Code formatting [skip ci]

include/math/Matrix.h

@@ -178,8 +178,6 @@ class Matrix {
      */
     void transpose();
 
-    float mMatrix[16]; //!< Data model, moved public for faster external renderer feedback use
-
   private:
 
     /*!
@@ -196,6 +194,8 @@ class Matrix {
      * \param result wil be set to resultant matrix value
      */
     static void multiply(const float a[16], const float b[16], float result[16]);
+
+    float mMatrix[16];
 };
 
 #endif

src/math/Matrix.cpp

@@ -34,10 +34,13 @@ bool Matrix::getInvert(float out[16]) {
     getTransposeMatrix(m);
 #endif
 
-    /* Mongoose: This code was from a Jeff Lander tutorial which was based
-       on MESA GL's InvertMatrix */
+    /*
+     * Mongoose: This code was from a Jeff Lander tutorial which was based
+     * on MESA GL's InvertMatrix.
+     *
+     * NB. OpenGL Matrices are COLUMN major
+     */
 
-    /* NB. OpenGL Matrices are COLUMN major. */
 #define SWAP_ROWS(a, b) { float *_tmp = a; (a)=(b); (b)=_tmp; }
 #define MAT(m,r,c) (m)[(c)*4+(r)]
 
@@ -45,115 +48,221 @@ bool Matrix::getInvert(float out[16]) {
     float m0, m1, m2, m3, s;
     float* r0, *r1, *r2, *r3;
 
-    r0 = wtmp[0], r1 = wtmp[1], r2 = wtmp[2], r3 = wtmp[3];
+    r0 = wtmp[0];
+    r1 = wtmp[1];
+    r2 = wtmp[2];
+    r3 = wtmp[3];
+
+    r0[0] = MAT(m, 0, 0);
+    r0[1] = MAT(m, 0, 1);
+    r0[2] = MAT(m, 0, 2);
+    r0[3] = MAT(m, 0, 3);
+    r0[4] = 1.0f;
+    r0[5] = r0[6] = r0[7] = 0.0f;
+
+    r1[0] = MAT(m, 1, 0);
+    r1[1] = MAT(m, 1, 1);
+    r1[2] = MAT(m, 1, 2);
+    r1[3] = MAT(m, 1, 3);
+    r1[5] = 1.0f;
+    r1[4] = r1[6] = r1[7] = 0.0f;
+
+    r2[0] = MAT(m, 2, 0);
+    r2[1] = MAT(m, 2, 1);
+    r2[2] = MAT(m, 2, 2);
+    r2[3] = MAT(m, 2, 3);
+    r2[6] = 1.0f;
+    r2[4] = r2[5] = r2[7] = 0.0f;
+
+    r3[0] = MAT(m, 3, 0);
+    r3[1] = MAT(m, 3, 1);
+    r3[2] = MAT(m, 3, 2);
+    r3[3] = MAT(m, 3, 3);
+    r3[7] = 1.0f;
+    r3[4] = r3[5] = r3[6] = 0.0f;
+
+    // choose pivot or die
+    if (fabs(r3[0]) > fabs(r2[0]))
+        SWAP_ROWS(r3, r2);
+
+    if (fabs(r2[0]) > fabs(r1[0]))
+        SWAP_ROWS(r2, r1);
+
+    if (fabs(r1[0]) > fabs(r0[0]))
+        SWAP_ROWS(r1, r0);
+
+    if (0.0f == r0[0])
+        return false;
+
+    // eliminate first variable
+    m1 = r1[0] / r0[0];
+    m2 = r2[0] / r0[0];
+    m3 = r3[0] / r0[0];
+
+    s = r0[1];
+    r1[1] -= m1 * s;
+    r2[1] -= m2 * s;
+    r3[1] -= m3 * s;
+
+    s = r0[2];
+    r1[2] -= m1 * s;
+    r2[2] -= m2 * s;
+    r3[2] -= m3 * s;
+
+    s = r0[3];
+    r1[3] -= m1 * s;
+    r2[3] -= m2 * s;
+    r3[3] -= m3 * s;
 
-    r0[0] = MAT(m, 0, 0), r0[1] = MAT(m, 0, 1),
-                                  r0[2] = MAT(m, 0, 2), r0[3] = MAT(m, 0, 3),
-                                          r0[4] = 1.0f, r0[5] = r0[6] = r0[7] = 0.0f,
+    s = r0[4];
+    if (s != 0.0f) {
+        r1[4] -= m1 * s;
+        r2[4] -= m2 * s;
+        r3[4] -= m3 * s;
+    }
 
-                                                  r1[0] = MAT(m, 1, 0), r1[1] = MAT(m, 1, 1),
-                                                          r1[2] = MAT(m, 1, 2), r1[3] = MAT(m, 1, 3),
-                                                                  r1[5] = 1.0f, r1[4] = r1[6] = r1[7] = 0.0f,
+    s = r0[5];
+    if (s != 0.0f) {
+        r1[5] -= m1 * s;
+        r2[5] -= m2 * s;
+        r3[5] -= m3 * s;
+    }
 
-                                                                          r2[0] = MAT(m, 2, 0), r2[1] = MAT(m, 2, 1),
-                                                                                  r2[2] = MAT(m, 2, 2), r2[3] = MAT(m, 2, 3),
-                                                                                          r2[6] = 1.0f, r2[4] = r2[5] = r2[7] = 0.0f,
+    s = r0[6];
+    if (s != 0.0f) {
+        r1[6] -= m1 * s;
+        r2[6] -= m2 * s;
+        r3[6] -= m3 * s;
+    }
 
-                                                                                                  r3[0] = MAT(m, 3, 0), r3[1] = MAT(m, 3, 1),
-                                                                                                          r3[2] = MAT(m, 3, 2), r3[3] = MAT(m, 3, 3),
-                                                                                                                  r3[7] = 1.0f, r3[4] = r3[5] = r3[6] = 0.0f;
+    s = r0[7];
+    if (s != 0.0f) {
+        r1[7] -= m1 * s;
+        r2[7] -= m2 * s;
+        r3[7] -= m3 * s;
+    }
 
-    /* choose pivot - or die */
-    if (fabs(r3[0]) > fabs(r2[0])) SWAP_ROWS(r3, r2);
-    if (fabs(r2[0]) > fabs(r1[0])) SWAP_ROWS(r2, r1);
-    if (fabs(r1[0]) > fabs(r0[0])) SWAP_ROWS(r1, r0);
-    if (0.0f == r0[0])  return false;
+    // choose pivot or die
+    if (fabs(r3[1]) > fabs(r2[1]))
+        SWAP_ROWS(r3, r2);
 
-    /* eliminate first variable     */
-    m1 = r1[0] / r0[0]; m2 = r2[0] / r0[0]; m3 = r3[0] / r0[0];
-    s = r0[1]; r1[1] -= m1 * s; r2[1] -= m2 * s; r3[1] -= m3 * s;
-    s = r0[2]; r1[2] -= m1 * s; r2[2] -= m2 * s; r3[2] -= m3 * s;
-    s = r0[3]; r1[3] -= m1 * s; r2[3] -= m2 * s; r3[3] -= m3 * s;
-    s = r0[4];
-    if (s != 0.0f) { r1[4] -= m1 * s; r2[4] -= m2 * s; r3[4] -= m3 * s; }
-    s = r0[5];
-    if (s != 0.0f) { r1[5] -= m1 * s; r2[5] -= m2 * s; r3[5] -= m3 * s; }
-    s = r0[6];
-    if (s != 0.0f) { r1[6] -= m1 * s; r2[6] -= m2 * s; r3[6] -= m3 * s; }
-    s = r0[7];
-    if (s != 0.0f) { r1[7] -= m1 * s; r2[7] -= m2 * s; r3[7] -= m3 * s; }
+    if (fabs(r2[1]) > fabs(r1[1]))
+        SWAP_ROWS(r2, r1);
 
-    /* choose pivot - or die */
-    if (fabs(r3[1]) > fabs(r2[1])) SWAP_ROWS(r3, r2);
-    if (fabs(r2[1]) > fabs(r1[1])) SWAP_ROWS(r2, r1);
-    if (0.0f == r1[1])  return false;
+    if (0.0f == r1[1])
+        return false;
+
+    // eliminate second variable
+    m2 = r2[1] / r1[1];
+    m3 = r3[1] / r1[1];
+    r2[2] -= m2 * r1[2];
+    r3[2] -= m3 * r1[2];
+    r2[3] -= m2 * r1[3];
+    r3[3] -= m3 * r1[3];
 
-    /* eliminate second variable */
-    m2 = r2[1] / r1[1]; m3 = r3[1] / r1[1];
-    r2[2] -= m2 * r1[2]; r3[2] -= m3 * r1[2];
-    r2[3] -= m2 * r1[3]; r3[3] -= m3 * r1[3];
     s = r1[4];
-    if (0.0f != s) { r2[4] -= m2 * s; r3[4] -= m3 * s; }
+    if (0.0f != s) {
+        r2[4] -= m2 * s;
+        r3[4] -= m3 * s;
+    }
+
     s = r1[5];
-    if (0.0f != s) { r2[5] -= m2 * s; r3[5] -= m3 * s; }
+    if (0.0f != s) {
+        r2[5] -= m2 * s;
+        r3[5] -= m3 * s;
+    }
+
     s = r1[6];
-    if (0.0f != s) { r2[6] -= m2 * s; r3[6] -= m3 * s; }
+    if (0.0f != s) {
+        r2[6] -= m2 * s;
+        r3[6] -= m3 * s;
+    }
+
     s = r1[7];
-    if (0.0f != s) { r2[7] -= m2 * s; r3[7] -= m3 * s; }
+    if (0.0f != s) {
+        r2[7] -= m2 * s;
+        r3[7] -= m3 * s;
+    }
 
-    /* choose pivot - or die */
+    // choose pivot or die
     if (fabs(r3[2]) > fabs(r2[2])) SWAP_ROWS(r3, r2);
     if (0.0f == r2[2])  return false;
 
-    /* eliminate third variable */
+    // eliminate third variable
     m3 = r3[2] / r2[2];
-    r3[3] -= m3 * r2[3], r3[4] -= m3 * r2[4],
-                                  r3[5] -= m3 * r2[5], r3[6] -= m3 * r2[6],
-                                           r3[7] -= m3 * r2[7];
-
-    /* last check */
-    if (0.0f == r3[3]) return false;
+    r3[3] -= m3 * r2[3];
+    r3[4] -= m3 * r2[4];
+    r3[5] -= m3 * r2[5];
+    r3[6] -= m3 * r2[6];
+    r3[7] -= m3 * r2[7];
+
+    // last check
+    if (0.0f == r3[3])
+        return false;
+
+    s = 1.0f / r3[3]; // now back substitute row 3
+    r3[4] *= s;
+    r3[5] *= s;
+    r3[6] *= s;
+    r3[7] *= s;
+
+    m2 = r2[3]; // now back substitute row 2
+    s = 1.0f / r2[2];
+    r2[4] = s * (r2[4] - r3[4] * m2);
+    r2[5] = s * (r2[5] - r3[5] * m2);
+    r2[6] = s * (r2[6] - r3[6] * m2);
+    r2[7] = s * (r2[7] - r3[7] * m2);
 
-    s = 1.0f / r3[3];            /* now back substitute row 3 */
-    r3[4] *= s; r3[5] *= s; r3[6] *= s; r3[7] *= s;
-
-    m2 = r2[3];                 /* now back substitute row 2 */
-    s  = 1.0f / r2[2];
-    r2[4] = s * (r2[4] - r3[4] * m2), r2[5] = s * (r2[5] - r3[5] * m2),
-            r2[6] = s * (r2[6] - r3[6] * m2), r2[7] = s * (r2[7] - r3[7] * m2);
     m1 = r1[3];
-    r1[4] -= r3[4] * m1, r1[5] -= r3[5] * m1,
-                                  r1[6] -= r3[6] * m1, r1[7] -= r3[7] * m1;
+    r1[4] -= r3[4] * m1;
+    r1[5] -= r3[5] * m1;
+    r1[6] -= r3[6] * m1;
+    r1[7] -= r3[7] * m1;
+
     m0 = r0[3];
-    r0[4] -= r3[4] * m0, r0[5] -= r3[5] * m0,
-                                  r0[6] -= r3[6] * m0, r0[7] -= r3[7] * m0;
+    r0[4] -= r3[4] * m0;
+    r0[5] -= r3[5] * m0;
+    r0[6] -= r3[6] * m0;
+    r0[7] -= r3[7] * m0;
+
+    m1 = r1[2]; // now back substitute row 1
+    s = 1.0f / r1[1];
+    r1[4] = s * (r1[4] - r2[4] * m1);
+    r1[5] = s * (r1[5] - r2[5] * m1);
+    r1[6] = s * (r1[6] - r2[6] * m1);
+    r1[7] = s * (r1[7] - r2[7] * m1);
 
-    m1 = r1[2];                 /* now back substitute row 1 */
-    s  = 1.0f / r1[1];
-    r1[4] = s * (r1[4] - r2[4] * m1), r1[5] = s * (r1[5] - r2[5] * m1),
-            r1[6] = s * (r1[6] - r2[6] * m1), r1[7] = s * (r1[7] - r2[7] * m1);
     m0 = r0[2];
-    r0[4] -= r2[4] * m0, r0[5] -= r2[5] * m0,
-                                  r0[6] -= r2[6] * m0, r0[7] -= r2[7] * m0;
-
-    m0 = r0[1];                 /* now back substitute row 0 */
-    s  = 1.0f / r0[0];
-    r0[4] = s * (r0[4] - r1[4] * m0), r0[5] = s * (r0[5] - r1[5] * m0),
-            r0[6] = s * (r0[6] - r1[6] * m0), r0[7] = s * (r0[7] - r1[7] * m0);
+    r0[4] -= r2[4] * m0;
+    r0[5] -= r2[5] * m0;
+    r0[6] -= r2[6] * m0;
+    r0[7] -= r2[7] * m0;
+
+    m0 = r0[1]; // now back substitute row 0
+    s = 1.0f / r0[0];
+    r0[4] = s * (r0[4] - r1[4] * m0);
+    r0[5] = s * (r0[5] - r1[5] * m0);
+    r0[6] = s * (r0[6] - r1[6] * m0);
+    r0[7] = s * (r0[7] - r1[7] * m0);
 
     MAT(out, 0, 0) = r0[4];
-    MAT(out, 0, 1) = r0[5], MAT(out, 0, 2) = r0[6];
-    MAT(out, 0, 3) = r0[7], MAT(out, 1, 0) = r1[4];
-    MAT(out, 1, 1) = r1[5], MAT(out, 1, 2) = r1[6];
-    MAT(out, 1, 3) = r1[7], MAT(out, 2, 0) = r2[4];
-    MAT(out, 2, 1) = r2[5], MAT(out, 2, 2) = r2[6];
-    MAT(out, 2, 3) = r2[7], MAT(out, 3, 0) = r3[4];
-    MAT(out, 3, 1) = r3[5], MAT(out, 3, 2) = r3[6];
+    MAT(out, 0, 1) = r0[5];
+    MAT(out, 0, 2) = r0[6];
+    MAT(out, 0, 3) = r0[7];
+    MAT(out, 1, 0) = r1[4];
+    MAT(out, 1, 1) = r1[5];
+    MAT(out, 1, 2) = r1[6];
+    MAT(out, 1, 3) = r1[7];
+    MAT(out, 2, 0) = r2[4];
+    MAT(out, 2, 1) = r2[5];
+    MAT(out, 2, 2) = r2[6];
+    MAT(out, 2, 3) = r2[7];
+    MAT(out, 3, 0) = r3[4];
+    MAT(out, 3, 1) = r3[5];
+    MAT(out, 3, 2) = r3[6];
     MAT(out, 3, 3) = r3[7];
 
     return true;
-#undef MAT
-#undef SWAP_ROWS
 }
 
 void Matrix::getMatrix(float mat[16]) {
@@ -224,16 +333,6 @@ void Matrix::print() {
 }
 
 bool Matrix::isIdentity() {
-    // Hhhmm... floating point using direct comparisons
-    /*
-    if (mMatrix[ 0] == 1 && mMatrix[ 1] == 0 && mMatrix[ 2] == 0 &&
-            mMatrix[ 3] == 0 &&    mMatrix[ 4] == 0 && mMatrix[ 5] == 1 &&
-            mMatrix[ 6] == 0 && mMatrix[ 7] == 0 && mMatrix[ 8] == 0 &&
-            mMatrix[ 9] == 0 && mMatrix[10] == 1 && mMatrix[11] == 0 &&
-            mMatrix[12] == 0 && mMatrix[13] == 0 && mMatrix[14] == 0 &&
-            mMatrix[15] == 1)
-        return true;
-    */
     if (equalEpsilon(mMatrix[ 0], 1.0) && equalEpsilon(mMatrix[ 1], 0.0)
         && equalEpsilon(mMatrix[ 2], 0.0) &&
         equalEpsilon(mMatrix[ 3], 0.0) && equalEpsilon(mMatrix[ 4], 0.0) && equalEpsilon(mMatrix[ 5], 1.0)

src/math/Vec3.cpp

@@ -98,8 +98,8 @@ Vec3& Vec3::operator *=(float s) {
 
 bool Vec3::operator ==(const Vec3& v) {
     return equalEpsilon(x, v.x)
-        && equalEpsilon(y, v.y)
-        && equalEpsilon(z, v.z);
+           && equalEpsilon(y, v.y)
+           && equalEpsilon(z, v.z);
 }
 
 bool Vec3::operator !=(const Vec3& v) {