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| author | Alex Sakhartchouk <alexst@google.com> | 2010-08-10 17:34:39 -0700 |
|---|---|---|
| committer | Alex Sakhartchouk <alexst@google.com> | 2010-08-10 17:34:39 -0700 |
| commit | facd6fc4be5706f4ca5def9702a69bec94eb6adf (patch) | |
| tree | 9710774e98d2d219b8b17201bc7abb463effdbe5 /graphics | |
| parent | fce21b5a3365da20e48655001e7cc0dacca67831 (diff) | |
| download | frameworks_base-facd6fc4be5706f4ca5def9702a69bec94eb6adf.zip frameworks_base-facd6fc4be5706f4ca5def9702a69bec94eb6adf.tar.gz frameworks_base-facd6fc4be5706f4ca5def9702a69bec94eb6adf.tar.bz2 | |
Adding quaternion functions to math library.
Change-Id: I692214648892120943ca7d3b00034e27d1c330cf
Diffstat (limited to 'graphics')
| -rw-r--r-- | graphics/java/android/renderscript/Matrix4f.java | 70 |
1 files changed, 70 insertions, 0 deletions
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 @@ public class Matrix4f { 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) { |