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fix/improve matrix decomposition

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Recep Aslantas
2016-10-26 17:23:42 +03:00
parent 55cf08d474
commit f4e2cff63b
1 changed files with 34 additions and 66 deletions
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100
include/cglm-affine.h
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@@ -289,103 +289,71 @@ glm_rotate(mat4 m, float angle, vec3 axis) {
glm_rotate_ndc(m, angle, axis_ndc);
}
/*!
* @brief decompose translate matrix
*
* if you only need vector then just copy last vector of mat:
* glm_vec4_dup(m, translate_vector)
*
* @param[in] m affine transform
* @param[out] t translation matrix
*/
CGLM_INLINE
void
glm_decompose_trans(mat4 m, mat4 t) {
mat4 tmp = GLM_MAT4_IDENTITY_INIT;
glm_vec4_dup(m[3], tmp[3]);
glm_mat4_dup(tmp, t);
}
/*!
* @brief decompose scale vector
*
* @param[in] m affine transform
* @param[out] s scale vector (Sx, Sy, Sz)
* @param[out] signs scale vector signs
*/
CGLM_INLINE
void
glm_decompose_scalev(mat4 m, vec3 s, ivec3 signs) {
signs[0] = signs[1] = signs[2] = 1;
signs[0] = copysignf(signs[0], m[0][0] * m[0][1] * m[0][2]);
signs[1] = copysignf(signs[1], m[1][0] * m[1][1] * m[1][2]);
signs[2] = copysignf(signs[2], m[2][0] * m[2][1] * m[2][2]);
glm_decompose_scalev(mat4 m, vec3 s) {
s[0] = glm_vec_norm(m[0]);
s[1] = glm_vec_norm(m[1]);
s[2] = glm_vec_norm(m[2]);
}
/*!
* @brief decompose scale matrix
*
* @param[in] m affine transform
* @param[out] s scale matrix
*/
CGLM_INLINE
void
glm_decompose_scale(mat4 m, mat4 s) {
mat4 tmp = GLM_MAT4_IDENTITY_INIT;
vec3 sv;
ivec3 svs;
glm_decompose_scalev(m, sv, svs);
tmp[0][0] = sv[0];
tmp[1][1] = sv[1];
tmp[2][2] = sv[2];
glm_mat4_dup(tmp, s);
}
/*!
* @brief decompose rotation matrix
* @brief decompose rotation matrix (mat4) and scale vector [Sx, Sy, Sz]
*
* @param[in] m affine transform
* @param[out] r rotation matrix
* @param[out] r scale matrix
*/
CGLM_INLINE
void
glm_decompose_rotation(mat4 m, mat4 r) {
vec3 sv;
vec4 t = {0, 0, 0, 1};
ivec3 svs;
glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
vec4 t = {0.0f, 0.0f, 0.0f, 1.0f};
vec3 v;
glm_decompose_scalev(m, sv, svs);
glm_vec4_dup(m[0], r[0]);
glm_vec4_dup(m[1], r[1]);
glm_vec4_dup(m[2], r[2]);
glm_vec4_dup(t, r[3]);
glm_mat4_dup(m, r);
glm_vec4_dup(t, r[3]);
s[0] = glm_vec_norm(m[0]);
s[1] = glm_vec_norm(m[1]);
s[2] = glm_vec_norm(m[2]);
glm_vec4_scale(r[0], 1.0f/sv[0], r[0]);
glm_vec4_scale(r[1], 1.0f/sv[1], r[1]);
glm_vec4_scale(r[2], 1.0f/sv[2], r[2]);
glm_vec4_scale(r[0], 1.0f/s[0], r[0]);
glm_vec4_scale(r[1], 1.0f/s[1], r[1]);
glm_vec4_scale(r[2], 1.0f/s[2], r[2]);
glm_vec_cross(m[0], m[1], v);
if (glm_vec_dot(v, m[2]) < 0.0f) {
glm_vec4_scale(r[0], -1.0f, r[0]);
glm_vec4_scale(r[1], -1.0f, r[1]);
glm_vec4_scale(r[2], -1.0f, r[2]);
s[0] *= -1.0f;
s[1] *= -1.0f;
s[2] *= -1.0f;
}
}
/*!
* @brief decompose affine transform into mat4
* @brief decompose affine transform
*
* @param[in] m affine transfrom
* @param[out] t translate matrix
* @param[out] r rotate matrix
* @param[out] s scale matrix
* @param[out] t translation vector
* @param[out] r rotation matrix (mat4)
* @param[out] s scaling vector [X, Y, Z]
*/
CGLM_INLINE
void
glm_decompose(mat4 m, mat4 t, mat4 r, mat4 s) {
glm_decompose_trans(m, t);
glm_decompose_scale(m, s);
glm_decompose_rotation(m, r);
glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s) {
glm_vec4_dup(m[3], t);
glm_decompose_rs(m, r, s);
}
#endif /* cglm_affine_h */