Move implementations of quaternion functions into driver/runtime.
Move the implementation of all quaternion functions from rs_math.rsh
driver/runtime. The old implementation remains in place for older
versions, and the move occurs only for an UNRELEASED API level.
Added a new file driver/runtime/rs_quaternion.c to contain the
implementations.
Change-Id: I70ffcb29e64b4287e37e349488a59a9f485847e4
Signed-off-by: Verena Beckham <verena@codeplay.com>
diff --git a/api/rs_quaternion.spec b/api/rs_quaternion.spec
index ced31c8..d9d2b94 100644
--- a/api/rs_quaternion.spec
+++ b/api/rs_quaternion.spec
@@ -21,6 +21,7 @@
end:
function: rsQuaternionAdd
+version: 9 23
ret: void
arg: rs_quaternion* q, "Destination quaternion to add to."
arg: const rs_quaternion* rhs, "Quaternion to add."
@@ -36,6 +37,7 @@
end:
function: rsQuaternionConjugate
+version: 9 23
ret: void
arg: rs_quaternion* q, "Quaternion to modify."
summary: Conjugate a quaternion
@@ -49,6 +51,7 @@
end:
function: rsQuaternionDot
+version: 9 23
ret: float
arg: const rs_quaternion* q0, "First quaternion."
arg: const rs_quaternion* q1, "Second quaternion."
@@ -61,6 +64,7 @@
end:
function: rsQuaternionGetMatrixUnit
+version: 9 23
ret: void
arg: rs_matrix4x4* m, "Resulting matrix."
arg: const rs_quaternion* q, "Normalized quaternion."
@@ -93,6 +97,7 @@
end:
function: rsQuaternionLoadRotateUnit
+version: 9 23
ret: void
arg: rs_quaternion* q, "Destination quaternion."
arg: float rot, "Angle to rotate by, in radians."
@@ -115,6 +120,7 @@
end:
function: rsQuaternionSet
+version: 9 23
ret: void
arg: rs_quaternion* q, "Destination quaternion."
arg: float w, "W component."
@@ -133,6 +139,7 @@
end:
function: rsQuaternionSet
+version: 9 23
ret: void
arg: rs_quaternion* q
arg: const rs_quaternion* rhs, "Source quaternion."
@@ -148,6 +155,7 @@
# for the compilation to work.
function: rsQuaternionLoadRotate
+version: 9 23
ret: void
arg: rs_quaternion* q, "Destination quaternion."
arg: float rot, "Angle to rotate by."
@@ -171,6 +179,7 @@
end:
function: rsQuaternionNormalize
+version: 9 23
ret: void
arg: rs_quaternion* q, "Quaternion to normalize."
summary: Normalize a quaternion
@@ -189,6 +198,7 @@
end:
function: rsQuaternionMultiply
+version: 9 23
ret: void
arg: rs_quaternion* q, "Destination quaternion."
arg: float scalar, "Scalar to multiply the quaternion by."
@@ -205,6 +215,7 @@
end:
function: rsQuaternionMultiply
+version: 9 23
ret: void
arg: rs_quaternion* q
arg: const rs_quaternion* rhs, "Quaternion to multiply the destination quaternion by."
@@ -221,6 +232,7 @@
end:
function: rsQuaternionSlerp
+version: 9 23
ret: void
arg: rs_quaternion* q, "Result quaternion from the interpolation."
arg: const rs_quaternion* q0, "First input quaternion."
@@ -270,3 +282,112 @@
tempq0.y*scale + tempq1.y*invScale, tempq0.z*scale + tempq1.z*invScale);
test: none
end:
+
+# New versions. Same signatures but don't contain a body.
+function: rsQuaternionAdd
+version: UNRELEASED
+ret: void
+arg: rs_quaternion* q
+arg: const rs_quaternion* rhs
+test: none
+end:
+
+function: rsQuaternionConjugate
+version: UNRELEASED
+ret: void
+arg: rs_quaternion* q
+test: none
+end:
+
+function: rsQuaternionDot
+version: UNRELEASED
+ret: float
+arg: const rs_quaternion* q0
+arg: const rs_quaternion* q1
+test: none
+end:
+
+function: rsQuaternionGetMatrixUnit
+version: UNRELEASED
+ret: void
+arg: rs_matrix4x4* m
+arg: const rs_quaternion* q
+test: none
+end:
+
+function: rsQuaternionLoadRotateUnit
+version: UNRELEASED
+ret: void
+arg: rs_quaternion* q
+arg: float rot
+arg: float x
+arg: float y
+arg: float z
+test: none
+end:
+
+function: rsQuaternionSet
+version: UNRELEASED
+ret: void
+arg: rs_quaternion* q
+arg: float w
+arg: float x
+arg: float y
+arg: float z
+test: none
+end:
+
+function: rsQuaternionSet
+version: UNRELEASED
+ret: void
+arg: rs_quaternion* q
+arg: const rs_quaternion* rhs
+test: none
+end:
+
+# NOTE: The following inline definitions depend on each other. The order must be preserved
+# for the compilation to work.
+
+function: rsQuaternionLoadRotate
+version: UNRELEASED
+ret: void
+arg: rs_quaternion* q
+arg: float rot
+arg: float x
+arg: float y
+arg: float z
+test: none
+end:
+
+function: rsQuaternionNormalize
+version: UNRELEASED
+ret: void
+arg: rs_quaternion* q
+test: none
+end:
+
+function: rsQuaternionMultiply
+version: UNRELEASED
+ret: void
+arg: rs_quaternion* q
+arg: float scalar
+test: none
+end:
+
+function: rsQuaternionMultiply
+version: UNRELEASED
+ret: void
+arg: rs_quaternion* q
+arg: const rs_quaternion* rhs
+test: none
+end:
+
+function: rsQuaternionSlerp
+version: UNRELEASED
+ret: void
+arg: rs_quaternion* q
+arg: const rs_quaternion* q0
+arg: const rs_quaternion* q1
+arg: float t
+test: none
+end:
diff --git a/driver/runtime/Android.mk b/driver/runtime/Android.mk
index 1b9f6d1..8685ecc 100755
--- a/driver/runtime/Android.mk
+++ b/driver/runtime/Android.mk
@@ -28,7 +28,8 @@
rs_program.c \
rs_sample.c \
rs_sampler.c \
- rs_convert.c
+ rs_convert.c \
+ rs_quaternion.c
clcore_cflags := -Iframeworks/rs/cpu_ref -DRS_DECLARE_EXPIRED_APIS
diff --git a/driver/runtime/rs_quaternion.c b/driver/runtime/rs_quaternion.c
new file mode 100644
index 0000000..8fbfd20
--- /dev/null
+++ b/driver/runtime/rs_quaternion.c
@@ -0,0 +1,169 @@
+#include "rs_core.rsh"
+
+/* Implementation of Core Runtime */
+
+
+/////////////////////////////////////////////////////
+// Quaternion ops
+/////////////////////////////////////////////////////
+
+#if (defined(RS_VERSION) && (RS_VERSION >= UNRELEASED))
+extern void __attribute__((overloadable))
+ rsQuaternionAdd(rs_quaternion* q, const rs_quaternion* rhs) {
+ q->w += rhs->w;
+ q->x += rhs->x;
+ q->y += rhs->y;
+ q->z += rhs->z;
+}
+
+extern void __attribute__((overloadable))
+ rsQuaternionConjugate(rs_quaternion* q) {
+ q->x = -q->x;
+ q->y = -q->y;
+ q->z = -q->z;
+}
+
+extern float __attribute__((overloadable))
+ rsQuaternionDot(const rs_quaternion* q0, const rs_quaternion* q1) {
+ return q0->w*q1->w + q0->x*q1->x + q0->y*q1->y + q0->z*q1->z;
+}
+
+extern void __attribute__((overloadable))
+ rsQuaternionGetMatrixUnit(rs_matrix4x4* m, const rs_quaternion* q) {
+ float xx = q->x * q->x;
+ float xy = q->x * q->y;
+ float xz = q->x * q->z;
+ float xw = q->x * q->w;
+ float yy = q->y * q->y;
+ float yz = q->y * q->z;
+ float yw = q->y * q->w;
+ float zz = q->z * q->z;
+ float zw = q->z * q->w;
+
+ m->m[0] = 1.0f - 2.0f * ( yy + zz );
+ m->m[4] = 2.0f * ( xy - zw );
+ m->m[8] = 2.0f * ( xz + yw );
+ m->m[1] = 2.0f * ( xy + zw );
+ m->m[5] = 1.0f - 2.0f * ( xx + zz );
+ m->m[9] = 2.0f * ( yz - xw );
+ m->m[2] = 2.0f * ( xz - yw );
+ m->m[6] = 2.0f * ( yz + xw );
+ m->m[10] = 1.0f - 2.0f * ( xx + yy );
+ m->m[3] = m->m[7] = m->m[11] = m->m[12] = m->m[13] = m->m[14] = 0.0f;
+ m->m[15] = 1.0f;
+}
+
+extern void __attribute__((overloadable))
+ rsQuaternionLoadRotateUnit(rs_quaternion* q, float rot, float x, float y, float z) {
+ rot *= (float)(M_PI / 180.0f) * 0.5f;
+ float c = cos(rot);
+ float s = sin(rot);
+
+ q->w = c;
+ q->x = x * s;
+ q->y = y * s;
+ q->z = z * s;
+}
+
+extern void __attribute__((overloadable))
+ rsQuaternionSet(rs_quaternion* q, float w, float x, float y, float z) {
+ q->w = w;
+ q->x = x;
+ q->y = y;
+ q->z = z;
+}
+
+extern void __attribute__((overloadable))
+ rsQuaternionSet(rs_quaternion* q, const rs_quaternion* rhs) {
+ q->w = rhs->w;
+ q->x = rhs->x;
+ q->y = rhs->y;
+ q->z = rhs->z;
+}
+
+extern void __attribute__((overloadable))
+ rsQuaternionLoadRotate(rs_quaternion* q, float rot, float x, float y, float z) {
+ const float len = x*x + y*y + z*z;
+ if (len != 1) {
+ const float recipLen = 1.f / sqrt(len);
+ x *= recipLen;
+ y *= recipLen;
+ z *= recipLen;
+ }
+ rsQuaternionLoadRotateUnit(q, rot, x, y, z);
+}
+
+extern void __attribute__((overloadable))
+ rsQuaternionNormalize(rs_quaternion* q) {
+ const float len = rsQuaternionDot(q, q);
+ if (len != 1) {
+ const float recipLen = 1.f / sqrt(len);
+ q->w *= recipLen;
+ q->x *= recipLen;
+ q->y *= recipLen;
+ q->z *= recipLen;
+ }
+}
+
+extern void __attribute__((overloadable))
+ rsQuaternionMultiply(rs_quaternion* q, float scalar) {
+ q->w *= scalar;
+ q->x *= scalar;
+ q->y *= scalar;
+ q->z *= scalar;
+}
+
+extern void __attribute__((overloadable))
+ rsQuaternionMultiply(rs_quaternion* q, const rs_quaternion* rhs) {
+ rs_quaternion qtmp;
+ rsQuaternionSet(&qtmp, q);
+
+ q->w = qtmp.w*rhs->w - qtmp.x*rhs->x - qtmp.y*rhs->y - qtmp.z*rhs->z;
+ q->x = qtmp.w*rhs->x + qtmp.x*rhs->w + qtmp.y*rhs->z - qtmp.z*rhs->y;
+ q->y = qtmp.w*rhs->y + qtmp.y*rhs->w + qtmp.z*rhs->x - qtmp.x*rhs->z;
+ q->z = qtmp.w*rhs->z + qtmp.z*rhs->w + qtmp.x*rhs->y - qtmp.y*rhs->x;
+ rsQuaternionNormalize(q);
+}
+
+extern void __attribute__((overloadable))
+ rsQuaternionSlerp(rs_quaternion* q, const rs_quaternion* q0, const rs_quaternion* q1, float t) {
+ if (t <= 0.0f) {
+ rsQuaternionSet(q, q0);
+ return;
+ }
+ if (t >= 1.0f) {
+ rsQuaternionSet(q, q1);
+ return;
+ }
+
+ rs_quaternion tempq0, tempq1;
+ rsQuaternionSet(&tempq0, q0);
+ rsQuaternionSet(&tempq1, q1);
+
+ float angle = rsQuaternionDot(q0, q1);
+ if (angle < 0) {
+ rsQuaternionMultiply(&tempq0, -1.0f);
+ angle *= -1.0f;
+ }
+
+ float scale, invScale;
+ if (angle + 1.0f > 0.05f) {
+ if (1.0f - angle >= 0.05f) {
+ float theta = acos(angle);
+ float invSinTheta = 1.0f / sin(theta);
+ scale = sin(theta * (1.0f - t)) * invSinTheta;
+ invScale = sin(theta * t) * invSinTheta;
+ } else {
+ scale = 1.0f - t;
+ invScale = t;
+ }
+ } else {
+ rsQuaternionSet(&tempq1, tempq0.z, -tempq0.y, tempq0.x, -tempq0.w);
+ scale = sin(M_PI * (0.5f - t));
+ invScale = sin(M_PI * t);
+ }
+
+ rsQuaternionSet(q, tempq0.w*scale + tempq1.w*invScale, tempq0.x*scale + tempq1.x*invScale,
+ tempq0.y*scale + tempq1.y*invScale, tempq0.z*scale + tempq1.z*invScale);
+}
+#endif // (defined(RS_VERSION) && (RS_VERSION >= UNRELEASED))
diff --git a/scriptc/rs_quaternion.rsh b/scriptc/rs_quaternion.rsh
index c7c32e2..50b14b3 100644
--- a/scriptc/rs_quaternion.rsh
+++ b/scriptc/rs_quaternion.rsh
@@ -34,6 +34,7 @@
* q: Destination quaternion to add to.
* rhs: Quaternion to add.
*/
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline void __attribute__((overloadable))
rsQuaternionAdd(rs_quaternion* q, const rs_quaternion* rhs) {
q->w += rhs->w;
@@ -41,6 +42,7 @@
q->y += rhs->y;
q->z += rhs->z;
}
+#endif
/*
* rsQuaternionConjugate: Conjugate a quaternion
@@ -50,12 +52,14 @@
* Parameters:
* q: Quaternion to modify.
*/
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline void __attribute__((overloadable))
rsQuaternionConjugate(rs_quaternion* q) {
q->x = -q->x;
q->y = -q->y;
q->z = -q->z;
}
+#endif
/*
* rsQuaternionDot: Dot product of two quaternions
@@ -66,10 +70,12 @@
* q0: First quaternion.
* q1: Second quaternion.
*/
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline float __attribute__((overloadable))
rsQuaternionDot(const rs_quaternion* q0, const rs_quaternion* q1) {
return q0->w*q1->w + q0->x*q1->x + q0->y*q1->y + q0->z*q1->z;
}
+#endif
/*
* rsQuaternionGetMatrixUnit: Get a rotation matrix from a quaternion
@@ -80,6 +86,7 @@
* m: Resulting matrix.
* q: Normalized quaternion.
*/
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline void __attribute__((overloadable))
rsQuaternionGetMatrixUnit(rs_matrix4x4* m, const rs_quaternion* q) {
float xx = q->x * q->x;
@@ -104,6 +111,7 @@
m->m[3] = m->m[7] = m->m[11] = m->m[12] = m->m[13] = m->m[14] = 0.0f;
m->m[15] = 1.0f;
}
+#endif
/*
* rsQuaternionLoadRotateUnit: Quaternion that represents a rotation about an arbitrary unit vector
@@ -117,6 +125,7 @@
* y: Y component of the vector.
* z: Z component of the vector.
*/
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline void __attribute__((overloadable))
rsQuaternionLoadRotateUnit(rs_quaternion* q, float rot, float x, float y, float z) {
rot *= (float)(M_PI / 180.0f) * 0.5f;
@@ -128,6 +137,7 @@
q->y = y * s;
q->z = z * s;
}
+#endif
/*
* rsQuaternionSet: Create a quaternion
@@ -142,6 +152,7 @@
* z: Z component.
* rhs: Source quaternion.
*/
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline void __attribute__((overloadable))
rsQuaternionSet(rs_quaternion* q, float w, float x, float y, float z) {
q->w = w;
@@ -149,7 +160,9 @@
q->y = y;
q->z = z;
}
+#endif
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline void __attribute__((overloadable))
rsQuaternionSet(rs_quaternion* q, const rs_quaternion* rhs) {
q->w = rhs->w;
@@ -157,6 +170,7 @@
q->y = rhs->y;
q->z = rhs->z;
}
+#endif
/*
* rsQuaternionLoadRotate: Create a rotation quaternion
@@ -171,6 +185,7 @@
* y: Y component of a vector.
* z: Z component of a vector.
*/
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline void __attribute__((overloadable))
rsQuaternionLoadRotate(rs_quaternion* q, float rot, float x, float y, float z) {
const float len = x*x + y*y + z*z;
@@ -182,6 +197,7 @@
}
rsQuaternionLoadRotateUnit(q, rot, x, y, z);
}
+#endif
/*
* rsQuaternionNormalize: Normalize a quaternion
@@ -191,6 +207,7 @@
* Parameters:
* q: Quaternion to normalize.
*/
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline void __attribute__((overloadable))
rsQuaternionNormalize(rs_quaternion* q) {
const float len = rsQuaternionDot(q, q);
@@ -202,6 +219,7 @@
q->z *= recipLen;
}
}
+#endif
/*
* rsQuaternionMultiply: Multiply a quaternion by a scalar or another quaternion
@@ -214,6 +232,7 @@
* scalar: Scalar to multiply the quaternion by.
* rhs: Quaternion to multiply the destination quaternion by.
*/
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline void __attribute__((overloadable))
rsQuaternionMultiply(rs_quaternion* q, float scalar) {
q->w *= scalar;
@@ -221,7 +240,9 @@
q->y *= scalar;
q->z *= scalar;
}
+#endif
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline void __attribute__((overloadable))
rsQuaternionMultiply(rs_quaternion* q, const rs_quaternion* rhs) {
rs_quaternion qtmp;
@@ -233,6 +254,7 @@
q->z = qtmp.w*rhs->z + qtmp.z*rhs->w + qtmp.x*rhs->y - qtmp.y*rhs->x;
rsQuaternionNormalize(q);
}
+#endif
/*
* rsQuaternionSlerp: Spherical linear interpolation between two quaternions
@@ -245,6 +267,7 @@
* q1: Second input quaternion.
* t: How much to interpolate by.
*/
+#if !defined(RS_VERSION) || (RS_VERSION <= 23)
static inline void __attribute__((overloadable))
rsQuaternionSlerp(rs_quaternion* q, const rs_quaternion* q0, const rs_quaternion* q1, float t) {
if (t <= 0.0f) {
@@ -286,5 +309,66 @@
rsQuaternionSet(q, tempq0.w*scale + tempq1.w*invScale, tempq0.x*scale + tempq1.x*invScale,
tempq0.y*scale + tempq1.y*invScale, tempq0.z*scale + tempq1.z*invScale);
}
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern void __attribute__((overloadable))
+ rsQuaternionAdd(rs_quaternion* q, const rs_quaternion* rhs);
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern void __attribute__((overloadable))
+ rsQuaternionConjugate(rs_quaternion* q);
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern float __attribute__((overloadable))
+ rsQuaternionDot(const rs_quaternion* q0, const rs_quaternion* q1);
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern void __attribute__((overloadable))
+ rsQuaternionGetMatrixUnit(rs_matrix4x4* m, const rs_quaternion* q);
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern void __attribute__((overloadable))
+ rsQuaternionLoadRotateUnit(rs_quaternion* q, float rot, float x, float y, float z);
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern void __attribute__((overloadable))
+ rsQuaternionSet(rs_quaternion* q, float w, float x, float y, float z);
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern void __attribute__((overloadable))
+ rsQuaternionSet(rs_quaternion* q, const rs_quaternion* rhs);
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern void __attribute__((overloadable))
+ rsQuaternionLoadRotate(rs_quaternion* q, float rot, float x, float y, float z);
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern void __attribute__((overloadable))
+ rsQuaternionNormalize(rs_quaternion* q);
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern void __attribute__((overloadable))
+ rsQuaternionMultiply(rs_quaternion* q, float scalar);
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern void __attribute__((overloadable))
+ rsQuaternionMultiply(rs_quaternion* q, const rs_quaternion* rhs);
+#endif
+
+#if (defined(RS_VERSION) && (RS_VERSION >= 4294967295) && (defined(RS_DECLARE_EXPIRED_APIS) || RS_VERSION <= 4294967295))
+extern void __attribute__((overloadable))
+ rsQuaternionSlerp(rs_quaternion* q, const rs_quaternion* q0, const rs_quaternion* q1, float t);
+#endif
#endif // RENDERSCRIPT_RS_QUATERNION_RSH
