1#ifndef _TCUMATRIXUTIL_HPP
2#define _TCUMATRIXUTIL_HPP
3/*-------------------------------------------------------------------------
4 * drawElements Quality Program Tester Core
5 * ----------------------------------------
6 *
7 * Copyright 2014 The Android Open Source Project
8 *
9 * Licensed under the Apache License, Version 2.0 (the "License");
10 * you may not use this file except in compliance with the License.
11 * You may obtain a copy of the License at
12 *
13 *      http://www.apache.org/licenses/LICENSE-2.0
14 *
15 * Unless required by applicable law or agreed to in writing, software
16 * distributed under the License is distributed on an "AS IS" BASIS,
17 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
18 * See the License for the specific language governing permissions and
19 * limitations under the License.
20 *
21 *//*!
22 * \file
23 * \brief Matrix utility functions
24 *//*--------------------------------------------------------------------*/
25
26#include "tcuDefs.hpp"
27#include "tcuMatrix.hpp"
28#include "deMath.h"
29
30namespace tcu
31{
32
33template <typename T, int Size>
34Matrix<T, Size+1, Size+1>		translationMatrix		(const Vector<T, Size>& translation);
35
36template <typename T, int Rows, int Cols>
37Matrix<T, Cols, Rows>			transpose				(const Matrix<T, Rows, Cols>& mat);
38
39// 2D affine transformations.
40Matrix<float, 2, 2>				rotationMatrix			(float radians);
41Matrix<float, 2, 2>				shearMatrix				(const Vector<float, 2>& shear);
42
43// 3D axis rotations.
44Matrix<float, 3, 3>				rotationMatrixX			(float radiansX);
45Matrix<float, 3, 3>				rotationMatrixY			(float radiansY);
46Matrix<float, 3, 3>				rotationMatrixZ			(float radiansZ);
47
48// Implementations.
49
50// Builds a translation matrix for a homogenous coordinate system
51template <typename T, int Len>
52inline Matrix<T, Len+1, Len+1> translationMatrix (const Vector<T, Len>& translation)
53{
54	Matrix<T, Len+1, Len+1> res =  Matrix<T, Len+1, Len+1>();
55	for (int row = 0; row < Len; row++)
56		res(row, Len) = translation.m_data[row];
57	return res;
58}
59
60template <typename T, int Rows, int Cols>
61inline Matrix<T, Cols, Rows> transpose (const Matrix<T, Rows, Cols>& mat)
62{
63	Matrix<T, Cols, Rows> res;
64	for (int row = 0; row < Rows; row++)
65		for (int col = 0; col < Cols; col++)
66			res(col, row) = mat(row, col);
67	return res;
68}
69
70inline Matrix<float, 2, 2> rotationMatrix (float radians)
71{
72	Matrix<float, 2, 2> mat;
73	float				c	= deFloatCos(radians);
74	float				s	= deFloatSin(radians);
75
76	mat(0, 0) = c;
77	mat(0, 1) = -s;
78	mat(1, 0) = s;
79	mat(1, 1) = c;
80
81	return mat;
82}
83
84inline Matrix<float, 2, 2> shearMatrix (const Vector<float, 2>& shear)
85{
86	Matrix<float, 2, 2> mat;
87	mat(0, 0) = 1.0f;
88	mat(0, 1) = shear.x();
89	mat(1, 0) = shear.y();
90	mat(1, 1) = 1.0f + shear.x()*shear.y();
91	return mat;
92}
93
94inline Matrix<float, 3, 3> rotationMatrixX (float radiansX)
95{
96	Matrix<float, 3, 3> mat(1.0f);
97	float				c	= deFloatCos(radiansX);
98	float				s	= deFloatSin(radiansX);
99
100	mat(1, 1) = c;
101	mat(1, 2) = -s;
102	mat(2, 1) = s;
103	mat(2, 2) = c;
104
105	return mat;
106}
107
108inline Matrix<float, 3, 3> rotationMatrixY (float radiansY)
109{
110	Matrix<float, 3, 3> mat(1.0f);
111	float				c	= deFloatCos(radiansY);
112	float				s	= deFloatSin(radiansY);
113
114	mat(0, 0) = c;
115	mat(0, 2) = s;
116	mat(2, 0) = -s;
117	mat(2, 2) = c;
118
119	return mat;
120}
121
122inline Matrix<float, 3, 3> rotationMatrixZ (float radiansZ)
123{
124	Matrix<float, 3, 3> mat(1.0f);
125	float				c	= deFloatCos(radiansZ);
126	float				s	= deFloatSin(radiansZ);
127
128	mat(0, 0) = c;
129	mat(0, 1) = -s;
130	mat(1, 0) = s;
131	mat(1, 1) = c;
132
133	return mat;
134}
135
136} // tcu
137
138#endif // _TCUMATRIXUTIL_HPP
139