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Optimize Matrix decomposition to use Matrix3x3 for rotation

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This commit is contained in:
Wojtek Figat
2024-02-20 17:51:48 +01:00
parent 9e747eb98a
commit 8fa8eeb094
7 changed files with 83 additions and 16 deletions
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16
Source/Engine/Core/Math/Matrix.cpp
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@@ -101,7 +101,7 @@ void Matrix::Decompose(Float3& scale, Float3& translation) const
void Matrix::Decompose(Transform& transform) const
{
Matrix rotationMatrix;
Matrix3x3 rotationMatrix;
Float3 translation;
Decompose(transform.Scale, rotationMatrix, translation);
transform.Translation = translation;
@@ -110,12 +110,12 @@ void Matrix::Decompose(Transform& transform) const
void Matrix::Decompose(Float3& scale, Quaternion& rotation, Float3& translation) const
{
Matrix rotationMatrix;
Matrix3x3 rotationMatrix;
Decompose(scale, rotationMatrix, translation);
Quaternion::RotationMatrix(rotationMatrix, rotation);
}
void Matrix::Decompose(Float3& scale, Matrix& rotation, Float3& translation) const
void Matrix::Decompose(Float3& scale, Matrix3x3& rotation, Float3& translation) const
{
// Get the translation
translation = Float3(M41, M42, M43);
@@ -127,7 +127,7 @@ void Matrix::Decompose(Float3& scale, Matrix& rotation, Float3& translation) con
Math::Sqrt(M31 * M31 + M32 * M32 + M33 * M33));
// If any of the scaling factors are zero, than the rotation matrix can not exist
rotation = Identity;
rotation = Matrix3x3::Identity;
if (scale.IsAnyZero())
return;
@@ -145,6 +145,14 @@ void Matrix::Decompose(Float3& scale, Matrix& rotation, Float3& translation) con
scale.Z = Float3::Dot(at, GetBackward()) > 0.0f ? scale.Z : -scale.Z;
}
void Matrix::Decompose(Float3& scale, Matrix& rotation, Float3& translation) const
{
// [Deprecated on 20.02.2024, expires on 20.02.2026]
Matrix3x3 r;
Decompose(scale, r, translation);
rotation = Matrix(r);
}
Matrix Matrix::Transpose(const Matrix& value)
{
Matrix result;