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Add trace function for matrix types #280

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merged 3 commits into from
Nov 16, 2022
Merged

Add trace function for matrix types #280

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db49205
Add trace function for matrix types
zhai-xiao Nov 13, 2022
eec7caf
Add tests for the matrix trace function
zhai-xiao Nov 14, 2022
f2b2f6e
Fix issue in extractQuat introduced by incorrect use of matrix trace
zhai-xiao Nov 14, 2022
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30 changes: 30 additions & 0 deletions src/Imath/ImathMatrix.h
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Original file line number Diff line number Diff line change
Expand Up @@ -292,6 +292,9 @@ template <class T> class IMATH_EXPORT_TEMPLATE_TYPE Matrix22
/// Determinant
IMATH_HOSTDEVICE constexpr T determinant () const IMATH_NOEXCEPT;

/// Trace
IMATH_HOSTDEVICE constexpr T trace() const IMATH_NOEXCEPT;

/// Set matrix to rotation by r (in radians)
/// @return const referenced to this
template <class S>
Expand Down Expand Up @@ -678,6 +681,9 @@ template <class T> class IMATH_EXPORT_TEMPLATE_TYPE Matrix33
/// Determinant
IMATH_HOSTDEVICE constexpr T determinant () const IMATH_NOEXCEPT;

/// Trace
IMATH_HOSTDEVICE constexpr T trace() const IMATH_NOEXCEPT;

/// Set matrix to rotation by r (in radians)
/// @return const referenced to this
template <class S>
Expand Down Expand Up @@ -1162,6 +1168,9 @@ template <class T> class IMATH_EXPORT_TEMPLATE_TYPE Matrix44
/// Determinant
IMATH_HOSTDEVICE IMATH_CONSTEXPR14 T determinant () const IMATH_NOEXCEPT;

/// Trace
IMATH_HOSTDEVICE constexpr T trace() const IMATH_NOEXCEPT;

/// Set matrix to rotation by XYZ euler angles (in radians)
/// @return const referenced to this
template <class S>
Expand Down Expand Up @@ -1915,6 +1924,13 @@ Matrix22<T>::determinant () const IMATH_NOEXCEPT
return x[0][0] * x[1][1] - x[1][0] * x[0][1];
}

template <class T>
IMATH_HOSTDEVICE constexpr inline T
Matrix22<T>::trace () const IMATH_NOEXCEPT
{
return x[0][0] + x[1][1];
}

template <class T>
template <class S>
IMATH_HOSTDEVICE inline const Matrix22<T>&
Expand Down Expand Up @@ -3086,6 +3102,13 @@ Matrix33<T>::determinant () const IMATH_NOEXCEPT
x[0][2] * (x[1][0] * x[2][1] - x[1][1] * x[2][0]);
}

template <class T>
IMATH_HOSTDEVICE constexpr inline T
Matrix33<T>::trace () const IMATH_NOEXCEPT
{
return x[0][0] + x[1][1] + x[2][2];
}

template <class T>
template <class S>
IMATH_HOSTDEVICE inline const Matrix33<T>&
Expand Down Expand Up @@ -4592,6 +4615,13 @@ Matrix44<T>::determinant () const IMATH_NOEXCEPT
return sum;
}

template <class T>
IMATH_HOSTDEVICE constexpr inline T
Matrix44<T>::trace () const IMATH_NOEXCEPT
{
return x[0][0] + x[1][1] + x[2][2] + x[3][3];
}

template <class T>
template <class S>
IMATH_HOSTDEVICE inline const Matrix44<T>&
Expand Down
7 changes: 3 additions & 4 deletions src/Imath/ImathMatrixAlgo.h
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Expand Up @@ -779,18 +779,17 @@ extractQuat (const Matrix44<T>& mat)
{
Matrix44<T> rot;

T tr, s;
T s;
T q[4];
int i, j, k;
Quat<T> quat;

int nxt[3] = {1, 2, 0};
tr = mat[0][0] + mat[1][1] + mat[2][2];
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// check the diagonal
if (tr > 0.0)
if (mat.trace () > 0.0)
{
s = std::sqrt (tr + T (1.0));
s = std::sqrt (mat.trace () + T (1.0));
quat.r = s / T (2.0);
s = T (0.5) / s;

Expand Down