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common: add 4x4 (from mesa) and 2x2 matrix inverse

This commit is contained in:
Eric Wasylishen 2017-04-23 15:58:51 -06:00
parent 6344e0723c
commit 8a4d1ff218
5 changed files with 179 additions and 0 deletions
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1
bsputil/CMakeLists.txt
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@ -7,6 +7,7 @@ set(BSPUTIL_SOURCES
${CMAKE_SOURCE_DIR}/common/bspfile.cc
${CMAKE_SOURCE_DIR}/common/bsputils.cc
${CMAKE_SOURCE_DIR}/common/mathlib.cc
${CMAKE_SOURCE_DIR}/common/qvec.cc
${CMAKE_SOURCE_DIR}/common/polylib.cc
${CMAKE_SOURCE_DIR}/common/log.cc
${CMAKE_SOURCE_DIR}/common/threads.cc

150
common/qvec.cc Normal file
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@ -0,0 +1,150 @@
/* Copyright (C) 2017 Eric Wasylishen
This program 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 2 of the License, or
(at your option) any later version.
This program 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 this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
See file, 'COPYING', for details.
*/
#include <common/qvec.hh>
/*
* SGI FREE SOFTWARE LICENSE B (Version 2.0, Sept. 18, 2008)
* Copyright (C) 1991-2000 Silicon Graphics, Inc. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice including the dates of first publication and
* either this permission notice or a reference to
* http://oss.sgi.com/projects/FreeB/
* shall be included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
* SILICON GRAPHICS, INC. BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
* OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* Except as contained in this notice, the name of Silicon Graphics, Inc.
* shall not be used in advertising or otherwise to promote the sale, use or
* other dealings in this Software without prior written authorization from
* Silicon Graphics, Inc.
*/
/*
** Invert 4x4 matrix.
** Contributed by David Moore (See Mesa bug #6748)
*/
static bool gluInvertMatrixd(const double m[16], double invOut[16])
{
double inv[16], det;
int i;
inv[0] = m[5]*m[10]*m[15] - m[5]*m[11]*m[14] - m[9]*m[6]*m[15]
+ m[9]*m[7]*m[14] + m[13]*m[6]*m[11] - m[13]*m[7]*m[10];
inv[4] = -m[4]*m[10]*m[15] + m[4]*m[11]*m[14] + m[8]*m[6]*m[15]
- m[8]*m[7]*m[14] - m[12]*m[6]*m[11] + m[12]*m[7]*m[10];
inv[8] = m[4]*m[9]*m[15] - m[4]*m[11]*m[13] - m[8]*m[5]*m[15]
+ m[8]*m[7]*m[13] + m[12]*m[5]*m[11] - m[12]*m[7]*m[9];
inv[12] = -m[4]*m[9]*m[14] + m[4]*m[10]*m[13] + m[8]*m[5]*m[14]
- m[8]*m[6]*m[13] - m[12]*m[5]*m[10] + m[12]*m[6]*m[9];
inv[1] = -m[1]*m[10]*m[15] + m[1]*m[11]*m[14] + m[9]*m[2]*m[15]
- m[9]*m[3]*m[14] - m[13]*m[2]*m[11] + m[13]*m[3]*m[10];
inv[5] = m[0]*m[10]*m[15] - m[0]*m[11]*m[14] - m[8]*m[2]*m[15]
+ m[8]*m[3]*m[14] + m[12]*m[2]*m[11] - m[12]*m[3]*m[10];
inv[9] = -m[0]*m[9]*m[15] + m[0]*m[11]*m[13] + m[8]*m[1]*m[15]
- m[8]*m[3]*m[13] - m[12]*m[1]*m[11] + m[12]*m[3]*m[9];
inv[13] = m[0]*m[9]*m[14] - m[0]*m[10]*m[13] - m[8]*m[1]*m[14]
+ m[8]*m[2]*m[13] + m[12]*m[1]*m[10] - m[12]*m[2]*m[9];
inv[2] = m[1]*m[6]*m[15] - m[1]*m[7]*m[14] - m[5]*m[2]*m[15]
+ m[5]*m[3]*m[14] + m[13]*m[2]*m[7] - m[13]*m[3]*m[6];
inv[6] = -m[0]*m[6]*m[15] + m[0]*m[7]*m[14] + m[4]*m[2]*m[15]
- m[4]*m[3]*m[14] - m[12]*m[2]*m[7] + m[12]*m[3]*m[6];
inv[10] = m[0]*m[5]*m[15] - m[0]*m[7]*m[13] - m[4]*m[1]*m[15]
+ m[4]*m[3]*m[13] + m[12]*m[1]*m[7] - m[12]*m[3]*m[5];
inv[14] = -m[0]*m[5]*m[14] + m[0]*m[6]*m[13] + m[4]*m[1]*m[14]
- m[4]*m[2]*m[13] - m[12]*m[1]*m[6] + m[12]*m[2]*m[5];
inv[3] = -m[1]*m[6]*m[11] + m[1]*m[7]*m[10] + m[5]*m[2]*m[11]
- m[5]*m[3]*m[10] - m[9]*m[2]*m[7] + m[9]*m[3]*m[6];
inv[7] = m[0]*m[6]*m[11] - m[0]*m[7]*m[10] - m[4]*m[2]*m[11]
+ m[4]*m[3]*m[10] + m[8]*m[2]*m[7] - m[8]*m[3]*m[6];
inv[11] = -m[0]*m[5]*m[11] + m[0]*m[7]*m[9] + m[4]*m[1]*m[11]
- m[4]*m[3]*m[9] - m[8]*m[1]*m[7] + m[8]*m[3]*m[5];
inv[15] = m[0]*m[5]*m[10] - m[0]*m[6]*m[9] - m[4]*m[1]*m[10]
+ m[4]*m[2]*m[9] + m[8]*m[1]*m[6] - m[8]*m[2]*m[5];
det = m[0]*inv[0] + m[1]*inv[4] + m[2]*inv[8] + m[3]*inv[12];
if (det == 0)
return false;
det = 1.0 / det;
for (i = 0; i < 16; i++)
invOut[i] = inv[i] * det;
return true;
}
qmat4x4d qv::invert(const qmat4x4d &input, bool *ok)
{
double flat_in[16];
double flat_out[16];
for (int i=0; i<4; i++)
for (int j=0; j<4; j++)
flat_in[4*i+j] = input[i][j];
*ok = gluInvertMatrixd(flat_in, flat_out);
if (!*ok)
return qmat4x4d();
qmat4x4d result;
for (int i=0; i<4; i++)
for (int j=0; j<4; j++)
result[i][j] = flat_out[4*i+j];
return result;
}
qmat4x4f qv::invert(const qmat4x4f &input, bool *ok)
{
return qmat4x4f(qv::invert(qmat4x4d(input), ok));
}
qmat2x2f qv::invert(const qmat2x2f &m, bool *ok)
{
float a = m[0][0];
float b = m[1][0];
float c = m[0][1];
float d = m[1][1];
float det = a*d - b*c;
if (det == 0) {
*ok = false;
return qmat2x2f();
}
*ok = true;
qmat2x2f result {
d, -c, // col 0
-b, a // col 1
};
return result * (1.0f/det);
}

26
include/common/qvec.hh
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@ -267,6 +267,15 @@ public:
this->m_cols[i] = other.m_cols[i];
}
/**
* Casting from another matrix type of the same size
*/
template <class T2>
qmat(const qmat<M, N, T2> &other) {
for (int i=0; i<N; i++)
m_cols[i] = qvec<M, T>(other[i]);
}
// initializer list
qmat(std::initializer_list<T> list) {
assert(list.size() == M*N);
@ -324,6 +333,16 @@ public:
}
return res;
}
// multiplication by a scalar
qmat<M,N,T> operator*(const T scalar) const {
qmat<M,N,T> res;
for (int j=0; j<N; j++) {
res[j] = this->m_cols[j] * scalar;
}
return res;
}
};
using qmat2x2f = qmat<2, 2, float>;
@ -351,4 +370,11 @@ using qmat4x2d = qmat<4, 2, double>;
using qmat4x3d = qmat<4, 3, double>;
using qmat4x4d = qmat<4, 4, double>;
namespace qv {
qmat4x4f invert(const qmat4x4f &input, bool *ok);
qmat4x4d invert(const qmat4x4d &input, bool *ok);
qmat2x2f invert(const qmat2x2f &input, bool *ok);
};
#endif /* __COMMON_QVEC_HH__ */

1
light/CMakeLists.txt
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@ -23,6 +23,7 @@ set(LIGHT_SOURCES
${CMAKE_SOURCE_DIR}/common/bspfile.cc
${CMAKE_SOURCE_DIR}/common/cmdlib.cc
${CMAKE_SOURCE_DIR}/common/mathlib.cc
${CMAKE_SOURCE_DIR}/common/qvec.cc
${CMAKE_SOURCE_DIR}/common/mesh.cc
${CMAKE_SOURCE_DIR}/common/log.cc
${CMAKE_SOURCE_DIR}/common/threads.cc

1
vis/CMakeLists.txt
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@ -12,6 +12,7 @@ set(VIS_SOURCES
state.cc
${CMAKE_SOURCE_DIR}/common/cmdlib.cc
${CMAKE_SOURCE_DIR}/common/mathlib.cc
${CMAKE_SOURCE_DIR}/common/qvec.cc
${CMAKE_SOURCE_DIR}/common/polylib.cc
${CMAKE_SOURCE_DIR}/common/bsputils.cc
${CMAKE_SOURCE_DIR}/common/bspfile.cc