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/*
* gldgMatrix.c
*
* OpenGL Graph Display matrix utility module implementation
*
* Written by: Shawn Taras
*/
#include <stdlib.h>
#include <math.h>
#include <GL/gl.h>
#include "glgd.h"
/*
* Defines
*/
#define _SQR(x) ((x) * (x))
/*
* Static local (to this module) variables
*/
static char s_mtxFmt[32] = "|%7.4f %7.4f %7.4f %12.4f|\n";
/*
* External public functions
*/
GLboolean
glgdMatrixIdentity(glgdMatrix mtx)
{
if (mtx != NULL)
{
mtx[ 0] = 1.0;
mtx[ 1] = 0.0;
mtx[ 2] = 0.0;
mtx[ 3] = 0.0;
mtx[ 4] = 0.0;
mtx[ 5] = 1.0;
mtx[ 6] = 0.0;
mtx[ 7] = 0.0;
mtx[ 8] = 0.0;
mtx[ 9] = 0.0;
mtx[10] = 1.0;
mtx[11] = 0.0;
mtx[12] = 0.0;
mtx[13] = 0.0;
mtx[14] = 0.0;
mtx[15] = 1.0;
return GL_TRUE;
}
return GL_FALSE;
}
GLboolean
glgdMatrixDump(glgdMatrix mtx, int indent)
{
int i;
int ndx;
ndx = 0;
for (i=0; i<4; i++)
{
printf(s_mtxFmt, mtx[ndx], mtx[ndx+1], mtx[ndx+2], mtx[ndx+3]);
ndx += 4;
}
}
GLboolean
glgdMatrixSetByQuat(glgdMatrix mtx, glgdQuat q)
{
GLdouble s;
GLdouble xs;
GLdouble ys;
GLdouble zs;
GLdouble wx;
GLdouble wy;
GLdouble wz;
GLdouble xx;
GLdouble xy;
GLdouble xz;
GLdouble yy;
GLdouble yz;
GLdouble zz;
if (mtx && q)
{
s = 2.0 / (_SQR(q[0]) + _SQR(q[1]) + _SQR(q[2]) + _SQR(q[3]));
xs = q[0] * s;
ys = q[1] * s;
zs = q[2] * s;
wx = q[3] * xs;
wy = q[3] * ys;
wz = q[3] * zs;
xx = q[0] * xs;
xy = q[0] * ys;
xz = q[0] * zs;
yy = q[1] * ys;
yz = q[1] * zs;
zz = q[2] * zs;
mtx[ 0] = 1.0 - (yy + zz);
mtx[ 4] = xy - wz;
mtx[ 8] = xz + wy;
mtx[12] = 0.0;
mtx[ 1] = xy + wz;
mtx[ 5] = 1.0 - (xx + zz);
mtx[ 9] = yz - wx;
mtx[13] = 0.0;
mtx[ 2] = xz - wy;
mtx[ 6] = yz + wx;
mtx[10] = 1.0 - (xx + yy);
mtx[14] = 0.0;
mtx[ 3] = 0.0;
mtx[ 7] = 0.0;
mtx[11] = 0.0;
mtx[15] = 1.0;
return GL_TRUE;
}
return GL_FALSE;
}
GLboolean
glgdMatrixPerspective
(
glgdMatrix mtx,
GLdouble fovy,
GLdouble aspect,
GLdouble zNear,
GLdouble zFar
)
{
GLdouble xmin, xmax;
GLdouble ymin, ymax;
if (mtx != NULL)
{
ymax = zNear * tan(fovy * M_PI / 360.0f);
ymin = -ymax;
xmin = ymin * aspect;
xmax = ymax * aspect;
glgdMatrixFrustum(mtx, xmin, xmax, ymin, ymax, zNear, zFar);
return GL_TRUE;
}
return GL_FALSE;
}
GLboolean
glgdMatrixFrustum
(
glgdMatrix mtx,
GLdouble left,
GLdouble right,
GLdouble bottom,
GLdouble top,
GLdouble zNear,
GLdouble zFar
)
{
GLdouble rlInv;
GLdouble tbInv;
GLdouble fnInv;
GLdouble a, b, c, d;
GLdouble x, y;
if (mtx != NULL)
{
rlInv = 1.0 / (right - left);
tbInv = 1.0 / (top - bottom);
fnInv = 1.0 / (zFar - zNear);
x = (2.0 * zNear) * rlInv;
y = (2.0 * zNear) * tbInv;
a = (right + left) * rlInv;
b = (top + bottom) * tbInv;
c = -(zFar + zNear) * fnInv;
d = -(2.0 * zFar * zNear) * fnInv;
mtx[ 0] = x; mtx[ 1] = 0.0; mtx[ 2] = 0.0; mtx[ 3] = 0.0;
mtx[ 4] = 0.0; mtx[ 5] = y; mtx[ 6] = 0.0; mtx[ 7] = 0.0;
mtx[ 8] = a; mtx[ 9] = b; mtx[10] = c; mtx[11] = -1.0;
mtx[12] = 0.0; mtx[13] = 0.0; mtx[14] = d; mtx[15] = 0.0;
return GL_TRUE;
}
return GL_FALSE;
}
GLboolean
glgdMatrixOrtho
(
glgdMatrix mtx,
GLdouble left,
GLdouble right,
GLdouble bottom,
GLdouble top,
GLdouble zNear,
GLdouble zFar
)
{
GLdouble x, y, z;
GLdouble tx, ty, tz;
glgdMatrix m;
if (mtx != NULL)
{
x = +2.0 / (right - left);
y = +2.0 / (top - bottom);
z = -2.0 / (zFar - zNear);
tx = -(right + left) / (right - left);
ty = -(top + bottom) / (top - bottom);
tz = -(zFar + zNear) / (zFar - zNear);
mtx[ 0] = x; mtx[ 1] = 0.0; mtx[ 2] = 0.0; mtx[ 3] = 0.0;
mtx[ 4] = 0.0; mtx[ 5] = y; mtx[ 6] = 0.0; mtx[ 7] = 0.0;
mtx[ 8] = 0.0; mtx[ 9] = 0.0; mtx[10] = z; mtx[11] = 0.0;
mtx[12] = tx; mtx[13] = ty; mtx[14] = tz; mtx[15] = 1.0;
return GL_TRUE;
}
return GL_FALSE;
}
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