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doom3-bfg/neo/idlib/math/MatX.h

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Initial commit
2012-11-26 18:58:24 +00:00
/*
===========================================================================
Doom 3 BFG Edition GPL Source Code
Copyright (C) 1993-2012 id Software LLC, a ZeniMax Media company.
This file is part of the Doom 3 BFG Edition GPL Source Code ("Doom 3 BFG Edition Source Code").
Doom 3 BFG Edition Source Code is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Doom 3 BFG Edition Source Code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Doom 3 BFG Edition Source Code. If not, see <http://www.gnu.org/licenses/>.
In addition, the Doom 3 BFG Edition Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 BFG Edition Source Code. If not, please request a copy in writing from id Software at the address below.
If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
===========================================================================
*/
#ifndef __MATH_MATX_H__
#define __MATH_MATX_H__
/*
===============================================================================
idMatX - arbitrary sized dense real matrix
The matrix lives on 16 byte aligned and 16 byte padded memory.
NOTE: due to the temporary memory pool idMatX cannot be used by multiple threads.
===============================================================================
*/
#define MATX_MAX_TEMP 1024
#define MATX_QUAD( x ) ( ( ( ( x ) + 3 ) & ~3 ) * sizeof( float ) )
#define MATX_CLEAREND() int s = numRows * numColumns; while( s < ( ( s + 3 ) & ~3 ) ) { mat[s++] = 0.0f; }
#define MATX_ALLOCA( n ) ( (float *) _alloca16( MATX_QUAD( n ) ) )
#define MATX_ALLOCA_CACHE_LINES( n ) ( (float *) _alloca128( ( ( n ) * sizeof( float ) + CACHE_LINE_SIZE - 1 ) & ~ ( CACHE_LINE_SIZE - 1 ) ) )
#define MATX_SIMD
class idMatX {
public:
ID_INLINE idMatX();
ID_INLINE idMatX( const idMatX & other );
ID_INLINE explicit idMatX( int rows, int columns );
ID_INLINE explicit idMatX( int rows, int columns, float *src );
ID_INLINE ~idMatX();
ID_INLINE void Set( int rows, int columns, const float *src );
ID_INLINE void Set( const idMat3 &m1, const idMat3 &m2 );
ID_INLINE void Set( const idMat3 &m1, const idMat3 &m2, const idMat3 &m3, const idMat3 &m4 );
ID_INLINE const float * operator[]( int index ) const;
ID_INLINE float * operator[]( int index );
ID_INLINE idMatX & operator=( const idMatX &a );
ID_INLINE idMatX operator*( const float a ) const;
ID_INLINE idVecX operator*( const idVecX &vec ) const;
ID_INLINE idMatX operator*( const idMatX &a ) const;
ID_INLINE idMatX operator+( const idMatX &a ) const;
ID_INLINE idMatX operator-( const idMatX &a ) const;
ID_INLINE idMatX & operator*=( const float a );
ID_INLINE idMatX & operator*=( const idMatX &a );
ID_INLINE idMatX & operator+=( const idMatX &a );
ID_INLINE idMatX & operator-=( const idMatX &a );
friend ID_INLINE idMatX operator*( const float a, const idMatX &m );
friend ID_INLINE idVecX operator*( const idVecX &vec, const idMatX &m );
friend ID_INLINE idVecX &operator*=( idVecX &vec, const idMatX &m );
ID_INLINE bool Compare( const idMatX &a ) const; // exact compare, no epsilon
ID_INLINE bool Compare( const idMatX &a, const float epsilon ) const; // compare with epsilon
ID_INLINE bool operator==( const idMatX &a ) const; // exact compare, no epsilon
ID_INLINE bool operator!=( const idMatX &a ) const; // exact compare, no epsilon
ID_INLINE void SetSize( int rows, int columns ); // set the number of rows/columns
void ChangeSize( int rows, int columns, bool makeZero = false ); // change the size keeping data intact where possible
ID_INLINE void ChangeNumRows( int rows ) { ChangeSize( rows, numColumns ); } // set the number of rows/columns
int GetNumRows() const { return numRows; } // get the number of rows
int GetNumColumns() const { return numColumns; } // get the number of columns
ID_INLINE void SetData( int rows, int columns, float *data ); // set float array pointer
ID_INLINE void SetDataCacheLines( int rows, int columns, float *data, bool clear );// set float array pointer
ID_INLINE void Zero(); // clear matrix
ID_INLINE void Zero( int rows, int columns ); // set size and clear matrix
ID_INLINE void Identity(); // clear to identity matrix
ID_INLINE void Identity( int rows, int columns ); // set size and clear to identity matrix
ID_INLINE void Diag( const idVecX &v ); // create diagonal matrix from vector
ID_INLINE void Random( int seed, float l = 0.0f, float u = 1.0f ); // fill matrix with random values
ID_INLINE void Random( int rows, int columns, int seed, float l = 0.0f, float u = 1.0f );
ID_INLINE void Negate(); // (*this) = - (*this)
ID_INLINE void Clamp( float min, float max ); // clamp all values
ID_INLINE idMatX & SwapRows( int r1, int r2 ); // swap rows
ID_INLINE idMatX & SwapColumns( int r1, int r2 ); // swap columns
ID_INLINE idMatX & SwapRowsColumns( int r1, int r2 ); // swap rows and columns
idMatX & RemoveRow( int r ); // remove a row
idMatX & RemoveColumn( int r ); // remove a column
idMatX & RemoveRowColumn( int r ); // remove a row and column
ID_INLINE void ClearUpperTriangle(); // clear the upper triangle
ID_INLINE void ClearLowerTriangle(); // clear the lower triangle
void CopyLowerToUpperTriangle(); // copy the lower triangle to the upper triangle
ID_INLINE void SquareSubMatrix( const idMatX &m, int size ); // get square sub-matrix from 0,0 to size,size
ID_INLINE float MaxDifference( const idMatX &m ) const; // return maximum element difference between this and m
ID_INLINE bool IsSquare() const { return ( numRows == numColumns ); }
ID_INLINE bool IsZero( const float epsilon = MATRIX_EPSILON ) const;
ID_INLINE bool IsIdentity( const float epsilon = MATRIX_EPSILON ) const;
ID_INLINE bool IsDiagonal( const float epsilon = MATRIX_EPSILON ) const;
ID_INLINE bool IsTriDiagonal( const float epsilon = MATRIX_EPSILON ) const;
ID_INLINE bool IsSymmetric( const float epsilon = MATRIX_EPSILON ) const;
bool IsOrthogonal( const float epsilon = MATRIX_EPSILON ) const;
bool IsOrthonormal( const float epsilon = MATRIX_EPSILON ) const;
bool IsPMatrix( const float epsilon = MATRIX_EPSILON ) const;
bool IsZMatrix( const float epsilon = MATRIX_EPSILON ) const;
bool IsPositiveDefinite( const float epsilon = MATRIX_EPSILON ) const;
bool IsSymmetricPositiveDefinite( const float epsilon = MATRIX_EPSILON ) const;
bool IsPositiveSemiDefinite( const float epsilon = MATRIX_EPSILON ) const;
bool IsSymmetricPositiveSemiDefinite( const float epsilon = MATRIX_EPSILON ) const;
ID_INLINE float Trace() const; // returns product of diagonal elements
ID_INLINE float Determinant() const; // returns determinant of matrix
ID_INLINE idMatX Transpose() const; // returns transpose
ID_INLINE idMatX & TransposeSelf(); // transposes the matrix itself
ID_INLINE void Transpose( idMatX & dst ) const; // stores transpose in 'dst'
ID_INLINE idMatX Inverse() const; // returns the inverse ( m * m.Inverse() = identity )
ID_INLINE bool InverseSelf(); // returns false if determinant is zero
ID_INLINE idMatX InverseFast() const; // returns the inverse ( m * m.Inverse() = identity )
ID_INLINE bool InverseFastSelf(); // returns false if determinant is zero
ID_INLINE void Inverse( idMatX & dst ) const; // stores the inverse in 'dst' ( m * m.Inverse() = identity )
bool LowerTriangularInverse(); // in-place inversion, returns false if determinant is zero
bool UpperTriangularInverse(); // in-place inversion, returns false if determinant is zero
ID_INLINE void Subtract( const idMatX & a ); // (*this) -= a;
ID_INLINE idVecX Multiply( const idVecX &vec ) const; // (*this) * vec
ID_INLINE idVecX TransposeMultiply( const idVecX &vec ) const; // this->Transpose() * vec
ID_INLINE idMatX Multiply( const idMatX &a ) const; // (*this) * a
ID_INLINE idMatX TransposeMultiply( const idMatX &a ) const; // this->Transpose() * a
ID_INLINE void Multiply( idVecX &dst, const idVecX &vec ) const; // dst = (*this) * vec
ID_INLINE void MultiplyAdd( idVecX &dst, const idVecX &vec ) const; // dst += (*this) * vec
ID_INLINE void MultiplySub( idVecX &dst, const idVecX &vec ) const; // dst -= (*this) * vec
ID_INLINE void TransposeMultiply( idVecX &dst, const idVecX &vec ) const; // dst = this->Transpose() * vec
ID_INLINE void TransposeMultiplyAdd( idVecX &dst, const idVecX &vec ) const; // dst += this->Transpose() * vec
ID_INLINE void TransposeMultiplySub( idVecX &dst, const idVecX &vec ) const; // dst -= this->Transpose() * vec
ID_INLINE void Multiply( idMatX &dst, const idMatX &a ) const; // dst = (*this) * a
ID_INLINE void TransposeMultiply( idMatX &dst, const idMatX &a ) const; // dst = this->Transpose() * a
ID_INLINE int GetDimension() const; // returns total number of values in matrix
ID_INLINE const idVec6 & SubVec6( int row ) const; // interpret beginning of row as a const idVec6
ID_INLINE idVec6 & SubVec6( int row ); // interpret beginning of row as an idVec6
ID_INLINE const idVecX SubVecX( int row ) const; // interpret complete row as a const idVecX
ID_INLINE idVecX SubVecX( int row ); // interpret complete row as an idVecX
ID_INLINE const float * ToFloatPtr() const; // pointer to const matrix float array
ID_INLINE float * ToFloatPtr(); // pointer to matrix float array
const char * ToString( int precision = 2 ) const;
void Update_RankOne( const idVecX &v, const idVecX &w, float alpha );
void Update_RankOneSymmetric( const idVecX &v, float alpha );
void Update_RowColumn( const idVecX &v, const idVecX &w, int r );
void Update_RowColumnSymmetric( const idVecX &v, int r );
void Update_Increment( const idVecX &v, const idVecX &w );
void Update_IncrementSymmetric( const idVecX &v );
void Update_Decrement( int r );
bool Inverse_GaussJordan(); // invert in-place with Gauss-Jordan elimination
bool Inverse_UpdateRankOne( const idVecX &v, const idVecX &w, float alpha );
bool Inverse_UpdateRowColumn( const idVecX &v, const idVecX &w, int r );
bool Inverse_UpdateIncrement( const idVecX &v, const idVecX &w );
bool Inverse_UpdateDecrement( const idVecX &v, const idVecX &w, int r );
void Inverse_Solve( idVecX &x, const idVecX &b ) const;
bool LU_Factor( int *index, float *det = NULL ); // factor in-place: L * U
bool LU_UpdateRankOne( const idVecX &v, const idVecX &w, float alpha, int *index );
bool LU_UpdateRowColumn( const idVecX &v, const idVecX &w, int r, int *index );
bool LU_UpdateIncrement( const idVecX &v, const idVecX &w, int *index );
bool LU_UpdateDecrement( const idVecX &v, const idVecX &w, const idVecX &u, int r, int *index );
void LU_Solve( idVecX &x, const idVecX &b, const int *index ) const;
void LU_Inverse( idMatX &inv, const int *index ) const;
void LU_UnpackFactors( idMatX &L, idMatX &U ) const;
void LU_MultiplyFactors( idMatX &m, const int *index ) const;
bool QR_Factor( idVecX &c, idVecX &d ); // factor in-place: Q * R
bool QR_UpdateRankOne( idMatX &R, const idVecX &v, const idVecX &w, float alpha );
bool QR_UpdateRowColumn( idMatX &R, const idVecX &v, const idVecX &w, int r );
bool QR_UpdateIncrement( idMatX &R, const idVecX &v, const idVecX &w );
bool QR_UpdateDecrement( idMatX &R, const idVecX &v, const idVecX &w, int r );
void QR_Solve( idVecX &x, const idVecX &b, const idVecX &c, const idVecX &d ) const;
void QR_Solve( idVecX &x, const idVecX &b, const idMatX &R ) const;
void QR_Inverse( idMatX &inv, const idVecX &c, const idVecX &d ) const;
void QR_UnpackFactors( idMatX &Q, idMatX &R, const idVecX &c, const idVecX &d ) const;
void QR_MultiplyFactors( idMatX &m, const idVecX &c, const idVecX &d ) const;
bool SVD_Factor( idVecX &w, idMatX &V ); // factor in-place: U * Diag(w) * V.Transpose()
void SVD_Solve( idVecX &x, const idVecX &b, const idVecX &w, const idMatX &V ) const;
void SVD_Inverse( idMatX &inv, const idVecX &w, const idMatX &V ) const;
void SVD_MultiplyFactors( idMatX &m, const idVecX &w, const idMatX &V ) const;
bool Cholesky_Factor(); // factor in-place: L * L.Transpose()
bool Cholesky_UpdateRankOne( const idVecX &v, float alpha, int offset = 0 );
bool Cholesky_UpdateRowColumn( const idVecX &v, int r );
bool Cholesky_UpdateIncrement( const idVecX &v );
bool Cholesky_UpdateDecrement( const idVecX &v, int r );
void Cholesky_Solve( idVecX &x, const idVecX &b ) const;
void Cholesky_Inverse( idMatX &inv ) const;
void Cholesky_MultiplyFactors( idMatX &m ) const;
bool LDLT_Factor(); // factor in-place: L * D * L.Transpose()
bool LDLT_UpdateRankOne( const idVecX &v, float alpha, int offset = 0 );
bool LDLT_UpdateRowColumn( const idVecX &v, int r );
bool LDLT_UpdateIncrement( const idVecX &v );
bool LDLT_UpdateDecrement( const idVecX &v, int r );
void LDLT_Solve( idVecX &x, const idVecX &b ) const;
void LDLT_Inverse( idMatX &inv ) const;
void LDLT_UnpackFactors( idMatX &L, idMatX &D ) const;
void LDLT_MultiplyFactors( idMatX &m ) const;
void TriDiagonal_ClearTriangles();
bool TriDiagonal_Solve( idVecX &x, const idVecX &b ) const;
void TriDiagonal_Inverse( idMatX &inv ) const;
bool Eigen_SolveSymmetricTriDiagonal( idVecX &eigenValues );
bool Eigen_SolveSymmetric( idVecX &eigenValues );
bool Eigen_Solve( idVecX &realEigenValues, idVecX &imaginaryEigenValues );
void Eigen_SortIncreasing( idVecX &eigenValues );
void Eigen_SortDecreasing( idVecX &eigenValues );
static void Test();
private:
int numRows; // number of rows
int numColumns; // number of columns
int alloced; // floats allocated, if -1 then mat points to data set with SetData
float * mat; // memory the matrix is stored
static float temp[MATX_MAX_TEMP+4]; // used to store intermediate results
static float * tempPtr; // pointer to 16 byte aligned temporary memory
static int tempIndex; // index into memory pool, wraps around
private:
void SetTempSize( int rows, int columns );
float DeterminantGeneric() const;
bool InverseSelfGeneric();
void QR_Rotate( idMatX &R, int i, float a, float b );
float Pythag( float a, float b ) const;
void SVD_BiDiag( idVecX &w, idVecX &rv1, float &anorm );
void SVD_InitialWV( idVecX &w, idMatX &V, idVecX &rv1 );
void HouseholderReduction( idVecX &diag, idVecX &subd );
bool QL( idVecX &diag, idVecX &subd );
void HessenbergReduction( idMatX &H );
void ComplexDivision( float xr, float xi, float yr, float yi, float &cdivr, float &cdivi );
bool HessenbergToRealSchur( idMatX &H, idVecX &realEigenValues, idVecX &imaginaryEigenValues );
};
/*
========================
idMatX::idMatX
========================
*/
ID_INLINE idMatX::idMatX() {
numRows = numColumns = alloced = 0;
mat = NULL;
}
/*
========================
idMatX::~idMatX
========================
*/
ID_INLINE idMatX::~idMatX() {
// if not temp memory
if ( mat != NULL && ( mat < idMatX::tempPtr || mat > idMatX::tempPtr + MATX_MAX_TEMP ) && alloced != -1 ) {
Mem_Free16( mat );
}
}
/*
========================
idMatX::idMatX
========================
*/
ID_INLINE idMatX::idMatX( int rows, int columns ) {
numRows = numColumns = alloced = 0;
mat = NULL;
SetSize( rows, columns );
}
/*
========================
idMatX::idMatX
========================
*/
ID_INLINE idMatX::idMatX( const idMatX & other ) {
numRows = numColumns = alloced = 0;
mat = NULL;
Set( other.GetNumRows(), other.GetNumColumns(), other.ToFloatPtr() );
}
/*
========================
idMatX::idMatX
========================
*/
ID_INLINE idMatX::idMatX( int rows, int columns, float *src ) {
numRows = numColumns = alloced = 0;
mat = NULL;
SetData( rows, columns, src );
}
/*
========================
idMatX::Set
========================
*/
ID_INLINE void idMatX::Set( int rows, int columns, const float *src ) {
SetSize( rows, columns );
memcpy( this->mat, src, rows * columns * sizeof( float ) );
}
/*
========================
idMatX::Set
========================
*/
ID_INLINE void idMatX::Set( const idMat3 &m1, const idMat3 &m2 ) {
SetSize( 3, 6 );
for ( int i = 0; i < 3; i++ ) {
for ( int j = 0; j < 3; j++ ) {
mat[(i+0) * numColumns + (j+0)] = m1[i][j];
mat[(i+0) * numColumns + (j+3)] = m2[i][j];
}
}
}
/*
========================
idMatX::Set
========================
*/
ID_INLINE void idMatX::Set( const idMat3 &m1, const idMat3 &m2, const idMat3 &m3, const idMat3 &m4 ) {
SetSize( 6, 6 );
for ( int i = 0; i < 3; i++ ) {
for ( int j = 0; j < 3; j++ ) {
mat[(i+0) * numColumns + (j+0)] = m1[i][j];
mat[(i+0) * numColumns + (j+3)] = m2[i][j];
mat[(i+3) * numColumns + (j+0)] = m3[i][j];
mat[(i+3) * numColumns + (j+3)] = m4[i][j];
}
}
}
/*
========================
idMatX::operator[]
========================
*/
ID_INLINE const float *idMatX::operator[]( int index ) const {
assert( ( index >= 0 ) && ( index < numRows ) );
return mat + index * numColumns;
}
/*
========================
idMatX::operator[]
========================
*/
ID_INLINE float *idMatX::operator[]( int index ) {
assert( ( index >= 0 ) && ( index < numRows ) );
return mat + index * numColumns;
}
/*
========================
idMatX::operator=
========================
*/
ID_INLINE idMatX &idMatX::operator=( const idMatX &a ) {
SetSize( a.numRows, a.numColumns );
int s = a.numRows * a.numColumns;
Restored generic (non-SIMD) code
2013-05-29 18:12:13 +00:00
#if defined(ID_WIN_X86_SSE_INTRIN) && defined(MATX_SIMD)
Initial commit
2012-11-26 18:58:24 +00:00
for ( int i = 0; i < s; i += 4 ) {
_mm_store_ps( mat + i, _mm_load_ps( a.mat + i ) );
}
#else
memcpy( mat, a.mat, s * sizeof( float ) );
#endif
idMatX::tempIndex = 0;
return *this;
}
/*
========================
idMatX::operator*
========================
*/
ID_INLINE idMatX idMatX::operator*( const float a ) const {
idMatX m;
m.SetTempSize( numRows, numColumns );
int s = numRows * numColumns;
Restored generic (non-SIMD) code
2013-05-29 18:12:13 +00:00
#if defined(ID_WIN_X86_SSE_INTRIN) && defined(MATX_SIMD)
Initial commit
2012-11-26 18:58:24 +00:00
__m128 va = _mm_load1_ps( & a );
for ( int i = 0; i < s; i += 4 ) {
_mm_store_ps( m.mat + i, _mm_mul_ps( _mm_load_ps( mat + i ), va ) );
}
#else
for ( int i = 0; i < s; i++ ) {
m.mat[i] = mat[i] * a;
}
#endif
return m;
}
/*
========================
idMatX::operator*
========================
*/
ID_INLINE idVecX idMatX::operator*( const idVecX &vec ) const {
assert( numColumns == vec.GetSize() );
idVecX dst;
dst.SetTempSize( numRows );
Multiply( dst, vec );
return dst;
}
/*
========================
idMatX::operator*
========================
*/
ID_INLINE idMatX idMatX::operator*( const idMatX &a ) const {
assert( numColumns == a.numRows );
idMatX dst;
dst.SetTempSize( numRows, a.numColumns );
Multiply( dst, a );
return dst;
}
/*
========================
idMatX::operator+
========================
*/
ID_INLINE idMatX idMatX::operator+( const idMatX &a ) const {
idMatX m;
assert( numRows == a.numRows && numColumns == a.numColumns );
m.SetTempSize( numRows, numColumns );
int s = numRows * numColumns;
Restored generic (non-SIMD) code
2013-05-29 18:12:13 +00:00
#if defined(ID_WIN_X86_SSE_INTRIN) && defined(MATX_SIMD)
Initial commit
2012-11-26 18:58:24 +00:00
for ( int i = 0; i < s; i += 4 ) {
_mm_store_ps( m.mat + i, _mm_add_ps( _mm_load_ps( mat + i ), _mm_load_ps( a.mat + i ) ) );
}
#else
for ( int i = 0; i < s; i++ ) {
m.mat[i] = mat[i] + a.mat[i];
}
#endif
return m;
}
/*
========================
idMatX::operator-
========================
*/
ID_INLINE idMatX idMatX::operator-( const idMatX &a ) const {
idMatX m;
assert( numRows == a.numRows && numColumns == a.numColumns );
m.SetTempSize( numRows, numColumns );
int s = numRows * numColumns;
Restored generic (non-SIMD) code
2013-05-29 18:12:13 +00:00
#if defined(ID_WIN_X86_SSE_INTRIN) && defined(MATX_SIMD)
Initial commit
2012-11-26 18:58:24 +00:00
for ( int i = 0; i < s; i += 4 ) {
_mm_store_ps( m.mat + i, _mm_sub_ps( _mm_load_ps( mat + i ), _mm_load_ps( a.mat + i ) ) );
}
#else
for ( int i = 0; i < s; i++ ) {
m.mat[i] = mat[i] - a.mat[i];
}
#endif
return m;
}
/*
========================
idMatX::operator*=
========================
*/
ID_INLINE idMatX &idMatX::operator*=( const float a ) {
int s = numRows * numColumns;
Restored generic (non-SIMD) code
2013-05-29 18:12:13 +00:00
#if defined(ID_WIN_X86_SSE_INTRIN) && defined(MATX_SIMD)
Initial commit
2012-11-26 18:58:24 +00:00
__m128 va = _mm_load1_ps( & a );
for ( int i = 0; i < s; i += 4 ) {
_mm_store_ps( mat + i, _mm_mul_ps( _mm_load_ps( mat + i ), va ) );
}
#else
for ( int i = 0; i < s; i++ ) {
mat[i] *= a;
}
#endif
idMatX::tempIndex = 0;
return *this;
}
/*
========================
idMatX::operator*=
========================
*/
ID_INLINE idMatX &idMatX::operator*=( const idMatX &a ) {
*this = *this * a;
idMatX::tempIndex = 0;
return *this;
}
/*
========================
idMatX::operator+=
========================
*/
ID_INLINE idMatX &idMatX::operator+=( const idMatX &a ) {
assert( numRows == a.numRows && numColumns == a.numColumns );
int s = numRows * numColumns;
Restored generic (non-SIMD) code
2013-05-29 18:12:13 +00:00
#if defined(ID_WIN_X86_SSE_INTRIN) && defined(MATX_SIMD)
Initial commit
2012-11-26 18:58:24 +00:00
for ( int i = 0; i < s; i += 4 ) {
_mm_store_ps( mat + i, _mm_add_ps( _mm_load_ps( mat + i ), _mm_load_ps( a.mat + i ) ) );
}
#else
for ( int i = 0; i < s; i++ ) {
mat[i] += a.mat[i];
}
#endif
idMatX::tempIndex = 0;
return *this;
}
/*
========================
idMatX::operator-=
========================
*/
ID_INLINE idMatX &idMatX::operator-=( const idMatX &a ) {
assert( numRows == a.numRows && numColumns == a.numColumns );
int s = numRows * numColumns;
Restored generic (non-SIMD) code
2013-05-29 18:12:13 +00:00
#if defined(ID_WIN_X86_SSE_INTRIN) && defined(MATX_SIMD)
Initial commit
2012-11-26 18:58:24 +00:00
for ( int i = 0; i < s; i += 4 ) {
_mm_store_ps( mat + i, _mm_sub_ps( _mm_load_ps( mat + i ), _mm_load_ps( a.mat + i ) ) );
}
#else
for ( int i = 0; i < s; i++ ) {
mat[i] -= a.mat[i];
}
#endif
idMatX::tempIndex = 0;
return *this;
}
/*
========================
operator*
========================
*/
ID_INLINE idMatX operator*( const float a, idMatX const &m ) {
return m * a;
}
/*
========================
operator*
========================
*/
ID_INLINE idVecX operator*( const idVecX &vec, const idMatX &m ) {
return m * vec;
}
/*
========================
operator*=
========================
*/
ID_INLINE idVecX &operator*=( idVecX &vec, const idMatX &m ) {
vec = m * vec;
return vec;
}
/*
========================
idMatX::Compare
========================
*/
ID_INLINE bool idMatX::Compare( const idMatX &a ) const {
assert( numRows == a.numRows && numColumns == a.numColumns );
int s = numRows * numColumns;
for ( int i = 0; i < s; i++ ) {
if ( mat[i] != a.mat[i] ) {
return false;
}
}
return true;
}
/*
========================
idMatX::Compare
========================
*/
ID_INLINE bool idMatX::Compare( const idMatX &a, const float epsilon ) const {
assert( numRows == a.numRows && numColumns == a.numColumns );
int s = numRows * numColumns;
for ( int i = 0; i < s; i++ ) {
if ( idMath::Fabs( mat[i] - a.mat[i] ) > epsilon ) {
return false;
}
}
return true;
}
/*
========================
idMatX::operator==
========================
*/
ID_INLINE bool idMatX::operator==( const idMatX &a ) const {
return Compare( a );
}
/*
========================
idMatX::operator!=
========================
*/
ID_INLINE bool idMatX::operator!=( const idMatX &a ) const {
return !Compare( a );
}
/*
========================
idMatX::SetSize
========================
*/
ID_INLINE void idMatX::SetSize( int rows, int columns ) {
if ( rows != numRows || columns != numColumns || mat == NULL ) {
assert( mat < idMatX::tempPtr || mat > idMatX::tempPtr + MATX_MAX_TEMP );
int alloc = ( rows * columns + 3 ) & ~3;
if ( alloc > alloced && alloced != -1 ) {
if ( mat != NULL ) {
Mem_Free16( mat );
}
mat = (float *) Mem_Alloc16( alloc * sizeof( float ), TAG_MATH );
alloced = alloc;
}
numRows = rows;
numColumns = columns;
MATX_CLEAREND();
}
}
/*
========================
idMatX::SetTempSize
========================
*/
ID_INLINE void idMatX::SetTempSize( int rows, int columns ) {
int newSize;
newSize = ( rows * columns + 3 ) & ~3;
assert( newSize < MATX_MAX_TEMP );
if ( idMatX::tempIndex + newSize > MATX_MAX_TEMP ) {
idMatX::tempIndex = 0;
}
mat = idMatX::tempPtr + idMatX::tempIndex;
idMatX::tempIndex += newSize;
alloced = newSize;
numRows = rows;
numColumns = columns;
MATX_CLEAREND();
}
/*
========================
idMatX::SetData
========================
*/
ID_INLINE void idMatX::SetData( int rows, int columns, float *data ) {
assert( mat < idMatX::tempPtr || mat > idMatX::tempPtr + MATX_MAX_TEMP );
if ( mat != NULL && alloced != -1 ) {
Mem_Free16( mat );
}
assert( ( ( (UINT_PTR) data ) & 15 ) == 0 ); // data must be 16 byte aligned
mat = data;
alloced = -1;
numRows = rows;
numColumns = columns;
MATX_CLEAREND();
}
/*
========================
idMatX::SetDataCacheLines
========================
*/
ID_INLINE void idMatX::SetDataCacheLines( int rows, int columns, float *data, bool clear ) {
if ( mat != NULL && alloced != -1 ) {
Mem_Free( mat );
}
assert( ( ( (UINT_PTR) data ) & 127 ) == 0 ); // data must be 128 byte aligned
mat = data;
alloced = -1;
numRows = rows;
numColumns = columns;
if ( clear ) {
int size = numRows * numColumns * sizeof( float );
for ( int i = 0; i < size; i += CACHE_LINE_SIZE ) {
ZeroCacheLine( mat, i );
}
} else {
MATX_CLEAREND();
}
}
/*
========================
idMatX::Zero
========================
*/
ID_INLINE void idMatX::Zero() {
int s = numRows * numColumns;
Restored generic (non-SIMD) code
2013-05-29 18:12:13 +00:00
#if defined(ID_WIN_X86_SSE_INTRIN) && defined(MATX_SIMD)
Initial commit
2012-11-26 18:58:24 +00:00
for ( int i = 0; i < s; i += 4 ) {
_mm_store_ps( mat + i, _mm_setzero_ps() );
}
#else
s;
memset( mat, 0, numRows * numColumns * sizeof( float ) );
#endif
}
/*
========================
idMatX::Zero
========================
*/
ID_INLINE void idMatX::Zero( int rows, int columns ) {
SetSize( rows, columns );
Zero();
}
/*
========================
idMatX::Identity
========================
*/
ID_INLINE void idMatX::Identity() {
assert( numRows == numColumns );
Zero();
for ( int i = 0; i < numRows; i++ ) {
mat[i * numColumns + i] = 1.0f;
}
}
/*
========================
idMatX::Identity
========================
*/
ID_INLINE void idMatX::Identity( int rows, int columns ) {
assert( rows == columns );
SetSize( rows, columns );
idMatX::Identity();
}
/*
========================
idMatX::Diag
========================
*/
ID_INLINE void idMatX::Diag( const idVecX &v ) {
Zero( v.GetSize(), v.GetSize() );
for ( int i = 0; i < v.GetSize(); i++ ) {
mat[i * numColumns + i] = v[i];
}
}
/*
========================
idMatX::Random
========================
*/
ID_INLINE void idMatX::Random( int seed, float l, float u ) {
idRandom rnd(seed);
float c = u - l;
int s = numRows * numColumns;
for ( int i = 0; i < s; i++ ) {
mat[i] = l + rnd.RandomFloat() * c;
}
}
/*
========================
idMatX::Random
========================
*/
ID_INLINE void idMatX::Random( int rows, int columns, int seed, float l, float u ) {
idRandom rnd(seed);
SetSize( rows, columns );
float c = u - l;
int s = numRows * numColumns;
for ( int i = 0; i < s; i++ ) {
mat[i] = l + rnd.RandomFloat() * c;
}
}
/*
========================
idMatX::Negate
========================
*/
ID_INLINE void idMatX::Negate() {
int s = numRows * numColumns;
Restored generic (non-SIMD) code
2013-05-29 18:12:13 +00:00
#if defined(ID_WIN_X86_SSE_INTRIN) && defined(MATX_SIMD)
Initial commit
2012-11-26 18:58:24 +00:00
ALIGN16( const unsigned int signBit[4] ) = { IEEE_FLT_SIGN_MASK, IEEE_FLT_SIGN_MASK, IEEE_FLT_SIGN_MASK, IEEE_FLT_SIGN_MASK };
for ( int i = 0; i < s; i += 4 ) {
_mm_store_ps( mat + i, _mm_xor_ps( _mm_load_ps( mat + i ), (__m128 &) signBit[0] ) );
}
#else
for ( int i = 0; i < s; i++ ) {
mat[i] = -mat[i];
}
#endif
}
/*
========================
idMatX::Clamp
========================
*/
ID_INLINE void idMatX::Clamp( float min, float max ) {
int s = numRows * numColumns;
for ( int i = 0; i < s; i++ ) {
if ( mat[i] < min ) {
mat[i] = min;
} else if ( mat[i] > max ) {
mat[i] = max;
}
}
}
/*
========================
idMatX::SwapRows
========================
*/
ID_INLINE idMatX &idMatX::SwapRows( int r1, int r2 ) {
float * ptr1 = mat + r1 * numColumns;
float * ptr2 = mat + r2 * numColumns;
for ( int i = 0; i < numColumns; i++ ) {
SwapValues( ptr1[i], ptr2[i] );
}
return *this;
}
/*
========================
idMatX::SwapColumns
========================
*/
ID_INLINE idMatX &idMatX::SwapColumns( int r1, int r2 ) {
float * ptr = mat;
for ( int i = 0; i < numRows; i++, ptr += numColumns ) {
SwapValues( ptr[r1], ptr[r2] );
}
return *this;
}
/*
========================
idMatX::SwapRowsColumns
========================
*/
ID_INLINE idMatX &idMatX::SwapRowsColumns( int r1, int r2 ) {
SwapRows( r1, r2 );
SwapColumns( r1, r2 );
return *this;
}
/*
========================
idMatX::ClearUpperTriangle
========================
*/
ID_INLINE void idMatX::ClearUpperTriangle() {
assert( numRows == numColumns );
for ( int i = numRows-2; i >= 0; i-- ) {
memset( mat + i * numColumns + i + 1, 0, (numColumns - 1 - i) * sizeof(float) );
}
}
/*
========================
idMatX::ClearLowerTriangle
========================
*/
ID_INLINE void idMatX::ClearLowerTriangle() {
assert( numRows == numColumns );
for ( int i = 1; i < numRows; i++ ) {
memset( mat + i * numColumns, 0, i * sizeof(float) );
}
}
/*
========================
idMatX::SquareSubMatrix
========================
*/
ID_INLINE void idMatX::SquareSubMatrix( const idMatX &m, int size ) {
assert( size <= m.numRows && size <= m.numColumns );
SetSize( size, size );
for ( int i = 0; i < size; i++ ) {
memcpy( mat + i * numColumns, m.mat + i * m.numColumns, size * sizeof( float ) );
}
}
/*
========================
idMatX::MaxDifference
========================
*/
ID_INLINE float idMatX::MaxDifference( const idMatX &m ) const {
assert( numRows == m.numRows && numColumns == m.numColumns );
float maxDiff = -1.0f;
for ( int i = 0; i < numRows; i++ ) {
for ( int j = 0; j < numColumns; j++ ) {
float diff = idMath::Fabs( mat[ i * numColumns + j ] - m[i][j] );
if ( maxDiff < 0.0f || diff > maxDiff ) {
maxDiff = diff;
}
}
}
return maxDiff;
}
/*
========================
idMatX::IsZero
========================
*/
ID_INLINE bool idMatX::IsZero( const float epsilon ) const {
// returns true if (*this) == Zero
for ( int i = 0; i < numRows; i++ ) {
for ( int j = 0; j < numColumns; j++ ) {
if ( idMath::Fabs( mat[i * numColumns + j] ) > epsilon ) {
return false;
}
}
}
return true;
}
/*
========================
idMatX::IsIdentity
========================
*/
ID_INLINE bool idMatX::IsIdentity( const float epsilon ) const {
// returns true if (*this) == Identity
assert( numRows == numColumns );
for ( int i = 0; i < numRows; i++ ) {
for ( int j = 0; j < numColumns; j++ ) {
if ( idMath::Fabs( mat[i * numColumns + j] - (float)( i == j ) ) > epsilon ) {
return false;
}
}
}
return true;
}
/*
========================
idMatX::IsDiagonal
========================
*/
ID_INLINE bool idMatX::IsDiagonal( const float epsilon ) const {
// returns true if all elements are zero except for the elements on the diagonal
assert( numRows == numColumns );
for ( int i = 0; i < numRows; i++ ) {
for ( int j = 0; j < numColumns; j++ ) {
if ( i != j && idMath::Fabs( mat[i * numColumns + j] ) > epsilon ) {
return false;
}
}
}
return true;
}
/*
========================
idMatX::IsTriDiagonal
========================
*/
ID_INLINE bool idMatX::IsTriDiagonal( const float epsilon ) const {
// returns true if all elements are zero except for the elements on the diagonal plus or minus one column
if ( numRows != numColumns ) {
return false;
}
for ( int i = 0; i < numRows-2; i++ ) {
for ( int j = i+2; j < numColumns; j++ ) {
if ( idMath::Fabs( (*this)[i][j] ) > epsilon ) {
return false;
}
if ( idMath::Fabs( (*this)[j][i] ) > epsilon ) {
return false;
}
}
}
return true;
}
/*
========================
idMatX::IsSymmetric
========================
*/
ID_INLINE bool idMatX::IsSymmetric( const float epsilon ) const {
// (*this)[i][j] == (*this)[j][i]
if ( numRows != numColumns ) {
return false;
}
for ( int i = 0; i < numRows; i++ ) {
for ( int j = 0; j < numColumns; j++ ) {
if ( idMath::Fabs( mat[ i * numColumns + j ] - mat[ j * numColumns + i ] ) > epsilon ) {
return false;
}
}
}
return true;
}
/*
========================
idMatX::Trace
========================
*/
ID_INLINE float idMatX::Trace() const {
float trace = 0.0f;
assert( numRows == numColumns );
// sum of elements on the diagonal
for ( int i = 0; i < numRows; i++ ) {
trace += mat[i * numRows + i];
}
return trace;
}
/*
========================
idMatX::Determinant
========================
*/
ID_INLINE float idMatX::Determinant() const {
assert( numRows == numColumns );
switch( numRows ) {
case 1: return mat[0];
case 2: return reinterpret_cast<const idMat2 *>( mat )->Determinant();
case 3: return reinterpret_cast<const idMat3 *>( mat )->Determinant();
case 4: return reinterpret_cast<const idMat4 *>( mat )->Determinant();
case 5: return reinterpret_cast<const idMat5 *>( mat )->Determinant();
case 6: return reinterpret_cast<const idMat6 *>( mat )->Determinant();
default: return DeterminantGeneric();
}
}
/*
========================
idMatX::Transpose
========================
*/
ID_INLINE idMatX idMatX::Transpose() const {
idMatX transpose;
transpose.SetTempSize( numColumns, numRows );
for ( int i = 0; i < numRows; i++ ) {
for ( int j = 0; j < numColumns; j++ ) {
transpose.mat[j * transpose.numColumns + i] = mat[i * numColumns + j];
}
}
return transpose;
}
/*
========================
idMatX::TransposeSelf
========================
*/
ID_INLINE idMatX &idMatX::TransposeSelf() {
*this = Transpose();
return *this;
}
/*
========================
idMatX::Transpose
========================
*/
ID_INLINE void idMatX::Transpose( idMatX & dst ) const {
dst = Transpose();
}
/*
========================
idMatX::Inverse
========================
*/
ID_INLINE idMatX idMatX::Inverse() const {
idMatX invMat;
invMat.SetTempSize( numRows, numColumns );
memcpy( invMat.mat, mat, numRows * numColumns * sizeof( float ) );
verify( invMat.InverseSelf() );
return invMat;
}
/*
========================
idMatX::InverseSelf
========================
*/
ID_INLINE bool idMatX::InverseSelf() {
assert( numRows == numColumns );
switch( numRows ) {
case 1:
if ( idMath::Fabs( mat[0] ) < MATRIX_INVERSE_EPSILON ) {
return false;
}
mat[0] = 1.0f / mat[0];
return true;
case 2:
return reinterpret_cast<idMat2 *>(mat)->InverseSelf();
case 3:
return reinterpret_cast<idMat3 *>(mat)->InverseSelf();
case 4:
return reinterpret_cast<idMat4 *>(mat)->InverseSelf();
case 5:
return reinterpret_cast<idMat5 *>(mat)->InverseSelf();
case 6:
return reinterpret_cast<idMat6 *>(mat)->InverseSelf();
default:
return InverseSelfGeneric();
}
}
/*
========================
idMatX::InverseFast
========================
*/
ID_INLINE idMatX idMatX::InverseFast() const {
idMatX invMat;
invMat.SetTempSize( numRows, numColumns );
memcpy( invMat.mat, mat, numRows * numColumns * sizeof( float ) );
verify( invMat.InverseFastSelf() );
return invMat;
}
/*
========================
idMatX::InverseFastSelf
========================
*/
ID_INLINE bool idMatX::InverseFastSelf() {
assert( numRows == numColumns );
switch( numRows ) {
case 1:
if ( idMath::Fabs( mat[0] ) < MATRIX_INVERSE_EPSILON ) {
return false;
}
mat[0] = 1.0f / mat[0];
return true;
case 2:
return reinterpret_cast<idMat2 *>(mat)->InverseFastSelf();
case 3:
return reinterpret_cast<idMat3 *>(mat)->InverseFastSelf();
case 4:
return reinterpret_cast<idMat4 *>(mat)->InverseFastSelf();
case 5:
return reinterpret_cast<idMat5 *>(mat)->InverseFastSelf();
case 6:
return reinterpret_cast<idMat6 *>(mat)->InverseFastSelf();
default:
return InverseSelfGeneric();
}
}
/*
========================
idMatX::Inverse
========================
*/
ID_INLINE void idMatX::Inverse( idMatX & dst ) const {
dst = InverseFast();
}
/*
========================
idMatX::Subtract
========================
*/
ID_INLINE void idMatX::Subtract( const idMatX & a ) {
(*this) -= a;
}
/*
========================
idMatX::Multiply
========================
*/
ID_INLINE idVecX idMatX::Multiply( const idVecX &vec ) const {
assert( numColumns == vec.GetSize() );
idVecX dst;
dst.SetTempSize( numRows );
Multiply( dst, vec );
return dst;
}
/*
========================
idMatX::Multiply
========================
*/
ID_INLINE idMatX idMatX::Multiply( const idMatX &a ) const {
assert( numColumns == a.numRows );
idMatX dst;
dst.SetTempSize( numRows, a.numColumns );
Multiply( dst, a );
return dst;
}
/*
========================
idMatX::TransposeMultiply
========================
*/
ID_INLINE idVecX idMatX::TransposeMultiply( const idVecX &vec ) const {
assert( numRows == vec.GetSize() );
idVecX dst;
dst.SetTempSize( numColumns );
TransposeMultiply( dst, vec );
return dst;
}
/*
========================
idMatX::TransposeMultiply
========================
*/
ID_INLINE idMatX idMatX::TransposeMultiply( const idMatX &a ) const {
assert( numRows == a.numRows );
idMatX dst;
dst.SetTempSize( numColumns, a.numColumns );
TransposeMultiply( dst, a );
return dst;
}
/*
========================
idMatX::Multiply
========================
*/
ID_INLINE void idMatX::Multiply( idVecX &dst, const idVecX &vec ) const {
dst.SetSize( numRows );
const float * mPtr = mat;
const float * vPtr = vec.ToFloatPtr();
float * dstPtr = dst.ToFloatPtr();
float * temp = (float *)_alloca16( numRows * sizeof( float ) );
for ( int i = 0; i < numRows; i++ ) {
float sum = mPtr[0] * vPtr[0];
for ( int j = 1; j < numColumns; j++ ) {
sum += mPtr[j] * vPtr[j];
}
temp[i] = sum;
mPtr += numColumns;
}
for ( int i = 0; i < numRows; i++ ) {
dstPtr[i] = temp[i];
}
}
/*
========================
idMatX::MultiplyAdd
========================
*/
ID_INLINE void idMatX::MultiplyAdd( idVecX &dst, const idVecX &vec ) const {
assert( dst.GetSize() == numRows );
const float * mPtr = mat;
const float * vPtr = vec.ToFloatPtr();
float * dstPtr = dst.ToFloatPtr();
float * temp = (float *)_alloca16( numRows * sizeof( float ) );
for ( int i = 0; i < numRows; i++ ) {
float sum = mPtr[0] * vPtr[0];
for ( int j = 1; j < numColumns; j++ ) {
sum += mPtr[j] * vPtr[j];
}
temp[i] = dstPtr[i] + sum;
mPtr += numColumns;
}
for ( int i = 0; i < numRows; i++ ) {
dstPtr[i] = temp[i];
}
}
/*
========================
idMatX::MultiplySub
========================
*/
ID_INLINE void idMatX::MultiplySub( idVecX &dst, const idVecX &vec ) const {
assert( dst.GetSize() == numRows );
const float * mPtr = mat;
const float * vPtr = vec.ToFloatPtr();
float * dstPtr = dst.ToFloatPtr();
float * temp = (float *)_alloca16( numRows * sizeof( float ) );
for ( int i = 0; i < numRows; i++ ) {
float sum = mPtr[0] * vPtr[0];
for ( int j = 1; j < numColumns; j++ ) {
sum += mPtr[j] * vPtr[j];
}
temp[i] = dstPtr[i] - sum;
mPtr += numColumns;
}
for ( int i = 0; i < numRows; i++ ) {
dstPtr[i] = temp[i];
}
}
/*
========================
idMatX::TransposeMultiply
========================
*/
ID_INLINE void idMatX::TransposeMultiply( idVecX &dst, const idVecX &vec ) const {
dst.SetSize( numColumns );
const float * vPtr = vec.ToFloatPtr();
float * dstPtr = dst.ToFloatPtr();
float * temp = (float *)_alloca16( numColumns * sizeof( float ) );
for ( int i = 0; i < numColumns; i++ ) {
const float * mPtr = mat + i;
float sum = mPtr[0] * vPtr[0];
for ( int j = 1; j < numRows; j++ ) {
mPtr += numColumns;
sum += mPtr[0] * vPtr[j];
}
temp[i] = sum;
}
for ( int i = 0; i < numColumns; i++ ) {
dstPtr[i] = temp[i];
}
}
/*
========================
idMatX::TransposeMultiplyAdd
========================
*/
ID_INLINE void idMatX::TransposeMultiplyAdd( idVecX &dst, const idVecX &vec ) const {
assert( dst.GetSize() == numColumns );
const float * vPtr = vec.ToFloatPtr();
float * dstPtr = dst.ToFloatPtr();
float * temp = (float *)_alloca16( numColumns * sizeof( float ) );
for ( int i = 0; i < numColumns; i++ ) {
const float * mPtr = mat + i;
float sum = mPtr[0] * vPtr[0];
for ( int j = 1; j < numRows; j++ ) {
mPtr += numColumns;
sum += mPtr[0] * vPtr[j];
}
temp[i] = dstPtr[i] + sum;
}
for ( int i = 0; i < numColumns; i++ ) {
dstPtr[i] = temp[i];
}
}
/*
========================
idMatX::TransposeMultiplySub
========================
*/
ID_INLINE void idMatX::TransposeMultiplySub( idVecX &dst, const idVecX &vec ) const {
assert( dst.GetSize() == numColumns );
const float * vPtr = vec.ToFloatPtr();
float * dstPtr = dst.ToFloatPtr();
float * temp = (float *)_alloca16( numColumns * sizeof( float ) );
for ( int i = 0; i < numColumns; i++ ) {
const float * mPtr = mat + i;
float sum = mPtr[0] * vPtr[0];
for ( int j = 1; j < numRows; j++ ) {
mPtr += numColumns;
sum += mPtr[0] * vPtr[j];
}
temp[i] = dstPtr[i] - sum;
}
for ( int i = 0; i < numColumns; i++ ) {
dstPtr[i] = temp[i];
}
}
/*
========================
idMatX::Multiply
========================
*/
ID_INLINE void idMatX::Multiply( idMatX &dst, const idMatX &a ) const {
assert( numColumns == a.numRows );
assert( &dst != &a && &dst != this );
dst.SetSize( numRows, a.numColumns );
float * dstPtr = dst.ToFloatPtr();
const float * m1Ptr = ToFloatPtr();
int k = numRows;
int l = a.GetNumColumns();
for ( int i = 0; i < k; i++ ) {
for ( int j = 0; j < l; j++ ) {
const float * m2Ptr = a.ToFloatPtr() + j;
float sum = m1Ptr[0] * m2Ptr[0];
for ( int n = 1; n < numColumns; n++ ) {
m2Ptr += l;
sum += m1Ptr[n] * m2Ptr[0];
}
*dstPtr++ = sum;
}
m1Ptr += numColumns;
}
}
/*
========================
idMatX::TransposeMultiply
========================
*/
ID_INLINE void idMatX::TransposeMultiply( idMatX &dst, const idMatX &a ) const {
assert( numRows == a.numRows );
assert( &dst != &a && &dst != this );
dst.SetSize( numColumns, a.numColumns );
float * dstPtr = dst.ToFloatPtr();
int k = numColumns;
int l = a.numColumns;
for ( int i = 0; i < k; i++ ) {
for ( int j = 0; j < l; j++ ) {
const float * m1Ptr = ToFloatPtr() + i;
const float * m2Ptr = a.ToFloatPtr() + j;
float sum = m1Ptr[0] * m2Ptr[0];
for ( int n = 1; n < numRows; n++ ) {
m1Ptr += numColumns;
m2Ptr += a.numColumns;
sum += m1Ptr[0] * m2Ptr[0];
}
*dstPtr++ = sum;
}
}
}
/*
========================
idMatX::GetDimension
========================
*/
ID_INLINE int idMatX::GetDimension() const {
return numRows * numColumns;
}
/*
========================
idMatX::SubVec6
========================
*/
ID_INLINE const idVec6 &idMatX::SubVec6( int row ) const {
assert( numColumns >= 6 && row >= 0 && row < numRows );
return *reinterpret_cast<const idVec6 *>(mat + row * numColumns);
}
/*
========================
idMatX::SubVec6
========================
*/
ID_INLINE idVec6 &idMatX::SubVec6( int row ) {
assert( numColumns >= 6 && row >= 0 && row < numRows );
return *reinterpret_cast<idVec6 *>(mat + row * numColumns);
}
/*
========================
idMatX::SubVecX
========================
*/
ID_INLINE const idVecX idMatX::SubVecX( int row ) const {
idVecX v;
assert( row >= 0 && row < numRows );
v.SetData( numColumns, mat + row * numColumns );
return v;
}
/*
========================
idMatX::SubVecX
========================
*/
ID_INLINE idVecX idMatX::SubVecX( int row ) {
idVecX v;
assert( row >= 0 && row < numRows );
v.SetData( numColumns, mat + row * numColumns );
return v;
}
/*
========================
idMatX::ToFloatPtr
========================
*/
ID_INLINE const float *idMatX::ToFloatPtr() const {
return mat;
}
/*
========================
idMatX::ToFloatPtr
========================
*/
ID_INLINE float *idMatX::ToFloatPtr() {
return mat;
}
#endif // !__MATH_MATRIXX_H__
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