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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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35
Engine/source/math/impl/math_c.cpp
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@ -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));