S10] + mElements[S02] * cof[S20];
140 // In the case where the determinant is exactly zero, the matrix is non-invertible
141 if( ! EqualsZero( det ) )
144 for (int i = 0; i < 9; i++)
146 mElements[i] = cof[i] * det;
153 bool Matrix3::Transpose()
156 tmp = mElements[S01]; mElements[S01] = mElements[S10]; mElements[S10]=tmp;
157 tmp = mElements[S02]; mElements[S02] = mElements[S20]; mElements[S20]=tmp;
158 tmp = mElements[S21]; mElements[S21] = mElements[S12]; mElements[S12]=tmp;
162 bool Matrix3::ScaledInverseTranspose()
164 bool succeeded = false;
167 cof[S00] = (mElements[S11] * mElements[S22] - mElements[S12] * mElements[S21]);
168 cof[S01] = (mElements[S02] * mElements[S21] - mElements[S01] * mElements[S22]);
169 cof[S02] = (mElements[S01] * mElements[S12] - mElements[S02] * mElements[S11]);
171 cof[S10] = (mElements[S12] * mElements[S20] - mElements[S10] * mElements[S22]);
172 cof[S11] = (mElements[S00] * mElements[S22] - mElements[S02] * mElements[S20]);
173 cof[S12] = (mElements[S02] * mElements[S10] - mElements[S00] * mElements[S12]);
175 cof[S20] = (mElements[S10] * mElements[S21] - mElements[S11] * mElements[S20]);
176 cof[S21] = (mElements[S01] * mElements[S20] - mElements[S00] * mElements[S21]);
177 cof[S22] = (mElements[S00] * mElements[S11] - mElements[S01] * mElements[S10]);
179 float det = mElements[S00] * cof[S00] + mElements[S01] * cof[S10] + mElements[S02] * cof[S20];
181 // In the case where the determinant is exactly zero, the matrix is non-invertible
182 if( ! EqualsZero( det ) )
184 // Use average rather than determinant to remove rounding to zero errors in further multiplication
186 for(size_t i=0;i<9;i++)
190 float scale = 9.0f/sum; // Inverse of the average values
193 // Ensure the signs of the inverse are correct
197 mElements[S00] = cof[S00] * scale;
198 mElements[S01] = cof[S10] * scale;
199 mElements[S02] = cof[S20] * scale;
201 mElements[S10] = cof[S01] * scale;
202 mElements[S11] = cof[S11] * scale;
203 mElements[S12] = cof[S21] * scale;
205 mElements[S20] = cof[S02] * scale;
206 mElements[S21] = cof[S12] * scale;
207 mElements[S22] = cof[S22] * scale;
214 void Matrix3::Scale(float scale)
216 mElements[S00] *= scale;
217 mElements[S01] *= scale;
218 mElements[S02] *= scale;
219 mElements[S10] *= scale;
220 mElements[S11] *= scale;
221 mElements[S12] *= scale;
222 mElements[S20] *= scale;
223 mElements[S21] *= scale;
224 mElements[S22] *= scale;
227 float Matrix3::Magnitude() const
230 for(size_t i=0;i<9;i++)
232 avg+=fabsf(mElements[i]);
238 void Matrix3::Multiply( Matrix3& result, const Matrix3& lhs, const Matrix3& rhs )
240 float* temp = result.AsFloat();
241 const float* rhsPtr = rhs.AsFloat();
242 const float* lhsPtr = lhs.AsFloat();
244 for( int i=0; i < 3; i++ )
250 float value0 = lhsPtr[loc];
251 float value1 = lhsPtr[loc1];
252 float value2 = lhsPtr[loc2];
253 temp[loc] = (value0 * rhsPtr[0]) +
254 (value1 * rhsPtr[3]) +
255 (value2 * rhsPtr[6]);
257 temp[loc1] = (value0 * rhsPtr[1]) +
258 (value1 * rhsPtr[4]) +
259 (value2 * rhsPtr[7]);
261 temp[loc2] = (value0 * rhsPtr[2]) +
262 (value1 * rhsPtr[5]) +
263 (value2 * rhsPtr[8]);
267 bool Matrix3::operator==(const Matrix3 & rhs) const
270 Equals( mElements[0], rhs.mElements[0]) &&
271 Equals( mElements[1], rhs.mElements[1]) &&
272 Equals( mElements[2], rhs.mElements[2]) &&
273 Equals( mElements[3], rhs.mElements[3]) &&
274 Equals( mElements[4], rhs.mElements[4]) &&
275 Equals( mElements[5], rhs.mElements[5]) &&
276 Equals( mElements[6], rhs.mElements[6]) &&
277 Equals( mElements[7], rhs.mElements[7]) &&
278 Equals( mElements[8], rhs.mElements[8]));
281 bool Matrix3::operator!=(const Matrix3& rhs) const
283 return !(*this == rhs);
286 std::ostream& operator<< (std::ostream& o, const Matrix3& matrix)
288 return o << "[ [" << matrix.mElements[0] << ", " << matrix.mElements[1] << ", " << matrix.mElements[2] << "], "
289 << "[" << matrix.mElements[3] << ", " << matrix.mElements[4] << ", " << matrix.mElements[5] << "], "
290 << "[" << matrix.mElements[6] << ", " << matrix.mElements[7] << ", " << matrix.mElements[8] << "] ]";