util: Move the 4x4 matrix inverse function to u_math
Reviewed-by: Bas Nieuwenhuizen <bas@basnieuwenhuizen.nl> Part-of: <https://gitlab.freedesktop.org/mesa/mesa/-/merge_requests/11078>
This commit is contained in:
Jason Ekstrand
Marge Bot
parent
1727adfbc5
commit
f31bfda34a
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@ -333,13 +333,6 @@ _math_matrix_print( const GLmatrix *m )
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/** \name Matrix inversion */
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/*@{*/
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/**
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* Swaps the values of two floating point variables.
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*
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* Used by invert_matrix_general() to swap the row pointers.
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*/
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#define SWAP_ROWS(a, b) { GLfloat *_tmp = a; (a)=(b); (b)=_tmp; }
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/**
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* Compute inverse of 4x4 transformation matrix.
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*
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@ -357,116 +350,8 @@ _math_matrix_print( const GLmatrix *m )
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*/
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static GLboolean invert_matrix_general( GLmatrix *mat )
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{
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const GLfloat *m = mat->m;
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GLfloat *out = mat->inv;
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GLfloat wtmp[4][8];
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GLfloat m0, m1, m2, m3, s;
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GLfloat *r0, *r1, *r2, *r3;
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r0 = wtmp[0], r1 = wtmp[1], r2 = wtmp[2], r3 = wtmp[3];
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r0[0] = MAT(m,0,0), r0[1] = MAT(m,0,1),
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r0[2] = MAT(m,0,2), r0[3] = MAT(m,0,3),
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r0[4] = 1.0, r0[5] = r0[6] = r0[7] = 0.0,
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r1[0] = MAT(m,1,0), r1[1] = MAT(m,1,1),
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r1[2] = MAT(m,1,2), r1[3] = MAT(m,1,3),
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r1[5] = 1.0, r1[4] = r1[6] = r1[7] = 0.0,
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r2[0] = MAT(m,2,0), r2[1] = MAT(m,2,1),
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r2[2] = MAT(m,2,2), r2[3] = MAT(m,2,3),
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r2[6] = 1.0, r2[4] = r2[5] = r2[7] = 0.0,
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r3[0] = MAT(m,3,0), r3[1] = MAT(m,3,1),
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r3[2] = MAT(m,3,2), r3[3] = MAT(m,3,3),
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r3[7] = 1.0, r3[4] = r3[5] = r3[6] = 0.0;
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/* choose pivot - or die */
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if (fabsf(r3[0])>fabsf(r2[0])) SWAP_ROWS(r3, r2);
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if (fabsf(r2[0])>fabsf(r1[0])) SWAP_ROWS(r2, r1);
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if (fabsf(r1[0])>fabsf(r0[0])) SWAP_ROWS(r1, r0);
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if (0.0F == r0[0]) return GL_FALSE;
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/* eliminate first variable */
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m1 = r1[0]/r0[0]; m2 = r2[0]/r0[0]; m3 = r3[0]/r0[0];
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s = r0[1]; r1[1] -= m1 * s; r2[1] -= m2 * s; r3[1] -= m3 * s;
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s = r0[2]; r1[2] -= m1 * s; r2[2] -= m2 * s; r3[2] -= m3 * s;
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s = r0[3]; r1[3] -= m1 * s; r2[3] -= m2 * s; r3[3] -= m3 * s;
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s = r0[4];
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if (s != 0.0F) { r1[4] -= m1 * s; r2[4] -= m2 * s; r3[4] -= m3 * s; }
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s = r0[5];
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if (s != 0.0F) { r1[5] -= m1 * s; r2[5] -= m2 * s; r3[5] -= m3 * s; }
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s = r0[6];
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if (s != 0.0F) { r1[6] -= m1 * s; r2[6] -= m2 * s; r3[6] -= m3 * s; }
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s = r0[7];
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if (s != 0.0F) { r1[7] -= m1 * s; r2[7] -= m2 * s; r3[7] -= m3 * s; }
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/* choose pivot - or die */
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if (fabsf(r3[1])>fabsf(r2[1])) SWAP_ROWS(r3, r2);
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if (fabsf(r2[1])>fabsf(r1[1])) SWAP_ROWS(r2, r1);
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if (0.0F == r1[1]) return GL_FALSE;
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/* eliminate second variable */
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m2 = r2[1]/r1[1]; m3 = r3[1]/r1[1];
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r2[2] -= m2 * r1[2]; r3[2] -= m3 * r1[2];
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r2[3] -= m2 * r1[3]; r3[3] -= m3 * r1[3];
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s = r1[4]; if (0.0F != s) { r2[4] -= m2 * s; r3[4] -= m3 * s; }
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s = r1[5]; if (0.0F != s) { r2[5] -= m2 * s; r3[5] -= m3 * s; }
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s = r1[6]; if (0.0F != s) { r2[6] -= m2 * s; r3[6] -= m3 * s; }
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s = r1[7]; if (0.0F != s) { r2[7] -= m2 * s; r3[7] -= m3 * s; }
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/* choose pivot - or die */
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if (fabsf(r3[2])>fabsf(r2[2])) SWAP_ROWS(r3, r2);
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if (0.0F == r2[2]) return GL_FALSE;
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/* eliminate third variable */
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m3 = r3[2]/r2[2];
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r3[3] -= m3 * r2[3], r3[4] -= m3 * r2[4],
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r3[5] -= m3 * r2[5], r3[6] -= m3 * r2[6],
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r3[7] -= m3 * r2[7];
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/* last check */
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if (0.0F == r3[3]) return GL_FALSE;
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s = 1.0F/r3[3]; /* now back substitute row 3 */
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r3[4] *= s; r3[5] *= s; r3[6] *= s; r3[7] *= s;
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m2 = r2[3]; /* now back substitute row 2 */
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s = 1.0F/r2[2];
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r2[4] = s * (r2[4] - r3[4] * m2), r2[5] = s * (r2[5] - r3[5] * m2),
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r2[6] = s * (r2[6] - r3[6] * m2), r2[7] = s * (r2[7] - r3[7] * m2);
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m1 = r1[3];
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r1[4] -= r3[4] * m1, r1[5] -= r3[5] * m1,
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r1[6] -= r3[6] * m1, r1[7] -= r3[7] * m1;
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m0 = r0[3];
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r0[4] -= r3[4] * m0, r0[5] -= r3[5] * m0,
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r0[6] -= r3[6] * m0, r0[7] -= r3[7] * m0;
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m1 = r1[2]; /* now back substitute row 1 */
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s = 1.0F/r1[1];
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r1[4] = s * (r1[4] - r2[4] * m1), r1[5] = s * (r1[5] - r2[5] * m1),
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r1[6] = s * (r1[6] - r2[6] * m1), r1[7] = s * (r1[7] - r2[7] * m1);
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m0 = r0[2];
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r0[4] -= r2[4] * m0, r0[5] -= r2[5] * m0,
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r0[6] -= r2[6] * m0, r0[7] -= r2[7] * m0;
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m0 = r0[1]; /* now back substitute row 0 */
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s = 1.0F/r0[0];
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r0[4] = s * (r0[4] - r1[4] * m0), r0[5] = s * (r0[5] - r1[5] * m0),
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r0[6] = s * (r0[6] - r1[6] * m0), r0[7] = s * (r0[7] - r1[7] * m0);
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MAT(out,0,0) = r0[4]; MAT(out,0,1) = r0[5],
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MAT(out,0,2) = r0[6]; MAT(out,0,3) = r0[7],
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MAT(out,1,0) = r1[4]; MAT(out,1,1) = r1[5],
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MAT(out,1,2) = r1[6]; MAT(out,1,3) = r1[7],
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MAT(out,2,0) = r2[4]; MAT(out,2,1) = r2[5],
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MAT(out,2,2) = r2[6]; MAT(out,2,3) = r2[7],
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MAT(out,3,0) = r3[4]; MAT(out,3,1) = r3[5],
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MAT(out,3,2) = r3[6]; MAT(out,3,3) = r3[7];
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return GL_TRUE;
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return util_invert_mat4x4(mat->inv, mat->m);
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}
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#undef SWAP_ROWS
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/**
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* Compute inverse of a general 3d transformation matrix.
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@ -123,3 +123,189 @@ util_fpstate_set(unsigned mxcsr)
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}
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#endif
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}
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/**
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* Compute inverse of 4x4 matrix.
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*
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* \return false if the source matrix is singular.
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*
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* \author
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* Code contributed by Jacques Leroy jle@star.be
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*
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* Calculates the inverse matrix by performing the gaussian matrix reduction
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* with partial pivoting followed by back/substitution with the loops manually
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* unrolled.
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*/
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bool
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util_invert_mat4x4(float *out, const float *m)
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{
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float wtmp[4][8];
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float m0, m1, m2, m3, s;
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float *r0, *r1, *r2, *r3;
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#define MAT(m, r, c) (m)[(c)*4 + (r)]
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#define SWAP_ROWS(a, b) \
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{ \
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float *_tmp = a; \
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(a) = (b); \
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(b) = _tmp; \
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}
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r0 = wtmp[0], r1 = wtmp[1], r2 = wtmp[2], r3 = wtmp[3];
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r0[0] = MAT(m, 0, 0), r0[1] = MAT(m, 0, 1), r0[2] = MAT(m, 0, 2), r0[3] = MAT(m, 0, 3),
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r0[4] = 1.0, r0[5] = r0[6] = r0[7] = 0.0,
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r1[0] = MAT(m, 1, 0), r1[1] = MAT(m, 1, 1), r1[2] = MAT(m, 1, 2), r1[3] = MAT(m, 1, 3),
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r1[5] = 1.0, r1[4] = r1[6] = r1[7] = 0.0,
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r2[0] = MAT(m, 2, 0), r2[1] = MAT(m, 2, 1), r2[2] = MAT(m, 2, 2), r2[3] = MAT(m, 2, 3),
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r2[6] = 1.0, r2[4] = r2[5] = r2[7] = 0.0,
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r3[0] = MAT(m, 3, 0), r3[1] = MAT(m, 3, 1), r3[2] = MAT(m, 3, 2), r3[3] = MAT(m, 3, 3),
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r3[7] = 1.0, r3[4] = r3[5] = r3[6] = 0.0;
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/* choose pivot - or die */
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if (fabsf(r3[0]) > fabsf(r2[0]))
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SWAP_ROWS(r3, r2);
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if (fabsf(r2[0]) > fabsf(r1[0]))
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SWAP_ROWS(r2, r1);
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if (fabsf(r1[0]) > fabsf(r0[0]))
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SWAP_ROWS(r1, r0);
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if (0.0F == r0[0])
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return false;
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/* eliminate first variable */
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m1 = r1[0] / r0[0];
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m2 = r2[0] / r0[0];
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m3 = r3[0] / r0[0];
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s = r0[1];
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r1[1] -= m1 * s;
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r2[1] -= m2 * s;
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r3[1] -= m3 * s;
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s = r0[2];
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r1[2] -= m1 * s;
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r2[2] -= m2 * s;
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r3[2] -= m3 * s;
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s = r0[3];
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r1[3] -= m1 * s;
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r2[3] -= m2 * s;
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r3[3] -= m3 * s;
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s = r0[4];
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if (s != 0.0F) {
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r1[4] -= m1 * s;
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r2[4] -= m2 * s;
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r3[4] -= m3 * s;
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}
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s = r0[5];
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if (s != 0.0F) {
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r1[5] -= m1 * s;
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r2[5] -= m2 * s;
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r3[5] -= m3 * s;
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}
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s = r0[6];
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if (s != 0.0F) {
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r1[6] -= m1 * s;
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r2[6] -= m2 * s;
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r3[6] -= m3 * s;
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}
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s = r0[7];
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if (s != 0.0F) {
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r1[7] -= m1 * s;
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r2[7] -= m2 * s;
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r3[7] -= m3 * s;
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}
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/* choose pivot - or die */
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if (fabsf(r3[1]) > fabsf(r2[1]))
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SWAP_ROWS(r3, r2);
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if (fabsf(r2[1]) > fabsf(r1[1]))
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SWAP_ROWS(r2, r1);
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if (0.0F == r1[1])
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return false;
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/* eliminate second variable */
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m2 = r2[1] / r1[1];
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m3 = r3[1] / r1[1];
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r2[2] -= m2 * r1[2];
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r3[2] -= m3 * r1[2];
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r2[3] -= m2 * r1[3];
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r3[3] -= m3 * r1[3];
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s = r1[4];
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if (0.0F != s) {
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r2[4] -= m2 * s;
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r3[4] -= m3 * s;
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}
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s = r1[5];
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if (0.0F != s) {
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r2[5] -= m2 * s;
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r3[5] -= m3 * s;
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}
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s = r1[6];
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if (0.0F != s) {
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r2[6] -= m2 * s;
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r3[6] -= m3 * s;
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}
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s = r1[7];
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if (0.0F != s) {
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r2[7] -= m2 * s;
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r3[7] -= m3 * s;
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}
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/* choose pivot - or die */
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if (fabsf(r3[2]) > fabsf(r2[2]))
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SWAP_ROWS(r3, r2);
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if (0.0F == r2[2])
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return false;
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/* eliminate third variable */
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m3 = r3[2] / r2[2];
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r3[3] -= m3 * r2[3], r3[4] -= m3 * r2[4], r3[5] -= m3 * r2[5], r3[6] -= m3 * r2[6],
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r3[7] -= m3 * r2[7];
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/* last check */
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if (0.0F == r3[3])
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return false;
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s = 1.0F / r3[3]; /* now back substitute row 3 */
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r3[4] *= s;
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r3[5] *= s;
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r3[6] *= s;
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r3[7] *= s;
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m2 = r2[3]; /* now back substitute row 2 */
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s = 1.0F / r2[2];
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r2[4] = s * (r2[4] - r3[4] * m2), r2[5] = s * (r2[5] - r3[5] * m2),
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r2[6] = s * (r2[6] - r3[6] * m2), r2[7] = s * (r2[7] - r3[7] * m2);
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m1 = r1[3];
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r1[4] -= r3[4] * m1, r1[5] -= r3[5] * m1, r1[6] -= r3[6] * m1, r1[7] -= r3[7] * m1;
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m0 = r0[3];
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r0[4] -= r3[4] * m0, r0[5] -= r3[5] * m0, r0[6] -= r3[6] * m0, r0[7] -= r3[7] * m0;
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m1 = r1[2]; /* now back substitute row 1 */
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s = 1.0F / r1[1];
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r1[4] = s * (r1[4] - r2[4] * m1), r1[5] = s * (r1[5] - r2[5] * m1),
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r1[6] = s * (r1[6] - r2[6] * m1), r1[7] = s * (r1[7] - r2[7] * m1);
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m0 = r0[2];
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r0[4] -= r2[4] * m0, r0[5] -= r2[5] * m0, r0[6] -= r2[6] * m0, r0[7] -= r2[7] * m0;
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m0 = r0[1]; /* now back substitute row 0 */
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s = 1.0F / r0[0];
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r0[4] = s * (r0[4] - r1[4] * m0), r0[5] = s * (r0[5] - r1[5] * m0),
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r0[6] = s * (r0[6] - r1[6] * m0), r0[7] = s * (r0[7] - r1[7] * m0);
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MAT(out, 0, 0) = r0[4];
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MAT(out, 0, 1) = r0[5], MAT(out, 0, 2) = r0[6];
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MAT(out, 0, 3) = r0[7], MAT(out, 1, 0) = r1[4];
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MAT(out, 1, 1) = r1[5], MAT(out, 1, 2) = r1[6];
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MAT(out, 1, 3) = r1[7], MAT(out, 2, 0) = r2[4];
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MAT(out, 2, 1) = r2[5], MAT(out, 2, 2) = r2[6];
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MAT(out, 2, 3) = r2[7], MAT(out, 3, 0) = r3[4];
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MAT(out, 3, 1) = r3[5], MAT(out, 3, 2) = r3[6];
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MAT(out, 3, 3) = r3[7];
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#undef MAT
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#undef SWAP_ROWS
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return true;
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}
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@ -778,6 +778,8 @@ util_is_vbo_upload_ratio_too_large(unsigned draw_vertex_count,
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return upload_vertex_count > draw_vertex_count * 16;
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}
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bool util_invert_mat4x4(float *out, const float *m);
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#ifdef __cplusplus
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}
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#endif
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