optimize mat4 scalar inv

This commit is contained in:
Recep Aslantas
2024-03-29 22:13:23 +03:00
parent 30b4ea80a9
commit 8366e51b47

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@@ -650,46 +650,37 @@ glm_mat4_inv(mat4 mat, mat4 dest) {
#elif defined(CGLM_NEON_FP)
glm_mat4_inv_neon(mat, dest);
#else
float t[6];
float det;
float a = mat[0][0], b = mat[0][1], c = mat[0][2], d = mat[0][3],
e = mat[1][0], f = mat[1][1], g = mat[1][2], h = mat[1][3],
i = mat[2][0], j = mat[2][1], k = mat[2][2], l = mat[2][3],
m = mat[3][0], n = mat[3][1], o = mat[3][2], p = mat[3][3];
m = mat[3][0], n = mat[3][1], o = mat[3][2], p = mat[3][3],
t[0] = k * p - o * l; t[1] = j * p - n * l; t[2] = j * o - n * k;
t[3] = i * p - m * l; t[4] = i * o - m * k; t[5] = i * n - m * j;
c1 = k * p - l * o, c2 = c * h - d * g, c3 = i * p - l * m,
c4 = a * h - d * e, c5 = j * p - l * n, c6 = b * h - d * f,
c7 = i * n - j * m, c8 = a * f - b * e, c9 = j * o - k * n,
c10 = b * g - c * f, c11 = i * o - k * m, c12 = a * g - c * e,
dest[0][0] = f * t[0] - g * t[1] + h * t[2];
dest[1][0] =-(e * t[0] - g * t[3] + h * t[4]);
dest[2][0] = e * t[1] - f * t[3] + h * t[5];
dest[3][0] =-(e * t[2] - f * t[4] + g * t[5]);
idt = 1.0f/(c8*c1+c4*c9+c10*c3+c2*c7-c12*c5-c6*c11), ndt = -idt;
dest[0][1] =-(b * t[0] - c * t[1] + d * t[2]);
dest[1][1] = a * t[0] - c * t[3] + d * t[4];
dest[2][1] =-(a * t[1] - b * t[3] + d * t[5]);
dest[3][1] = a * t[2] - b * t[4] + c * t[5];
dest[0][0] = (f * c1 - g * c5 + h * c9) * idt;
dest[0][1] = (b * c1 - c * c5 + d * c9) * ndt;
dest[0][2] = (n * c2 - o * c6 + p * c10) * idt;
dest[0][3] = (j * c2 - k * c6 + l * c10) * ndt;
t[0] = g * p - o * h; t[1] = f * p - n * h; t[2] = f * o - n * g;
t[3] = e * p - m * h; t[4] = e * o - m * g; t[5] = e * n - m * f;
dest[1][0] = (e * c1 - g * c3 + h * c11) * ndt;
dest[1][1] = (a * c1 - c * c3 + d * c11) * idt;
dest[1][2] = (m * c2 - o * c4 + p * c12) * ndt;
dest[1][3] = (i * c2 - k * c4 + l * c12) * idt;
dest[0][2] = b * t[0] - c * t[1] + d * t[2];
dest[1][2] =-(a * t[0] - c * t[3] + d * t[4]);
dest[2][2] = a * t[1] - b * t[3] + d * t[5];
dest[3][2] =-(a * t[2] - b * t[4] + c * t[5]);
dest[2][0] = (e * c5 - f * c3 + h * c7) * idt;
dest[2][1] = (a * c5 - b * c3 + d * c7) * ndt;
dest[2][2] = (m * c6 - n * c4 + p * c8) * idt;
dest[2][3] = (i * c6 - j * c4 + l * c8) * ndt;
t[0] = g * l - k * h; t[1] = f * l - j * h; t[2] = f * k - j * g;
t[3] = e * l - i * h; t[4] = e * k - i * g; t[5] = e * j - i * f;
dest[0][3] =-(b * t[0] - c * t[1] + d * t[2]);
dest[1][3] = a * t[0] - c * t[3] + d * t[4];
dest[2][3] =-(a * t[1] - b * t[3] + d * t[5]);
dest[3][3] = a * t[2] - b * t[4] + c * t[5];
det = 1.0f / (a * dest[0][0] + b * dest[1][0]
+ c * dest[2][0] + d * dest[3][0]);
glm_mat4_scale_p(dest, det);
dest[3][0] = (e * c9 - f * c11 + g * c7) * ndt;
dest[3][1] = (a * c9 - b * c11 + c * c7) * idt;
dest[3][2] = (m * c10 - n * c12 + o * c8) * ndt;
dest[3][3] = (i * c10 - j * c12 + k * c8) * idt;
#endif
}