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xform.c
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1 /* $Id: xform.c,v 1.10 1997/10/30 06:00:06 brianp Exp $ */
2 
3 /*
4  * Mesa 3-D graphics library
5  * Version: 2.5
6  * Copyright (C) 1995-1997 Brian Paul
7  *
8  * This library is free software; you can redistribute it and/or
9  * modify it under the terms of the GNU Library General Public
10  * License as published by the Free Software Foundation; either
11  * version 2 of the License, or (at your option) any later version.
12  *
13  * This library is distributed in the hope that it will be useful,
14  * but WITHOUT ANY WARRANTY; without even the implied warranty of
15  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16  * Library General Public License for more details.
17  *
18  * You should have received a copy of the GNU Library General Public
19  * License along with this library; if not, write to the Free
20  * Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
21  */
22 
23 
24 /*
25  * $Log: xform.c,v $
26  * Revision 1.10 1997/10/30 06:00:06 brianp
27  * added Intel X86 assembly optimzations (Josh Vanderhoof)
28  *
29  * Revision 1.9 1997/07/24 01:25:54 brianp
30  * changed precompiled header symbol from PCH to PC_HEADER
31  *
32  * Revision 1.8 1997/05/28 03:27:03 brianp
33  * added precompiled header (PCH) support
34  *
35  * Revision 1.7 1997/05/01 01:40:51 brianp
36  * replaced sqrt() with GL_SQRT()
37  *
38  * Revision 1.6 1997/04/02 03:15:02 brianp
39  * removed gl_xform_texcoords_4fv()
40  *
41  * Revision 1.5 1997/01/03 23:54:17 brianp
42  * changed length threshold in gl_xform_normals_3fv() to 1E-30 per Jeroen
43  *
44  * Revision 1.4 1996/11/09 01:50:49 brianp
45  * relaxed the minimum normal threshold in gl_xform_normals_3fv()
46  *
47  * Revision 1.3 1996/11/08 02:20:39 brianp
48  * added gl_xform_texcoords_4fv()
49  *
50  * Revision 1.2 1996/11/05 01:38:50 brianp
51  * fixed some comments
52  *
53  * Revision 1.1 1996/09/13 01:38:16 brianp
54  * Initial revision
55  *
56  */
57 
58 
59 /*
60  * Matrix/vertex/vector transformation stuff
61  *
62  *
63  * NOTES:
64  * 1. 4x4 transformation matrices are stored in memory in column major order.
65  * 2. Points/vertices are to be thought of as column vectors.
66  * 3. Transformation of a point p by a matrix M is: p' = M * p
67  *
68  */
69 
70 
71 #ifdef PC_HEADER
72 #include "all.h"
73 #else
74 #include <math.h>
75 #include "mmath.h"
76 #include "types.h"
77 #include "xform.h"
78 #endif
79 
80 
81 
82 /*
83  * Apply a transformation matrix to an array of [X Y Z W] coordinates:
84  * for i in 0 to n-1 do q[i] = m * p[i]
85  * where p[i] and q[i] are 4-element column vectors and m is a 16-element
86  * transformation matrix.
87  */
88 void gl_xform_points_4fv( GLuint n, GLfloat q[][4], const GLfloat m[16],
89  GLfloat p[][4] )
90 {
91  /* This function has been carefully crafted to maximize register usage
92  * and use loop unrolling with IRIX 5.3's cc. Hopefully other compilers
93  * will like this code too.
94  */
95  {
96  GLuint i;
97  GLfloat m0 = m[0], m4 = m[4], m8 = m[8], m12 = m[12];
98  GLfloat m1 = m[1], m5 = m[5], m9 = m[9], m13 = m[13];
99  if (m12==0.0F && m13==0.0F) {
100  /* common case */
101  for (i=0;i<n;i++) {
102  GLfloat p0 = p[i][0], p1 = p[i][1], p2 = p[i][2];
103  q[i][0] = m0 * p0 + m4 * p1 + m8 * p2;
104  q[i][1] = m1 * p0 + m5 * p1 + m9 * p2;
105  }
106  }
107  else {
108  /* general case */
109  for (i=0;i<n;i++) {
110  GLfloat p0 = p[i][0], p1 = p[i][1], p2 = p[i][2], p3 = p[i][3];
111  q[i][0] = m0 * p0 + m4 * p1 + m8 * p2 + m12 * p3;
112  q[i][1] = m1 * p0 + m5 * p1 + m9 * p2 + m13 * p3;
113  }
114  }
115  }
116  {
117  GLuint i;
118  GLfloat m2 = m[2], m6 = m[6], m10 = m[10], m14 = m[14];
119  GLfloat m3 = m[3], m7 = m[7], m11 = m[11], m15 = m[15];
120  if (m3==0.0F && m7==0.0F && m11==0.0F && m15==1.0F) {
121  /* common case */
122  for (i=0;i<n;i++) {
123  GLfloat p0 = p[i][0], p1 = p[i][1], p2 = p[i][2], p3 = p[i][3];
124  q[i][2] = m2 * p0 + m6 * p1 + m10 * p2 + m14 * p3;
125  q[i][3] = p3;
126  }
127  }
128  else {
129  /* general case */
130  for (i=0;i<n;i++) {
131  GLfloat p0 = p[i][0], p1 = p[i][1], p2 = p[i][2], p3 = p[i][3];
132  q[i][2] = m2 * p0 + m6 * p1 + m10 * p2 + m14 * p3;
133  q[i][3] = m3 * p0 + m7 * p1 + m11 * p2 + m15 * p3;
134  }
135  }
136  }
137 }
138 
139 
140 
141 /*
142  * Apply a transformation matrix to an array of [X Y Z] coordinates:
143  * for i in 0 to n-1 do q[i] = m * p[i]
144  */
145 void gl_xform_points_3fv( GLuint n, GLfloat q[][4], const GLfloat m[16],
146  GLfloat p[][3] )
147 {
148  /* This function has been carefully crafted to maximize register usage
149  * and use loop unrolling with IRIX 5.3's cc. Hopefully other compilers
150  * will like this code too.
151  */
152  {
153  GLuint i;
154  GLfloat m0 = m[0], m4 = m[4], m8 = m[8], m12 = m[12];
155  GLfloat m1 = m[1], m5 = m[5], m9 = m[9], m13 = m[13];
156  for (i=0;i<n;i++) {
157  GLfloat p0 = p[i][0], p1 = p[i][1], p2 = p[i][2];
158  q[i][0] = m0 * p0 + m4 * p1 + m8 * p2 + m12;
159  q[i][1] = m1 * p0 + m5 * p1 + m9 * p2 + m13;
160  }
161  }
162  {
163  GLuint i;
164  GLfloat m2 = m[2], m6 = m[6], m10 = m[10], m14 = m[14];
165  GLfloat m3 = m[3], m7 = m[7], m11 = m[11], m15 = m[15];
166  if (m3==0.0F && m7==0.0F && m11==0.0F && m15==1.0F) {
167  /* common case */
168  for (i=0;i<n;i++) {
169  GLfloat p0 = p[i][0], p1 = p[i][1], p2 = p[i][2];
170  q[i][2] = m2 * p0 + m6 * p1 + m10 * p2 + m14;
171  q[i][3] = 1.0F;
172  }
173  }
174  else {
175  /* general case */
176  for (i=0;i<n;i++) {
177  GLfloat p0 = p[i][0], p1 = p[i][1], p2 = p[i][2];
178  q[i][2] = m2 * p0 + m6 * p1 + m10 * p2 + m14;
179  q[i][3] = m3 * p0 + m7 * p1 + m11 * p2 + m15;
180  }
181  }
182  }
183 }
184 
185 
186 
187 #ifndef USE_ASM
188 /*
189  * Apply a transformation matrix to an array of normal vectors:
190  * for i in 0 to n-1 do v[i] = u[i] * m
191  * where u[i] and v[i] are 3-element row vectors and m is a 16-element
192  * transformation matrix.
193  * If the normalize flag is true the normals will be scaled to length 1.
194  */
195 void gl_xform_normals_3fv( GLuint n, GLfloat v[][3], const GLfloat m[16],
196  GLfloat u[][3], GLboolean normalize )
197 {
198  if (normalize) {
199  /* Transform normals and scale to unit length */
200  GLuint i;
201  GLfloat m0 = m[0], m4 = m[4], m8 = m[8];
202  GLfloat m1 = m[1], m5 = m[5], m9 = m[9];
203  GLfloat m2 = m[2], m6 = m[6], m10 = m[10];
204  for (i=0;i<n;i++) {
205  GLdouble tx, ty, tz;
206  {
207  GLfloat ux = u[i][0], uy = u[i][1], uz = u[i][2];
208  tx = ux * m0 + uy * m1 + uz * m2;
209  ty = ux * m4 + uy * m5 + uz * m6;
210  tz = ux * m8 + uy * m9 + uz * m10;
211  }
212  {
213  GLdouble len, scale;
214  len = GL_SQRT( tx*tx + ty*ty + tz*tz );
215  scale = (len>1E-30) ? (1.0 / len) : 1.0;
216  v[i][0] = tx * scale;
217  v[i][1] = ty * scale;
218  v[i][2] = tz * scale;
219  }
220  }
221  }
222  else {
223  /* Just transform normals, don't scale */
224  GLuint i;
225  GLfloat m0 = m[0], m4 = m[4], m8 = m[8];
226  GLfloat m1 = m[1], m5 = m[5], m9 = m[9];
227  GLfloat m2 = m[2], m6 = m[6], m10 = m[10];
228  for (i=0;i<n;i++) {
229  GLfloat ux = u[i][0], uy = u[i][1], uz = u[i][2];
230  v[i][0] = ux * m0 + uy * m1 + uz * m2;
231  v[i][1] = ux * m4 + uy * m5 + uz * m6;
232  v[i][2] = ux * m8 + uy * m9 + uz * m10;
233  }
234  }
235 }
236 #endif
237 
238 
239 /*
240  * Transform a 4-element row vector (1x4 matrix) by a 4x4 matrix. This
241  * function is used for transforming clipping plane equations and spotlight
242  * directions.
243  * Mathematically, u = v * m.
244  * Input: v - input vector
245  * m - transformation matrix
246  * Output: u - transformed vector
247  */
248 void gl_transform_vector( GLfloat u[4], const GLfloat v[4], const GLfloat m[16] )
249 {
250  GLfloat v0=v[0], v1=v[1], v2=v[2], v3=v[3];
251 #define M(row,col) m[col*4+row]
252  u[0] = v0 * M(0,0) + v1 * M(1,0) + v2 * M(2,0) + v3 * M(3,0);
253  u[1] = v0 * M(0,1) + v1 * M(1,1) + v2 * M(2,1) + v3 * M(3,1);
254  u[2] = v0 * M(0,2) + v1 * M(1,2) + v2 * M(2,2) + v3 * M(3,2);
255  u[3] = v0 * M(0,3) + v1 * M(1,3) + v2 * M(2,3) + v3 * M(3,3);
256 #undef M
257 }
258 
GLsizei GLenum const GLvoid GLsizei GLenum GLbyte GLbyte GLbyte GLdouble GLdouble GLdouble GLfloat GLfloat GLfloat GLint GLint GLint GLshort GLshort GLshort GLubyte GLubyte GLubyte GLuint GLuint GLuint GLushort GLushort GLushort GLbyte GLbyte GLbyte GLbyte GLdouble GLdouble GLdouble GLdouble GLfloat GLfloat GLfloat GLfloat GLint GLint GLint GLint GLshort GLshort GLshort GLshort GLubyte GLubyte GLubyte GLubyte GLuint GLuint GLuint GLuint GLushort GLushort GLushort GLushort GLboolean const GLdouble const GLfloat const GLint const GLshort const GLbyte const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLdouble const GLfloat const GLfloat const GLint const GLint const GLshort const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort GLenum GLenum GLenum GLfloat GLenum GLint GLenum GLenum GLenum GLfloat GLenum GLenum GLint GLenum GLfloat GLenum GLint GLint GLushort GLenum GLenum GLfloat GLenum GLenum GLint GLfloat const GLubyte GLenum GLenum GLenum const GLfloat GLenum GLenum const GLint GLenum GLint GLint GLsizei GLsizei GLint GLenum GLenum const GLvoid GLenum GLenum const GLfloat GLenum GLenum const GLint GLenum GLenum const GLdouble GLenum GLenum const GLfloat GLenum GLenum const GLint GLsizei GLuint GLfloat GLuint GLbitfield GLfloat GLint GLuint GLboolean GLenum GLfloat GLenum GLbitfield GLenum GLfloat GLfloat GLint GLint const GLfloat GLenum GLfloat GLfloat GLint GLint GLfloat GLfloat GLint GLint const GLfloat GLint GLfloat GLfloat GLint GLfloat GLfloat GLint GLfloat GLfloat const GLdouble * u
Definition: glfuncs.h:240
double GLdouble
Definition: gl.h:163
GLenum GLenum GLenum GLenum GLenum scale
Definition: glext.h:9032
static void normalize(float vec[3])
Definition: bezierEval.cc:234
GLfloat v0
Definition: glext.h:6061
GLdouble n
Definition: glext.h:7729
const GLfloat * m
Definition: glext.h:10848
void gl_transform_vector(GLfloat u[4], const GLfloat v[4], const GLfloat m[16])
Definition: xform.c:248
void gl_xform_points_4fv(GLuint n, GLfloat q[][4], const GLfloat m[16], GLfloat p[][4])
Definition: xform.c:88
void gl_xform_points_3fv(GLuint n, GLfloat q[][4], const GLfloat m[16], GLfloat p[][3])
Definition: xform.c:145
GLsizei GLenum const GLvoid GLsizei GLenum GLbyte GLbyte GLbyte GLdouble GLdouble GLdouble GLfloat GLfloat GLfloat GLint GLint GLint GLshort GLshort GLshort GLubyte GLubyte GLubyte GLuint GLuint GLuint GLushort GLushort GLushort GLbyte GLbyte GLbyte GLbyte GLdouble GLdouble GLdouble GLdouble GLfloat GLfloat GLfloat GLfloat GLint GLint GLint GLint GLshort GLshort GLshort GLshort GLubyte GLubyte GLubyte GLubyte GLuint GLuint GLuint GLuint GLushort GLushort GLushort GLushort GLboolean const GLdouble const GLfloat const GLint const GLshort const GLbyte const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLdouble const GLfloat const GLfloat const GLint const GLint const GLshort const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort const GLdouble const GLfloat const GLint const GLshort GLenum GLenum GLenum GLfloat GLenum GLint GLenum GLenum GLenum GLfloat GLenum GLenum GLint GLenum GLfloat GLenum GLint GLint GLushort GLenum GLenum GLfloat GLenum GLenum GLint GLfloat const GLubyte GLenum GLenum GLenum const GLfloat GLenum GLenum const GLint GLenum GLint GLint GLsizei GLsizei GLint GLenum GLenum const GLvoid GLenum GLenum const GLfloat GLenum GLenum const GLint GLenum GLenum const GLdouble GLenum GLenum const GLfloat GLenum GLenum const GLint GLsizei GLuint GLfloat GLuint GLbitfield GLfloat GLint GLuint GLboolean GLenum GLfloat GLenum GLbitfield GLenum GLfloat GLfloat GLint GLint const GLfloat GLenum GLfloat GLfloat GLint GLint GLfloat GLfloat GLint GLint const GLfloat GLint GLfloat GLfloat GLint GLfloat GLfloat GLint GLfloat GLfloat const GLdouble const GLfloat const GLdouble const GLfloat GLint i
Definition: glfuncs.h:248
unsigned char GLboolean
Definition: gl.h:151
GLbyte ty
Definition: glext.h:8756
#define m11
#define m13
#define GL_SQRT(X)
Definition: mmath.h:63
GLdouble GLdouble GLdouble GLdouble q
Definition: gl.h:2063
GLenum GLsizei len
Definition: glext.h:6722
GLfloat GLfloat GLfloat GLfloat v3
Definition: glext.h:6064
GLfloat GLfloat GLfloat v2
Definition: glext.h:6063
#define m14
static const WCHAR E[]
Definition: oid.c:1253
const GLdouble * v
Definition: gl.h:2040
unsigned int GLuint
Definition: gl.h:159
#define M(row, col)
GLbyte GLbyte tz
Definition: glext.h:8756
#define m12
void gl_xform_normals_3fv(GLuint n, GLfloat v[][3], const GLfloat m[16], GLfloat u[][3], GLboolean normalize)
Definition: xform.c:195
float GLfloat
Definition: gl.h:161
GLfloat GLfloat p
Definition: glext.h:8902
GLfloat GLfloat v1
Definition: glext.h:6062
#define F(x, y, z)
Definition: md5.c:51