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virtualGizmo3D ver.2.02 - Optimize inverse mat4
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@BrutPitt
BrutPitt committed Nov 27, 2019
1 parent 8d13c18 commit 757af1f
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Showing 6 changed files with 98 additions and 24 deletions.
2 changes: 2 additions & 0 deletions example/src/tools/vGizmo.h
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Expand Up @@ -476,6 +476,8 @@ using VGIZMO_BASE_CLASS::qtV;
// Get Pan (xy) & Dolly (z) position
//////////////////////////////////////////////////////////////////
tVec3 getPosition() const { return tVec3(pan.x, pan.y, dolly.z); }
void setPosition(const tVec3 &p) { pan.x = p.x; pan.y = p.y; dolly.z = p.z; }

private:
// UI commands that this virtualGizmo responds to (defaults to left mouse button with no modifier key)
vgButtons dollyControlButton, panControlButton;
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1 change: 1 addition & 0 deletions example/src/tools/vGizmoConfig.h
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Expand Up @@ -45,6 +45,7 @@
//
// Default ==> use vGizmoMath
// If you enable GLM use, automatically is enabled also VGIZMO_USES_TEMPLATE
// if you can, I recommend to use GLM
//------------------------------------------------------------------------------
//#define VGIZMO_USES_GLM

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58 changes: 46 additions & 12 deletions example/src/tools/vGizmoMath.h
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Expand Up @@ -181,10 +181,12 @@ TEMPLATE_TYPENAME_T class Vec4 {
};

Vec4() {}
Vec4(T s) : x(s), y(s), z(s), w(s) {}
Vec4(T x, T y, T z, T w) : x(x), y(y), z(z), w(w) {}
Vec4(const VEC3_T& v, T s = T(0)) : x(v.x), y(v.y), z(v.z), w(s) {}
Vec4(T s) : x(s), y(s), z(s), w(s) {}
Vec4(T x, T y, T z, T w) : x(x), y(y), z(z), w(w) {}
Vec4(const VEC3_T& v, T s = T(0)) : x(v.x), y(v.y), z(v.z), w(s) {}
Vec4(T s, const VEC3_T& v) : x(s), y(v.x), z(v.y), w(v.z) {}

//operator VEC3_T() const { return *((VEC3_T *) &x); }
const Vec4 operator-() const { return Vec4(-x, -y, -z, -w); }

Vec4& operator+=(const Vec4& v) { x += v.x; y += v.y; z += v.z; w += v.w; return *this; }
Expand Down Expand Up @@ -461,14 +463,12 @@ TEMPLATE_TYPENAME_T inline const MAT4_T inverse(MAT4_T const &m) {
VEC4_T v2(m.m12, m.m02, m.m02, m.m02);
VEC4_T v3(m.m13, m.m03, m.m03, m.m03);

VEC4_T i0(v1 * f0 - v2 * f1 + v3 * f2);
VEC4_T i1(v0 * f0 - v2 * f3 + v3 * f4);
VEC4_T i2(v0 * f1 - v1 * f3 + v3 * f5);
VEC4_T i3(v0 * f2 - v1 * f4 + v2 * f5);
VEC4_T signV(T(1), T(-1), T(1), T(-1));
MAT4_T inv((v1 * f0 - v2 * f1 + v3 * f2) * signV,
(v0 * f0 - v2 * f3 + v3 * f4) * -signV,
(v0 * f1 - v1 * f3 + v3 * f5) * signV,
(v0 * f2 - v1 * f4 + v2 * f5) * -signV);

VEC4_T signA( 1, -1, 1, -1), signB(-1, 1, -1, 1);
MAT4_T inv(i0 * signA, i1 * signB, i2 * signA, i3 * signB);

VEC4_T v0r0(m.v0 * VEC4_T(inv.m00, inv.m10, inv.m20, inv.m30));
return inv * (T(1) / (v0r0.x + v0r0.y + v0r0.z + v0r0.w)); }// 1/determinant ==> "operator *" is faster
// external operators
Expand Down Expand Up @@ -591,6 +591,30 @@ TEMPLATE_TYPENAME_T inline const MAT4_T frustrum(T l, T r, T b, T t, T n, T f)
using uvec2 = vgm::Vec2<uint32_t>;
using uvec3 = vgm::Vec3<uint32_t>;
using uvec4 = vgm::Vec4<uint32_t>;

#ifdef VGIZMO_USES_HLSL_TYPES // testing phase
using float2 = vgm::Vec2<float>;
using float3 = vgm::Vec3<float>;
using float4 = vgm::Vec4<float>;
using quat = vgm::Quat<float>;
using float3x3 = vgm::Mat3<float>;
using float4x4 = vgm::Mat4<float>;

using double2 = vgm::Vec2<double>;
using double3 = vgm::Vec3<double>;
using double4 = vgm::Vec4<double>;
using dquat = vgm::Quat<double>;
using double3x3 = vgm::Mat3<double>;
using double4x4 = vgm::Mat4<double>;

using int2 = vgm::Vec2<int32_t>;
using int3 = vgm::Vec3<int32_t>;
using int4 = vgm::Vec4<int32_t>;

using uint2 = vgm::Vec2<uint32_t>;
using uint3 = vgm::Vec3<uint32_t>;
using uint4 = vgm::Vec4<uint32_t>;
#endif
#else
using vec2 = vgm::Vec2;
using vec3 = vgm::Vec3;
Expand All @@ -600,17 +624,27 @@ TEMPLATE_TYPENAME_T inline const MAT4_T frustrum(T l, T r, T b, T t, T n, T f)
using mat4 = vgm::Mat4;
using mat3x3 = mat3;
using mat4x4 = mat4;

#ifdef VGIZMO_USES_HLSL_TYPES
using float2 = vgm::Vec2;
using float3 = vgm::Vec3;
using float4 = vgm::Vec4;
using quat = vgm::Quat;
using float3x3 = vgm::Mat3;
using float4x4 = vgm::Mat4;
#endif

#endif
// Internal vGizmo USES ONLY
using tVec2 = vgm::VEC2_PRECISION;
using tVec3 = vgm::VEC3_PRECISION;
using tVec4 = vgm::VEC4_PRECISION;
using tQuat = vgm::QUAT_PRECISION;
using tMat3 = vgm::MAT3_PRECISION;
using tMat4 = vgm::MAT4_PRECISION;

using uint8 = uint8_t;
using int8 = int8_t;
using uint8 = uint8_t;
using int8 = int8_t;
using uint = uint32_t;
using int32 = int32_t;
using uint32 = uint32_t;
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2 changes: 2 additions & 0 deletions virtualGizmo3D/vGizmo.h
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Original file line number Diff line number Diff line change
Expand Up @@ -476,6 +476,8 @@ using VGIZMO_BASE_CLASS::qtV;
// Get Pan (xy) & Dolly (z) position
//////////////////////////////////////////////////////////////////
tVec3 getPosition() const { return tVec3(pan.x, pan.y, dolly.z); }
void setPosition(const tVec3 &p) { pan.x = p.x; pan.y = p.y; dolly.z = p.z; }

private:
// UI commands that this virtualGizmo responds to (defaults to left mouse button with no modifier key)
vgButtons dollyControlButton, panControlButton;
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1 change: 1 addition & 0 deletions virtualGizmo3D/vGizmoConfig.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@
//
// Default ==> use vGizmoMath
// If you enable GLM use, automatically is enabled also VGIZMO_USES_TEMPLATE
// if you can, I recommend to use GLM
//------------------------------------------------------------------------------
//#define VGIZMO_USES_GLM

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58 changes: 46 additions & 12 deletions virtualGizmo3D/vGizmoMath.h
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Original file line number Diff line number Diff line change
Expand Up @@ -181,10 +181,12 @@ TEMPLATE_TYPENAME_T class Vec4 {
};

Vec4() {}
Vec4(T s) : x(s), y(s), z(s), w(s) {}
Vec4(T x, T y, T z, T w) : x(x), y(y), z(z), w(w) {}
Vec4(const VEC3_T& v, T s = T(0)) : x(v.x), y(v.y), z(v.z), w(s) {}
Vec4(T s) : x(s), y(s), z(s), w(s) {}
Vec4(T x, T y, T z, T w) : x(x), y(y), z(z), w(w) {}
Vec4(const VEC3_T& v, T s = T(0)) : x(v.x), y(v.y), z(v.z), w(s) {}
Vec4(T s, const VEC3_T& v) : x(s), y(v.x), z(v.y), w(v.z) {}

//operator VEC3_T() const { return *((VEC3_T *) &x); }
const Vec4 operator-() const { return Vec4(-x, -y, -z, -w); }

Vec4& operator+=(const Vec4& v) { x += v.x; y += v.y; z += v.z; w += v.w; return *this; }
Expand Down Expand Up @@ -461,14 +463,12 @@ TEMPLATE_TYPENAME_T inline const MAT4_T inverse(MAT4_T const &m) {
VEC4_T v2(m.m12, m.m02, m.m02, m.m02);
VEC4_T v3(m.m13, m.m03, m.m03, m.m03);

VEC4_T i0(v1 * f0 - v2 * f1 + v3 * f2);
VEC4_T i1(v0 * f0 - v2 * f3 + v3 * f4);
VEC4_T i2(v0 * f1 - v1 * f3 + v3 * f5);
VEC4_T i3(v0 * f2 - v1 * f4 + v2 * f5);
VEC4_T signV(T(1), T(-1), T(1), T(-1));
MAT4_T inv((v1 * f0 - v2 * f1 + v3 * f2) * signV,
(v0 * f0 - v2 * f3 + v3 * f4) * -signV,
(v0 * f1 - v1 * f3 + v3 * f5) * signV,
(v0 * f2 - v1 * f4 + v2 * f5) * -signV);

VEC4_T signA( 1, -1, 1, -1), signB(-1, 1, -1, 1);
MAT4_T inv(i0 * signA, i1 * signB, i2 * signA, i3 * signB);

VEC4_T v0r0(m.v0 * VEC4_T(inv.m00, inv.m10, inv.m20, inv.m30));
return inv * (T(1) / (v0r0.x + v0r0.y + v0r0.z + v0r0.w)); }// 1/determinant ==> "operator *" is faster
// external operators
Expand Down Expand Up @@ -591,6 +591,30 @@ TEMPLATE_TYPENAME_T inline const MAT4_T frustrum(T l, T r, T b, T t, T n, T f)
using uvec2 = vgm::Vec2<uint32_t>;
using uvec3 = vgm::Vec3<uint32_t>;
using uvec4 = vgm::Vec4<uint32_t>;

#ifdef VGIZMO_USES_HLSL_TYPES // testing phase
using float2 = vgm::Vec2<float>;
using float3 = vgm::Vec3<float>;
using float4 = vgm::Vec4<float>;
using quat = vgm::Quat<float>;
using float3x3 = vgm::Mat3<float>;
using float4x4 = vgm::Mat4<float>;

using double2 = vgm::Vec2<double>;
using double3 = vgm::Vec3<double>;
using double4 = vgm::Vec4<double>;
using dquat = vgm::Quat<double>;
using double3x3 = vgm::Mat3<double>;
using double4x4 = vgm::Mat4<double>;

using int2 = vgm::Vec2<int32_t>;
using int3 = vgm::Vec3<int32_t>;
using int4 = vgm::Vec4<int32_t>;

using uint2 = vgm::Vec2<uint32_t>;
using uint3 = vgm::Vec3<uint32_t>;
using uint4 = vgm::Vec4<uint32_t>;
#endif
#else
using vec2 = vgm::Vec2;
using vec3 = vgm::Vec3;
Expand All @@ -600,17 +624,27 @@ TEMPLATE_TYPENAME_T inline const MAT4_T frustrum(T l, T r, T b, T t, T n, T f)
using mat4 = vgm::Mat4;
using mat3x3 = mat3;
using mat4x4 = mat4;

#ifdef VGIZMO_USES_HLSL_TYPES
using float2 = vgm::Vec2;
using float3 = vgm::Vec3;
using float4 = vgm::Vec4;
using quat = vgm::Quat;
using float3x3 = vgm::Mat3;
using float4x4 = vgm::Mat4;
#endif

#endif
// Internal vGizmo USES ONLY
using tVec2 = vgm::VEC2_PRECISION;
using tVec3 = vgm::VEC3_PRECISION;
using tVec4 = vgm::VEC4_PRECISION;
using tQuat = vgm::QUAT_PRECISION;
using tMat3 = vgm::MAT3_PRECISION;
using tMat4 = vgm::MAT4_PRECISION;

using uint8 = uint8_t;
using int8 = int8_t;
using uint8 = uint8_t;
using int8 = int8_t;
using uint = uint32_t;
using int32 = int32_t;
using uint32 = uint32_t;
Expand Down

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