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normalize and affineInverse

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added functions for normalize and affineInverse
This commit is contained in:
marauder2k7 2024-07-28 11:54:44 +01:00
parent 2cee5f7e10
commit 8f8cc32636
2 changed files with 51 additions and 2 deletions
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25
Engine/source/math/mMatrix.cpp
View file

@ -372,9 +372,9 @@ Matrix<DATA_TYPE, rows, cols>& Matrix<DATA_TYPE, rows, cols>::inverse()
} }
} }
// Early out if pivot is 0, return a new empty 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>(); return Matrix<DATA_TYPE, rows, cols>(true);
} }
DATA_TYPE pivotVal = augmentedMatrix(i, i); DATA_TYPE pivotVal = augmentedMatrix(i, i);
@ -550,6 +550,27 @@ bool Matrix<DATA_TYPE, rows, cols>::isAffine() const
return true; return true;
} }
template<typename DATA_TYPE, U32 rows, U32 cols>
Matrix<DATA_TYPE, rows, cols>& Matrix<DATA_TYPE, rows, cols>::affineInverse()
{
AssertFatal(rows >= 4 && cols >= 4, "affineInverse requires at least 4x4");
Matrix<DATA_TYPE, 3, 3> subMatrix;
for (U32 i = 0; i < 3; i++) {
for (U32 j = 0; j < 3; j++) {
subMatrix(i, j) = (*this)(i, j);
}
}
subMatrix.transpose();
Point3F pos = getPosition();
(*this)(0, 3) = mDot(subMatrix.getColumn3F(0), pos);
(*this)(1, 3) = mDot(subMatrix.getColumn3F(1), pos);
(*this)(2, 3) = mDot(subMatrix.getColumn3F(2), pos);
return *this;
}
template<typename DATA_TYPE, U32 rows, U32 cols> template<typename DATA_TYPE, U32 rows, U32 cols>
EulerF Matrix<DATA_TYPE, rows, cols>::toEuler() const EulerF Matrix<DATA_TYPE, rows, cols>::toEuler() const

28
Engine/source/math/mMatrix.h
View file

@ -653,6 +653,8 @@ public:
/// Make this an identity matrix. /// Make this an identity matrix.
Matrix<DATA_TYPE, rows, cols>& identity(); Matrix<DATA_TYPE, rows, cols>& identity();
void normalize();
Matrix<DATA_TYPE, rows, cols>& set(const EulerF& e); Matrix<DATA_TYPE, rows, cols>& set(const EulerF& e);
Matrix(const EulerF& e, const Point3F p); Matrix(const EulerF& e, const Point3F p);
@ -730,8 +732,14 @@ public:
void mul(Box3F& box) const; void mul(Box3F& box) const;
// ------ Getters ------ // ------ Getters ------
// col * rows + row
// static U32 idx(U32 i, U32 j) { return (i * rows + j); }
bool isAffine() const; bool isAffine() const;
bool isIdentity() const; bool isIdentity() const;
/// Take inverse of matrix assuming it is affine (rotation,
/// scale, sheer, translation only).
Matrix<DATA_TYPE, rows, cols>& affineInverse();
Point3F getScale() const; Point3F getScale() const;
EulerF toEuler() const; EulerF toEuler() const;
@ -906,6 +914,26 @@ inline Matrix<DATA_TYPE, rows, cols>& Matrix<DATA_TYPE, rows, cols>::identity()
return (*this); return (*this);
} }
template<typename DATA_TYPE, U32 rows, U32 cols>
inline void Matrix<DATA_TYPE, rows, cols>::normalize()
{
AssertFatal(rows >= 3 && cols >= 3, "Normalize can only be applied 3x3 or more");
Point3F col0, col1, col2;
getColumn(0, &col0);
getColumn(1, &col1);
mCross(col0, col1, &col2);
mCross(col2, col0, &col1);
col0.normalize();
col1.normalize();
col2.normalize();
setColumn(0, col0);
setColumn(1, col1);
setColumn(2, col2);
}
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>::scale(const Point3F& s) inline Matrix<DATA_TYPE, rows, cols>& Matrix<DATA_TYPE, rows, cols>::scale(const Point3F& s)
{ {