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move inline to cpp so that they do no load global data at dll loading…
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… time.

this is a big problem with unreal quirks.
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@JulioJerez
JulioJerez committed Sep 13, 2024
1 parent 97dee6a commit 54b9f10
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162 changes: 162 additions & 0 deletions newton-4.00/sdk/dCore/ndMatrix.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -602,3 +602,165 @@ ndMatrix ndGramSchmidtMatrix(const ndVector& dir)
ndAssert(ndMatrix(front, up, right, ndVector::m_wOne).TestOrthogonal());
return ndMatrix(front, up, right, ndVector::m_wOne);
}

ndMatrix ndMatrix::Transpose3x3() const
{
ndMatrix inv;
ndVector::Transpose4x4(inv[0], inv[1], inv[2], inv[3], m_front, m_up, m_right, ndVector::m_wOne);
return inv;
}

ndMatrix ndMatrix::Transpose4X4() const
{
ndMatrix inv;
ndVector::Transpose4x4(inv[0], inv[1], inv[2], inv[3], m_front, m_up, m_right, m_posit);
return inv;
}

ndVector ndMatrix::RotateVector(const ndVector& v) const
{
return m_front * v.BroadcastX() + m_up * v.BroadcastY() + m_right * v.BroadcastZ();
}

ndVector ndMatrix::UnrotateVector(const ndVector& v) const
{
return v.OptimizedVectorUnrotate(m_front, m_up, m_right);
}

ndVector ndMatrix::TransformVector(const ndVector& v) const
{
return m_front * v.BroadcastX() + m_up * v.BroadcastY() + m_right * v.BroadcastZ() + m_posit;
}

ndVector ndMatrix::TransformVector1x4(const ndVector& v) const
{
return m_front * v.BroadcastX() + m_up * v.BroadcastY() + m_right * v.BroadcastZ() + m_posit * v.BroadcastW();
}

ndVector ndMatrix::UntransformVector(const ndVector& v) const
{
return UnrotateVector(v - m_posit) | ndVector::m_wOne;
}

ndPlane ndMatrix::TransformPlane(const ndPlane& localPlane) const
{
return ndPlane(RotateVector(localPlane), localPlane.m_w - (localPlane.DotProduct(UnrotateVector(m_posit)).GetScalar()));
}

ndPlane ndMatrix::UntransformPlane(const ndPlane& globalPlane) const
{
return ndPlane(UnrotateVector(globalPlane), globalPlane.Evalue(m_posit));
}

ndMatrix ndMatrix::Inverse() const
{
ndTrace(("funtion: %s deprecated, please use ndMatrix::OrthoInverse instead", __FUNCTION__));
ndAssert(0);
return OrthoInverse();
}

ndMatrix ndMatrix::OrthoInverse() const
{
ndMatrix inv;
ndVector::Transpose4x4(inv[0], inv[1], inv[2], inv[3], m_front, m_up, m_right, ndVector::m_wOne);
inv.m_posit -= inv[0] * m_posit.BroadcastX() + inv[1] * m_posit.BroadcastY() + inv[2] * m_posit.BroadcastZ();
return inv;
}

bool ndMatrix::TestIdentity() const
{
const ndMatrix& me = *this;
for (ndInt32 i = 0; i < 4; ++i)
{
if (me[i][i] != ndFloat32(1.0f))
{
return false;
}
for (ndInt32 j = i + 1; j < 4; ++j)
{
if (me[i][j] != ndFloat32(0.0f))
{
return false;
}
if (me[j][i] != ndFloat32(0.0f))
{
return false;
}
}
}
return true;
}

bool ndMatrix::TestOrthogonal(ndFloat32 tol) const
{
#ifdef _DEBUG
for (ndInt32 i = 0; i < 4; ++i)
{
for (ndInt32 j = 0; j < 4; ++j)
{
ndAssert(ndCheckFloat((*this)[i][j]));
}
}
#endif

ndVector n(m_front.CrossProduct(m_up));
ndFloat32 a = m_right.DotProduct(m_right).GetScalar();
ndFloat32 b = m_up.DotProduct(m_up).GetScalar();
ndFloat32 c = m_front.DotProduct(m_front).GetScalar();
ndFloat32 d = n.DotProduct(m_right).GetScalar();
bool ret = (m_front[3] == ndFloat32(0.0f)) &&
(m_up[3] == ndFloat32(0.0f)) &&
(m_right[3] == ndFloat32(0.0f)) &&
(m_posit[3] == ndFloat32(1.0f)) &&
(ndAbs(a - ndFloat32(1.0f)) < tol) &&
(ndAbs(b - ndFloat32(1.0f)) < tol) &&
(ndAbs(c - ndFloat32(1.0f)) < tol) &&
(ndAbs(d - ndFloat32(1.0f)) < tol);
if (!ret)
{
ndAssert(0);
}
return ret;
}

bool ndMatrix::TestSymetric3x3() const
{
const ndMatrix& me = *this;
return (ndAbs(me[0][1] - me[1][0]) < ndFloat32(1.0e-5f)) &&
(ndAbs(me[0][2] - me[2][0]) < ndFloat32(1.0e-5f)) &&
(ndAbs(me[1][2] - me[2][1]) < ndFloat32(1.0e-5f)) &&
(me[0][3] == ndFloat32(0.0f)) &&
(me[1][3] == ndFloat32(0.0f)) &&
(me[2][3] == ndFloat32(0.0f)) &&
(me[3][0] == ndFloat32(0.0f)) &&
(me[3][1] == ndFloat32(0.0f)) &&
(me[3][2] == ndFloat32(0.0f)) &&
(me[3][3] == ndFloat32(1.0f));
}

bool ndMatrix::SanityCheck() const
{
if (ndAbs(m_right.m_w) > ndFloat32(0.0f))
{
return false;
}
if (ndAbs(m_up.m_w) > ndFloat32(0.0f))
{
return false;
}
if (ndAbs(m_right.m_w) > ndFloat32(0.0f))
{
return false;
}
if (ndAbs(m_posit.m_w) != ndFloat32(1.0f))
{
return false;
}

ndVector right(m_front.CrossProduct(m_up));
if (ndAbs(right.DotProduct(m_right).GetScalar()) < ndFloat32(0.9999f))
{
return false;
}
return true;
}
192 changes: 15 additions & 177 deletions newton-4.00/sdk/dCore/ndMatrix.h
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Original file line number Diff line number Diff line change
Expand Up @@ -64,17 +64,17 @@ class ndMatrix
ndVector& operator[] (ndInt32 i);
const ndVector& operator[] (ndInt32 i) const;

ndMatrix Inverse() const;
ndMatrix OrthoInverse() const;
ndMatrix Transpose3x3 () const;
ndMatrix Transpose4X4 () const;
ndVector RotateVector (const ndVector &v) const;
ndVector UnrotateVector (const ndVector &v) const;
ndVector TransformVector (const ndVector &v) const;
ndVector UntransformVector (const ndVector &v) const;
ndVector TransformVector1x4(const ndVector& v) const;
ndPlane TransformPlane (const ndPlane &localPlane) const;
ndPlane UntransformPlane (const ndPlane &globalPlane) const;
D_CORE_API ndMatrix Inverse() const;
D_CORE_API ndMatrix OrthoInverse() const;
D_CORE_API ndMatrix Transpose3x3 () const;
D_CORE_API ndMatrix Transpose4X4 () const;
D_CORE_API ndVector RotateVector (const ndVector &v) const;
D_CORE_API ndVector UnrotateVector (const ndVector &v) const;
D_CORE_API ndVector TransformVector (const ndVector &v) const;
D_CORE_API ndVector UntransformVector (const ndVector &v) const;
D_CORE_API ndVector TransformVector1x4(const ndVector& v) const;
D_CORE_API ndPlane TransformPlane (const ndPlane &localPlane) const;
D_CORE_API ndPlane UntransformPlane (const ndPlane &globalPlane) const;

D_CORE_API ndMatrix Inverse4x4() const;
D_CORE_API ndVector SolveByGaussianElimination(const ndVector &v) const;
Expand All @@ -92,10 +92,10 @@ class ndMatrix
ndFloat64* const dst, ndInt32 dstStrideInBytes,
const ndFloat32* const src, ndInt32 srcStrideInBytes, ndInt32 count) const;
#endif
bool SanityCheck() const;
bool TestIdentity() const;
bool TestSymetric3x3() const;
bool TestOrthogonal(ndFloat32 tol = ndFloat32 (1.0e-4f)) const;
D_CORE_API bool SanityCheck() const;
D_CORE_API bool TestIdentity() const;
D_CORE_API bool TestSymetric3x3() const;
D_CORE_API bool TestOrthogonal(ndFloat32 tol = ndFloat32 (1.0e-4f)) const;

D_CORE_API ndMatrix Multiply3X3 (const ndMatrix &B) const;
D_CORE_API ndMatrix operator* (const ndMatrix &B) const;
Expand Down Expand Up @@ -142,167 +142,5 @@ inline const ndVector& ndMatrix::operator[] (ndInt32 i) const
return (&m_front)[i];
}

inline ndMatrix ndMatrix::Transpose3x3 () const
{
ndMatrix inv;
ndVector::Transpose4x4(inv[0], inv[1], inv[2], inv[3], m_front, m_up, m_right, ndVector::m_wOne);
return inv;
}

inline ndMatrix ndMatrix::Transpose4X4 () const
{
ndMatrix inv;
ndVector::Transpose4x4(inv[0], inv[1], inv[2], inv[3], m_front, m_up, m_right, m_posit);
return inv;
}

inline ndVector ndMatrix::RotateVector (const ndVector &v) const
{
return m_front * v.BroadcastX() + m_up * v.BroadcastY() + m_right * v.BroadcastZ();
}

inline ndVector ndMatrix::UnrotateVector (const ndVector &v) const
{
return v.OptimizedVectorUnrotate(m_front, m_up, m_right);
}

inline ndVector ndMatrix::TransformVector (const ndVector &v) const
{
return m_front * v.BroadcastX() + m_up * v.BroadcastY() + m_right * v.BroadcastZ() + m_posit;
}

inline ndVector ndMatrix::TransformVector1x4(const ndVector &v) const
{
return m_front * v.BroadcastX() + m_up * v.BroadcastY() + m_right * v.BroadcastZ() + m_posit * v.BroadcastW();
}

inline ndVector ndMatrix::UntransformVector (const ndVector &v) const
{
return UnrotateVector(v - m_posit) | ndVector::m_wOne;
}

inline ndPlane ndMatrix::TransformPlane (const ndPlane &localPlane) const
{
return ndPlane (RotateVector (localPlane), localPlane.m_w - (localPlane.DotProduct(UnrotateVector (m_posit)).GetScalar()));
}

inline ndPlane ndMatrix::UntransformPlane (const ndPlane &globalPlane) const
{
return ndPlane (UnrotateVector (globalPlane), globalPlane.Evalue(m_posit));
}

inline ndMatrix ndMatrix::Inverse() const
{
ndTrace(("funtion: %s deprecated, please use ndMatrix::OrthoInverse instead", __FUNCTION__));
ndAssert(0);
return OrthoInverse();
}

inline ndMatrix ndMatrix::OrthoInverse () const
{
ndMatrix inv;
ndVector::Transpose4x4 (inv[0], inv[1], inv[2], inv[3], m_front, m_up, m_right, ndVector::m_wOne);
inv.m_posit -= inv[0] * m_posit.BroadcastX() + inv[1] * m_posit.BroadcastY() + inv[2] * m_posit.BroadcastZ();
return inv;
}

inline bool ndMatrix::TestIdentity() const
{
const ndMatrix& me = *this;
for (ndInt32 i = 0; i < 4; ++i)
{
if (me[i][i] != ndFloat32 (1.0f))
{
return false;
}
for (ndInt32 j = i + 1; j < 4; ++j)
{
if (me[i][j] != ndFloat32 (0.0f))
{
return false;
}
if (me[j][i] != ndFloat32(0.0f))
{
return false;
}
}
}
return true;
}

inline bool ndMatrix::TestOrthogonal(ndFloat32 tol) const
{
#ifdef _DEBUG
for (ndInt32 i = 0; i < 4; ++i)
{
for (ndInt32 j = 0; j < 4; ++j)
{
ndAssert(ndCheckFloat((*this)[i][j]));
}
}
#endif

ndVector n (m_front.CrossProduct(m_up));
ndFloat32 a = m_right.DotProduct(m_right).GetScalar();
ndFloat32 b = m_up.DotProduct(m_up).GetScalar();
ndFloat32 c = m_front.DotProduct(m_front).GetScalar();
ndFloat32 d = n.DotProduct(m_right).GetScalar();
bool ret = (m_front[3] == ndFloat32(0.0f)) &&
(m_up[3] == ndFloat32(0.0f)) &&
(m_right[3] == ndFloat32(0.0f)) &&
(m_posit[3] == ndFloat32(1.0f)) &&
(ndAbs(a - ndFloat32(1.0f)) < tol) &&
(ndAbs(b - ndFloat32(1.0f)) < tol) &&
(ndAbs(c - ndFloat32(1.0f)) < tol) &&
(ndAbs(d - ndFloat32(1.0f)) < tol);
if (!ret)
{
ndAssert (0);
}
return ret;
}

inline bool ndMatrix::TestSymetric3x3() const
{
const ndMatrix& me = *this;
return (ndAbs (me[0][1] - me[1][0]) < ndFloat32 (1.0e-5f)) &&
(ndAbs (me[0][2] - me[2][0]) < ndFloat32 (1.0e-5f)) &&
(ndAbs (me[1][2] - me[2][1]) < ndFloat32 (1.0e-5f)) &&
(me[0][3] == ndFloat32 (0.0f)) &&
(me[1][3] == ndFloat32 (0.0f)) &&
(me[2][3] == ndFloat32 (0.0f)) &&
(me[3][0] == ndFloat32 (0.0f)) &&
(me[3][1] == ndFloat32 (0.0f)) &&
(me[3][2] == ndFloat32 (0.0f)) &&
(me[3][3] == ndFloat32 (1.0f));
}

inline bool ndMatrix::SanityCheck() const
{
if (ndAbs(m_right.m_w) > ndFloat32(0.0f))
{
return false;
}
if (ndAbs(m_up.m_w) > ndFloat32(0.0f))
{
return false;
}
if (ndAbs(m_right.m_w) > ndFloat32(0.0f))
{
return false;
}
if (ndAbs(m_posit.m_w) != ndFloat32(1.0f))
{
return false;
}

ndVector right(m_front.CrossProduct(m_up));
if (ndAbs(right.DotProduct(m_right).GetScalar()) < ndFloat32(0.9999f))
{
return false;
}
return true;
}

#endif

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