diff options
Diffstat (limited to 'source/blender/blenlib/intern/math_matrix.c')
| -rw-r--r-- | source/blender/blenlib/intern/math_matrix.c | 151 |
1 files changed, 85 insertions, 66 deletions
diff --git a/source/blender/blenlib/intern/math_matrix.c b/source/blender/blenlib/intern/math_matrix.c index 2ada05d2965..d447da4de64 100644 --- a/source/blender/blenlib/intern/math_matrix.c +++ b/source/blender/blenlib/intern/math_matrix.c @@ -1700,6 +1700,89 @@ void orthogonalize_m4_stable(float R[4][4], int axis, bool normalize) } } +/* -------------------------------------------------------------------- */ +/** \name Orthogonalize Matrix Zeroed Axes + * + * Set any zeroed axes to an orthogonal vector in relation to the other axes. + * + * Typically used so matrix inversion can be performed. + * + * \note If an object has a zero scaled axis, this function can be used to "clean" the matrix + * to behave as if the scale on that axis was `unit_length`. So it can be inverted + * or used in matrix multiply without creating degenerate matrices, see: T50103 + * \{ */ + +/** + * \return true if any axis needed to be modified. + */ +static bool orthogonalize_m3_zero_axes_impl(float *mat[3], const float unit_length) +{ + enum { X = 1 << 0, Y = 1 << 1, Z = 1 << 2 }; + int flag = 0; + for (int i = 0; i < 3; i++) { + flag |= (len_squared_v3(mat[i]) == 0.0f) ? (1 << i) : 0; + } + + /* Either all or none are zero, either way we can't properly resolve this + * since we need to fill invalid axes from valid ones. */ + if (ELEM(flag, 0, X | Y | Z)) { + return false; + } + + switch (flag) { + case X | Y: { + ortho_v3_v3(mat[1], mat[2]); + ATTR_FALLTHROUGH; + } + case X: { + cross_v3_v3v3(mat[0], mat[1], mat[2]); + break; + } + + case Y | Z: { + ortho_v3_v3(mat[2], mat[0]); + ATTR_FALLTHROUGH; + } + case Y: { + cross_v3_v3v3(mat[1], mat[0], mat[2]); + break; + } + + case Z | X: { + ortho_v3_v3(mat[0], mat[1]); + ATTR_FALLTHROUGH; + } + case Z: { + cross_v3_v3v3(mat[2], mat[0], mat[1]); + break; + } + default: { + BLI_assert(0); /* Unreachable! */ + } + } + + for (int i = 0; i < 3; i++) { + if (flag & (1 << i)) { + if (UNLIKELY(normalize_v3_length(mat[i], unit_length) == 0.0f)) { + mat[i][i] = unit_length; + } + } + } + + return true; +} + +bool orthogonalize_m3_zero_axes(float m[3][3], const float unit_length) +{ + return orthogonalize_m3_zero_axes_impl((float *[3]){UNPACK3(m)}, unit_length); +} +bool orthogonalize_m4_zero_axes(float m[4][4], const float unit_length) +{ + return orthogonalize_m3_zero_axes_impl((float *[3]){UNPACK3(m)}, unit_length); +} + +/** \} */ + bool is_orthogonal_m3(const float m[3][3]) { int i, j; @@ -3196,68 +3279,6 @@ void invert_m4_m4_safe(float Ainv[4][4], const float A[4][4]) * \{ */ /** - * Return true if invert should be attempted again. - * - * \note Takes an array of points to be usable from 3x3 and 4x4 matrices. - */ -static bool invert_m3_m3_safe_ortho_prepare(float *mat[3]) -{ - enum { X = 1 << 0, Y = 1 << 1, Z = 1 << 2 }; - int flag = 0; - for (int i = 0; i < 3; i++) { - flag |= (len_squared_v3(mat[i]) == 0.0f) ? (1 << i) : 0; - } - - /* Either all or none are zero, either way we can't properly resolve this - * since we need to fill invalid axes from valid ones. */ - if (ELEM(flag, 0, X | Y | Z)) { - return false; - } - - switch (flag) { - case X | Y: { - ortho_v3_v3(mat[1], mat[2]); - ATTR_FALLTHROUGH; - } - case X: { - cross_v3_v3v3(mat[0], mat[1], mat[2]); - break; - } - - case Y | Z: { - ortho_v3_v3(mat[2], mat[0]); - ATTR_FALLTHROUGH; - } - case Y: { - cross_v3_v3v3(mat[1], mat[0], mat[2]); - break; - } - - case Z | X: { - ortho_v3_v3(mat[0], mat[1]); - ATTR_FALLTHROUGH; - } - case Z: { - cross_v3_v3v3(mat[2], mat[0], mat[1]); - break; - } - default: { - BLI_assert(0); /* Unreachable! */ - } - } - - for (int i = 0; i < 3; i++) { - if (flag & (1 << i)) { - if (UNLIKELY(normalize_v3(mat[i]) == 0.0f)) { - mat[i][i] = 1.0f; - } - } - } - - return true; -} - -/** * A safe version of invert that uses valid axes, calculating the zero'd axis * based on the non-zero ones. * @@ -3268,8 +3289,7 @@ void invert_m4_m4_safe_ortho(float Ainv[4][4], const float A[4][4]) if (UNLIKELY(!invert_m4_m4(Ainv, A))) { float Atemp[4][4]; copy_m4_m4(Atemp, A); - if (UNLIKELY(!(invert_m3_m3_safe_ortho_prepare((float *[3]){UNPACK3(Atemp)}) && - invert_m4_m4(Ainv, Atemp)))) { + if (UNLIKELY(!(orthogonalize_m4_zero_axes(Atemp, 1.0f) && invert_m4_m4(Ainv, Atemp)))) { unit_m4(Ainv); } } @@ -3280,8 +3300,7 @@ void invert_m3_m3_safe_ortho(float Ainv[3][3], const float A[3][3]) if (UNLIKELY(!invert_m3_m3(Ainv, A))) { float Atemp[3][3]; copy_m3_m3(Atemp, A); - if (UNLIKELY(!(invert_m3_m3_safe_ortho_prepare((float *[3]){UNPACK3(Atemp)}) && - invert_m3_m3(Ainv, Atemp)))) { + if (UNLIKELY(!(orthogonalize_m3_zero_axes(Atemp, 1.0f) && invert_m3_m3(Ainv, Atemp)))) { unit_m3(Ainv); } } |