mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-03-19 04:10:54 +00:00
caeaedde52
fix tests by adding an explicit inverse to function copy 3rd row into dst it seems original was not touching this at all.
338 lines
9.8 KiB
C++
338 lines
9.8 KiB
C++
#pragma once
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#include <cmath> // for sqrtf, etc.
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#include "../mConstants.h"
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namespace math_backend::mat44
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{
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//------------------------------------------------------------------
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// Matrix Transpose
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inline void mat44_transpose_impl(float* m)
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{
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f32x4x4 ma = m_load(m);
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f32x4x4 mr = m_transpose(ma);
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m_store(m, mr);
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}
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inline float mat44_get_determinant(const float* m)
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{
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f32x4x4 ma = m_load(m);
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return v_extract0(m_determinant_affine(ma));
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}
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// Matrix Scale: Float3 (assume w = 1.0f)
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inline void mat44_scale_impl(float* m, const float* s)
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{
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f32x4x4 ma = m_load(m);
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f32x4 va = v_load3_pos(s);
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ma.r0 = v_mul(ma.r0, va);
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ma.r1 = v_mul(ma.r1, va);
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ma.r2 = v_mul(ma.r2, va);
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ma.r3 = v_mul(ma.r3, va);
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m_store(m, ma);
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}
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inline void mat44_get_scale_impl(const float* m, float* s)
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{
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f32x4x4 ma = m_load(m);
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// squared lengths
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f32x4 len2_x = v_dot3(ma.r0, ma.r0);
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f32x4 len2_y = v_dot3(ma.r1, ma.r1);
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f32x4 len2_z = v_dot3(ma.r2, ma.r2);
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// extract and sqrt
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s[0] = 1.0f / v_extract0(v_rsqrt_nr(len2_x));
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s[1] = 1.0f / v_extract0(v_rsqrt_nr(len2_y));
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s[2] = 1.0f / v_extract0(v_rsqrt_nr(len2_z));
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}
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// Matrix Scale Uniform: Float value (assume w = 1.0f)
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inline void mat44_scale_uniform(float* m, float s)
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{
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f32x4x4 ma = m_load(m);
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// (s, s, s, 1)
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f32x4 scale = v_set(s, s, s, 1.0f);
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// Scale only rotation rows (xyz part)
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ma.r0 = v_mul(ma.r0, scale);
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ma.r1 = v_mul(ma.r1, scale);
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ma.r2 = v_mul(ma.r2, scale);
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m_store(m, ma);
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}
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// Matrix Inverse
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inline void mat44_inverse_impl(float* m)
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{
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f32x4x4 ma = m_load(m);
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// Compute cofactors using cross products
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f32x4x4 mTemp;
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mTemp.r0 = v_cross(ma.r1, ma.r2);
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mTemp.r1 = v_cross(ma.r2, ma.r0);
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mTemp.r2 = v_cross(ma.r0, ma.r1);
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// Determinant = dot(ma.r0, c0)
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f32x4 det = v_dot3(ma.r0, mTemp.r0);
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f32x4 invDet = v_rcp_nr(det);
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// Scale cofactors
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mTemp.r0 = v_mul(mTemp.r0, invDet);
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mTemp.r1 = v_mul(mTemp.r1, invDet);
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mTemp.r2 = v_mul(mTemp.r2, invDet);
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// Store inverse 3x3 (transpose of cofactor matrix)
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mTemp = m_transpose(mTemp);
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mTemp.r3 = ma.r3;
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// ---- Translation ----
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// Load original translation
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f32x4 T = v_set(m[3], m[7], m[11], 0.0f);
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// Compute -(Tx*ma.r0 + Ty*ma.r1 + Tz*ma.r2)
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f32x4 result = v_mul(ma.r0, v_swizzle_singular_mask(T, 0));
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result = v_add(result, v_mul(ma.r1, v_swizzle_singular_mask(T, 1)));
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result = v_add(result, v_mul(ma.r2, v_swizzle_singular_mask(T, 2)));
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result = v_mul(result, v_set1(-1.0f));
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m_store(m, mTemp);
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// Store translation
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m[3] = v_extract0(result);
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m[7] = v_extract0(v_swizzle_singular_mask(result, 1));
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m[11] = v_extract0(v_swizzle_singular_mask(result, 2));
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}
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// Matrix Inverse
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inline void mat44_inverse_to_impl(const float* m, float* dst)
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{
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f32x4x4 ma = m_load(m);
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// Compute cofactors using cross products
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f32x4x4 mTemp;
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mTemp.r0 = v_cross(ma.r1, ma.r2);
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mTemp.r1 = v_cross(ma.r2, ma.r0);
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mTemp.r2 = v_cross(ma.r0, ma.r1);
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// Determinant = dot(ma.r0, c0)
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f32x4 det = v_dot3(ma.r0, mTemp.r0);
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f32x4 invDet = v_rcp_nr(det);
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// Scale cofactors
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mTemp.r0 = v_mul(mTemp.r0, invDet);
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mTemp.r1 = v_mul(mTemp.r1, invDet);
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mTemp.r2 = v_mul(mTemp.r2, invDet);
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// Store inverse 3x3 (transpose of cofactor matrix)
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mTemp = m_transpose(mTemp);
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mTemp.r3 = ma.r3;
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// ---- Translation ----
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// Load original translation
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f32x4 T = v_set(dst[3], dst[7], dst[11], 0.0f);
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// Compute -(Tx*ma.r0 + Ty*ma.r1 + Tz*ma.r2)
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f32x4 result = v_mul(ma.r0, v_swizzle_singular_mask(T, 0));
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result = v_add(result, v_mul(ma.r1, v_swizzle_singular_mask(T, 1)));
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result = v_add(result, v_mul(ma.r2, v_swizzle_singular_mask(T, 2)));
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result = v_mul(result, v_set1(-1.0f));
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m_store(dst, mTemp);
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// Store translation
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dst[3] = v_extract0(result);
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dst[7] = v_extract0(v_swizzle_singular_mask(result, 1));
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dst[11] = v_extract0(v_swizzle_singular_mask(result, 2));
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}
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// Matrix Affine Inverse
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inline void mat44_affine_inverse_impl(float* m)
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{
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f32x4x4 ma = m_load(m);
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f32x4x4 mTemp = m_transpose(ma);
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mTemp.r3 = v_set(0, 0, 0, 1);
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// ---- Translation ----
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// Load original translation
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f32x4 T = v_set(m[3], m[7], m[11], 0.0f);
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// Compute -(Tx*ma.r0 + Ty*ma.r1 + Tz*ma.r2)
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f32x4 result = v_mul(ma.r0, v_swizzle_singular_mask(T, 0));
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result = v_add(result, v_mul(ma.r1, v_swizzle_singular_mask(T, 1)));
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result = v_add(result, v_mul(ma.r2, v_swizzle_singular_mask(T, 2)));
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result = v_mul(result, v_set1(-1.0f));
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m_store(m, mTemp);
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// Store translation
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m[3] = v_extract0(result);
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m[7] = v_extract0(v_swizzle_singular_mask(result, 1));
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m[11] = v_extract0(v_swizzle_singular_mask(result, 2));
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}
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inline void mat44_normalize_impl(float* a)
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{
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// Load the matrix
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f32x4x4 m = m_load(a);
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// Extract axes (rows 0-2), zero out w using v_mask_xyz
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f32x4 xaxis = v_mul(m.r0, v_mask_xyz());
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f32x4 yaxis = v_mul(m.r1, v_mask_xyz());
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f32x4 zaxis = v_mul(m.r2, v_mask_xyz());
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xaxis = v_normalize3(xaxis);
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float dotXY = v_extract0(v_hadd4(v_mul(xaxis, yaxis)));
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f32x4 projYonX = v_mul(v_set1(dotXY), xaxis);
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yaxis = v_normalize3(v_sub(yaxis, projYonX));
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zaxis = v_cross(xaxis, yaxis);
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// Store normalized axes back (preserve translation w)
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m.r0 = v_preserve_w(xaxis, m.r0);
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m.r1 = v_preserve_w(yaxis, m.r1);
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m.r2 = v_preserve_w(zaxis, m.r2);
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// Store back to memory
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m_store(a, m);
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}
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// Matrix Multiply: a * b
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inline void mat44_mul_mat44_impl(const float* a, const float* b, float* r)
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{
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f32x4x4 ma = m_load(a);
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f32x4x4 mb = m_load(b);
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f32x4x4 mr = m_mul(ma, mb);
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m_store(r, mr);
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}
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// Vector Multiply: m * p (assume w = 1.0f)
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inline void mat44_mul_pos3_impl(const float *m, const float *p, float* r)
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{
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f32x4x4 ma = m_load(m);
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f32x4 va = v_load3_pos(p);
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f32x4 vr = m_mul_vec4(ma, va);
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v_store3(r, vr);
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}
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// Vector Multiply: m * v (assume w = 0.0f)
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inline void mat44_mul_vec3_impl(const float* m, const float* v, float* r)
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{
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f32x4x4 ma = m_load(m);
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f32x4 va = v_load3_vec(v);
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f32x4 vr = m_mul_vec4(ma, va);
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v_store3(r, vr);
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}
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// Vector Multiply: m * p (full [4x4] * [1x4])
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inline void mat44_mul_float4_impl(const float* m, const float* p, float* r)
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{
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f32x4x4 ma = m_load(m);
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f32x4 va = v_load(p);
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f32x4 vr = m_mul_vec4(ma, va);
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v_store(r, vr);
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}
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//--------------------------------------------------
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// MATRIX ROTATION FUNCTIONS
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//--------------------------------------------------
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inline void mat44_rotation_x_impl(float* m, float angle)
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{
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float c = cosf(angle), s = sinf(angle);
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f32x4x4 mr = m_identity();
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mr.r1 = v_set(0, c, s, 0);
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mr.r2 = v_set(0, -s, c, 0);
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m_store(m, mr);
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}
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inline void mat44_rotation_y_impl(float* m, float angle)
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{
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float c = cosf(angle), s = sinf(angle);
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f32x4x4 mr = m_identity();
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mr.r0 = v_set(c, 0, -s, 0);
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mr.r2 = v_set(s, 0, c, 0);
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m_store(m, mr);
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}
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inline void mat44_rotation_z_impl(float* m, float angle)
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{
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float c = cosf(angle), s = sinf(angle);
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f32x4x4 mr = m_identity();
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mr.r0 = v_set(c, s, 0, 0);
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mr.r1 = v_set(-s, c, 0, 0);
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m_store(m, mr);
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}
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// Compose rotation from Euler angles (pitch=X, yaw=Y, roll=Z)
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inline void mat44_rotation_euler_impl(float* m, float pitch, float yaw, float roll)
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{
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f32x4x4 rx, ry, rz;
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mat44_rotation_x_impl((float*)&rx, pitch);
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mat44_rotation_y_impl((float*)&ry, yaw);
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mat44_rotation_z_impl((float*)&rz, roll);
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f32x4x4 r = m_mul(rz, m_mul(ry, rx));
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m_store(m, r);
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}
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inline void mat44_lookat_impl(float* m, const float* eye, const float* target, const float* up)
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{
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f32x4 vEye = v_load3_pos(eye);
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f32x4 vTarget = v_load3_pos(target);
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f32x4 vUp = v_load3_vec(up);
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// Forward (z+)
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f32x4 zaxis = v_normalize3(v_sub(vTarget, vEye));
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// Right (x+)
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f32x4 xaxis = v_normalize3(v_cross(vUp, zaxis));
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// Up (y+)
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f32x4 yaxis = v_cross(zaxis, xaxis);
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// Compute translation components: -dot(axis, eye)
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f32x4 t_x = v_mul(v_dot3(xaxis, vEye), v_set1(-1.0f));
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f32x4 t_y = v_mul(v_dot3(yaxis, vEye), v_set1(-1.0f));
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f32x4 t_z = v_mul(v_dot3(zaxis, vEye), v_set1(-1.0f));
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f32x4x4 view;
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view.r0 = v_insert_w(xaxis, t_x);
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view.r1 = v_insert_w(yaxis, t_y);
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view.r2 = v_insert_w(zaxis, t_z);
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view.r3 = v_set(0, 0, 0, 1.0f);
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m_store(m, view);
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}
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inline void mat44_perspective_impl(float* m, float fovY, float aspect, float znear, float zfar)
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{
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float f = 1.0f / tanf(fovY * 0.5f);
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float nf = 1.0f / (znear - zfar);
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f32x4x4 mp = m_zero();
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mp.r0 = v_set(f / aspect, 0, 0, 0);
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mp.r1 = v_set(0, f, 0, 0);
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mp.r2 = v_set(0, 0, (zfar + znear) * nf, 2 * zfar * znear * nf);
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mp.r3 = v_set(0, 0, -1, 0); // row-major projection
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m_store(m, mp);
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}
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inline void mat44_orthographic_impl(float* m, float left, float right, float bottom, float top, float znear, float zfar)
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{
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f32x4x4 mo = m_zero();
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mo.r0 = v_set(2.0f / (right - left), 0, 0, -(right + left) / (right - left));
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mo.r1 = v_set(0, 2.0f / (top - bottom), 0, -(top + bottom) / (top - bottom));
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mo.r2 = v_set(0, 0, -2.0f / (zfar - znear), -(zfar + znear) / (zfar - znear));
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mo.r3 = v_set(0, 0, 0, 1.0f);
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m_store(m, mo);
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}
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} // namespace math_backend::mat44
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