void vg_tess_clerp_approx(float *x, float *y, float x0, float y0, float x1, float y1, float t)
{
float c = (x0 * x1) + (y0 * y1), s;
t = t * t; /* because cos looks like a quadratic around x = 0 (ie this approximation is better when the angle is smaller) */
c = (1.0f - t) + (t * c);
s = sqrt_(_maxf(1.0f - (c * c), 0.0f)); /* 1 - c^2 should be >= 0, but we might end up slightly less than 0 due to fp lameness... */
if ((x0 * y1) < (y0 * x1)) { s = -s; }
*x = (x0 * c) - (y0 * s);
*y = (y0 * c) + (x0 * s);
}
/**
* Query driver to get implementation limits.
* Note that we have to limit/clamp against Mesa's internal limits too.
*/
void st_init_limits(struct st_context *st)
{
struct pipe_screen *screen = st->pipe->screen;
struct gl_constants *c = &st->ctx->Const;
c->MaxTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_2D_LEVELS),
MAX_TEXTURE_LEVELS);
c->Max3DTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_3D_LEVELS),
MAX_3D_TEXTURE_LEVELS);
c->MaxCubeTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_CUBE_LEVELS),
MAX_CUBE_TEXTURE_LEVELS);
c->MaxTextureRectSize
= _min(1 << (c->MaxTextureLevels - 1), MAX_TEXTURE_RECT_SIZE);
c->MaxTextureImageUnits
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_IMAGE_UNITS),
MAX_TEXTURE_IMAGE_UNITS);
c->MaxVertexTextureImageUnits
= _min(screen->get_param(screen, PIPE_CAP_MAX_VERTEX_TEXTURE_UNITS),
MAX_VERTEX_TEXTURE_IMAGE_UNITS);
c->MaxTextureCoordUnits
= _min(c->MaxTextureImageUnits, MAX_TEXTURE_COORD_UNITS);
c->MaxTextureUnits = _min(c->MaxTextureImageUnits, c->MaxTextureCoordUnits);
c->MaxDrawBuffers
= _clamp(screen->get_param(screen, PIPE_CAP_MAX_RENDER_TARGETS),
1, MAX_DRAW_BUFFERS);
c->MaxLineWidth
= _maxf(1.0f, screen->get_paramf(screen, PIPE_CAP_MAX_LINE_WIDTH));
c->MaxLineWidthAA
= _maxf(1.0f, screen->get_paramf(screen, PIPE_CAP_MAX_LINE_WIDTH_AA));
c->MaxPointSize
= _maxf(1.0f, screen->get_paramf(screen, PIPE_CAP_MAX_POINT_WIDTH));
c->MaxPointSizeAA
= _maxf(1.0f, screen->get_paramf(screen, PIPE_CAP_MAX_POINT_WIDTH_AA));
c->MaxTextureMaxAnisotropy
= _maxf(2.0f, screen->get_paramf(screen, PIPE_CAP_MAX_TEXTURE_ANISOTROPY));
c->MaxTextureLodBias
= screen->get_paramf(screen, PIPE_CAP_MAX_TEXTURE_LOD_BIAS);
c->MaxDrawBuffers
= CLAMP(screen->get_param(screen, PIPE_CAP_MAX_RENDER_TARGETS),
1, MAX_DRAW_BUFFERS);
/* Is TGSI_OPCODE_CONT supported? */
/* XXX separate query for early function return? */
st->ctx->Shader.EmitContReturn =
screen->get_param(screen, PIPE_CAP_TGSI_CONT_SUPPORTED);
}
/**
* Query driver to get implementation limits.
* Note that we have to limit/clamp against Mesa's internal limits too.
*/
void st_init_limits(struct st_context *st)
{
struct pipe_screen *screen = st->pipe->screen;
struct gl_constants *c = &st->ctx->Const;
unsigned sh;
boolean can_ubo = TRUE;
c->MaxTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_2D_LEVELS),
MAX_TEXTURE_LEVELS);
c->Max3DTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_3D_LEVELS),
MAX_3D_TEXTURE_LEVELS);
c->MaxCubeTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_CUBE_LEVELS),
MAX_CUBE_TEXTURE_LEVELS);
c->MaxTextureRectSize
= _min(1 << (c->MaxTextureLevels - 1), MAX_TEXTURE_RECT_SIZE);
c->MaxArrayTextureLayers
= screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_ARRAY_LAYERS);
/* Define max viewport size and max renderbuffer size in terms of
* max texture size (note: max tex RECT size = max tex 2D size).
* If this isn't true for some hardware we'll need new PIPE_CAP_ queries.
*/
c->MaxViewportWidth =
c->MaxViewportHeight =
c->MaxRenderbufferSize = c->MaxTextureRectSize;
c->MaxDrawBuffers = c->MaxColorAttachments =
_clamp(screen->get_param(screen, PIPE_CAP_MAX_RENDER_TARGETS),
1, MAX_DRAW_BUFFERS);
c->MaxDualSourceDrawBuffers
= _clamp(screen->get_param(screen, PIPE_CAP_MAX_DUAL_SOURCE_RENDER_TARGETS),
0, MAX_DRAW_BUFFERS);
c->MaxLineWidth
= _maxf(1.0f, screen->get_paramf(screen,
PIPE_CAPF_MAX_LINE_WIDTH));
c->MaxLineWidthAA
= _maxf(1.0f, screen->get_paramf(screen,
PIPE_CAPF_MAX_LINE_WIDTH_AA));
c->MaxPointSize
= _maxf(1.0f, screen->get_paramf(screen,
PIPE_CAPF_MAX_POINT_WIDTH));
c->MaxPointSizeAA
= _maxf(1.0f, screen->get_paramf(screen,
PIPE_CAPF_MAX_POINT_WIDTH_AA));
/* called after _mesa_create_context/_mesa_init_point, fix default user
* settable max point size up
*/
st->ctx->Point.MaxSize = MAX2(c->MaxPointSize, c->MaxPointSizeAA);
/* these are not queryable. Note that GL basically mandates a 1.0 minimum
* for non-aa sizes, but we can go down to 0.0 for aa points.
*/
c->MinPointSize = 1.0f;
c->MinPointSizeAA = 0.0f;
c->MaxTextureMaxAnisotropy
= _maxf(2.0f, screen->get_paramf(screen,
PIPE_CAPF_MAX_TEXTURE_ANISOTROPY));
c->MaxTextureLodBias
= screen->get_paramf(screen, PIPE_CAPF_MAX_TEXTURE_LOD_BIAS);
c->QuadsFollowProvokingVertexConvention = screen->get_param(
screen, PIPE_CAP_QUADS_FOLLOW_PROVOKING_VERTEX_CONVENTION);
c->MaxUniformBlockSize =
screen->get_shader_param(screen, PIPE_SHADER_FRAGMENT,
PIPE_SHADER_CAP_MAX_CONSTS) * 16;
if (c->MaxUniformBlockSize < 16384) {
can_ubo = FALSE;
}
for (sh = 0; sh < PIPE_SHADER_TYPES; ++sh) {
struct gl_shader_compiler_options *options;
struct gl_program_constants *pc;
switch (sh) {
case PIPE_SHADER_FRAGMENT:
pc = &c->Program[MESA_SHADER_FRAGMENT];
options = &st->ctx->ShaderCompilerOptions[MESA_SHADER_FRAGMENT];
break;
case PIPE_SHADER_VERTEX:
pc = &c->Program[MESA_SHADER_VERTEX];
options = &st->ctx->ShaderCompilerOptions[MESA_SHADER_VERTEX];
break;
case PIPE_SHADER_GEOMETRY:
pc = &c->Program[MESA_SHADER_GEOMETRY];
options = &st->ctx->ShaderCompilerOptions[MESA_SHADER_GEOMETRY];
break;
default:
/* compute shader, etc. */
continue;
}
pc->MaxTextureImageUnits =
_min(screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_MAX_TEXTURE_SAMPLERS),
MAX_TEXTURE_IMAGE_UNITS);
pc->MaxInstructions = pc->MaxNativeInstructions =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_INSTRUCTIONS);
pc->MaxAluInstructions = pc->MaxNativeAluInstructions =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_ALU_INSTRUCTIONS);
pc->MaxTexInstructions = pc->MaxNativeTexInstructions =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_TEX_INSTRUCTIONS);
pc->MaxTexIndirections = pc->MaxNativeTexIndirections =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_TEX_INDIRECTIONS);
pc->MaxAttribs = pc->MaxNativeAttribs =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_INPUTS);
pc->MaxTemps = pc->MaxNativeTemps =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_TEMPS);
pc->MaxAddressRegs = pc->MaxNativeAddressRegs =
_min(screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_ADDRS),
MAX_PROGRAM_ADDRESS_REGS);
pc->MaxParameters = pc->MaxNativeParameters =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_CONSTS);
pc->MaxUniformComponents = 4 * MIN2(pc->MaxNativeParameters, MAX_UNIFORMS);
pc->MaxUniformBlocks =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_CONST_BUFFERS);
if (pc->MaxUniformBlocks)
pc->MaxUniformBlocks -= 1; /* The first one is for ordinary uniforms. */
pc->MaxUniformBlocks = _min(pc->MaxUniformBlocks, MAX_UNIFORM_BUFFERS);
pc->MaxCombinedUniformComponents = (pc->MaxUniformComponents +
c->MaxUniformBlockSize / 4 *
pc->MaxUniformBlocks);
/* Gallium doesn't really care about local vs. env parameters so use the
* same limits.
*/
pc->MaxLocalParams = MIN2(pc->MaxParameters, MAX_PROGRAM_LOCAL_PARAMS);
pc->MaxEnvParams = MIN2(pc->MaxParameters, MAX_PROGRAM_ENV_PARAMS);
options->EmitNoNoise = TRUE;
/* TODO: make these more fine-grained if anyone needs it */
options->MaxIfDepth = screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_CONTROL_FLOW_DEPTH);
options->EmitNoLoops = !screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_CONTROL_FLOW_DEPTH);
options->EmitNoFunctions = !screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_SUBROUTINES);
options->EmitNoMainReturn = !screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_SUBROUTINES);
options->EmitNoCont = !screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_TGSI_CONT_SUPPORTED);
options->EmitNoIndirectInput = !screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_INDIRECT_INPUT_ADDR);
options->EmitNoIndirectOutput = !screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_INDIRECT_OUTPUT_ADDR);
options->EmitNoIndirectTemp = !screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_INDIRECT_TEMP_ADDR);
options->EmitNoIndirectUniform = !screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_INDIRECT_CONST_ADDR);
if (pc->MaxNativeInstructions &&
(options->EmitNoIndirectUniform || pc->MaxUniformBlocks < 12)) {
can_ubo = FALSE;
}
if (options->EmitNoLoops)
options->MaxUnrollIterations = MIN2(screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_INSTRUCTIONS), 65536);
else
options->MaxUnrollIterations = 255; /* SM3 limit */
options->LowerClipDistance = true;
}
c->MaxCombinedTextureImageUnits =
_min(c->Program[MESA_SHADER_VERTEX].MaxTextureImageUnits +
c->Program[MESA_SHADER_GEOMETRY].MaxTextureImageUnits +
c->Program[MESA_SHADER_FRAGMENT].MaxTextureImageUnits,
MAX_COMBINED_TEXTURE_IMAGE_UNITS);
/* This depends on program constants. */
c->MaxTextureCoordUnits
= _min(c->Program[MESA_SHADER_FRAGMENT].MaxTextureImageUnits, MAX_TEXTURE_COORD_UNITS);
c->MaxTextureUnits = _min(c->Program[MESA_SHADER_FRAGMENT].MaxTextureImageUnits, c->MaxTextureCoordUnits);
c->Program[MESA_SHADER_VERTEX].MaxAttribs = MIN2(c->Program[MESA_SHADER_VERTEX].MaxAttribs, 16);
/* PIPE_SHADER_CAP_MAX_INPUTS for the FS specifies the maximum number
* of inputs. It's always 2 colors + N generic inputs. */
c->MaxVarying = screen->get_shader_param(screen, PIPE_SHADER_FRAGMENT,
PIPE_SHADER_CAP_MAX_INPUTS);
c->MaxVarying = MIN2(c->MaxVarying, MAX_VARYING);
c->Program[MESA_SHADER_FRAGMENT].MaxInputComponents = c->MaxVarying * 4;
c->Program[MESA_SHADER_VERTEX].MaxOutputComponents = c->MaxVarying * 4;
c->Program[MESA_SHADER_GEOMETRY].MaxInputComponents = c->MaxVarying * 4;
c->Program[MESA_SHADER_GEOMETRY].MaxOutputComponents = c->MaxVarying * 4;
c->MaxGeometryOutputVertices = screen->get_param(screen, PIPE_CAP_MAX_GEOMETRY_OUTPUT_VERTICES);
c->MaxGeometryTotalOutputComponents = screen->get_param(screen, PIPE_CAP_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS);
c->MinProgramTexelOffset = screen->get_param(screen, PIPE_CAP_MIN_TEXEL_OFFSET);
c->MaxProgramTexelOffset = screen->get_param(screen, PIPE_CAP_MAX_TEXEL_OFFSET);
c->MaxProgramTextureGatherComponents = screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_GATHER_COMPONENTS);
c->UniformBooleanTrue = ~0;
c->MaxTransformFeedbackBuffers =
screen->get_param(screen, PIPE_CAP_MAX_STREAM_OUTPUT_BUFFERS);
c->MaxTransformFeedbackBuffers = MIN2(c->MaxTransformFeedbackBuffers, MAX_FEEDBACK_BUFFERS);
c->MaxTransformFeedbackSeparateComponents =
screen->get_param(screen, PIPE_CAP_MAX_STREAM_OUTPUT_SEPARATE_COMPONENTS);
c->MaxTransformFeedbackInterleavedComponents =
screen->get_param(screen, PIPE_CAP_MAX_STREAM_OUTPUT_INTERLEAVED_COMPONENTS);
c->StripTextureBorder = GL_TRUE;
c->GLSLSkipStrictMaxUniformLimitCheck =
screen->get_param(screen, PIPE_CAP_TGSI_CAN_COMPACT_CONSTANTS);
if (can_ubo) {
st->ctx->Extensions.ARB_uniform_buffer_object = GL_TRUE;
c->UniformBufferOffsetAlignment =
screen->get_param(screen, PIPE_CAP_CONSTANT_BUFFER_OFFSET_ALIGNMENT);
c->MaxCombinedUniformBlocks = c->MaxUniformBufferBindings =
c->Program[MESA_SHADER_VERTEX].MaxUniformBlocks +
c->Program[MESA_SHADER_GEOMETRY].MaxUniformBlocks +
c->Program[MESA_SHADER_FRAGMENT].MaxUniformBlocks;
assert(c->MaxCombinedUniformBlocks <= MAX_COMBINED_UNIFORM_BUFFERS);
}
}
// update L1 control for waypoint navigation
// this function costs about 3.5 milliseconds on a AVR2560
void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct Location &next_WP)
{
struct Location _current_loc;
float Nu;
float xtrackVel;
float ltrackVel;
// Calculate L1 gain required for specified damping
float K_L1 = 4.0f * _L1_damping * _L1_damping;
// Get current position and velocity
_ahrs->get_position(&_current_loc);
// update _target_bearing_cd
_target_bearing_cd = get_bearing_cd(&_current_loc, &next_WP);
Vector2f _groundspeed_vector = _ahrs->groundspeed_vector();
//Calculate groundspeed
float groundSpeed = _groundspeed_vector.length();
// Calculate time varying control parameters
// Calculate the L1 length required for specified period
// 0.3183099 = 1/1/pipi
_L1_dist = 0.3183099f * _L1_damping * _L1_period * groundSpeed;
//Convert current location and WP positions to 2D vectors in lat and long
Vector2f A_air((_current_loc.lat*1.0e-7f), (_current_loc.lng*1.0e-7f));
Vector2f A_v((prev_WP.lat*1.0e-7f), (prev_WP.lng*1.0e-7f));
Vector2f B_v((next_WP.lat*1.0e-7f), (next_WP.lng*1.0e-7f));
//Calculate the NE position of the aircraft and WP B relative to WP A
A_air = _geo2planar(A_v, A_air)*RADIUS_OF_EARTH;
Vector2f AB = _geo2planar(A_v, B_v)*RADIUS_OF_EARTH;
//Calculate the unit vector from WP A to WP B
Vector2f AB_unit = (AB).normalized();
// calculate distance to target track, for reporting
_crosstrack_error = AB_unit % A_air;
//Determine if the aircraft is behind a +-135 degree degree arc centred on WP A
//and further than L1 distance from WP A. Then use WP A as the L1 reference point
//Otherwise do normal L1 guidance
float WP_A_dist = A_air.length();
float alongTrackDist = A_air * AB_unit;
if (WP_A_dist > _L1_dist && alongTrackDist/(WP_A_dist + 1.0f) < -0.7071f) {
//Calc Nu to fly To WP A
Vector2f A_air_unit = (A_air).normalized(); // Unit vector from WP A to aircraft
xtrackVel = _groundspeed_vector % (-A_air_unit); // Velocity across line
ltrackVel = _groundspeed_vector * (-A_air_unit); // Velocity along line
Nu = atan2f(xtrackVel,ltrackVel);
_nav_bearing = atan2f(-A_air_unit.y , -A_air_unit.x); // bearing (radians) from AC to L1 point
} else { //Calc Nu to fly along AB line
//Calculate Nu2 angle (angle of velocity vector relative to line connecting waypoints)
xtrackVel = _groundspeed_vector % AB_unit; // Velocity cross track
ltrackVel = _groundspeed_vector * AB_unit; // Velocity along track
float Nu2 = atan2f(xtrackVel,ltrackVel);
//Calculate Nu1 angle (Angle to L1 reference point)
float xtrackErr = A_air % AB_unit;
float sine_Nu1 = xtrackErr/_maxf(_L1_dist , 0.1f);
//Limit sine of Nu1 to provide a controlled track capture angle of 45 deg
sine_Nu1 = constrain_float(sine_Nu1, -0.7854f, 0.7854f);
float Nu1 = asinf(sine_Nu1);
Nu = Nu1 + Nu2;
_nav_bearing = atan2f(AB_unit.y, AB_unit.x) + Nu1; // bearing (radians) from AC to L1 point
}
//Limit Nu to +-pi
Nu = constrain_float(Nu, -1.5708f, +1.5708f);
_latAccDem = K_L1 * groundSpeed * groundSpeed / _L1_dist * sinf(Nu);
// Waypoint capture status is always false during waypoint following
_WPcircle = false;
_bearing_error = Nu; // bearing error angle (radians), +ve to left of track
}
// update L1 control for loitering
void AP_L1_Control::update_loiter(const struct Location ¢er_WP, float radius, int8_t loiter_direction)
{
struct Location _current_loc;
// Calculate guidance gains used by PD loop (used during circle tracking)
float omega = (6.2832f / _L1_period);
float Kx = omega * omega;
float Kv = 2.0f * _L1_damping * omega;
// Calculate L1 gain required for specified damping (used during waypoint capture)
float K_L1 = 4.0f * _L1_damping * _L1_damping;
//Get current position and velocity
_ahrs->get_position(&_current_loc);
// update _target_bearing_cd
_target_bearing_cd = get_bearing_cd(&_current_loc, ¢er_WP);
Vector2f _groundspeed_vector = _ahrs->groundspeed_vector();
//Calculate groundspeed
float groundSpeed = _groundspeed_vector.length();
// Calculate time varying control parameters
// Calculate the L1 length required for specified period
// 0.3183099 = 1/pi
_L1_dist = 0.3183099f * _L1_damping * _L1_period * groundSpeed;
//Convert current location and WP positionsto 2D vectors in lat and long
Vector2f A_air((_current_loc.lat*1.0e-7f), (_current_loc.lng*1.0e-7f));
Vector2f A_v((center_WP.lat*1.0e-7f), (center_WP.lng*1.0e-7f));
//Calculate the NE position of the aircraft relative to WP A
A_air = _geo2planar(A_v, A_air)*RADIUS_OF_EARTH;
//Calculate the unit vector from WP A to aircraft
Vector2f A_air_unit = (A_air).normalized();
//Calculate Nu to capture center_WP
float xtrackVelCap = A_air_unit % _groundspeed_vector; // Velocity across line - perpendicular to radial inbound to WP
float ltrackVelCap = - (_groundspeed_vector * A_air_unit); // Velocity along line - radial inbound to WP
float Nu = atan2f(xtrackVelCap,ltrackVelCap);
Nu = constrain_float(Nu, -1.5708f, +1.5708f); //Limit Nu to +- Pi/2
//Calculate lat accln demand to capture center_WP (use L1 guidance law)
float latAccDemCap = K_L1 * groundSpeed * groundSpeed / _L1_dist * sinf(Nu);
//Calculate radial position and velocity errors
float xtrackVelCirc = -ltrackVelCap; // Radial outbound velocity - reuse previous radial inbound velocity
float xtrackErrCirc = A_air.length() - radius; // Radial distance from the loiter circle
// keep crosstrack error for reporting
_crosstrack_error = xtrackErrCirc;
//Calculate PD control correction to circle waypoint
float latAccDemCircPD = (xtrackErrCirc * Kx + xtrackVelCirc * Kv);
//Calculate tangential velocity
float velTangent = xtrackVelCap * float(loiter_direction);
//Prevent PD demand from turning the wrong way by limiting the command when flying the wrong way
if ( velTangent < 0.0f ) {
latAccDemCircPD = _maxf(latAccDemCircPD , 0.0f);
}
// Calculate centripetal acceleration demand
float latAccDemCircCtr = velTangent * velTangent / _maxf((0.5f * radius) , (radius + xtrackErrCirc));
//Sum PD control and centripetal acceleration to calculate lateral manoeuvre demand
float latAccDemCirc = loiter_direction * (latAccDemCircPD + latAccDemCircCtr);
// Perform switchover between 'capture' and 'circle' modes at the point where the commands cross over to achieve a seamless transfer
// Only fly 'capture' mode if outside the circle
if ((latAccDemCap < latAccDemCirc && loiter_direction > 0 && xtrackErrCirc > 0.0f) | (latAccDemCap > latAccDemCirc && loiter_direction < 0 && xtrackErrCirc > 0.0f)) {
_latAccDem = latAccDemCap;
_WPcircle = false;
_bearing_error = Nu; // angle between demanded and achieved velocity vector, +ve to left of track
_nav_bearing = atan2f(-A_air_unit.y , -A_air_unit.x); // bearing (radians) from AC to L1 point
} else {
_latAccDem = latAccDemCirc;
_WPcircle = true;
_bearing_error = 0.0f; // bearing error (radians), +ve to left of track
_nav_bearing = atan2f(-A_air_unit.y , -A_air_unit.x); // bearing (radians)from AC to L1 point
}
}
/**
* Query driver to get implementation limits.
* Note that we have to limit/clamp against Mesa's internal limits too.
*/
void st_init_limits(struct pipe_screen *screen,
struct gl_constants *c, struct gl_extensions *extensions)
{
int supported_irs;
unsigned sh;
boolean can_ubo = TRUE;
c->MaxTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_2D_LEVELS),
MAX_TEXTURE_LEVELS);
c->Max3DTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_3D_LEVELS),
MAX_3D_TEXTURE_LEVELS);
c->MaxCubeTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_CUBE_LEVELS),
MAX_CUBE_TEXTURE_LEVELS);
c->MaxTextureRectSize
= _min(1 << (c->MaxTextureLevels - 1), MAX_TEXTURE_RECT_SIZE);
c->MaxArrayTextureLayers
= screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_ARRAY_LAYERS);
/* Define max viewport size and max renderbuffer size in terms of
* max texture size (note: max tex RECT size = max tex 2D size).
* If this isn't true for some hardware we'll need new PIPE_CAP_ queries.
*/
c->MaxViewportWidth =
c->MaxViewportHeight =
c->MaxRenderbufferSize = c->MaxTextureRectSize;
c->MaxDrawBuffers = c->MaxColorAttachments =
_clamp(screen->get_param(screen, PIPE_CAP_MAX_RENDER_TARGETS),
1, MAX_DRAW_BUFFERS);
c->MaxDualSourceDrawBuffers =
_clamp(screen->get_param(screen,
PIPE_CAP_MAX_DUAL_SOURCE_RENDER_TARGETS),
0, MAX_DRAW_BUFFERS);
c->MaxLineWidth =
_maxf(1.0f, screen->get_paramf(screen, PIPE_CAPF_MAX_LINE_WIDTH));
c->MaxLineWidthAA =
_maxf(1.0f, screen->get_paramf(screen, PIPE_CAPF_MAX_LINE_WIDTH_AA));
c->MaxPointSize =
_maxf(1.0f, screen->get_paramf(screen, PIPE_CAPF_MAX_POINT_WIDTH));
c->MaxPointSizeAA =
_maxf(1.0f, screen->get_paramf(screen, PIPE_CAPF_MAX_POINT_WIDTH_AA));
/* these are not queryable. Note that GL basically mandates a 1.0 minimum
* for non-aa sizes, but we can go down to 0.0 for aa points.
*/
c->MinPointSize = 1.0f;
c->MinPointSizeAA = 0.0f;
c->MaxTextureMaxAnisotropy =
_maxf(2.0f,
screen->get_paramf(screen, PIPE_CAPF_MAX_TEXTURE_ANISOTROPY));
c->MaxTextureLodBias =
screen->get_paramf(screen, PIPE_CAPF_MAX_TEXTURE_LOD_BIAS);
c->QuadsFollowProvokingVertexConvention =
screen->get_param(screen,
PIPE_CAP_QUADS_FOLLOW_PROVOKING_VERTEX_CONVENTION);
c->MaxUniformBlockSize =
screen->get_shader_param(screen, PIPE_SHADER_FRAGMENT,
PIPE_SHADER_CAP_MAX_CONST_BUFFER_SIZE);
if (c->MaxUniformBlockSize < 16384) {
can_ubo = FALSE;
}
for (sh = 0; sh < PIPE_SHADER_TYPES; ++sh) {
struct gl_shader_compiler_options *options;
struct gl_program_constants *pc;
switch (sh) {
case PIPE_SHADER_FRAGMENT:
pc = &c->Program[MESA_SHADER_FRAGMENT];
options = &c->ShaderCompilerOptions[MESA_SHADER_FRAGMENT];
break;
case PIPE_SHADER_VERTEX:
pc = &c->Program[MESA_SHADER_VERTEX];
options = &c->ShaderCompilerOptions[MESA_SHADER_VERTEX];
break;
case PIPE_SHADER_GEOMETRY:
pc = &c->Program[MESA_SHADER_GEOMETRY];
options = &c->ShaderCompilerOptions[MESA_SHADER_GEOMETRY];
break;
case PIPE_SHADER_TESS_CTRL:
pc = &c->Program[MESA_SHADER_TESS_CTRL];
options = &c->ShaderCompilerOptions[MESA_SHADER_TESS_CTRL];
break;
case PIPE_SHADER_TESS_EVAL:
pc = &c->Program[MESA_SHADER_TESS_EVAL];
options = &c->ShaderCompilerOptions[MESA_SHADER_TESS_EVAL];
break;
case PIPE_SHADER_COMPUTE:
pc = &c->Program[MESA_SHADER_COMPUTE];
options = &c->ShaderCompilerOptions[MESA_SHADER_COMPUTE];
if (!screen->get_param(screen, PIPE_CAP_COMPUTE))
continue;
supported_irs =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_SUPPORTED_IRS);
if (!(supported_irs & (1 << PIPE_SHADER_IR_TGSI)))
continue;
break;
default:
assert(0);
}
pc->MaxTextureImageUnits =
_min(screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_MAX_TEXTURE_SAMPLERS),
MAX_TEXTURE_IMAGE_UNITS);
pc->MaxInstructions =
pc->MaxNativeInstructions =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_INSTRUCTIONS);
pc->MaxAluInstructions =
pc->MaxNativeAluInstructions =
screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_MAX_ALU_INSTRUCTIONS);
pc->MaxTexInstructions =
pc->MaxNativeTexInstructions =
screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_MAX_TEX_INSTRUCTIONS);
pc->MaxTexIndirections =
pc->MaxNativeTexIndirections =
screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_MAX_TEX_INDIRECTIONS);
pc->MaxAttribs =
pc->MaxNativeAttribs =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_INPUTS);
pc->MaxTemps =
pc->MaxNativeTemps =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_TEMPS);
pc->MaxAddressRegs =
pc->MaxNativeAddressRegs = sh == PIPE_SHADER_VERTEX ? 1 : 0;
pc->MaxParameters =
pc->MaxNativeParameters =
screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_MAX_CONST_BUFFER_SIZE) / sizeof(float[4]);
pc->MaxInputComponents =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_INPUTS) * 4;
pc->MaxOutputComponents =
screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_MAX_OUTPUTS) * 4;
pc->MaxUniformComponents =
4 * MIN2(pc->MaxNativeParameters, MAX_UNIFORMS);
pc->MaxUniformBlocks =
screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_MAX_CONST_BUFFERS);
if (pc->MaxUniformBlocks)
pc->MaxUniformBlocks -= 1; /* The first one is for ordinary uniforms. */
pc->MaxUniformBlocks = _min(pc->MaxUniformBlocks, MAX_UNIFORM_BUFFERS);
pc->MaxCombinedUniformComponents = (pc->MaxUniformComponents +
c->MaxUniformBlockSize / 4 *
pc->MaxUniformBlocks);
pc->MaxAtomicCounters = MAX_ATOMIC_COUNTERS;
pc->MaxAtomicBuffers = screen->get_shader_param(
screen, sh, PIPE_SHADER_CAP_MAX_SHADER_BUFFERS) / 2;
pc->MaxShaderStorageBlocks = pc->MaxAtomicBuffers;
pc->MaxImageUniforms = screen->get_shader_param(
screen, sh, PIPE_SHADER_CAP_MAX_SHADER_IMAGES);
/* Gallium doesn't really care about local vs. env parameters so use the
* same limits.
*/
pc->MaxLocalParams = MIN2(pc->MaxParameters, MAX_PROGRAM_LOCAL_PARAMS);
pc->MaxEnvParams = MIN2(pc->MaxParameters, MAX_PROGRAM_ENV_PARAMS);
if (screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_INTEGERS)) {
pc->LowInt.RangeMin = 31;
pc->LowInt.RangeMax = 30;
pc->LowInt.Precision = 0;
pc->MediumInt = pc->HighInt = pc->LowInt;
}
options->EmitNoNoise = TRUE;
/* TODO: make these more fine-grained if anyone needs it */
options->MaxIfDepth =
screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_MAX_CONTROL_FLOW_DEPTH);
options->EmitNoLoops =
!screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_MAX_CONTROL_FLOW_DEPTH);
options->EmitNoFunctions =
!screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_SUBROUTINES);
options->EmitNoMainReturn =
!screen->get_shader_param(screen, sh, PIPE_SHADER_CAP_SUBROUTINES);
options->EmitNoCont =
!screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_TGSI_CONT_SUPPORTED);
options->EmitNoIndirectInput =
!screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_INDIRECT_INPUT_ADDR);
options->EmitNoIndirectOutput =
!screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_INDIRECT_OUTPUT_ADDR);
options->EmitNoIndirectTemp =
!screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_INDIRECT_TEMP_ADDR);
options->EmitNoIndirectUniform =
!screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_INDIRECT_CONST_ADDR);
if (pc->MaxNativeInstructions &&
(options->EmitNoIndirectUniform || pc->MaxUniformBlocks < 12)) {
can_ubo = FALSE;
}
if (options->EmitNoLoops)
options->MaxUnrollIterations =
MIN2(screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_MAX_INSTRUCTIONS),
65536);
else
options->MaxUnrollIterations =
screen->get_shader_param(screen, sh,
PIPE_SHADER_CAP_MAX_UNROLL_ITERATIONS_HINT);
options->LowerCombinedClipCullDistance = true;
options->LowerBufferInterfaceBlocks = true;
if (sh == PIPE_SHADER_COMPUTE)
options->LowerShaderSharedVariables = true;
}
c->LowerTessLevel = true;
c->LowerCsDerivedVariables = true;
c->PrimitiveRestartForPatches =
screen->get_param(screen, PIPE_CAP_PRIMITIVE_RESTART_FOR_PATCHES);
c->MaxCombinedTextureImageUnits =
_min(c->Program[MESA_SHADER_VERTEX].MaxTextureImageUnits +
c->Program[MESA_SHADER_TESS_CTRL].MaxTextureImageUnits +
c->Program[MESA_SHADER_TESS_EVAL].MaxTextureImageUnits +
c->Program[MESA_SHADER_GEOMETRY].MaxTextureImageUnits +
c->Program[MESA_SHADER_FRAGMENT].MaxTextureImageUnits +
c->Program[MESA_SHADER_COMPUTE].MaxTextureImageUnits,
MAX_COMBINED_TEXTURE_IMAGE_UNITS);
/* This depends on program constants. */
c->MaxTextureCoordUnits
= _min(c->Program[MESA_SHADER_FRAGMENT].MaxTextureImageUnits,
MAX_TEXTURE_COORD_UNITS);
c->MaxTextureUnits =
_min(c->Program[MESA_SHADER_FRAGMENT].MaxTextureImageUnits,
c->MaxTextureCoordUnits);
c->Program[MESA_SHADER_VERTEX].MaxAttribs =
MIN2(c->Program[MESA_SHADER_VERTEX].MaxAttribs, 16);
/* PIPE_SHADER_CAP_MAX_INPUTS for the FS specifies the maximum number
* of inputs. It's always 2 colors + N generic inputs. */
c->MaxVarying = screen->get_shader_param(screen, PIPE_SHADER_FRAGMENT,
PIPE_SHADER_CAP_MAX_INPUTS);
c->MaxVarying = MIN2(c->MaxVarying, MAX_VARYING);
c->MaxGeometryOutputVertices =
screen->get_param(screen, PIPE_CAP_MAX_GEOMETRY_OUTPUT_VERTICES);
c->MaxGeometryTotalOutputComponents =
screen->get_param(screen, PIPE_CAP_MAX_GEOMETRY_TOTAL_OUTPUT_COMPONENTS);
c->MaxTessPatchComponents =
MAX2(screen->get_param(screen, PIPE_CAP_MAX_SHADER_PATCH_VARYINGS),
MAX_VARYING) * 4;
c->MinProgramTexelOffset =
screen->get_param(screen, PIPE_CAP_MIN_TEXEL_OFFSET);
c->MaxProgramTexelOffset =
screen->get_param(screen, PIPE_CAP_MAX_TEXEL_OFFSET);
c->MaxProgramTextureGatherComponents =
screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_GATHER_COMPONENTS);
c->MinProgramTextureGatherOffset =
screen->get_param(screen, PIPE_CAP_MIN_TEXTURE_GATHER_OFFSET);
c->MaxProgramTextureGatherOffset =
screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_GATHER_OFFSET);
c->MaxTransformFeedbackBuffers =
screen->get_param(screen, PIPE_CAP_MAX_STREAM_OUTPUT_BUFFERS);
c->MaxTransformFeedbackBuffers = MIN2(c->MaxTransformFeedbackBuffers,
MAX_FEEDBACK_BUFFERS);
c->MaxTransformFeedbackSeparateComponents =
screen->get_param(screen, PIPE_CAP_MAX_STREAM_OUTPUT_SEPARATE_COMPONENTS);
c->MaxTransformFeedbackInterleavedComponents =
screen->get_param(screen,
PIPE_CAP_MAX_STREAM_OUTPUT_INTERLEAVED_COMPONENTS);
c->MaxVertexStreams =
MAX2(1, screen->get_param(screen, PIPE_CAP_MAX_VERTEX_STREAMS));
/* The vertex stream must fit into pipe_stream_output_info::stream */
assert(c->MaxVertexStreams <= 4);
c->MaxVertexAttribStride
= screen->get_param(screen, PIPE_CAP_MAX_VERTEX_ATTRIB_STRIDE);
c->StripTextureBorder = GL_TRUE;
c->GLSLSkipStrictMaxUniformLimitCheck =
screen->get_param(screen, PIPE_CAP_TGSI_CAN_COMPACT_CONSTANTS);
c->UniformBufferOffsetAlignment =
screen->get_param(screen, PIPE_CAP_CONSTANT_BUFFER_OFFSET_ALIGNMENT);
if (can_ubo) {
extensions->ARB_uniform_buffer_object = GL_TRUE;
c->MaxCombinedUniformBlocks = c->MaxUniformBufferBindings =
c->Program[MESA_SHADER_VERTEX].MaxUniformBlocks +
c->Program[MESA_SHADER_TESS_CTRL].MaxUniformBlocks +
c->Program[MESA_SHADER_TESS_EVAL].MaxUniformBlocks +
c->Program[MESA_SHADER_GEOMETRY].MaxUniformBlocks +
c->Program[MESA_SHADER_FRAGMENT].MaxUniformBlocks +
c->Program[MESA_SHADER_COMPUTE].MaxUniformBlocks;
assert(c->MaxCombinedUniformBlocks <= MAX_COMBINED_UNIFORM_BUFFERS);
}
c->GLSLFragCoordIsSysVal =
screen->get_param(screen, PIPE_CAP_TGSI_FS_POSITION_IS_SYSVAL);
c->GLSLFrontFacingIsSysVal =
screen->get_param(screen, PIPE_CAP_TGSI_FS_FACE_IS_INTEGER_SYSVAL);
c->MaxAtomicBufferBindings =
c->Program[MESA_SHADER_FRAGMENT].MaxAtomicBuffers;
c->MaxCombinedAtomicBuffers =
c->Program[MESA_SHADER_VERTEX].MaxAtomicBuffers +
c->Program[MESA_SHADER_TESS_CTRL].MaxAtomicBuffers +
c->Program[MESA_SHADER_TESS_EVAL].MaxAtomicBuffers +
c->Program[MESA_SHADER_GEOMETRY].MaxAtomicBuffers +
c->Program[MESA_SHADER_FRAGMENT].MaxAtomicBuffers;
assert(c->MaxCombinedAtomicBuffers <= MAX_COMBINED_ATOMIC_BUFFERS);
if (c->MaxCombinedAtomicBuffers > 0) {
extensions->ARB_shader_atomic_counters = GL_TRUE;
extensions->ARB_shader_atomic_counter_ops = GL_TRUE;
}
c->MaxCombinedShaderOutputResources = c->MaxDrawBuffers;
c->ShaderStorageBufferOffsetAlignment =
screen->get_param(screen, PIPE_CAP_SHADER_BUFFER_OFFSET_ALIGNMENT);
if (c->ShaderStorageBufferOffsetAlignment) {
c->MaxCombinedShaderStorageBlocks = c->MaxShaderStorageBufferBindings =
c->MaxCombinedAtomicBuffers;
c->MaxCombinedShaderOutputResources +=
c->MaxCombinedShaderStorageBlocks;
c->MaxShaderStorageBlockSize = 1 << 27;
extensions->ARB_shader_storage_buffer_object = GL_TRUE;
}
c->MaxCombinedImageUniforms =
c->Program[MESA_SHADER_VERTEX].MaxImageUniforms +
c->Program[MESA_SHADER_TESS_CTRL].MaxImageUniforms +
c->Program[MESA_SHADER_TESS_EVAL].MaxImageUniforms +
c->Program[MESA_SHADER_GEOMETRY].MaxImageUniforms +
c->Program[MESA_SHADER_FRAGMENT].MaxImageUniforms +
c->Program[MESA_SHADER_COMPUTE].MaxImageUniforms;
c->MaxCombinedShaderOutputResources += c->MaxCombinedImageUniforms;
c->MaxImageUnits = MAX_IMAGE_UNITS;
c->MaxImageSamples = 0; /* XXX */
if (c->MaxCombinedImageUniforms) {
extensions->ARB_shader_image_load_store = GL_TRUE;
extensions->ARB_shader_image_size = GL_TRUE;
}
/* ARB_framebuffer_no_attachments */
c->MaxFramebufferWidth = c->MaxViewportWidth;
c->MaxFramebufferHeight = c->MaxViewportHeight;
/* NOTE: we cheat here a little by assuming that
* PIPE_CAP_MAX_TEXTURE_ARRAY_LAYERS has the same
* number of layers as we need, although we technically
* could have more the generality is not really useful
* in practicality.
*/
c->MaxFramebufferLayers =
screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_ARRAY_LAYERS);
c->MaxWindowRectangles =
screen->get_param(screen, PIPE_CAP_MAX_WINDOW_RECTANGLES);
}
void vg_mat3x3_rsq(const VG_MAT3X3_T *a, /* only top-left 2x2 matrix used */
float *r, float *s0, float *s1) /* don't need q for anything atm, so not calculated */
{
/*
a = r * s * q (svd, r is rotation, s is scale, q is rotation/flip)
a^T = q^T * s * r^T
a * a^T = r * s * q * q^T * s * r^T = r * s^2 * r^T
eigenvalues of a * a^T will give s^2
eigenvectors of a * a^T will give r
*/
/*
( b c ) = a * a^T
( d e )
*/
float b = (a->m[0][0] * a->m[0][0]) + (a->m[0][1] * a->m[0][1]);
float c = (a->m[0][0] * a->m[1][0]) + (a->m[0][1] * a->m[1][1]);
/* d = c */
float e = (a->m[1][0] * a->m[1][0]) + (a->m[1][1] * a->m[1][1]);
float bpe = b + e;
float bme = b - e;
/*
solve:
bx + cy = sx
dx + ey = sy
cy * dx = (s - b)x * (s - e)y
c^2 = (s - b) * (s - e)
s^2 - (b + e)s + (be - c^2) = 0
s = (b + e +/- sqrt((b + e)^2 - 4(be - c^2))) / 2
s = (b + e +/- sqrt(b^2 + e^2 - 2be + 4c^2)) / 2
s = (b + e +/- sqrt((b - e)^2 + 4c^2)) / 2
*/
float t = sqrt_((bme * bme) + (4.0f * c * c));
float v = (bpe + t) * 0.5f; /* first eigenvalue */
if (s0) {
*s0 = sqrt_(v);
}
if (s1) {
*s1 = sqrt_(
/* second eigenvalue */
_maxf(bpe - t, 0.0f) * 0.5f);
}
/*
angle of eigenvector corresponds to r
*/
if (r) {
/* first eigenvector is (c, v - b) / (v - e, c) */
float x = (v - e) + c;
float y = (v - b) + c;
*r = ((absf_(x) < EPS) && (absf_(y) < EPS)) ? 0.0f : atan2_(y, x);
}
}
/**
* Query driver to get implementation limits.
* Note that we have to limit/clamp against Mesa's internal limits too.
*/
void st_init_limits(struct st_context *st)
{
struct pipe_screen *screen = st->pipe->screen;
struct gl_constants *c = &st->ctx->Const;
struct gl_program_constants *pc;
unsigned i;
c->MaxTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_2D_LEVELS),
MAX_TEXTURE_LEVELS);
c->Max3DTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_3D_LEVELS),
MAX_3D_TEXTURE_LEVELS);
c->MaxCubeTextureLevels
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_CUBE_LEVELS),
MAX_CUBE_TEXTURE_LEVELS);
c->MaxTextureRectSize
= _min(1 << (c->MaxTextureLevels - 1), MAX_TEXTURE_RECT_SIZE);
c->MaxTextureImageUnits
= _min(screen->get_param(screen, PIPE_CAP_MAX_TEXTURE_IMAGE_UNITS),
MAX_TEXTURE_IMAGE_UNITS);
c->MaxVertexTextureImageUnits
= _min(screen->get_param(screen, PIPE_CAP_MAX_VERTEX_TEXTURE_UNITS),
MAX_VERTEX_TEXTURE_IMAGE_UNITS);
c->MaxCombinedTextureImageUnits
= _min(screen->get_param(screen, PIPE_CAP_MAX_COMBINED_SAMPLERS),
MAX_COMBINED_TEXTURE_IMAGE_UNITS);
c->MaxTextureCoordUnits
= _min(c->MaxTextureImageUnits, MAX_TEXTURE_COORD_UNITS);
c->MaxTextureUnits = _min(c->MaxTextureImageUnits, c->MaxTextureCoordUnits);
c->MaxDrawBuffers
= _clamp(screen->get_param(screen, PIPE_CAP_MAX_RENDER_TARGETS),
1, MAX_DRAW_BUFFERS);
c->MaxLineWidth
= _maxf(1.0f, screen->get_paramf(screen, PIPE_CAP_MAX_LINE_WIDTH));
c->MaxLineWidthAA
= _maxf(1.0f, screen->get_paramf(screen, PIPE_CAP_MAX_LINE_WIDTH_AA));
c->MaxPointSize
= _maxf(1.0f, screen->get_paramf(screen, PIPE_CAP_MAX_POINT_WIDTH));
c->MaxPointSizeAA
= _maxf(1.0f, screen->get_paramf(screen, PIPE_CAP_MAX_POINT_WIDTH_AA));
/* called after _mesa_create_context/_mesa_init_point, fix default user
* settable max point size up
*/
st->ctx->Point.MaxSize = MAX2(c->MaxPointSize, c->MaxPointSizeAA);
/* these are not queryable. Note that GL basically mandates a 1.0 minimum
* for non-aa sizes, but we can go down to 0.0 for aa points.
*/
c->MinPointSize = 1.0f;
c->MinPointSizeAA = 0.0f;
c->MaxTextureMaxAnisotropy
= _maxf(2.0f, screen->get_paramf(screen, PIPE_CAP_MAX_TEXTURE_ANISOTROPY));
c->MaxTextureLodBias
= screen->get_paramf(screen, PIPE_CAP_MAX_TEXTURE_LOD_BIAS);
c->MaxDrawBuffers
= CLAMP(screen->get_param(screen, PIPE_CAP_MAX_RENDER_TARGETS),
1, MAX_DRAW_BUFFERS);
/* Quads always follow GL provoking rules. */
c->QuadsFollowProvokingVertexConvention = GL_FALSE;
for(i = 0; i < MESA_SHADER_TYPES; ++i) {
struct gl_shader_compiler_options *options = &st->ctx->ShaderCompilerOptions[i];
switch(i)
{
case PIPE_SHADER_FRAGMENT:
pc = &c->FragmentProgram;
break;
case PIPE_SHADER_VERTEX:
pc = &c->VertexProgram;
break;
case PIPE_SHADER_GEOMETRY:
pc = &c->GeometryProgram;
break;
}
pc->MaxNativeInstructions = screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_INSTRUCTIONS);
pc->MaxNativeAluInstructions = screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_ALU_INSTRUCTIONS);
pc->MaxNativeTexInstructions = screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_TEX_INSTRUCTIONS);
pc->MaxNativeTexIndirections = screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_TEX_INDIRECTIONS);
pc->MaxNativeAttribs = screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_INPUTS);
pc->MaxNativeTemps = screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_TEMPS);
pc->MaxNativeAddressRegs = screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_ADDRS);
pc->MaxNativeParameters = screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_CONSTS);
options->EmitNoNoise = TRUE;
/* TODO: make these more fine-grained if anyone needs it */
options->EmitNoIfs = !screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_CONTROL_FLOW_DEPTH);
options->EmitNoFunctions = !screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_CONTROL_FLOW_DEPTH);
options->EmitNoLoops = !screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_CONTROL_FLOW_DEPTH);
options->EmitNoMainReturn = !screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_CONTROL_FLOW_DEPTH);
options->EmitNoCont = !screen->get_shader_param(screen, i, PIPE_SHADER_CAP_TGSI_CONT_SUPPORTED);
if(options->EmitNoLoops)
options->MaxUnrollIterations = MIN2(screen->get_shader_param(screen, i, PIPE_SHADER_CAP_MAX_INSTRUCTIONS), 65536);
}
/* PIPE_CAP_MAX_FS_INPUTS specifies the number of COLORn + GENERICn inputs
* and is set in MaxNativeAttribs. It's always 2 colors + N generic
* attributes. The GLSL compiler never uses COLORn for varyings, so we
* subtract the 2 colors to get the maximum number of varyings (generic
* attributes) supported by a driver. */
c->MaxVarying = screen->get_shader_param(screen, PIPE_SHADER_FRAGMENT, PIPE_SHADER_CAP_MAX_INPUTS) - 2;
c->MaxVarying = MIN2(c->MaxVarying, MAX_VARYING);
/* XXX we'll need a better query here someday */
if (screen->get_param(screen, PIPE_CAP_GLSL)) {
c->GLSLVersion = 120;
}
}