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matrix4.cpp
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matrix4.cpp
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/*
Copyright (C) 2010 Matthew Baranowski, Sander van Rossen & Raven software.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "matrix4.h"
extern const float Pi=3.1415926535f;
extern const float Half_Pi=Pi/2.0;
#define MAX_MATRIX (12)
#define MATRIX_DEBUG 0
void BackSub(float a[][MAX_MATRIX],int *indx,float *b,int sz)
{
int i,j,ii=-1,ip;
float sum;
for (i=0;i<sz;i++)
{
ip=indx[i];
sum=b[ip];
b[ip]=b[i];
if (ii>=0)
{
for (j=ii;j<i;j++)
sum-=a[i][j]*b[j];
}
else if (sum!=0.0)
{
ii=i;
}
b[i]=sum;
}
for (i=sz-1;i>=0;i--)
{
sum=b[i];
for (j=i+1;j<sz;j++)
sum-=a[i][j]*b[j];
b[i]=sum/a[i][i];
}
}
#define EPS_MATRIX (1E-15)
int LUDecomposition(float a[][MAX_MATRIX],int indx[],int sz,float *d)
{
int i,imax,j,k;
float big,dum,sum,temp;
float vv[MAX_MATRIX];
*d=1;
for (i=0;i<sz;i++)
{
big=0.;
for (j=0;j<sz;j++)
if ((temp=fabs(a[i][j]))>big)
big=temp;
if (big<EPS_MATRIX)
return 0;
vv[i]=1.0/big;
}
imax = 0;//should have a def value just to make sure
for (j=0;j<sz;j++)
{
for (i=0;i<j;i++)
{
sum=a[i][j];
for (k=0;k<i;k++)
sum-=a[i][k]*a[k][j];
a[i][j]=sum;
}
big=0.;
for (i=j;i<sz;i++)
{
sum=a[i][j];
for (k=0;k<j;k++)
sum-=a[i][k]*a[k][j];
a[i][j]=sum;
if ((dum=vv[i]*fabs(sum))>=big)
{
big=dum;
imax=i;
}
}
if (j!=imax)
{
for (k=0;k<sz;k++)
{
dum=a[imax][k];
a[imax][k]=a[j][k];
a[j][k]=dum;
}
vv[imax]=vv[j];
*d=-(*d);
}
indx[j]=imax;
if (fabs(a[j][j])<EPS_MATRIX)
return 0;
if (j!=sz-1)
{
dum=1.0/a[j][j];
for (i=j+1;i<sz;i++)
a[i][j]*=dum;
}
}
return 1;
}
void BackSub4(float a[][4],int *indx,float *b)
{
const int sz=4;
int i,j,ii=-1,ip;
float sum;
for (i=0;i<sz;i++)
{
ip=indx[i];
sum=b[ip];
b[ip]=b[i];
if (ii>=0)
{
for (j=ii;j<i;j++)
sum-=a[i][j]*b[j];
}
else if (sum!=0.0)
{
ii=i;
}
b[i]=sum;
}
for (i=sz-1;i>=0;i--)
{
sum=b[i];
for (j=i+1;j<sz;j++)
sum-=a[i][j]*b[j];
b[i]=sum/a[i][i];
}
}
int LUDecomposition4(float a[4][4],int indx[4],float *d)
{
const int sz=4;
int i,imax,j,k;
float big,dum,sum,temp;
float vv[MAX_MATRIX];
*d=1;
for (i=0;i<sz;i++)
{
big=0.;
for (j=0;j<sz;j++)
if ((temp=fabs(a[i][j]))>big)
big=temp;
if (big<EPS_MATRIX)
return 0;
vv[i]=1.0/big;
}
imax = 0;//should have a def value just to make sure
for (j=0;j<sz;j++)
{
for (i=0;i<j;i++)
{
sum=a[i][j];
for (k=0;k<i;k++)
sum-=a[i][k]*a[k][j];
a[i][j]=sum;
}
big=0.;
for (i=j;i<sz;i++)
{
sum=a[i][j];
for (k=0;k<j;k++)
sum-=a[i][k]*a[k][j];
a[i][j]=sum;
if ((dum=vv[i]*fabs(sum))>=big)
{
big=dum;
imax=i;
}
}
if (j!=imax)
{
for (k=0;k<sz;k++)
{
dum=a[imax][k];
a[imax][k]=a[j][k];
a[j][k]=dum;
}
vv[imax]=vv[j];
*d=-(*d);
}
indx[j]=imax;
if (fabs(a[j][j])<EPS_MATRIX)
return 0;
if (j!=sz-1)
{
dum=1.0/a[j][j];
for (i=j+1;i<sz;i++)
a[i][j]*=dum;
}
}
return 1;
}
int GetTextureSystem(
const Vect3 &p0,const Vect3 &uv0, //vertex 0
const Vect3 &p1,const Vect3 &uv1, //vertex 1
const Vect3 &p2,const Vect3 &uv2, //vertex 2
const Vect3 &n, // normal vector for triangle
Vect3 &M, // returned gradient wrt u
Vect3 &N, // returned gradient wrt v
Vect3 &P) // returned location in world space where u=v=0
/*
for and point q in world space, the uv coords are
u=(q-P).M
v=(q-P).N
*/
{
static float a[6][MAX_MATRIX],ans[6];
static int indx[6];
int i,j;
for (i=0;i<6;i++)
for (j=0;j<6;j++)
a[i][j]=0.0f;
for (i=0;i<3;i++)
a[0][i]=p1[i]-p0[i];
for (i=0;i<3;i++)
a[1][i]=p2[i]-p0[i];
for (i=0;i<3;i++)
a[2][i+3]=p1[i]-p0[i];
for (i=0;i<3;i++)
a[3][i+3]=p2[i]-p0[i];
for (i=0;i<3;i++)
a[4][i]=n[i];
for (i=0;i<3;i++)
a[5][i+3]=n[i];
for (i=0;i<3;i++)
{
M[i]=0.0f;
N[i]=0.0f;
P[i]=0.0f;
}
float det;
if (!LUDecomposition(a,indx,6,&det))
return 0;
else
{
ans[0]=uv1[0]-uv0[0];
ans[1]=uv2[0]-uv0[0];
ans[2]=uv1[1]-uv0[1];
ans[3]=uv2[1]-uv0[1];
ans[4]=0.0f;
ans[5]=0.0f;
BackSub(a,indx,ans,6);
for (i=0;i<3;i++)
{
M[i]=ans[i];
N[i]=ans[i+3];
}
ans[0]=p0[0]*M[0]+p0[1]*M[1]+p0[2]*M[2]-uv0[0];
ans[1]=p0[0]*N[0]+p0[1]*N[1]+p0[2]*N[2]-uv0[1];
ans[2]=p0[0]*n[0]+p0[1]*n[1]+p0[2]*n[2];
a[0][0]=M[0];
a[0][1]=M[1];
a[0][2]=M[2];
a[1][0]=N[0];
a[1][1]=N[1];
a[1][2]=N[2];
a[2][0]=n[0];
a[2][1]=n[1];
a[2][2]=n[2];
if (!LUDecomposition(a,indx,3,&det))
return 0;
else
{
BackSub(a,indx,ans,3);
P[0]=ans[0];
P[1]=ans[1];
P[2]=ans[2];
}
}
return 1;
}
void Matrix4::Inverse(const Matrix4 &old)
{
if (old.flags&MATFLAG_IDENTITY)
Identity();
else
{
float t[4],d;
int i,indx[4];
Matrix4 lu=old;
if (!LUDecomposition4(lu.m,indx,&d))
assert(0);
t[0]=1;
t[1]=0;
t[2]=0;
t[3]=0;
BackSub4(lu.m,indx,t);
for(i=0;i<4;i++)
m[i][0]=t[i];
t[0]=0;
t[1]=1;
t[2]=0;
t[3]=0;
BackSub4(lu.m,indx,t);
for(i=0;i<4;i++)
m[i][1]=t[i];
t[0]=0;
t[1]=0;
t[2]=1;
t[3]=0;
BackSub4(lu.m,indx,t);
for(i=0;i<4;i++)
m[i][2]=t[i];
t[0]=0;
t[1]=0;
t[2]=0;
t[3]=1;
BackSub4(lu.m,indx,t);
for(i=0;i<4;i++)
m[i][3]=t[i];
flags=0;
}
}
void Matrix4::OrthoNormalInverse(const Matrix4 &old)
{
flags=0;
int i,j;
for (i=0;i<3;i++)
{
for (j=0;j<3;j++)
m[i][j]=old.m[j][i];
m[i][j]=0.0f;
}
m[3][3]=1.0f;
Vect3 t,tt;
old.GetRow(3,t);
XFormVect(tt,t);
tt*=-1.0f;
SetRow(3,tt);
#if 0
{
Matrix4 test;
test.Inverse(old);
tt=0.0f;
}
#endif
}
void Matrix4::FindFromPoints(const Vect3 base1[4],const Vect3 base2[4])
{
float sol[12][12];
float o[12];
int indx[12];
float d;
int i,j,k;
for (i=0;i<12;i++)
{
o[i]=base2[i/3][i%3];
for (j=0;j<12;j++)
sol[i][j]=0.0f;
}
for (i=0;i<4;i++)
{
for (j=0;j<3;j++)
{
for (k=0;k<3;k++)
sol[i*3+j][j*4+k]=base1[i][k];
sol[i*3+j][j*4+3]=1.0;
}
}
if (!LUDecomposition(sol,indx,12,&d))
assert(0);
BackSub(sol,indx,o,12);
for(i=0;i<12;i++)
m[i%4][i/4]=o[i];
m[0][3]=0.0f;
m[1][3]=0.0f;
m[2][3]=0.0f;
m[3][3]=1.0f;
CalcFlags();
}
void Matrix4::MakeEquiscalar()
{
float l,lc[3];
m[0][3]=0.0f;
m[1][3]=0.0f;
m[2][3]=0.0f;
m[3][3]=1.0f;
int i,j;
l=0.0f;
for (i=0;i<3;i++)
{
lc[i]=0.0f;
for (j=0;j<3;j++)
lc[i]+=m[j][i]*m[j][i];
lc[i]=sqrt(lc[i]);
l+=lc[i];
}
l/=3.0f;
for (i=0;i<3;i++)
{
lc[i]=l/lc[i];
for (j=0;j<3;j++)
m[j][i]*=lc[i];
}
CalcFlags();
}
Matrix4::Matrix4(const Matrix4 &o)
{
/*
int i;
float *f;
const float *of;
for (f=m[0],of=o.m[0],i=0;i<16;i++,f++,of++)
*f=*of;
flags=o.flags;
*/
*this = o;
}
#define MATRIX_TOLERANCE (1E-4f)
#define MATRIX_TOLERANCE_MORE (1E-3f)
bool Matrix4::IntegrityCheck() const
{
#if MATRIX_DEBUG
if (flags&MATFLAG_IDENTITY)
{
int i,j;
for (i=0;i<4;i++)
{
for (j=0;j<4;j++)
{
if (i==j)
assert(fabs(1.0-m[i][j])<MATRIX_TOLERANCE);
else
assert(fabs(m[i][j])<MATRIX_TOLERANCE);
}
}
}
#endif
return true;
}
int Matrix4::CalcFlags()
{
int i,j;
flags=0;
for (i=0;i<4;i++)
{
for (j=0;j<4;j++)
{
if (i==j)
{
if (fabs(1.0-m[i][j])>MATRIX_TOLERANCE)
return 0;
}
else
{
if (fabs(m[i][j])>MATRIX_TOLERANCE)
return 0;
}
}
}
flags=MATFLAG_IDENTITY;
return flags;
}
bool Matrix4::IsRotationIdentity(void) const
{
int i,j;
for (i=0;i<3;i++)
{
for (j=0;j<3;j++)
{
if (i==j)
{
#ifdef _DEBUG
float f = fabs(1.0f-m[i][j]);
if (f>MATRIX_TOLERANCE)
return false;
#else
if (fabs(1.0-m[i][j])>MATRIX_TOLERANCE)
return false;
#endif
}
else
{
#ifdef _DEBUG
float f = fabs(m[i][j]);
if (f>MATRIX_TOLERANCE)
return false;
#else
if (fabs(m[i][j])>MATRIX_TOLERANCE)
return false;
#endif
}
}
}
return true;
}
bool Matrix4::IsRotationIdentityMoreTolerance(void) const
{
int i,j;
for (i=0;i<3;i++)
{
for (j=0;j<3;j++)
{
if (i==j)
{
#ifdef _DEBUG
float f = fabs(1.0f-m[i][j]);
if (f>MATRIX_TOLERANCE_MORE)
return false;
#else
if (fabs(1.0-m[i][j])>MATRIX_TOLERANCE_MORE)
return false;
#endif
}
else
{
#ifdef _DEBUG
float f = fabs(m[i][j]);
if (f>MATRIX_TOLERANCE_MORE)
return false;
#else
if (fabs(m[i][j])>MATRIX_TOLERANCE_MORE)
return false;
#endif
}
}
}
return true;
}
void Matrix4::Identity()
{
int i;
float *f;
for (f=m[0],i=0;i<16;i++,f++)
*f=0;
for (i=0;i<4;i++)
m[i][i]=1.0;;
flags=MATFLAG_IDENTITY;
}
float Matrix4::MaxAbsElement()
{
if (flags&MATFLAG_IDENTITY)
{
assert(IntegrityCheck());
return 1.0f;
}
int i;
float best=-1,*f;
for (f=m[0],i=0;i<16;i++,f++)
{
if (fabs(*f)>best)
best=fabs(*f);
}
return best;
}
void Matrix4::Zero()
{
int i;
float *f;
for (f=m[0],i=0;i<16;i++,f++)
*f=0;
flags=0;
}
float Matrix4::Det()
{
if (flags&MATFLAG_IDENTITY)
{
assert(IntegrityCheck());
return 1.0f;
}
float d;
int i,indx[4];
Matrix4 lu=*this;
if (!LUDecomposition4(lu.m,indx,&d))
assert(0);
for (i=0;i<4;i++)
d*=lu.m[i][i];
return d;
}
void Matrix4::Translate(const float tx,const float ty,const float tz)
{
int i;
float *f;
for (f=m[0],i=0;i<12;i++,f++)
*f=0;
for (i=0;i<4;i++)
m[i][i]=1.0;;
m[3][0]=tx;
m[3][1]=ty;
m[3][2]=tz;
CalcFlags();
}
void Matrix4::Translate(const Vect3 &t)
{
int i;
float *f;
for (f=m[0],i=0;i<12;i++,f++)
*f=0;
for (i=0;i<4;i++)
m[i][i]=1.0;;
m[3][0]=t[0];
m[3][1]=t[1];
m[3][2]=t[2];
CalcFlags();
}
void Matrix4::Rotate(int axis,const float theta)
{
int i;
float *f,s,c;
for (f=m[0],i=0;i<16;i++,f++)
*f=0;
for (i=0;i<4;i++)
m[i][i]=1.0;
s=sin(theta);
c=cos(theta);
switch(axis)
{
case 0:
m[1][1]=c;
m[1][2]=-s;
m[2][1]=s;
m[2][2]=c;
break;
case 1:
m[0][0]=c;
m[0][2]=s;
m[2][0]=-s;
m[2][2]=c;
break;
case 2:
m[0][0]=c;
m[0][1]=-s;
m[1][0]=s;
m[1][1]=c;
break;
}
CalcFlags();
}
void Matrix4::Rotate(const float rx,const float ry,const float rz)
{
Matrix4 x,y,z,t;
x.Rotate(0,rx);
y.Rotate(1,ry);
z.Rotate(2,rz);
t.Concat(y,z);
Concat(x,t);
}
void Matrix4::Rotate(const Vect3 v)
{
Matrix4 x,y,z,t;
x.Rotate(0, v[0]);
y.Rotate(1, v[1]);
z.Rotate(2, v[2]);
t.Concat(y, z);
Concat(x, t);
}
void Matrix4::Scale(const float sx,const float sy,const float sz)
{
int i;
float *f;
for (f=m[0],i=0;i<16;i++,f++)
*f=0;
assert(fabs(sx)>1E-10);
assert(fabs(sy)>1E-10);
assert(fabs(sz)>1E-10);
m[0][0]=sx;
m[1][1]=sy;
m[2][2]=sz;
m[3][3]=1.0;
CalcFlags();
}
void Matrix4::Scale(const float sx)
{
int i;
float *f;
for (f=m[0],i=0;i<16;i++,f++)
*f=0;
assert(fabs(sx)>1E-10);
m[0][0]=sx;
m[1][1]=sx;
m[2][2]=sx;
m[3][3]=1.0;
CalcFlags();
}
void Matrix4::Interp(const Matrix4 &m1,float s1,const Matrix4 &m2,float s2)
{
if ((m1.flags&MATFLAG_IDENTITY)&&(m2.flags&MATFLAG_IDENTITY))
{
assert(m1.IntegrityCheck());
assert(m2.IntegrityCheck());
Identity();
return;
}
int i;
const float *f1;
const float *f2;
float *fd;
for (f1=m1.m[0],f2=m2.m[0],fd=m[0],i=0;i<16;i++,f1++,f2++,fd++)
*fd=s1*(*f1)+s2*(*f2);
flags=0;
}
void Matrix4::Interp(const Matrix4 &m1,const Matrix4 &m2,float s1)
{
if ((m1.flags&MATFLAG_IDENTITY)&&(m2.flags&MATFLAG_IDENTITY))
{
assert(m1.IntegrityCheck());
assert(m2.IntegrityCheck());
Identity();
return;
}
int i;
const float *f1;
const float *f2;
float *fd;
for (f1=m1.m[0],f2=m2.m[0],fd=m[0],i=0;i<16;i++,f1++,f2++,fd++)
*fd=s1*((*f1)-(*f2))+(*f2);
flags=0;
}
bool Matrix4::operator== (const Matrix4& t) const
{
if ((flags&MATFLAG_IDENTITY)&&(t.flags&MATFLAG_IDENTITY))
{
assert(IntegrityCheck());
assert(t.IntegrityCheck());
return true;
}
int i,j;
for (i=0;i<4;i++)
{
for (j=0;j<3;j++)
{
if (fabs(m[i][j]-t.m[i][j])>MATRIX_TOLERANCE)
return false;
}
}
return true;
}
void Matrix4::Concat(const Matrix4 &m1,const Matrix4 &m2)
{
if (m1.flags&MATFLAG_IDENTITY)
{
assert(m1.IntegrityCheck());
*this=m2;
}
else if (m2.flags&MATFLAG_IDENTITY)
{
assert(m2.IntegrityCheck());
*this=m1;
}
else
{
assert(this!=&m1&&this!=&m2);
/*
int i,j,k;
float acc=0;
for (i=0;i<4;i++)
{
for (j=0;j<4;j++)
{
for(k=0,acc=0.;k<4;k++)
acc+=m1.m[i][k]*m2.m[k][j];
m[i][j]=acc;
}
}
*/
m2.HXFormPointND(m[0],m1.m[0]);
m2.HXFormPointND(m[1],m1.m[1]);
m2.HXFormPointND(m[2],m1.m[2]);
m2.HXFormPointND(m[3],m1.m[3]);
flags=0;
}
}
void Matrix4::XFormPoint(Vect3 &dest,const Vect3 &src) const
{
if (flags&MATFLAG_IDENTITY)
{
assert(IntegrityCheck());
dest=src;
return;
}
/*
dest[0]=m[0][0]*src[0]+m[1][0]*src[1]+m[2][0]*src[2]+m[3][0];
dest[1]=m[0][0]*src[0]+m[1][0]*src[1]+m[2][0]*src[2]+m[3][1];
dest[2]=m[3][2];
*/
/*
int i,j;
dest[0]=m[3][0];
dest[1]=m[3][1];
dest[2]=m[3][2];
for (i=0;i<3;i++)
for (j=0;j<3;j++)
dest[i]+=m[j][i]*src[j];
*/
const float *s=&src.x();
float *d=&dest.x();
const float *mat=&m[0][0];
__asm
{
mov ebx,[s]
mov eax,[mat]
mov ecx,[d]
fld [DWORD PTR ebx+8] // z
fld [DWORD PTR ebx+4] // y z
fld [DWORD PTR ebx] // x y z
fld [DWORD PTR eax] // m00 x y z 1/m33+m23z+m13y+xm03
fmul st,st(1) // m00x x y z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+4] // m01 m00x x y z 1/m33+m23z+m13y+xm03
fmul st,st(2) // m01x m00x x y z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+8] // m02 m01x m00x x y z 1/m33+m23z+m13y+xm03
fmulp st(3),st // m01x m00x m02x y z 1/m33+m23z+m13y+xm03
fxch st(1) // m00x m01x m02x y z 1/m33+m23z+m13y+xm03
fxch st(2) // m02x m01x m00x y z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+16] // m10 m02x m01x m00x y z 1/m33+m23z+m13y+xm03
fmul st,st(4) // m10y m02x m01x m00x y z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+20] // m11 m10y m02x m01x m00x y z 1/m33+m23z+m13y+xm03
fmul st,st(5) // m11y m10y m02x m01x m00x y z 1/m33+m23z+m13y+xm03
fxch st(1) // m10y m11y m02x m01x m00x y z 1/m33+m23z+m13y+xm03
faddp st(4),st // m11y m02x m01x m00x+m10y y z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+24] // m12 m11y m02x m01x m00x+m10y y z 1/m33+m23z+m13y+xm03
fmulp st(5),st // m11y m02x m01x m00x+m10y m12y z 1/m33+m23z+m13y+xm03
faddp st(2),st // m02x m01x+m11y m00x+m10y m12y z 1/m33+m23z+m13y+xm03
faddp st(3),st // m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+32] // m20 m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
fmul st,st(4) // m20z m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+36] // m21 m20z m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
fmul st,st(5) // m21z m20z m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
fxch st(1) // m20z m21z m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
faddp st(3),st // m21z m01x+m11y m00x+m10y+m20z m12y+m02x z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+40] // m22 m21z m01x+m11y m00x+m10y+m20z m12y+m02x z 1/m33+m23z+m13y+xm03
fmulp st(5),st // m21z m01x+m11y m00x+m10y+m20z m12y+m02x m22z 1/m33+m23z+m13y+xm03
faddp st(1),st // m21z+m01x+m11y m00x+m10y+m20z m12y+m02x m22z 1/m33+m23z+m13y+xm03
fxch st(3) // m22z m00x+m10y+m20z m12y+m02x m21z+m01x+m11y 1/m33+m23z+m13y+xm03
faddp st(2),st // m00x+m10y+m20z m22z+m12y+m02x m21z+m01x+m11y 1/m33+m23z+m13y+xm03
fadd [DWORD PTR eax+48] // m00x+m10y+m20z+m30 m22z+m12y+m02x m21z+m01x+m11y 1/m33+m23z+m13y+xm03
fxch st(2) // m21z+m01x+m11y m22z+m12y+m02x m00x+m10y+m20z+m30 1/m33+m23z+m13y+xm03
fadd [DWORD PTR eax+52] // m21z+m01x+m11y+m31 m22z+m12y+m02x m00x+m10y+m20z+m30 1/m33+m23z+m13y+xm03
fxch st(1) // m22z+m12y+m02x m21z+m01x+m11y+m31 m00x+m10y+m20z+m30 1/m33+m23z+m13y+xm03
fadd [DWORD PTR eax+56] // m22z+m12y+m02x+m32 m21z+m01x+m11y+m31 m00x+m10y+m20z+m30 1/m33+m23z+m13y+xm03
fxch st(2) // m00x+m10y+m20z+m30 m21z+m01x+m11y+m31 m22z+m12y+m02x+m32 1/m33+m23z+m13y+xm03
fstp [DWORD PTR ecx]
fstp [DWORD PTR ecx+4]
fstp [DWORD PTR ecx+8]
}
}
void Matrix4::XFormVect(Vect3 &dest,const Vect3 &src) const
{
if (flags&MATFLAG_IDENTITY)
{
dest=src;
return;
}
int i,j;
dest=0.;
for (i=0;i<3;i++)
for (j=0;j<3;j++)
dest[i]+=m[j][i]*src[j];
}
void Matrix4::XFormVectTranspose(Vect3 &dest,const Vect3 &src) const
{
if (flags&MATFLAG_IDENTITY)
{
assert(IntegrityCheck());
dest=src;
return;
}
/*
int i,j;
dest=0.;
for (i=0;i<3;i++)
for (j=0;j<3;j++)
dest[i]+=m[i][j]*src[j];
*/
const float *s=&src.x();
float *d=&dest.x();
const float *mat=&m[0][0];
__asm
{
mov ebx,[s]
mov eax,[mat]
mov ecx,[d]
fld [DWORD PTR ebx+8] // z
fld [DWORD PTR ebx+4] // y z
fld [DWORD PTR ebx] // x y z
fld [DWORD PTR eax] // m00 x y z 1/m33+m23z+m13y+xm03
fmul st,st(1) // m00x x y z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+16] // m01 m00x x y z 1/m33+m23z+m13y+xm03
fmul st,st(2) // m01x m00x x y z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+32] // m02 m01x m00x x y z 1/m33+m23z+m13y+xm03
fmulp st(3),st // m01x m00x m02x y z 1/m33+m23z+m13y+xm03
fxch st(1) // m00x m01x m02x y z 1/m33+m23z+m13y+xm03
fxch st(2) // m02x m01x m00x y z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+4] // m10 m02x m01x m00x y z 1/m33+m23z+m13y+xm03
fmul st,st(4) // m10y m02x m01x m00x y z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+20] // m11 m10y m02x m01x m00x y z 1/m33+m23z+m13y+xm03
fmul st,st(5) // m11y m10y m02x m01x m00x y z 1/m33+m23z+m13y+xm03
fxch st(1) // m10y m11y m02x m01x m00x y z 1/m33+m23z+m13y+xm03
faddp st(4),st // m11y m02x m01x m00x+m10y y z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+36] // m12 m11y m02x m01x m00x+m10y y z 1/m33+m23z+m13y+xm03
fmulp st(5),st // m11y m02x m01x m00x+m10y m12y z 1/m33+m23z+m13y+xm03
faddp st(2),st // m02x m01x+m11y m00x+m10y m12y z 1/m33+m23z+m13y+xm03
faddp st(3),st // m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+8] // m20 m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
fmul st,st(4) // m20z m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+24] // m21 m20z m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
fmul st,st(5) // m21z m20z m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
fxch st(1) // m20z m21z m01x+m11y m00x+m10y m12y+m02x z 1/m33+m23z+m13y+xm03
faddp st(3),st // m21z m01x+m11y m00x+m10y+m20z m12y+m02x z 1/m33+m23z+m13y+xm03
fld [DWORD PTR eax+40] // m22 m21z m01x+m11y m00x+m10y+m20z m12y+m02x z 1/m33+m23z+m13y+xm03
fmulp st(5),st // m21z m01x+m11y m00x+m10y+m20z m12y+m02x m22z 1/m33+m23z+m13y+xm03
faddp st(1),st // m21z+m01x+m11y m00x+m10y+m20z m12y+m02x m22z 1/m33+m23z+m13y+xm03
fxch st(3) // m22z m00x+m10y+m20z m12y+m02x m21z+m01x+m11y 1/m33+m23z+m13y+xm03
faddp st(2),st // m00x+m10y+m20z m22z+m12y+m02x m21z+m01x+m11y 1/m33+m23z+m13y+xm03
fstp [DWORD PTR ecx]
fstp [DWORD PTR ecx+8]
fstp [DWORD PTR ecx+4]
}
}