From cbc77718f01a8190e1a8aa0e9afdc2a3a3403358 Mon Sep 17 00:00:00 2001 From: Sven Gothel Date: Fri, 11 May 2012 22:38:56 +0200 Subject: Fix regression of commit de2b129a56335262a44a05541a3ab2e35668cc6e: ProjectFloat Matrix Multiplication of gluUnProject(..) impl. ProjectFloat's previous gluMultMatricesf(..) used row-major order, but the replacement multMatrixf(..) uses column-major order (like OpenGL, ..). Note: The replaced 'gluMultMatrixVecf' by multMatrixVecf() already used column-major order. Fix: Reverse the arguments of matrix multiplication m1 x m2 -> m2 x m1 Added proper API documentation in FloatUtil -> Column Major Order of Linear Matrix Layout --- src/jogl/classes/com/jogamp/opengl/FloatUtil.java | 75 ++++++++++++----------- src/jogl/classes/jogamp/opengl/ProjectFloat.java | 10 +-- 2 files changed, 45 insertions(+), 40 deletions(-) (limited to 'src/jogl/classes') diff --git a/src/jogl/classes/com/jogamp/opengl/FloatUtil.java b/src/jogl/classes/com/jogamp/opengl/FloatUtil.java index 54fac46e6..93543eaf6 100644 --- a/src/jogl/classes/com/jogamp/opengl/FloatUtil.java +++ b/src/jogl/classes/com/jogamp/opengl/FloatUtil.java @@ -32,6 +32,10 @@ import java.nio.FloatBuffer; /** * Basic Float math utility functions. *

+ * Implementation assumes linear matrix layout in column-major order + * matching OpenGL's implementation. + *

+ *

* Derived from ProjectFloat.java - Created 11-jan-2004 *

* @@ -91,29 +95,31 @@ public class FloatUtil { } /** - * @param a - * @param b - * @param d result a*b + * @param a 4x4 matrix in column-major order + * @param b 4x4 matrix in column-major order + * @param d result a*b in column-major order */ public static final void multMatrixf(final float[] a, int a_off, final float[] b, int b_off, float[] d, int d_off) { for (int i = 0; i < 4; i++) { - final float ai0=a[a_off+i+0*4], ai1=a[a_off+i+1*4], ai2=a[a_off+i+2*4], ai3=a[a_off+i+3*4]; + // one row in column-major order + final float ai0=a[a_off+i+0*4], ai1=a[a_off+i+1*4], ai2=a[a_off+i+2*4], ai3=a[a_off+i+3*4]; // row-i of a d[d_off+i+0*4] = ai0 * b[b_off+0+0*4] + ai1 * b[b_off+1+0*4] + ai2 * b[b_off+2+0*4] + ai3 * b[b_off+3+0*4] ; d[d_off+i+1*4] = ai0 * b[b_off+0+1*4] + ai1 * b[b_off+1+1*4] + ai2 * b[b_off+2+1*4] + ai3 * b[b_off+3+1*4] ; d[d_off+i+2*4] = ai0 * b[b_off+0+2*4] + ai1 * b[b_off+1+2*4] + ai2 * b[b_off+2+2*4] + ai3 * b[b_off+3+2*4] ; d[d_off+i+3*4] = ai0 * b[b_off+0+3*4] + ai1 * b[b_off+1+3*4] + ai2 * b[b_off+2+3*4] + ai3 * b[b_off+3+3*4] ; } } - + /** - * @param a - * @param b - * @param d result a*b + * @param a 4x4 matrix in column-major order + * @param b 4x4 matrix in column-major order + * @param d result a*b in column-major order */ public static final void multMatrixf(final float[] a, int a_off, final float[] b, int b_off, FloatBuffer d) { final int dP = d.position(); for (int i = 0; i < 4; i++) { - final float ai0=a[a_off+i+0*4], ai1=a[a_off+i+1*4], ai2=a[a_off+i+2*4], ai3=a[a_off+i+3*4]; + // one row in column-major order + final float ai0=a[a_off+i+0*4], ai1=a[a_off+i+1*4], ai2=a[a_off+i+2*4], ai3=a[a_off+i+3*4]; // row-i of a d.put(dP+i+0*4 , ai0 * b[b_off+0+0*4] + ai1 * b[b_off+1+0*4] + ai2 * b[b_off+2+0*4] + ai3 * b[b_off+3+0*4] ); d.put(dP+i+1*4 , ai0 * b[b_off+0+1*4] + ai1 * b[b_off+1+1*4] + ai2 * b[b_off+2+1*4] + ai3 * b[b_off+3+1*4] ); d.put(dP+i+2*4 , ai0 * b[b_off+0+2*4] + ai1 * b[b_off+1+2*4] + ai2 * b[b_off+2+2*4] + ai3 * b[b_off+3+2*4] ); @@ -122,15 +128,16 @@ public class FloatUtil { } /** - * @param a - * @param b - * @param d result a*b + * @param a 4x4 matrix in column-major order + * @param b 4x4 matrix in column-major order + * @param d result a*b in column-major order */ public static final void multMatrixf(final FloatBuffer a, final float[] b, int b_off, FloatBuffer d) { final int aP = a.position(); final int dP = d.position(); for (int i = 0; i < 4; i++) { - final float ai0=a.get(aP+i+0*4), ai1=a.get(aP+i+1*4), ai2=a.get(aP+i+2*4), ai3=a.get(aP+i+3*4); + // one row in column-major order + final float ai0=a.get(aP+i+0*4), ai1=a.get(aP+i+1*4), ai2=a.get(aP+i+2*4), ai3=a.get(aP+i+3*4); // row-i of a d.put(dP+i+0*4 , ai0 * b[b_off+0+0*4] + ai1 * b[b_off+1+0*4] + ai2 * b[b_off+2+0*4] + ai3 * b[b_off+3+0*4] ); d.put(dP+i+1*4 , ai0 * b[b_off+0+1*4] + ai1 * b[b_off+1+1*4] + ai2 * b[b_off+2+1*4] + ai3 * b[b_off+3+1*4] ); d.put(dP+i+2*4 , ai0 * b[b_off+0+2*4] + ai1 * b[b_off+1+2*4] + ai2 * b[b_off+2+2*4] + ai3 * b[b_off+3+2*4] ); @@ -139,16 +146,17 @@ public class FloatUtil { } /** - * @param a - * @param b - * @param d result a*b + * @param a 4x4 matrix in column-major order + * @param b 4x4 matrix in column-major order + * @param d result a*b in column-major order */ public static final void multMatrixf(final FloatBuffer a, final FloatBuffer b, FloatBuffer d) { final int aP = a.position(); final int bP = b.position(); final int dP = d.position(); for (int i = 0; i < 4; i++) { - final float ai0=a.get(aP+i+0*4), ai1=a.get(aP+i+1*4), ai2=a.get(aP+i+2*4), ai3=a.get(aP+i+3*4); + // one row in column-major order + final float ai0=a.get(aP+i+0*4), ai1=a.get(aP+i+1*4), ai2=a.get(aP+i+2*4), ai3=a.get(aP+i+3*4); // row-i of a d.put(dP+i+0*4 , ai0 * b.get(bP+0+0*4) + ai1 * b.get(bP+1+0*4) + ai2 * b.get(bP+2+0*4) + ai3 * b.get(bP+3+0*4) ); d.put(dP+i+1*4 , ai0 * b.get(bP+0+1*4) + ai1 * b.get(bP+1+1*4) + ai2 * b.get(bP+2+1*4) + ai3 * b.get(bP+3+1*4) ); d.put(dP+i+2*4 , ai0 * b.get(bP+0+2*4) + ai1 * b.get(bP+1+2*4) + ai2 * b.get(bP+2+2*4) + ai3 * b.get(bP+3+2*4) ); @@ -201,10 +209,10 @@ public class FloatUtil { /** - * Calculate cross-product + * Calculate cross-product of 2 vector * - * @param v1 - * @param v2 + * @param v1 3-component vector + * @param v2 3-component vector * @param result v1 X v2 */ public static final void cross(float[] v1, float[] v2, float[] result) { @@ -214,10 +222,10 @@ public class FloatUtil { } /** - * Calculate cross-product + * Calculate cross-product of 2 vector * - * @param v1 - * @param v2 + * @param v1 3-component vector + * @param v2 3-component vector * @param result v1 X v2 */ public static final void cross(FloatBuffer v1, FloatBuffer v2, FloatBuffer result) { @@ -231,15 +239,14 @@ public class FloatUtil { } /** - * Method __gluMultMatrixVecf - * - * @param m_in + * @param m_in 4x4 matrix in column-major order * @param m_in_off - * @param v_in + * @param v_in 4-component column-vector * @param v_out m_in * v_in */ public static final void multMatrixVecf(float[] m_in, int m_in_off, float[] v_in, int v_in_off, float[] v_out) { for (int i = 0; i < 4; i++) { + // (one matrix row in column-major order) X (column vector) v_out[i] = v_in[0+v_in_off] * m_in[0*4+i+m_in_off] + v_in[1+v_in_off] * m_in[1*4+i+m_in_off] + @@ -249,15 +256,14 @@ public class FloatUtil { } /** - * Method __gluMultMatrixVecf - * - * @param m_in + * @param m_in 4x4 matrix in column-major order * @param m_in_off - * @param v_in + * @param v_in 4-component column-vector * @param v_out m_in * v_in */ public static final void multMatrixVecf(float[] m_in, float[] v_in, float[] v_out) { for (int i = 0; i < 4; i++) { + // (one matrix row in column-major order) X (column vector) v_out[i] = v_in[0] * m_in[0*4+i] + v_in[1] * m_in[1*4+i] + @@ -267,10 +273,8 @@ public class FloatUtil { } /** - * Method __gluMultMatrixVecf - * - * @param m_in - * @param v_in + * @param m_in 4x4 matrix in column-major order + * @param v_in 4-component column-vector * @param v_out m_in * v_in */ public static final void multMatrixVecf(FloatBuffer m_in, FloatBuffer v_in, FloatBuffer v_out) { @@ -278,6 +282,7 @@ public class FloatUtil { int outPos = v_out.position(); int matrixPos = m_in.position(); for (int i = 0; i < 4; i++) { + // (one matrix row in column-major order) X (column vector) v_out.put(i + outPos, v_in.get(0+inPos) * m_in.get(0*4+i+matrixPos) + v_in.get(1+inPos) * m_in.get(1*4+i+matrixPos) + diff --git a/src/jogl/classes/jogamp/opengl/ProjectFloat.java b/src/jogl/classes/jogamp/opengl/ProjectFloat.java index bce3f3cfc..ce8405f74 100644 --- a/src/jogl/classes/jogamp/opengl/ProjectFloat.java +++ b/src/jogl/classes/jogamp/opengl/ProjectFloat.java @@ -615,7 +615,7 @@ public class ProjectFloat { float[] in = this.in; float[] out = this.out; - FloatUtil.multMatrixf(modelMatrix, modelMatrix_offset, projMatrix, projMatrix_offset, matrix, 0); + FloatUtil.multMatrixf(projMatrix, projMatrix_offset, modelMatrix, modelMatrix_offset, matrix, 0); if (!gluInvertMatrixf(matrix, 0, matrix, 0)) { return false; @@ -659,7 +659,7 @@ public class ProjectFloat { FloatBuffer in = this.inBuf; FloatBuffer out = this.outBuf; - FloatUtil.multMatrixf(modelMatrix, projMatrix, matrixBuf); + FloatUtil.multMatrixf(projMatrix, modelMatrix, matrixBuf); if (!gluInvertMatrixf(matrixBuf, matrixBuf)) { return false; @@ -715,7 +715,7 @@ public class ProjectFloat { FloatBuffer in = this.inBuf; FloatBuffer out = this.outBuf; - FloatUtil.multMatrixf(modelMatrix, projMatrix, matrixBuf); + FloatUtil.multMatrixf(projMatrix, modelMatrix, matrixBuf); if (!gluInvertMatrixf(matrixBuf, matrixBuf)) { return false; @@ -786,7 +786,7 @@ public class ProjectFloat { float[] in = this.in; float[] out = this.out; - FloatUtil.multMatrixf(modelMatrix, modelMatrix_offset, projMatrix, projMatrix_offset, matrix, 0); + FloatUtil.multMatrixf(projMatrix, projMatrix_offset, modelMatrix, modelMatrix_offset, matrix, 0); if (!gluInvertMatrixf(matrix, 0, matrix, 0)) return false; @@ -847,7 +847,7 @@ public class ProjectFloat { FloatBuffer in = this.inBuf; FloatBuffer out = this.outBuf; - FloatUtil.multMatrixf(modelMatrix, projMatrix, matrixBuf); + FloatUtil.multMatrixf(projMatrix, modelMatrix, matrixBuf); if (!gluInvertMatrixf(matrixBuf, matrixBuf)) return false; 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