?? our_math.c
字號:
mprod->M[i][1] = (x*mb->M[0][1] + y*mb->M[1][1] + z*mb->M[2][1]+(1<<(FIXP15_SHIFT-1)))>>FIXP15_SHIFT ;
mprod->M[i][2] = (x*mb->M[0][2] + y*mb->M[1][2] + z*mb->M[2][2]+(1<<(FIXP15_SHIFT-1)))>>FIXP15_SHIFT ;
}
}
//------------------------------------------------------------------------
/****************************************/
/*Function: 開根號處理 */
/*入口參數：被開方數，長整型 */
/*出口參數：開方結果，整型 */
/****************************************/
unsigned int OUR_sqrt_16(unsigned long M) //250t
{
unsigned int N, i;
unsigned long tmp, ttp; // 結果、循環計數
if (M == 0) // 被開方數，開方結果也為0
return 0;
N = 0;
tmp = (M >> 30); // 獲取最高位：B[m-1]
M <<= 2;
if (tmp > 1) // 最高位為1
{
N ++; // 結果當前位為1，否則為默認的0
tmp -= N;
}
for (i=15; i>0; i--) // 求剩余的15位
{
N <<= 1; // 左移一位
tmp <<= 2;
tmp += (M >> 30); // 假設
ttp = N;
ttp = (ttp<<1)+1;
M <<= 2;
if (tmp >= ttp) // 假設成立
{
tmp -= ttp;
N ++;
}
}
return N;
}
//---------------------------------------------------------------
void OUR_VECTOR3D_Normalize(FIX_VECTOR3D_PTR va) //400t
{
UINT length,length_inv;
while(OUR_int_abs(va->MM.x) >0x4000 || //本來的模不能太大,可能平方后加起溢出
OUR_int_abs(va->MM.y) >0x4000 ||
OUR_int_abs(va->MM.z) >0x4000 )
{
va->MM.x >>=1;
va->MM.y >>=1;
va->MM.z >>=1;
}
length = OUR_sqrt_16(va->MM.x*va->MM.x + va->MM.y*va->MM.y + va->MM.z*va->MM.z);//250t
if (length ==0)
return;
length_inv =1<<31; // can't use 0xffffffff, cause va->x is always < 0x80000000
length_inv /=length;
// compute normalized version of vector
va->MM.x=(va->MM.x*length_inv);
va->MM.x =( va->MM.x) >>(31-FIXP15_SHIFT);
va->MM.y=(va->MM.y*length_inv);
va->MM.y =( va->MM.y) >>(31-FIXP15_SHIFT);
va->MM.z=(va->MM.z*length_inv);
va->MM.z =( va->MM.z) >>(31-FIXP15_SHIFT);
}
//---------------------------------------------------------------
void OUR_FAST_Normalize(FIX_VECTOR3D_PTR va) //200t
{
UINT length,length_inv;
length =OUR_FAST_Length(va);
if (length ==0)
return;
//length_inv =1<<31; // can't use 0xffffffff, cause va->x is always < 0x80000000
length_inv= (1<<31)/length;
// compute normalized version of vector
va->MM.x=(va->MM.x*length_inv);
va->MM.x =( va->MM.x) >>(31-FIXP15_SHIFT);
va->MM.y=(va->MM.y*length_inv);
va->MM.y =( va->MM.y) >>(31-FIXP15_SHIFT);
va->MM.z=(va->MM.z*length_inv);
va->MM.z =( va->MM.z) >>(31-FIXP15_SHIFT);
}
//---------------------------------------------------------------
FIXP16 OUR_VECTOR3D_Dot(FIX_VECTOR3D_PTR va, FIX_VECTOR3D_PTR vb)//40t
{
return( (va->MM.x * vb->MM.x) + (va->MM.y * vb->MM.y) + (va->MM.z * vb->MM.z) );
}
//---------------------------------------------------------------
void OUR_VECTOR3D_Cross(FIX_VECTOR3D_PTR va, //80t
FIX_VECTOR3D_PTR vb,
FIX_VECTOR3D_PTR vn)
{
vn->MM.x = ( (va->MM.y * vb->MM.z) - (va->MM.z * vb->MM.y) );
vn->MM.y = -( (va->MM.x * vb->MM.z) - (va->MM.z * vb->MM.x) );
vn->MM.z = ( (va->MM.x * vb->MM.y) - (va->MM.y * vb->MM.x) );
}
//--------------------------------------------------------------------
//---------------------------------------------------------------
int OUR_FAST_Length(FIX_VECTOR3D_PTR va) //50t // compute distance with 2% error--writed by mjb on 2008/03/15
{
int i=10; //
UINT temp; // used for swaping
UINT x,y,z; // used for algorithm
// make sure values are all positive
x = OUR_int_abs(va->MM.x);
y = OUR_int_abs(va->MM.y);
z = OUR_int_abs(va->MM.z);
// sort values
if (y < x) OUR_SWAP(x,y,temp)
if (z < y) OUR_SWAP(y,z,temp)
if (y < x) OUR_SWAP(x,y,temp)
while(z>(1<<20))
{
x>>=1;
y>>=1;
z>>=1;
i--;
}
if(x<(y>>1))
{
temp=(1024*y+195*x)>>10;
}
else
{
temp=(829*y+608*x)>>10;
}
if(temp<(z>>1))
{
return (1024*z+195*temp)>>(i);
}
else
{
return (829*z+608*temp)>>(i);
}
}
//--------------------------------------------------------------------
int OUR_Mat_Inverse_3X3(FIX_MATRIX_3X3_PTR m, FIX_MATRIX_3X3_PTR mi)//400t
{
// this function computes the inverse of a 3x3
// first compute the determinate to see if there is
// an inverse
//FIX_MATRIX_3X3 mb;
int det_inv,det;
det = (m->MM.M00>>5)*((m->MM.M11*m->MM.M22 - m->MM.M21*m->MM.M12)>>10) - //80t
(m->MM.M01>>5)*((m->MM.M10*m->MM.M22 - m->MM.M20*m->MM.M12)>>10) +
(m->MM.M02>>5)*((m->MM.M10*m->MM.M21 - m->MM.M20*m->MM.M11)>>10);
if (det==0)
return(0);
// compute inverse to save divides
det_inv = (1<<30)/(det>>15); //80t
#define I_LEFT_MOVE 15
// compute inverse using m-1 = adjoint(m)/det(m)
mi->MM.M00 = (det_inv*((m->MM.M11*m->MM.M22 - m->MM.M21*m->MM.M12)>>15)+(1<<(I_LEFT_MOVE-1)))>>I_LEFT_MOVE;
mi->MM.M10 = (-det_inv*((m->MM.M10*m->MM.M22 - m->MM.M20*m->MM.M12)>>15)+(1<<(I_LEFT_MOVE-1)))>>I_LEFT_MOVE;
mi->MM.M20 = (det_inv*((m->MM.M10*m->MM.M21 - m->MM.M20*m->MM.M11)>>15)+(1<<(I_LEFT_MOVE-1)))>>I_LEFT_MOVE;
mi->MM.M01 = (-det_inv*((m->MM.M01*m->MM.M22 - m->MM.M21*m->MM.M02)>>15)+(1<<(I_LEFT_MOVE-1)))>>I_LEFT_MOVE;
mi->MM.M11 = (det_inv*((m->MM.M00*m->MM.M22 - m->MM.M20*m->MM.M02)>>15)+(1<<(I_LEFT_MOVE-1)))>>I_LEFT_MOVE;
mi->MM.M21 = (-det_inv*((m->MM.M00*m->MM.M21 - m->MM.M20*m->MM.M01)>>15)+(1<<(I_LEFT_MOVE-1)))>>I_LEFT_MOVE;
mi->MM.M02 = (det_inv*((m->MM.M01*m->MM.M12 - m->MM.M11*m->MM.M02)>>15)+(1<<(I_LEFT_MOVE-1)))>>I_LEFT_MOVE;
mi->MM.M12 = (-det_inv*((m->MM.M00*m->MM.M12 - m->MM.M10*m->MM.M02)>>15)+(1<<(I_LEFT_MOVE-1)))>>I_LEFT_MOVE;
mi->MM.M22 = (det_inv*((m->MM.M00*m->MM.M11 - m->MM.M10*m->MM.M01)>>15)+(1<<(I_LEFT_MOVE-1)))>>I_LEFT_MOVE;
// return success
return(1);
}
//MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM
//MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM
void OUR_mmcpy(UINT *des,UINT *src,UINT num)
{
UINT *max_des;
//des&=~0x3;
//src&=~0x3;
max_des = des+(num);
for (;des<max_des;)
{
*des++=*src++;
}
}
void OUR_mmset(UINT *des,UINT src,UINT num)
{
UINT *max_des;
//des&=~0x3;
//src&=~0x3;
max_des = des+(num);
for (;des<max_des;)
{
*des++=src;
}
}
void OUR_mmset_box16(int x,int y,int w,int h,UCHAR *video_buffer,int lpitch,CLR c)
{
UINT *des=(UINT*)video_buffer+((y*lpitch+x)>>1);
UINT *max_des=des+((h*lpitch)>>1);
int i;
lpitch=lpitch>>1;
max_des=des+((h*lpitch));
//des&=~0x3;
//src&=~0x3;
c=(c<<16)+c;
w=w>>1;
for (;des<max_des;)
{
for(i=0;i<w;i++)
{
des[i]=c;
}
des+=lpitch;
}
}
void OUR_BOX_OUT_clear16(int x1,int y1,
CLR C,
UCHAR *video_buffer, int lpitch)
{
UINT *des=(UINT*)video_buffer;
int i;
//C=OUR_RGB32_2_16(C);
C=(C<<16)+C;
//the top side
OUR_mmset(des,C,y1*OUR_D_screem_w/2);
//the button side
des=(UINT*)video_buffer+((OUR_D_screem_h-y1-1)*lpitch)/2;
OUR_mmset(des,C,y1*OUR_D_screem_w/2);
//the right side
des=(UINT*)video_buffer+((OUR_D_screem_w-1-x1))/2+((y1-1)*lpitch)/2;
//C=0xffffffff;
for(i=0;i<=OUR_D_screem_h-2*y1;i++)
{
OUR_mmset(des,C,x1);
des+=lpitch/2;
}
}
//FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
//FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
#endif
#endif
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