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Core/Misc: update g3dlite lib (#2904)

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* Core/Misc: update g3dlite lib

* update

Co-authored-by: Francesco Borzì <borzifrancesco@gmail.com>
This commit is contained in:
Viste
2020-07-30 13:35:45 +03:00
committed by GitHub
parent 91bbbf08eb
commit fcaf91b8b2
183 changed files with 13258 additions and 8022 deletions
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125
deps/g3dlite/source/Matrix.cpp vendored
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@@ -43,21 +43,21 @@ void Matrix::serialize(TextOutput& t) const {
std::string Matrix::toString(const std::string& name) const {
std::string s;
std::string s;
if (name != "") {
s += format("%s = \n", name.c_str());
}
s += "[";
s += "[";
for (int r = 0; r < rows(); ++r) {
for (int c = 0; c < cols(); ++c) {
double v = impl->get(r, c);
if (::fabs(v) < 0.00001) {
// Don't print "negative zero"
if (::fabs(v) < 0.00001) {
// Don't print "negative zero"
s += format("% 10.04g", 0.0);
} else if (v == iRound(v)) {
} else if (v == iRound(v)) {
// Print integers nicely
s += format("% 10.04g", v);
} else {
@@ -68,20 +68,20 @@ std::string Matrix::toString(const std::string& name) const {
s += ",";
} else if (r < rows() - 1) {
s += ";\n ";
} else {
s += "]\n";
}
} else {
s += "]\n";
}
}
}
return s;
return s;
}
#define INPLACE(OP)\
ImplRef A = impl;\
\
if (! A.isLastReference()) {\
impl = new Impl(A->R, A->C);\
if (! A.unique()) {\
impl.reset(new Impl(A->R, A->C));\
}\
\
A->OP(B, *impl);
@@ -157,9 +157,9 @@ Matrix Matrix::fromDiagonal(const Matrix& d) {
}
void Matrix::set(int r, int c, T v) {
if (! impl.isLastReference()) {
if (! impl.unique()) {
// Copy the data before mutating; this object is shared
impl = new Impl(*impl);
impl.reset(new Impl(*impl));
}
impl->set(r, c, v);
}
@@ -174,9 +174,9 @@ void Matrix::setRow(int r, const Matrix& vec) {
debugAssert(r >= 0);
debugAssert(r < rows());
if (! impl.isLastReference()) {
if (! impl.unique()) {
// Copy the data before mutating; this object is shared
impl = new Impl(*impl);
impl.reset(new Impl(*impl));
}
impl->setRow(r, vec.impl->data);
}
@@ -192,9 +192,9 @@ void Matrix::setCol(int c, const Matrix& vec) {
debugAssert(c < cols());
if (! impl.isLastReference()) {
if (! impl.unique()) {
// Copy the data before mutating; this object is shared
impl = new Impl(*impl);
impl.reset(new Impl(*impl));
}
impl->setCol(c, vec.impl->data);
}
@@ -272,7 +272,7 @@ Matrix Matrix::identity(int N) {
// Implement an explicit-output unary method by trampolining to the impl
#define TRAMPOLINE_EXPLICIT_1(method)\
void Matrix::method(Matrix& out) const {\
if ((out.impl == impl) && impl.isLastReference()) {\
if ((out.impl == impl) && impl.unique()) {\
impl->method(*out.impl);\
} else {\
out = this->method();\
@@ -289,8 +289,8 @@ TRAMPOLINE_EXPLICIT_1(arraySin)
void Matrix::mulRow(int r, const T& v) {
debugAssert(r >= 0 && r < rows());
if (! impl.isLastReference()) {
impl = new Impl(*impl);
if (! impl.unique()) {
impl.reset(new Impl(*impl));
}
impl->mulRow(r, v);
@@ -298,7 +298,7 @@ void Matrix::mulRow(int r, const T& v) {
void Matrix::transpose(Matrix& out) const {
if ((out.impl == impl) && impl.isLastReference() && (impl->R == impl->C)) {
if ((out.impl == impl) && impl.unique() && (impl->R == impl->C)) {
// In place
impl->transpose(*out.impl);
} else {
@@ -369,8 +369,8 @@ void Matrix::swapRows(int r0, int r1) {
return;
}
if (! impl.isLastReference()) {
impl = new Impl(*impl);
if (! impl.unique()) {
impl.reset(new Impl(*impl));
}
impl->swapRows(r0, r1);
@@ -385,8 +385,8 @@ void Matrix::swapAndNegateCols(int c0, int c1) {
return;
}
if (! impl.isLastReference()) {
impl = new Impl(*impl);
if (! impl.unique()) {
impl.reset(new Impl(*impl));
}
impl->swapAndNegateCols(c0, c1);
@@ -432,15 +432,15 @@ void Matrix::svd(Matrix& U, Array<T>& d, Matrix& V, bool sort) const {
int C = cols();
// Make sure we don't overwrite a shared matrix
if (! V.impl.isLastReference()) {
if (! V.impl.unique()) {
V = Matrix::zero(C, C);
} else {
V.impl->setSize(C, C);
}
if (&U != this || ! impl.isLastReference()) {
if (&U != this || ! impl.unique()) {
// Make a copy of this for in-place SVD
U.impl = new Impl(*impl);
U.impl.reset(new Impl(*impl));
}
d.resize(C);
@@ -746,7 +746,7 @@ void Matrix::Impl::inverseViaAdjoint(Impl& out) const {
det += elt[0][r] * out.elt[r][0];
}
out.div(Matrix::T(det), out);
out.div(Matrix::T(det), out);
}
@@ -848,7 +848,7 @@ Matrix::T Matrix::Impl::determinant() const {
float cofactor10 = elt[1][2] * elt[2][0] - elt[1][0] * elt[2][2];
float cofactor20 = elt[1][0] * elt[2][1] - elt[1][1] * elt[2][0];
return Matrix::T(
return Matrix::T(
elt[0][0] * cofactor00 +
elt[0][1] * cofactor10 +
elt[0][2] * cofactor20);
@@ -896,10 +896,11 @@ Matrix Matrix::pseudoInverse(float tolerance) const {
Public function for testing purposes only. Use pseudoInverse(), as it contains optimizations for
nonsingular matrices with at least one small (<5) dimension.
*/
// See http://en.wikipedia.org/wiki/Moore%E2%80%93Penrose_pseudoinverse
Matrix Matrix::svdPseudoInverse(float tolerance) const {
if (cols() > rows()) {
return transpose().svdPseudoInverse(tolerance).transpose();
}
if (cols() > rows()) {
return transpose().svdPseudoInverse(tolerance).transpose();
}
// Matrices from SVD
Matrix U, V;
@@ -907,32 +908,32 @@ Matrix Matrix::svdPseudoInverse(float tolerance) const {
// Diagonal elements
Array<T> d;
svd(U, d, V);
svd(U, d, V);
if (rows() == 1) {
d.resize(1, false);
}
if (tolerance < 0) {
// TODO: Should be eps(d[0]), which is the largest diagonal
tolerance = G3D::max(rows(), cols()) * 0.0001f;
}
if (tolerance < 0) {
// TODO: Should be eps(d[0]), which is the largest diagonal
tolerance = G3D::max(rows(), cols()) * 0.0001f;
}
Matrix X;
int r = 0;
for (int i = 0; i < d.size(); ++i) {
if (d[i] > tolerance) {
d[i] = Matrix::T(1) / d[i];
++r;
}
}
if (r == 0) {
// There were no non-zero elements
X = zero(cols(), rows());
} else {
// Use the first r columns
Matrix X;
int r = 0;
for (int i = 0; i < d.size(); ++i) {
if (d[i] > tolerance) {
d[i] = Matrix::T(1) / d[i];
++r;
}
}
if (r == 0) {
// There were no non-zero elements
X = zero(cols(), rows());
} else {
// Use the first r columns
// Test code (the rest is below)
/*
@@ -1003,7 +1004,8 @@ Matrix Matrix::svdPseudoInverse(float tolerance) const {
debugAssert(n < 0.0001);
*/
}
return X;
return X;
}
// Computes pseudoinverse for a vector
@@ -1426,7 +1428,7 @@ void Matrix::Impl::inverseInPlaceGaussJordan() {
elt[col][col] = 1.0;
for (int k = 0; k < R; ++k) {
elt[col][k] *= Matrix::T(pivotInverse);
elt[col][k] *= Matrix::T(pivotInverse);
}
// Reduce all rows
@@ -1438,7 +1440,7 @@ void Matrix::Impl::inverseInPlaceGaussJordan() {
elt[r][col] = 0.0;
for (int k = 0; k < R; ++k) {
elt[r][k] -= Matrix::T(elt[col][k] * oldValue);
elt[r][k] -= Matrix::T(elt[col][k] * oldValue);
}
}
}
@@ -1537,13 +1539,12 @@ const char* Matrix::svdCore(float** U, int rows, int cols, float* D, float** V)
f = (double)U[i][i];
// TODO: what is this 2-arg sign function?
g = -SIGN(sqrt(s), f);
g = -sign(f)*(sqrt(s));
h = f * g - s;
U[i][i] = (float)(f - g);
if (i != cols - 1) {
for (j = l; j < cols; j++) {
for (j = l; j < cols; ++j) {
for (s = 0.0, k = i; k < rows; ++k) {
s += ((double)U[k][i] * (double)U[k][j]);
@@ -1610,13 +1611,13 @@ const char* Matrix::svdCore(float** U, int rows, int cols, float* D, float** V)
for (i = cols - 1; i >= 0; --i) {
if (i < cols - 1) {
if (g) {
for (j = l; j < cols; j++) {
for (j = l; j < cols; ++j) {
V[j][i] = (float)(((double)U[i][j] / (double)U[i][l]) / g);
}
// double division to avoid underflow
for (j = l; j < cols; ++j) {
for (s = 0.0, k = l; k < cols; k++) {
for (s = 0.0, k = l; k < cols; ++k) {
s += ((double)U[i][k] * (double)V[k][j]);
}
@@ -1778,7 +1779,7 @@ const char* Matrix::svdCore(float** U, int rows, int cols, float* D, float** V)
}
f = (c * g) + (s * y);
x = (c * y) - (s * g);
for (jj = 0; jj < rows; jj++) {
for (jj = 0; jj < rows; ++jj) {
y = (double)U[jj][j];
z = (double)U[jj][i];
U[jj][j] = (float)(y * c + z * s);