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Core: add ability to invert a 4x4 matrix

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iwubcode 2025-06-04 22:32:05 -05:00
commit 86a0a606d3
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49
Source/Core/Common/Matrix.cpp
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@ -378,4 +378,53 @@ float Matrix44::Determinant() const
m[0] * m[9] * m[6] * m[15] - m[4] * m[1] * m[10] * m[15] + m[0] * m[5] * m[10] * m[15];
}
Matrix44 Matrix44::Inverted() const
{
const auto m = [this](int x, int y) { return data[y + x * 4]; };
const auto invdet = 1 / Determinant();
Matrix44 result;
const auto minv = [&result](int x, int y) -> auto& { return result.data[y + x * 4]; };
const double A2323 = m(2, 2) * m(3, 3) - m(2, 3) * m(3, 2);
const double A1323 = m(2, 1) * m(3, 3) - m(2, 3) * m(3, 1);
const double A1223 = m(2, 1) * m(3, 2) - m(2, 2) * m(3, 1);
const double A0323 = m(2, 0) * m(3, 3) - m(2, 3) * m(3, 0);
const double A0223 = m(2, 0) * m(3, 2) - m(2, 2) * m(3, 0);
const double A0123 = m(2, 0) * m(3, 1) - m(2, 1) * m(3, 0);
const double A2313 = m(1, 2) * m(3, 3) - m(1, 3) * m(3, 2);
const double A1313 = m(1, 1) * m(3, 3) - m(1, 3) * m(3, 1);
const double A1213 = m(1, 1) * m(3, 2) - m(1, 2) * m(3, 1);
const double A2312 = m(1, 2) * m(2, 3) - m(1, 3) * m(2, 2);
const double A1312 = m(1, 1) * m(2, 3) - m(1, 3) * m(2, 1);
const double A1212 = m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1);
const double A0313 = m(1, 0) * m(3, 3) - m(1, 3) * m(3, 0);
const double A0213 = m(1, 0) * m(3, 2) - m(1, 2) * m(3, 0);
const double A0312 = m(1, 0) * m(2, 3) - m(1, 3) * m(2, 0);
const double A0212 = m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0);
const double A0113 = m(1, 0) * m(3, 1) - m(1, 1) * m(3, 0);
const double A0112 = m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0);
minv(0, 0) = invdet * (m(1, 1) * A2323 - m(1, 2) * A1323 + m(1, 3) * A1223);
minv(0, 1) = invdet * -(m(0, 1) * A2323 - m(0, 2) * A1323 + m(0, 3) * A1223);
minv(0, 2) = invdet * (m(0, 1) * A2313 - m(0, 2) * A1313 + m(0, 3) * A1213);
minv(0, 3) = invdet * -(m(0, 1) * A2312 - m(0, 2) * A1312 + m(0, 3) * A1212);
minv(1, 0) = invdet * -(m(1, 0) * A2323 - m(1, 2) * A0323 + m(1, 3) * A0223);
minv(1, 1) = invdet * (m(0, 0) * A2323 - m(0, 2) * A0323 + m(0, 3) * A0223);
minv(1, 2) = invdet * -(m(0, 0) * A2313 - m(0, 2) * A0313 + m(0, 3) * A0213);
minv(1, 3) = invdet * (m(0, 0) * A2312 - m(0, 2) * A0312 + m(0, 3) * A0212);
minv(2, 0) = invdet * (m(1, 0) * A1323 - m(1, 1) * A0323 + m(1, 3) * A0123);
minv(2, 1) = invdet * -(m(0, 0) * A1323 - m(0, 1) * A0323 + m(0, 3) * A0123);
minv(2, 2) = invdet * (m(0, 0) * A1313 - m(0, 1) * A0313 + m(0, 3) * A0113);
minv(2, 3) = invdet * -(m(0, 0) * A1312 - m(0, 1) * A0312 + m(0, 3) * A0112);
minv(3, 0) = invdet * -(m(1, 0) * A1223 - m(1, 1) * A0223 + m(1, 2) * A0123);
minv(3, 1) = invdet * (m(0, 0) * A1223 - m(0, 1) * A0223 + m(0, 2) * A0123);
minv(3, 2) = invdet * -(m(0, 0) * A1213 - m(0, 1) * A0213 + m(0, 2) * A0113);
minv(3, 3) = invdet * (m(0, 0) * A1212 - m(0, 1) * A0212 + m(0, 2) * A0112);
return result;
}
} // namespace Common

1
Source/Core/Common/Matrix.h
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@ -434,6 +434,7 @@ public:
Vec3 Transform(const Vec3& point, float w) const;
float Determinant() const;
Matrix44 Inverted() const;
Matrix44& operator*=(const Matrix44& rhs)
{