diff options
Diffstat (limited to 'source/blender/blenlib/intern/math_matrix.c')
| -rw-r--r-- | source/blender/blenlib/intern/math_matrix.c | 122 |
1 files changed, 94 insertions, 28 deletions
diff --git a/source/blender/blenlib/intern/math_matrix.c b/source/blender/blenlib/intern/math_matrix.c index af42af88582..1b4bbafdb04 100644 --- a/source/blender/blenlib/intern/math_matrix.c +++ b/source/blender/blenlib/intern/math_matrix.c @@ -639,7 +639,16 @@ void mul_mat3_m4_fl(float m[4][4], float f) m[i][j] *= f; } -void negate_m3(float m[4][4]) +void negate_m3(float m[3][3]) +{ + int i, j; + + for (i = 0; i < 3; i++) + for (j = 0; j < 3; j++) + m[i][j] *= -1.0f; +} + +void negate_mat3_m4(float m[4][4]) { int i, j; @@ -839,9 +848,10 @@ bool invert_m4_m4(float inverse[4][4], float mat[4][4]) } } - temp = tempmat[i][i]; - if (temp == 0) - return 0; /* No non-zero pivot */ + if (UNLIKELY(tempmat[i][i] == 0.0f)) { + return false; /* No non-zero pivot */ + } + temp = (double)tempmat[i][i]; for (k = 0; k < 4; k++) { tempmat[i][k] = (float)((double)tempmat[i][k] / temp); inverse[i][k] = (float)((double)inverse[i][k] / temp); @@ -856,7 +866,7 @@ bool invert_m4_m4(float inverse[4][4], float mat[4][4]) } } } - return 1; + return true; } /****************************** Linear Algebra *******************************/ @@ -876,6 +886,37 @@ void transpose_m3(float mat[3][3]) mat[2][1] = t; } +void transpose_m3_m3(float rmat[3][3], float mat[3][3]) +{ + BLI_assert(rmat != mat); + + rmat[0][0] = mat[0][0]; + rmat[0][1] = mat[1][0]; + rmat[0][2] = mat[2][0]; + rmat[1][0] = mat[0][1]; + rmat[1][1] = mat[1][1]; + rmat[1][2] = mat[2][1]; + rmat[2][0] = mat[0][2]; + rmat[2][1] = mat[1][2]; + rmat[2][2] = mat[2][2]; +} + +/* seems obscure but in-fact a common operation */ +void transpose_m3_m4(float rmat[3][3], float mat[4][4]) +{ + BLI_assert(&rmat[0][0] != &mat[0][0]); + + rmat[0][0] = mat[0][0]; + rmat[0][1] = mat[1][0]; + rmat[0][2] = mat[2][0]; + rmat[1][0] = mat[0][1]; + rmat[1][1] = mat[1][1]; + rmat[1][2] = mat[2][1]; + rmat[2][0] = mat[0][2]; + rmat[2][1] = mat[1][2]; + rmat[2][2] = mat[2][2]; +} + void transpose_m4(float mat[4][4]) { float t; @@ -902,6 +943,28 @@ void transpose_m4(float mat[4][4]) mat[3][2] = t; } +void transpose_m4_m4(float rmat[4][4], float mat[4][4]) +{ + BLI_assert(rmat != mat); + + rmat[0][0] = mat[0][0]; + rmat[0][1] = mat[1][0]; + rmat[0][2] = mat[2][0]; + rmat[0][3] = mat[3][0]; + rmat[1][0] = mat[0][1]; + rmat[1][1] = mat[1][1]; + rmat[1][2] = mat[2][1]; + rmat[1][3] = mat[3][1]; + rmat[2][0] = mat[0][2]; + rmat[2][1] = mat[1][2]; + rmat[2][2] = mat[2][2]; + rmat[2][3] = mat[3][2]; + rmat[3][0] = mat[0][3]; + rmat[3][1] = mat[1][3]; + rmat[3][2] = mat[2][3]; + rmat[3][3] = mat[3][3]; +} + int compare_m4m4(float mat1[4][4], float mat2[4][4], float limit) { if (compare_v4v4(mat1[0], mat2[0], limit)) @@ -1087,11 +1150,11 @@ bool is_orthogonal_m3(float m[3][3]) for (i = 0; i < 3; i++) { for (j = 0; j < i; j++) { if (fabsf(dot_v3v3(m[i], m[j])) > 1.5f * FLT_EPSILON) - return 0; + return false; } } - return 1; + return true; } bool is_orthogonal_m4(float m[4][4]) @@ -1101,12 +1164,12 @@ bool is_orthogonal_m4(float m[4][4]) for (i = 0; i < 4; i++) { for (j = 0; j < i; j++) { if (fabsf(dot_v4v4(m[i], m[j])) > 1.5f * FLT_EPSILON) - return 0; + return false; } } - return 1; + return true; } bool is_orthonormal_m3(float m[3][3]) @@ -1116,12 +1179,12 @@ bool is_orthonormal_m3(float m[3][3]) for (i = 0; i < 3; i++) if (fabsf(dot_v3v3(m[i], m[i]) - 1) > 1.5f * FLT_EPSILON) - return 0; + return false; - return 1; + return true; } - return 0; + return false; } bool is_orthonormal_m4(float m[4][4]) @@ -1131,12 +1194,12 @@ bool is_orthonormal_m4(float m[4][4]) for (i = 0; i < 4; i++) if (fabsf(dot_v4v4(m[i], m[i]) - 1) > 1.5f * FLT_EPSILON) - return 0; + return false; - return 1; + return true; } - return 0; + return false; } bool is_uniform_scaled_m3(float m[3][3]) @@ -1145,8 +1208,7 @@ bool is_uniform_scaled_m3(float m[3][3]) float t[3][3]; float l1, l2, l3, l4, l5, l6; - copy_m3_m3(t, m); - transpose_m3(t); + transpose_m3_m3(t, m); l1 = len_squared_v3(m[0]); l2 = len_squared_v3(m[1]); @@ -1387,7 +1449,7 @@ float mat3_to_scale(float mat[3][3]) { /* unit length vector */ float unit_vec[3]; - copy_v3_fl(unit_vec, (float)(1.0 / M_SQRT3)); + copy_v3_fl(unit_vec, (float)M_SQRT1_3); mul_m3_v3(mat, unit_vec); return len_v3(unit_vec); } @@ -1396,7 +1458,7 @@ float mat4_to_scale(float mat[4][4]) { /* unit length vector */ float unit_vec[3]; - copy_v3_fl(unit_vec, (float)(1.0 / M_SQRT3)); + copy_v3_fl(unit_vec, (float)M_SQRT1_3); mul_mat3_m4_v3(mat, unit_vec); return len_v3(unit_vec); } @@ -1413,9 +1475,7 @@ void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[3][3]) /* note: this is a workaround for negative matrix not working for rotation conversion, FIXME */ normalize_m3_m3(mat3_n, mat3); if (is_negative_m3(mat3)) { - negate_v3(mat3_n[0]); - negate_v3(mat3_n[1]); - negate_v3(mat3_n[2]); + negate_m3(mat3_n); } /* rotation */ @@ -1425,11 +1485,19 @@ void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[3][3]) /* scale */ /* note: mat4_to_size(ob->size, mat) fails for negative scale */ invert_m3_m3(imat3_n, mat3_n); + + /* better not edit mat3 */ +#if 0 mul_m3_m3m3(mat3, imat3_n, mat3); size[0] = mat3[0][0]; size[1] = mat3[1][1]; size[2] = mat3[2][2]; +#else + size[0] = dot_m3_v3_row_x(imat3_n, mat3[0]); + size[1] = dot_m3_v3_row_y(imat3_n, mat3[1]); + size[2] = dot_m3_v3_row_z(imat3_n, mat3[2]); +#endif } void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wmat[4][4]) @@ -1454,9 +1522,7 @@ void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4]) /* so scale doesn't interfere with rotation [#24291] */ /* note: this is a workaround for negative matrix not working for rotation conversion, FIXME */ if (is_negative_m3(mat3)) { - negate_v3(mat3_n[0]); - negate_v3(mat3_n[1]); - negate_v3(mat3_n[2]); + negate_m3(mat3_n); } mat3_to_quat(quat, mat3_n); @@ -2183,14 +2249,14 @@ void svd_m4(float U[4][4], float s[4], float V[4][4], float A_[4][4]) } } -void pseudoinverse_m4_m4(float Ainv[4][4], float A[4][4], float epsilon) +void pseudoinverse_m4_m4(float Ainv[4][4], float A_[4][4], float epsilon) { /* compute moon-penrose pseudo inverse of matrix, singular values * below epsilon are ignored for stability (truncated SVD) */ - float V[4][4], W[4], Wm[4][4], U[4][4]; + float A[4][4], V[4][4], W[4], Wm[4][4], U[4][4]; int i; - transpose_m4(A); + transpose_m4_m4(A, A_); svd_m4(V, W, U, A); transpose_m4(U); transpose_m4(V); |