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matrix functions

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most matrix functions are converted over, no benefit to converting over the project/ortho because they would be scalar anyway but may need to move them regardless.
This commit is contained in:
marauder2k7 2026-03-03 19:09:00 +00:00
parent 67f12311d4
commit bc3145bc55
21 changed files with 1881 additions and 136 deletions
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165
Engine/source/math/impl/math_c.cpp
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@ -1,3 +1,4 @@
#include "platform/platform.h"
#include "math/public/float4_dispatch.h"
#include "math/public/float3_dispatch.h"
#include "math/public/mat44_dispatch.h"
@ -196,6 +197,89 @@ namespace math_backend::mat44::dispatch
swap(a[11], a[14]);
};
gMat44.determinant = [](const float* m) {
return m[0] * (m[5] * m[10] - m[6] * m[9]) +
m[4] * (m[2] * m[9] - m[1] * m[10]) +
m[8] * (m[1] * m[6] - m[2] * m[5]);
};
gMat44.mul_vec3 = [](const float* a, const float* b, float* r) {
#ifdef TORQUE_COMPILER_GCC
const F32 v0 = b[0], v1 = b[1], v2 = b[2];
const F32 m0 = a[0], m1 = a[1], m2 = a[2];
const F32 m4 = a[4], m5 = a[5], m6 = a[6];
const F32 m8 = a[8], m9 = a[9], m10 = a[10];
r[0] = m0 * v0 + m1 * v1 + m2 * v2;
r[1] = m4 * v0 + m5 * v1 + m6 * v2;
r[2] = m8 * v0 + m9 * v1 + m10 * v2;
#else
r[0] = a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
r[1] = a[4] * b[0] + a[5] * b[1] + a[6] * b[2];
r[2] = a[8] * b[0] + a[9] * b[1] + a[10] * b[2];
#endif
};
gMat44.inverse = [](float* m) {
// using Cramers Rule find the Inverse
// Minv = (1/det(M)) * adjoint(M)
float det = gMat44.determinant(m);
AssertFatal(det != 0.0f, "MatrixF::inverse: non-singular matrix, no inverse.");
float invDet = 1.0f / det;
float temp[16];
temp[0] = (m[5] * m[10] - m[6] * m[9]) * invDet;
temp[1] = (m[9] * m[2] - m[10] * m[1]) * invDet;
temp[2] = (m[1] * m[6] - m[2] * m[5]) * invDet;
temp[4] = (m[6] * m[8] - m[4] * m[10]) * invDet;
temp[5] = (m[10] * m[0] - m[8] * m[2]) * invDet;
temp[6] = (m[2] * m[4] - m[0] * m[6]) * invDet;
temp[8] = (m[4] * m[9] - m[5] * m[8]) * invDet;
temp[9] = (m[8] * m[1] - m[9] * m[0]) * invDet;
temp[10] = (m[0] * m[5] - m[1] * m[4]) * invDet;
m[0] = temp[0];
m[1] = temp[1];
m[2] = temp[2];
m[4] = temp[4];
m[5] = temp[5];
m[6] = temp[6];
m[8] = temp[8];
m[9] = temp[9];
m[10] = temp[10];
// invert the translation
temp[0] = -m[3];
temp[1] = -m[7];
temp[2] = -m[11];
gMat44.mul_vec3(m, temp, &temp[4]);
m[3] = temp[4];
m[7] = temp[5];
m[11] = temp[6];
};
gMat44.affine_inverse = [](float* a) {
F32 temp[16];
dMemcpy(temp, a, 16 * sizeof(F32));
// Transpose rotation
a[1] = temp[4];
a[4] = temp[1];
a[2] = temp[8];
a[8] = temp[2];
a[6] = temp[9];
a[9] = temp[6];
a[3] = -(temp[0] * temp[3] + temp[4] * temp[7] + temp[8] * temp[11]);
a[7] = -(temp[1] * temp[3] + temp[5] * temp[7] + temp[9] * temp[11]);
a[11] = -(temp[2] * temp[3] + temp[6] * temp[7] + temp[10] * temp[11]);
};
gMat44.scale = [](float* a, const float* s) {
// Note, doesn't allow scaling w...
@ -204,5 +288,86 @@ namespace math_backend::mat44::dispatch
a[8] *= s[0]; a[9] *= s[1]; a[10] *= s[2];
a[12] *= s[0]; a[13] *= s[1]; a[14] *= s[2];
};
gMat44.get_scale = [](const float* a, float* s) {
// Note, doesn't allow scaling w...
s[0] = sqrt(a[0] * a[0] + a[4] * a[4] + a[8] * a[8]);
s[1] = sqrt(a[1] * a[1] + a[5] * a[5] + a[9] * a[9]);
s[2] = sqrt(a[2] * a[2] + a[6] * a[6] + a[10] * a[10]);
};
gMat44.mul_float4 = [](const float* a, const float* b, float* r) {
AssertFatal(b != r, "Error, aliasing matrix mul pointers not allowed here!");
r[0] = a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
r[1] = a[4] * b[0] + a[5] * b[1] + a[6] * b[2] + a[7] * b[3];
r[2] = a[8] * b[0] + a[9] * b[1] + a[10] * b[2] + a[11] * b[3];
r[2] = a[12] * b[0] + a[13] * b[1] + a[14] * b[2] + a[15] * b[3];
};
gMat44.mul_pos3 = [](const float* a, const float* b, float* r) {
AssertFatal(b != r, "Error, aliasing matrix mul pointers not allowed here!");
r[0] = a[0]*b[0] + a[1]*b[1] + a[2]*b[2] + a[3];
r[1] = a[4]*b[0] + a[5]*b[1] + a[6]*b[2] + a[7];
r[2] = a[8]*b[0] + a[9]*b[1] + a[10]*b[2] + a[11];
};
gMat44.mul_vec3 = [](const float* a, const float* b, float* r) {
AssertFatal(b != r, "Error, aliasing matrix mul pointers not allowed here!");
r[0] = a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
r[1] = a[4] * b[0] + a[5] * b[1] + a[6] * b[2];
r[2] = a[8] * b[0] + a[9] * b[1] + a[10] * b[2];
};
gMat44.mul_mat44 = [](const float* a, const float* b, float* r) {
r[0] = a[0] * b[0] + a[1] * b[4] + a[2] * b[8] + a[3] * b[12];
r[1] = a[0] * b[1] + a[1] * b[5] + a[2] * b[9] + a[3] * b[13];
r[2] = a[0] * b[2] + a[1] * b[6] + a[2] * b[10] + a[3] * b[14];
r[3] = a[0] * b[3] + a[1] * b[7] + a[2] * b[11] + a[3] * b[15];
r[4] = a[4] * b[0] + a[5] * b[4] + a[6] * b[8] + a[7] * b[12];
r[5] = a[4] * b[1] + a[5] * b[5] + a[6] * b[9] + a[7] * b[13];
r[6] = a[4] * b[2] + a[5] * b[6] + a[6] * b[10] + a[7] * b[14];
r[7] = a[4] * b[3] + a[5] * b[7] + a[6] * b[11] + a[7] * b[15];
r[8] = a[8] * b[0] + a[9] * b[4] + a[10] * b[8] + a[11] * b[12];
r[9] = a[8] * b[1] + a[9] * b[5] + a[10] * b[9] + a[11] * b[13];
r[10] = a[8] * b[2] + a[9] * b[6] + a[10] * b[10] + a[11] * b[14];
r[11] = a[8] * b[3] + a[9] * b[7] + a[10] * b[11] + a[11] * b[15];
r[12] = a[12] * b[0] + a[13] * b[4] + a[14] * b[8] + a[15] * b[12];
r[13] = a[12] * b[1] + a[13] * b[5] + a[14] * b[9] + a[15] * b[13];
r[14] = a[12] * b[2] + a[13] * b[6] + a[14] * b[10] + a[15] * b[14];
r[15] = a[12] * b[3] + a[13] * b[7] + a[14] * b[11] + a[15] * b[15];
};
gMat44.normalize = [](float* a) {
F32 col0[3], col1[3], col2[3];
// extract columns 0 and 1
col0[0] = a[0];
col0[1] = a[4];
col0[2] = a[8];
col1[0] = a[1];
col1[1] = a[5];
col1[2] = a[9];
math_backend::float3::dispatch::gFloat3.normalize(col0);
math_backend::float3::dispatch::gFloat3.normalize(col1);
math_backend::float3::dispatch::gFloat3.normalize(col2);
// store the normalized columns
a[0] = col0[0];
a[4] = col0[1];
a[8] = col0[2];
a[1] = col1[0];
a[5] = col1[1];
a[9] = col1[2];
a[2] = col2[0];
a[6] = col2[1];
a[10] = col2[2];
};
}
}