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a/math: Make sure it's safe to pass in the result as either left or right

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This commit is contained in:
Jakob Bornecrantz 2021-11-11 23:57:57 +00:00
parent b180b244e3
commit 62ca16c70e
2 changed files with 34 additions and 20 deletions
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6
src/xrt/auxiliary/math/m_api.h
View file

@ -316,12 +316,12 @@ math_quat_slerp(const struct xrt_quat *left, const struct xrt_quat *right, float
void
math_matrix_2x2_multiply(const struct xrt_matrix_2x2 *left,
const struct xrt_matrix_2x2 *right,
struct xrt_matrix_2x2 *result);
struct xrt_matrix_2x2 *result_out);
void
math_matrix_3x3_transform_vec3(const struct xrt_matrix_3x3 *left,
const struct xrt_vec3 *right,
struct xrt_vec3 *result);
struct xrt_vec3 *result_out);
/*!
* Multiply Matrix3x3.
@ -332,7 +332,7 @@ math_matrix_3x3_transform_vec3(const struct xrt_matrix_3x3 *left,
void
math_matrix_3x3_multiply(const struct xrt_matrix_3x3 *left,
const struct xrt_matrix_3x3 *right,
struct xrt_matrix_3x3 *result);
struct xrt_matrix_3x3 *result_out);
/*!
* Invert Matrix3x3

48
src/xrt/auxiliary/math/m_base.cpp
View file

@ -349,41 +349,55 @@ math_quat_slerp(const struct xrt_quat *left, const struct xrt_quat *right, float
void
math_matrix_2x2_multiply(const struct xrt_matrix_2x2 *left,
const struct xrt_matrix_2x2 *right,
struct xrt_matrix_2x2 *result)
struct xrt_matrix_2x2 *result_out)
{
result->v[0] = left->v[0] * right->v[0] + left->v[1] * right->v[2];
result->v[1] = left->v[0] * right->v[1] + left->v[1] * right->v[3];
result->v[2] = left->v[2] * right->v[0] + left->v[3] * right->v[2];
result->v[3] = left->v[2] * right->v[1] + left->v[3] * right->v[3];
const struct xrt_matrix_2x2 l = *left;
const struct xrt_matrix_2x2 r = *right;
struct xrt_matrix_2x2 result = {{
l.v[0] * r.v[0] + l.v[1] * r.v[2],
l.v[0] * r.v[1] + l.v[1] * r.v[3],
l.v[2] * r.v[0] + l.v[3] * r.v[2],
l.v[2] * r.v[1] + l.v[3] * r.v[3],
}};
*result_out = result;
}
extern "C" void
math_matrix_3x3_transform_vec3(const struct xrt_matrix_3x3 *left, const struct xrt_vec3 *right, struct xrt_vec3 *result)
math_matrix_3x3_transform_vec3(const struct xrt_matrix_3x3 *left,
const struct xrt_vec3 *right,
struct xrt_vec3 *result_out)
{
Eigen::Matrix3f m;
m << left->v[0], left->v[1], left->v[2], // 1
left->v[3], left->v[4], left->v[5], // 2
left->v[6], left->v[7], left->v[8]; // 3
map_vec3(*result) = m * copy(right);
map_vec3(*result_out) = m * copy(right);
}
extern "C" void
math_matrix_3x3_multiply(const struct xrt_matrix_3x3 *left,
const struct xrt_matrix_3x3 *right,
struct xrt_matrix_3x3 *result)
struct xrt_matrix_3x3 *result_out)
{
result->v[0] = left->v[0] * right->v[0] + left->v[1] * right->v[3] + left->v[2] * right->v[6];
result->v[1] = left->v[0] * right->v[1] + left->v[1] * right->v[4] + left->v[2] * right->v[7];
result->v[2] = left->v[0] * right->v[2] + left->v[1] * right->v[5] + left->v[2] * right->v[8];
const struct xrt_matrix_3x3 l = *left;
const struct xrt_matrix_3x3 r = *right;
result->v[3] = left->v[3] * right->v[0] + left->v[4] * right->v[3] + left->v[5] * right->v[6];
result->v[4] = left->v[3] * right->v[1] + left->v[4] * right->v[4] + left->v[5] * right->v[7];
result->v[5] = left->v[3] * right->v[2] + left->v[4] * right->v[5] + left->v[5] * right->v[8];
struct xrt_matrix_3x3 result = {{
l.v[0] * r.v[0] + l.v[1] * r.v[3] + l.v[2] * r.v[6],
l.v[0] * r.v[1] + l.v[1] * r.v[4] + l.v[2] * r.v[7],
l.v[0] * r.v[2] + l.v[1] * r.v[5] + l.v[2] * r.v[8],
l.v[3] * r.v[0] + l.v[4] * r.v[3] + l.v[5] * r.v[6],
l.v[3] * r.v[1] + l.v[4] * r.v[4] + l.v[5] * r.v[7],
l.v[3] * r.v[2] + l.v[4] * r.v[5] + l.v[5] * r.v[8],
l.v[6] * r.v[0] + l.v[7] * r.v[3] + l.v[8] * r.v[6],
l.v[6] * r.v[1] + l.v[7] * r.v[4] + l.v[8] * r.v[7],
l.v[6] * r.v[2] + l.v[7] * r.v[5] + l.v[8] * r.v[8],
}};
result->v[6] = left->v[6] * right->v[0] + left->v[7] * right->v[3] + left->v[8] * right->v[6];
result->v[7] = left->v[6] * right->v[1] + left->v[7] * right->v[4] + left->v[8] * right->v[7];
result->v[8] = left->v[6] * right->v[2] + left->v[7] * right->v[5] + left->v[8] * right->v[8];
*result_out = result;
}
extern "C" void