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#ifndef _TCUMATRIXUTIL_HPP
#define _TCUMATRIXUTIL_HPP
/*-------------------------------------------------------------------------
* drawElements Quality Program Tester Core
* ----------------------------------------
*
* Copyright 2014 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*//*!
* \file
* \brief Matrix utility functions
*//*--------------------------------------------------------------------*/
#include "tcuDefs.hpp"
#include "tcuMatrix.hpp"
#include "deMath.h"
namespace tcu
{
template <typename T, int Size>
Matrix<T, Size + 1, Size + 1> translationMatrix(const Vector<T, Size> &translation);
template <typename T, int Rows, int Cols>
Matrix<T, Cols, Rows> transpose(const Matrix<T, Rows, Cols> &mat);
// 2D affine transformations.
Matrix<float, 2, 2> rotationMatrix(float radians);
Matrix<float, 2, 2> shearMatrix(const Vector<float, 2> &shear);
// 3D axis rotations.
Matrix<float, 3, 3> rotationMatrixX(float radiansX);
Matrix<float, 3, 3> rotationMatrixY(float radiansY);
Matrix<float, 3, 3> rotationMatrixZ(float radiansZ);
// Implementations.
// Builds a translation matrix for a homogenous coordinate system
template <typename T, int Len>
inline Matrix<T, Len + 1, Len + 1> translationMatrix(const Vector<T, Len> &translation)
{
Matrix<T, Len + 1, Len + 1> res = Matrix<T, Len + 1, Len + 1>();
for (int row = 0; row < Len; row++)
res(row, Len) = translation.m_data[row];
return res;
}
template <typename T, int Rows, int Cols>
inline Matrix<T, Cols, Rows> transpose(const Matrix<T, Rows, Cols> &mat)
{
Matrix<T, Cols, Rows> res;
for (int row = 0; row < Rows; row++)
for (int col = 0; col < Cols; col++)
res(col, row) = mat(row, col);
return res;
}
inline Matrix<float, 2, 2> rotationMatrix(float radians)
{
Matrix<float, 2, 2> mat;
float c = deFloatCos(radians);
float s = deFloatSin(radians);
mat(0, 0) = c;
mat(0, 1) = -s;
mat(1, 0) = s;
mat(1, 1) = c;
return mat;
}
inline Matrix<float, 2, 2> shearMatrix(const Vector<float, 2> &shear)
{
Matrix<float, 2, 2> mat;
mat(0, 0) = 1.0f;
mat(0, 1) = shear.x();
mat(1, 0) = shear.y();
mat(1, 1) = 1.0f + shear.x() * shear.y();
return mat;
}
inline Matrix<float, 3, 3> rotationMatrixX(float radiansX)
{
Matrix<float, 3, 3> mat(1.0f);
float c = deFloatCos(radiansX);
float s = deFloatSin(radiansX);
mat(1, 1) = c;
mat(1, 2) = -s;
mat(2, 1) = s;
mat(2, 2) = c;
return mat;
}
inline Matrix<float, 3, 3> rotationMatrixY(float radiansY)
{
Matrix<float, 3, 3> mat(1.0f);
float c = deFloatCos(radiansY);
float s = deFloatSin(radiansY);
mat(0, 0) = c;
mat(0, 2) = s;
mat(2, 0) = -s;
mat(2, 2) = c;
return mat;
}
inline Matrix<float, 3, 3> rotationMatrixZ(float radiansZ)
{
Matrix<float, 3, 3> mat(1.0f);
float c = deFloatCos(radiansZ);
float s = deFloatSin(radiansZ);
mat(0, 0) = c;
mat(0, 1) = -s;
mat(1, 0) = s;
mat(1, 1) = c;
return mat;
}
} // namespace tcu
#endif // _TCUMATRIXUTIL_HPP