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Have removed the old lazy initialization of Matrix since it was causing bugs

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and adding checks to many mothods which in the end slow it down more than
not intilizing the code!  The code is now simpler, more robust and faster:-)
This commit is contained in:
Robert Osfield
2002-02-05 21:51:06 +00:00
parent 92f68e2669
commit 7293af59ed
2 changed files with 73 additions and 80 deletions
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120
src/osg/Matrix.cpp
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@@ -21,7 +21,10 @@ using namespace osg;
+((a)._mat[r][3] * (b)._mat[3][c])
Matrix::Matrix() : Object(), fully_realized(false) {}
Matrix::Matrix() : Object()
{
makeIdentity();
}
Matrix::Matrix( const Matrix& other) : Object()
{
@@ -42,20 +45,19 @@ Matrix::Matrix( float a00, float a01, float a02, float a03,
SET_ROW(1, a10, a11, a12, a13 )
SET_ROW(2, a20, a21, a22, a23 )
SET_ROW(3, a30, a31, a32, a33 )
fully_realized = true;
}
Matrix& Matrix::operator = (const Matrix& other ) {
Matrix& Matrix::operator = (const Matrix& other )
{
if( &other == this ) return *this;
set((const float*)other._mat);
return *this;
}
void Matrix::set( float const * const def ) {
void Matrix::set( float const * const def )
{
memcpy( _mat, def, sizeof(_mat) );
fully_realized = true;
}
@@ -68,14 +70,10 @@ void Matrix::set( float a00, float a01, float a02, float a03,
SET_ROW(1, a10, a11, a12, a13 )
SET_ROW(2, a20, a21, a22, a23 )
SET_ROW(3, a30, a31, a32, a33 )
fully_realized = true;
}
void Matrix::setTrans( float tx, float ty, float tz )
{
ensureRealized();
_mat[3][0] = tx;
_mat[3][1] = ty;
_mat[3][2] = tz;
@@ -95,8 +93,6 @@ void Matrix::makeIdentity()
SET_ROW(1, 0, 1, 0, 0 )
SET_ROW(2, 0, 0, 1, 0 )
SET_ROW(3, 0, 0, 0, 1 )
fully_realized = true;
}
void Matrix::makeScale( const Vec3& v )
@@ -110,8 +106,6 @@ void Matrix::makeScale( float x, float y, float z )
SET_ROW(1, 0, y, 0, 0 )
SET_ROW(2, 0, 0, z, 0 )
SET_ROW(3, 0, 0, 0, 1 )
fully_realized = true;
}
void Matrix::makeTranslate( const Vec3& v )
@@ -125,8 +119,6 @@ void Matrix::makeTranslate( float x, float y, float z )
SET_ROW(1, 0, 1, 0, 0 )
SET_ROW(2, 0, 0, 1, 0 )
SET_ROW(3, x, y, z, 1 )
fully_realized = true;
}
void Matrix::makeRotate( const Vec3& from, const Vec3& to )
@@ -153,7 +145,6 @@ void Matrix::makeRotate( float angle, float x, float y, float z )
void Matrix::makeRotate( const Quat& q )
{
q.get(*this);
fully_realized = true;
}
void Matrix::makeRotate( float yaw, float pitch, float roll)
@@ -177,7 +168,8 @@ void Matrix::makeRotate( float yaw, float pitch, float roll)
}
void Matrix::mult( const Matrix& lhs, const Matrix& rhs )
{
{
// PRECONDITION: We assume neither &lhs nor &rhs == this
// if it did, use preMult or postMult instead
_mat[0][0] = INNER_PRODUCT(lhs, rhs, 0, 0);
@@ -196,17 +188,10 @@ void Matrix::mult( const Matrix& lhs, const Matrix& rhs )
_mat[3][1] = INNER_PRODUCT(lhs, rhs, 3, 1);
_mat[3][2] = INNER_PRODUCT(lhs, rhs, 3, 2);
_mat[3][3] = INNER_PRODUCT(lhs, rhs, 3, 3);
fully_realized = true;
}
void Matrix::preMult( const Matrix& other )
{
if( !fully_realized ) {
//act as if this were an identity Matrix
set((const float*)other._mat);
return;
}
// brute force method requiring a copy
//Matrix tmp(other* *this);
// *this = tmp;
@@ -228,11 +213,6 @@ void Matrix::preMult( const Matrix& other )
void Matrix::postMult( const Matrix& other )
{
if( !fully_realized ) {
//act as if this were an identity Matrix
set((const float*)other._mat);
return;
}
// brute force method requiring a copy
//Matrix tmp(*this * other);
// *this = tmp;
@@ -252,31 +232,31 @@ void Matrix::postMult( const Matrix& other )
#undef SET_ROW
#undef INNER_PRODUCT
bool Matrix::invert( const Matrix& _m )
bool Matrix::invert( const Matrix& other )
{
if (&_m==this)
if (&other==this)
{
Matrix tm(_m);
Matrix tm(other);
return invert(tm);
}
/*if ( _m._mat[0][3] == 0.0
&& _m._mat[1][3] == 0.0
&& _m._mat[2][3] == 0.0
&& _m._mat[3][3] == 1.0 )
{
return invertAffine( _m );
}*/
// if ( other._mat[0][3] == 0.0
// && other._mat[1][3] == 0.0
// && other._mat[2][3] == 0.0
// && other._mat[3][3] == 1.0 )
// {
// return invertAffine( other );
// }
// code lifted from VR Juggler.
// not cleanly added, but seems to work. RO.
const float* a = reinterpret_cast<const float*>(_m._mat);
const float* a = reinterpret_cast<const float*>(other._mat);
float* b = reinterpret_cast<float*>(_mat);
int n = 4;
int i, j, k;
int r[ 4], c[ 4], row[ 4], col[ 4];
float m[ 4][ 4*2], pivot, max_m, tmp_m, fac;
float m[ 4][ 4*2], pivot, maxother, tmpother, fac;
/* Initialization */
for ( i = 0; i < n; i ++ )
@@ -299,16 +279,16 @@ bool Matrix::invert( const Matrix& _m )
for ( k = 0; k < n; k++ )
{
/* Choosing the pivot */
for ( i = 0, max_m = 0; i < n; i++ )
for ( i = 0, maxother = 0; i < n; i++ )
{
if ( row[ i] ) continue;
for ( j = 0; j < n; j++ )
{
if ( col[ j] ) continue;
tmp_m = fabs( m[ i][j]);
if ( tmp_m > max_m)
tmpother = fabs( m[ i][j]);
if ( tmpother > maxother)
{
max_m = tmp_m;
maxother = tmpother;
r[ k] = i;
c[ k] = j;
}
@@ -319,8 +299,9 @@ bool Matrix::invert( const Matrix& _m )
if ( fabs( pivot) <= 1e-20)
{
notify(WARN) << "*** pivot = %f in mat_inv. ***"<<std::endl;
//abort( 0);
notify(WARN) << "Warning: pivot = "<< pivot <<" in Matrix::invert(), cannot compute inverse."<<std::endl;
notify(WARN) << "input matrix to Matrix::invert() was = "<< other <<std::endl;
makeIdentity();
return false;
}
@@ -358,14 +339,12 @@ bool Matrix::invert( const Matrix& _m )
for ( j = 0; j < n; j++ )
b[ i * n + j] = m[ row[ i]][j + n];
fully_realized = true;
return true; // It worked
}
const double PRECISION_LIMIT = 1.0e-15;
bool Matrix::invertAffine( const Matrix& _m )
bool Matrix::invertAffine( const Matrix& other )
{
// adapted from Graphics Gems II.
//
@@ -391,13 +370,13 @@ bool Matrix::invertAffine( const Matrix& _m )
else neg += temp; \
}
temp = _m._mat[0][0] * _m._mat[1][1] * _m._mat[2][2]; ACCUMULATE;
temp = _m._mat[0][1] * _m._mat[1][2] * _m._mat[2][0]; ACCUMULATE;
temp = _m._mat[0][2] * _m._mat[1][0] * _m._mat[2][1]; ACCUMULATE;
temp = other._mat[0][0] * other._mat[1][1] * other._mat[2][2]; ACCUMULATE;
temp = other._mat[0][1] * other._mat[1][2] * other._mat[2][0]; ACCUMULATE;
temp = other._mat[0][2] * other._mat[1][0] * other._mat[2][1]; ACCUMULATE;
temp = - _m._mat[0][2] * _m._mat[1][1] * _m._mat[2][0]; ACCUMULATE;
temp = - _m._mat[0][1] * _m._mat[1][0] * _m._mat[2][2]; ACCUMULATE;
temp = - _m._mat[0][0] * _m._mat[1][2] * _m._mat[2][1]; ACCUMULATE;
temp = - other._mat[0][2] * other._mat[1][1] * other._mat[2][0]; ACCUMULATE;
temp = - other._mat[0][1] * other._mat[1][0] * other._mat[2][2]; ACCUMULATE;
temp = - other._mat[0][0] * other._mat[1][2] * other._mat[2][1]; ACCUMULATE;
det_1 = pos + neg;
@@ -410,27 +389,26 @@ bool Matrix::invertAffine( const Matrix& _m )
// inverse is adj(A)/det(A)
det_1 = 1.0 / det_1;
_mat[0][0] = (_m._mat[1][1] * _m._mat[2][2] - _m._mat[1][2] * _m._mat[2][1]) * det_1;
_mat[1][0] = (_m._mat[1][0] * _m._mat[2][2] - _m._mat[1][2] * _m._mat[2][0]) * det_1;
_mat[2][0] = (_m._mat[1][0] * _m._mat[2][1] - _m._mat[1][1] * _m._mat[2][0]) * det_1;
_mat[0][1] = (_m._mat[0][1] * _m._mat[2][2] - _m._mat[0][2] * _m._mat[2][1]) * det_1;
_mat[1][1] = (_m._mat[0][0] * _m._mat[2][2] - _m._mat[0][2] * _m._mat[2][0]) * det_1;
_mat[2][1] = (_m._mat[0][0] * _m._mat[2][1] - _m._mat[0][1] * _m._mat[2][0]) * det_1;
_mat[0][2] = (_m._mat[0][1] * _m._mat[1][2] - _m._mat[0][2] * _m._mat[1][1]) * det_1;
_mat[1][2] = (_m._mat[0][0] * _m._mat[1][2] - _m._mat[0][2] * _m._mat[1][0]) * det_1;
_mat[2][2] = (_m._mat[0][0] * _m._mat[1][1] - _m._mat[0][1] * _m._mat[1][0]) * det_1;
_mat[0][0] = (other._mat[1][1] * other._mat[2][2] - other._mat[1][2] * other._mat[2][1]) * det_1;
_mat[1][0] = (other._mat[1][0] * other._mat[2][2] - other._mat[1][2] * other._mat[2][0]) * det_1;
_mat[2][0] = (other._mat[1][0] * other._mat[2][1] - other._mat[1][1] * other._mat[2][0]) * det_1;
_mat[0][1] = (other._mat[0][1] * other._mat[2][2] - other._mat[0][2] * other._mat[2][1]) * det_1;
_mat[1][1] = (other._mat[0][0] * other._mat[2][2] - other._mat[0][2] * other._mat[2][0]) * det_1;
_mat[2][1] = (other._mat[0][0] * other._mat[2][1] - other._mat[0][1] * other._mat[2][0]) * det_1;
_mat[0][2] = (other._mat[0][1] * other._mat[1][2] - other._mat[0][2] * other._mat[1][1]) * det_1;
_mat[1][2] = (other._mat[0][0] * other._mat[1][2] - other._mat[0][2] * other._mat[1][0]) * det_1;
_mat[2][2] = (other._mat[0][0] * other._mat[1][1] - other._mat[0][1] * other._mat[1][0]) * det_1;
// calculate -C * inv(A)
_mat[3][0] = -(_m._mat[3][0] * _mat[0][0] + _m._mat[3][1] * _mat[1][0] + _m._mat[3][2] * _mat[2][0] );
_mat[3][1] = -(_m._mat[3][0] * _mat[0][1] + _m._mat[3][1] * _mat[1][1] + _m._mat[3][2] * _mat[2][1] );
_mat[3][2] = -(_m._mat[3][0] * _mat[0][2] + _m._mat[3][1] * _mat[1][2] + _m._mat[3][2] * _mat[2][2] );
_mat[3][0] = -(other._mat[3][0] * _mat[0][0] + other._mat[3][1] * _mat[1][0] + other._mat[3][2] * _mat[2][0] );
_mat[3][1] = -(other._mat[3][0] * _mat[0][1] + other._mat[3][1] * _mat[1][1] + other._mat[3][2] * _mat[2][1] );
_mat[3][2] = -(other._mat[3][0] * _mat[0][2] + other._mat[3][1] * _mat[1][2] + other._mat[3][2] * _mat[2][2] );
_mat[0][3] = 0.0;
_mat[1][3] = 0.0;
_mat[2][3] = 0.0;
_mat[3][3] = 1.0;
fully_realized = true;
return true;
}