From fb7e8ff7102e5e873a8b9eac4cfbf4bab557a1d4 Mon Sep 17 00:00:00 2001 From: havoc Date: Mon, 5 Oct 2009 09:55:00 +0000 Subject: [PATCH] faster Matrix4x4_Invert_Full based on David Moore code in Mesa 7.6 (SGI Free License B - which is MIT/X11-type), previous version was from Mesa 5.0 git-svn-id: svn://svn.icculus.org/twilight/trunk/darkplaces@9308 d7cf8633-e32d-0410-b094-e92efae38249 --- matrixlib.c | 58 +++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 58 insertions(+) diff --git a/matrixlib.c b/matrixlib.c index 505f7d6e..bca33332 100644 --- a/matrixlib.c +++ b/matrixlib.c @@ -141,6 +141,63 @@ void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1) out->m[3][3] = in1->m[3][3]; } +#if 1 +// Adapted from code contributed to Mesa by David Moore (Mesa 7.6 under SGI Free License B - which is MIT/X11-type) +int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1) +{ + matrix4x4_t temp; + double det; + int i, j; + +#ifdef MATRIX4x4_OPENGLORIENTATION + temp.m[0][0] = in1->m[1][1]*in1->m[2][2]*in1->m[3][3] - in1->m[1][1]*in1->m[2][3]*in1->m[3][2] - in1->m[2][1]*in1->m[1][2]*in1->m[3][3] + in1->m[2][1]*in1->m[1][3]*in1->m[3][2] + in1->m[3][1]*in1->m[1][2]*in1->m[2][3] - in1->m[3][1]*in1->m[1][3]*in1->m[2][2]; + temp.m[1][0] = -in1->m[1][0]*in1->m[2][2]*in1->m[3][3] + in1->m[1][0]*in1->m[2][3]*in1->m[3][2] + in1->m[2][0]*in1->m[1][2]*in1->m[3][3] - in1->m[2][0]*in1->m[1][3]*in1->m[3][2] - in1->m[3][0]*in1->m[1][2]*in1->m[2][3] + in1->m[3][0]*in1->m[1][3]*in1->m[2][2]; + temp.m[2][0] = in1->m[1][0]*in1->m[2][1]*in1->m[3][3] - in1->m[1][0]*in1->m[2][3]*in1->m[3][1] - in1->m[2][0]*in1->m[1][1]*in1->m[3][3] + in1->m[2][0]*in1->m[1][3]*in1->m[3][1] + in1->m[3][0]*in1->m[1][1]*in1->m[2][3] - in1->m[3][0]*in1->m[1][3]*in1->m[2][1]; + temp.m[3][0] = -in1->m[1][0]*in1->m[2][1]*in1->m[3][2] + in1->m[1][0]*in1->m[2][2]*in1->m[3][1] + in1->m[2][0]*in1->m[1][1]*in1->m[3][2] - in1->m[2][0]*in1->m[1][2]*in1->m[3][1] - in1->m[3][0]*in1->m[1][1]*in1->m[2][2] + in1->m[3][0]*in1->m[1][2]*in1->m[2][1]; + temp.m[0][1] = -in1->m[0][1]*in1->m[2][2]*in1->m[3][3] + in1->m[0][1]*in1->m[2][3]*in1->m[3][2] + in1->m[2][1]*in1->m[0][2]*in1->m[3][3] - in1->m[2][1]*in1->m[0][3]*in1->m[3][2] - in1->m[3][1]*in1->m[0][2]*in1->m[2][3] + in1->m[3][1]*in1->m[0][3]*in1->m[2][2]; + temp.m[1][1] = in1->m[0][0]*in1->m[2][2]*in1->m[3][3] - in1->m[0][0]*in1->m[2][3]*in1->m[3][2] - in1->m[2][0]*in1->m[0][2]*in1->m[3][3] + in1->m[2][0]*in1->m[0][3]*in1->m[3][2] + in1->m[3][0]*in1->m[0][2]*in1->m[2][3] - in1->m[3][0]*in1->m[0][3]*in1->m[2][2]; + temp.m[2][1] = -in1->m[0][0]*in1->m[2][1]*in1->m[3][3] + in1->m[0][0]*in1->m[2][3]*in1->m[3][1] + in1->m[2][0]*in1->m[0][1]*in1->m[3][3] - in1->m[2][0]*in1->m[0][3]*in1->m[3][1] - in1->m[3][0]*in1->m[0][1]*in1->m[2][3] + in1->m[3][0]*in1->m[0][3]*in1->m[2][1]; + temp.m[3][1] = in1->m[0][0]*in1->m[2][1]*in1->m[3][2] - in1->m[0][0]*in1->m[2][2]*in1->m[3][1] - in1->m[2][0]*in1->m[0][1]*in1->m[3][2] + in1->m[2][0]*in1->m[0][2]*in1->m[3][1] + in1->m[3][0]*in1->m[0][1]*in1->m[2][2] - in1->m[3][0]*in1->m[0][2]*in1->m[2][1]; + temp.m[0][2] = in1->m[0][1]*in1->m[1][2]*in1->m[3][3] - in1->m[0][1]*in1->m[1][3]*in1->m[3][2] - in1->m[1][1]*in1->m[0][2]*in1->m[3][3] + in1->m[1][1]*in1->m[0][3]*in1->m[3][2] + in1->m[3][1]*in1->m[0][2]*in1->m[1][3] - in1->m[3][1]*in1->m[0][3]*in1->m[1][2]; + temp.m[1][2] = -in1->m[0][0]*in1->m[1][2]*in1->m[3][3] + in1->m[0][0]*in1->m[1][3]*in1->m[3][2] + in1->m[1][0]*in1->m[0][2]*in1->m[3][3] - in1->m[1][0]*in1->m[0][3]*in1->m[3][2] - in1->m[3][0]*in1->m[0][2]*in1->m[1][3] + in1->m[3][0]*in1->m[0][3]*in1->m[1][2]; + temp.m[2][2] = in1->m[0][0]*in1->m[1][1]*in1->m[3][3] - in1->m[0][0]*in1->m[1][3]*in1->m[3][1] - in1->m[1][0]*in1->m[0][1]*in1->m[3][3] + in1->m[1][0]*in1->m[0][3]*in1->m[3][1] + in1->m[3][0]*in1->m[0][1]*in1->m[1][3] - in1->m[3][0]*in1->m[0][3]*in1->m[1][1]; + temp.m[3][2] = -in1->m[0][0]*in1->m[1][1]*in1->m[3][2] + in1->m[0][0]*in1->m[1][2]*in1->m[3][1] + in1->m[1][0]*in1->m[0][1]*in1->m[3][2] - in1->m[1][0]*in1->m[0][2]*in1->m[3][1] - in1->m[3][0]*in1->m[0][1]*in1->m[1][2] + in1->m[3][0]*in1->m[0][2]*in1->m[1][1]; + temp.m[0][3] = -in1->m[0][1]*in1->m[1][2]*in1->m[2][3] + in1->m[0][1]*in1->m[1][3]*in1->m[2][2] + in1->m[1][1]*in1->m[0][2]*in1->m[2][3] - in1->m[1][1]*in1->m[0][3]*in1->m[2][2] - in1->m[2][1]*in1->m[0][2]*in1->m[1][3] + in1->m[2][1]*in1->m[0][3]*in1->m[1][2]; + temp.m[1][3] = in1->m[0][0]*in1->m[1][2]*in1->m[2][3] - in1->m[0][0]*in1->m[1][3]*in1->m[2][2] - in1->m[1][0]*in1->m[0][2]*in1->m[2][3] + in1->m[1][0]*in1->m[0][3]*in1->m[2][2] + in1->m[2][0]*in1->m[0][2]*in1->m[1][3] - in1->m[2][0]*in1->m[0][3]*in1->m[1][2]; + temp.m[2][3] = -in1->m[0][0]*in1->m[1][1]*in1->m[2][3] + in1->m[0][0]*in1->m[1][3]*in1->m[2][1] + in1->m[1][0]*in1->m[0][1]*in1->m[2][3] - in1->m[1][0]*in1->m[0][3]*in1->m[2][1] - in1->m[2][0]*in1->m[0][1]*in1->m[1][3] + in1->m[2][0]*in1->m[0][3]*in1->m[1][1]; + temp.m[3][3] = in1->m[0][0]*in1->m[1][1]*in1->m[2][2] - in1->m[0][0]*in1->m[1][2]*in1->m[2][1] - in1->m[1][0]*in1->m[0][1]*in1->m[2][2] + in1->m[1][0]*in1->m[0][2]*in1->m[2][1] + in1->m[2][0]*in1->m[0][1]*in1->m[1][2] - in1->m[2][0]*in1->m[0][2]*in1->m[1][1]; +#else + temp.m[0][0] = in1->m[1][1]*in1->m[2][2]*in1->m[3][3] - in1->m[1][1]*in1->m[3][2]*in1->m[2][3] - in1->m[1][2]*in1->m[2][1]*in1->m[3][3] + in1->m[1][2]*in1->m[3][1]*in1->m[2][3] + in1->m[1][3]*in1->m[2][1]*in1->m[3][2] - in1->m[1][3]*in1->m[3][1]*in1->m[2][2]; + temp.m[0][1] = -in1->m[0][1]*in1->m[2][2]*in1->m[3][3] + in1->m[0][1]*in1->m[3][2]*in1->m[2][3] + in1->m[0][2]*in1->m[2][1]*in1->m[3][3] - in1->m[0][2]*in1->m[3][1]*in1->m[2][3] - in1->m[0][3]*in1->m[2][1]*in1->m[3][2] + in1->m[0][3]*in1->m[3][1]*in1->m[2][2]; + temp.m[0][2] = in1->m[0][1]*in1->m[1][2]*in1->m[3][3] - in1->m[0][1]*in1->m[3][2]*in1->m[1][3] - in1->m[0][2]*in1->m[1][1]*in1->m[3][3] + in1->m[0][2]*in1->m[3][1]*in1->m[1][3] + in1->m[0][3]*in1->m[1][1]*in1->m[3][2] - in1->m[0][3]*in1->m[3][1]*in1->m[1][2]; + temp.m[0][3] = -in1->m[0][1]*in1->m[1][2]*in1->m[2][3] + in1->m[0][1]*in1->m[2][2]*in1->m[1][3] + in1->m[0][2]*in1->m[1][1]*in1->m[2][3] - in1->m[0][2]*in1->m[2][1]*in1->m[1][3] - in1->m[0][3]*in1->m[1][1]*in1->m[2][2] + in1->m[0][3]*in1->m[2][1]*in1->m[1][2]; + temp.m[1][0] = -in1->m[1][0]*in1->m[2][2]*in1->m[3][3] + in1->m[1][0]*in1->m[3][2]*in1->m[2][3] + in1->m[1][2]*in1->m[2][0]*in1->m[3][3] - in1->m[1][2]*in1->m[3][0]*in1->m[2][3] - in1->m[1][3]*in1->m[2][0]*in1->m[3][2] + in1->m[1][3]*in1->m[3][0]*in1->m[2][2]; + temp.m[1][1] = in1->m[0][0]*in1->m[2][2]*in1->m[3][3] - in1->m[0][0]*in1->m[3][2]*in1->m[2][3] - in1->m[0][2]*in1->m[2][0]*in1->m[3][3] + in1->m[0][2]*in1->m[3][0]*in1->m[2][3] + in1->m[0][3]*in1->m[2][0]*in1->m[3][2] - in1->m[0][3]*in1->m[3][0]*in1->m[2][2]; + temp.m[1][2] = -in1->m[0][0]*in1->m[1][2]*in1->m[3][3] + in1->m[0][0]*in1->m[3][2]*in1->m[1][3] + in1->m[0][2]*in1->m[1][0]*in1->m[3][3] - in1->m[0][2]*in1->m[3][0]*in1->m[1][3] - in1->m[0][3]*in1->m[1][0]*in1->m[3][2] + in1->m[0][3]*in1->m[3][0]*in1->m[1][2]; + temp.m[1][3] = in1->m[0][0]*in1->m[1][2]*in1->m[2][3] - in1->m[0][0]*in1->m[2][2]*in1->m[1][3] - in1->m[0][2]*in1->m[1][0]*in1->m[2][3] + in1->m[0][2]*in1->m[2][0]*in1->m[1][3] + in1->m[0][3]*in1->m[1][0]*in1->m[2][2] - in1->m[0][3]*in1->m[2][0]*in1->m[1][2]; + temp.m[2][0] = in1->m[1][0]*in1->m[2][1]*in1->m[3][3] - in1->m[1][0]*in1->m[3][1]*in1->m[2][3] - in1->m[1][1]*in1->m[2][0]*in1->m[3][3] + in1->m[1][1]*in1->m[3][0]*in1->m[2][3] + in1->m[1][3]*in1->m[2][0]*in1->m[3][1] - in1->m[1][3]*in1->m[3][0]*in1->m[2][1]; + temp.m[2][1] = -in1->m[0][0]*in1->m[2][1]*in1->m[3][3] + in1->m[0][0]*in1->m[3][1]*in1->m[2][3] + in1->m[0][1]*in1->m[2][0]*in1->m[3][3] - in1->m[0][1]*in1->m[3][0]*in1->m[2][3] - in1->m[0][3]*in1->m[2][0]*in1->m[3][1] + in1->m[0][3]*in1->m[3][0]*in1->m[2][1]; + temp.m[2][2] = in1->m[0][0]*in1->m[1][1]*in1->m[3][3] - in1->m[0][0]*in1->m[3][1]*in1->m[1][3] - in1->m[0][1]*in1->m[1][0]*in1->m[3][3] + in1->m[0][1]*in1->m[3][0]*in1->m[1][3] + in1->m[0][3]*in1->m[1][0]*in1->m[3][1] - in1->m[0][3]*in1->m[3][0]*in1->m[1][1]; + temp.m[2][3] = -in1->m[0][0]*in1->m[1][1]*in1->m[2][3] + in1->m[0][0]*in1->m[2][1]*in1->m[1][3] + in1->m[0][1]*in1->m[1][0]*in1->m[2][3] - in1->m[0][1]*in1->m[2][0]*in1->m[1][3] - in1->m[0][3]*in1->m[1][0]*in1->m[2][1] + in1->m[0][3]*in1->m[2][0]*in1->m[1][1]; + temp.m[3][0] = -in1->m[1][0]*in1->m[2][1]*in1->m[3][2] + in1->m[1][0]*in1->m[3][1]*in1->m[2][2] + in1->m[1][1]*in1->m[2][0]*in1->m[3][2] - in1->m[1][1]*in1->m[3][0]*in1->m[2][2] - in1->m[1][2]*in1->m[2][0]*in1->m[3][1] + in1->m[1][2]*in1->m[3][0]*in1->m[2][1]; + temp.m[3][1] = in1->m[0][0]*in1->m[2][1]*in1->m[3][2] - in1->m[0][0]*in1->m[3][1]*in1->m[2][2] - in1->m[0][1]*in1->m[2][0]*in1->m[3][2] + in1->m[0][1]*in1->m[3][0]*in1->m[2][2] + in1->m[0][2]*in1->m[2][0]*in1->m[3][1] - in1->m[0][2]*in1->m[3][0]*in1->m[2][1]; + temp.m[3][2] = -in1->m[0][0]*in1->m[1][1]*in1->m[3][2] + in1->m[0][0]*in1->m[3][1]*in1->m[1][2] + in1->m[0][1]*in1->m[1][0]*in1->m[3][2] - in1->m[0][1]*in1->m[3][0]*in1->m[1][2] - in1->m[0][2]*in1->m[1][0]*in1->m[3][1] + in1->m[0][2]*in1->m[3][0]*in1->m[1][1]; + temp.m[3][3] = in1->m[0][0]*in1->m[1][1]*in1->m[2][2] - in1->m[0][0]*in1->m[2][1]*in1->m[1][2] - in1->m[0][1]*in1->m[1][0]*in1->m[2][2] + in1->m[0][1]*in1->m[2][0]*in1->m[1][2] + in1->m[0][2]*in1->m[1][0]*in1->m[2][1] - in1->m[0][2]*in1->m[2][0]*in1->m[1][1]; +#endif + + det = in1->m[0][0]*temp.m[0][0] + in1->m[1][0]*temp.m[0][1] + in1->m[2][0]*temp.m[0][2] + in1->m[3][0]*temp.m[0][3]; + if (det == 0.0f) + return 0; + + det = 1.0f / det; + + for (i = 0;i < 4;i++) + for (j = 0;j < 4;j++) + out->m[i][j] = temp.m[i][j] * det; + + return 1; +} +#else int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1) { double *temp; @@ -308,6 +365,7 @@ int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1) return 0; } +#endif void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1) { -- 2.39.2