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gerrit-public.fairphone.software / platform / external / neven / 30957f56b33a18c5a4af787f25b9f145f2803634 / . / Embedded / common / src / b_TensorEm / Cluster3D.c
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The Android Open Source Project30957f52008-10-21 07:00:00 -0700[diff] [blame^]1/*
2 * Copyright (C) 2008 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17/* ---- includes ----------------------------------------------------------- */
18
19#include "b_TensorEm/Cluster3D.h"
20#include "b_BasicEm/Math.h"
21#include "b_BasicEm/Memory.h"
22#include "b_BasicEm/Functions.h"
23
24/* ------------------------------------------------------------------------- */
25
26/* ========================================================================= */
27/* */
28/* ---- \ghd{ auxiliary functions } ---------------------------------------- */
29/* */
30/* ========================================================================= */
31
32/* ------------------------------------------------------------------------- */
33
34/* ========================================================================= */
35/* */
36/* ---- \ghd{ constructor / destructor } ----------------------------------- */
37/* */
38/* ========================================================================= */
39
40/* ------------------------------------------------------------------------- */
41
42void bts_Cluster3D_init( struct bbs_Context* cpA,
43 struct bts_Cluster3D* ptrA )
44{
45 ptrA->mspE = NULL;
46 ptrA->vecArrE = NULL;
47 ptrA->allocatedSizeE = 0;
48 ptrA->sizeE = 0;
49 ptrA->bbpE = 0;
50}
51
52/* ------------------------------------------------------------------------- */
53
54void bts_Cluster3D_exit( struct bbs_Context* cpA,
55 struct bts_Cluster3D* ptrA )
56{
57 bbs_MemSeg_free( cpA, ptrA->mspE, ptrA->vecArrE );
58 ptrA->vecArrE = NULL;
59 ptrA->mspE = NULL;
60 ptrA->allocatedSizeE = 0;
61 ptrA->sizeE = 0;
62 ptrA->bbpE = 0;
63}
64
65/* ------------------------------------------------------------------------- */
66
67/* ========================================================================= */
68/* */
69/* ---- \ghd{ operators } -------------------------------------------------- */
70/* */
71/* ========================================================================= */
72
73/* ------------------------------------------------------------------------- */
74
75void bts_Cluster3D_copy( struct bbs_Context* cpA,
76 struct bts_Cluster3D* ptrA,
77 const struct bts_Cluster3D* srcPtrA )
78{
79#ifdef DEBUG1
80 if( ptrA->allocatedSizeE < srcPtrA->sizeE )
81 {
82 bbs_ERROR0( "void bts_Cluster3D_copy( struct bts_Cluster2D* ptrA, const struct bts_Cluster2D* srcPtrA ): allocated size too low in destination cluster" );
83 return;
84 }
85#endif
86
87 bbs_memcpy16( ptrA->vecArrE, srcPtrA->vecArrE, bbs_SIZEOF16( struct bts_Int16Vec3D ) * srcPtrA->sizeE );
88
89 ptrA->bbpE = srcPtrA->bbpE;
90 ptrA->sizeE = srcPtrA->sizeE;
91}
92
93/* ------------------------------------------------------------------------- */
94
95flag bts_Cluster3D_equal( struct bbs_Context* cpA,
96 const struct bts_Cluster3D* ptrA,
97 const struct bts_Cluster3D* srcPtrA )
98{
99 uint32 iL;
100 const struct bts_Int16Vec3D* src1L = ptrA->vecArrE;
101 const struct bts_Int16Vec3D* src2L = srcPtrA->vecArrE;
102
103 if( ptrA->sizeE != srcPtrA->sizeE ) return FALSE;
104 if( ptrA->bbpE != srcPtrA->bbpE ) return FALSE;
105
106 for( iL = ptrA->sizeE; iL > 0; iL-- )
107 {
108 if( ( src1L->xE != src2L->xE ) ||
109 ( src1L->yE != src2L->yE ) ||
110 ( src1L->zE != src2L->zE ) ) return FALSE;
111 src1L++;
112 src2L++;
113 }
114
115 return TRUE;
116}
117
118/* ------------------------------------------------------------------------- */
119
120/* ========================================================================= */
121/* */
122/* ---- \ghd{ query functions } -------------------------------------------- */
123/* */
124/* ========================================================================= */
125
126/* ------------------------------------------------------------------------- */
127
128struct bts_Flt16Vec3D bts_Cluster3D_center( struct bbs_Context* cpA,
129 const struct bts_Cluster3D* ptrA )
130{
131 struct bts_Int16Vec3D* vecPtrL = ptrA->vecArrE;
132 uint32 iL;
133 int32 xL = 0;
134 int32 yL = 0;
135 int32 zL = 0;
136
137 if( ptrA->sizeE == 0 ) return bts_Flt16Vec3D_create16( 0, 0, 0, 0 );
138
139 for( iL = ptrA->sizeE; iL > 0; iL-- )
140 {
141 xL += vecPtrL->xE;
142 yL += vecPtrL->yE;
143 zL += vecPtrL->zE;
144 vecPtrL++;
145 }
146
147 xL = ( ( ( xL << 1 ) / ( int32 )ptrA->sizeE ) + 1 ) >> 1;
148 yL = ( ( ( yL << 1 ) / ( int32 )ptrA->sizeE ) + 1 ) >> 1;
149 zL = ( ( ( zL << 1 ) / ( int32 )ptrA->sizeE ) + 1 ) >> 1;
150
151 return bts_Flt16Vec3D_create16( ( int16 )xL, ( int16 )yL, ( int16 )zL, ( int16 )ptrA->bbpE );
152}
153
154/* ------------------------------------------------------------------------- */
155
156struct bts_Int16Rect bts_Cluster3D_boundingBox( struct bbs_Context* cpA,
157 const struct bts_Cluster3D* ptrA )
158{
159 struct bts_Int16Vec3D* vecPtrL = ptrA->vecArrE;
160 uint32 iL;
161 int32 xMinL = 65536; /*( 1 << 16 )*/
162 int32 yMinL = 65536; /*( 1 << 16 )*/
163 int32 xMaxL = 0;
164 int32 yMaxL = 0;
165
166 if( ptrA->sizeE == 0 ) return bts_Int16Rect_create( 0, 0, 0, 0 );
167
168 for( iL = ptrA->sizeE; iL > 0; iL-- )
169 {
170 xMinL = bbs_min( xMinL, vecPtrL->xE );
171 yMinL = bbs_min( yMinL, vecPtrL->yE );
172 xMaxL = bbs_max( xMaxL, vecPtrL->xE );
173 yMaxL = bbs_max( yMaxL, vecPtrL->yE );
174 vecPtrL++;
175 }
176
177 return bts_Int16Rect_create( ( int16 )xMinL, ( int16 )yMinL, ( int16 )xMaxL, ( int16 )yMaxL );
178}
179
180/* ------------------------------------------------------------------------- */
181
182int32 bts_Cluster3D_int32X( struct bbs_Context* cpA,
183 const struct bts_Cluster3D* ptrA,
184 uint32 indexA, int32 bbpA )
185{
186 int32 shiftL = bbpA - ptrA->bbpE;
187#ifdef DEBUG2
188 if( indexA >= ptrA->sizeE )
189 {
190 bbs_ERROR2( "int32 bts_Cluster2D_int32X( .... )\n"
191 "indexA = %i is out of range [0,%i]",
192 indexA,
193 ptrA->sizeE - 1 );
194 return 0;
195 }
196#endif
197 if( shiftL >= 0 )
198 {
199 return ( int32 ) ptrA->vecArrE[ indexA ].xE << shiftL;
200 }
201 else
202 {
203 return ( ( ( int32 ) ptrA->vecArrE[ indexA ].xE >> ( -shiftL - 1 ) ) + 1 ) >> 1;
204 }
205}
206
207/* ------------------------------------------------------------------------- */
208
209int32 bts_Cluster3D_int32Y( struct bbs_Context* cpA,
210 const struct bts_Cluster3D* ptrA,
211 uint32 indexA,
212 int32 bbpA )
213{
214 int32 shiftL = bbpA - ptrA->bbpE;
215#ifdef DEBUG2
216 if( indexA >= ptrA->sizeE )
217 {
218 bbs_ERROR2( "int32 bts_Cluster2D_int32Y( .... )\n"
219 "indexA = %i is out of range [0,%i]",
220 indexA,
221 ptrA->sizeE - 1 );
222 return 0;
223 }
224#endif
225 if( shiftL >= 0 )
226 {
227 return ( int32 ) ptrA->vecArrE[ indexA ].yE << shiftL;
228 }
229 else
230 {
231 return ( ( ( int32 ) ptrA->vecArrE[ indexA ].yE >> ( -shiftL - 1 ) ) + 1 ) >> 1;
232 }
233}
234
235/* ------------------------------------------------------------------------- */
236
237int32 bts_Cluster3D_int32Z( struct bbs_Context* cpA,
238 const struct bts_Cluster3D* ptrA,
239 uint32 indexA,
240 int32 bbpA )
241{
242 int32 shiftL = bbpA - ptrA->bbpE;
243#ifdef DEBUG2
244 if( indexA >= ptrA->sizeE )
245 {
246 bbs_ERROR2( "int32 bts_Cluster2D_int32Z( .... )\n"
247 "indexA = %i is out of range [0,%i]",
248 indexA,
249 ptrA->sizeE - 1 );
250 return 0;
251 }
252#endif
253 if( shiftL >= 0 )
254 {
255 return ( int32 ) ptrA->vecArrE[ indexA ].zE << shiftL;
256 }
257 else
258 {
259 return ( ( ( int32 ) ptrA->vecArrE[ indexA ].zE >> ( -shiftL - 1 ) ) + 1 ) >> 1;
260 }
261}
262
263/* ------------------------------------------------------------------------- */
264
265/* ========================================================================= */
266/* */
267/* ---- \ghd{ modify functions } ------------------------------------------- */
268/* */
269/* ========================================================================= */
270
271/* ------------------------------------------------------------------------- */
272
273void bts_Cluster3D_create( struct bbs_Context* cpA,
274 struct bts_Cluster3D* ptrA,
275 uint32 sizeA,
276 struct bbs_MemSeg* mspA )
277{
278 if( bbs_Context_error( cpA ) ) return;
279 if( ptrA->mspE == NULL )
280 {
281 ptrA->sizeE = 0;
282 ptrA->allocatedSizeE = 0;
283 ptrA->vecArrE = NULL;
284 }
285
286 if( ptrA->sizeE == sizeA ) return;
287
288 if( ptrA->vecArrE != 0 )
289 {
290 bbs_ERROR0( "void bts_Cluster3D_create( const struct bts_Cluster3D*, uint32 ):\n"
291 "object has already been created and cannot be resized." );
292 return;
293 }
294
295 ptrA->vecArrE = bbs_MemSeg_alloc( cpA, mspA, sizeA * bbs_SIZEOF16( struct bts_Int16Vec3D ) );
296 if( bbs_Context_error( cpA ) ) return;
297 ptrA->sizeE = sizeA;
298 ptrA->allocatedSizeE = sizeA;
299 if( !mspA->sharedE ) ptrA->mspE = mspA;
300}
301
302/* ------------------------------------------------------------------------- */
303
304void bts_Cluster3D_size( struct bbs_Context* cpA,
305 struct bts_Cluster3D* ptrA,
306 uint32 sizeA )
307{
308 if( ptrA->allocatedSizeE < sizeA )
309 {
310 bbs_ERROR2( "void bts_Cluster3D_size( struct bts_Cluster3D* ptrA, uint32 sizeA ):\n"
311 "Allocated size (%i) of cluster is smaller than requested size (%i).",
312 ptrA->allocatedSizeE,
313 sizeA );
314 return;
315 }
316 ptrA->sizeE = sizeA;
317}
318
319/* ------------------------------------------------------------------------- */
320
321void bts_Cluster3D_transform( struct bbs_Context* cpA,
322 struct bts_Cluster3D* ptrA,
323 struct bts_Flt16Alt3D altA )
324{
325 struct bts_Int16Vec3D* vecPtrL = ptrA->vecArrE;
326 uint32 iL;
327
328 int32 x0L = altA.vecE.xE;
329 int32 y0L = altA.vecE.yE;
330 int32 z0L = altA.vecE.zE;
331
332 int32 shiftL = altA.matE.bbpE + ptrA->bbpE - altA.vecE.bbpE;
333
334 if( shiftL < 0 )
335 {
336 x0L = ( ( x0L >> ( -shiftL - 1 ) ) + 1 ) >> 1;
337 y0L = ( ( y0L >> ( -shiftL - 1 ) ) + 1 ) >> 1;
338 z0L = ( ( z0L >> ( -shiftL - 1 ) ) + 1 ) >> 1;
339 }
340 else
341 {
342 x0L <<= shiftL;
343 y0L <<= shiftL;
344 z0L <<= shiftL;
345 }
346
347 if( altA.matE.bbpE > 0 )
348 {
349 x0L += (int32)1 << ( altA.matE.bbpE - 1 );
350 y0L += (int32)1 << ( altA.matE.bbpE - 1 );
351 z0L += (int32)1 << ( altA.matE.bbpE - 1 );
352 }
353
354 for( iL = ptrA->sizeE; iL > 0; iL-- )
355 {
356 int32 xL = vecPtrL->xE;
357 int32 yL = vecPtrL->yE;
358 int32 zL = vecPtrL->zE;
359 vecPtrL->xE = ( x0L + xL * altA.matE.xxE + yL * altA.matE.xyE + zL * altA.matE.xzE ) >> altA.matE.bbpE;
360 vecPtrL->yE = ( y0L + xL * altA.matE.yxE + yL * altA.matE.yyE + zL * altA.matE.yzE ) >> altA.matE.bbpE;
361 vecPtrL->zE = ( z0L + xL * altA.matE.zxE + yL * altA.matE.zyE + zL * altA.matE.zzE ) >> altA.matE.bbpE;
362 vecPtrL++;
363 }
364}
365
366/* ------------------------------------------------------------------------- */
367
368struct bts_Flt16Vec3D bts_Cluster3D_centerFree( struct bbs_Context* cpA,
369 struct bts_Cluster3D* ptrA )
370{
371 struct bts_Flt16Vec3D centerL = bts_Cluster3D_center( cpA, ptrA );
372 struct bts_Int16Vec3D* vecPtrL = ptrA->vecArrE;
373 uint32 iL;
374
375 for( iL = ptrA->sizeE; iL > 0; iL-- )
376 {
377 vecPtrL->xE -= centerL.xE;
378 vecPtrL->yE -= centerL.yE;
379 vecPtrL->zE -= centerL.zE;
380 vecPtrL++;
381 }
382
383 return centerL;
384}
385
386/* ------------------------------------------------------------------------- */
387
388/* ========================================================================= */
389/* */
390/* ---- \ghd{ I/O } -------------------------------------------------------- */
391/* */
392/* ========================================================================= */
393
394/* ------------------------------------------------------------------------- */
395
396uint32 bts_Cluster3D_memSize( struct bbs_Context* cpA,
397 const struct bts_Cluster3D *ptrA )
398{
399 return bbs_SIZEOF16( uint32 )
400 + bbs_SIZEOF16( uint32 ) /* version */
401 + bbs_SIZEOF16( ptrA->sizeE )
402 + bbs_SIZEOF16( ptrA->bbpE )
403 + bbs_SIZEOF16( struct bts_Int16Vec3D ) * ptrA->sizeE;
404}
405
406/* ------------------------------------------------------------------------- */
407
408uint32 bts_Cluster3D_memWrite( struct bbs_Context* cpA,
409 const struct bts_Cluster3D* ptrA,
410 uint16* memPtrA )
411{
412 uint32 memSizeL = bts_Cluster3D_memSize( cpA, ptrA );
413 memPtrA += bbs_memWrite32( &memSizeL, memPtrA );
414 memPtrA += bbs_memWriteUInt32( bts_CLUSTER3D_VERSION, memPtrA );
415 memPtrA += bbs_memWrite32( &ptrA->sizeE, memPtrA );
416 memPtrA += bbs_memWrite32( &ptrA->bbpE, memPtrA );
417 memPtrA += bbs_memWrite16Arr( cpA, ptrA->vecArrE,
418 ptrA->sizeE * bbs_SIZEOF16( struct bts_Int16Vec3D ),
419 memPtrA );
420 return memSizeL;
421}
422
423/* ------------------------------------------------------------------------- */
424
425uint32 bts_Cluster3D_memRead( struct bbs_Context* cpA,
426 struct bts_Cluster3D* ptrA,
427 const uint16* memPtrA,
428 struct bbs_MemSeg* mspA )
429{
430 uint32 memSizeL;
431 uint32 sizeL;
432 uint32 versionL;
433 if( bbs_Context_error( cpA ) ) return 0;
434 memPtrA += bbs_memRead32( &memSizeL, memPtrA );
435 memPtrA += bbs_memReadVersion32( cpA, &versionL, bts_CLUSTER3D_VERSION, memPtrA );
436 memPtrA += bbs_memRead32( &sizeL, memPtrA );
437 memPtrA += bbs_memRead32( &ptrA->bbpE, memPtrA );
438
439 if( ptrA->allocatedSizeE < sizeL )
440 {
441 bts_Cluster3D_create( cpA, ptrA, sizeL, mspA );
442 }
443 else
444 {
445 bts_Cluster3D_size( cpA, ptrA, sizeL );
446 }
447
448
449 bbs_memcpy16( ptrA->vecArrE, memPtrA, bbs_SIZEOF16( struct bts_Int16Vec3D ) * ptrA->sizeE );
450 memPtrA += bbs_memRead16Arr( cpA, ptrA->vecArrE,
451 ptrA->sizeE * bbs_SIZEOF16( struct bts_Int16Vec3D ),
452 memPtrA );
453
454 if( memSizeL != bts_Cluster3D_memSize( cpA, ptrA ) )
455 {
456 bbs_ERR0( bbs_ERR_CORRUPT_DATA, "uint32 bts_Cluster3D_memRead( const struct bts_Cluster3D* ptrA, const void* memPtrA ):\n"
457 "size mismatch" );
458 return 0;
459 }
460 return memSizeL;
461}
462
463/* ------------------------------------------------------------------------- */
464
465/* ========================================================================= */
466/* */
467/* ---- \ghd{ exec functions } --------------------------------------------- */
468/* */
469/* ========================================================================= */
470
471/* ------------------------------------------------------------------------- */
472
473/* ========================================================================= */
474