#ifndef _TCUMATRIXUTIL_HPP
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#define _TCUMATRIXUTIL_HPP
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/*-------------------------------------------------------------------------
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* drawElements Quality Program Tester Core
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* ----------------------------------------
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*
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* Copyright 2014 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*//*!
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* \file
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* \brief Matrix utility functions
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*//*--------------------------------------------------------------------*/
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#include "tcuDefs.hpp"
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#include "tcuMatrix.hpp"
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#include "deMath.h"
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namespace tcu
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{
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template <typename T, int Size>
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Matrix<T, Size+1, Size+1> translationMatrix (const Vector<T, Size>& translation);
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template <typename T, int Rows, int Cols>
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Matrix<T, Cols, Rows> transpose (const Matrix<T, Rows, Cols>& mat);
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// 2D affine transformations.
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Matrix<float, 2, 2> rotationMatrix (float radians);
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Matrix<float, 2, 2> shearMatrix (const Vector<float, 2>& shear);
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// 3D axis rotations.
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Matrix<float, 3, 3> rotationMatrixX (float radiansX);
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Matrix<float, 3, 3> rotationMatrixY (float radiansY);
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Matrix<float, 3, 3> rotationMatrixZ (float radiansZ);
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// Implementations.
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// Builds a translation matrix for a homogenous coordinate system
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template <typename T, int Len>
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inline Matrix<T, Len+1, Len+1> translationMatrix (const Vector<T, Len>& translation)
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{
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Matrix<T, Len+1, Len+1> res = Matrix<T, Len+1, Len+1>();
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for (int row = 0; row < Len; row++)
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res(row, Len) = translation.m_data[row];
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return res;
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}
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template <typename T, int Rows, int Cols>
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inline Matrix<T, Cols, Rows> transpose (const Matrix<T, Rows, Cols>& mat)
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{
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Matrix<T, Cols, Rows> res;
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for (int row = 0; row < Rows; row++)
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for (int col = 0; col < Cols; col++)
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res(col, row) = mat(row, col);
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return res;
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}
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inline Matrix<float, 2, 2> rotationMatrix (float radians)
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{
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Matrix<float, 2, 2> mat;
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float c = deFloatCos(radians);
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float s = deFloatSin(radians);
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mat(0, 0) = c;
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mat(0, 1) = -s;
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mat(1, 0) = s;
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mat(1, 1) = c;
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return mat;
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}
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inline Matrix<float, 2, 2> shearMatrix (const Vector<float, 2>& shear)
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{
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Matrix<float, 2, 2> mat;
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mat(0, 0) = 1.0f;
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mat(0, 1) = shear.x();
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mat(1, 0) = shear.y();
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mat(1, 1) = 1.0f + shear.x()*shear.y();
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return mat;
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}
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inline Matrix<float, 3, 3> rotationMatrixX (float radiansX)
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{
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Matrix<float, 3, 3> mat(1.0f);
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float c = deFloatCos(radiansX);
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float s = deFloatSin(radiansX);
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mat(1, 1) = c;
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mat(1, 2) = -s;
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mat(2, 1) = s;
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mat(2, 2) = c;
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return mat;
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}
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inline Matrix<float, 3, 3> rotationMatrixY (float radiansY)
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{
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Matrix<float, 3, 3> mat(1.0f);
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float c = deFloatCos(radiansY);
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float s = deFloatSin(radiansY);
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mat(0, 0) = c;
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mat(0, 2) = s;
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mat(2, 0) = -s;
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mat(2, 2) = c;
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return mat;
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}
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inline Matrix<float, 3, 3> rotationMatrixZ (float radiansZ)
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{
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Matrix<float, 3, 3> mat(1.0f);
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float c = deFloatCos(radiansZ);
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float s = deFloatSin(radiansZ);
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mat(0, 0) = c;
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mat(0, 1) = -s;
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mat(1, 0) = s;
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mat(1, 1) = c;
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return mat;
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}
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} // tcu
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#endif // _TCUMATRIXUTIL_HPP
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