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change mat4x4 internal structure, adjugate and inverse now works 

determinant probably does not
v1
Brett 2024-05-01 12:11:53 -04:00
parent 0a04408e70
commit e6b4c4a330
2 changed files with 130 additions and 90 deletions
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2
CMakeLists.txt
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@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 3.20) cmake_minimum_required(VERSION 3.20)
include(cmake/color.cmake) include(cmake/color.cmake)
set(BLT_VERSION 0.16.16) set(BLT_VERSION 0.16.17)
set(BLT_TEST_VERSION 0.0.1) set(BLT_TEST_VERSION 0.0.1)
set(BLT_TARGET BLT) set(BLT_TARGET BLT)

218
include/blt/math/matrix.h
View File

@ -9,6 +9,7 @@
#include <blt/math/vectors.h> #include <blt/math/vectors.h>
#include <cstring> #include <cstring>
#include <type_traits>
#ifndef M_PI #ifndef M_PI
// MSVC does not have M_PI // MSVC does not have M_PI
@ -20,14 +21,16 @@ namespace blt
class mat4x4 class mat4x4
{ {
static_assert(std::is_trivially_copyable_v<blt::vec4> && "Vector must be trivially copyable!");
protected: protected:
// 4x4 = 16 // 4x4 = 16
union dataType // union dataType
{ // {
float single[16]; // float single[16];
float dim[4][4]; // float dim[4][4];
}; // blt::vec4 v[4];
dataType data{}; // };
blt::vec4 data[4];
friend mat4x4 operator+(const mat4x4& left, const mat4x4& right); friend mat4x4 operator+(const mat4x4& left, const mat4x4& right);
@ -44,10 +47,20 @@ namespace blt
friend mat4x4 operator/(float c, const mat4x4& v); friend mat4x4 operator/(float c, const mat4x4& v);
public: public:
static mat4x4 make_empty()
{
mat4x4 ret;
ret.m00(0);
ret.m11(0);
ret.m22(0);
ret.m33(0);
return ret;
}
mat4x4() mat4x4()
{ {
for (float& i : data.single) // for (float& i : data.single)
i = 0; // i = 0;
// set identity matrix default // set identity matrix default
m00(1); m00(1);
m11(1); m11(1);
@ -58,17 +71,21 @@ namespace blt
mat4x4(const blt::vec4& c1, const blt::vec4& c2, const blt::vec4& c3, const blt::vec4& c4) mat4x4(const blt::vec4& c1, const blt::vec4& c2, const blt::vec4& c3, const blt::vec4& c4)
{ {
// dangerous? // dangerous?
std::memcpy(data.dim[0], c1.data(), 4 * sizeof(float)); // std::memcpy(data.dim[0], c1.data(), 4 * sizeof(float));
std::memcpy(data.dim[1], c2.data(), 4 * sizeof(float)); // std::memcpy(data.dim[1], c2.data(), 4 * sizeof(float));
std::memcpy(data.dim[2], c3.data(), 4 * sizeof(float)); // std::memcpy(data.dim[2], c3.data(), 4 * sizeof(float));
std::memcpy(data.dim[3], c4.data(), 4 * sizeof(float)); // std::memcpy(data.dim[3], c4.data(), 4 * sizeof(float));
data[0] = c1;
data[1] = c2;
data[2] = c3;
data[3] = c4;
} }
mat4x4(const mat4x4& mat) mat4x4(const mat4x4& mat)
{ {
for (int i = 0; i < 16; i++) for (int i = 0; i < 4; i++)
{ {
data.single[i] = mat.data.single[i]; data[i] = mat.data[i];
} }
} }
@ -76,19 +93,24 @@ namespace blt
{ {
if (&copy == this) if (&copy == this)
return *this; return *this;
for (int i = 0; i < 16; i++) for (int i = 0; i < 4; i++)
{ {
data.single[i] = copy.data.single[i]; data[i] = copy.data[i];
} }
return *this; return *this;
} }
explicit mat4x4(const float dat[16]) explicit mat4x4(const float dat[16])
{ {
for (int i = 0; i < 16; i++) for (int i = 0; i < 4; i++)
{ for (int j = 0; j < 4; j++)
data.single[i] = dat[i]; data[i][j] = dat[j + i * 4];
} }
explicit mat4x4(const blt::vec4 dat[4])
{
for (int i = 0; i < 4; i++)
data[i] = dat[i];
} }
inline mat4x4& translate(float x, float y, float z) inline mat4x4& translate(float x, float y, float z)
@ -203,63 +225,80 @@ namespace blt
[[nodiscard]] mat4x4 adjugate() const [[nodiscard]] mat4x4 adjugate() const
{ {
mat4x4 ad; auto& m = *this;
ad.w11(w22() * w33() * w44() + w23() * w34() * w42() + w24() * w32() * w43() auto Coef00 = m[2][2] * m[3][3] - m[3][2] * m[2][3];
- w24() * w33() * w42() - w23() * w32() * w44() - w22() * w34() * w43()); auto Coef02 = m[1][2] * m[3][3] - m[3][2] * m[1][3];
ad.w12(w21() * w33() * w44() + w23() * w34() * w41() + w24() * w31() * w43() auto Coef03 = m[1][2] * m[2][3] - m[2][2] * m[1][3];
- w24() * w33() * w41() - w23() * w31() * w44() - w21() * w34() * w43());
ad.w13(w21() * w32() * w44() + w22() * w34() * w41() + w24() * w31() * w42()
- w24() * w32() * w41() - w22() * w31() * w44() - w21() * w34() * w42());
ad.w14(w21() * w32() * w43() + w22() * w33() * w41() + w23() * w31() * w42()
- w23() * w32() * w41() - w22() * w31() * w43() - w21() * w33() * w42());
ad.w21(w12() * w33() * w44() + w13() * w34() * w42() + w14() * w32() * w43() auto Coef04 = m[2][1] * m[3][3] - m[3][1] * m[2][3];
- w14() * w33() * w42() - w13() * w32() * w44() - w12() * w34() * w43()); auto Coef06 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
ad.w22(w11() * w33() * w44() + w13() * w34() * w41() + w14() * w31() * w43() auto Coef07 = m[1][1] * m[2][3] - m[2][1] * m[1][3];
- w14() * w33() * w41() - w13() * w31() * w44() - w11() * w34() * w43());
ad.w23(w11() * w32() * w44() + w12() * w34() * w41() + w14() * w31() * w42()
- w14() * w32() * w41() - w12() * w31() * w44() - w11() * w34() * w42());
ad.w24(w11() * w32() * w43() + w12() * w33() * w41() + w13() * w31() * w42()
- w13() * w32() * w41() - w12() * w31() * w43() - w11() * w33() * w42());
ad.w31(w12() * w23() * w44() + w13() * w24() * w42() + w14() * w22() * w43() auto Coef08 = m[2][1] * m[3][2] - m[3][1] * m[2][2];
- w14() * w23() * w42() - w13() * w22() * w44() - w12() * w24() * w43()); auto Coef10 = m[1][1] * m[3][2] - m[3][1] * m[1][2];
ad.w32(w11() * w23() * w44() + w13() * w24() * w41() + w14() * w21() * w43() auto Coef11 = m[1][1] * m[2][2] - m[2][1] * m[1][2];
- w14() * w23() * w41() - w13() * w21() * w44() - w11() * w24() * w43());
ad.w33(w11() * w22() * w44() + w12() * w24() * w41() + w14() * w21() * w42()
- w14() * w22() * w41() - w12() * w21() * w44() - w11() * w24() * w42());
ad.w34(w11() * w22() * w43() + w12() * w23() * w41() + w13() * w21() * w42()
- w13() * w22() * w41() - w12() * w21() * w43() - w11() * w23() * w42());
ad.w41(w12() * w23() * w34() + w13() * w24() * w32() + w14() * w22() * w33() auto Coef12 = m[2][0] * m[3][3] - m[3][0] * m[2][3];
- w14() * w23() * w32() - w13() * w22() * w34() - w12() * w24() * w33()); auto Coef14 = m[1][0] * m[3][3] - m[3][0] * m[1][3];
ad.w42(w11() * w23() * w34() + w13() * w24() * w31() + w14() * w21() * w33() auto Coef15 = m[1][0] * m[2][3] - m[2][0] * m[1][3];
- w14() * w23() * w31() - w13() * w21() * w34() - w11() * w24() * w33());
ad.w43(w11() * w22() * w34() + w12() * w24() * w31() + w14() * w21() * w32()
- w14() * w22() * w31() - w12() * w21() * w34() - w11() * w24() * w32());
ad.w44(w11() * w22() * w33() + w12() * w23() * w31() + w13() * w21() * w32()
- w13() * w22() * w31() - w12() * w21() * w33() - w11() * w23() * w32());
for (int i = 1; i <= 4; i++) auto Coef16 = m[2][0] * m[3][2] - m[3][0] * m[2][2];
{ auto Coef18 = m[1][0] * m[3][2] - m[3][0] * m[1][2];
for (int j = 1; j <= 4; j++) auto Coef19 = m[1][0] * m[2][2] - m[2][0] * m[1][2];
{
auto v = static_cast<float>(std::pow(-1, j + i)); auto Coef20 = m[2][0] * m[3][1] - m[3][0] * m[2][1];
ad.w(j, i, v * ad.w(j, i)); auto Coef22 = m[1][0] * m[3][1] - m[3][0] * m[1][1];
} auto Coef23 = m[1][0] * m[2][1] - m[2][0] * m[1][1];
}
return ad; blt::vec4 Fac0(Coef00, Coef00, Coef02, Coef03);
blt::vec4 Fac1(Coef04, Coef04, Coef06, Coef07);
blt::vec4 Fac2(Coef08, Coef08, Coef10, Coef11);
blt::vec4 Fac3(Coef12, Coef12, Coef14, Coef15);
blt::vec4 Fac4(Coef16, Coef16, Coef18, Coef19);
blt::vec4 Fac5(Coef20, Coef20, Coef22, Coef23);
blt::vec4 Vec0(m[1][0], m[0][0], m[0][0], m[0][0]);
blt::vec4 Vec1(m[1][1], m[0][1], m[0][1], m[0][1]);
blt::vec4 Vec2(m[1][2], m[0][2], m[0][2], m[0][2]);
blt::vec4 Vec3(m[1][3], m[0][3], m[0][3], m[0][3]);
blt::vec4 Inv0(Vec1 * Fac0 - Vec2 * Fac1 + Vec3 * Fac2);
blt::vec4 Inv1(Vec0 * Fac0 - Vec2 * Fac3 + Vec3 * Fac4);
blt::vec4 Inv2(Vec0 * Fac1 - Vec1 * Fac3 + Vec3 * Fac5);
blt::vec4 Inv3(Vec0 * Fac2 - Vec1 * Fac4 + Vec2 * Fac5);
blt::vec4 SignA(+1, -1, +1, -1);
blt::vec4 SignB(-1, +1, -1, +1);
return mat4x4(Inv0 * SignA, Inv1 * SignB, Inv2 * SignA, Inv3 * SignB);
} }
[[nodiscard]] mat4x4 inverse() const [[nodiscard]] mat4x4 inverse() const
{ {
auto ad = adjugate(); auto& m = *this;
auto d = 1 / determinant(); auto Inverse = adjugate();
return d * ad;
blt::vec4 Row0(Inverse[0][0], Inverse[1][0], Inverse[2][0], Inverse[3][0]);
blt::vec4 Dot0(m[0] * Row0);
auto Dot1 = (Dot0.x() + Dot0.y()) + (Dot0.z() + Dot0.w());
auto OneOverDeterminant = 1.0f / Dot1;
return Inverse * OneOverDeterminant;
}
inline const blt::vec4& operator[](int column) const
{
return data[column];
}
inline blt::vec4& operator[](int column)
{
return data[column];
} }
[[nodiscard]] inline float m(int row, int column) const [[nodiscard]] inline float m(int row, int column) const
{ return data.single[row + column * 4]; }; { return data[column][row]; };
[[nodiscard]] inline float m00() const [[nodiscard]] inline float m00() const
{ return m(0, 0); } { return m(0, 0); }
@ -310,7 +349,7 @@ namespace blt
{ return m(3, 3); } { return m(3, 3); }
inline float m(int row, int column, float value) inline float m(int row, int column, float value)
{ return data.single[row + column * 4] = value; }; { return data[column][row] = value; };
inline float m00(float d) inline float m00(float d)
{ return m(0, 0, d); } { return m(0, 0, d); }
@ -361,7 +400,7 @@ namespace blt
{ return m(3, 3, d); } { return m(3, 3, d); }
[[nodiscard]] inline float w(int row, int column) const [[nodiscard]] inline float w(int row, int column) const
{ return data.single[(row - 1) + (column - 1) * 4]; }; { return data[column - 1][row - 1]; };
[[nodiscard]] inline float w11() const [[nodiscard]] inline float w11() const
{ return m(0, 0); } { return m(0, 0); }
@ -412,7 +451,7 @@ namespace blt
{ return m(3, 3); } { return m(3, 3); }
inline float w(int row, int column, float value) inline float w(int row, int column, float value)
{ return data.single[(row - 1) + (column - 1) * 4] = value; }; { return data[column - 1][row - 1] = value; };
inline float w11(float d) inline float w11(float d)
{ return m(0, 0, d); } { return m(0, 0, d); }
@ -463,25 +502,25 @@ namespace blt
{ return m(3, 3, d); } { return m(3, 3, d); }
inline float* ptr() inline float* ptr()
{ return data.single; } { return data[0].data(); }
}; };
// adds the two mat4x4 left and right // adds the two mat4x4 left and right
inline mat4x4 operator+(const mat4x4& left, const mat4x4& right) inline mat4x4 operator+(const mat4x4& left, const mat4x4& right)
{ {
float data[16]; mat4x4 ret = left;
for (int i = 0; i < 16; i++) for (int i = 0; i < 4; i++)
data[i] = left.data.single[i] + right.data.single[i]; ret[i] += right.data[i];
return mat4x4{data}; return ret;
} }
// subtracts the right mat4x4 from the left. // subtracts the right mat4x4 from the left.
inline mat4x4 operator-(const mat4x4& left, const mat4x4& right) inline mat4x4 operator-(const mat4x4& left, const mat4x4& right)
{ {
float data[16]; mat4x4 ret = left;
for (int i = 0; i < 16; i++) for (int i = 0; i < 4; i++)
data[i] = left.data.single[i] - right.data.single[i]; ret[i] -= right.data[i];
return mat4x4{data}; return ret;
} }
// since matrices are made identity by default, we need to create the result collector matrix without identity // since matrices are made identity by default, we need to create the result collector matrix without identity
@ -494,7 +533,7 @@ namespace blt
// multiples the left with the right // multiples the left with the right
inline mat4x4 operator*(const mat4x4& left, const mat4x4& right) inline mat4x4 operator*(const mat4x4& left, const mat4x4& right)
{ {
mat4x4 mat{emptyMatrix}; mat4x4 mat = mat4x4::make_empty();
// TODO: check avx with this?? // TODO: check avx with this??
for (int i = 0; i < 4; i++) for (int i = 0; i < 4; i++)
@ -542,9 +581,9 @@ namespace blt
{ {
mat4x4 mat{}; mat4x4 mat{};
for (int i = 0; i < 16; i++) for (int i = 0; i < 4; i++)
{ {
mat.data.single[i] = c * v.data.single[i]; mat.data[i] = c * v.data[i];
} }
return mat; return mat;
@ -555,9 +594,9 @@ namespace blt
{ {
mat4x4 mat{}; mat4x4 mat{};
for (int i = 0; i < 16; i++) for (int i = 0; i < 4; i++)
{ {
mat.data.single[i] = v.data.single[i] * c; mat.data[i] = v.data[i] * c;
} }
return mat; return mat;
@ -568,9 +607,9 @@ namespace blt
{ {
mat4x4 mat{}; mat4x4 mat{};
for (int i = 0; i < 16; i++) for (int i = 0; i < 4; i++)
{ {
mat.data.single[i] = v.data.single[i] / c; mat.data[i] = v.data[i] / c;
} }
return mat; return mat;
@ -581,9 +620,10 @@ namespace blt
{ {
mat4x4 mat{}; mat4x4 mat{};
for (int i = 0; i < 16; i++) for (int i = 0; i < 4; i++)
{ {
mat.data.single[i] = c / v.data.single[i]; for (int j = 0; j < 4; j++)
mat.data[i][j] = c / v.data[i][j];
} }
return mat; return mat;
@ -594,7 +634,7 @@ namespace blt
// http://www.songho.ca/opengl/gl_projectionmatrix.html // http://www.songho.ca/opengl/gl_projectionmatrix.html
static inline mat4x4 perspective(float fov, float aspect_ratio, float near, float far) static inline mat4x4 perspective(float fov, float aspect_ratio, float near, float far)
{ {
mat4x4 perspectiveMat4x4{emptyMatrix}; mat4x4 perspectiveMat4x4 = mat4x4::make_empty();
float halfTan = tanf(fov * 0.5f * (float) M_PI / 180.0f); float halfTan = tanf(fov * 0.5f * (float) M_PI / 180.0f);
perspectiveMat4x4.m00(float(1.0 / (aspect_ratio * halfTan))); perspectiveMat4x4.m00(float(1.0 / (aspect_ratio * halfTan)));
@ -608,7 +648,7 @@ namespace blt
static inline mat4x4 ortho(float left, float right, float top, float bottom, float near, float far) static inline mat4x4 ortho(float left, float right, float top, float bottom, float near, float far)
{ {
mat4x4 perspectiveMat4x4{emptyMatrix}; mat4x4 perspectiveMat4x4 = mat4x4::make_empty();
perspectiveMat4x4.m00(2 / (right - left)); perspectiveMat4x4.m00(2 / (right - left));
perspectiveMat4x4.m11(2 / (top - bottom)); perspectiveMat4x4.m11(2 / (top - bottom));