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Update mat44_impl.inl

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fix matrix normalize
This commit is contained in:
marauder2k7 2026-03-04 21:22:22 +00:00
parent 5c3c0546f6
commit 5a6467d54a
1 changed files with 25 additions and 19 deletions
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44
Engine/source/math/impl/mat44_impl.inl
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@ -176,31 +176,37 @@ namespace math_backend::mat44
m[11] = v_extract0(v_swizzle_singular_mask(result, 2));
}
inline void mat44_normalize_impl(float* a)
inline void mat44_normalize_impl(float* m)
{
// Load the matrix
f32x4x4 m = m_load(a);
// Load the matrix into SIMD registers
f32x4x4 mat = m_load(m);
// Extract axes (rows 0-2), zero out w using v_mask_xyz
f32x4 xaxis = v_mul(m.r0, v_mask_xyz());
f32x4 yaxis = v_mul(m.r1, v_mask_xyz());
f32x4 zaxis = v_mul(m.r2, v_mask_xyz());
// Transpose: now rows are columns
mat = m_transpose(mat);
xaxis = v_normalize3(xaxis);
// Extract columns (which are now rows)
f32x4 col0 = mat.r0;
f32x4 col1 = mat.r1;
float dotXY = v_extract0(v_hadd4(v_mul(xaxis, yaxis)));
f32x4 projYonX = v_mul(v_set1(dotXY), xaxis);
yaxis = v_normalize3(v_sub(yaxis, projYonX));
// Rebuild orthonormal basis
f32x4 col2 = v_cross(col0, col1);
col1 = v_cross(col2, col0);
zaxis = v_cross(xaxis, yaxis);
// Normalize columns
col0 = v_normalize3(col0);
col1 = v_normalize3(col1);
col2 = v_normalize3(col2);
// Store normalized axes back (preserve translation w)
m.r0 = v_preserve_w(xaxis, m.r0);
m.r1 = v_preserve_w(yaxis, m.r1);
m.r2 = v_preserve_w(zaxis, m.r2);
// Write back directly into transposed matrix
mat.r0 = col0;
mat.r1 = col1;
mat.r2 = col2;
// Store back to memory
m_store(a, m);
// Transpose back to row-major
mat = m_transpose(mat);
// Store back
m_store(m, mat);
}
// Matrix Multiply: a * b
@ -227,7 +233,7 @@ namespace math_backend::mat44
{
f32x4x4 ma = m_load(m);
f32x4 va = v_load3_vec(v);
f32x4 vr = m_mul_vec4(ma, va);
f32x4 vr = m_mul_vec3(ma, va);
v_store3(r, vr);
}