Create EGL 1.4 implementation by merging eglrefimpl and EGL from sfopenvg
Subject to some fixes in uiresources and uiaccelerator, this version removes the EGL 1 panics.
A quick attempt to use the compositor renderstage wasn't successful, but not apparently due to EGL issues.
There are a lot of RDebug::Printf statements still in this code, which will be removed in the next commit.
/*------------------------------------------------------------------------
*
* VGU library for OpenVG 1.1 Reference Implementation
* ---------------------------------------------------
*
* Copyright (c) 2007 The Khronos Group Inc.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and /or associated documentation files
* (the "Materials "), to deal in the Materials without restriction,
* including without limitation the rights to use, copy, modify, merge,
* publish, distribute, sublicense, and/or sell copies of the Materials,
* and to permit persons to whom the Materials are furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included
* in all copies or substantial portions of the Materials.
*
* THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
* DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
* OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE MATERIALS OR
* THE USE OR OTHER DEALINGS IN THE MATERIALS.
*
*//**
* \file
* \brief Implementation of the VGU utility library for OpenVG
*//*-------------------------------------------------------------------*/
#include "vgu.h"
#include "openvg.h"
#include "riMath.h"
#ifdef BUILD_WITH_PRIVATE_VGU
#include "vguinternal.h"
#endif
#ifdef BUILD_WITH_PRIVATE_OPENVG
#include "openvginternal.h"
#endif
using namespace OpenVGRI;
/*-------------------------------------------------------------------*//*!
* \brief
* \param
* \return
* \note
*//*-------------------------------------------------------------------*/
static void append(VGPath path, int numSegments, const VGubyte* segments, int numCoordinates, const VGfloat* coordinates)
{
RI_ASSERT(numCoordinates <= 26);
#ifdef BUILD_WITH_PRIVATE_OPENVG
VGPathDatatype datatype = (VGPathDatatype)do_vgGetParameteri(path, VG_PATH_DATATYPE);
VGfloat scale = do_vgGetParameterf(path, VG_PATH_SCALE);
VGfloat bias = do_vgGetParameterf(path, VG_PATH_BIAS);
#else
VGPathDatatype datatype = (VGPathDatatype)vgGetParameteri(path, VG_PATH_DATATYPE);
VGfloat scale = vgGetParameterf(path, VG_PATH_SCALE);
VGfloat bias = vgGetParameterf(path, VG_PATH_BIAS);
#endif
switch(datatype)
{
case VG_PATH_DATATYPE_S_8:
{
RIint8 data[26];
for(int i=0;i<numCoordinates;i++)
data[i] = (RIint8)floor((coordinates[i] - bias) / scale + 0.5f); //add 0.5 for correct rounding
#ifdef BUILD_WITH_PRIVATE_OPENVG
do_vgAppendPathData(path, numSegments, segments, data);
#else
vgAppendPathData(path, numSegments, segments, data);
#endif
break;
}
case VG_PATH_DATATYPE_S_16:
{
RIint16 data[26];
for(int i=0;i<numCoordinates;i++)
data[i] = (RIint16)floor((coordinates[i] - bias) / scale + 0.5f); //add 0.5 for correct rounding
#ifdef BUILD_WITH_PRIVATE_OPENVG
do_vgAppendPathData(path, numSegments, segments, data);
#else
vgAppendPathData(path, numSegments, segments, data);
#endif
break;
}
case VG_PATH_DATATYPE_S_32:
{
RIint32 data[26];
for(int i=0;i<numCoordinates;i++)
data[i] = (RIint32)floor((coordinates[i] - bias) / scale + 0.5f); //add 0.5 for correct rounding
#ifdef BUILD_WITH_PRIVATE_OPENVG
do_vgAppendPathData(path, numSegments, segments, data);
#else
vgAppendPathData(path, numSegments, segments, data);
#endif
break;
}
default:
{
RI_ASSERT(datatype == VG_PATH_DATATYPE_F);
RIfloat32 data[26];
for(int i=0;i<numCoordinates;i++)
data[i] = (RIfloat32)((coordinates[i] - bias) / scale);
#ifdef BUILD_WITH_PRIVATE_OPENVG
do_vgAppendPathData(path, numSegments, segments, data);
#else
vgAppendPathData(path, numSegments, segments, data);
#endif
break;
}
}
}
/*-------------------------------------------------------------------*//*!
* \brief
* \param
* \return
* \note
*//*-------------------------------------------------------------------*/
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode RI_APIENTRY do_vguLine(VGPath path, VGfloat x0, VGfloat y0, VGfloat x1, VGfloat y1)
#else
VGUErrorCode RI_APIENTRY vguLine(VGPath path, VGfloat x0, VGfloat y0, VGfloat x1, VGfloat y1)
#endif
{
#ifdef BUILD_WITH_PRIVATE_OPENVG
VGErrorCode error = do_vgGetError(); //clear the error state
#else
VGErrorCode error = vgGetError(); //clear the error state
#endif
static const VGubyte segments[2] = {VG_MOVE_TO | VG_ABSOLUTE, VG_LINE_TO | VG_ABSOLUTE};
const VGfloat data[4] = {x0, y0, x1, y1};
append(path, 2, segments, 4, data);
#ifdef BUILD_WITH_PRIVATE_OPENVG
error = do_vgGetError();
#else
error = vgGetError();
#endif
if(error == VG_BAD_HANDLE_ERROR)
return VGU_BAD_HANDLE_ERROR;
else if(error == VG_PATH_CAPABILITY_ERROR)
return VGU_PATH_CAPABILITY_ERROR;
return VGU_NO_ERROR;
}
/*-------------------------------------------------------------------*//*!
* \brief
* \param
* \return
* \note
*//*-------------------------------------------------------------------*/
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode RI_APIENTRY do_vguPolygon(VGPath path, const VGfloat * points, VGint count, VGboolean closed)
#else
VGUErrorCode RI_APIENTRY vguPolygon(VGPath path, const VGfloat * points, VGint count, VGboolean closed)
#endif
{
#ifdef BUILD_WITH_PRIVATE_OPENVG
VGErrorCode error = do_vgGetError();
#else
VGErrorCode error = vgGetError(); //clear the error state
#endif
if(!points || (((RIuintptr)points) & 3) || count <= 0)
return VGU_ILLEGAL_ARGUMENT_ERROR;
VGubyte segments[1] = {VG_MOVE_TO | VG_ABSOLUTE};
VGfloat data[2];
for(int i=0;i<count;i++)
{
data[0] = points[i*2+0];
data[1] = points[i*2+1];
append(path, 1, segments, 2, data);
segments[0] = VG_LINE_TO | VG_ABSOLUTE;
}
if(closed)
{
segments[0] = VG_CLOSE_PATH;
append(path, 1, segments, 0, data);
}
#ifdef BUILD_WITH_PRIVATE_OPENVG
error = do_vgGetError();
#else
error = vgGetError(); //clear the error state
#endif
if(error == VG_BAD_HANDLE_ERROR)
return VGU_BAD_HANDLE_ERROR;
else if(error == VG_PATH_CAPABILITY_ERROR)
return VGU_PATH_CAPABILITY_ERROR;
return VGU_NO_ERROR;
}
/*-------------------------------------------------------------------*//*!
* \brief
* \param
* \return
* \note
*//*-------------------------------------------------------------------*/
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode RI_APIENTRY do_vguRect(VGPath path, VGfloat x, VGfloat y, VGfloat width, VGfloat height)
#else
VGUErrorCode RI_APIENTRY vguRect(VGPath path, VGfloat x, VGfloat y, VGfloat width, VGfloat height)
#endif
{
#ifdef BUILD_WITH_PRIVATE_OPENVG
VGErrorCode error = do_vgGetError();
#else
VGErrorCode error = vgGetError(); //clear the error state
#endif
if(width <= 0 || height <= 0)
return VGU_ILLEGAL_ARGUMENT_ERROR;
static const VGubyte segments[5] = {VG_MOVE_TO | VG_ABSOLUTE,
VG_HLINE_TO | VG_ABSOLUTE,
VG_VLINE_TO | VG_ABSOLUTE,
VG_HLINE_TO | VG_ABSOLUTE,
VG_CLOSE_PATH};
const VGfloat data[5] = {x, y, x + width, y + height, x};
append(path, 5, segments, 5, data);
#ifdef BUILD_WITH_PRIVATE_OPENVG
error = do_vgGetError();
#else
error = vgGetError(); //clear the error state
#endif
if(error == VG_BAD_HANDLE_ERROR)
return VGU_BAD_HANDLE_ERROR;
else if(error == VG_PATH_CAPABILITY_ERROR)
return VGU_PATH_CAPABILITY_ERROR;
return VGU_NO_ERROR;
}
/*-------------------------------------------------------------------*//*!
* \brief
* \param
* \return
* \note
*//*-------------------------------------------------------------------*/
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode RI_APIENTRY do_vguRoundRect(VGPath path, VGfloat x, VGfloat y, VGfloat width, VGfloat height, VGfloat arcWidth, VGfloat arcHeight)
#else
VGUErrorCode RI_APIENTRY vguRoundRect(VGPath path, VGfloat x, VGfloat y, VGfloat width, VGfloat height, VGfloat arcWidth, VGfloat arcHeight)
#endif
{
#ifdef BUILD_WITH_PRIVATE_OPENVG
VGErrorCode error = do_vgGetError();
#else
VGErrorCode error = vgGetError(); //clear the error state
#endif
if(width <= 0 || height <= 0)
return VGU_ILLEGAL_ARGUMENT_ERROR;
arcWidth = RI_CLAMP(arcWidth, 0.0f, width);
arcHeight = RI_CLAMP(arcHeight, 0.0f, height);
static const VGubyte segments[10] = {VG_MOVE_TO | VG_ABSOLUTE,
VG_HLINE_TO | VG_ABSOLUTE,
VG_SCCWARC_TO | VG_ABSOLUTE,
VG_VLINE_TO | VG_ABSOLUTE,
VG_SCCWARC_TO | VG_ABSOLUTE,
VG_HLINE_TO | VG_ABSOLUTE,
VG_SCCWARC_TO | VG_ABSOLUTE,
VG_VLINE_TO | VG_ABSOLUTE,
VG_SCCWARC_TO | VG_ABSOLUTE,
VG_CLOSE_PATH};
const VGfloat data[26] = {x + arcWidth/2, y,
x + width - arcWidth/2,
arcWidth/2, arcHeight/2, 0, x + width, y + arcHeight/2,
y + height - arcHeight/2,
arcWidth/2, arcHeight/2, 0, x + width - arcWidth/2, y + height,
x + arcWidth/2,
arcWidth/2, arcHeight/2, 0, x, y + height - arcHeight/2,
y + arcHeight/2,
arcWidth/2, arcHeight/2, 0, x + arcWidth/2, y};
append(path, 10, segments, 26, data);
#ifdef BUILD_WITH_PRIVATE_OPENVG
do_vgGetError();
#else
error = vgGetError(); //clear the error state
#endif
if(error == VG_BAD_HANDLE_ERROR)
return VGU_BAD_HANDLE_ERROR;
else if(error == VG_PATH_CAPABILITY_ERROR)
return VGU_PATH_CAPABILITY_ERROR;
return VGU_NO_ERROR;
}
/*-------------------------------------------------------------------*//*!
* \brief
* \param
* \return
* \note
*//*-------------------------------------------------------------------*/
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode RI_APIENTRY do_vguEllipse(VGPath path, VGfloat cx, VGfloat cy, VGfloat width, VGfloat height)
#else
VGUErrorCode RI_APIENTRY vguEllipse(VGPath path, VGfloat cx, VGfloat cy, VGfloat width, VGfloat height)
#endif
{
#ifdef BUILD_WITH_PRIVATE_OPENVG
VGErrorCode error = do_vgGetError();
#else
VGErrorCode error = vgGetError(); //clear the error state
#endif
if(width <= 0 || height <= 0)
return VGU_ILLEGAL_ARGUMENT_ERROR;
static const VGubyte segments[4] = {VG_MOVE_TO | VG_ABSOLUTE,
VG_SCCWARC_TO | VG_ABSOLUTE,
VG_SCCWARC_TO | VG_ABSOLUTE,
VG_CLOSE_PATH};
const VGfloat data[12] = {cx + width/2, cy,
width/2, height/2, 0, cx - width/2, cy,
width/2, height/2, 0, cx + width/2, cy};
append(path, 4, segments, 12, data);
#ifdef BUILD_WITH_PRIVATE_OPENVG
error = do_vgGetError();
#else
error = vgGetError(); //clear the error state
#endif
if(error == VG_BAD_HANDLE_ERROR)
return VGU_BAD_HANDLE_ERROR;
else if(error == VG_PATH_CAPABILITY_ERROR)
return VGU_PATH_CAPABILITY_ERROR;
return VGU_NO_ERROR;
}
/*-------------------------------------------------------------------*//*!
* \brief
* \param
* \return
* \note
*//*-------------------------------------------------------------------*/
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode RI_APIENTRY do_vguArc(VGPath path, VGfloat x, VGfloat y, VGfloat width, VGfloat height, VGfloat startAngle, VGfloat angleExtent, VGUArcType arcType)
#else
VGUErrorCode RI_APIENTRY vguArc(VGPath path, VGfloat x, VGfloat y, VGfloat width, VGfloat height, VGfloat startAngle, VGfloat angleExtent, VGUArcType arcType)
#endif
{
#ifdef BUILD_WITH_PRIVATE_OPENVG
VGErrorCode error = do_vgGetError();
#else
VGErrorCode error = vgGetError(); //clear the error state
#endif
if((arcType != VGU_ARC_OPEN && arcType != VGU_ARC_CHORD && arcType != VGU_ARC_PIE) || width <= 0.0f || height <= 0.0f)
return VGU_ILLEGAL_ARGUMENT_ERROR;
startAngle = RI_DEG_TO_RAD(startAngle);
angleExtent = RI_DEG_TO_RAD(angleExtent);
VGfloat w = width/2.0f;
VGfloat h = height/2.0f;
VGubyte segments[1];
VGfloat data[5];
segments[0] = VG_MOVE_TO | VG_ABSOLUTE;
data[0] = x + w * (VGfloat)cos(startAngle);
data[1] = y + h * (VGfloat)sin(startAngle);
append(path, 1, segments, 2, data);
data[0] = w;
data[1] = h;
data[2] = 0.0f;
VGfloat endAngle = startAngle + angleExtent;
if(angleExtent >= 0.0f)
{
segments[0] = VG_SCCWARC_TO | VG_ABSOLUTE;
for(VGfloat a = startAngle + PI;a < endAngle; a += PI)
{
data[3] = x + w * (VGfloat)cos(a);
data[4] = y + h * (VGfloat)sin(a);
append(path, 1, segments, 5, data);
}
}
else
{
segments[0] = VG_SCWARC_TO | VG_ABSOLUTE;
for(VGfloat a = startAngle - PI;a > endAngle; a -= PI)
{
data[3] = x + w * (VGfloat)cos(a);
data[4] = y + h * (VGfloat)sin(a);
append(path, 1, segments, 5, data);
}
}
data[3] = x + w * (VGfloat)cos(endAngle);
data[4] = y + h * (VGfloat)sin(endAngle);
append(path, 1, segments, 5, data);
if(arcType == VGU_ARC_CHORD)
{
segments[0] = VG_CLOSE_PATH;
append(path, 1, segments, 0, data);
}
else if(arcType == VGU_ARC_PIE)
{
segments[0] = VG_LINE_TO | VG_ABSOLUTE;
data[0] = x;
data[1] = y;
append(path, 1, segments, 2, data);
segments[0] = VG_CLOSE_PATH;
append(path, 1, segments, 0, data);
}
#ifdef BUILD_WITH_PRIVATE_OPENVG
error = do_vgGetError();
#else
error = vgGetError(); //clear the error state
#endif
if(error == VG_BAD_HANDLE_ERROR)
return VGU_BAD_HANDLE_ERROR;
else if(error == VG_PATH_CAPABILITY_ERROR)
return VGU_PATH_CAPABILITY_ERROR;
return VGU_NO_ERROR;
}
/*-------------------------------------------------------------------*//*!
* \brief
* \param
* \return
* \note
*//*-------------------------------------------------------------------*/
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode RI_APIENTRY do_vguComputeWarpQuadToSquare(VGfloat sx0, VGfloat sy0, VGfloat sx1, VGfloat sy1, VGfloat sx2, VGfloat sy2, VGfloat sx3, VGfloat sy3, VGfloat * matrix)
#else
VGUErrorCode RI_APIENTRY vguComputeWarpQuadToSquare(VGfloat sx0, VGfloat sy0, VGfloat sx1, VGfloat sy1, VGfloat sx2, VGfloat sy2, VGfloat sx3, VGfloat sy3, VGfloat * matrix)
#endif
{
if(!matrix || ((RIuintptr)matrix) & 3)
return VGU_ILLEGAL_ARGUMENT_ERROR;
VGfloat mat[9];
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode ret = do_vguComputeWarpSquareToQuad(sx0, sy0, sx1, sy1, sx2, sy2, sx3, sy3, mat);
#else
VGUErrorCode ret = vguComputeWarpSquareToQuad(sx0, sy0, sx1, sy1, sx2, sy2, sx3, sy3, mat);
#endif
if(ret == VGU_BAD_WARP_ERROR)
return VGU_BAD_WARP_ERROR;
Matrix3x3 m(mat[0], mat[3], mat[6],
mat[1], mat[4], mat[7],
mat[2], mat[5], mat[8]);
bool nonsingular = m.invert();
if(!nonsingular)
return VGU_BAD_WARP_ERROR;
matrix[0] = m[0][0];
matrix[1] = m[1][0];
matrix[2] = m[2][0];
matrix[3] = m[0][1];
matrix[4] = m[1][1];
matrix[5] = m[2][1];
matrix[6] = m[0][2];
matrix[7] = m[1][2];
matrix[8] = m[2][2];
return VGU_NO_ERROR;
}
/*-------------------------------------------------------------------*//*!
* \brief
* \param
* \return
* \note
*//*-------------------------------------------------------------------*/
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode RI_APIENTRY do_vguComputeWarpSquareToQuad(VGfloat dx0, VGfloat dy0, VGfloat dx1, VGfloat dy1, VGfloat dx2, VGfloat dy2, VGfloat dx3, VGfloat dy3, VGfloat * matrix)
#else
VGUErrorCode RI_APIENTRY vguComputeWarpSquareToQuad(VGfloat dx0, VGfloat dy0, VGfloat dx1, VGfloat dy1, VGfloat dx2, VGfloat dy2, VGfloat dx3, VGfloat dy3, VGfloat * matrix)
#endif
{
if(!matrix || ((RIuintptr)matrix) & 3)
return VGU_ILLEGAL_ARGUMENT_ERROR;
//from Heckbert:Fundamentals of Texture Mapping and Image Warping
//Note that his mapping of vertices is different from OpenVG's
//(0,0) => (dx0,dy0)
//(1,0) => (dx1,dy1)
//(0,1) => (dx2,dy2)
//(1,1) => (dx3,dy3)
VGfloat diffx1 = dx1 - dx3;
VGfloat diffy1 = dy1 - dy3;
VGfloat diffx2 = dx2 - dx3;
VGfloat diffy2 = dy2 - dy3;
VGfloat det = diffx1*diffy2 - diffx2*diffy1;
if(det == 0.0f)
return VGU_BAD_WARP_ERROR;
VGfloat sumx = dx0 - dx1 + dx3 - dx2;
VGfloat sumy = dy0 - dy1 + dy3 - dy2;
if(sumx == 0.0f && sumy == 0.0f)
{ //affine mapping
matrix[0] = dx1 - dx0;
matrix[1] = dy1 - dy0;
matrix[2] = 0.0f;
matrix[3] = dx3 - dx1;
matrix[4] = dy3 - dy1;
matrix[5] = 0.0f;
matrix[6] = dx0;
matrix[7] = dy0;
matrix[8] = 1.0f;
return VGU_NO_ERROR;
}
VGfloat oodet = 1.0f / det;
VGfloat g = (sumx*diffy2 - diffx2*sumy) * oodet;
VGfloat h = (diffx1*sumy - sumx*diffy1) * oodet;
matrix[0] = dx1-dx0+g*dx1;
matrix[1] = dy1-dy0+g*dy1;
matrix[2] = g;
matrix[3] = dx2-dx0+h*dx2;
matrix[4] = dy2-dy0+h*dy2;
matrix[5] = h;
matrix[6] = dx0;
matrix[7] = dy0;
matrix[8] = 1.0f;
return VGU_NO_ERROR;
}
/*-------------------------------------------------------------------*//*!
* \brief
* \param
* \return
* \note
*//*-------------------------------------------------------------------*/
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode RI_APIENTRY do_vguComputeWarpQuadToQuad(VGfloat dx0, VGfloat dy0, VGfloat dx1, VGfloat dy1, VGfloat dx2, VGfloat dy2, VGfloat dx3, VGfloat dy3, VGfloat sx0, VGfloat sy0, VGfloat sx1, VGfloat sy1, VGfloat sx2, VGfloat sy2, VGfloat sx3, VGfloat sy3, VGfloat * matrix)
#else
VGUErrorCode RI_APIENTRY vguComputeWarpQuadToQuad(VGfloat dx0, VGfloat dy0, VGfloat dx1, VGfloat dy1, VGfloat dx2, VGfloat dy2, VGfloat dx3, VGfloat dy3, VGfloat sx0, VGfloat sy0, VGfloat sx1, VGfloat sy1, VGfloat sx2, VGfloat sy2, VGfloat sx3, VGfloat sy3, VGfloat * matrix)
#endif
{
if(!matrix || ((RIuintptr)matrix) & 3)
return VGU_ILLEGAL_ARGUMENT_ERROR;
VGfloat qtos[9];
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode ret1 = do_vguComputeWarpQuadToSquare(sx0, sy0, sx1, sy1, sx2, sy2, sx3, sy3, qtos);
#else
VGUErrorCode ret1 = vguComputeWarpQuadToSquare(sx0, sy0, sx1, sy1, sx2, sy2, sx3, sy3, qtos);
#endif
if(ret1 == VGU_BAD_WARP_ERROR)
return VGU_BAD_WARP_ERROR;
VGfloat stoq[9];
#ifdef BUILD_WITH_PRIVATE_VGU
VGUErrorCode ret2 = do_vguComputeWarpSquareToQuad(dx0, dy0, dx1, dy1, dx2, dy2, dx3, dy3, stoq);
#else
VGUErrorCode ret2 = vguComputeWarpSquareToQuad(dx0, dy0, dx1, dy1, dx2, dy2, dx3, dy3, stoq);
#endif
if(ret2 == VGU_BAD_WARP_ERROR)
return VGU_BAD_WARP_ERROR;
Matrix3x3 m1(qtos[0], qtos[3], qtos[6],
qtos[1], qtos[4], qtos[7],
qtos[2], qtos[5], qtos[8]);
Matrix3x3 m2(stoq[0], stoq[3], stoq[6],
stoq[1], stoq[4], stoq[7],
stoq[2], stoq[5], stoq[8]);
Matrix3x3 r = m2 * m1;
matrix[0] = r[0][0];
matrix[1] = r[1][0];
matrix[2] = r[2][0];
matrix[3] = r[0][1];
matrix[4] = r[1][1];
matrix[5] = r[2][1];
matrix[6] = r[0][2];
matrix[7] = r[1][2];
matrix[8] = r[2][2];
return VGU_NO_ERROR;
}