Merge "Adding quaternion functions to math library."
diff --git a/graphics/java/android/renderscript/Matrix4f.java b/graphics/java/android/renderscript/Matrix4f.java
index e854cd9..5ffc21a 100644
--- a/graphics/java/android/renderscript/Matrix4f.java
+++ b/graphics/java/android/renderscript/Matrix4f.java
@@ -179,6 +179,76 @@
tmp.loadTranslate(x, y, z);
multiply(tmp);
}
+ private float computeCofactor(int i, int j) {
+ int c0 = (i+1) % 4;
+ int c1 = (i+2) % 4;
+ int c2 = (i+3) % 4;
+ int r0 = (j+1) % 4;
+ int r1 = (j+2) % 4;
+ int r2 = (j+3) % 4;
+
+ float minor = (mMat[c0 + 4*r0] * (mMat[c1 + 4*r1] * mMat[c2 + 4*r2] -
+ mMat[c1 + 4*r2] * mMat[c2 + 4*r1]))
+ - (mMat[c0 + 4*r1] * (mMat[c1 + 4*r0] * mMat[c2 + 4*r2] -
+ mMat[c1 + 4*r2] * mMat[c2 + 4*r0]))
+ + (mMat[c0 + 4*r2] * (mMat[c1 + 4*r0] * mMat[c2 + 4*r1] -
+ mMat[c1 + 4*r1] * mMat[c2 + 4*r0]));
+
+ float cofactor = ((i+j) & 1) != 0 ? -minor : minor;
+ return cofactor;
+ }
+
+ public boolean inverse() {
+
+ Matrix4f result = new Matrix4f();
+
+ for (int i = 0; i < 4; ++i) {
+ for (int j = 0; j < 4; ++j) {
+ result.mMat[4*i + j] = computeCofactor(i, j);
+ }
+ }
+
+ // Dot product of 0th column of source and 0th row of result
+ float det = mMat[0]*result.mMat[0] + mMat[4]*result.mMat[1] +
+ mMat[8]*result.mMat[2] + mMat[12]*result.mMat[3];
+
+ if (Math.abs(det) < 1e-6) {
+ return false;
+ }
+
+ det = 1.0f / det;
+ for (int i = 0; i < 16; ++i) {
+ mMat[i] = result.mMat[i] * det;
+ }
+
+ return true;
+ }
+
+ public boolean inverseTranspose() {
+
+ Matrix4f result = new Matrix4f();
+
+ for (int i = 0; i < 4; ++i) {
+ for (int j = 0; j < 4; ++j) {
+ result.mMat[4*j + i] = computeCofactor(i, j);
+ }
+ }
+
+ float det = mMat[0]*result.mMat[0] + mMat[4]*result.mMat[4] +
+ mMat[8]*result.mMat[8] + mMat[12]*result.mMat[12];
+
+ if (Math.abs(det) < 1e-6) {
+ return false;
+ }
+
+ det = 1.0f / det;
+ for (int i = 0; i < 16; ++i) {
+ mMat[i] = result.mMat[i] * det;
+ }
+
+ return true;
+ }
+
public void transpose() {
for(int i = 0; i < 3; ++i) {
for(int j = i + 1; j < 4; ++j) {
diff --git a/libs/rs/scriptc/rs_core.rsh b/libs/rs/scriptc/rs_core.rsh
index 85f3b25..aa9aebc 100644
--- a/libs/rs/scriptc/rs_core.rsh
+++ b/libs/rs/scriptc/rs_core.rsh
@@ -602,6 +602,171 @@
m->m[2] = temp;
}
+/////////////////////////////////////////////////////
+// quaternion ops
+/////////////////////////////////////////////////////
+
+static 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;
+}
+
+static 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;
+}
+
+static void __attribute__((overloadable))
+rsQuaternionMultiply(rs_quaternion *q, float s) {
+ q->w *= s;
+ q->x *= s;
+ q->y *= s;
+ q->z *= s;
+}
+
+static void __attribute__((overloadable))
+rsQuaternionMultiply(rs_quaternion *q, const rs_quaternion *rhs) {
+ q->w = -q->x*rhs->x - q->y*rhs->y - q->z*rhs->z + q->w*rhs->w;
+ q->x = q->x*rhs->w + q->y*rhs->z - q->z*rhs->y + q->w*rhs->x;
+ q->y = -q->x*rhs->z + q->y*rhs->w + q->z*rhs->z + q->w*rhs->y;
+ q->z = q->x*rhs->y - q->y*rhs->x + q->z*rhs->w + q->w*rhs->z;
+}
+
+static void
+rsQuaternionAdd(rs_quaternion *q, const rs_quaternion *rhs) {
+ q->w *= rhs->w;
+ q->x *= rhs->x;
+ q->y *= rhs->y;
+ q->z *= rhs->z;
+}
+
+static void
+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;
+}
+
+static void
+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);
+}
+
+static void
+rsQuaternionConjugate(rs_quaternion *q) {
+ q->x = -q->x;
+ q->y = -q->y;
+ q->z = -q->z;
+}
+
+static float
+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;
+}
+
+static void
+rsQuaternionNormalize(rs_quaternion *q) {
+ const float len = rsQuaternionDot(q, q);
+ if (len != 1) {
+ const float recipLen = 1.f / sqrt(len);
+ rsQuaternionMultiply(q, recipLen);
+ }
+}
+
+static void
+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);
+}
+
+static void rsQuaternionGetMatrixUnit(rs_matrix4x4 *m, const rs_quaternion *q) {
+ float x2 = 2.0f * q->x * q->x;
+ float y2 = 2.0f * q->y * q->y;
+ float z2 = 2.0f * q->z * q->z;
+ float xy = 2.0f * q->x * q->y;
+ float wz = 2.0f * q->w * q->z;
+ float xz = 2.0f * q->x * q->z;
+ float wy = 2.0f * q->w * q->y;
+ float wx = 2.0f * q->w * q->x;
+ float yz = 2.0f * q->y * q->z;
+
+ m->m[0] = 1.0f - y2 - z2;
+ m->m[1] = xy - wz;
+ m->m[2] = xz + wy;
+ m->m[3] = 0.0f;
+
+ m->m[4] = xy + wz;
+ m->m[5] = 1.0f - x2 - z2;
+ m->m[6] = yz - wx;
+ m->m[7] = 0.0f;
+
+ m->m[8] = xz - wy;
+ m->m[9] = yz - wx;
+ m->m[10] = 1.0f - x2 - y2;
+ m->m[11] = 0.0f;
+
+ m->m[12] = 0.0f;
+ m->m[13] = 0.0f;
+ m->m[14] = 0.0f;
+ m->m[15] = 1.0f;
+}
+
/////////////////////////////////////////////////////
// int ops
diff --git a/libs/rs/scriptc/rs_types.rsh b/libs/rs/scriptc/rs_types.rsh
index 69e1aed..489b034 100644
--- a/libs/rs/scriptc/rs_types.rsh
+++ b/libs/rs/scriptc/rs_types.rsh
@@ -55,18 +55,22 @@
typedef int int4 __attribute__((ext_vector_type(4)));
-typedef struct {
+typedef struct rs_matrix4x4_s {
float m[16];
} rs_matrix4x4;
-typedef struct {
+typedef struct rs_matrix3x3_s {
float m[9];
} rs_matrix3x3;
-typedef struct {
+typedef struct rs_matrix2x2_s {
float m[4];
} rs_matrix2x2;
+typedef struct rs_quaternion_s {
+ float w, x, y, z;
+} rs_quaternion;
+
#define RS_PACKED __attribute__((packed, aligned(4)))