From 9fddc9dd06d122bc8c7abe9a1195b96e2099c5cd Mon Sep 17 00:00:00 2001 From: Ville Syrjälä Date: Tue, 27 Feb 2018 22:51:31 +0200 Subject: lib: Add igt_matrix MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Add a helper library for basic matrix math. v2: Make the identity matrix static const (Chris) Add the m(row,col) macro (Chris) Cc: Chris Wilson Signed-off-by: Ville Syrjälä Reviewed-by: Chris Wilson --- lib/igt_matrix.c | 158 +++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 158 insertions(+) create mode 100644 lib/igt_matrix.c (limited to 'lib/igt_matrix.c') diff --git a/lib/igt_matrix.c b/lib/igt_matrix.c new file mode 100644 index 00000000..3fa6c96c --- /dev/null +++ b/lib/igt_matrix.c @@ -0,0 +1,158 @@ +/* + * Copyright © 2018 Intel Corporation + * + * 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 (including the next + * paragraph) 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. + */ + +#include "igt_core.h" +#include "igt_matrix.h" + +#define m(row, col) ((col) * 4 + (row)) + +/** + * SECTION:igt_matrix + * @short_description: Matrix math library + * @title: Matrix + * @include: igt.h + * + * This library contains helper functions for basic matrix math. + * The library operates on #igt_mat4 and #igt_vec4 structures. + */ + +/** + * igt_matrix_print: + * @m: the matrix + * + * Print out the matrix elements. + */ +void igt_matrix_print(const struct igt_mat4 *m) +{ + for (int row = 0; row < 4; row++) { + igt_info("|"); + for (int col = 0; col < 4; col++) { + igt_info("%4.4f,", m->d[m(row, col)]); + } + igt_info("|\n"); + } +} + +/** + * igt_matrix_identity: + * + * Returns: + * An identity matrix. + */ +struct igt_mat4 igt_matrix_identity(void) +{ + static const struct igt_mat4 ret = { + .d[m(0, 0)] = 1.0f, + .d[m(1, 1)] = 1.0f, + .d[m(2, 2)] = 1.0f, + .d[m(3, 3)] = 1.0f, + }; + + return ret; +} + +/** + * igt_matrix_scale: + * + * Returns: + * An scaling matrix. + */ +struct igt_mat4 igt_matrix_scale(float x, float y, float z) +{ + struct igt_mat4 ret = { + .d[m(0, 0)] = x, + .d[m(1, 1)] = y, + .d[m(2, 2)] = z, + .d[m(3, 3)] = 1.0f, + }; + + return ret; +} + +/** + * igt_matrix_translate: + * + * Returns: + * A translation matrix. + */ +struct igt_mat4 igt_matrix_translate(float x, float y, float z) +{ + struct igt_mat4 ret = { + .d[m(0, 0)] = 1.0f, + .d[m(1, 1)] = 1.0f, + .d[m(2, 2)] = 1.0f, + .d[m(0, 3)] = x, + .d[m(1, 3)] = y, + .d[m(2, 3)] = z, + .d[m(3, 3)] = 1.0f, + }; + + return ret; +} + +/** + * igt_matrix_transform: + * + * Transform the vector @v by the matrix @m. @m is on the left, + * @v on the right. + * + * Returns: + * The transformed vector. + */ +struct igt_vec4 igt_matrix_transform(const struct igt_mat4 *m, + const struct igt_vec4 *v) +{ + struct igt_vec4 ret = {}; + + for (int row = 0; row < 4; row++) { + for (int i = 0; i < 4; i++) { + ret.d[row] += m->d[m(row, i)] * v->d[i]; + } + } + + return ret; +} + +/** + * igt_matrix_multiply: + * + * Multiply two matrices together. @a is on the left, + * @b on the right. + * + * Returns: + * The resulting matrix. + */ +struct igt_mat4 igt_matrix_multiply(const struct igt_mat4 *a, + const struct igt_mat4 *b) +{ + struct igt_mat4 ret = {}; + + for (int col = 0; col < 4; col++) { + for (int row = 0; row < 4; row++) { + for (int i = 0; i < 4; i++) + ret.d[m(row, col)] += a->d[m(row, i)] * b->d[m(i, col)]; + } + } + + return ret; +} -- cgit v1.2.3