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synced 2026-05-08 12:28:04 +02:00
libweston: introduce linalg.h
linalg-types.h can be used from e.g. libweston.h so that structures can embed linalg types but without forcing every user of libweston.h to compile all the inline functions. weston_mat4f implements most of weston_matrix, and some more. This is just for starters. Implementing weston_mat3fwill be essentially a copy of all this. The matrix inversion is a copy from weston_matrix with a little bit of clean-up. The goal is to create a more intuitive libear algebra API, that is easy to extend to 3x3 matrices and 3-vectors, eventually superseding all existing matrix code: weston_matrix, calls to LittleCMS matrix routines (plugin API), and ad hoc matrix code in tests/. Signed-off-by: Pekka Paalanen <pekka.paalanen@collabora.com>
This commit is contained in:
Pekka Paalanen
parent
6bbc6c1256
commit
f0567654d6
5 changed files with 361 additions and 1 deletions
187
include/libweston/linalg-4.h
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187
include/libweston/linalg-4.h
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/*
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* Copyright 2025 Collabora, Ltd.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice (including the
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* next paragraph) shall be included in all copies or substantial
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* portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
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* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
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* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#pragma once
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#include <stdbool.h>
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#include <math.h>
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#include <libweston/linalg-types.h>
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/* ================= 4-vectors and 4x4 matrices ============== */
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/** Construct a column vector from elements */
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#define WESTON_VEC4F(x, y, z, w) ((struct weston_vec4f){ .el = { (x), (y), (z), (w) }})
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/** Construct the [0, 0, 0, 0]^T vector */
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#define WESTON_VEC4F_ZERO ((struct weston_vec4f){ .el = {}})
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/** Construct matrix from elements a{row}{column} */
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#define WESTON_MAT4F(a00, a01, a02, a03, \
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a10, a11, a12, a13, \
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a20, a21, a22, a23, \
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a30, a31, a32, a33) \
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((struct weston_mat4f){ .colmaj = { \
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a00, a10, a20, a30, \
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a01, a11, a21, a31, \
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a02, a12, a22, a32, \
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a03, a13, a23, a33, \
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}})
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/** Construct the identity 4x4 matrix */
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#define WESTON_MAT4F_IDENTITY \
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((struct weston_mat4f){ .colmaj = { \
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1.0f, 0.0f, 0.0f, 0.0f, \
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0.0f, 1.0f, 0.0f, 0.0f, \
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0.0f, 0.0f, 1.0f, 0.0f, \
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0.0f, 0.0f, 0.0f, 1.0f, \
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}})
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/** Construct a translation matrix */
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static inline struct weston_mat4f
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weston_m4f_translation(float tx, float ty, float tz)
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{
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return WESTON_MAT4F(
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1.0f, 0.0f, 0.0f, tx,
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0.0f, 1.0f, 0.0f, ty,
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0.0f, 0.0f, 1.0f, tz,
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0.0f, 0.0f, 0.0f, 1.0f);
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}
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/** Construct a scaling matrix */
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static inline struct weston_mat4f
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weston_m4f_scaling(float sx, float sy, float sz)
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{
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return WESTON_MAT4F(
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sx, 0.0f, 0.0f, 0.0f,
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0.0f, sy, 0.0f, 0.0f,
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0.0f, 0.0f, sz, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f);
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}
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/** Construct a 2D x-y rotation matrix
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*
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* \param cos_th Cosine of the counter-clockwise angle.
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* \param sin_th Sine of the counter-clockwise angle.
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*/
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static inline struct weston_mat4f
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weston_m4f_rotation_xy(float cos_th, float sin_th)
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{
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return WESTON_MAT4F(
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cos_th, -sin_th, 0.0f, 0.0f,
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sin_th, cos_th, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f);
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}
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/** 4-vector dot product */
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static inline float
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weston_v4f_dot_v4f(struct weston_vec4f a, struct weston_vec4f b)
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{
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return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
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}
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/**
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* Matrix infinity-norm
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*
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* http://www.netlib.org/lapack/lug/node75.html
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*/
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static inline float
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weston_m4f_inf_norm(struct weston_mat4f M)
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{
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unsigned row;
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double infnorm = -1.0;
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for (row = 0; row < 4; row++) {
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unsigned col;
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double sum = 0.0;
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for (col = 0; col < 4; col++)
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sum += fabsf(M.col[col].el[row]);
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if (infnorm < sum)
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infnorm = sum;
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}
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return infnorm;
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}
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/** Transpose 4x4 matrix */
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static inline struct weston_mat4f
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weston_m4f_transpose(struct weston_mat4f M)
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{
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struct weston_mat4f R;
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unsigned i, j;
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for (i = 0; i < 4; i++)
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for (j = 0; j < 4; j++)
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R.col[j].el[i] = M.col[i].el[j];
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return R;
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}
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/** Matrix-vector multiplication A * b */
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static inline struct weston_vec4f
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weston_m4f_mul_v4f(struct weston_mat4f A, struct weston_vec4f b)
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{
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struct weston_vec4f result;
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unsigned r;
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for (r = 0; r < 4; r++) {
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struct weston_vec4f row =
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WESTON_VEC4F(A.col[0].el[r], A.col[1].el[r], A.col[2].el[r], A.col[3].el[r]);
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result.el[r] = weston_v4f_dot_v4f(row, b);
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}
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return result;
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}
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/** Matrix multiplication A * B */
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static inline struct weston_mat4f
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weston_m4f_mul_m4f(struct weston_mat4f A, struct weston_mat4f B)
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{
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struct weston_mat4f result;
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unsigned c;
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for (c = 0; c < 4; c++)
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result.col[c] = weston_m4f_mul_v4f(A, B.col[c]);
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return result;
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}
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/** Element-wise matrix subtraction A - B */
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static inline struct weston_mat4f
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weston_m4f_sub_m4f(struct weston_mat4f A, struct weston_mat4f B)
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{
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struct weston_mat4f R;
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unsigned i;
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for (i = 0; i < 4 * 4; i++)
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R.colmaj[i] = A.colmaj[i] - B.colmaj[i];
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return R;
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}
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bool
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weston_m4f_invert(struct weston_mat4f *out, struct weston_mat4f M);
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44
include/libweston/linalg-types.h
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44
include/libweston/linalg-types.h
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@ -0,0 +1,44 @@
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/*
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* Copyright 2025 Collabora, Ltd.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice (including the
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* next paragraph) shall be included in all copies or substantial
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* portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
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* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
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* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#pragma once
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/** Column 4-vector */
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struct weston_vec4f {
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union {
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float el[4];
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struct {
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float x, y, z, w;
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};
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};
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};
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/** 4x4 matrix, column-major */
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struct weston_mat4f {
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union {
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struct weston_vec4f col[4];
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float colmaj[4 * 4];
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};
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};
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29
include/libweston/linalg.h
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29
include/libweston/linalg.h
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@ -0,0 +1,29 @@
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/*
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* Copyright 2025 Collabora, Ltd.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice (including the
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* next paragraph) shall be included in all copies or substantial
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* portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
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* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
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* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#pragma once
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#include <libweston/linalg-types.h>
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#include <libweston/linalg-4.h>
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@ -1,6 +1,9 @@
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install_headers(
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'config-parser.h',
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'libweston.h',
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'linalg.h',
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'linalg-4.h',
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'linalg-types.h',
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'desktop.h',
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'matrix.h',
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'plugin-registry.h',
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@ -34,7 +34,7 @@
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#include <wayland-server.h>
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#include <libweston/matrix.h>
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#include <libweston/linalg-4.h>
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/*
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* Matrices are stored in column-major order, that is the array indices are:
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@ -288,6 +288,103 @@ weston_matrix_invert(struct weston_matrix *inverse,
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return 0;
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}
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static bool
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m4f_LU_decompose(double *restrict LU, unsigned *restrict p, struct weston_mat4f M)
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{
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unsigned i, j, k;
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unsigned pivot;
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double pv;
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for (i = 0; i < 4; ++i)
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p[i] = i;
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for (i = 16; i--; )
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LU[i] = M.colmaj[i];
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/* LU decomposition with partial pivoting */
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for (k = 0; k < 4; ++k) {
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pivot = find_pivot(&LU[k * 4], k);
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if (pivot != k) {
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swap_unsigned(&p[k], &p[pivot]);
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swap_rows(&LU[k], &LU[pivot]);
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}
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pv = LU[k * 4 + k];
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if (fabs(pv) < 1e-9)
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return false; /* zero pivot, error */
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for (i = k + 1; i < 4; ++i) {
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LU[i + k * 4] /= pv;
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for (j = k + 1; j < 4; ++j)
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LU[i + j * 4] -= LU[i + k * 4] * LU[k + j * 4];
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}
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}
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return true;
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}
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static inline void
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m4f_LU_inverse_transform(const double *restrict A,
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const unsigned *restrict p,
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struct weston_vec4f *restrict v)
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{
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/* Solve A * x = v, when we have P * A = L * U.
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* P * A * x = P * v => L * U * x = P * v
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* Let U * x = b, then L * b = P * v.
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*/
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double b[4];
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unsigned j;
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/* Forward substitution, column version, solves L * b = P * v */
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/* The diagonal of L is all ones, and not explicitly stored. */
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b[0] = v->el[p[0]];
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b[1] = v->el[p[1]] - b[0] * A[1 + 0 * 4];
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b[2] = v->el[p[2]] - b[0] * A[2 + 0 * 4] - b[1] * A[2 + 1 * 4];
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b[3] = v->el[p[3]] - b[0] * A[3 + 0 * 4] - b[1] * A[3 + 1 * 4] - b[2] * A[3 + 2 * 4];
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/* backward substitution, column version, solves U * y = b */
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for (j = 3; j > 0; --j) {
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unsigned k;
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b[j] /= A[j + j * 4];
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for (k = 0; k < j; ++k)
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b[k] -= b[j] * A[k + j * 4];
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}
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b[0] /= A[0 + 0 * 4];
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/* the result */
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for (j = 0; j < 4; ++j)
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v->el[j] = b[j];
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}
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/** Invert 4x4 matrix
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*
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* reference: Gene H. Golub and Charles F. van Loan. Matrix computations.
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* 3rd ed. The Johns Hopkins University Press. 1996.
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* LU decomposition, forward and back substitution: Chapter 3.
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*
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* \param[out] out Destination to save the inverted matrix.
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* \param M The matrix to invert.
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* \return True for success, false for failure. On failure,
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* \c *out remains unchanged.
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*/
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WL_EXPORT bool
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weston_m4f_invert(struct weston_mat4f *out, struct weston_mat4f M)
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{
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double LU[16]; /* column-major */
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unsigned perm[4]; /* permutation */
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unsigned c;
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if (!m4f_LU_decompose(LU, perm, M))
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return false;
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*out = WESTON_MAT4F_IDENTITY;
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for (c = 0; c < 4; ++c)
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m4f_LU_inverse_transform(LU, perm, &out->col[c]);
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return true;
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}
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static bool
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near_zero(float a)
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{
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