2 * Mesa 3-D graphics library
5 * Copyright (C) 1999-2005 Brian Paul All Rights Reserved.
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31 * -# 4x4 transformation matrices are stored in memory in column major order.
32 * -# Points/vertices are to be thought of as column vectors.
33 * -# Transformation of a point p by a matrix M is: p' = M * p
37 #include "main/glheader.h"
38 #include "main/imports.h"
39 #include "main/macros.h"
45 * \defgroup MatFlags MAT_FLAG_XXX-flags
47 * Bitmasks to indicate different kinds of 4x4 matrices in GLmatrix::flags
48 * It would be nice to make all these flags private to m_matrix.c
51 #define MAT_FLAG_IDENTITY 0 /**< is an identity matrix flag.
52 * (Not actually used - the identity
53 * matrix is identified by the absense
54 * of all other flags.)
56 #define MAT_FLAG_GENERAL 0x1 /**< is a general matrix flag */
57 #define MAT_FLAG_ROTATION 0x2 /**< is a rotation matrix flag */
58 #define MAT_FLAG_TRANSLATION 0x4 /**< is a translation matrix flag */
59 #define MAT_FLAG_UNIFORM_SCALE 0x8 /**< is an uniform scaling matrix flag */
60 #define MAT_FLAG_GENERAL_SCALE 0x10 /**< is a general scaling matrix flag */
61 #define MAT_FLAG_GENERAL_3D 0x20 /**< general 3D matrix flag */
62 #define MAT_FLAG_PERSPECTIVE 0x40 /**< is a perspective proj matrix flag */
63 #define MAT_FLAG_SINGULAR 0x80 /**< is a singular matrix flag */
64 #define MAT_DIRTY_TYPE 0x100 /**< matrix type is dirty */
65 #define MAT_DIRTY_FLAGS 0x200 /**< matrix flags are dirty */
66 #define MAT_DIRTY_INVERSE 0x400 /**< matrix inverse is dirty */
68 /** angle preserving matrix flags mask */
69 #define MAT_FLAGS_ANGLE_PRESERVING (MAT_FLAG_ROTATION | \
70 MAT_FLAG_TRANSLATION | \
71 MAT_FLAG_UNIFORM_SCALE)
73 /** geometry related matrix flags mask */
74 #define MAT_FLAGS_GEOMETRY (MAT_FLAG_GENERAL | \
76 MAT_FLAG_TRANSLATION | \
77 MAT_FLAG_UNIFORM_SCALE | \
78 MAT_FLAG_GENERAL_SCALE | \
79 MAT_FLAG_GENERAL_3D | \
80 MAT_FLAG_PERSPECTIVE | \
83 /** length preserving matrix flags mask */
84 #define MAT_FLAGS_LENGTH_PRESERVING (MAT_FLAG_ROTATION | \
88 /** 3D (non-perspective) matrix flags mask */
89 #define MAT_FLAGS_3D (MAT_FLAG_ROTATION | \
90 MAT_FLAG_TRANSLATION | \
91 MAT_FLAG_UNIFORM_SCALE | \
92 MAT_FLAG_GENERAL_SCALE | \
95 /** dirty matrix flags mask */
96 #define MAT_DIRTY (MAT_DIRTY_TYPE | \
104 * Test geometry related matrix flags.
106 * \param mat a pointer to a GLmatrix structure.
107 * \param a flags mask.
109 * \returns non-zero if all geometry related matrix flags are contained within
110 * the mask, or zero otherwise.
112 #define TEST_MAT_FLAGS(mat, a) \
113 ((MAT_FLAGS_GEOMETRY & (~(a)) & ((mat)->flags) ) == 0)
118 * Names of the corresponding GLmatrixtype values.
120 static const char *types[] = {
124 "MATRIX_PERSPECTIVE",
134 static GLfloat Identity[16] = {
143 /**********************************************************************/
144 /** \name Matrix multiplication */
147 #define A(row,col) a[(col<<2)+row]
148 #define B(row,col) b[(col<<2)+row]
149 #define P(row,col) product[(col<<2)+row]
152 * Perform a full 4x4 matrix multiplication.
156 * \param product will receive the product of \p a and \p b.
158 * \warning Is assumed that \p product != \p b. \p product == \p a is allowed.
160 * \note KW: 4*16 = 64 multiplications
162 * \author This \c matmul was contributed by Thomas Malik
164 static void matmul4( GLfloat *product, const GLfloat *a, const GLfloat *b )
167 for (i = 0; i < 4; i++) {
168 const GLfloat ai0=A(i,0), ai1=A(i,1), ai2=A(i,2), ai3=A(i,3);
169 P(i,0) = ai0 * B(0,0) + ai1 * B(1,0) + ai2 * B(2,0) + ai3 * B(3,0);
170 P(i,1) = ai0 * B(0,1) + ai1 * B(1,1) + ai2 * B(2,1) + ai3 * B(3,1);
171 P(i,2) = ai0 * B(0,2) + ai1 * B(1,2) + ai2 * B(2,2) + ai3 * B(3,2);
172 P(i,3) = ai0 * B(0,3) + ai1 * B(1,3) + ai2 * B(2,3) + ai3 * B(3,3);
177 * Multiply two matrices known to occupy only the top three rows, such
178 * as typical model matrices, and orthogonal matrices.
182 * \param product will receive the product of \p a and \p b.
184 static void matmul34( GLfloat *product, const GLfloat *a, const GLfloat *b )
187 for (i = 0; i < 3; i++) {
188 const GLfloat ai0=A(i,0), ai1=A(i,1), ai2=A(i,2), ai3=A(i,3);
189 P(i,0) = ai0 * B(0,0) + ai1 * B(1,0) + ai2 * B(2,0);
190 P(i,1) = ai0 * B(0,1) + ai1 * B(1,1) + ai2 * B(2,1);
191 P(i,2) = ai0 * B(0,2) + ai1 * B(1,2) + ai2 * B(2,2);
192 P(i,3) = ai0 * B(0,3) + ai1 * B(1,3) + ai2 * B(2,3) + ai3;
205 * Multiply a matrix by an array of floats with known properties.
207 * \param mat pointer to a GLmatrix structure containing the left multiplication
208 * matrix, and that will receive the product result.
209 * \param m right multiplication matrix array.
210 * \param flags flags of the matrix \p m.
212 * Joins both flags and marks the type and inverse as dirty. Calls matmul34()
213 * if both matrices are 3D, or matmul4() otherwise.
215 static void matrix_multf( GLmatrix *mat, const GLfloat *m, GLuint flags )
217 mat->flags |= (flags | MAT_DIRTY_TYPE | MAT_DIRTY_INVERSE);
219 if (TEST_MAT_FLAGS(mat, MAT_FLAGS_3D))
220 matmul34( mat->m, mat->m, m );
222 matmul4( mat->m, mat->m, m );
226 * Matrix multiplication.
228 * \param dest destination matrix.
229 * \param a left matrix.
230 * \param b right matrix.
232 * Joins both flags and marks the type and inverse as dirty. Calls matmul34()
233 * if both matrices are 3D, or matmul4() otherwise.
236 _math_matrix_mul_matrix( GLmatrix *dest, const GLmatrix *a, const GLmatrix *b )
238 dest->flags = (a->flags |
243 if (TEST_MAT_FLAGS(dest, MAT_FLAGS_3D))
244 matmul34( dest->m, a->m, b->m );
246 matmul4( dest->m, a->m, b->m );
250 * Matrix multiplication.
252 * \param dest left and destination matrix.
253 * \param m right matrix array.
255 * Marks the matrix flags with general flag, and type and inverse dirty flags.
256 * Calls matmul4() for the multiplication.
259 _math_matrix_mul_floats( GLmatrix *dest, const GLfloat *m )
261 dest->flags |= (MAT_FLAG_GENERAL |
266 matmul4( dest->m, dest->m, m );
272 /**********************************************************************/
273 /** \name Matrix output */
277 * Print a matrix array.
279 * \param m matrix array.
281 * Called by _math_matrix_print() to print a matrix or its inverse.
283 static void print_matrix_floats( const GLfloat m[16] )
287 _mesa_debug(NULL,"\t%f %f %f %f\n", m[i], m[4+i], m[8+i], m[12+i] );
292 * Dumps the contents of a GLmatrix structure.
294 * \param m pointer to the GLmatrix structure.
297 _math_matrix_print( const GLmatrix *m )
299 _mesa_debug(NULL, "Matrix type: %s, flags: %x\n", types[m->type], m->flags);
300 print_matrix_floats(m->m);
301 _mesa_debug(NULL, "Inverse: \n");
304 print_matrix_floats(m->inv);
305 matmul4(prod, m->m, m->inv);
306 _mesa_debug(NULL, "Mat * Inverse:\n");
307 print_matrix_floats(prod);
310 _mesa_debug(NULL, " - not available\n");
318 * References an element of 4x4 matrix.
320 * \param m matrix array.
321 * \param c column of the desired element.
322 * \param r row of the desired element.
324 * \return value of the desired element.
326 * Calculate the linear storage index of the element and references it.
328 #define MAT(m,r,c) (m)[(c)*4+(r)]
331 /**********************************************************************/
332 /** \name Matrix inversion */
336 * Swaps the values of two floating pointer variables.
338 * Used by invert_matrix_general() to swap the row pointers.
340 #define SWAP_ROWS(a, b) { GLfloat *_tmp = a; (a)=(b); (b)=_tmp; }
343 * Compute inverse of 4x4 transformation matrix.
345 * \param mat pointer to a GLmatrix structure. The matrix inverse will be
346 * stored in the GLmatrix::inv attribute.
348 * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix).
351 * Code contributed by Jacques Leroy jle@star.be
353 * Calculates the inverse matrix by performing the gaussian matrix reduction
354 * with partial pivoting followed by back/substitution with the loops manually
357 static GLboolean invert_matrix_general( GLmatrix *mat )
359 const GLfloat *m = mat->m;
360 GLfloat *out = mat->inv;
362 GLfloat m0, m1, m2, m3, s;
363 GLfloat *r0, *r1, *r2, *r3;
365 r0 = wtmp[0], r1 = wtmp[1], r2 = wtmp[2], r3 = wtmp[3];
367 r0[0] = MAT(m,0,0), r0[1] = MAT(m,0,1),
368 r0[2] = MAT(m,0,2), r0[3] = MAT(m,0,3),
369 r0[4] = 1.0, r0[5] = r0[6] = r0[7] = 0.0,
371 r1[0] = MAT(m,1,0), r1[1] = MAT(m,1,1),
372 r1[2] = MAT(m,1,2), r1[3] = MAT(m,1,3),
373 r1[5] = 1.0, r1[4] = r1[6] = r1[7] = 0.0,
375 r2[0] = MAT(m,2,0), r2[1] = MAT(m,2,1),
376 r2[2] = MAT(m,2,2), r2[3] = MAT(m,2,3),
377 r2[6] = 1.0, r2[4] = r2[5] = r2[7] = 0.0,
379 r3[0] = MAT(m,3,0), r3[1] = MAT(m,3,1),
380 r3[2] = MAT(m,3,2), r3[3] = MAT(m,3,3),
381 r3[7] = 1.0, r3[4] = r3[5] = r3[6] = 0.0;
383 /* choose pivot - or die */
384 if (FABSF(r3[0])>FABSF(r2[0])) SWAP_ROWS(r3, r2);
385 if (FABSF(r2[0])>FABSF(r1[0])) SWAP_ROWS(r2, r1);
386 if (FABSF(r1[0])>FABSF(r0[0])) SWAP_ROWS(r1, r0);
387 if (0.0 == r0[0]) return GL_FALSE;
389 /* eliminate first variable */
390 m1 = r1[0]/r0[0]; m2 = r2[0]/r0[0]; m3 = r3[0]/r0[0];
391 s = r0[1]; r1[1] -= m1 * s; r2[1] -= m2 * s; r3[1] -= m3 * s;
392 s = r0[2]; r1[2] -= m1 * s; r2[2] -= m2 * s; r3[2] -= m3 * s;
393 s = r0[3]; r1[3] -= m1 * s; r2[3] -= m2 * s; r3[3] -= m3 * s;
395 if (s != 0.0) { r1[4] -= m1 * s; r2[4] -= m2 * s; r3[4] -= m3 * s; }
397 if (s != 0.0) { r1[5] -= m1 * s; r2[5] -= m2 * s; r3[5] -= m3 * s; }
399 if (s != 0.0) { r1[6] -= m1 * s; r2[6] -= m2 * s; r3[6] -= m3 * s; }
401 if (s != 0.0) { r1[7] -= m1 * s; r2[7] -= m2 * s; r3[7] -= m3 * s; }
403 /* choose pivot - or die */
404 if (FABSF(r3[1])>FABSF(r2[1])) SWAP_ROWS(r3, r2);
405 if (FABSF(r2[1])>FABSF(r1[1])) SWAP_ROWS(r2, r1);
406 if (0.0 == r1[1]) return GL_FALSE;
408 /* eliminate second variable */
409 m2 = r2[1]/r1[1]; m3 = r3[1]/r1[1];
410 r2[2] -= m2 * r1[2]; r3[2] -= m3 * r1[2];
411 r2[3] -= m2 * r1[3]; r3[3] -= m3 * r1[3];
412 s = r1[4]; if (0.0 != s) { r2[4] -= m2 * s; r3[4] -= m3 * s; }
413 s = r1[5]; if (0.0 != s) { r2[5] -= m2 * s; r3[5] -= m3 * s; }
414 s = r1[6]; if (0.0 != s) { r2[6] -= m2 * s; r3[6] -= m3 * s; }
415 s = r1[7]; if (0.0 != s) { r2[7] -= m2 * s; r3[7] -= m3 * s; }
417 /* choose pivot - or die */
418 if (FABSF(r3[2])>FABSF(r2[2])) SWAP_ROWS(r3, r2);
419 if (0.0 == r2[2]) return GL_FALSE;
421 /* eliminate third variable */
423 r3[3] -= m3 * r2[3], r3[4] -= m3 * r2[4],
424 r3[5] -= m3 * r2[5], r3[6] -= m3 * r2[6],
428 if (0.0 == r3[3]) return GL_FALSE;
430 s = 1.0F/r3[3]; /* now back substitute row 3 */
431 r3[4] *= s; r3[5] *= s; r3[6] *= s; r3[7] *= s;
433 m2 = r2[3]; /* now back substitute row 2 */
435 r2[4] = s * (r2[4] - r3[4] * m2), r2[5] = s * (r2[5] - r3[5] * m2),
436 r2[6] = s * (r2[6] - r3[6] * m2), r2[7] = s * (r2[7] - r3[7] * m2);
438 r1[4] -= r3[4] * m1, r1[5] -= r3[5] * m1,
439 r1[6] -= r3[6] * m1, r1[7] -= r3[7] * m1;
441 r0[4] -= r3[4] * m0, r0[5] -= r3[5] * m0,
442 r0[6] -= r3[6] * m0, r0[7] -= r3[7] * m0;
444 m1 = r1[2]; /* now back substitute row 1 */
446 r1[4] = s * (r1[4] - r2[4] * m1), r1[5] = s * (r1[5] - r2[5] * m1),
447 r1[6] = s * (r1[6] - r2[6] * m1), r1[7] = s * (r1[7] - r2[7] * m1);
449 r0[4] -= r2[4] * m0, r0[5] -= r2[5] * m0,
450 r0[6] -= r2[6] * m0, r0[7] -= r2[7] * m0;
452 m0 = r0[1]; /* now back substitute row 0 */
454 r0[4] = s * (r0[4] - r1[4] * m0), r0[5] = s * (r0[5] - r1[5] * m0),
455 r0[6] = s * (r0[6] - r1[6] * m0), r0[7] = s * (r0[7] - r1[7] * m0);
457 MAT(out,0,0) = r0[4]; MAT(out,0,1) = r0[5],
458 MAT(out,0,2) = r0[6]; MAT(out,0,3) = r0[7],
459 MAT(out,1,0) = r1[4]; MAT(out,1,1) = r1[5],
460 MAT(out,1,2) = r1[6]; MAT(out,1,3) = r1[7],
461 MAT(out,2,0) = r2[4]; MAT(out,2,1) = r2[5],
462 MAT(out,2,2) = r2[6]; MAT(out,2,3) = r2[7],
463 MAT(out,3,0) = r3[4]; MAT(out,3,1) = r3[5],
464 MAT(out,3,2) = r3[6]; MAT(out,3,3) = r3[7];
471 * Compute inverse of a general 3d transformation matrix.
473 * \param mat pointer to a GLmatrix structure. The matrix inverse will be
474 * stored in the GLmatrix::inv attribute.
476 * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix).
478 * \author Adapted from graphics gems II.
480 * Calculates the inverse of the upper left by first calculating its
481 * determinant and multiplying it to the symmetric adjust matrix of each
482 * element. Finally deals with the translation part by transforming the
483 * original translation vector using by the calculated submatrix inverse.
485 static GLboolean invert_matrix_3d_general( GLmatrix *mat )
487 const GLfloat *in = mat->m;
488 GLfloat *out = mat->inv;
492 /* Calculate the determinant of upper left 3x3 submatrix and
493 * determine if the matrix is singular.
496 t = MAT(in,0,0) * MAT(in,1,1) * MAT(in,2,2);
497 if (t >= 0.0) pos += t; else neg += t;
499 t = MAT(in,1,0) * MAT(in,2,1) * MAT(in,0,2);
500 if (t >= 0.0) pos += t; else neg += t;
502 t = MAT(in,2,0) * MAT(in,0,1) * MAT(in,1,2);
503 if (t >= 0.0) pos += t; else neg += t;
505 t = -MAT(in,2,0) * MAT(in,1,1) * MAT(in,0,2);
506 if (t >= 0.0) pos += t; else neg += t;
508 t = -MAT(in,1,0) * MAT(in,0,1) * MAT(in,2,2);
509 if (t >= 0.0) pos += t; else neg += t;
511 t = -MAT(in,0,0) * MAT(in,2,1) * MAT(in,1,2);
512 if (t >= 0.0) pos += t; else neg += t;
520 MAT(out,0,0) = ( (MAT(in,1,1)*MAT(in,2,2) - MAT(in,2,1)*MAT(in,1,2) )*det);
521 MAT(out,0,1) = (- (MAT(in,0,1)*MAT(in,2,2) - MAT(in,2,1)*MAT(in,0,2) )*det);
522 MAT(out,0,2) = ( (MAT(in,0,1)*MAT(in,1,2) - MAT(in,1,1)*MAT(in,0,2) )*det);
523 MAT(out,1,0) = (- (MAT(in,1,0)*MAT(in,2,2) - MAT(in,2,0)*MAT(in,1,2) )*det);
524 MAT(out,1,1) = ( (MAT(in,0,0)*MAT(in,2,2) - MAT(in,2,0)*MAT(in,0,2) )*det);
525 MAT(out,1,2) = (- (MAT(in,0,0)*MAT(in,1,2) - MAT(in,1,0)*MAT(in,0,2) )*det);
526 MAT(out,2,0) = ( (MAT(in,1,0)*MAT(in,2,1) - MAT(in,2,0)*MAT(in,1,1) )*det);
527 MAT(out,2,1) = (- (MAT(in,0,0)*MAT(in,2,1) - MAT(in,2,0)*MAT(in,0,1) )*det);
528 MAT(out,2,2) = ( (MAT(in,0,0)*MAT(in,1,1) - MAT(in,1,0)*MAT(in,0,1) )*det);
530 /* Do the translation part */
531 MAT(out,0,3) = - (MAT(in,0,3) * MAT(out,0,0) +
532 MAT(in,1,3) * MAT(out,0,1) +
533 MAT(in,2,3) * MAT(out,0,2) );
534 MAT(out,1,3) = - (MAT(in,0,3) * MAT(out,1,0) +
535 MAT(in,1,3) * MAT(out,1,1) +
536 MAT(in,2,3) * MAT(out,1,2) );
537 MAT(out,2,3) = - (MAT(in,0,3) * MAT(out,2,0) +
538 MAT(in,1,3) * MAT(out,2,1) +
539 MAT(in,2,3) * MAT(out,2,2) );
545 * Compute inverse of a 3d transformation matrix.
547 * \param mat pointer to a GLmatrix structure. The matrix inverse will be
548 * stored in the GLmatrix::inv attribute.
550 * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix).
552 * If the matrix is not an angle preserving matrix then calls
553 * invert_matrix_3d_general for the actual calculation. Otherwise calculates
554 * the inverse matrix analyzing and inverting each of the scaling, rotation and
557 static GLboolean invert_matrix_3d( GLmatrix *mat )
559 const GLfloat *in = mat->m;
560 GLfloat *out = mat->inv;
562 if (!TEST_MAT_FLAGS(mat, MAT_FLAGS_ANGLE_PRESERVING)) {
563 return invert_matrix_3d_general( mat );
566 if (mat->flags & MAT_FLAG_UNIFORM_SCALE) {
567 GLfloat scale = (MAT(in,0,0) * MAT(in,0,0) +
568 MAT(in,0,1) * MAT(in,0,1) +
569 MAT(in,0,2) * MAT(in,0,2));
574 scale = 1.0F / scale;
576 /* Transpose and scale the 3 by 3 upper-left submatrix. */
577 MAT(out,0,0) = scale * MAT(in,0,0);
578 MAT(out,1,0) = scale * MAT(in,0,1);
579 MAT(out,2,0) = scale * MAT(in,0,2);
580 MAT(out,0,1) = scale * MAT(in,1,0);
581 MAT(out,1,1) = scale * MAT(in,1,1);
582 MAT(out,2,1) = scale * MAT(in,1,2);
583 MAT(out,0,2) = scale * MAT(in,2,0);
584 MAT(out,1,2) = scale * MAT(in,2,1);
585 MAT(out,2,2) = scale * MAT(in,2,2);
587 else if (mat->flags & MAT_FLAG_ROTATION) {
588 /* Transpose the 3 by 3 upper-left submatrix. */
589 MAT(out,0,0) = MAT(in,0,0);
590 MAT(out,1,0) = MAT(in,0,1);
591 MAT(out,2,0) = MAT(in,0,2);
592 MAT(out,0,1) = MAT(in,1,0);
593 MAT(out,1,1) = MAT(in,1,1);
594 MAT(out,2,1) = MAT(in,1,2);
595 MAT(out,0,2) = MAT(in,2,0);
596 MAT(out,1,2) = MAT(in,2,1);
597 MAT(out,2,2) = MAT(in,2,2);
600 /* pure translation */
601 memcpy( out, Identity, sizeof(Identity) );
602 MAT(out,0,3) = - MAT(in,0,3);
603 MAT(out,1,3) = - MAT(in,1,3);
604 MAT(out,2,3) = - MAT(in,2,3);
608 if (mat->flags & MAT_FLAG_TRANSLATION) {
609 /* Do the translation part */
610 MAT(out,0,3) = - (MAT(in,0,3) * MAT(out,0,0) +
611 MAT(in,1,3) * MAT(out,0,1) +
612 MAT(in,2,3) * MAT(out,0,2) );
613 MAT(out,1,3) = - (MAT(in,0,3) * MAT(out,1,0) +
614 MAT(in,1,3) * MAT(out,1,1) +
615 MAT(in,2,3) * MAT(out,1,2) );
616 MAT(out,2,3) = - (MAT(in,0,3) * MAT(out,2,0) +
617 MAT(in,1,3) * MAT(out,2,1) +
618 MAT(in,2,3) * MAT(out,2,2) );
621 MAT(out,0,3) = MAT(out,1,3) = MAT(out,2,3) = 0.0;
628 * Compute inverse of an identity transformation matrix.
630 * \param mat pointer to a GLmatrix structure. The matrix inverse will be
631 * stored in the GLmatrix::inv attribute.
633 * \return always GL_TRUE.
635 * Simply copies Identity into GLmatrix::inv.
637 static GLboolean invert_matrix_identity( GLmatrix *mat )
639 memcpy( mat->inv, Identity, sizeof(Identity) );
644 * Compute inverse of a no-rotation 3d transformation matrix.
646 * \param mat pointer to a GLmatrix structure. The matrix inverse will be
647 * stored in the GLmatrix::inv attribute.
649 * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix).
653 static GLboolean invert_matrix_3d_no_rot( GLmatrix *mat )
655 const GLfloat *in = mat->m;
656 GLfloat *out = mat->inv;
658 if (MAT(in,0,0) == 0 || MAT(in,1,1) == 0 || MAT(in,2,2) == 0 )
661 memcpy( out, Identity, 16 * sizeof(GLfloat) );
662 MAT(out,0,0) = 1.0F / MAT(in,0,0);
663 MAT(out,1,1) = 1.0F / MAT(in,1,1);
664 MAT(out,2,2) = 1.0F / MAT(in,2,2);
666 if (mat->flags & MAT_FLAG_TRANSLATION) {
667 MAT(out,0,3) = - (MAT(in,0,3) * MAT(out,0,0));
668 MAT(out,1,3) = - (MAT(in,1,3) * MAT(out,1,1));
669 MAT(out,2,3) = - (MAT(in,2,3) * MAT(out,2,2));
676 * Compute inverse of a no-rotation 2d transformation matrix.
678 * \param mat pointer to a GLmatrix structure. The matrix inverse will be
679 * stored in the GLmatrix::inv attribute.
681 * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix).
683 * Calculates the inverse matrix by applying the inverse scaling and
684 * translation to the identity matrix.
686 static GLboolean invert_matrix_2d_no_rot( GLmatrix *mat )
688 const GLfloat *in = mat->m;
689 GLfloat *out = mat->inv;
691 if (MAT(in,0,0) == 0 || MAT(in,1,1) == 0)
694 memcpy( out, Identity, 16 * sizeof(GLfloat) );
695 MAT(out,0,0) = 1.0F / MAT(in,0,0);
696 MAT(out,1,1) = 1.0F / MAT(in,1,1);
698 if (mat->flags & MAT_FLAG_TRANSLATION) {
699 MAT(out,0,3) = - (MAT(in,0,3) * MAT(out,0,0));
700 MAT(out,1,3) = - (MAT(in,1,3) * MAT(out,1,1));
708 static GLboolean invert_matrix_perspective( GLmatrix *mat )
710 const GLfloat *in = mat->m;
711 GLfloat *out = mat->inv;
713 if (MAT(in,2,3) == 0)
716 memcpy( out, Identity, 16 * sizeof(GLfloat) );
718 MAT(out,0,0) = 1.0F / MAT(in,0,0);
719 MAT(out,1,1) = 1.0F / MAT(in,1,1);
721 MAT(out,0,3) = MAT(in,0,2);
722 MAT(out,1,3) = MAT(in,1,2);
727 MAT(out,3,2) = 1.0F / MAT(in,2,3);
728 MAT(out,3,3) = MAT(in,2,2) * MAT(out,3,2);
735 * Matrix inversion function pointer type.
737 typedef GLboolean (*inv_mat_func)( GLmatrix *mat );
740 * Table of the matrix inversion functions according to the matrix type.
742 static inv_mat_func inv_mat_tab[7] = {
743 invert_matrix_general,
744 invert_matrix_identity,
745 invert_matrix_3d_no_rot,
747 /* Don't use this function for now - it fails when the projection matrix
748 * is premultiplied by a translation (ala Chromium's tilesort SPU).
750 invert_matrix_perspective,
752 invert_matrix_general,
754 invert_matrix_3d, /* lazy! */
755 invert_matrix_2d_no_rot,
760 * Compute inverse of a transformation matrix.
762 * \param mat pointer to a GLmatrix structure. The matrix inverse will be
763 * stored in the GLmatrix::inv attribute.
765 * \return GL_TRUE for success, GL_FALSE for failure (\p singular matrix).
767 * Calls the matrix inversion function in inv_mat_tab corresponding to the
768 * given matrix type. In case of failure, updates the MAT_FLAG_SINGULAR flag,
769 * and copies the identity matrix into GLmatrix::inv.
771 static GLboolean matrix_invert( GLmatrix *mat )
773 if (inv_mat_tab[mat->type](mat)) {
774 mat->flags &= ~MAT_FLAG_SINGULAR;
777 mat->flags |= MAT_FLAG_SINGULAR;
778 memcpy( mat->inv, Identity, sizeof(Identity) );
786 /**********************************************************************/
787 /** \name Matrix generation */
791 * Generate a 4x4 transformation matrix from glRotate parameters, and
792 * post-multiply the input matrix by it.
795 * This function was contributed by Erich Boleyn (erich@uruk.org).
796 * Optimizations contributed by Rudolf Opalla (rudi@khm.de).
799 _math_matrix_rotate( GLmatrix *mat,
800 GLfloat angle, GLfloat x, GLfloat y, GLfloat z )
802 GLfloat xx, yy, zz, xy, yz, zx, xs, ys, zs, one_c, s, c;
806 s = (GLfloat) sin( angle * DEG2RAD );
807 c = (GLfloat) cos( angle * DEG2RAD );
809 memcpy(m, Identity, sizeof(GLfloat)*16);
810 optimized = GL_FALSE;
812 #define M(row,col) m[col*4+row]
818 /* rotate only around z-axis */
831 else if (z == 0.0F) {
833 /* rotate only around y-axis */
846 else if (y == 0.0F) {
849 /* rotate only around x-axis */
864 const GLfloat mag = SQRTF(x * x + y * y + z * z);
867 /* no rotation, leave mat as-is */
877 * Arbitrary axis rotation matrix.
879 * This is composed of 5 matrices, Rz, Ry, T, Ry', Rz', multiplied
880 * like so: Rz * Ry * T * Ry' * Rz'. T is the final rotation
881 * (which is about the X-axis), and the two composite transforms
882 * Ry' * Rz' and Rz * Ry are (respectively) the rotations necessary
883 * from the arbitrary axis to the X-axis then back. They are
884 * all elementary rotations.
886 * Rz' is a rotation about the Z-axis, to bring the axis vector
887 * into the x-z plane. Then Ry' is applied, rotating about the
888 * Y-axis to bring the axis vector parallel with the X-axis. The
889 * rotation about the X-axis is then performed. Ry and Rz are
890 * simply the respective inverse transforms to bring the arbitrary
891 * axis back to its original orientation. The first transforms
892 * Rz' and Ry' are considered inverses, since the data from the
893 * arbitrary axis gives you info on how to get to it, not how
894 * to get away from it, and an inverse must be applied.
896 * The basic calculation used is to recognize that the arbitrary
897 * axis vector (x, y, z), since it is of unit length, actually
898 * represents the sines and cosines of the angles to rotate the
899 * X-axis to the same orientation, with theta being the angle about
900 * Z and phi the angle about Y (in the order described above)
903 * cos ( theta ) = x / sqrt ( 1 - z^2 )
904 * sin ( theta ) = y / sqrt ( 1 - z^2 )
906 * cos ( phi ) = sqrt ( 1 - z^2 )
909 * Note that cos ( phi ) can further be inserted to the above
912 * cos ( theta ) = x / cos ( phi )
913 * sin ( theta ) = y / sin ( phi )
915 * ...etc. Because of those relations and the standard trigonometric
916 * relations, it is pssible to reduce the transforms down to what
917 * is used below. It may be that any primary axis chosen will give the
918 * same results (modulo a sign convention) using thie method.
920 * Particularly nice is to notice that all divisions that might
921 * have caused trouble when parallel to certain planes or
922 * axis go away with care paid to reducing the expressions.
923 * After checking, it does perform correctly under all cases, since
924 * in all the cases of division where the denominator would have
925 * been zero, the numerator would have been zero as well, giving
926 * the expected result.
940 /* We already hold the identity-matrix so we can skip some statements */
941 M(0,0) = (one_c * xx) + c;
942 M(0,1) = (one_c * xy) - zs;
943 M(0,2) = (one_c * zx) + ys;
946 M(1,0) = (one_c * xy) + zs;
947 M(1,1) = (one_c * yy) + c;
948 M(1,2) = (one_c * yz) - xs;
951 M(2,0) = (one_c * zx) - ys;
952 M(2,1) = (one_c * yz) + xs;
953 M(2,2) = (one_c * zz) + c;
965 matrix_multf( mat, m, MAT_FLAG_ROTATION );
969 * Apply a perspective projection matrix.
971 * \param mat matrix to apply the projection.
972 * \param left left clipping plane coordinate.
973 * \param right right clipping plane coordinate.
974 * \param bottom bottom clipping plane coordinate.
975 * \param top top clipping plane coordinate.
976 * \param nearval distance to the near clipping plane.
977 * \param farval distance to the far clipping plane.
979 * Creates the projection matrix and multiplies it with \p mat, marking the
980 * MAT_FLAG_PERSPECTIVE flag.
983 _math_matrix_frustum( GLmatrix *mat,
984 GLfloat left, GLfloat right,
985 GLfloat bottom, GLfloat top,
986 GLfloat nearval, GLfloat farval )
988 GLfloat x, y, a, b, c, d;
991 x = (2.0F*nearval) / (right-left);
992 y = (2.0F*nearval) / (top-bottom);
993 a = (right+left) / (right-left);
994 b = (top+bottom) / (top-bottom);
995 c = -(farval+nearval) / ( farval-nearval);
996 d = -(2.0F*farval*nearval) / (farval-nearval); /* error? */
998 #define M(row,col) m[col*4+row]
999 M(0,0) = x; M(0,1) = 0.0F; M(0,2) = a; M(0,3) = 0.0F;
1000 M(1,0) = 0.0F; M(1,1) = y; M(1,2) = b; M(1,3) = 0.0F;
1001 M(2,0) = 0.0F; M(2,1) = 0.0F; M(2,2) = c; M(2,3) = d;
1002 M(3,0) = 0.0F; M(3,1) = 0.0F; M(3,2) = -1.0F; M(3,3) = 0.0F;
1005 matrix_multf( mat, m, MAT_FLAG_PERSPECTIVE );
1009 * Apply an orthographic projection matrix.
1011 * \param mat matrix to apply the projection.
1012 * \param left left clipping plane coordinate.
1013 * \param right right clipping plane coordinate.
1014 * \param bottom bottom clipping plane coordinate.
1015 * \param top top clipping plane coordinate.
1016 * \param nearval distance to the near clipping plane.
1017 * \param farval distance to the far clipping plane.
1019 * Creates the projection matrix and multiplies it with \p mat, marking the
1020 * MAT_FLAG_GENERAL_SCALE and MAT_FLAG_TRANSLATION flags.
1023 _math_matrix_ortho( GLmatrix *mat,
1024 GLfloat left, GLfloat right,
1025 GLfloat bottom, GLfloat top,
1026 GLfloat nearval, GLfloat farval )
1030 #define M(row,col) m[col*4+row]
1031 M(0,0) = 2.0F / (right-left);
1034 M(0,3) = -(right+left) / (right-left);
1037 M(1,1) = 2.0F / (top-bottom);
1039 M(1,3) = -(top+bottom) / (top-bottom);
1043 M(2,2) = -2.0F / (farval-nearval);
1044 M(2,3) = -(farval+nearval) / (farval-nearval);
1052 matrix_multf( mat, m, (MAT_FLAG_GENERAL_SCALE|MAT_FLAG_TRANSLATION));
1056 * Multiply a matrix with a general scaling matrix.
1058 * \param mat matrix.
1059 * \param x x axis scale factor.
1060 * \param y y axis scale factor.
1061 * \param z z axis scale factor.
1063 * Multiplies in-place the elements of \p mat by the scale factors. Checks if
1064 * the scales factors are roughly the same, marking the MAT_FLAG_UNIFORM_SCALE
1065 * flag, or MAT_FLAG_GENERAL_SCALE. Marks the MAT_DIRTY_TYPE and
1066 * MAT_DIRTY_INVERSE dirty flags.
1069 _math_matrix_scale( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z )
1071 GLfloat *m = mat->m;
1072 m[0] *= x; m[4] *= y; m[8] *= z;
1073 m[1] *= x; m[5] *= y; m[9] *= z;
1074 m[2] *= x; m[6] *= y; m[10] *= z;
1075 m[3] *= x; m[7] *= y; m[11] *= z;
1077 if (FABSF(x - y) < 1e-8 && FABSF(x - z) < 1e-8)
1078 mat->flags |= MAT_FLAG_UNIFORM_SCALE;
1080 mat->flags |= MAT_FLAG_GENERAL_SCALE;
1082 mat->flags |= (MAT_DIRTY_TYPE |
1087 * Multiply a matrix with a translation matrix.
1089 * \param mat matrix.
1090 * \param x translation vector x coordinate.
1091 * \param y translation vector y coordinate.
1092 * \param z translation vector z coordinate.
1094 * Adds the translation coordinates to the elements of \p mat in-place. Marks
1095 * the MAT_FLAG_TRANSLATION flag, and the MAT_DIRTY_TYPE and MAT_DIRTY_INVERSE
1099 _math_matrix_translate( GLmatrix *mat, GLfloat x, GLfloat y, GLfloat z )
1101 GLfloat *m = mat->m;
1102 m[12] = m[0] * x + m[4] * y + m[8] * z + m[12];
1103 m[13] = m[1] * x + m[5] * y + m[9] * z + m[13];
1104 m[14] = m[2] * x + m[6] * y + m[10] * z + m[14];
1105 m[15] = m[3] * x + m[7] * y + m[11] * z + m[15];
1107 mat->flags |= (MAT_FLAG_TRANSLATION |
1114 * Set matrix to do viewport and depthrange mapping.
1115 * Transforms Normalized Device Coords to window/Z values.
1118 _math_matrix_viewport(GLmatrix *m, GLint x, GLint y, GLint width, GLint height,
1119 GLfloat zNear, GLfloat zFar, GLfloat depthMax)
1121 m->m[MAT_SX] = (GLfloat) width / 2.0F;
1122 m->m[MAT_TX] = m->m[MAT_SX] + x;
1123 m->m[MAT_SY] = (GLfloat) height / 2.0F;
1124 m->m[MAT_TY] = m->m[MAT_SY] + y;
1125 m->m[MAT_SZ] = depthMax * ((zFar - zNear) / 2.0F);
1126 m->m[MAT_TZ] = depthMax * ((zFar - zNear) / 2.0F + zNear);
1127 m->flags = MAT_FLAG_GENERAL_SCALE | MAT_FLAG_TRANSLATION;
1128 m->type = MATRIX_3D_NO_ROT;
1133 * Set a matrix to the identity matrix.
1135 * \param mat matrix.
1137 * Copies ::Identity into \p GLmatrix::m, and into GLmatrix::inv if not NULL.
1138 * Sets the matrix type to identity, and clear the dirty flags.
1141 _math_matrix_set_identity( GLmatrix *mat )
1143 memcpy( mat->m, Identity, 16*sizeof(GLfloat) );
1146 memcpy( mat->inv, Identity, 16*sizeof(GLfloat) );
1148 mat->type = MATRIX_IDENTITY;
1149 mat->flags &= ~(MAT_DIRTY_FLAGS|
1157 /**********************************************************************/
1158 /** \name Matrix analysis */
1161 #define ZERO(x) (1<<x)
1162 #define ONE(x) (1<<(x+16))
1164 #define MASK_NO_TRX (ZERO(12) | ZERO(13) | ZERO(14))
1165 #define MASK_NO_2D_SCALE ( ONE(0) | ONE(5))
1167 #define MASK_IDENTITY ( ONE(0) | ZERO(4) | ZERO(8) | ZERO(12) |\
1168 ZERO(1) | ONE(5) | ZERO(9) | ZERO(13) |\
1169 ZERO(2) | ZERO(6) | ONE(10) | ZERO(14) |\
1170 ZERO(3) | ZERO(7) | ZERO(11) | ONE(15) )
1172 #define MASK_2D_NO_ROT ( ZERO(4) | ZERO(8) | \
1173 ZERO(1) | ZERO(9) | \
1174 ZERO(2) | ZERO(6) | ONE(10) | ZERO(14) |\
1175 ZERO(3) | ZERO(7) | ZERO(11) | ONE(15) )
1177 #define MASK_2D ( ZERO(8) | \
1179 ZERO(2) | ZERO(6) | ONE(10) | ZERO(14) |\
1180 ZERO(3) | ZERO(7) | ZERO(11) | ONE(15) )
1183 #define MASK_3D_NO_ROT ( ZERO(4) | ZERO(8) | \
1184 ZERO(1) | ZERO(9) | \
1185 ZERO(2) | ZERO(6) | \
1186 ZERO(3) | ZERO(7) | ZERO(11) | ONE(15) )
1191 ZERO(3) | ZERO(7) | ZERO(11) | ONE(15) )
1194 #define MASK_PERSPECTIVE ( ZERO(4) | ZERO(12) |\
1195 ZERO(1) | ZERO(13) |\
1196 ZERO(2) | ZERO(6) | \
1197 ZERO(3) | ZERO(7) | ZERO(15) )
1199 #define SQ(x) ((x)*(x))
1202 * Determine type and flags from scratch.
1204 * \param mat matrix.
1206 * This is expensive enough to only want to do it once.
1208 static void analyse_from_scratch( GLmatrix *mat )
1210 const GLfloat *m = mat->m;
1214 for (i = 0 ; i < 16 ; i++) {
1215 if (m[i] == 0.0) mask |= (1<<i);
1218 if (m[0] == 1.0F) mask |= (1<<16);
1219 if (m[5] == 1.0F) mask |= (1<<21);
1220 if (m[10] == 1.0F) mask |= (1<<26);
1221 if (m[15] == 1.0F) mask |= (1<<31);
1223 mat->flags &= ~MAT_FLAGS_GEOMETRY;
1225 /* Check for translation - no-one really cares
1227 if ((mask & MASK_NO_TRX) != MASK_NO_TRX)
1228 mat->flags |= MAT_FLAG_TRANSLATION;
1232 if (mask == (GLuint) MASK_IDENTITY) {
1233 mat->type = MATRIX_IDENTITY;
1235 else if ((mask & MASK_2D_NO_ROT) == (GLuint) MASK_2D_NO_ROT) {
1236 mat->type = MATRIX_2D_NO_ROT;
1238 if ((mask & MASK_NO_2D_SCALE) != MASK_NO_2D_SCALE)
1239 mat->flags |= MAT_FLAG_GENERAL_SCALE;
1241 else if ((mask & MASK_2D) == (GLuint) MASK_2D) {
1242 GLfloat mm = DOT2(m, m);
1243 GLfloat m4m4 = DOT2(m+4,m+4);
1244 GLfloat mm4 = DOT2(m,m+4);
1246 mat->type = MATRIX_2D;
1248 /* Check for scale */
1249 if (SQ(mm-1) > SQ(1e-6) ||
1250 SQ(m4m4-1) > SQ(1e-6))
1251 mat->flags |= MAT_FLAG_GENERAL_SCALE;
1253 /* Check for rotation */
1254 if (SQ(mm4) > SQ(1e-6))
1255 mat->flags |= MAT_FLAG_GENERAL_3D;
1257 mat->flags |= MAT_FLAG_ROTATION;
1260 else if ((mask & MASK_3D_NO_ROT) == (GLuint) MASK_3D_NO_ROT) {
1261 mat->type = MATRIX_3D_NO_ROT;
1263 /* Check for scale */
1264 if (SQ(m[0]-m[5]) < SQ(1e-6) &&
1265 SQ(m[0]-m[10]) < SQ(1e-6)) {
1266 if (SQ(m[0]-1.0) > SQ(1e-6)) {
1267 mat->flags |= MAT_FLAG_UNIFORM_SCALE;
1271 mat->flags |= MAT_FLAG_GENERAL_SCALE;
1274 else if ((mask & MASK_3D) == (GLuint) MASK_3D) {
1275 GLfloat c1 = DOT3(m,m);
1276 GLfloat c2 = DOT3(m+4,m+4);
1277 GLfloat c3 = DOT3(m+8,m+8);
1278 GLfloat d1 = DOT3(m, m+4);
1281 mat->type = MATRIX_3D;
1283 /* Check for scale */
1284 if (SQ(c1-c2) < SQ(1e-6) && SQ(c1-c3) < SQ(1e-6)) {
1285 if (SQ(c1-1.0) > SQ(1e-6))
1286 mat->flags |= MAT_FLAG_UNIFORM_SCALE;
1287 /* else no scale at all */
1290 mat->flags |= MAT_FLAG_GENERAL_SCALE;
1293 /* Check for rotation */
1294 if (SQ(d1) < SQ(1e-6)) {
1295 CROSS3( cp, m, m+4 );
1296 SUB_3V( cp, cp, (m+8) );
1297 if (LEN_SQUARED_3FV(cp) < SQ(1e-6))
1298 mat->flags |= MAT_FLAG_ROTATION;
1300 mat->flags |= MAT_FLAG_GENERAL_3D;
1303 mat->flags |= MAT_FLAG_GENERAL_3D; /* shear, etc */
1306 else if ((mask & MASK_PERSPECTIVE) == MASK_PERSPECTIVE && m[11]==-1.0F) {
1307 mat->type = MATRIX_PERSPECTIVE;
1308 mat->flags |= MAT_FLAG_GENERAL;
1311 mat->type = MATRIX_GENERAL;
1312 mat->flags |= MAT_FLAG_GENERAL;
1317 * Analyze a matrix given that its flags are accurate.
1319 * This is the more common operation, hopefully.
1321 static void analyse_from_flags( GLmatrix *mat )
1323 const GLfloat *m = mat->m;
1325 if (TEST_MAT_FLAGS(mat, 0)) {
1326 mat->type = MATRIX_IDENTITY;
1328 else if (TEST_MAT_FLAGS(mat, (MAT_FLAG_TRANSLATION |
1329 MAT_FLAG_UNIFORM_SCALE |
1330 MAT_FLAG_GENERAL_SCALE))) {
1331 if ( m[10]==1.0F && m[14]==0.0F ) {
1332 mat->type = MATRIX_2D_NO_ROT;
1335 mat->type = MATRIX_3D_NO_ROT;
1338 else if (TEST_MAT_FLAGS(mat, MAT_FLAGS_3D)) {
1341 && m[2]==0.0F && m[6]==0.0F && m[10]==1.0F && m[14]==0.0F) {
1342 mat->type = MATRIX_2D;
1345 mat->type = MATRIX_3D;
1348 else if ( m[4]==0.0F && m[12]==0.0F
1349 && m[1]==0.0F && m[13]==0.0F
1350 && m[2]==0.0F && m[6]==0.0F
1351 && m[3]==0.0F && m[7]==0.0F && m[11]==-1.0F && m[15]==0.0F) {
1352 mat->type = MATRIX_PERSPECTIVE;
1355 mat->type = MATRIX_GENERAL;
1360 * Analyze and update a matrix.
1362 * \param mat matrix.
1364 * If the matrix type is dirty then calls either analyse_from_scratch() or
1365 * analyse_from_flags() to determine its type, according to whether the flags
1366 * are dirty or not, respectively. If the matrix has an inverse and it's dirty
1367 * then calls matrix_invert(). Finally clears the dirty flags.
1370 _math_matrix_analyse( GLmatrix *mat )
1372 if (mat->flags & MAT_DIRTY_TYPE) {
1373 if (mat->flags & MAT_DIRTY_FLAGS)
1374 analyse_from_scratch( mat );
1376 analyse_from_flags( mat );
1379 if (mat->inv && (mat->flags & MAT_DIRTY_INVERSE)) {
1380 matrix_invert( mat );
1381 mat->flags &= ~MAT_DIRTY_INVERSE;
1384 mat->flags &= ~(MAT_DIRTY_FLAGS | MAT_DIRTY_TYPE);
1391 * Test if the given matrix preserves vector lengths.
1394 _math_matrix_is_length_preserving( const GLmatrix *m )
1396 return TEST_MAT_FLAGS( m, MAT_FLAGS_LENGTH_PRESERVING);
1401 * Test if the given matrix does any rotation.
1402 * (or perhaps if the upper-left 3x3 is non-identity)
1405 _math_matrix_has_rotation( const GLmatrix *m )
1407 if (m->flags & (MAT_FLAG_GENERAL |
1409 MAT_FLAG_GENERAL_3D |
1410 MAT_FLAG_PERSPECTIVE))
1418 _math_matrix_is_general_scale( const GLmatrix *m )
1420 return (m->flags & MAT_FLAG_GENERAL_SCALE) ? GL_TRUE : GL_FALSE;
1425 _math_matrix_is_dirty( const GLmatrix *m )
1427 return (m->flags & MAT_DIRTY) ? GL_TRUE : GL_FALSE;
1431 /**********************************************************************/
1432 /** \name Matrix setup */
1438 * \param to destination matrix.
1439 * \param from source matrix.
1441 * Copies all fields in GLmatrix, creating an inverse array if necessary.
1444 _math_matrix_copy( GLmatrix *to, const GLmatrix *from )
1446 memcpy( to->m, from->m, sizeof(Identity) );
1447 to->flags = from->flags;
1448 to->type = from->type;
1451 if (from->inv == 0) {
1452 matrix_invert( to );
1455 memcpy(to->inv, from->inv, sizeof(GLfloat)*16);
1461 * Loads a matrix array into GLmatrix.
1463 * \param m matrix array.
1464 * \param mat matrix.
1466 * Copies \p m into GLmatrix::m and marks the MAT_FLAG_GENERAL and MAT_DIRTY
1470 _math_matrix_loadf( GLmatrix *mat, const GLfloat *m )
1472 memcpy( mat->m, m, 16*sizeof(GLfloat) );
1473 mat->flags = (MAT_FLAG_GENERAL | MAT_DIRTY);
1477 * Matrix constructor.
1481 * Initialize the GLmatrix fields.
1484 _math_matrix_ctr( GLmatrix *m )
1486 m->m = (GLfloat *) _mesa_align_malloc( 16 * sizeof(GLfloat), 16 );
1488 memcpy( m->m, Identity, sizeof(Identity) );
1490 m->type = MATRIX_IDENTITY;
1495 * Matrix destructor.
1499 * Frees the data in a GLmatrix.
1502 _math_matrix_dtr( GLmatrix *m )
1505 _mesa_align_free( m->m );
1509 _mesa_align_free( m->inv );
1515 * Allocate a matrix inverse.
1519 * Allocates the matrix inverse, GLmatrix::inv, and sets it to Identity.
1522 _math_matrix_alloc_inv( GLmatrix *m )
1525 m->inv = (GLfloat *) _mesa_align_malloc( 16 * sizeof(GLfloat), 16 );
1527 memcpy( m->inv, Identity, 16 * sizeof(GLfloat) );
1534 /**********************************************************************/
1535 /** \name Matrix transpose */
1539 * Transpose a GLfloat matrix.
1541 * \param to destination array.
1542 * \param from source array.
1545 _math_transposef( GLfloat to[16], const GLfloat from[16] )
1566 * Transpose a GLdouble matrix.
1568 * \param to destination array.
1569 * \param from source array.
1572 _math_transposed( GLdouble to[16], const GLdouble from[16] )
1593 * Transpose a GLdouble matrix and convert to GLfloat.
1595 * \param to destination array.
1596 * \param from source array.
1599 _math_transposefd( GLfloat to[16], const GLdouble from[16] )
1601 to[0] = (GLfloat) from[0];
1602 to[1] = (GLfloat) from[4];
1603 to[2] = (GLfloat) from[8];
1604 to[3] = (GLfloat) from[12];
1605 to[4] = (GLfloat) from[1];
1606 to[5] = (GLfloat) from[5];
1607 to[6] = (GLfloat) from[9];
1608 to[7] = (GLfloat) from[13];
1609 to[8] = (GLfloat) from[2];
1610 to[9] = (GLfloat) from[6];
1611 to[10] = (GLfloat) from[10];
1612 to[11] = (GLfloat) from[14];
1613 to[12] = (GLfloat) from[3];
1614 to[13] = (GLfloat) from[7];
1615 to[14] = (GLfloat) from[11];
1616 to[15] = (GLfloat) from[15];
1623 * Transform a 4-element row vector (1x4 matrix) by a 4x4 matrix. This
1624 * function is used for transforming clipping plane equations and spotlight
1626 * Mathematically, u = v * m.
1627 * Input: v - input vector
1628 * m - transformation matrix
1629 * Output: u - transformed vector
1632 _mesa_transform_vector( GLfloat u[4], const GLfloat v[4], const GLfloat m[16] )
1634 const GLfloat v0 = v[0], v1 = v[1], v2 = v[2], v3 = v[3];
1635 #define M(row,col) m[row + col*4]
1636 u[0] = v0 * M(0,0) + v1 * M(1,0) + v2 * M(2,0) + v3 * M(3,0);
1637 u[1] = v0 * M(0,1) + v1 * M(1,1) + v2 * M(2,1) + v3 * M(3,1);
1638 u[2] = v0 * M(0,2) + v1 * M(1,2) + v2 * M(2,2) + v3 * M(3,2);
1639 u[3] = v0 * M(0,3) + v1 * M(1,3) + v2 * M(2,3) + v3 * M(3,3);