TorqueGameEngines/Torque3D
1
0
Fork 0
mirror of https://github.com/TorqueGameEngines/Torque3D.git synced 2026-07-15 16:44:36 +00:00
Code Issues Projects Releases Packages Wiki Activity Actions

inverse function

Browse source 
fixed inverse function, was not returning correctly.
This commit is contained in:
marauder2k7 2024-07-29 21:50:33 +01:00
parent fc058aaa5c
commit 8c19f6d8ca
2 changed files with 21 additions and 12 deletions
Download patch file Download diff file Expand all files Collapse all files

12
Engine/source/math/mMatrix.h
View file

@ -678,7 +678,7 @@ public:
Matrix(const EulerF& e, const Point3F p); Matrix(const EulerF& e, const Point3F p);
Matrix<DATA_TYPE, rows, cols>& set(const EulerF& e, const Point3F p); Matrix<DATA_TYPE, rows, cols>& set(const EulerF& e, const Point3F p);
Matrix<DATA_TYPE, rows, cols> inverse(); Matrix<DATA_TYPE, rows, cols>& inverse();
Matrix<DATA_TYPE, rows, cols>& transpose(); Matrix<DATA_TYPE, rows, cols>& transpose();
void invert(); void invert();
@ -1374,7 +1374,7 @@ inline Matrix<DATA_TYPE, rows, cols>& Matrix<DATA_TYPE, rows, cols>::set(const E
} }
template<typename DATA_TYPE, U32 rows, U32 cols> template<typename DATA_TYPE, U32 rows, U32 cols>
inline Matrix<DATA_TYPE, rows, cols> Matrix<DATA_TYPE, rows, cols>::inverse() inline Matrix<DATA_TYPE, rows, cols>& Matrix<DATA_TYPE, rows, cols>::inverse()
{ {
// TODO: insert return statement here // TODO: insert return statement here
AssertFatal(rows == cols, "Can only perform inverse on square matrices."); AssertFatal(rows == cols, "Can only perform inverse on square matrices.");
@ -1382,7 +1382,6 @@ inline Matrix<DATA_TYPE, rows, cols> Matrix<DATA_TYPE, rows, cols>::inverse()
// Create augmented matrix [this | I] // Create augmented matrix [this | I]
Matrix<DATA_TYPE, size, 2 * size> augmentedMatrix; Matrix<DATA_TYPE, size, 2 * size> augmentedMatrix;
Matrix<DATA_TYPE, size, size> resultMatrix;
for (U32 i = 0; i < size; i++) for (U32 i = 0; i < size; i++)
{ {
@ -1418,7 +1417,8 @@ inline Matrix<DATA_TYPE, rows, cols> Matrix<DATA_TYPE, rows, cols>::inverse()
// Early out if pivot is 0, return identity matrix. // Early out if pivot is 0, return identity matrix.
if (augmentedMatrix(i, i) == static_cast<DATA_TYPE>(0)) if (augmentedMatrix(i, i) == static_cast<DATA_TYPE>(0))
{ {
return Matrix<DATA_TYPE, rows, cols>(true); this->identity();
return *this;
} }
DATA_TYPE pivotVal = augmentedMatrix(i, i); DATA_TYPE pivotVal = augmentedMatrix(i, i);
@ -1447,11 +1447,11 @@ inline Matrix<DATA_TYPE, rows, cols> Matrix<DATA_TYPE, rows, cols>::inverse()
{ {
for (U32 j = 0; j < size; j++) for (U32 j = 0; j < size; j++)
{ {
resultMatrix(i, j) = augmentedMatrix(i, j + size); (*this)(i, j) = augmentedMatrix(i, j + size);
} }
} }
return resultMatrix; return (*this);
} }
template<typename DATA_TYPE, U32 rows, U32 cols> template<typename DATA_TYPE, U32 rows, U32 cols>

21
Engine/source/testing/mathMatrixTest.cpp
View file

@ -114,12 +114,6 @@ TEST(MatrixTest, TestMulFunction)
test.mul(test2); test.mul(test2);
// mulL result
/*(null) = | 0.5403 -0.4546 0.7081 0.0000 |
| 0.8415 0.2919 -0.4546 0.0000 |
| 0.0000 0.8415 0.5403 0.0000 |
| 4.3845 -0.8479 3.1714 1.0000 |*/
EXPECT_NEAR(test(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(test(0, 1), 0.8415f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 5.0f, 0.001f); EXPECT_NEAR(test(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(test(0, 1), 0.8415f, 0.001f); EXPECT_NEAR(test(0, 2), 0.0f, 0.001f); EXPECT_NEAR(test(0, 3), 5.0f, 0.001f);
EXPECT_NEAR(test(1, 0), -0.4546f, 0.001f); EXPECT_NEAR(test(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(test(1, 2), 0.8415f, 0.001f); EXPECT_NEAR(test(1, 3), 2.0f, 0.001f); EXPECT_NEAR(test(1, 0), -0.4546f, 0.001f); EXPECT_NEAR(test(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(test(1, 2), 0.8415f, 0.001f); EXPECT_NEAR(test(1, 3), 2.0f, 0.001f);
EXPECT_NEAR(test(2, 0), 0.7081f, 0.001f); EXPECT_NEAR(test(2, 1), -0.4546f, 0.001f); EXPECT_NEAR(test(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(test(2, 3), 1.0f, 0.001f); EXPECT_NEAR(test(2, 0), 0.7081f, 0.001f); EXPECT_NEAR(test(2, 1), -0.4546f, 0.001f); EXPECT_NEAR(test(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(test(2, 3), 1.0f, 0.001f);
@ -170,3 +164,18 @@ TEST(MatrixTest, TestMulArgMatrixFunction)
EXPECT_NEAR(testResult(3, 0), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 1), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 2), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 3), 1.0f, 0.001f); EXPECT_NEAR(testResult(3, 0), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 1), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 2), 0.0f, 0.001f); EXPECT_NEAR(testResult(3, 3), 1.0f, 0.001f);
} }
TEST(MatrixTest, TestInverse)
{
MatrixF test(true);
test.setPosition(Point3F(5.0f, 2.0f, 1.0f));
MatrixF test2(EulerF(1.0f, 0.0f, 1.0f));
test.mulL(test2);
test.inverse();
EXPECT_NEAR(test(0, 0), 0.5403f, 0.001f); EXPECT_NEAR(test(0, 1), -0.4546f, 0.001f); EXPECT_NEAR(test(0, 2), 0.7081f, 0.001f); EXPECT_NEAR(test(0, 3), -5.0f, 0.001f);
EXPECT_NEAR(test(1, 0), 0.8415f, 0.001f); EXPECT_NEAR(test(1, 1), 0.2919f, 0.001f); EXPECT_NEAR(test(1, 2), -0.4546f, 0.001f); EXPECT_NEAR(test(1, 3), -2.0f, 0.001f);
EXPECT_NEAR(test(2, 0), 0.0, 0.001f); EXPECT_NEAR(test(2, 1), 0.8415f, 0.001f); EXPECT_NEAR(test(2, 2), 0.5403f, 0.001f); EXPECT_NEAR(test(2, 3), -1.0f, 0.001f);
EXPECT_NEAR(test(3, 0), 0.0f, 0.001f); EXPECT_NEAR(test(3, 1), 0.0f, 0.001f); EXPECT_NEAR(test(3, 2), 0.0f, 0.001f); EXPECT_NEAR(test(3, 3), 1.0f, 0.001f);
}