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Apply svdDecompose fixes from 1.19.4-pre4

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This commit is contained in:
Misode
2023-03-08 22:09:04 +01:00
parent 4502725bf8
commit e50a6a04be
2 changed files with 23 additions and 36 deletions
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42
src/app/Utils.ts
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@@ -396,7 +396,7 @@ function approxGivensQuat(a: number, b: number, c: number): [number, number] {
}
}
function qrGivensQuat(a: number, b: number) {
function qrGivensQuat(a: number, b: number): [number, number] {
const c = Math.hypot(a, b)
let d = c > 1e-6 ? b : 0
let e = Math.abs(a) + Math.max(c, 1e-6)
@@ -407,22 +407,20 @@ function qrGivensQuat(a: number, b: number) {
return [d * f, e * f]
}
// modifies the passed mat3
// modifies the passed matrix
function stepJacobi(m: Matrix3): quat {
const n = new Matrix3()
const q = quat.create()
if (m.m01 * m.m01 + m.m10 * m.m10 > 1e-6) {
const [a, b] = approxGivensQuat(m.m00, 0.5 * (m.m01 + m.m10), m.m11)
const r = quat.fromValues(0, 0, a, b)
const c = b * b - a * a
const d = -2 * a * b
const e = b * b + a * a
quat.mul(q, q, r)
const n = new Matrix3()
n.m00 = c
n.m11 = c
n.m01 = -d
n.m10 = d
n.m22 = e
m.mul(n)
n.transpose().mul(m)
m.copy(n)
@@ -434,13 +432,12 @@ function stepJacobi(m: Matrix3): quat {
const r = quat.fromValues(0, a, 0, b)
const c = b * b - a * a
const d = -2 * a * b
const e = b * b + a * a
quat.mul(q, q, r)
const n = new Matrix3()
n.m00 = c
n.m22 = c
n.m02 = d
n.m20 = -d
n.m11 = e
m.mul(n)
n.transpose().mul(m)
m.copy(n)
@@ -450,13 +447,12 @@ function stepJacobi(m: Matrix3): quat {
const r = quat.fromValues(a, 0, 0, b)
const c = b * b - a * a
const d = -2 * a * b
const e = b * b + a * a
quat.mul(q, q, r)
const n = new Matrix3()
n.m11 = c
n.m22 = c
n.m12 = -d
n.m21 = d
n.m00 = e
m.mul(n)
n.transpose().mul(m)
m.copy(n)
@@ -477,12 +473,12 @@ export function svdDecompose(m: Matrix3): [quat, Vector, quat] {
quat.normalize(r, r)
const p0 = m.clone()
.mul(Matrix3.fromQuat(r))
let f = 1
const [a1, b1] = qrGivensQuat(p0.m00, p0.m01)
const [a1, b1] = m.m00 < 1e-6
? qrGivensQuat(p0.m11, -p0.m10)
: qrGivensQuat(p0.m00, p0.m01)
const c1 = b1 * b1 - a1 * a1
const d1 = -2 * a1 * b1
const e1 = b1 * b1 + a1 * a1
const s1 = quat.fromValues(0, 0, a1, b1)
quat.mul(q, q, s1)
const p1 = new Matrix3()
@@ -490,16 +486,15 @@ export function svdDecompose(m: Matrix3): [quat, Vector, quat] {
p1.m11 = c1
p1.m01 = d1
p1.m10 = -d1
p1.m22 = e1
f *= e1
p1.mul(p0)
const pair = qrGivensQuat(p1.m00, p1.m02)
const pair = m.m00 < 1e-6
? qrGivensQuat(p1.m22, -p1.m20)
: qrGivensQuat(p1.m00, p1.m02)
const a2 = -pair[0]
const b2 = pair[1]
const c2 = b2 * b2 - a2 * a2
const d2 = -2 * a2 * b2
const e2 = b2 * b2 + a2 * a2
const s2 = quat.fromValues(0, a2, 0, b2)
quat.mul(q, q, s2)
const p2 = new Matrix3()
@@ -507,14 +502,13 @@ export function svdDecompose(m: Matrix3): [quat, Vector, quat] {
p2.m22 = c2
p2.m02 = -d2
p2.m20 = d2
p2.m11 = e2
f *= e2
p2.mul(p1)
const [a3, b3] = qrGivensQuat(p2.m11, p2.m12)
const [a3, b3] = m.m11 < 1e-6
? qrGivensQuat(p2.m22, -p2.m21)
: qrGivensQuat(p2.m11, p2.m12)
const c3 = b3 * b3 - a3 * a3
const d3 = -2 * a3 * b3
const e3 = b3 * b3 + a3 * a3
const s3 = quat.fromValues(a3, 0, 0, b3)
quat.mul(q, q, s3)
const p3 = new Matrix3()
@@ -522,13 +516,11 @@ export function svdDecompose(m: Matrix3): [quat, Vector, quat] {
p3.m22 = c3
p3.m12 = d3
p3.m21 = -d3
p3.m00 = e3
f *= e3
p3.mul(p2)
f = 1 / f
quat.scale(q, q, Math.sqrt(f))
const scale = new Vector(p3.m00 * f, p3.m11 * f, p3.m22 * f)
quat.scale(q, q, Math.sqrt(1))
const scale = new Vector(p3.m00, p3.m11, p3.m22)
quat.conjugate(r, r)
return [q, scale, r]
}