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Make matrix editable + add note about bugged behavior

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This commit is contained in:
Misode
2023-02-09 20:40:42 +01:00
parent 03ddf6011b
commit 8050e5cd74
2 changed files with 38 additions and 40 deletions
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19
src/app/Utils.ts
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@@ -426,7 +426,6 @@ function stepJacobi(m: mat3): quat {
mat3.mul(n, n, m)
mat3.copy(m, n)
}
// console.log('J1', q, m)
if (m[2] * m[2] + m[6] * m[6] > 1e-6) {
const pair = approxGivensQuat(m[0], 0.5 * (m[2] + m[6]), m[8])
const a = -pair[0]
@@ -446,7 +445,6 @@ function stepJacobi(m: mat3): quat {
mat3.mul(n, n, m)
mat3.copy(m, n)
}
// console.log('J2', q, m)
if (m[5] * m[5] + m[7] * m[7] > 1e-6) {
const [a, b] = approxGivensQuat(m[4], 0.5 * (m[5] + m[7]), m[8])
const r = quat.fromValues(a, 0, 0, b)
@@ -464,7 +462,6 @@ function stepJacobi(m: mat3): quat {
mat3.mul(n, n, m)
mat3.copy(m, n)
}
// console.log('J3', q, m)
return q
}
@@ -474,17 +471,14 @@ export function svdDecompose(m: mat3): [quat, vec3, quat] {
const n = mat3.create()
mat3.transpose(n, m)
mat3.mul(n, n, m)
// console.log('A', n)
for (let i = 0; i < 5; i += 1) {
quat.mul(r, r, stepJacobi(n))
}
quat.normalize(r, r)
// console.log('B', r)
const p0 = mat3.create()
mat3.fromQuat(p0, r)
mat3.mul(p0, m, p0)
// console.log('C', p0)
let f = 1
const [a1, b1] = qrGivensQuat(p0[0], p0[1])
@@ -492,7 +486,6 @@ export function svdDecompose(m: mat3): [quat, vec3, quat] {
const d1 = -2 * a1 * b1
const e1 = b1 * b1 + a1 * a1
const s1 = quat.fromValues(0, 0, a1, b1)
// console.log('D', s1)
quat.mul(q, q, s1)
const p1 = mat3.create()
p1[0] = c1
@@ -502,7 +495,6 @@ export function svdDecompose(m: mat3): [quat, vec3, quat] {
p1[8] = e1
f *= e1
mat3.mul(p1, p1, p0)
// console.log('E', p1)
const pair = qrGivensQuat(p1[0], p1[2])
const a2 = -pair[0]
@@ -519,7 +511,6 @@ export function svdDecompose(m: mat3): [quat, vec3, quat] {
p2[6] = d2
p2[4] = e2
f *= e2
// console.log('H2', f, e2)
mat3.mul(p2, p2, p1)
const [a3, b3] = qrGivensQuat(p2[4], p2[5])
@@ -536,7 +527,6 @@ export function svdDecompose(m: mat3): [quat, vec3, quat] {
p3[0] = e3
f *= e3
mat3.mul(p3, p3, p2)
// console.log('G', p1)
f = 1 / f
quat.scale(q, q, Math.sqrt(f))
@@ -551,3 +541,12 @@ export function toAffine(m: mat4): mat4 {
mat4.scale(n, n, [a, a, a])
return n
}
export function composeMatrix(translation: vec3, leftRotation: quat, scale: vec3, rightRotation: quat) {
const m = mat4.create()
mat4.translate(m, m, translation)
mat4.mul(m, m, mat4.fromQuat(mat4.create(), leftRotation))
mat4.scale(m, m, scale)
mat4.mul(m, m, mat4.fromQuat(mat4.create(), rightRotation))
return m
}