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add inverse to

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fix tests by adding an explicit inverse to function
copy 3rd row into dst it seems original was not touching this at all.
This commit is contained in:
marauder2k7 2026-03-04 09:56:29 +00:00
parent 228b474f2e
commit caeaedde52
9 changed files with 87 additions and 3 deletions
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46
Engine/source/math/impl/mat44_impl.inl
View file

@ -85,7 +85,7 @@ namespace math_backend::mat44
// Store inverse 3x3 (transpose of cofactor matrix)
mTemp = m_transpose(mTemp);
mTemp.r3 = v_set(0, 0, 0, 1.0f);
mTemp.r3 = ma.r3;
// ---- Translation ----
@ -106,6 +106,50 @@ namespace math_backend::mat44
m[11] = v_extract0(v_swizzle_singular_mask(result, 2));
}
// Matrix Inverse
inline void mat44_inverse_to_impl(const float* m, float* dst)
{
f32x4x4 ma = m_load(m);
// Compute cofactors using cross products
f32x4x4 mTemp;
mTemp.r0 = v_cross(ma.r1, ma.r2);
mTemp.r1 = v_cross(ma.r2, ma.r0);
mTemp.r2 = v_cross(ma.r0, ma.r1);
// Determinant = dot(ma.r0, c0)
f32x4 det = v_dot3(ma.r0, mTemp.r0);
f32x4 invDet = v_rcp_nr(det);
// Scale cofactors
mTemp.r0 = v_mul(mTemp.r0, invDet);
mTemp.r1 = v_mul(mTemp.r1, invDet);
mTemp.r2 = v_mul(mTemp.r2, invDet);
// Store inverse 3x3 (transpose of cofactor matrix)
mTemp = m_transpose(mTemp);
mTemp.r3 = ma.r3;
// ---- Translation ----
// Load original translation
f32x4 T = v_set(dst[3], dst[7], dst[11], 0.0f);
// Compute -(Tx*ma.r0 + Ty*ma.r1 + Tz*ma.r2)
f32x4 result = v_mul(ma.r0, v_swizzle_singular_mask(T, 0));
result = v_add(result, v_mul(ma.r1, v_swizzle_singular_mask(T, 1)));
result = v_add(result, v_mul(ma.r2, v_swizzle_singular_mask(T, 2)));
result = v_mul(result, v_set1(-1.0f));
m_store(dst, mTemp);
// Store translation
dst[3] = v_extract0(result);
dst[7] = v_extract0(v_swizzle_singular_mask(result, 1));
dst[11] = v_extract0(v_swizzle_singular_mask(result, 2));
}
// Matrix Affine Inverse
inline void mat44_affine_inverse_impl(float* m)
{

35
Engine/source/math/impl/math_c.cpp
View file

@ -263,6 +263,41 @@ namespace math_backend::mat44::dispatch
};
gMat44.inverse_to = [](const float* m, float* d) {
// using Cramers Rule find the Inverse
// Minv = (1/det(M)) * adjoint(M)
F32 det = gMat44.determinant(m);
AssertFatal(det != 0.0f, "MatrixF::inverse: non-singular matrix, no inverse.");
F32 invDet = 1.0f / det;
d[0] = (m[5] * m[10] - m[6] * m[9]) * invDet;
d[1] = (m[9] * m[2] - m[10] * m[1]) * invDet;
d[2] = (m[1] * m[6] - m[2] * m[5]) * invDet;
d[4] = (m[6] * m[8] - m[4] * m[10]) * invDet;
d[5] = (m[10] * m[0] - m[8] * m[2]) * invDet;
d[6] = (m[2] * m[4] - m[0] * m[6]) * invDet;
d[8] = (m[4] * m[9] - m[5] * m[8]) * invDet;
d[9] = (m[8] * m[1] - m[9] * m[0]) * invDet;
d[10] = (m[0] * m[5] - m[1] * m[4]) * invDet;
// invert the translation
F32 temp[6];
temp[0] = -m[3];
temp[1] = -m[7];
temp[2] = -m[11];
gMat44.mul_vec3(d, temp, &temp[3]);
d[3] = temp[3];
d[7] = temp[4];
d[11] = temp[5];
d[12] = m[12];
d[13] = m[13];
d[14] = m[14];
d[15] = m[15];
};
gMat44.affine_inverse = [](float* a) {
F32 temp[16];
dMemcpy(temp, a, 16 * sizeof(F32));

1
Engine/source/math/isa/avx/mat44.cpp
View file

@ -9,6 +9,7 @@ namespace math_backend::mat44::dispatch
{
gMat44.transpose = mat44_transpose_impl;
gMat44.inverse = mat44_inverse_impl;
gMat44.inverse_to = mat44_inverse_to_impl;
gMat44.affine_inverse = mat44_affine_inverse_impl;
gMat44.mul_mat44 = mat44_mul_mat44_impl;
gMat44.mul_pos3 = mat44_mul_pos3_impl;

1
Engine/source/math/isa/avx2/mat44.cpp
View file

@ -9,6 +9,7 @@ namespace math_backend::mat44::dispatch
{
gMat44.transpose = mat44_transpose_impl;
gMat44.inverse = mat44_inverse_impl;
gMat44.inverse_to = mat44_inverse_to_impl;
gMat44.affine_inverse = mat44_affine_inverse_impl;
gMat44.mul_mat44 = mat44_mul_mat44_impl;
gMat44.mul_pos3 = mat44_mul_pos3_impl;

1
Engine/source/math/isa/neon/mat44.cpp
View file

@ -9,6 +9,7 @@ namespace math_backend::mat44::dispatch
{
gMat44.transpose = mat44_transpose_impl;
gMat44.inverse = mat44_inverse_impl;
gMat44.inverse_to = mat44_inverse_to_impl;
gMat44.affine_inverse = mat44_affine_inverse_impl;
gMat44.mul_mat44 = mat44_mul_mat44_impl;
gMat44.mul_pos3 = mat44_mul_pos3_impl;

1
Engine/source/math/isa/sse2/mat44.cpp
View file

@ -9,6 +9,7 @@ namespace math_backend::mat44::dispatch
{
gMat44.transpose = mat44_transpose_impl;
gMat44.inverse = mat44_inverse_impl;
gMat44.inverse_to = mat44_inverse_to_impl;
gMat44.affine_inverse = mat44_affine_inverse_impl;
gMat44.mul_mat44 = mat44_mul_mat44_impl;
gMat44.mul_pos3 = mat44_mul_pos3_impl;

1
Engine/source/math/isa/sse41/mat44.cpp
View file

@ -9,6 +9,7 @@ namespace math_backend::mat44::dispatch
{
gMat44.transpose = mat44_transpose_impl;
gMat44.inverse = mat44_inverse_impl;
gMat44.inverse_to = mat44_inverse_to_impl;
gMat44.affine_inverse = mat44_affine_inverse_impl;
gMat44.mul_mat44 = mat44_mul_mat44_impl;
gMat44.mul_pos3 = mat44_mul_pos3_impl;

3
Engine/source/math/mMatrix.h
View file

@ -381,8 +381,7 @@ inline MatrixF& MatrixF::inverse()
inline void MatrixF::invertTo( MatrixF *out )
{
out = this;
GetMat44().inverse(*out);
GetMat44().inverse_to(*this, *out);
}
inline MatrixF& MatrixF::affineInverse()

1
Engine/source/math/public/mat44_dispatch.h
View file

@ -9,6 +9,7 @@ namespace math_backend::mat44::dispatch
{
void (*transpose)(float*) = nullptr;
void (*inverse)(float*) = nullptr;
void (*inverse_to)(const float*, float*) = nullptr;
void (*affine_inverse)(float*) = nullptr;
void (*normalize)(float*) = nullptr;
void (*mul_mat44)(const float* a, const float* b, float* r) = nullptr;