static void
quaternion_matrix_to_from (mutest_spec_t *spec)
{
graphene_quaternion_t *q1, *q2;
graphene_matrix_t *m;
m = graphene_matrix_init_identity (graphene_matrix_alloc ());
q1 = graphene_quaternion_init_from_matrix (graphene_quaternion_alloc (), m);
q2 = graphene_quaternion_init_identity (graphene_quaternion_alloc ());
mutest_expect ("initializing from an identity matrix yields an identity quaternion",
mutest_bool_value (graphene_quaternion_equal (q1, q2)),
mutest_to_be_true,
NULL);
graphene_matrix_rotate_x (m, 30.f);
graphene_matrix_rotate_y (m, 45.f);
graphene_matrix_rotate_z (m, -135.f);
graphene_quaternion_init_from_matrix (q1, m);
mutest_expect ("initializing from a rotation matrix does not yield an identity quaternion",
mutest_bool_value (graphene_quaternion_equal (q1, q2)),
mutest_to_be_false,
NULL);
graphene_matrix_init_identity (m);
graphene_matrix_rotate_quaternion (m, q1);
graphene_quaternion_init_from_matrix (q2, m);
mutest_expect ("rotating a matrix with a quaternion yields the same quaternion",
mutest_bool_value (graphene_quaternion_equal (q1, q2)),
mutest_to_be_true,
NULL);
graphene_quaternion_free (q2);
graphene_quaternion_free (q1);
graphene_matrix_free (m);
}
GRAPHENE_TEST_UNIT_END
GRAPHENE_TEST_UNIT_BEGIN (ray_matrix_transform)
{
graphene_ray_t r, res;
graphene_matrix_t m;
if (g_test_verbose ())
g_test_message ("Identity matrix...");
graphene_ray_init (&r, &one3, graphene_vec3_z_axis ());
graphene_matrix_init_identity (&m);
graphene_matrix_transform_ray (&m, &r, &res);
g_assert_true (graphene_ray_equal (&r, &res));
if (g_test_verbose ())
g_test_message ("Rotation matrix: rotateZ(90deg)");
graphene_ray_init (&r, &zero3, graphene_vec3_z_axis ());
graphene_matrix_init_rotate (&m, 90, graphene_vec3_z_axis ());
graphene_matrix_transform_ray (&m, &r, &res);
g_assert_true (graphene_ray_equal (&r, &res));
}
void
ops_finish (RenderOpBuilder *builder)
{
if (builder->mv_stack)
g_array_free (builder->mv_stack, TRUE);
builder->mv_stack = NULL;
if (builder->clip_stack)
g_array_free (builder->clip_stack, TRUE);
builder->clip_stack = NULL;
builder->buffer_size = 0;
builder->dx = 0;
builder->dy = 0;
builder->current_modelview = NULL;
builder->current_clip = NULL;
builder->current_render_target = 0;
builder->current_texture = 0;
builder->current_program = NULL;
builder->current_program_state = NULL;
graphene_matrix_init_identity (&builder->current_projection);
builder->current_viewport = GRAPHENE_RECT_INIT (0, 0, 0, 0);
}
/**
* graphene_euler_to_matrix:
* @e: a #graphene_euler_t
* @res: (out caller-allocates): return location for a #graphene_matrix_t
*
* Converts a #graphene_euler_t into a transformation matrix expressing
* the extrinsic composition of rotations described by the Euler angles.
*
* The rotations are applied over the reference frame axes in the order
* associated with the #graphene_euler_t; for instance, if the order
* used to initialize @e is %GRAPHENE_EULER_ORDER_XYZ:
*
* * the first rotation moves the body around the X axis with
* an angle φ
* * the second rotation moves the body around the Y axis with
* an angle of ϑ
* * the third rotation moves the body around the Z axis with
* an angle of ψ
*
* The rotation sign convention is left-handed, to preserve compatibility
* between Euler-based, quaternion-based, and angle-axis-based rotations.
*
* Since: 1.2
*/
void
graphene_euler_to_matrix (const graphene_euler_t *e,
graphene_matrix_t *res)
{
graphene_euler_order_t order = graphene_euler_get_order (e);
const float x = graphene_vec3_get_x (&e->angles);
const float y = graphene_vec3_get_y (&e->angles);
const float z = graphene_vec3_get_z (&e->angles);
float c1, s1, c2, s2, c3, s3;
float c3c2, s3c1, c3s2s1, s3s1;
float c3s2c1, s3c2, c3c1, s3s2s1;
float c3s1, s3s2c1, c2s1, c2c1;
graphene_sincos (x, &c1, &s1);
graphene_sincos (y, &c2, &s2);
graphene_sincos (z, &c3, &s3);
c3c2 = c3 * c2;
s3c1 = s3 * c1;
c3s2s1 = c3 * s2 * s1;
s3s1 = s3 * s1;
c3s2c1 = c3 * s2 * c1;
s3c2 = s3 * c2;
c3c1 = c3 * c1;
s3s2s1 = s3 * s2 * s1;
c3s1 = c3 * s1;
s3s2c1 = s3 * s2 * c1;
c2s1 = c2 * s1;
c2c1 = c2 * c1;
switch (order)
{
case GRAPHENE_EULER_ORDER_XYZ:
{
/* ⎡ c3 s3 0 ⎤ ⎡ c2 0 -s2 ⎤ ⎡ 1 0 0 ⎤
* ⎢ -s3 c3 0 ⎥ ⎢ 0 1 0 ⎥ ⎢ 0 c1 s1 ⎥
* ⎣ 0 0 1 ⎦ ⎣ s2 0 c2 ⎦ ⎣ 0 -s1 c1 ⎦
*/
res->value.x = graphene_simd4f_init ( c3c2, s3c1 + c3s2s1, s3s1 - c3s2c1, 0.f);
res->value.y = graphene_simd4f_init (-s3c2, c3c1 - s3s2s1, c3s1 + s3s2c1, 0.f);
res->value.z = graphene_simd4f_init ( s2, -c2s1, c2c1, 0.f);
res->value.w = graphene_simd4f_init ( 0.f, 0.f, 0.f, 1.f);
}
break;
case GRAPHENE_EULER_ORDER_YXZ:
{
/* ⎡ c3 s3 0 ⎤ ⎡ 1 0 0 ⎤ ⎡ c1 0 -s1 ⎤
* ⎢ -s2 c3 0 ⎥ ⎢ 0 c2 s2 ⎥ ⎢ 0 1 0 ⎥
* ⎣ 0 0 1 ⎦ ⎣ 0 -s2 c2 ⎦ ⎣ s1 0 c1 ⎦
*/
res->value.x = graphene_simd4f_init ( c3c1 + s3s2s1, s3c2, -c3s1 + s3s2c1, 0.f);
res->value.y = graphene_simd4f_init (-s3c1 + c3s2s1, c3c2, s3s1 + c3s2c1, 0.f);
res->value.z = graphene_simd4f_init ( c2s1, -s2, c2c1, 0.f);
res->value.w = graphene_simd4f_init ( 0.f, 0.f, 0.f, 1.f);
}
break;
case GRAPHENE_EULER_ORDER_ZXY:
{
/* ⎡ 1 0 0 ⎤ ⎡ c2 0 -s2 ⎤ ⎡ c1 s1 0 ⎤
* ⎢ 0 c3 s3 ⎥ ⎢ 0 1 0 ⎥ ⎢ -s1 c1 0 ⎥
* ⎣ 0 -s3 c3 ⎦ ⎣ s2 0 c2 ⎦ ⎣ 0 0 1 ⎦
*/
res->value.x = graphene_simd4f_init (c3c1 - s3s2s1, c3s1 + s3s2c1, -s3c2, 0.f);
res->value.y = graphene_simd4f_init ( -c2s1, c2c1, s2, 0.f);
res->value.z = graphene_simd4f_init (s3c1 + c3s2s1, s3s1 - c3s2c1, c3c2, 0.f);
res->value.w = graphene_simd4f_init ( 0.f, 0.f, 0.f, 1.f);
}
break;
case GRAPHENE_EULER_ORDER_ZYX:
{
/* ⎡ 1 0 0 ⎤ ⎡ c2 0 -s2 ⎤ ⎡ c1 s1 0 ⎤
* ⎢ 0 c3 s3 ⎥ ⎢ 0 1 0 ⎥ ⎢ -s1 c1 0 ⎥
* ⎣ 0 -s3 c3 ⎦ ⎣ s2 0 c2 ⎦ ⎣ 0 0 1 ⎦
*/
res->value.x = graphene_simd4f_init ( c2c1, c2s1, -s2, 0.f);
res->value.y = graphene_simd4f_init (s3s2c1 - c3s1, s3s2s1 + c3c1, s3c2, 0.f);
res->value.z = graphene_simd4f_init (c3s2c1 + s3s1, c3s2s1 - s3c1, c3c2, 0.f);
res->value.w = graphene_simd4f_init ( 0.f, 0.f, 0.f, 1.f);
}
break;
case GRAPHENE_EULER_ORDER_YZX:
{
/* ⎡ 1 0 0 ⎤ ⎡ c2 s2 0 ⎤ ⎡ c1 0 -s1 ⎤
* ⎢ 0 c3 s3 ⎥ ⎢ -s2 c2 0 ⎥ ⎢ 0 1 0 ⎥
* ⎣ 0 -s3 c3 ⎦ ⎣ 0 0 1 ⎦ ⎣ s1 0 c1 ⎦
*/
res->value.x = graphene_simd4f_init ( c2c1, s2, -c2s1, 0.f);
res->value.y = graphene_simd4f_init (-c3s2c1 + s3s1, c3c2, c3s2s1 + s3c1, 0.f);
res->value.z = graphene_simd4f_init ( s3s2c1 + c3s1, -s3c2, -s3s2s1 + c3c1, 0.f);
res->value.w = graphene_simd4f_init ( 0.f, 0.f, 0.f, 1.f);
}
break;
case GRAPHENE_EULER_ORDER_XZY:
{
/* ⎡ c3 0 -s3 ⎤ ⎡ c2 s2 0 ⎤ ⎡ 1 0 0 ⎤
* ⎢ 0 1 0 ⎥ ⎢ -s2 c2 0 ⎥ ⎢ 0 c1 s1 ⎥
* ⎣ s3 0 c3 ⎦ ⎣ 0 0 1 ⎦ ⎣ 0 -s1 c1 ⎦
*/
res->value.x = graphene_simd4f_init (c3c2, c3s2c1 + s3s1, c3s2s1 - s3c1, 0.f);
res->value.y = graphene_simd4f_init ( -s2, c2c1, c2s1, 0.f);
res->value.z = graphene_simd4f_init (s3c2, s3s2c1 - c3s1, s3s2s1 + c3c1, 0.f);
res->value.w = graphene_simd4f_init ( 0.f, 0.f, 0.f, 1.f);
}
break;
default:
graphene_matrix_init_identity (res);
break;
}
}
