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fix

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fix invertTo function
unitTest to make sure matrix calling invertTo does not get changed.
reimplemented gauss jordan.
This commit is contained in:
marauder2k7 2024-07-31 18:52:18 +01:00
parent ab4b4cbf96
commit 165a2bea01
2 changed files with 19 additions and 71 deletions
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17
Engine/source/math/mMatrix.h
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@ -734,7 +734,14 @@ public:
///< M * p -> p (full [4x4] * [1x4])
void mul(Point4F& p) const { p = *this * p; }
///< M * p -> p (assume w = 1.0f)
void mulP(Point3F& p) const { p = *this * p; }
void mulP(Point3F& p) const {
Point3F result;
result.x = (*this)(0, 0) * p.x + (*this)(0, 1) * p.y + (*this)(0, 2) * p.z + (*this)(0, 3);
result.y = (*this)(1, 0) * p.x + (*this)(1, 1) * p.y + (*this)(1, 2) * p.z + (*this)(1, 3);
result.z = (*this)(2, 0) * p.x + (*this)(2, 1) * p.y + (*this)(2, 2) * p.z + (*this)(2, 3);
p = result;
}
///< M * p -> d (assume w = 1.0f)
void mulP(const Point3F& p, Point3F* d) const { *d = *this * p; }
///< M * v -> v (assume w = 0.0f)
@ -1252,7 +1259,9 @@ inline void Matrix<DATA_TYPE, rows, cols>::invertTo(Matrix<DATA_TYPE, cols, rows
template<typename DATA_TYPE, U32 rows, U32 cols>
inline void Matrix<DATA_TYPE, rows, cols>::invertTo(Matrix<DATA_TYPE, cols, rows>* matrix)
{
Matrix<DATA_TYPE, rows, cols> invMatrix = this->inverse();
Matrix<DATA_TYPE, rows, cols> invMatrix = *this;
invMatrix.inverse();
for (U32 i = 0; i < rows; ++i)
{
@ -1433,7 +1442,7 @@ inline Matrix<DATA_TYPE, rows, cols>& Matrix<DATA_TYPE, rows, cols>::set(const E
template<typename DATA_TYPE, U32 rows, U32 cols>
inline Matrix<DATA_TYPE, rows, cols>& Matrix<DATA_TYPE, rows, cols>::inverse()
{
#if 0
#if 1
// NOTE: Gauss-Jordan elimination is yielding unpredictable results due to precission handling and
// numbers near 0.0
//
@ -1565,7 +1574,7 @@ inline Matrix<DATA_TYPE, rows, cols>& Matrix<DATA_TYPE, rows, cols>::inverse()
template<typename DATA_TYPE, U32 rows, U32 cols>
inline bool Matrix<DATA_TYPE, rows, cols>::fullInverse()
{
#if 0
#if 1
// NOTE: Gauss-Jordan elimination is yielding unpredictable results due to precission handling and
// numbers near 0.0
AssertFatal(rows == cols, "Can only perform inverse on square matrices.");