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common: tidy qmat

This commit is contained in:
Eric Wasylishen 2017-04-23 17:41:19 -06:00
parent efd48b48f5
commit eeb00bf74c
3 changed files with 49 additions and 56 deletions
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28
common/qvec.cc
View File

@ -104,22 +104,9 @@ static bool gluInvertMatrixd(const double m[16], double invOut[16])
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;
qmat4x4d res;
*ok = gluInvertMatrixd(input.m_values, res.m_values);
return res;
}
qmat4x4f qv::invert(const qmat4x4f &input, bool *ok)
@ -129,10 +116,11 @@ qmat4x4f qv::invert(const qmat4x4f &input, bool *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];
// http://www.mathwords.com/i/inverse_of_a_matrix.htm
float a = m.at(0,0);
float b = m.at(0,1);
float c = m.at(1,0);
float d = m.at(1,1);
float det = a*d - b*c;
if (det == 0) {

69
include/common/qvec.hh
View File

@ -238,33 +238,36 @@ using qplane3f = qplane3<float>;
using qplane3d = qplane3<double>;
/**
* M row, N column matrix
* M row, N column matrix.
*/
template <int M, int N, class T>
class qmat {
protected:
qvec<M, T> m_cols[N];
public:
/**
* Column-major order. [ (row0,col0), (row1,col0), .. ]
*/
T m_values[M*N];
public:
/**
* Identity matrix if square, otherwise fill with 0
*/
qmat() {
for (int i=0; i<N; i++)
m_cols[i] = qvec<M, T>(0);
for (int i=0; i<M*N; i++)
m_values[i] = 0;
if (M == N) {
// identity matrix
for (int i=0; i<N; i++) {
m_cols[i][i] = 1;
this->at(i,i) = 1;
}
}
}
// copy constructor
qmat(const qmat<M,N,T> &other) {
for (int i=0; i<N; i++)
this->m_cols[i] = other.m_cols[i];
for (int i=0; i<M*N; i++)
this->m_values[i] = other.m_values[i];
}
/**
@ -272,47 +275,49 @@ public:
*/
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]);
for (int i=0; i<M*N; i++)
this->m_values[i] = static_cast<T>(other.m_values[i]);
}
// initializer list
// initializer list, column-major order
qmat(std::initializer_list<T> list) {
assert(list.size() == M*N);
const T *listPtr = list.begin();
for (int j=0; j<N; j++) {
for (int i=0; i<M; i++) {
this->m_cols[j][i] = listPtr[(j*M)+i];
}
for (int i=0; i<M*N; i++) {
this->m_values[i] = listPtr[i];
}
}
bool operator==(const qmat<M,N,T> &other) const {
for (int i=0; i<N; i++)
if (this->m_cols[i] != other.m_cols[i])
for (int i=0; i<M*N; i++)
if (this->m_values[i] != other.m_values[i])
return false;
return true;
}
// access to columns
// access to elements
qvec<M, T> operator[](const size_t idx) const {
assert(idx >= 0 && idx < N);
return m_cols[idx];
T& at(int row, int col) {
assert(row >= 0 && row < M);
assert(col >= 0 && col < N);
return m_values[col * M + row];
}
qvec<M, T> &operator[](const size_t idx) {
assert(idx >= 0 && idx < N);
return m_cols[idx];
T at(int row, int col) const {
assert(row >= 0 && row < M);
assert(col >= 0 && col < N);
return m_values[col * M + row];
}
// multiplication by a vector
qvec<M,T> operator*(const qvec<N, T> &vec) const {
qvec<M,T> res;
for (int j=0; j<N; j++) {
res += this->m_cols[j] * vec[j];
qvec<M,T> res(0);
for (int i=0; i<M; i++) { // for each row
for (int j=0; j<N; j++) { // for each col
res[i] += this->at(i, j) * vec[j];
}
}
return res;
}
@ -326,9 +331,9 @@ public:
for (int j=0; j<P; j++) {
T val = 0;
for (int k=0; k<N; k++) {
val += (*this)[i][k] * other[k][j];
val += this->at(i,k) * other.at(k,j);
}
res[i][j] = val;
res.at(i,j) = val;
}
}
return res;
@ -337,9 +342,9 @@ public:
// 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;
qmat<M,N,T> res(*this);
for (int i=0; i<M*N; i++) {
res.m_values[i] *= scalar;
}
return res;
}

8
light/test_light.cc
View File

@ -875,7 +875,7 @@ TEST(qvec, matrix2x2inv) {
qmat2x2f randMat;
for (int i=0; i<2; i++)
for (int j=0; j<2; j++)
randMat[i][j] = dis(engine);
randMat.at(i,j) = dis(engine);
bool ok;
qmat2x2f randInv = qv::invert(randMat, &ok);
@ -885,7 +885,7 @@ TEST(qvec, matrix2x2inv) {
for (int i=0; i<2; i++) {
for (int j=0; j<2; j++) {
float exp = (i == j) ? 1.0f : 0.0f;
ASSERT_TRUE(fabs(exp - prod[i][j]) < 0.001);
ASSERT_TRUE(fabs(exp - prod.at(i,j)) < 0.001);
}
}
}
@ -897,7 +897,7 @@ TEST(qvec, matrix4x4inv) {
qmat4x4f randMat;
for (int i=0; i<4; i++)
for (int j=0; j<4; j++)
randMat[i][j] = dis(engine);
randMat.at(i,j) = dis(engine);
bool ok;
qmat4x4f randInv = qv::invert(randMat, &ok);
@ -907,7 +907,7 @@ TEST(qvec, matrix4x4inv) {
for (int i=0; i<4; i++) {
for (int j=0; j<4; j++) {
float exp = (i == j) ? 1.0f : 0.0f;
ASSERT_TRUE(fabs(exp - prod[i][j]) < 0.001);
ASSERT_TRUE(fabs(exp - prod.at(i,j)) < 0.001);
}
}
}