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Have removed the old lazy initialization of Matrix since it was causing bugs

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and adding checks to many mothods which in the end slow it down more than
not intilizing the code!  The code is now simpler, more robust and faster:-)
This commit is contained in:
Robert Osfield 2002-02-05 21:51:06 +00:00
parent 92f68e2669
commit 7293af59ed
2 changed files with 73 additions and 80 deletions
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33
include/osg/Matrix
View File

@ -15,6 +15,16 @@ namespace osg {
class Quat; class Quat;
/** The range of matrix modes that the scene graph might utilize.
* Similar in concept to different modes in OpenGL glMatrixMode().*/
enum MatrixMode
{
PROJECTION,
VIEW,
MODEL,
MODELVIEW
};
class SG_EXPORT Matrix : public Object class SG_EXPORT Matrix : public Object
{ {
@ -37,14 +47,22 @@ class SG_EXPORT Matrix : public Object
Matrix& operator = (const Matrix& ); Matrix& operator = (const Matrix& );
int compare(const Matrix& m) const { ensureRealized(); m.ensureRealized(); return memcmp(_mat,m._mat,sizeof(_mat)); } int compare(const Matrix& m) const { return memcmp(_mat,m._mat,sizeof(_mat)); }
bool operator < (const Matrix& m) const { return compare(m)<0; } bool operator < (const Matrix& m) const { return compare(m)<0; }
bool operator == (const Matrix& m) const { return compare(m)==0; } bool operator == (const Matrix& m) const { return compare(m)==0; }
bool operator != (const Matrix& m) const { return compare(m)!=0; } bool operator != (const Matrix& m) const { return compare(m)!=0; }
inline float& operator()(int row, int col) { ensureRealized(); return _mat[row][col]; } inline float& operator()(int row, int col) { return _mat[row][col]; }
inline float operator()(int row, int col) const { ensureRealized(); return _mat[row][col]; } inline float operator()(int row, int col) const { return _mat[row][col]; }
inline const bool valid() const { return !isNaN(); }
inline const bool isNaN() const { return osg::isNaN(_mat[0][0]) || osg::isNaN(_mat[0][1]) || osg::isNaN(_mat[0][2]) || osg::isNaN(_mat[0][3]) ||
osg::isNaN(_mat[1][0]) || osg::isNaN(_mat[1][1]) || osg::isNaN(_mat[1][2]) || osg::isNaN(_mat[1][3]) ||
osg::isNaN(_mat[2][0]) || osg::isNaN(_mat[2][1]) || osg::isNaN(_mat[2][2]) || osg::isNaN(_mat[2][3]) ||
osg::isNaN(_mat[3][0]) || osg::isNaN(_mat[3][1]) || osg::isNaN(_mat[3][2]) || osg::isNaN(_mat[3][3]); }
void set( float const * const ); void set( float const * const );
void set( float a00, float a01, float a02, float a03, void set( float a00, float a01, float a02, float a03,
@ -52,10 +70,8 @@ class SG_EXPORT Matrix : public Object
float a20, float a21, float a22, float a23, float a20, float a21, float a22, float a23,
float a30, float a31, float a32, float a33); float a30, float a31, float a32, float a33);
float * ptr() { ensureRealized(); return (float *)_mat; } float * ptr() { return (float *)_mat; }
const float * ptr() const { ensureRealized(); return (const float *)_mat; } const float * ptr() const { return (const float *)_mat; }
inline void ensureRealized() const { if (!fully_realized) const_cast<Matrix*>(this)->makeIdentity();}
void makeIdentity(); void makeIdentity();
@ -94,7 +110,7 @@ class SG_EXPORT Matrix : public Object
void setTrans( float tx, float ty, float tz ); void setTrans( float tx, float ty, float tz );
void setTrans( const Vec3& v ); void setTrans( const Vec3& v );
Vec3 getTrans() const { ensureRealized(); return Vec3(_mat[3][0],_mat[3][1],_mat[3][2]); } Vec3 getTrans() const { return Vec3(_mat[3][0],_mat[3][1],_mat[3][2]); }
/** apply apply an 3x3 transform of v*M[0..2,0..2] */ /** apply apply an 3x3 transform of v*M[0..2,0..2] */
inline static Vec3 transform3x3(const Vec3& v,const Matrix& m); inline static Vec3 transform3x3(const Vec3& v,const Matrix& m);
@ -149,7 +165,6 @@ class SG_EXPORT Matrix : public Object
private: private:
float _mat[4][4]; float _mat[4][4];
bool fully_realized;
}; };

118
src/osg/Matrix.cpp
View File

@ -21,7 +21,10 @@ using namespace osg;
+((a)._mat[r][3] * (b)._mat[3][c]) +((a)._mat[r][3] * (b)._mat[3][c])
Matrix::Matrix() : Object(), fully_realized(false) {} Matrix::Matrix() : Object()
{
makeIdentity();
}
Matrix::Matrix( const Matrix& other) : Object() Matrix::Matrix( const Matrix& other) : Object()
{ {
@ -42,20 +45,19 @@ Matrix::Matrix( float a00, float a01, float a02, float a03,
SET_ROW(1, a10, a11, a12, a13 ) SET_ROW(1, a10, a11, a12, a13 )
SET_ROW(2, a20, a21, a22, a23 ) SET_ROW(2, a20, a21, a22, a23 )
SET_ROW(3, a30, a31, a32, a33 ) SET_ROW(3, a30, a31, a32, a33 )
fully_realized = true;
} }
Matrix& Matrix::operator = (const Matrix& other ) { Matrix& Matrix::operator = (const Matrix& other )
{
if( &other == this ) return *this; if( &other == this ) return *this;
set((const float*)other._mat); set((const float*)other._mat);
return *this; return *this;
} }
void Matrix::set( float const * const def ) { void Matrix::set( float const * const def )
{
memcpy( _mat, def, sizeof(_mat) ); memcpy( _mat, def, sizeof(_mat) );
fully_realized = true;
} }
@ -68,14 +70,10 @@ void Matrix::set( float a00, float a01, float a02, float a03,
SET_ROW(1, a10, a11, a12, a13 ) SET_ROW(1, a10, a11, a12, a13 )
SET_ROW(2, a20, a21, a22, a23 ) SET_ROW(2, a20, a21, a22, a23 )
SET_ROW(3, a30, a31, a32, a33 ) SET_ROW(3, a30, a31, a32, a33 )
fully_realized = true;
} }
void Matrix::setTrans( float tx, float ty, float tz ) void Matrix::setTrans( float tx, float ty, float tz )
{ {
ensureRealized();
_mat[3][0] = tx; _mat[3][0] = tx;
_mat[3][1] = ty; _mat[3][1] = ty;
_mat[3][2] = tz; _mat[3][2] = tz;
@ -95,8 +93,6 @@ void Matrix::makeIdentity()
SET_ROW(1, 0, 1, 0, 0 ) SET_ROW(1, 0, 1, 0, 0 )
SET_ROW(2, 0, 0, 1, 0 ) SET_ROW(2, 0, 0, 1, 0 )
SET_ROW(3, 0, 0, 0, 1 ) SET_ROW(3, 0, 0, 0, 1 )
fully_realized = true;
} }
void Matrix::makeScale( const Vec3& v ) void Matrix::makeScale( const Vec3& v )
@ -110,8 +106,6 @@ void Matrix::makeScale( float x, float y, float z )
SET_ROW(1, 0, y, 0, 0 ) SET_ROW(1, 0, y, 0, 0 )
SET_ROW(2, 0, 0, z, 0 ) SET_ROW(2, 0, 0, z, 0 )
SET_ROW(3, 0, 0, 0, 1 ) SET_ROW(3, 0, 0, 0, 1 )
fully_realized = true;
} }
void Matrix::makeTranslate( const Vec3& v ) void Matrix::makeTranslate( const Vec3& v )
@ -125,8 +119,6 @@ void Matrix::makeTranslate( float x, float y, float z )
SET_ROW(1, 0, 1, 0, 0 ) SET_ROW(1, 0, 1, 0, 0 )
SET_ROW(2, 0, 0, 1, 0 ) SET_ROW(2, 0, 0, 1, 0 )
SET_ROW(3, x, y, z, 1 ) SET_ROW(3, x, y, z, 1 )
fully_realized = true;
} }
void Matrix::makeRotate( const Vec3& from, const Vec3& to ) void Matrix::makeRotate( const Vec3& from, const Vec3& to )
@ -153,7 +145,6 @@ void Matrix::makeRotate( float angle, float x, float y, float z )
void Matrix::makeRotate( const Quat& q ) void Matrix::makeRotate( const Quat& q )
{ {
q.get(*this); q.get(*this);
fully_realized = true;
} }
void Matrix::makeRotate( float yaw, float pitch, float roll) void Matrix::makeRotate( float yaw, float pitch, float roll)
@ -178,6 +169,7 @@ void Matrix::makeRotate( float yaw, float pitch, float roll)
void Matrix::mult( const Matrix& lhs, const Matrix& rhs ) void Matrix::mult( const Matrix& lhs, const Matrix& rhs )
{ {
// PRECONDITION: We assume neither &lhs nor &rhs == this // PRECONDITION: We assume neither &lhs nor &rhs == this
// if it did, use preMult or postMult instead // if it did, use preMult or postMult instead
_mat[0][0] = INNER_PRODUCT(lhs, rhs, 0, 0); _mat[0][0] = INNER_PRODUCT(lhs, rhs, 0, 0);
@ -196,17 +188,10 @@ void Matrix::mult( const Matrix& lhs, const Matrix& rhs )
_mat[3][1] = INNER_PRODUCT(lhs, rhs, 3, 1); _mat[3][1] = INNER_PRODUCT(lhs, rhs, 3, 1);
_mat[3][2] = INNER_PRODUCT(lhs, rhs, 3, 2); _mat[3][2] = INNER_PRODUCT(lhs, rhs, 3, 2);
_mat[3][3] = INNER_PRODUCT(lhs, rhs, 3, 3); _mat[3][3] = INNER_PRODUCT(lhs, rhs, 3, 3);
fully_realized = true;
} }
void Matrix::preMult( const Matrix& other ) void Matrix::preMult( const Matrix& other )
{ {
if( !fully_realized ) {
//act as if this were an identity Matrix
set((const float*)other._mat);
return;
}
// brute force method requiring a copy // brute force method requiring a copy
//Matrix tmp(other* *this); //Matrix tmp(other* *this);
// *this = tmp; // *this = tmp;
@ -228,11 +213,6 @@ void Matrix::preMult( const Matrix& other )
void Matrix::postMult( const Matrix& other ) void Matrix::postMult( const Matrix& other )
{ {
if( !fully_realized ) {
//act as if this were an identity Matrix
set((const float*)other._mat);
return;
}
// brute force method requiring a copy // brute force method requiring a copy
//Matrix tmp(*this * other); //Matrix tmp(*this * other);
// *this = tmp; // *this = tmp;
@ -252,31 +232,31 @@ void Matrix::postMult( const Matrix& other )
#undef SET_ROW #undef SET_ROW
#undef INNER_PRODUCT #undef INNER_PRODUCT
bool Matrix::invert( const Matrix& _m ) bool Matrix::invert( const Matrix& other )
{ {
if (&other==this)
if (&_m==this)
{ {
Matrix tm(_m); Matrix tm(other);
return invert(tm); return invert(tm);
} }
/*if ( _m._mat[0][3] == 0.0
&& _m._mat[1][3] == 0.0 // if ( other._mat[0][3] == 0.0
&& _m._mat[2][3] == 0.0 // && other._mat[1][3] == 0.0
&& _m._mat[3][3] == 1.0 ) // && other._mat[2][3] == 0.0
{ // && other._mat[3][3] == 1.0 )
return invertAffine( _m ); // {
}*/ // return invertAffine( other );
// }
// code lifted from VR Juggler. // code lifted from VR Juggler.
// not cleanly added, but seems to work. RO. // not cleanly added, but seems to work. RO.
const float* a = reinterpret_cast<const float*>(_m._mat); const float* a = reinterpret_cast<const float*>(other._mat);
float* b = reinterpret_cast<float*>(_mat); float* b = reinterpret_cast<float*>(_mat);
int n = 4; int n = 4;
int i, j, k; int i, j, k;
int r[ 4], c[ 4], row[ 4], col[ 4]; int r[ 4], c[ 4], row[ 4], col[ 4];
float m[ 4][ 4*2], pivot, max_m, tmp_m, fac; float m[ 4][ 4*2], pivot, maxother, tmpother, fac;
/* Initialization */ /* Initialization */
for ( i = 0; i < n; i ++ ) for ( i = 0; i < n; i ++ )
@ -299,16 +279,16 @@ bool Matrix::invert( const Matrix& _m )
for ( k = 0; k < n; k++ ) for ( k = 0; k < n; k++ )
{ {
/* Choosing the pivot */ /* Choosing the pivot */
for ( i = 0, max_m = 0; i < n; i++ ) for ( i = 0, maxother = 0; i < n; i++ )
{ {
if ( row[ i] ) continue; if ( row[ i] ) continue;
for ( j = 0; j < n; j++ ) for ( j = 0; j < n; j++ )
{ {
if ( col[ j] ) continue; if ( col[ j] ) continue;
tmp_m = fabs( m[ i][j]); tmpother = fabs( m[ i][j]);
if ( tmp_m > max_m) if ( tmpother > maxother)
{ {
max_m = tmp_m; maxother = tmpother;
r[ k] = i; r[ k] = i;
c[ k] = j; c[ k] = j;
} }
@ -319,8 +299,9 @@ bool Matrix::invert( const Matrix& _m )
if ( fabs( pivot) <= 1e-20) if ( fabs( pivot) <= 1e-20)
{ {
notify(WARN) << "*** pivot = %f in mat_inv. ***"<<std::endl; notify(WARN) << "Warning: pivot = "<< pivot <<" in Matrix::invert(), cannot compute inverse."<<std::endl;
//abort( 0); notify(WARN) << "input matrix to Matrix::invert() was = "<< other <<std::endl;
makeIdentity();
return false; return false;
} }
@ -358,14 +339,12 @@ bool Matrix::invert( const Matrix& _m )
for ( j = 0; j < n; j++ ) for ( j = 0; j < n; j++ )
b[ i * n + j] = m[ row[ i]][j + n]; b[ i * n + j] = m[ row[ i]][j + n];
fully_realized = true;
return true; // It worked return true; // It worked
} }
const double PRECISION_LIMIT = 1.0e-15; const double PRECISION_LIMIT = 1.0e-15;
bool Matrix::invertAffine( const Matrix& _m ) bool Matrix::invertAffine( const Matrix& other )
{ {
// adapted from Graphics Gems II. // adapted from Graphics Gems II.
// //
@ -391,13 +370,13 @@ bool Matrix::invertAffine( const Matrix& _m )
else neg += temp; \ else neg += temp; \
} }
temp = _m._mat[0][0] * _m._mat[1][1] * _m._mat[2][2]; ACCUMULATE; temp = other._mat[0][0] * other._mat[1][1] * other._mat[2][2]; ACCUMULATE;
temp = _m._mat[0][1] * _m._mat[1][2] * _m._mat[2][0]; ACCUMULATE; temp = other._mat[0][1] * other._mat[1][2] * other._mat[2][0]; ACCUMULATE;
temp = _m._mat[0][2] * _m._mat[1][0] * _m._mat[2][1]; ACCUMULATE; temp = other._mat[0][2] * other._mat[1][0] * other._mat[2][1]; ACCUMULATE;
temp = - _m._mat[0][2] * _m._mat[1][1] * _m._mat[2][0]; ACCUMULATE; temp = - other._mat[0][2] * other._mat[1][1] * other._mat[2][0]; ACCUMULATE;
temp = - _m._mat[0][1] * _m._mat[1][0] * _m._mat[2][2]; ACCUMULATE; temp = - other._mat[0][1] * other._mat[1][0] * other._mat[2][2]; ACCUMULATE;
temp = - _m._mat[0][0] * _m._mat[1][2] * _m._mat[2][1]; ACCUMULATE; temp = - other._mat[0][0] * other._mat[1][2] * other._mat[2][1]; ACCUMULATE;
det_1 = pos + neg; det_1 = pos + neg;
@ -410,27 +389,26 @@ bool Matrix::invertAffine( const Matrix& _m )
// inverse is adj(A)/det(A) // inverse is adj(A)/det(A)
det_1 = 1.0 / det_1; det_1 = 1.0 / det_1;
_mat[0][0] = (_m._mat[1][1] * _m._mat[2][2] - _m._mat[1][2] * _m._mat[2][1]) * det_1; _mat[0][0] = (other._mat[1][1] * other._mat[2][2] - other._mat[1][2] * other._mat[2][1]) * det_1;
_mat[1][0] = (_m._mat[1][0] * _m._mat[2][2] - _m._mat[1][2] * _m._mat[2][0]) * det_1; _mat[1][0] = (other._mat[1][0] * other._mat[2][2] - other._mat[1][2] * other._mat[2][0]) * det_1;
_mat[2][0] = (_m._mat[1][0] * _m._mat[2][1] - _m._mat[1][1] * _m._mat[2][0]) * det_1; _mat[2][0] = (other._mat[1][0] * other._mat[2][1] - other._mat[1][1] * other._mat[2][0]) * det_1;
_mat[0][1] = (_m._mat[0][1] * _m._mat[2][2] - _m._mat[0][2] * _m._mat[2][1]) * det_1; _mat[0][1] = (other._mat[0][1] * other._mat[2][2] - other._mat[0][2] * other._mat[2][1]) * det_1;
_mat[1][1] = (_m._mat[0][0] * _m._mat[2][2] - _m._mat[0][2] * _m._mat[2][0]) * det_1; _mat[1][1] = (other._mat[0][0] * other._mat[2][2] - other._mat[0][2] * other._mat[2][0]) * det_1;
_mat[2][1] = (_m._mat[0][0] * _m._mat[2][1] - _m._mat[0][1] * _m._mat[2][0]) * det_1; _mat[2][1] = (other._mat[0][0] * other._mat[2][1] - other._mat[0][1] * other._mat[2][0]) * det_1;
_mat[0][2] = (_m._mat[0][1] * _m._mat[1][2] - _m._mat[0][2] * _m._mat[1][1]) * det_1; _mat[0][2] = (other._mat[0][1] * other._mat[1][2] - other._mat[0][2] * other._mat[1][1]) * det_1;
_mat[1][2] = (_m._mat[0][0] * _m._mat[1][2] - _m._mat[0][2] * _m._mat[1][0]) * det_1; _mat[1][2] = (other._mat[0][0] * other._mat[1][2] - other._mat[0][2] * other._mat[1][0]) * det_1;
_mat[2][2] = (_m._mat[0][0] * _m._mat[1][1] - _m._mat[0][1] * _m._mat[1][0]) * det_1; _mat[2][2] = (other._mat[0][0] * other._mat[1][1] - other._mat[0][1] * other._mat[1][0]) * det_1;
// calculate -C * inv(A) // calculate -C * inv(A)
_mat[3][0] = -(_m._mat[3][0] * _mat[0][0] + _m._mat[3][1] * _mat[1][0] + _m._mat[3][2] * _mat[2][0] ); _mat[3][0] = -(other._mat[3][0] * _mat[0][0] + other._mat[3][1] * _mat[1][0] + other._mat[3][2] * _mat[2][0] );
_mat[3][1] = -(_m._mat[3][0] * _mat[0][1] + _m._mat[3][1] * _mat[1][1] + _m._mat[3][2] * _mat[2][1] ); _mat[3][1] = -(other._mat[3][0] * _mat[0][1] + other._mat[3][1] * _mat[1][1] + other._mat[3][2] * _mat[2][1] );
_mat[3][2] = -(_m._mat[3][0] * _mat[0][2] + _m._mat[3][1] * _mat[1][2] + _m._mat[3][2] * _mat[2][2] ); _mat[3][2] = -(other._mat[3][0] * _mat[0][2] + other._mat[3][1] * _mat[1][2] + other._mat[3][2] * _mat[2][2] );
_mat[0][3] = 0.0; _mat[0][3] = 0.0;
_mat[1][3] = 0.0; _mat[1][3] = 0.0;
_mat[2][3] = 0.0; _mat[2][3] = 0.0;
_mat[3][3] = 1.0; _mat[3][3] = 1.0;
fully_realized = true;
return true; return true;
} }