diff options
Diffstat (limited to 'src/jogl/classes')
| -rw-r--r-- | src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java | 72 | ||||
| -rw-r--r-- | src/jogl/classes/com/jogamp/opengl/math/Matrix4f.java | 194 |
2 files changed, 177 insertions, 89 deletions
diff --git a/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java b/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java index f793629d6..9ffa3bba6 100644 --- a/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java +++ b/src/jogl/classes/com/jogamp/opengl/math/FloatUtil.java @@ -919,27 +919,27 @@ public final class FloatUtil { final float m44 = + a11*(a22*a33 - a23*a32) - a12*(a21*a33 - a23*a31) + a13*(a21*a32 - a22*a31); final float det = (a11*m11 + a12*m12 + a13*m13 + a14*m14)/scale; - if( 0 == det ) { return null; } - - mres[0+4*0+mres_offset] = m11 / det; - mres[1+4*0+mres_offset] = m12 / det; - mres[2+4*0+mres_offset] = m13 / det; - mres[3+4*0+mres_offset] = m14 / det; - mres[0+4*1+mres_offset] = m21 / det; - mres[1+4*1+mres_offset] = m22 / det; - mres[2+4*1+mres_offset] = m23 / det; - mres[3+4*1+mres_offset] = m24 / det; - mres[0+4*2+mres_offset] = m31 / det; - mres[1+4*2+mres_offset] = m32 / det; - mres[2+4*2+mres_offset] = m33 / det; - mres[3+4*2+mres_offset] = m34 / det; - mres[0+4*3+mres_offset] = m41 / det; - mres[1+4*3+mres_offset] = m42 / det; - mres[2+4*3+mres_offset] = m43 / det; - mres[3+4*3+mres_offset] = m44 / det; + final float invdet = 1.0f / det; + + mres[0+4*0+mres_offset] = m11 * invdet; + mres[1+4*0+mres_offset] = m12 * invdet; + mres[2+4*0+mres_offset] = m13 * invdet; + mres[3+4*0+mres_offset] = m14 * invdet; + mres[0+4*1+mres_offset] = m21 * invdet; + mres[1+4*1+mres_offset] = m22 * invdet; + mres[2+4*1+mres_offset] = m23 * invdet; + mres[3+4*1+mres_offset] = m24 * invdet; + mres[0+4*2+mres_offset] = m31 * invdet; + mres[1+4*2+mres_offset] = m32 * invdet; + mres[2+4*2+mres_offset] = m33 * invdet; + mres[3+4*2+mres_offset] = m34 * invdet; + mres[0+4*3+mres_offset] = m41 * invdet; + mres[1+4*3+mres_offset] = m42 * invdet; + mres[2+4*3+mres_offset] = m43 * invdet; + mres[3+4*3+mres_offset] = m44 * invdet; return mres; } @@ -1004,27 +1004,27 @@ public final class FloatUtil { final float m44 = + a11*(a22*a33 - a23*a32) - a12*(a21*a33 - a23*a31) + a13*(a21*a32 - a22*a31); final float det = (a11*m11 + a12*m12 + a13*m13 + a14*m14)/scale; - if( 0 == det ) { return null; } - - mres[0+4*0] = m11 / det; - mres[1+4*0] = m12 / det; - mres[2+4*0] = m13 / det; - mres[3+4*0] = m14 / det; - mres[0+4*1] = m21 / det; - mres[1+4*1] = m22 / det; - mres[2+4*1] = m23 / det; - mres[3+4*1] = m24 / det; - mres[0+4*2] = m31 / det; - mres[1+4*2] = m32 / det; - mres[2+4*2] = m33 / det; - mres[3+4*2] = m34 / det; - mres[0+4*3] = m41 / det; - mres[1+4*3] = m42 / det; - mres[2+4*3] = m43 / det; - mres[3+4*3] = m44 / det; + final float invdet = 1.0f / det; + + mres[0+4*0] = m11 * invdet; + mres[1+4*0] = m12 * invdet; + mres[2+4*0] = m13 * invdet; + mres[3+4*0] = m14 * invdet; + mres[0+4*1] = m21 * invdet; + mres[1+4*1] = m22 * invdet; + mres[2+4*1] = m23 * invdet; + mres[3+4*1] = m24 * invdet; + mres[0+4*2] = m31 * invdet; + mres[1+4*2] = m32 * invdet; + mres[2+4*2] = m33 * invdet; + mres[3+4*2] = m34 * invdet; + mres[0+4*3] = m41 * invdet; + mres[1+4*3] = m42 * invdet; + mres[2+4*3] = m43 * invdet; + mres[3+4*3] = m44 * invdet; return mres; } diff --git a/src/jogl/classes/com/jogamp/opengl/math/Matrix4f.java b/src/jogl/classes/com/jogamp/opengl/math/Matrix4f.java index 5951c7d98..6f4b2f38d 100644 --- a/src/jogl/classes/com/jogamp/opengl/math/Matrix4f.java +++ b/src/jogl/classes/com/jogamp/opengl/math/Matrix4f.java @@ -328,8 +328,9 @@ public class Matrix4f { * * @param dst float[16] array storage in column major order * @param dst_off offset + * @return {@code dst} for chaining */ - public void get(final float[] dst, final int dst_off) { + public float[] get(final float[] dst, final int dst_off) { dst[dst_off+0+0*4] = m00; dst[dst_off+1+0*4] = m10; dst[dst_off+2+0*4] = m20; @@ -346,14 +347,16 @@ public class Matrix4f { dst[dst_off+1+3*4] = m13; dst[dst_off+2+3*4] = m23; dst[dst_off+3+3*4] = m33; + return dst; } /** * Get this matrix into the given float[16] array in column major order. * * @param dst float[16] array storage in column major order + * @return {@code dst} for chaining */ - public void get(final float[] dst) { + public float[] get(final float[] dst) { dst[0+0*4] = m00; dst[1+0*4] = m10; dst[2+0*4] = m20; @@ -370,6 +373,7 @@ public class Matrix4f { dst[1+3*4] = m13; dst[2+3*4] = m23; dst[3+3*4] = m33; + return dst; } /** @@ -380,8 +384,9 @@ public class Matrix4f { * </p> * * @param dst {@link FloatBuffer} array storage in column major order + * @return {@code dst} for chaining */ - public void get(final FloatBuffer dst) { + public FloatBuffer get(final FloatBuffer dst) { dst.put( m00 ); dst.put( m10 ); dst.put( m20 ); @@ -398,6 +403,7 @@ public class Matrix4f { dst.put( m13 ); dst.put( m23 ); dst.put( m33 ); + return dst; } // @@ -490,35 +496,11 @@ public class Matrix4f { */ public boolean invert() { final float scale; - { - float a = Math.abs(m00); - float max = a; - - a = Math.abs(m01); if( a > max ) max = a; - a = Math.abs(m02); if( a > max ) max = a; - a = Math.abs(m03); if( a > max ) max = a; - - a = Math.abs(m10); if( a > max ) max = a; - a = Math.abs(m11); if( a > max ) max = a; - a = Math.abs(m12); if( a > max ) max = a; - a = Math.abs(m13); if( a > max ) max = a; - - a = Math.abs(m20); if( a > max ) max = a; - a = Math.abs(m21); if( a > max ) max = a; - a = Math.abs(m22); if( a > max ) max = a; - a = Math.abs(m23); if( a > max ) max = a; - - a = Math.abs(m30); if( a > max ) max = a; - a = Math.abs(m31); if( a > max ) max = a; - a = Math.abs(m32); if( a > max ) max = a; - a = Math.abs(m33); if( a > max ) max = a; - - if( 0 == max ) { - return false; - } - scale = 1.0f/max; + try { + scale = mulScale(); + } catch(final ArithmeticException aex) { + return false; // max was 0 } - final float a00 = m00*scale; final float a10 = m10*scale; final float a20 = m20*scale; @@ -560,30 +542,30 @@ public class Matrix4f { final float b33 = + a00*(a11*a22 - a12*a21) - a01*(a10*a22 - a12*a20) + a02*(a10*a21 - a11*a20); final float det = (a00*b00 + a01*b01 + a02*b02 + a03*b03) / scale; - if( 0 == det ) { return false; } - - m00 = b00 / det; - m10 = b01 / det; - m20 = b02 / det; - m30 = b03 / det; - - m01 = b10 / det; - m11 = b11 / det; - m21 = b12 / det; - m31 = b13 / det; - - m02 = b20 / det; - m12 = b21 / det; - m22 = b22 / det; - m32 = b23 / det; - - m03 = b30 / det; - m13 = b31 / det; - m23 = b32 / det; - m33 = b33 / det; + final float invdet = 1.0f / det; + + m00 = b00 * invdet; + m10 = b01 * invdet; + m20 = b02 * invdet; + m30 = b03 * invdet; + + m01 = b10 * invdet; + m11 = b11 * invdet; + m21 = b12 * invdet; + m31 = b13 * invdet; + + m02 = b20 * invdet; + m12 = b21 * invdet; + m22 = b22 * invdet; + m32 = b23 * invdet; + + m03 = b30 * invdet; + m13 = b31 * invdet; + m23 = b32 * invdet; + m33 = b33 * invdet; return true; } @@ -593,7 +575,113 @@ public class Matrix4f { * @return false if {@code src} matrix is singular and inversion not possible, otherwise true */ public boolean invert(final Matrix4f src) { - return load(src).invert(); + final float scale; + try { + scale = src.mulScale(); + } catch(final ArithmeticException aex) { + return false; // max was 0 + } + final float a00 = src.m00*scale; + final float a10 = src.m10*scale; + final float a20 = src.m20*scale; + final float a30 = src.m30*scale; + + final float a01 = src.m01*scale; + final float a11 = src.m11*scale; + final float a21 = src.m21*scale; + final float a31 = src.m31*scale; + + final float a02 = src.m02*scale; + final float a12 = src.m12*scale; + final float a22 = src.m22*scale; + final float a32 = src.m32*scale; + + final float a03 = src.m03*scale; + final float a13 = src.m13*scale; + final float a23 = src.m23*scale; + final float a33 = src.m33*scale; + + final float b00 = + a11*(a22*a33 - a23*a32) - a12*(a21*a33 - a23*a31) + a13*(a21*a32 - a22*a31); + final float b01 = -( + a10*(a22*a33 - a23*a32) - a12*(a20*a33 - a23*a30) + a13*(a20*a32 - a22*a30)); + final float b02 = + a10*(a21*a33 - a23*a31) - a11*(a20*a33 - a23*a30) + a13*(a20*a31 - a21*a30); + final float b03 = -( + a10*(a21*a32 - a22*a31) - a11*(a20*a32 - a22*a30) + a12*(a20*a31 - a21*a30)); + + final float b10 = -( + a01*(a22*a33 - a23*a32) - a02*(a21*a33 - a23*a31) + a03*(a21*a32 - a22*a31)); + final float b11 = + a00*(a22*a33 - a23*a32) - a02*(a20*a33 - a23*a30) + a03*(a20*a32 - a22*a30); + final float b12 = -( + a00*(a21*a33 - a23*a31) - a01*(a20*a33 - a23*a30) + a03*(a20*a31 - a21*a30)); + final float b13 = + a00*(a21*a32 - a22*a31) - a01*(a20*a32 - a22*a30) + a02*(a20*a31 - a21*a30); + + final float b20 = + a01*(a12*a33 - a13*a32) - a02*(a11*a33 - a13*a31) + a03*(a11*a32 - a12*a31); + final float b21 = -( + a00*(a12*a33 - a13*a32) - a02*(a10*a33 - a13*a30) + a03*(a10*a32 - a12*a30)); + final float b22 = + a00*(a11*a33 - a13*a31) - a01*(a10*a33 - a13*a30) + a03*(a10*a31 - a11*a30); + final float b23 = -( + a00*(a11*a32 - a12*a31) - a01*(a10*a32 - a12*a30) + a02*(a10*a31 - a11*a30)); + + final float b30 = -( + a01*(a12*a23 - a13*a22) - a02*(a11*a23 - a13*a21) + a03*(a11*a22 - a12*a21)); + final float b31 = + a00*(a12*a23 - a13*a22) - a02*(a10*a23 - a13*a20) + a03*(a10*a22 - a12*a20); + final float b32 = -( + a00*(a11*a23 - a13*a21) - a01*(a10*a23 - a13*a20) + a03*(a10*a21 - a11*a20)); + final float b33 = + a00*(a11*a22 - a12*a21) - a01*(a10*a22 - a12*a20) + a02*(a10*a21 - a11*a20); + + final float det = (a00*b00 + a01*b01 + a02*b02 + a03*b03) / scale; + + if( 0 == det ) { + return false; + } + final float invdet = 1.0f / det; + + m00 = b00 * invdet; + m10 = b01 * invdet; + m20 = b02 * invdet; + m30 = b03 * invdet; + + m01 = b10 * invdet; + m11 = b11 * invdet; + m21 = b12 * invdet; + m31 = b13 * invdet; + + m02 = b20 * invdet; + m12 = b21 * invdet; + m22 = b22 * invdet; + m32 = b23 * invdet; + + m03 = b30 * invdet; + m13 = b31 * invdet; + m23 = b32 * invdet; + m33 = b33 * invdet; + return true; + } + + private final float mulScale() { + /** + // No Hotspot intrinsic Math.* optimization for at least Math.max(), + // hence this chunk is slower. + float max = Math.abs(m00); + + max = Math.max(max, Math.abs(m01)); + max = Math.max(max, Math.abs(m02)); + ... etc + */ + float a = Math.abs(m00); + float max = a; + a = Math.abs(m01); if( a > max ) max = a; + a = Math.abs(m02); if( a > max ) max = a; + a = Math.abs(m03); if( a > max ) max = a; + + a = Math.abs(m10); if( a > max ) max = a; + a = Math.abs(m11); if( a > max ) max = a; + a = Math.abs(m12); if( a > max ) max = a; + a = Math.abs(m13); if( a > max ) max = a; + + a = Math.abs(m20); if( a > max ) max = a; + a = Math.abs(m21); if( a > max ) max = a; + a = Math.abs(m22); if( a > max ) max = a; + a = Math.abs(m23); if( a > max ) max = a; + + a = Math.abs(m30); if( a > max ) max = a; + a = Math.abs(m31); if( a > max ) max = a; + a = Math.abs(m32); if( a > max ) max = a; + a = Math.abs(m33); if( a > max ) max = a; + + return 1.0f/max; } /** |