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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
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@ -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)
{