TINYGL: Done several optimizations to the maths code.
This commit is contained in:
Stefano Musumeci
parent
9be1423802
commit
4fbb2d0dc3
9 changed files with 333 additions and 254 deletions
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@ -8,67 +8,132 @@ namespace TinyGL {
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// Inversion of a general nxn matrix.
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// Note : m is destroyed
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int Matrix_Inv(float *r, float *m, int n) {
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int k;
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float max, tmp, t;
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double inv[16], det;
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int i;
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// identitée dans r
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for (int i = 0; i < n * n; i++)
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r[i] = 0;
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for (int i = 0; i < n; i++)
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r[i * n + i] = 1;
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inv[0] = m[5] * m[10] * m[15] -
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m[5] * m[11] * m[14] -
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m[9] * m[6] * m[15] +
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m[9] * m[7] * m[14] +
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m[13] * m[6] * m[11] -
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m[13] * m[7] * m[10];
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for (int j = 0; j < n; j++) {
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max = m[j * n + j];
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k = j;
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for (int i = j + 1; i < n; i++) {
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if (fabs(m[i * n + j]) > fabs(max)) {
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k = i;
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max = m[i * n + j];
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}
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}
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// non intersible matrix
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if (max == 0)
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return 1;
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inv[4] = -m[4] * m[10] * m[15] +
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m[4] * m[11] * m[14] +
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m[8] * m[6] * m[15] -
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m[8] * m[7] * m[14] -
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m[12] * m[6] * m[11] +
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m[12] * m[7] * m[10];
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if (k != j) {
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for (int i = 0; i < n; i++) {
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tmp = m[j * n + i];
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m[j * n + i] = m[k * n + i];
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m[k * n + i] = tmp;
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inv[8] = m[4] * m[9] * m[15] -
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m[4] * m[11] * m[13] -
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m[8] * m[5] * m[15] +
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m[8] * m[7] * m[13] +
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m[12] * m[5] * m[11] -
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m[12] * m[7] * m[9];
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tmp = r[j * n + i];
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r[j * n + i] = r[k * n + i];
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r[k * n + i] = tmp;
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}
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}
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inv[12] = -m[4] * m[9] * m[14] +
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m[4] * m[10] * m[13] +
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m[8] * m[5] * m[14] -
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m[8] * m[6] * m[13] -
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m[12] * m[5] * m[10] +
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m[12] * m[6] * m[9];
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max = 1 / max;
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for (int i = 0; i < n; i++) {
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m[j * n + i] *= max;
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r[j * n + i] *= max;
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}
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inv[1] = -m[1] * m[10] * m[15] +
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m[1] * m[11] * m[14] +
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m[9] * m[2] * m[15] -
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m[9] * m[3] * m[14] -
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m[13] * m[2] * m[11] +
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m[13] * m[3] * m[10];
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inv[5] = m[0] * m[10] * m[15] -
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m[0] * m[11] * m[14] -
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m[8] * m[2] * m[15] +
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m[8] * m[3] * m[14] +
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m[12] * m[2] * m[11] -
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m[12] * m[3] * m[10];
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for (int l = 0; l < n; l++) {
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if (l != j) {
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t = m[l * n + j];
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for (int i = 0; i < n; i++) {
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m[l * n + i] -= m[j * n + i] * t;
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r[l * n + i] -= r[j * n + i] * t;
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}
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}
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}
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}
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inv[9] = -m[0] * m[9] * m[15] +
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m[0] * m[11] * m[13] +
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m[8] * m[1] * m[15] -
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m[8] * m[3] * m[13] -
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m[12] * m[1] * m[11] +
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m[12] * m[3] * m[9];
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return 0;
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}
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inv[13] = m[0] * m[9] * m[14] -
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m[0] * m[10] * m[13] -
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m[8] * m[1] * m[14] +
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m[8] * m[2] * m[13] +
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m[12] * m[1] * m[10] -
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m[12] * m[2] * m[9];
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Vector3::Vector3() {
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// Empty constructor, no overhead
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}
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inv[2] = m[1] * m[6] * m[15] -
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m[1] * m[7] * m[14] -
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m[5] * m[2] * m[15] +
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m[5] * m[3] * m[14] +
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m[13] * m[2] * m[7] -
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m[13] * m[3] * m[6];
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Vector3::Vector3(const Vector3 &other) {
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memcpy(_v, other._v, sizeof(_v));
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inv[6] = -m[0] * m[6] * m[15] +
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m[0] * m[7] * m[14] +
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m[4] * m[2] * m[15] -
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m[4] * m[3] * m[14] -
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m[12] * m[2] * m[7] +
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m[12] * m[3] * m[6];
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inv[10] = m[0] * m[5] * m[15] -
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m[0] * m[7] * m[13] -
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m[4] * m[1] * m[15] +
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m[4] * m[3] * m[13] +
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m[12] * m[1] * m[7] -
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m[12] * m[3] * m[5];
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inv[14] = -m[0] * m[5] * m[14] +
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m[0] * m[6] * m[13] +
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m[4] * m[1] * m[14] -
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m[4] * m[2] * m[13] -
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m[12] * m[1] * m[6] +
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m[12] * m[2] * m[5];
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inv[3] = -m[1] * m[6] * m[11] +
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m[1] * m[7] * m[10] +
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m[5] * m[2] * m[11] -
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m[5] * m[3] * m[10] -
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m[9] * m[2] * m[7] +
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m[9] * m[3] * m[6];
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inv[7] = m[0] * m[6] * m[11] -
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m[0] * m[7] * m[10] -
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m[4] * m[2] * m[11] +
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m[4] * m[3] * m[10] +
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m[8] * m[2] * m[7] -
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m[8] * m[3] * m[6];
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inv[11] = -m[0] * m[5] * m[11] +
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m[0] * m[7] * m[9] +
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m[4] * m[1] * m[11] -
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m[4] * m[3] * m[9] -
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m[8] * m[1] * m[7] +
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m[8] * m[3] * m[5];
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inv[15] = m[0] * m[5] * m[10] -
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m[0] * m[6] * m[9] -
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m[4] * m[1] * m[10] +
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m[4] * m[2] * m[9] +
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m[8] * m[1] * m[6] -
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m[8] * m[2] * m[5];
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det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12];
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if (det == 0)
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return false;
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det = 1.0 / det;
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for (i = 0; i < 16; i++)
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r[i] = inv[i] * det;
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return true;
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}
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Vector3::Vector3(float x, float y, float z) {
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@ -87,10 +152,6 @@ void Vector3::normalize() {
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}
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}
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Vector4::Vector4() {
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// Empty constructor, no overhead
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}
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Vector4::Vector4(float x, float y, float z, float w) {
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_v[0] = x;
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_v[1] = y;
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@ -99,20 +160,12 @@ Vector4::Vector4(float x, float y, float z, float w) {
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}
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Vector4::Vector4(const Vector3 &vec, float w) {
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_v[0] = vec.getX();
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_v[1] = vec.getY();
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_v[2] = vec.getZ();
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_v[0] = vec.X;
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_v[1] = vec.Y;
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_v[2] = vec.Z;
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_v[3] = w;
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}
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Matrix4::Matrix4() {
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// Empty constructor, no overhead
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}
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Matrix4::Matrix4(const Matrix4 &other) {
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memcpy(_m, other._m, sizeof(_m));
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}
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TinyGL::Matrix4 Matrix4::identity() {
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Matrix4 a;
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a.fill(0);
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@ -126,29 +179,53 @@ TinyGL::Matrix4 Matrix4::identity() {
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TinyGL::Matrix4 Matrix4::transpose() const {
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Matrix4 a;
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a.set(0, 0, this->get(0, 0));
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a.set(0, 1, this->get(1, 0));
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a.set(0, 2, this->get(2, 0));
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a.set(0, 3, this->get(3, 0));
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a.set(0, 0, this->_m[0][0]);
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a.set(0, 1, this->_m[1][0]);
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a.set(0, 2, this->_m[2][0]);
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a.set(0, 3, this->_m[3][0]);
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a.set(1, 0, this->get(0, 1));
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a.set(1, 1, this->get(1, 1));
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a.set(1, 2, this->get(2, 1));
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a.set(1, 3, this->get(3, 1));
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a.set(1, 0, this->_m[0][1]);
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a.set(1, 1, this->_m[1][1]);
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a.set(1, 2, this->_m[2][1]);
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a.set(1, 3, this->_m[3][1]);
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a.set(2, 0, this->get(0, 2));
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a.set(2, 1, this->get(1, 2));
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a.set(2, 2, this->get(2, 2));
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a.set(2, 3, this->get(3, 2));
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a.set(2, 0, this->_m[0][2]);
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a.set(2, 1, this->_m[1][2]);
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a.set(2, 2, this->_m[2][2]);
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a.set(2, 3, this->_m[3][2]);
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a.set(3, 0, this->get(0, 3));
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a.set(3, 1, this->get(1, 3));
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a.set(3, 2, this->get(2, 3));
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a.set(3, 3, this->get(3, 3));
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a.set(3, 0, this->_m[0][3]);
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a.set(3, 1, this->_m[1][3]);
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a.set(3, 2, this->_m[2][3]);
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a.set(3, 3, this->_m[3][3]);
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return a;
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}
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void Matrix4::transpose()
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{
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Matrix4 tmp = *this;
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this->set(0, 0, tmp._m[0][0]);
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this->set(0, 1, tmp._m[1][0]);
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this->set(0, 2, tmp._m[2][0]);
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this->set(0, 3, tmp._m[3][0]);
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this->set(1, 0, tmp._m[0][1]);
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this->set(1, 1, tmp._m[1][1]);
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this->set(1, 2, tmp._m[2][1]);
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this->set(1, 3, tmp._m[3][1]);
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this->set(2, 0, tmp._m[0][2]);
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this->set(2, 1, tmp._m[1][2]);
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this->set(2, 2, tmp._m[2][2]);
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this->set(2, 3, tmp._m[3][2]);
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this->set(3, 0, tmp._m[0][3]);
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this->set(3, 1, tmp._m[1][3]);
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this->set(3, 2, tmp._m[2][3]);
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this->set(3, 3, tmp._m[3][3]);
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}
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Matrix4 Matrix4::inverseOrtho() const {
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Matrix4 a;
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@ -198,36 +275,6 @@ Matrix4 Matrix4::rotation(float t, int u) {
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return a;
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}
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Vector3 Matrix4::transform(const Vector3 &vector) const {
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return Vector3(
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vector.getX() * get(0, 0) + vector.getY() * get(0, 1) + vector.getZ() * get(0, 2) + get(0, 3),
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vector.getX() * get(1, 0) + vector.getY() * get(1, 1) + vector.getZ() * get(1, 2) + get(1, 3),
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vector.getX() * get(2, 0) + vector.getY() * get(2, 1) + vector.getZ() * get(2, 2) + get(2, 3));
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}
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Vector3 Matrix4::transform3x3(const Vector3 &vector) const {
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return Vector3(
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vector.getX() * get(0, 0) + vector.getY() * get(0, 1) + vector.getZ() * get(0, 2),
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vector.getX() * get(1, 0) + vector.getY() * get(1, 1) + vector.getZ() * get(1, 2),
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vector.getX() * get(2, 0) + vector.getY() * get(2, 1) + vector.getZ() * get(2, 2));
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}
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TinyGL::Vector4 Matrix4::transform3x4(const Vector4 &vector) const {
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return Vector4(
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vector.getX() * get(0, 0) + vector.getY() * get(0, 1) + vector.getZ() * get(0, 2) + get(0, 3),
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vector.getX() * get(1, 0) + vector.getY() * get(1, 1) + vector.getZ() * get(1, 2) + get(1, 3),
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vector.getX() * get(2, 0) + vector.getY() * get(2, 1) + vector.getZ() * get(2, 2) + get(2, 3),
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vector.getX() * get(3, 0) + vector.getY() * get(3, 1) + vector.getZ() * get(3, 2) + get(3, 3));
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}
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Vector4 Matrix4::transform(const Vector4 &vector) const {
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return Vector4(
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vector.getX() * get(0, 0) + vector.getY() * get(0, 1) + vector.getZ() * get(0, 2) + vector.getW() * get(0, 3),
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vector.getX() * get(1, 0) + vector.getY() * get(1, 1) + vector.getZ() * get(1, 2) + vector.getW() * get(1, 3),
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vector.getX() * get(2, 0) + vector.getY() * get(2, 1) + vector.getZ() * get(2, 2) + vector.getW() * get(2, 3),
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vector.getX() * get(3, 0) + vector.getY() * get(3, 1) + vector.getZ() * get(3, 2) + vector.getW() * get(3, 3));
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}
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bool Matrix4::IsIdentity() const {
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//NOTE: This might need to be implemented in a fault-tolerant way.
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for (int i = 0; i < 4; i++) {
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@ -242,4 +289,10 @@ bool Matrix4::IsIdentity() const {
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return true;
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}
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void Matrix4::invert()
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{
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Matrix4 source = *this;
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Matrix_Inv((float *)this->_m, (float *)source._m, 4);
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}
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} // end of namespace TinyGL
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