The open source OpenXR runtime
a/math: Make sure it's safe to pass in the result as either left or right
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-20
+3
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src/xrt/auxiliary/math/m_api.h
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-3
src/xrt/auxiliary/math/m_api.h
···
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void
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math_matrix_2x2_multiply(const struct xrt_matrix_2x2 *left,
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const struct xrt_matrix_2x2 *right,
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struct xrt_matrix_2x2 *result);
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struct xrt_matrix_2x2 *result_out);
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void
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math_matrix_3x3_transform_vec3(const struct xrt_matrix_3x3 *left,
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const struct xrt_vec3 *right,
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struct xrt_vec3 *result);
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struct xrt_vec3 *result_out);
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/*!
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* Multiply Matrix3x3.
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void
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math_matrix_3x3_multiply(const struct xrt_matrix_3x3 *left,
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const struct xrt_matrix_3x3 *right,
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struct xrt_matrix_3x3 *result);
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struct xrt_matrix_3x3 *result_out);
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/*!
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* Invert Matrix3x3
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src/xrt/auxiliary/math/m_base.cpp
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src/xrt/auxiliary/math/m_base.cpp
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void
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math_matrix_2x2_multiply(const struct xrt_matrix_2x2 *left,
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const struct xrt_matrix_2x2 *right,
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struct xrt_matrix_2x2 *result)
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struct xrt_matrix_2x2 *result_out)
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{
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result->v[0] = left->v[0] * right->v[0] + left->v[1] * right->v[2];
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result->v[1] = left->v[0] * right->v[1] + left->v[1] * right->v[3];
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result->v[2] = left->v[2] * right->v[0] + left->v[3] * right->v[2];
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result->v[3] = left->v[2] * right->v[1] + left->v[3] * right->v[3];
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const struct xrt_matrix_2x2 l = *left;
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const struct xrt_matrix_2x2 r = *right;
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struct xrt_matrix_2x2 result = {{
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l.v[0] * r.v[0] + l.v[1] * r.v[2],
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l.v[0] * r.v[1] + l.v[1] * r.v[3],
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l.v[2] * r.v[0] + l.v[3] * r.v[2],
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l.v[2] * r.v[1] + l.v[3] * r.v[3],
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}};
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*result_out = result;
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}
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extern "C" void
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math_matrix_3x3_transform_vec3(const struct xrt_matrix_3x3 *left, const struct xrt_vec3 *right, struct xrt_vec3 *result)
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math_matrix_3x3_transform_vec3(const struct xrt_matrix_3x3 *left,
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const struct xrt_vec3 *right,
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struct xrt_vec3 *result_out)
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{
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Eigen::Matrix3f m;
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m << left->v[0], left->v[1], left->v[2], // 1
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left->v[3], left->v[4], left->v[5], // 2
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left->v[6], left->v[7], left->v[8]; // 3
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map_vec3(*result) = m * copy(right);
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map_vec3(*result_out) = m * copy(right);
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}
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extern "C" void
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math_matrix_3x3_multiply(const struct xrt_matrix_3x3 *left,
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const struct xrt_matrix_3x3 *right,
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struct xrt_matrix_3x3 *result)
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struct xrt_matrix_3x3 *result_out)
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{
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result->v[0] = left->v[0] * right->v[0] + left->v[1] * right->v[3] + left->v[2] * right->v[6];
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result->v[1] = left->v[0] * right->v[1] + left->v[1] * right->v[4] + left->v[2] * right->v[7];
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result->v[2] = left->v[0] * right->v[2] + left->v[1] * right->v[5] + left->v[2] * right->v[8];
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const struct xrt_matrix_3x3 l = *left;
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const struct xrt_matrix_3x3 r = *right;
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result->v[3] = left->v[3] * right->v[0] + left->v[4] * right->v[3] + left->v[5] * right->v[6];
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result->v[4] = left->v[3] * right->v[1] + left->v[4] * right->v[4] + left->v[5] * right->v[7];
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result->v[5] = left->v[3] * right->v[2] + left->v[4] * right->v[5] + left->v[5] * right->v[8];
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struct xrt_matrix_3x3 result = {{
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l.v[0] * r.v[0] + l.v[1] * r.v[3] + l.v[2] * r.v[6],
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l.v[0] * r.v[1] + l.v[1] * r.v[4] + l.v[2] * r.v[7],
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l.v[0] * r.v[2] + l.v[1] * r.v[5] + l.v[2] * r.v[8],
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l.v[3] * r.v[0] + l.v[4] * r.v[3] + l.v[5] * r.v[6],
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l.v[3] * r.v[1] + l.v[4] * r.v[4] + l.v[5] * r.v[7],
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l.v[3] * r.v[2] + l.v[4] * r.v[5] + l.v[5] * r.v[8],
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l.v[6] * r.v[0] + l.v[7] * r.v[3] + l.v[8] * r.v[6],
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l.v[6] * r.v[1] + l.v[7] * r.v[4] + l.v[8] * r.v[7],
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l.v[6] * r.v[2] + l.v[7] * r.v[5] + l.v[8] * r.v[8],
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}};
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result->v[6] = left->v[6] * right->v[0] + left->v[7] * right->v[3] + left->v[8] * right->v[6];
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result->v[7] = left->v[6] * right->v[1] + left->v[7] * right->v[4] + left->v[8] * right->v[7];
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result->v[8] = left->v[6] * right->v[2] + left->v[7] * right->v[5] + left->v[8] * right->v[8];
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*result_out = result;
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}
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extern "C" void