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- Implement VSMatrix::inverseMatrix

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Magnus Norddahl 2017-11-05 15:32:42 +01:00
parent 61ead4f470
commit 23e5d81746
1 changed files with 210 additions and 0 deletions
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210
src/gl/data/gl_matrix.cpp
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@ -484,3 +484,213 @@ VSMatrix::multMatrix(FLOATTYPE *resMat, const FLOATTYPE *aMatrix)
} }
memcpy(resMat, res, 16 * sizeof(FLOATTYPE)); memcpy(resMat, res, 16 * sizeof(FLOATTYPE));
} }
static double mat3Determinant(const FLOATTYPE *mMat3x3)
{
return mMat3x3[0] * (mMat3x3[4] * mMat3x3[8] - mMat3x3[5] * mMat3x3[7]) +
mMat3x3[1] * (mMat3x3[5] * mMat3x3[6] - mMat3x3[8] * mMat3x3[3]) +
mMat3x3[2] * (mMat3x3[3] * mMat3x3[7] - mMat3x3[4] * mMat3x3[6]);
}
static double mat4Determinant(const FLOATTYPE *matrix)
{
FLOATTYPE mMat3x3_a[9] =
{
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_b[9] =
{
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_c[9] =
{
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_d[9] =
{
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2]
};
FLOATTYPE a, b, c, d;
FLOATTYPE value;
a = mat3Determinant(mMat3x3_a);
b = mat3Determinant(mMat3x3_b);
c = mat3Determinant(mMat3x3_c);
d = mat3Determinant(mMat3x3_d);
value = matrix[0 * 4 + 0] * a;
value -= matrix[0 * 4 + 1] * b;
value += matrix[0 * 4 + 2] * c;
value -= matrix[0 * 4 + 3] * d;
return value;
}
static void mat4Adjoint(const FLOATTYPE *matrix, FLOATTYPE *result)
{
FLOATTYPE mMat3x3_a[9] =
{
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_b[9] =
{
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_c[9] =
{
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_d[9] =
{
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2]
};
FLOATTYPE mMat3x3_e[9] =
{
matrix[0 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
matrix[0 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
matrix[0 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_f[9] =
{
matrix[0 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
matrix[0 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
matrix[0 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_g[9] =
{
matrix[0 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
matrix[0 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
matrix[0 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_h[9] =
{
matrix[0 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
matrix[0 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
matrix[0 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2]
};
FLOATTYPE mMat3x3_i[9] =
{
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[3 * 4 + 1],
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[3 * 4 + 2],
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_j[9] =
{
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[3 * 4 + 0],
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[3 * 4 + 2],
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_k[9] =
{
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[3 * 4 + 0],
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[3 * 4 + 1],
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[3 * 4 + 3]
};
FLOATTYPE mMat3x3_l[9] =
{
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[3 * 4 + 0],
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[3 * 4 + 1],
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[3 * 4 + 2]
};
FLOATTYPE mMat3x3_m[9] =
{
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[2 * 4 + 1],
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[2 * 4 + 2],
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[2 * 4 + 3]
};
FLOATTYPE mMat3x3_n[9] =
{
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[2 * 4 + 0],
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[2 * 4 + 2],
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[2 * 4 + 3]
};
FLOATTYPE mMat3x3_o[9] =
{
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[2 * 4 + 0],
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[2 * 4 + 1],
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[2 * 4 + 3]
};
FLOATTYPE mMat3x3_p[9] =
{
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[2 * 4 + 0],
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[2 * 4 + 1],
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[2 * 4 + 2]
};
result[0 * 4 + 0] = mat3Determinant(mMat3x3_a);
result[1 * 4 + 0] = -mat3Determinant(mMat3x3_b);
result[2 * 4 + 0] = mat3Determinant(mMat3x3_c);
result[3 * 4 + 0] = -mat3Determinant(mMat3x3_d);
result[0 * 4 + 1] = -mat3Determinant(mMat3x3_e);
result[1 * 4 + 1] = mat3Determinant(mMat3x3_f);
result[2 * 4 + 1] = -mat3Determinant(mMat3x3_g);
result[3 * 4 + 1] = mat3Determinant(mMat3x3_h);
result[0 * 4 + 2] = mat3Determinant(mMat3x3_i);
result[1 * 4 + 2] = -mat3Determinant(mMat3x3_j);
result[2 * 4 + 2] = mat3Determinant(mMat3x3_k);
result[3 * 4 + 2] = -mat3Determinant(mMat3x3_l);
result[0 * 4 + 3] = -mat3Determinant(mMat3x3_m);
result[1 * 4 + 3] = mat3Determinant(mMat3x3_n);
result[2 * 4 + 3] = -mat3Determinant(mMat3x3_o);
result[3 * 4 + 3] = mat3Determinant(mMat3x3_p);
}
bool VSMatrix::inverseMatrix(VSMatrix &result)
{
// Calculate mat4 determinant
FLOATTYPE det = mat4Determinant(mMatrix);
// Inverse unknown when determinant is close to zero
if (fabs(det) < 1e-15)
{
for (int i = 0; i < 16; i++)
result.mMatrix[i] = FLOATTYPE(0.0);
return false;
}
else
{
mat4Adjoint(mMatrix, result.mMatrix);
FLOATTYPE invDet = FLOATTYPE(1.0) / det;
for (int i = 0; i < 16; i++)
{
result.mMatrix[i] = result.mMatrix[i] * invDet;
}
}
return true;
}