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From Mathias Froehlich, "This is a generic optimization that does not depend on any cpu or instruction

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set.

The optimization is based on the observation that matrix matrix multiplication
with a dense matrix 4x4 is 4^3 Operations whereas multiplication with a
transform, or scale matrix is only 4^2 operations. Which is a gain of a
*FACTOR*4* for these special cases.
The change implements these special cases, provides a unit test for these
implementation and converts uses of the expensiver dense matrix matrix
routine with the specialized versions.

Depending on the transform nodes in the scenegraph this change gives a
noticable improovement.
For example the osgforest code using the MatrixTransform is about 20% slower
than the same codepath using the PositionAttitudeTransform instead of the
MatrixTransform with this patch applied.

If I remember right, the sse type optimizations did *not* provide a factor 4
improovement. Also these changes are totally independent of any cpu or
instruction set architecture. So I would prefer to have this current kind of
change instead of some hand coded and cpu dependent assembly stuff. If we
need that hand tuned stuff, these can go on top of this changes which must
provide than hand optimized additional variants for the specialized versions
to give a even better result in the end.

An other change included here is a change to rotation matrix from quaterion
code. There is a sqrt call which couold be optimized away. Since we divide in
effect by sqrt(length)*sqrt(length) which is just length ...
"
This commit is contained in:
Robert Osfield 2008-09-17 16:14:28 +00:00
parent 0598ac3b69
commit 22eae68e48
21 changed files with 723 additions and 193 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
examples/osgdepthpeeling/osgdepthpeeling.cpp
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@ -174,27 +174,12 @@ public:
private:
void rotate(float x, float y)
{
osg::Matrixd baseMatrix = _modelGroupTransform->getMatrix();
osg::Matrix baseMatrix = _modelGroupTransform->getMatrix();
osg::Matrixd preTransMatrix;
osg::Matrixd postTransMatrix;
osg::Matrixd rotMatrixX;
osg::Matrixd rotMatrixZ;
preTransMatrix.makeTranslate(_rotCenter);
postTransMatrix.makeTranslate(-_rotCenter);
rotMatrixZ.makeRotate((x - _prevX) * 3., osg::Vec3d(0.0, 0.0,1.0));
baseMatrix.preMult(preTransMatrix);
baseMatrix.preMult(rotMatrixZ);
baseMatrix.preMult(postTransMatrix);
rotMatrixX.makeRotate(-(y - _prevY) * 3., (baseMatrix * osg::Vec3d(1.0, 0.0,0.0)));
baseMatrix.preMult(preTransMatrix);
baseMatrix.preMult(rotMatrixX);
baseMatrix.preMult(postTransMatrix);
baseMatrix.preMultTranslate(_rotCenter);
baseMatrix.preMultRotate(osg::Quat((x - _prevX) * 3, osg::Vec3d(0.0, 0.0, 1.0)));
baseMatrix.preMultRotate(osg::Quat(-(y - _prevY) * 3, (baseMatrix * osg::Vec3d(1.0, 0.0, 0.0))));
baseMatrix.preMultTranslate(-_rotCenter);
_modelGroupTransform->setMatrix(baseMatrix);

4
examples/osghangglide/osghangglide.cpp
View File

@ -54,7 +54,7 @@ public:
if (cv)
{
osg::Vec3 eyePointLocal = cv->getEyeLocal();
matrix.preMult(osg::Matrix::translate(eyePointLocal.x(),eyePointLocal.y(),0.0f));
matrix.preMultTranslate(osg::Vec3(eyePointLocal.x(),eyePointLocal.y(),0.0f));
}
return true;
}
@ -68,7 +68,7 @@ public:
if (cv)
{
osg::Vec3 eyePointLocal = cv->getEyeLocal();
matrix.postMult(osg::Matrix::translate(-eyePointLocal.x(),-eyePointLocal.y(),0.0f));
matrix.postMultTranslate(osg::Vec3(-eyePointLocal.x(),-eyePointLocal.y(),0.0f));
}
return true;
}

9
examples/osglogo/osglogo.cpp
View File

@ -67,11 +67,10 @@ class MyBillboardTransform : public osg::PositionAttitudeTransform
}
matrix.preMult(osg::Matrix::translate(-_pivotPoint)*
osg::Matrix::rotate(_attitude)*
osg::Matrix::rotate(billboardRotation)*
osg::Matrix::translate(_position));
matrix.preMultTranslate(_position);
matrix.preMultRotate(billboardRotation);
matrix.preMultRotate(_attitude);
matrix.preMultTranslate(_pivotPoint);
return true;
}

2
examples/osgsimulation/osgsimulation.cpp
View File

@ -146,7 +146,7 @@ public:
//osg::Matrixd matrix;
ellipsoid->computeLocalToWorldTransformFromLatLongHeight(_latitude,_longitude,_height,matrix);
matrix.preMult(osg::Matrix::rotate(_rotation));
matrix.preMultRotate(_rotation);
mt->setMatrix(matrix);
}

297
examples/osgunittests/UnitTests_osg.cpp
View File

@ -19,6 +19,8 @@
#include "UnitTestFramework.h"
#include <osg/Matrixd>
#include <osg/Matrixf>
#include <osg/Vec3d>
#include <osg/Vec3>
#include <sstream>
@ -84,4 +86,299 @@ OSGUTX_END_TESTSUITE
OSGUTX_AUTOREGISTER_TESTSUITE_AT(Vec3, root.osg)
///////////////////////////////////////////////////////////////////////////////
//
// Matrix Tests
//
class MatrixTestFixture
{
public:
MatrixTestFixture();
void testPreMultTranslate(const osgUtx::TestContext& ctx);
void testPostMultTranslate(const osgUtx::TestContext& ctx);
void testPreMultScale(const osgUtx::TestContext& ctx);
void testPostMultScale(const osgUtx::TestContext& ctx);
void testPreMultRotate(const osgUtx::TestContext& ctx);
void testPostMultRotate(const osgUtx::TestContext& ctx);
private:
// Some convenience variables for use in the tests
Matrixd _md;
Matrixf _mf;
Vec3d _v3d;
Vec3 _v3;
Quat _q1;
Quat _q2;
Quat _q3;
Quat _q4;
};
MatrixTestFixture::MatrixTestFixture():
_md(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16),
_mf(1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16),
_v3d(1, 2, 3),
_v3(1, 2, 3),
_q1(1, 0, 0, 0),
_q2(0, 1, 0, 0),
_q3(0, 0, 1, 0),
_q4(0, 0, 0, 1)
{
}
void MatrixTestFixture::testPreMultTranslate(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::translate(_v3d));
tdn.preMultTranslate(_v3d);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::translate(_v3));
tdn.preMultTranslate(_v3);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::translate(_v3d));
tfn.preMultTranslate(_v3d);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::translate(_v3));
tfn.preMultTranslate(_v3);
OSGUTX_TEST_F( tfo == tfn )
}
void MatrixTestFixture::testPostMultTranslate(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::translate(_v3d));
tdn.postMultTranslate(_v3d);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::translate(_v3));
tdn.postMultTranslate(_v3);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::translate(_v3d));
tfn.postMultTranslate(_v3d);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::translate(_v3));
tfn.postMultTranslate(_v3);
OSGUTX_TEST_F( tfo == tfn )
}
void MatrixTestFixture::testPreMultScale(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::scale(_v3d));
tdn.preMultScale(_v3d);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::scale(_v3));
tdn.preMultScale(_v3);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::scale(_v3d));
tfn.preMultScale(_v3d);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::scale(_v3));
tfn.preMultScale(_v3);
OSGUTX_TEST_F( tfo == tfn )
}
void MatrixTestFixture::testPostMultScale(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::scale(_v3d));
tdn.postMultScale(_v3d);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::scale(_v3));
tdn.postMultScale(_v3);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::scale(_v3d));
tfn.postMultScale(_v3d);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::scale(_v3));
tfn.postMultScale(_v3);
OSGUTX_TEST_F( tfo == tfn )
}
void MatrixTestFixture::testPreMultRotate(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::rotate(_q1));
tdn.preMultRotate(_q1);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::rotate(_q2));
tdn.preMultRotate(_q2);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::rotate(_q3));
tdn.preMultRotate(_q3);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.preMult(osg::Matrixd::rotate(_q4));
tdn.preMultRotate(_q4);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::rotate(_q1));
tfn.preMultRotate(_q1);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::rotate(_q2));
tfn.preMultRotate(_q2);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::rotate(_q3));
tfn.preMultRotate(_q3);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.preMult(osg::Matrixf::rotate(_q4));
tfn.preMultRotate(_q4);
OSGUTX_TEST_F( tfo == tfn )
}
void MatrixTestFixture::testPostMultRotate(const osgUtx::TestContext&)
{
osg::Matrixd tdo;
osg::Matrixd tdn;
osg::Matrixf tfo;
osg::Matrixf tfn;
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::rotate(_q1));
tdn.postMultRotate(_q1);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::rotate(_q2));
tdn.postMultRotate(_q2);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::rotate(_q3));
tdn.postMultRotate(_q3);
OSGUTX_TEST_F( tdo == tdn )
tdo = _md;
tdn = _md;
tdo.postMult(osg::Matrixd::rotate(_q4));
tdn.postMultRotate(_q4);
OSGUTX_TEST_F( tdo == tdn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::rotate(_q1));
tfn.postMultRotate(_q1);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::rotate(_q2));
tfn.postMultRotate(_q2);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::rotate(_q3));
tfn.postMultRotate(_q3);
OSGUTX_TEST_F( tfo == tfn )
tfo = _mf;
tfn = _mf;
tfo.postMult(osg::Matrixf::rotate(_q4));
tfn.postMultRotate(_q4);
OSGUTX_TEST_F( tfo == tfn )
}
OSGUTX_BEGIN_TESTSUITE(Matrix)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPreMultTranslate)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPostMultTranslate)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPreMultScale)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPostMultScale)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPreMultRotate)
OSGUTX_ADD_TESTCASE(MatrixTestFixture, testPostMultRotate)
OSGUTX_END_TESTSUITE
OSGUTX_AUTOREGISTER_TESTSUITE_AT(Matrix, root.osg)
}

4
examples/osgvertexprogram/osgvertexprogram.cpp
View File

@ -226,7 +226,7 @@ public:
if (cv)
{
osg::Vec3 eyePointLocal = cv->getEyeLocal();
matrix.preMult(osg::Matrix::translate(eyePointLocal));
matrix.preMultTranslate(eyePointLocal);
}
return true;
}
@ -238,7 +238,7 @@ public:
if (cv)
{
osg::Vec3 eyePointLocal = cv->getEyeLocal();
matrix.postMult(osg::Matrix::translate(-eyePointLocal));
matrix.postMultTranslate(-eyePointLocal);
}
return true;
}

24
include/osg/AnimationPath
View File

@ -91,30 +91,30 @@ class OSG_EXPORT AnimationPath : public virtual osg::Object
inline void getMatrix(Matrixf& matrix) const
{
matrix.makeScale(_scale);
matrix.postMult(osg::Matrixf::rotate(_rotation));
matrix.postMult(osg::Matrixf::translate(_position));
matrix.makeRotate(_rotation);
matrix.preMultScale(_scale);
matrix.postMultTranslate(_position);
}
inline void getMatrix(Matrixd& matrix) const
{
matrix.makeScale(_scale);
matrix.postMult(osg::Matrixd::rotate(_rotation));
matrix.postMult(osg::Matrixd::translate(_position));
matrix.makeRotate(_rotation);
matrix.preMultScale(_scale);
matrix.postMultTranslate(_position);
}
inline void getInverse(Matrixf& matrix) const
{
matrix.makeScale(1.0/_scale.x(),1.0/_scale.y(),1.0/_scale.z());
matrix.preMult(osg::Matrixf::rotate(_rotation.inverse()));
matrix.preMult(osg::Matrixf::translate(-_position));
matrix.makeRotate(_rotation.inverse());
matrix.postMultScale(osg::Vec3d(1.0/_scale.x(),1.0/_scale.y(),1.0/_scale.z()));
matrix.preMultTranslate(-_position);
}
inline void getInverse(Matrixd& matrix) const
{
matrix.makeScale(1.0/_scale.x(),1.0/_scale.y(),1.0/_scale.z());
matrix.preMult(osg::Matrixd::rotate(_rotation.inverse()));
matrix.preMult(osg::Matrixd::translate(-_position));
matrix.makeRotate(_rotation.inverse());
matrix.postMultScale(osg::Vec3d(1.0/_scale.x(),1.0/_scale.y(),1.0/_scale.z()));
matrix.preMultTranslate(-_position);
}
protected:

121
include/osg/Matrixd
View File

@ -347,6 +347,25 @@ class OSG_EXPORT Matrixd
void preMult( const Matrixd& );
void postMult( const Matrixd& );
/** Optimized version of preMult(translate(v)); */
inline void preMultTranslate( const Vec3d& v );
inline void preMultTranslate( const Vec3f& v );
/** Optimized version of postMult(translate(v)); */
inline void postMultTranslate( const Vec3d& v );
inline void postMultTranslate( const Vec3f& v );
/** Optimized version of preMult(scale(v)); */
inline void preMultScale( const Vec3d& v );
inline void preMultScale( const Vec3f& v );
/** Optimized version of postMult(scale(v)); */
inline void postMultScale( const Vec3d& v );
inline void postMultScale( const Vec3f& v );
/** Optimized version of preMult(rotate(q)); */
inline void preMultRotate( const Quat& q );
/** Optimized version of postMult(rotate(q)); */
inline void postMultRotate( const Quat& q );
inline void operator *= ( const Matrixd& other )
{ if( this == &other ) {
Matrixd temp(other);
@ -647,6 +666,108 @@ inline Vec3d Matrixd::transform3x3(const Matrixd& m,const Vec3d& v)
(m._mat[2][0]*v.x() + m._mat[2][1]*v.y() + m._mat[2][2]*v.z()) ) ;
}
inline void Matrixd::preMultTranslate( const Vec3d& v )
{
for (unsigned i = 0; i < 3; ++i)
{
double tmp = v[i];
if (tmp == 0)
continue;
_mat[3][0] += tmp*_mat[i][0];
_mat[3][1] += tmp*_mat[i][1];
_mat[3][2] += tmp*_mat[i][2];
_mat[3][3] += tmp*_mat[i][3];
}
}
inline void Matrixd::preMultTranslate( const Vec3f& v )
{
for (unsigned i = 0; i < 3; ++i)
{
float tmp = v[i];
if (tmp == 0)
continue;
_mat[3][0] += tmp*_mat[i][0];
_mat[3][1] += tmp*_mat[i][1];
_mat[3][2] += tmp*_mat[i][2];
_mat[3][3] += tmp*_mat[i][3];
}
}
inline void Matrixd::postMultTranslate( const Vec3d& v )
{
for (unsigned i = 0; i < 3; ++i)
{
double tmp = v[i];
if (tmp == 0)
continue;
_mat[0][i] += tmp*_mat[0][3];
_mat[1][i] += tmp*_mat[1][3];
_mat[2][i] += tmp*_mat[2][3];
_mat[3][i] += tmp*_mat[3][3];
}
}
inline void Matrixd::postMultTranslate( const Vec3f& v )
{
for (unsigned i = 0; i < 3; ++i)
{
float tmp = v[i];
if (tmp == 0)
continue;
_mat[0][i] += tmp*_mat[0][3];
_mat[1][i] += tmp*_mat[1][3];
_mat[2][i] += tmp*_mat[2][3];
_mat[3][i] += tmp*_mat[3][3];
}
}
inline void Matrixd::preMultScale( const Vec3d& v )
{
_mat[0][0] *= v[0]; _mat[0][1] *= v[0]; _mat[0][2] *= v[0]; _mat[0][3] *= v[0];
_mat[1][0] *= v[1]; _mat[1][1] *= v[1]; _mat[1][2] *= v[1]; _mat[1][3] *= v[1];
_mat[2][0] *= v[2]; _mat[2][1] *= v[2]; _mat[2][2] *= v[2]; _mat[2][3] *= v[2];
}
inline void Matrixd::preMultScale( const Vec3f& v )
{
_mat[0][0] *= v[0]; _mat[0][1] *= v[0]; _mat[0][2] *= v[0]; _mat[0][3] *= v[0];
_mat[1][0] *= v[1]; _mat[1][1] *= v[1]; _mat[1][2] *= v[1]; _mat[1][3] *= v[1];
_mat[2][0] *= v[2]; _mat[2][1] *= v[2]; _mat[2][2] *= v[2]; _mat[2][3] *= v[2];
}
inline void Matrixd::postMultScale( const Vec3d& v )
{
_mat[0][0] *= v[0]; _mat[1][0] *= v[0]; _mat[2][0] *= v[0]; _mat[3][0] *= v[0];
_mat[0][1] *= v[1]; _mat[1][1] *= v[1]; _mat[2][1] *= v[1]; _mat[3][1] *= v[1];
_mat[0][2] *= v[2]; _mat[1][2] *= v[2]; _mat[2][2] *= v[2]; _mat[3][2] *= v[2];
}
inline void Matrixd::postMultScale( const Vec3f& v )
{
_mat[0][0] *= v[0]; _mat[1][0] *= v[0]; _mat[2][0] *= v[0]; _mat[3][0] *= v[0];
_mat[0][1] *= v[1]; _mat[1][1] *= v[1]; _mat[2][1] *= v[1]; _mat[3][1] *= v[1];
_mat[0][2] *= v[2]; _mat[1][2] *= v[2]; _mat[2][2] *= v[2]; _mat[3][2] *= v[2];
}
inline void Matrixd::preMultRotate( const Quat& q )
{
if (q.zeroRotation())
return;
Matrixd r;
r.setRotate(q);
preMult(r);
}
inline void Matrixd::postMultRotate( const Quat& q )
{
if (q.zeroRotation())
return;
Matrixd r;
r.setRotate(q);
postMult(r);
}
inline Vec3f operator* (const Vec3f& v, const Matrixd& m )
{
return m.preMult(v);

121
include/osg/Matrixf
View File

@ -349,6 +349,25 @@ class OSG_EXPORT Matrixf
void preMult( const Matrixf& );
void postMult( const Matrixf& );
/** Optimized version of preMult(translate(v)); */
inline void preMultTranslate( const Vec3d& v );
inline void preMultTranslate( const Vec3f& v );
/** Optimized version of postMult(translate(v)); */
inline void postMultTranslate( const Vec3d& v );
inline void postMultTranslate( const Vec3f& v );
/** Optimized version of preMult(scale(v)); */
inline void preMultScale( const Vec3d& v );
inline void preMultScale( const Vec3f& v );
/** Optimized version of postMult(scale(v)); */
inline void postMultScale( const Vec3d& v );
inline void postMultScale( const Vec3f& v );
/** Optimized version of preMult(rotate(q)); */
inline void preMultRotate( const Quat& q );
/** Optimized version of postMult(rotate(q)); */
inline void postMultRotate( const Quat& q );
inline void operator *= ( const Matrixf& other )
{ if( this == &other ) {
Matrixf temp(other);
@ -641,6 +660,108 @@ inline Vec3d Matrixf::transform3x3(const Matrixf& m,const Vec3d& v)
(m._mat[2][0]*v.x() + m._mat[2][1]*v.y() + m._mat[2][2]*v.z()) ) ;
}
inline void Matrixf::preMultTranslate( const Vec3d& v )
{
for (unsigned i = 0; i < 3; ++i)
{
double tmp = v[i];
if (tmp == 0)
continue;
_mat[3][0] += tmp*_mat[i][0];
_mat[3][1] += tmp*_mat[i][1];
_mat[3][2] += tmp*_mat[i][2];
_mat[3][3] += tmp*_mat[i][3];
}
}
inline void Matrixf::preMultTranslate( const Vec3f& v )
{
for (unsigned i = 0; i < 3; ++i)
{
float tmp = v[i];
if (tmp == 0)
continue;
_mat[3][0] += tmp*_mat[i][0];
_mat[3][1] += tmp*_mat[i][1];
_mat[3][2] += tmp*_mat[i][2];
_mat[3][3] += tmp*_mat[i][3];
}
}
inline void Matrixf::postMultTranslate( const Vec3d& v )
{
for (unsigned i = 0; i < 3; ++i)
{
double tmp = v[i];
if (tmp == 0)
continue;
_mat[0][i] += tmp*_mat[0][3];
_mat[1][i] += tmp*_mat[1][3];
_mat[2][i] += tmp*_mat[2][3];
_mat[3][i] += tmp*_mat[3][3];
}
}
inline void Matrixf::postMultTranslate( const Vec3f& v )
{
for (unsigned i = 0; i < 3; ++i)
{
float tmp = v[i];
if (tmp == 0)
continue;
_mat[0][i] += tmp*_mat[0][3];
_mat[1][i] += tmp*_mat[1][3];
_mat[2][i] += tmp*_mat[2][3];
_mat[3][i] += tmp*_mat[3][3];
}
}
inline void Matrixf::preMultScale( const Vec3d& v )
{
_mat[0][0] *= v[0]; _mat[0][1] *= v[0]; _mat[0][2] *= v[0]; _mat[0][3] *= v[0];
_mat[1][0] *= v[1]; _mat[1][1] *= v[1]; _mat[1][2] *= v[1]; _mat[1][3] *= v[1];
_mat[2][0] *= v[2]; _mat[2][1] *= v[2]; _mat[2][2] *= v[2]; _mat[2][3] *= v[2];
}
inline void Matrixf::preMultScale( const Vec3f& v )
{
_mat[0][0] *= v[0]; _mat[0][1] *= v[0]; _mat[0][2] *= v[0]; _mat[0][3] *= v[0];
_mat[1][0] *= v[1]; _mat[1][1] *= v[1]; _mat[1][2] *= v[1]; _mat[1][3] *= v[1];
_mat[2][0] *= v[2]; _mat[2][1] *= v[2]; _mat[2][2] *= v[2]; _mat[2][3] *= v[2];
}
inline void Matrixf::postMultScale( const Vec3d& v )
{
_mat[0][0] *= v[0]; _mat[1][0] *= v[0]; _mat[2][0] *= v[0]; _mat[3][0] *= v[0];
_mat[0][1] *= v[1]; _mat[1][1] *= v[1]; _mat[2][1] *= v[1]; _mat[3][1] *= v[1];
_mat[0][2] *= v[2]; _mat[1][2] *= v[2]; _mat[2][2] *= v[2]; _mat[3][2] *= v[2];
}
inline void Matrixf::postMultScale( const Vec3f& v )
{
_mat[0][0] *= v[0]; _mat[1][0] *= v[0]; _mat[2][0] *= v[0]; _mat[3][0] *= v[0];
_mat[0][1] *= v[1]; _mat[1][1] *= v[1]; _mat[2][1] *= v[1]; _mat[3][1] *= v[1];
_mat[0][2] *= v[2]; _mat[1][2] *= v[2]; _mat[2][2] *= v[2]; _mat[3][2] *= v[2];
}
inline void Matrixf::preMultRotate( const Quat& q )
{
if (q.zeroRotation())
return;
Matrixf r;
r.setRotate(q);
preMult(r);
}
inline void Matrixf::postMultRotate( const Quat& q )
{
if (q.zeroRotation())
return;
Matrixf r;
r.setRotate(q);
postMult(r);
}
inline Vec3f operator* (const Vec3f& v, const Matrixf& m )
{

27
src/osg/AutoTransform.cpp
View File

@ -83,19 +83,22 @@ bool AutoTransform::computeLocalToWorldMatrix(Matrix& matrix,NodeVisitor*) const
bool AutoTransform::computeWorldToLocalMatrix(Matrix& matrix,NodeVisitor*) const
{
if (_scale.x() == 0.0 || _scale.y() == 0.0 || _scale.z() == 0.0)
return false;
if (_referenceFrame==RELATIVE_RF)
{
matrix.postMult(osg::Matrix::translate(-_position)*
osg::Matrix::rotate(_rotation.inverse())*
osg::Matrix::scale(1.0/_scale.x(),1.0/_scale.y(),1.0/_scale.z())*
osg::Matrix::translate(_pivotPoint));
matrix.postMultTranslate(-_position);
matrix.postMultRotate(_rotation.inverse());
matrix.postMultScale(Vec3d(1.0/_scale.x(), 1.0/_scale.y(), 1.0/_scale.z()));
matrix.postMultTranslate(_pivotPoint);
}
else // absolute
{
matrix = osg::Matrix::translate(-_position)*
osg::Matrix::rotate(_rotation.inverse())*
osg::Matrix::scale(1.0/_scale.x(),1.0/_scale.y(),1.0/_scale.z())*
osg::Matrix::translate(_pivotPoint);
matrix.makeRotate(_rotation.inverse());
matrix.preMultTranslate(-_position);
matrix.postMultScale(Vec3d(1.0/_scale.x(), 1.0/_scale.y(), 1.0/_scale.z()));
matrix.postMultTranslate(_pivotPoint);
}
return true;
}
@ -104,10 +107,10 @@ void AutoTransform::computeMatrix() const
{
if (!_matrixDirty) return;
_cachedMatrix.set(osg::Matrix::translate(-_pivotPoint)*
osg::Matrix::scale(_scale)*
osg::Matrix::rotate(_rotation)*
osg::Matrix::translate(_position));
_cachedMatrix.makeRotate(_rotation);
_cachedMatrix.postMultTranslate(_position);
_cachedMatrix.preMultScale(_scale);
_cachedMatrix.preMultTranslate(-_pivotPoint);
_matrixDirty = false;
}

16
src/osg/CameraView.cpp
View File

@ -25,13 +25,13 @@ bool CameraView::computeLocalToWorldMatrix(Matrix& matrix,NodeVisitor*) const
{
if (_referenceFrame==RELATIVE_RF)
{
matrix.preMult(osg::Matrix::rotate(_attitude)*
osg::Matrix::translate(_position));
matrix.preMultTranslate(_position);
matrix.preMultRotate(_attitude);
}
else // absolute
{
matrix = osg::Matrix::rotate(_attitude)*
osg::Matrix::translate(_position);
matrix.makeRotate(_attitude);
matrix.postMultTranslate(_position);
}
return true;
}
@ -41,13 +41,13 @@ bool CameraView::computeWorldToLocalMatrix(Matrix& matrix,NodeVisitor*) const
{
if (_referenceFrame==RELATIVE_RF)
{
matrix.postMult(osg::Matrix::translate(-_position)*
osg::Matrix::rotate(_attitude.inverse()));
matrix.postMultTranslate(-_position);
matrix.postMultRotate(_attitude.inverse());
}
else // absolute
{
matrix = osg::Matrix::translate(-_position)*
osg::Matrix::rotate(_attitude.inverse());
matrix.makeRotate(_attitude.inverse());
matrix.preMultTranslate(-_position);
}
return true;
}

110
src/osg/Matrix_implementation.cpp
View File

@ -18,6 +18,7 @@
#include <osg/GL>
#include <limits>
#include <stdlib.h>
using namespace osg;
@ -62,56 +63,71 @@ void Matrix_implementation::set( value_type a00, value_type a01, value_type a02,
#define QZ q._v[2]
#define QW q._v[3]
void Matrix_implementation::setRotate(const Quat& q_in)
void Matrix_implementation::setRotate(const Quat& q)
{
Quat q(q_in);
double length2 = q.length2();
if (length2!=1.0 && length2!=0)
if (fabs(length2) <= std::numeric_limits<double>::min())
{
// normalize quat if required.
q /= sqrt(length2);
_mat[0][0] = 0.0; _mat[1][0] = 0.0; _mat[2][0] = 0.0;
_mat[0][1] = 0.0; _mat[1][1] = 0.0; _mat[2][1] = 0.0;
_mat[0][2] = 0.0; _mat[1][2] = 0.0; _mat[2][2] = 0.0;
}
else
{
double rlength2;
// normalize quat if required.
// We can avoid the expensive sqrt in this case since all 'coefficients' below are products of two q components.
// That is a square of a square root, so it is possible to avoid that
if (length2 != 1.0)
{
rlength2 = 2.0/length2;
}
else
{
rlength2 = 2.0;
}
// Source: Gamasutra, Rotating Objects Using Quaternions
//
//http://www.gamasutra.com/features/19980703/quaternions_01.htm
double wx, wy, wz, xx, yy, yz, xy, xz, zz, x2, y2, z2;
// calculate coefficients
x2 = rlength2*QX;
y2 = rlength2*QY;
z2 = rlength2*QZ;
xx = QX * x2;
xy = QX * y2;
xz = QX * z2;
yy = QY * y2;
yz = QY * z2;
zz = QZ * z2;
wx = QW * x2;
wy = QW * y2;
wz = QW * z2;
// Note. Gamasutra gets the matrix assignments inverted, resulting
// in left-handed rotations, which is contrary to OpenGL and OSG's
// methodology. The matrix assignment has been altered in the next
// few lines of code to do the right thing.
// Don Burns - Oct 13, 2001
_mat[0][0] = 1.0 - (yy + zz);
_mat[1][0] = xy - wz;
_mat[2][0] = xz + wy;
_mat[0][1] = xy + wz;
_mat[1][1] = 1.0 - (xx + zz);
_mat[2][1] = yz - wx;
_mat[0][2] = xz - wy;
_mat[1][2] = yz + wx;
_mat[2][2] = 1.0 - (xx + yy);
}
// Source: Gamasutra, Rotating Objects Using Quaternions
//
//http://www.gamasutra.com/features/19980703/quaternions_01.htm
double wx, wy, wz, xx, yy, yz, xy, xz, zz, x2, y2, z2;
// calculate coefficients
x2 = QX + QX;
y2 = QY + QY;
z2 = QZ + QZ;
xx = QX * x2;
xy = QX * y2;
xz = QX * z2;
yy = QY * y2;
yz = QY * z2;
zz = QZ * z2;
wx = QW * x2;
wy = QW * y2;
wz = QW * z2;
// Note. Gamasutra gets the matrix assignments inverted, resulting
// in left-handed rotations, which is contrary to OpenGL and OSG's
// methodology. The matrix assignment has been altered in the next
// few lines of code to do the right thing.
// Don Burns - Oct 13, 2001
_mat[0][0] = 1.0 - (yy + zz);
_mat[1][0] = xy - wz;
_mat[2][0] = xz + wy;
_mat[0][1] = xy + wz;
_mat[1][1] = 1.0 - (xx + zz);
_mat[2][1] = yz - wx;
_mat[0][2] = xz - wy;
_mat[1][2] = yz + wx;
_mat[2][2] = 1.0 - (xx + yy);
#if 0
_mat[0][3] = 0.0;
@ -903,7 +919,7 @@ void Matrix_implementation::makeLookAt(const Vec3d& eye,const Vec3d& center,cons
s[2], u[2], -f[2], 0.0,
0.0, 0.0, 0.0, 1.0);
preMult(Matrix_implementation::translate(-eye));
preMultTranslate(-eye);
}

37
src/osg/PositionAttitudeTransform.cpp
View File

@ -15,7 +15,7 @@
using namespace osg;
PositionAttitudeTransform::PositionAttitudeTransform():
_scale(1.0f,1.0f,1.0f)
_scale(1.0,1.0,1.0)
{
}
@ -23,17 +23,17 @@ bool PositionAttitudeTransform::computeLocalToWorldMatrix(Matrix& matrix,NodeVis
{
if (_referenceFrame==RELATIVE_RF)
{
matrix.preMult(osg::Matrix::translate(-_pivotPoint)*
osg::Matrix::scale(_scale)*
osg::Matrix::rotate(_attitude)*
osg::Matrix::translate(_position));
matrix.preMultTranslate(_position);
matrix.preMultRotate(_attitude);
matrix.preMultScale(_scale);
matrix.preMultTranslate(-_pivotPoint);
}
else // absolute
{
matrix = osg::Matrix::translate(-_pivotPoint)*
osg::Matrix::scale(_scale)*
osg::Matrix::rotate(_attitude)*
osg::Matrix::translate(_position);
matrix.makeRotate(_attitude);
matrix.postMultTranslate(_position);
matrix.preMultScale(_scale);
matrix.preMultTranslate(-_pivotPoint);
}
return true;
}
@ -41,19 +41,22 @@ bool PositionAttitudeTransform::computeLocalToWorldMatrix(Matrix& matrix,NodeVis
bool PositionAttitudeTransform::computeWorldToLocalMatrix(Matrix& matrix,NodeVisitor*) const
{
if (_scale.x() == 0.0 || _scale.y() == 0.0 || _scale.z() == 0.0)
return false;
if (_referenceFrame==RELATIVE_RF)
{
matrix.postMult(osg::Matrix::translate(-_position)*
osg::Matrix::rotate(_attitude.inverse())*
osg::Matrix::scale(1.0f/_scale.x(),1.0f/_scale.y(),1.0f/_scale.z())*
osg::Matrix::translate(_pivotPoint));
matrix.postMultTranslate(-_position);
matrix.postMultRotate(_attitude.inverse());
matrix.postMultScale(Vec3d(1.0/_scale.x(), 1.0/_scale.y(), 1.0/_scale.z()));
matrix.postMultTranslate(_pivotPoint);
}
else // absolute
{
matrix = osg::Matrix::translate(-_position)*
osg::Matrix::rotate(_attitude.inverse())*
osg::Matrix::scale(1.0f/_scale.x(),1.0f/_scale.y(),1.0f/_scale.z())*
osg::Matrix::translate(_pivotPoint);
matrix.makeRotate(_attitude.inverse());
matrix.preMultTranslate(-_position);
matrix.postMultScale(Vec3d(1.0/_scale.x(), 1.0/_scale.y(), 1.0/_scale.z()));
matrix.postMultTranslate(_pivotPoint);
}
return true;
}

54
src/osgManipulator/AntiSquish.cpp
View File

@ -116,15 +116,12 @@ osg::Matrix AntiSquish::computeUnSquishedMatrix(const osg::Matrix& LTW, bool& fl
//
if (_usePivot)
{
osg::Matrix tmpPivot;
tmpPivot.setTrans(-_pivot);
unsquished.postMult(tmpPivot);
unsquished.postMultTranslate(-_pivot);
osg::Matrix tmps, invtmps;
so.get(tmps);
invtmps = osg::Matrix::inverse(tmps);
if (invtmps.isNaN())
{
if (!invtmps.invert(tmps))
{
flag = false;
return osg::Matrix::identity();
}
@ -132,49 +129,50 @@ osg::Matrix AntiSquish::computeUnSquishedMatrix(const osg::Matrix& LTW, bool& fl
//SO^
unsquished.postMult(invtmps);
//S
unsquished.postMult(osg::Matrix::scale(s[0], s[1], s[2]));
unsquished.postMultScale(s);
//SO
unsquished.postMult(tmps);
tmpPivot.makeIdentity();
osg::Matrix tmpr;
r.get(tmpr);
//R
unsquished.postMult(tmpr);
unsquished.postMultRotate(r);
//T
unsquished.postMult(osg::Matrix::translate(t[0],t[1],t[2]));
unsquished.postMultTranslate(t);
osg::Matrix invltw;
invltw = osg::Matrix::inverse(LTW);
if (invltw.isNaN())
{
flag =false;
if (!invltw.invert(LTW))
{
flag = false;
return osg::Matrix::identity();
}
// LTW^
unsquished.postMult( invltw );
// Position
tmpPivot.makeIdentity();
if (_usePosition)
tmpPivot.setTrans(_position);
unsquished.postMult(_position);
else
tmpPivot.setTrans(_pivot);
unsquished.postMult(tmpPivot);
unsquished.postMult(_pivot);
}
else
{
osg::Matrix tmps, invtmps;
so.get(tmps);
invtmps = osg::Matrix::inverse(tmps);
if (!invtmps.invert(tmps))
{
flag = false;
return osg::Matrix::identity();
}
unsquished.postMult(invtmps);
unsquished.postMult(osg::Matrix::scale(s[0], s[1], s[2]));
unsquished.postMultScale(s);
unsquished.postMult(tmps);
osg::Matrix tmpr;
r.get(tmpr);
unsquished.postMult(tmpr);
unsquished.postMult(osg::Matrix::translate(t[0],t[1],t[2]));
unsquished.postMult( osg::Matrix::inverse(LTW) );
unsquished.postMultRotate(r);
unsquished.postMultTranslate(t);
osg::Matrix invltw;
if (!invltw.invert(LTW))
{
flag = false;
return osg::Matrix::identity();
}
unsquished.postMult( invltw );
}
if (unsquished.isNaN())

4
src/osgParticle/PrecipitationEffect.cpp
View File

@ -837,8 +837,8 @@ bool PrecipitationEffect::build(const osg::Vec3 eyeLocal, int i, int j, int k, f
}
*mymodelview = *(cv->getModelViewMatrix());
mymodelview->preMult(osg::Matrix::translate(position));
mymodelview->preMult(osg::Matrix::scale(scale));
mymodelview->preMultTranslate(position);
mymodelview->preMultScale(scale);
cv->updateCalculatedNearFar(*(cv->getModelViewMatrix()),bb);

4
src/osgSim/DOFTransform.cpp
View File

@ -132,7 +132,7 @@ bool DOFTransform::computeLocalToWorldMatrix(osg::Matrix& matrix,osg::NodeVisito
//and scale:
current.preMult(osg::Matrix::scale(getCurrentScale()));
current.preMultScale(getCurrentScale());
l2w.postMult(current);
@ -201,7 +201,7 @@ bool DOFTransform::computeWorldToLocalMatrix(osg::Matrix& matrix,osg::NodeVisito
}
//and scale:
current.postMult(osg::Matrix::scale(1./getCurrentScale()[0], 1./getCurrentScale()[1], 1./getCurrentScale()[2]));
current.postMultScale(osg::Vec3d(1./getCurrentScale()[0], 1./getCurrentScale()[1], 1./getCurrentScale()[2]));
w2l.postMult(current);

7
src/osgSim/Sector.cpp
View File

@ -234,10 +234,9 @@ void DirectionalSector::computeMatrix()
double pitch = atan2(_direction[2], sqrt(_direction[0]*_direction[0] + _direction[1]*_direction[1]));
double roll = _rollAngle;
_local_to_LP = osg::Matrixd::identity();
_local_to_LP.preMult(osg::Matrix::rotate(heading, 0.0, 0.0, -1.0));
_local_to_LP.preMult(osg::Matrix::rotate(pitch, 1.0, 0.0, 0.0));
_local_to_LP.preMult(osg::Matrix::rotate(roll, 0.0, 1.0, 0.0));
_local_to_LP.setRotate(osg::Quat(heading, 0.0, 0.0, -1.0));
_local_to_LP.preMultRotate(osg::Quat(pitch, 1.0, 0.0, 0.0));
_local_to_LP.preMultRotate(osg::Quat(roll, 0.0, 1.0, 0.0));
}
void DirectionalSector::setDirection(const osg::Vec3& direction)

21
src/osgText/Text.cpp
View File

@ -640,15 +640,14 @@ void Text::computePositions(unsigned int contextID) const
atc._modelview.setTrans(trans);
}
if (!_rotation.zeroRotation() )
{
matrix.postMult(osg::Matrix::rotate(_rotation));
}
matrix.postMultRotate(_rotation);
if (_characterSizeMode!=OBJECT_COORDS)
{
osg::Matrix M(rotate_matrix*osg::Matrix::translate(_position)*atc._modelview);
osg::Matrix M(rotate_matrix);
M.postMultTranslate(_position);
M.postMult(atc._modelview);
osg::Matrix& P = atc._projection;
// compute the pixel size vector.
@ -693,12 +692,12 @@ void Text::computePositions(unsigned int contextID) const
if (P10<0)
scale_font_vert=-scale_font_vert;
matrix.postMult(osg::Matrix::scale(scale_font_hori, scale_font_vert,1.0f));
matrix.postMultScale(osg::Vec3f(scale_font_hori, scale_font_vert,1.0f));
}
else if (pixelSizeVert>getFontHeight())
{
float scale_font = getFontHeight()/pixelSizeVert;
matrix.postMult(osg::Matrix::scale(scale_font, scale_font,1.0f));
matrix.postMultScale(osg::Vec3f(scale_font, scale_font,1.0f));
}
}
@ -708,13 +707,13 @@ void Text::computePositions(unsigned int contextID) const
matrix.postMult(rotate_matrix);
}
matrix.postMult(osg::Matrix::translate(_position));
matrix.postMultTranslate(_position);
}
else if (!_rotation.zeroRotation())
{
matrix.makeTranslate(-_offset);
matrix.postMult(osg::Matrix::rotate(_rotation));
matrix.postMult(osg::Matrix::translate(_position));
matrix.makeRotate(_rotation);
matrix.preMultTranslate(-_offset);
matrix.postMultTranslate(_position);
}
else
{

21
src/osgText/Text3D.cpp
View File

@ -457,22 +457,11 @@ void Text3D::computePositions(unsigned int contextID) const
float scale = _font->getScale();
osg::Matrix scaleMatrix = osg::Matrix::scale(scale * _characterHeight,
scale * _characterHeight / _characterAspectRatio,
_characterDepth);
if (!_rotation.zeroRotation())
{
matrix.makeTranslate(-_offset);
matrix.postMult(scaleMatrix);
matrix.postMult(osg::Matrix::rotate(_rotation));
matrix.postMult(osg::Matrix::translate(_position));
}
else
{
matrix.makeTranslate(-_offset);
matrix.postMult(scaleMatrix);
matrix.postMult(osg::Matrix::translate(_position));
}
osg::Vec3 scaleVec(scale * _characterHeight, scale * _characterHeight / _characterAspectRatio, _characterDepth);
matrix.makeTranslate(-_offset);
matrix.postMultScale(scaleVec);
matrix.postMultRotate(_rotation);
matrix.postMultTranslate(_position);
_normal = osg::Matrix::transform3x3(osg::Vec3(0.0f,0.0f,1.0f),matrix);

6
src/osgUtil/SceneGraphBuilder.cpp
View File

@ -86,7 +86,7 @@ void SceneGraphBuilder::MultMatrixd(const GLdouble* m)
void SceneGraphBuilder::Translated(GLdouble x, GLdouble y, GLdouble z)
{
if (_matrixStack.empty()) _matrixStack.push_back(osg::Matrixd());
_matrixStack.back().preMult(osg::Matrixd::translate(x,y,z));
_matrixStack.back().preMultTranslate(osg::Vec3d(x,y,z));
matrixChanged();
}
@ -94,7 +94,7 @@ void SceneGraphBuilder::Translated(GLdouble x, GLdouble y, GLdouble z)
void SceneGraphBuilder::Scaled(GLdouble x, GLdouble y, GLdouble z)
{
if (_matrixStack.empty()) _matrixStack.push_back(osg::Matrixd());
_matrixStack.back().preMult(osg::Matrixd::scale(x,y,z));
_matrixStack.back().preMultScale(osg::Vec3d(x,y,z));
matrixChanged();
}
@ -102,7 +102,7 @@ void SceneGraphBuilder::Scaled(GLdouble x, GLdouble y, GLdouble z)
void SceneGraphBuilder::Rotated(GLdouble angle, GLdouble x, GLdouble y, GLdouble z)
{
if (_matrixStack.empty()) _matrixStack.push_back(osg::Matrixd());
_matrixStack.back().preMult(osg::Matrixd::rotate(osg::inDegrees(angle),x,y,z));
_matrixStack.back().preMultRotate(osg::Quat(osg::inDegrees(angle),osg::Vec3d(x,y,z)));
matrixChanged();
}

2
src/osgViewer/View.cpp
View File

@ -96,7 +96,7 @@ public:
x = osg::Matrixd::transform3x3(x,coordinateFrame);
y = osg::Matrixd::transform3x3(y,coordinateFrame);
z = osg::Matrixd::transform3x3(z,coordinateFrame);
coordinateFrame.preMult(osg::Matrixd::scale(1.0/x.length(),1.0/y.length(),1.0/z.length()));
coordinateFrame.preMultScale(osg::Vec3d(1.0/x.length(),1.0/y.length(),1.0/z.length()));
// reapply the position.
coordinateFrame.setTrans(pos);