From 41b331e04806cf7d3a0ac468fa11d7cfcfd49a2c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Branimir=20Karad=C5=BEi=C4=87?= Date: Wed, 23 Aug 2017 21:48:54 -0700 Subject: [PATCH] Cleanup. --- include/bx/inline/math.inl | 574 ------------------------------------- src/math.cpp | 574 +++++++++++++++++++++++++++++++++++++ 2 files changed, 574 insertions(+), 574 deletions(-) diff --git a/include/bx/inline/math.inl b/include/bx/inline/math.inl index 048d615..9ce3cb4 100644 --- a/include/bx/inline/math.inl +++ b/include/bx/inline/math.inl @@ -691,461 +691,6 @@ namespace bx mtxQuatTranslation(_result, quat, _translation); } - inline void mtxLookAtImpl(float* _result, const float* _eye, const float* _view, const float* _up) - { - float up[3] = { 0.0f, 1.0f, 0.0f }; - if (NULL != _up) - { - up[0] = _up[0]; - up[1] = _up[1]; - up[2] = _up[2]; - } - - float tmp[4]; - vec3Cross(tmp, up, _view); - - float right[4]; - vec3Norm(right, tmp); - - vec3Cross(up, _view, right); - - memSet(_result, 0, sizeof(float)*16); - _result[ 0] = right[0]; - _result[ 1] = up[0]; - _result[ 2] = _view[0]; - - _result[ 4] = right[1]; - _result[ 5] = up[1]; - _result[ 6] = _view[1]; - - _result[ 8] = right[2]; - _result[ 9] = up[2]; - _result[10] = _view[2]; - - _result[12] = -vec3Dot(right, _eye); - _result[13] = -vec3Dot(up, _eye); - _result[14] = -vec3Dot(_view, _eye); - _result[15] = 1.0f; - } - - inline void mtxLookAtLh(float* _result, const float* _eye, const float* _at, const float* _up) - { - float tmp[4]; - vec3Sub(tmp, _at, _eye); - - float view[4]; - vec3Norm(view, tmp); - - mtxLookAtImpl(_result, _eye, view, _up); - } - - inline void mtxLookAtRh(float* _result, const float* _eye, const float* _at, const float* _up) - { - float tmp[4]; - vec3Sub(tmp, _eye, _at); - - float view[4]; - vec3Norm(view, tmp); - - mtxLookAtImpl(_result, _eye, view, _up); - } - - inline void mtxLookAt(float* _result, const float* _eye, const float* _at, const float* _up) - { - mtxLookAtLh(_result, _eye, _at, _up); - } - - template - inline void mtxProjXYWH(float* _result, float _x, float _y, float _width, float _height, float _near, float _far, bool _oglNdc) - { - const float diff = _far-_near; - const float aa = _oglNdc ? ( _far+_near)/diff : _far/diff; - const float bb = _oglNdc ? (2.0f*_far*_near)/diff : _near*aa; - - memSet(_result, 0, sizeof(float)*16); - _result[ 0] = _width; - _result[ 5] = _height; - _result[ 8] = (Handness::Right == HandnessT) ? _x : -_x; - _result[ 9] = (Handness::Right == HandnessT) ? _y : -_y; - _result[10] = (Handness::Right == HandnessT) ? -aa : aa; - _result[11] = (Handness::Right == HandnessT) ? -1.0f : 1.0f; - _result[14] = -bb; - } - - template - inline void mtxProjImpl(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc) - { - const float invDiffRl = 1.0f/(_rt - _lt); - const float invDiffUd = 1.0f/(_ut - _dt); - const float width = 2.0f*_near * invDiffRl; - const float height = 2.0f*_near * invDiffUd; - const float xx = (_rt + _lt) * invDiffRl; - const float yy = (_ut + _dt) * invDiffUd; - mtxProjXYWH(_result, xx, yy, width, height, _near, _far, _oglNdc); - } - - template - inline void mtxProjImpl(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc) - { - mtxProjImpl(_result, _fov[0], _fov[1], _fov[2], _fov[3], _near, _far, _oglNdc); - } - - template - inline void mtxProjImpl(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc) - { - const float height = 1.0f/ftan(toRad(_fovy)*0.5f); - const float width = height * 1.0f/_aspect; - mtxProjXYWH(_result, 0.0f, 0.0f, width, height, _near, _far, _oglNdc); - } - - inline void mtxProj(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc) - { - mtxProjImpl(_result, _ut, _dt, _lt, _rt, _near, _far, _oglNdc); - } - - inline void mtxProj(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc) - { - mtxProjImpl(_result, _fov, _near, _far, _oglNdc); - } - - inline void mtxProj(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc) - { - mtxProjImpl(_result, _fovy, _aspect, _near, _far, _oglNdc); - } - - inline void mtxProjLh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc) - { - mtxProjImpl(_result, _ut, _dt, _lt, _rt, _near, _far, _oglNdc); - } - - inline void mtxProjLh(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc) - { - mtxProjImpl(_result, _fov, _near, _far, _oglNdc); - } - - inline void mtxProjLh(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc) - { - mtxProjImpl(_result, _fovy, _aspect, _near, _far, _oglNdc); - } - - inline void mtxProjRh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc) - { - mtxProjImpl(_result, _ut, _dt, _lt, _rt, _near, _far, _oglNdc); - } - - inline void mtxProjRh(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc) - { - mtxProjImpl(_result, _fov, _near, _far, _oglNdc); - } - - inline void mtxProjRh(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc) - { - mtxProjImpl(_result, _fovy, _aspect, _near, _far, _oglNdc); - } - - template - inline void mtxProjInfXYWH(float* _result, float _x, float _y, float _width, float _height, float _near, bool _oglNdc) - { - float aa; - float bb; - if (BX_ENABLED(NearFar::Reverse == NearFarT) ) - { - aa = _oglNdc ? -1.0f : 0.0f; - bb = _oglNdc ? -2.0f*_near : -_near; - } - else - { - aa = 1.0f; - bb = _oglNdc ? 2.0f*_near : _near; - } - - memSet(_result, 0, sizeof(float)*16); - _result[ 0] = _width; - _result[ 5] = _height; - _result[ 8] = (Handness::Right == HandnessT) ? _x : -_x; - _result[ 9] = (Handness::Right == HandnessT) ? _y : -_y; - _result[10] = (Handness::Right == HandnessT) ? -aa : aa; - _result[11] = (Handness::Right == HandnessT) ? -1.0f : 1.0f; - _result[14] = -bb; - } - - template - inline void mtxProjInfImpl(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) - { - const float invDiffRl = 1.0f/(_rt - _lt); - const float invDiffUd = 1.0f/(_ut - _dt); - const float width = 2.0f*_near * invDiffRl; - const float height = 2.0f*_near * invDiffUd; - const float xx = (_rt + _lt) * invDiffRl; - const float yy = (_ut + _dt) * invDiffUd; - mtxProjInfXYWH(_result, xx, yy, width, height, _near, _oglNdc); - } - - template - inline void mtxProjInfImpl(float* _result, const float _fov[4], float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _fov[0], _fov[1], _fov[2], _fov[3], _near, _oglNdc); - } - - template - inline void mtxProjInfImpl(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) - { - const float height = 1.0f/ftan(toRad(_fovy)*0.5f); - const float width = height * 1.0f/_aspect; - mtxProjInfXYWH(_result, 0.0f, 0.0f, width, height, _near, _oglNdc); - } - - inline void mtxProjInf(float* _result, const float _fov[4], float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _fov, _near, _oglNdc); - } - - inline void mtxProjInf(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _ut, _dt, _lt, _rt, _near, _oglNdc); - } - - inline void mtxProjInf(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _fovy, _aspect, _near, _oglNdc); - } - - inline void mtxProjInfLh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _ut, _dt, _lt, _rt, _near, _oglNdc); - } - - inline void mtxProjInfLh(float* _result, const float _fov[4], float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _fov, _near, _oglNdc); - } - - inline void mtxProjInfLh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _fovy, _aspect, _near, _oglNdc); - } - - inline void mtxProjInfRh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _ut, _dt, _lt, _rt, _near, _oglNdc); - } - - inline void mtxProjInfRh(float* _result, const float _fov[4], float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _fov, _near, _oglNdc); - } - - inline void mtxProjInfRh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _fovy, _aspect, _near, _oglNdc); - } - - inline void mtxProjRevInfLh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _ut, _dt, _lt, _rt, _near, _oglNdc); - } - - inline void mtxProjRevInfLh(float* _result, const float _fov[4], float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _fov, _near, _oglNdc); - } - - inline void mtxProjRevInfLh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _fovy, _aspect, _near, _oglNdc); - } - - inline void mtxProjRevInfRh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _ut, _dt, _lt, _rt, _near, _oglNdc); - } - - inline void mtxProjRevInfRh(float* _result, const float _fov[4], float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _fov, _near, _oglNdc); - } - - inline void mtxProjRevInfRh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) - { - mtxProjInfImpl(_result, _fovy, _aspect, _near, _oglNdc); - } - - template - inline void mtxOrthoImpl(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc) - { - const float aa = 2.0f/(_right - _left); - const float bb = 2.0f/(_top - _bottom); - const float cc = (_oglNdc ? 2.0f : 1.0f) / (_far - _near); - const float dd = (_left + _right )/(_left - _right); - const float ee = (_top + _bottom)/(_bottom - _top ); - const float ff = _oglNdc - ? (_near + _far)/(_near - _far) - : _near /(_near - _far) - ; - - memSet(_result, 0, sizeof(float)*16); - _result[ 0] = aa; - _result[ 5] = bb; - _result[10] = (Handness::Right == HandnessT) ? -cc : cc; - _result[12] = dd + _offset; - _result[13] = ee; - _result[14] = ff; - _result[15] = 1.0f; - } - - inline void mtxOrtho(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc) - { - mtxOrthoImpl(_result, _left, _right, _bottom, _top, _near, _far, _offset, _oglNdc); - } - - inline void mtxOrthoLh(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc) - { - mtxOrthoImpl(_result, _left, _right, _bottom, _top, _near, _far, _offset, _oglNdc); - } - - inline void mtxOrthoRh(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc) - { - mtxOrthoImpl(_result, _left, _right, _bottom, _top, _near, _far, _offset, _oglNdc); - } - - inline void mtxRotateX(float* _result, float _ax) - { - const float sx = fsin(_ax); - const float cx = fcos(_ax); - - memSet(_result, 0, sizeof(float)*16); - _result[ 0] = 1.0f; - _result[ 5] = cx; - _result[ 6] = -sx; - _result[ 9] = sx; - _result[10] = cx; - _result[15] = 1.0f; - } - - inline void mtxRotateY(float* _result, float _ay) - { - const float sy = fsin(_ay); - const float cy = fcos(_ay); - - memSet(_result, 0, sizeof(float)*16); - _result[ 0] = cy; - _result[ 2] = sy; - _result[ 5] = 1.0f; - _result[ 8] = -sy; - _result[10] = cy; - _result[15] = 1.0f; - } - - inline void mtxRotateZ(float* _result, float _az) - { - const float sz = fsin(_az); - const float cz = fcos(_az); - - memSet(_result, 0, sizeof(float)*16); - _result[ 0] = cz; - _result[ 1] = -sz; - _result[ 4] = sz; - _result[ 5] = cz; - _result[10] = 1.0f; - _result[15] = 1.0f; - } - - inline void mtxRotateXY(float* _result, float _ax, float _ay) - { - const float sx = fsin(_ax); - const float cx = fcos(_ax); - const float sy = fsin(_ay); - const float cy = fcos(_ay); - - memSet(_result, 0, sizeof(float)*16); - _result[ 0] = cy; - _result[ 2] = sy; - _result[ 4] = sx*sy; - _result[ 5] = cx; - _result[ 6] = -sx*cy; - _result[ 8] = -cx*sy; - _result[ 9] = sx; - _result[10] = cx*cy; - _result[15] = 1.0f; - } - - inline void mtxRotateXYZ(float* _result, float _ax, float _ay, float _az) - { - const float sx = fsin(_ax); - const float cx = fcos(_ax); - const float sy = fsin(_ay); - const float cy = fcos(_ay); - const float sz = fsin(_az); - const float cz = fcos(_az); - - memSet(_result, 0, sizeof(float)*16); - _result[ 0] = cy*cz; - _result[ 1] = -cy*sz; - _result[ 2] = sy; - _result[ 4] = cz*sx*sy + cx*sz; - _result[ 5] = cx*cz - sx*sy*sz; - _result[ 6] = -cy*sx; - _result[ 8] = -cx*cz*sy + sx*sz; - _result[ 9] = cz*sx + cx*sy*sz; - _result[10] = cx*cy; - _result[15] = 1.0f; - } - - inline void mtxRotateZYX(float* _result, float _ax, float _ay, float _az) - { - const float sx = fsin(_ax); - const float cx = fcos(_ax); - const float sy = fsin(_ay); - const float cy = fcos(_ay); - const float sz = fsin(_az); - const float cz = fcos(_az); - - memSet(_result, 0, sizeof(float)*16); - _result[ 0] = cy*cz; - _result[ 1] = cz*sx*sy-cx*sz; - _result[ 2] = cx*cz*sy+sx*sz; - _result[ 4] = cy*sz; - _result[ 5] = cx*cz + sx*sy*sz; - _result[ 6] = -cz*sx + cx*sy*sz; - _result[ 8] = -sy; - _result[ 9] = cy*sx; - _result[10] = cx*cy; - _result[15] = 1.0f; - }; - - inline void mtxSRT(float* _result, float _sx, float _sy, float _sz, float _ax, float _ay, float _az, float _tx, float _ty, float _tz) - { - const float sx = fsin(_ax); - const float cx = fcos(_ax); - const float sy = fsin(_ay); - const float cy = fcos(_ay); - const float sz = fsin(_az); - const float cz = fcos(_az); - - const float sxsz = sx*sz; - const float cycz = cy*cz; - - _result[ 0] = _sx * (cycz - sxsz*sy); - _result[ 1] = _sx * -cx*sz; - _result[ 2] = _sx * (cz*sy + cy*sxsz); - _result[ 3] = 0.0f; - - _result[ 4] = _sy * (cz*sx*sy + cy*sz); - _result[ 5] = _sy * cx*cz; - _result[ 6] = _sy * (sy*sz -cycz*sx); - _result[ 7] = 0.0f; - - _result[ 8] = _sz * -cx*sy; - _result[ 9] = _sz * sx; - _result[10] = _sz * cx*cy; - _result[11] = 0.0f; - - _result[12] = _tx; - _result[13] = _ty; - _result[14] = _tz; - _result[15] = 1.0f; - } - inline void vec3MulMtx(float* _result, const float* _vec, const float* _mat) { _result[0] = _vec[0] * _mat[ 0] + _vec[1] * _mat[4] + _vec[2] * _mat[ 8] + _mat[12]; @@ -1268,123 +813,4 @@ namespace bx _result[3] = -vec3Dot(normal, _va); } - inline void calcLinearFit2D(float _result[2], const void* _points, uint32_t _stride, uint32_t _numPoints) - { - float sumX = 0.0f; - float sumY = 0.0f; - float sumXX = 0.0f; - float sumXY = 0.0f; - - const uint8_t* ptr = (const uint8_t*)_points; - for (uint32_t ii = 0; ii < _numPoints; ++ii, ptr += _stride) - { - const float* point = (const float*)ptr; - float xx = point[0]; - float yy = point[1]; - sumX += xx; - sumY += yy; - sumXX += xx*xx; - sumXY += xx*yy; - } - - // [ sum(x^2) sum(x) ] [ A ] = [ sum(x*y) ] - // [ sum(x) numPoints ] [ B ] [ sum(y) ] - - float det = (sumXX*_numPoints - sumX*sumX); - float invDet = 1.0f/det; - - _result[0] = (-sumX * sumY + _numPoints * sumXY) * invDet; - _result[1] = (sumXX * sumY - sumX * sumXY) * invDet; - } - - inline void calcLinearFit3D(float _result[3], const void* _points, uint32_t _stride, uint32_t _numPoints) - { - float sumX = 0.0f; - float sumY = 0.0f; - float sumZ = 0.0f; - float sumXX = 0.0f; - float sumXY = 0.0f; - float sumXZ = 0.0f; - float sumYY = 0.0f; - float sumYZ = 0.0f; - - const uint8_t* ptr = (const uint8_t*)_points; - for (uint32_t ii = 0; ii < _numPoints; ++ii, ptr += _stride) - { - const float* point = (const float*)ptr; - float xx = point[0]; - float yy = point[1]; - float zz = point[2]; - - sumX += xx; - sumY += yy; - sumZ += zz; - sumXX += xx*xx; - sumXY += xx*yy; - sumXZ += xx*zz; - sumYY += yy*yy; - sumYZ += yy*zz; - } - - // [ sum(x^2) sum(x*y) sum(x) ] [ A ] [ sum(x*z) ] - // [ sum(x*y) sum(y^2) sum(y) ] [ B ] = [ sum(y*z) ] - // [ sum(x) sum(y) numPoints ] [ C ] [ sum(z) ] - - float mtx[9] = - { - sumXX, sumXY, sumX, - sumXY, sumYY, sumY, - sumX, sumY, float(_numPoints), - }; - float invMtx[9]; - mtx3Inverse(invMtx, mtx); - - _result[0] = invMtx[0]*sumXZ + invMtx[1]*sumYZ + invMtx[2]*sumZ; - _result[1] = invMtx[3]*sumXZ + invMtx[4]*sumYZ + invMtx[5]*sumZ; - _result[2] = invMtx[6]*sumXZ + invMtx[7]*sumYZ + invMtx[8]*sumZ; - } - - inline void rgbToHsv(float _hsv[3], const float _rgb[3]) - { - const float rr = _rgb[0]; - const float gg = _rgb[1]; - const float bb = _rgb[2]; - - const float s0 = fstep(bb, gg); - - const float px = flerp(bb, gg, s0); - const float py = flerp(gg, bb, s0); - const float pz = flerp(-1.0f, 0.0f, s0); - const float pw = flerp(2.0f/3.0f, -1.0f/3.0f, s0); - - const float s1 = fstep(px, rr); - - const float qx = flerp(px, rr, s1); - const float qy = py; - const float qz = flerp(pw, pz, s1); - const float qw = flerp(rr, px, s1); - - const float dd = qx - fmin(qw, qy); - const float ee = 1.0e-10f; - - _hsv[0] = fabsolute(qz + (qw - qy) / (6.0f * dd + ee) ); - _hsv[1] = dd / (qx + ee); - _hsv[2] = qx; - } - - inline void hsvToRgb(float _rgb[3], const float _hsv[3]) - { - const float hh = _hsv[0]; - const float ss = _hsv[1]; - const float vv = _hsv[2]; - - const float px = fabsolute(ffract(hh + 1.0f ) * 6.0f - 3.0f); - const float py = fabsolute(ffract(hh + 2.0f/3.0f) * 6.0f - 3.0f); - const float pz = fabsolute(ffract(hh + 1.0f/3.0f) * 6.0f - 3.0f); - - _rgb[0] = vv * flerp(1.0f, fsaturate(px - 1.0f), ss); - _rgb[1] = vv * flerp(1.0f, fsaturate(py - 1.0f), ss); - _rgb[2] = vv * flerp(1.0f, fsaturate(pz - 1.0f), ss); - } - } // namespace bx diff --git a/src/math.cpp b/src/math.cpp index ff5a79a..dad45ba 100644 --- a/src/math.cpp +++ b/src/math.cpp @@ -85,6 +85,461 @@ namespace bx return ::fmodf(_a, _b); } + void mtxLookAtImpl(float* _result, const float* _eye, const float* _view, const float* _up) + { + float up[3] = { 0.0f, 1.0f, 0.0f }; + if (NULL != _up) + { + up[0] = _up[0]; + up[1] = _up[1]; + up[2] = _up[2]; + } + + float tmp[4]; + vec3Cross(tmp, up, _view); + + float right[4]; + vec3Norm(right, tmp); + + vec3Cross(up, _view, right); + + memSet(_result, 0, sizeof(float)*16); + _result[ 0] = right[0]; + _result[ 1] = up[0]; + _result[ 2] = _view[0]; + + _result[ 4] = right[1]; + _result[ 5] = up[1]; + _result[ 6] = _view[1]; + + _result[ 8] = right[2]; + _result[ 9] = up[2]; + _result[10] = _view[2]; + + _result[12] = -vec3Dot(right, _eye); + _result[13] = -vec3Dot(up, _eye); + _result[14] = -vec3Dot(_view, _eye); + _result[15] = 1.0f; + } + + void mtxLookAtLh(float* _result, const float* _eye, const float* _at, const float* _up) + { + float tmp[4]; + vec3Sub(tmp, _at, _eye); + + float view[4]; + vec3Norm(view, tmp); + + mtxLookAtImpl(_result, _eye, view, _up); + } + + void mtxLookAtRh(float* _result, const float* _eye, const float* _at, const float* _up) + { + float tmp[4]; + vec3Sub(tmp, _eye, _at); + + float view[4]; + vec3Norm(view, tmp); + + mtxLookAtImpl(_result, _eye, view, _up); + } + + void mtxLookAt(float* _result, const float* _eye, const float* _at, const float* _up) + { + mtxLookAtLh(_result, _eye, _at, _up); + } + + template + void mtxProjXYWH(float* _result, float _x, float _y, float _width, float _height, float _near, float _far, bool _oglNdc) + { + const float diff = _far-_near; + const float aa = _oglNdc ? ( _far+_near)/diff : _far/diff; + const float bb = _oglNdc ? (2.0f*_far*_near)/diff : _near*aa; + + memSet(_result, 0, sizeof(float)*16); + _result[ 0] = _width; + _result[ 5] = _height; + _result[ 8] = (Handness::Right == HandnessT) ? _x : -_x; + _result[ 9] = (Handness::Right == HandnessT) ? _y : -_y; + _result[10] = (Handness::Right == HandnessT) ? -aa : aa; + _result[11] = (Handness::Right == HandnessT) ? -1.0f : 1.0f; + _result[14] = -bb; + } + + template + void mtxProjImpl(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc) + { + const float invDiffRl = 1.0f/(_rt - _lt); + const float invDiffUd = 1.0f/(_ut - _dt); + const float width = 2.0f*_near * invDiffRl; + const float height = 2.0f*_near * invDiffUd; + const float xx = (_rt + _lt) * invDiffRl; + const float yy = (_ut + _dt) * invDiffUd; + mtxProjXYWH(_result, xx, yy, width, height, _near, _far, _oglNdc); + } + + template + void mtxProjImpl(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc) + { + mtxProjImpl(_result, _fov[0], _fov[1], _fov[2], _fov[3], _near, _far, _oglNdc); + } + + template + void mtxProjImpl(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc) + { + const float height = 1.0f/ftan(toRad(_fovy)*0.5f); + const float width = height * 1.0f/_aspect; + mtxProjXYWH(_result, 0.0f, 0.0f, width, height, _near, _far, _oglNdc); + } + + void mtxProj(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc) + { + mtxProjImpl(_result, _ut, _dt, _lt, _rt, _near, _far, _oglNdc); + } + + void mtxProj(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc) + { + mtxProjImpl(_result, _fov, _near, _far, _oglNdc); + } + + void mtxProj(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc) + { + mtxProjImpl(_result, _fovy, _aspect, _near, _far, _oglNdc); + } + + void mtxProjLh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc) + { + mtxProjImpl(_result, _ut, _dt, _lt, _rt, _near, _far, _oglNdc); + } + + void mtxProjLh(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc) + { + mtxProjImpl(_result, _fov, _near, _far, _oglNdc); + } + + void mtxProjLh(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc) + { + mtxProjImpl(_result, _fovy, _aspect, _near, _far, _oglNdc); + } + + void mtxProjRh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc) + { + mtxProjImpl(_result, _ut, _dt, _lt, _rt, _near, _far, _oglNdc); + } + + void mtxProjRh(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc) + { + mtxProjImpl(_result, _fov, _near, _far, _oglNdc); + } + + void mtxProjRh(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc) + { + mtxProjImpl(_result, _fovy, _aspect, _near, _far, _oglNdc); + } + + template + void mtxProjInfXYWH(float* _result, float _x, float _y, float _width, float _height, float _near, bool _oglNdc) + { + float aa; + float bb; + if (BX_ENABLED(NearFar::Reverse == NearFarT) ) + { + aa = _oglNdc ? -1.0f : 0.0f; + bb = _oglNdc ? -2.0f*_near : -_near; + } + else + { + aa = 1.0f; + bb = _oglNdc ? 2.0f*_near : _near; + } + + memSet(_result, 0, sizeof(float)*16); + _result[ 0] = _width; + _result[ 5] = _height; + _result[ 8] = (Handness::Right == HandnessT) ? _x : -_x; + _result[ 9] = (Handness::Right == HandnessT) ? _y : -_y; + _result[10] = (Handness::Right == HandnessT) ? -aa : aa; + _result[11] = (Handness::Right == HandnessT) ? -1.0f : 1.0f; + _result[14] = -bb; + } + + template + void mtxProjInfImpl(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) + { + const float invDiffRl = 1.0f/(_rt - _lt); + const float invDiffUd = 1.0f/(_ut - _dt); + const float width = 2.0f*_near * invDiffRl; + const float height = 2.0f*_near * invDiffUd; + const float xx = (_rt + _lt) * invDiffRl; + const float yy = (_ut + _dt) * invDiffUd; + mtxProjInfXYWH(_result, xx, yy, width, height, _near, _oglNdc); + } + + template + void mtxProjInfImpl(float* _result, const float _fov[4], float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _fov[0], _fov[1], _fov[2], _fov[3], _near, _oglNdc); + } + + template + void mtxProjInfImpl(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) + { + const float height = 1.0f/ftan(toRad(_fovy)*0.5f); + const float width = height * 1.0f/_aspect; + mtxProjInfXYWH(_result, 0.0f, 0.0f, width, height, _near, _oglNdc); + } + + void mtxProjInf(float* _result, const float _fov[4], float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _fov, _near, _oglNdc); + } + + void mtxProjInf(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _ut, _dt, _lt, _rt, _near, _oglNdc); + } + + void mtxProjInf(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _fovy, _aspect, _near, _oglNdc); + } + + void mtxProjInfLh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _ut, _dt, _lt, _rt, _near, _oglNdc); + } + + void mtxProjInfLh(float* _result, const float _fov[4], float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _fov, _near, _oglNdc); + } + + void mtxProjInfLh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _fovy, _aspect, _near, _oglNdc); + } + + void mtxProjInfRh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _ut, _dt, _lt, _rt, _near, _oglNdc); + } + + void mtxProjInfRh(float* _result, const float _fov[4], float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _fov, _near, _oglNdc); + } + + void mtxProjInfRh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _fovy, _aspect, _near, _oglNdc); + } + + void mtxProjRevInfLh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _ut, _dt, _lt, _rt, _near, _oglNdc); + } + + void mtxProjRevInfLh(float* _result, const float _fov[4], float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _fov, _near, _oglNdc); + } + + void mtxProjRevInfLh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _fovy, _aspect, _near, _oglNdc); + } + + void mtxProjRevInfRh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _ut, _dt, _lt, _rt, _near, _oglNdc); + } + + void mtxProjRevInfRh(float* _result, const float _fov[4], float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _fov, _near, _oglNdc); + } + + void mtxProjRevInfRh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc) + { + mtxProjInfImpl(_result, _fovy, _aspect, _near, _oglNdc); + } + + template + void mtxOrthoImpl(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc) + { + const float aa = 2.0f/(_right - _left); + const float bb = 2.0f/(_top - _bottom); + const float cc = (_oglNdc ? 2.0f : 1.0f) / (_far - _near); + const float dd = (_left + _right )/(_left - _right); + const float ee = (_top + _bottom)/(_bottom - _top ); + const float ff = _oglNdc + ? (_near + _far)/(_near - _far) + : _near /(_near - _far) + ; + + memSet(_result, 0, sizeof(float)*16); + _result[ 0] = aa; + _result[ 5] = bb; + _result[10] = (Handness::Right == HandnessT) ? -cc : cc; + _result[12] = dd + _offset; + _result[13] = ee; + _result[14] = ff; + _result[15] = 1.0f; + } + + void mtxOrtho(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc) + { + mtxOrthoImpl(_result, _left, _right, _bottom, _top, _near, _far, _offset, _oglNdc); + } + + void mtxOrthoLh(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc) + { + mtxOrthoImpl(_result, _left, _right, _bottom, _top, _near, _far, _offset, _oglNdc); + } + + void mtxOrthoRh(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc) + { + mtxOrthoImpl(_result, _left, _right, _bottom, _top, _near, _far, _offset, _oglNdc); + } + + void mtxRotateX(float* _result, float _ax) + { + const float sx = fsin(_ax); + const float cx = fcos(_ax); + + memSet(_result, 0, sizeof(float)*16); + _result[ 0] = 1.0f; + _result[ 5] = cx; + _result[ 6] = -sx; + _result[ 9] = sx; + _result[10] = cx; + _result[15] = 1.0f; + } + + void mtxRotateY(float* _result, float _ay) + { + const float sy = fsin(_ay); + const float cy = fcos(_ay); + + memSet(_result, 0, sizeof(float)*16); + _result[ 0] = cy; + _result[ 2] = sy; + _result[ 5] = 1.0f; + _result[ 8] = -sy; + _result[10] = cy; + _result[15] = 1.0f; + } + + void mtxRotateZ(float* _result, float _az) + { + const float sz = fsin(_az); + const float cz = fcos(_az); + + memSet(_result, 0, sizeof(float)*16); + _result[ 0] = cz; + _result[ 1] = -sz; + _result[ 4] = sz; + _result[ 5] = cz; + _result[10] = 1.0f; + _result[15] = 1.0f; + } + + void mtxRotateXY(float* _result, float _ax, float _ay) + { + const float sx = fsin(_ax); + const float cx = fcos(_ax); + const float sy = fsin(_ay); + const float cy = fcos(_ay); + + memSet(_result, 0, sizeof(float)*16); + _result[ 0] = cy; + _result[ 2] = sy; + _result[ 4] = sx*sy; + _result[ 5] = cx; + _result[ 6] = -sx*cy; + _result[ 8] = -cx*sy; + _result[ 9] = sx; + _result[10] = cx*cy; + _result[15] = 1.0f; + } + + void mtxRotateXYZ(float* _result, float _ax, float _ay, float _az) + { + const float sx = fsin(_ax); + const float cx = fcos(_ax); + const float sy = fsin(_ay); + const float cy = fcos(_ay); + const float sz = fsin(_az); + const float cz = fcos(_az); + + memSet(_result, 0, sizeof(float)*16); + _result[ 0] = cy*cz; + _result[ 1] = -cy*sz; + _result[ 2] = sy; + _result[ 4] = cz*sx*sy + cx*sz; + _result[ 5] = cx*cz - sx*sy*sz; + _result[ 6] = -cy*sx; + _result[ 8] = -cx*cz*sy + sx*sz; + _result[ 9] = cz*sx + cx*sy*sz; + _result[10] = cx*cy; + _result[15] = 1.0f; + } + + void mtxRotateZYX(float* _result, float _ax, float _ay, float _az) + { + const float sx = fsin(_ax); + const float cx = fcos(_ax); + const float sy = fsin(_ay); + const float cy = fcos(_ay); + const float sz = fsin(_az); + const float cz = fcos(_az); + + memSet(_result, 0, sizeof(float)*16); + _result[ 0] = cy*cz; + _result[ 1] = cz*sx*sy-cx*sz; + _result[ 2] = cx*cz*sy+sx*sz; + _result[ 4] = cy*sz; + _result[ 5] = cx*cz + sx*sy*sz; + _result[ 6] = -cz*sx + cx*sy*sz; + _result[ 8] = -sy; + _result[ 9] = cy*sx; + _result[10] = cx*cy; + _result[15] = 1.0f; + }; + + void mtxSRT(float* _result, float _sx, float _sy, float _sz, float _ax, float _ay, float _az, float _tx, float _ty, float _tz) + { + const float sx = fsin(_ax); + const float cx = fcos(_ax); + const float sy = fsin(_ay); + const float cy = fcos(_ay); + const float sz = fsin(_az); + const float cz = fcos(_az); + + const float sxsz = sx*sz; + const float cycz = cy*cz; + + _result[ 0] = _sx * (cycz - sxsz*sy); + _result[ 1] = _sx * -cx*sz; + _result[ 2] = _sx * (cz*sy + cy*sxsz); + _result[ 3] = 0.0f; + + _result[ 4] = _sy * (cz*sx*sy + cy*sz); + _result[ 5] = _sy * cx*cz; + _result[ 6] = _sy * (sy*sz -cycz*sx); + _result[ 7] = 0.0f; + + _result[ 8] = _sz * -cx*sy; + _result[ 9] = _sz * sx; + _result[10] = _sz * cx*cy; + _result[11] = 0.0f; + + _result[12] = _tx; + _result[13] = _ty; + _result[14] = _tz; + _result[15] = 1.0f; + } + void mtx3Inverse(float* _result, const float* _a) { float xx = _a[0]; @@ -165,4 +620,123 @@ namespace bx _result[15] = +(xx*(yy*zz - zy*yz) - xy*(yx*zz - zx*yz) + xz*(yx*zy - zx*yy) ) * invDet; } + void calcLinearFit2D(float _result[2], const void* _points, uint32_t _stride, uint32_t _numPoints) + { + float sumX = 0.0f; + float sumY = 0.0f; + float sumXX = 0.0f; + float sumXY = 0.0f; + + const uint8_t* ptr = (const uint8_t*)_points; + for (uint32_t ii = 0; ii < _numPoints; ++ii, ptr += _stride) + { + const float* point = (const float*)ptr; + float xx = point[0]; + float yy = point[1]; + sumX += xx; + sumY += yy; + sumXX += xx*xx; + sumXY += xx*yy; + } + + // [ sum(x^2) sum(x) ] [ A ] = [ sum(x*y) ] + // [ sum(x) numPoints ] [ B ] [ sum(y) ] + + float det = (sumXX*_numPoints - sumX*sumX); + float invDet = 1.0f/det; + + _result[0] = (-sumX * sumY + _numPoints * sumXY) * invDet; + _result[1] = (sumXX * sumY - sumX * sumXY) * invDet; + } + + void calcLinearFit3D(float _result[3], const void* _points, uint32_t _stride, uint32_t _numPoints) + { + float sumX = 0.0f; + float sumY = 0.0f; + float sumZ = 0.0f; + float sumXX = 0.0f; + float sumXY = 0.0f; + float sumXZ = 0.0f; + float sumYY = 0.0f; + float sumYZ = 0.0f; + + const uint8_t* ptr = (const uint8_t*)_points; + for (uint32_t ii = 0; ii < _numPoints; ++ii, ptr += _stride) + { + const float* point = (const float*)ptr; + float xx = point[0]; + float yy = point[1]; + float zz = point[2]; + + sumX += xx; + sumY += yy; + sumZ += zz; + sumXX += xx*xx; + sumXY += xx*yy; + sumXZ += xx*zz; + sumYY += yy*yy; + sumYZ += yy*zz; + } + + // [ sum(x^2) sum(x*y) sum(x) ] [ A ] [ sum(x*z) ] + // [ sum(x*y) sum(y^2) sum(y) ] [ B ] = [ sum(y*z) ] + // [ sum(x) sum(y) numPoints ] [ C ] [ sum(z) ] + + float mtx[9] = + { + sumXX, sumXY, sumX, + sumXY, sumYY, sumY, + sumX, sumY, float(_numPoints), + }; + float invMtx[9]; + mtx3Inverse(invMtx, mtx); + + _result[0] = invMtx[0]*sumXZ + invMtx[1]*sumYZ + invMtx[2]*sumZ; + _result[1] = invMtx[3]*sumXZ + invMtx[4]*sumYZ + invMtx[5]*sumZ; + _result[2] = invMtx[6]*sumXZ + invMtx[7]*sumYZ + invMtx[8]*sumZ; + } + + void rgbToHsv(float _hsv[3], const float _rgb[3]) + { + const float rr = _rgb[0]; + const float gg = _rgb[1]; + const float bb = _rgb[2]; + + const float s0 = fstep(bb, gg); + + const float px = flerp(bb, gg, s0); + const float py = flerp(gg, bb, s0); + const float pz = flerp(-1.0f, 0.0f, s0); + const float pw = flerp(2.0f/3.0f, -1.0f/3.0f, s0); + + const float s1 = fstep(px, rr); + + const float qx = flerp(px, rr, s1); + const float qy = py; + const float qz = flerp(pw, pz, s1); + const float qw = flerp(rr, px, s1); + + const float dd = qx - fmin(qw, qy); + const float ee = 1.0e-10f; + + _hsv[0] = fabsolute(qz + (qw - qy) / (6.0f * dd + ee) ); + _hsv[1] = dd / (qx + ee); + _hsv[2] = qx; + } + + void hsvToRgb(float _rgb[3], const float _hsv[3]) + { + const float hh = _hsv[0]; + const float ss = _hsv[1]; + const float vv = _hsv[2]; + + const float px = fabsolute(ffract(hh + 1.0f ) * 6.0f - 3.0f); + const float py = fabsolute(ffract(hh + 2.0f/3.0f) * 6.0f - 3.0f); + const float pz = fabsolute(ffract(hh + 1.0f/3.0f) * 6.0f - 3.0f); + + _rgb[0] = vv * flerp(1.0f, fsaturate(px - 1.0f), ss); + _rgb[1] = vv * flerp(1.0f, fsaturate(py - 1.0f), ss); + _rgb[2] = vv * flerp(1.0f, fsaturate(pz - 1.0f), ss); + } + } // namespace bx