opt orthonormal matrix inversion

Author: XProger

src/camera.h

@@ -627,7 +627,7 @@ struct Camera : ICamera {
                 Core::mViewInv.scale(vec3(1.0f, -1.0f, 1.0f));
             }
 
-            Core::mView = Core::mViewInv.inverse();
+            Core::mView = Core::mViewInv.inverseOrtho();
             if (shake > 0.0f)
                 Core::mView.translate(vec3(0.0f, sinf(shake * PI * 7) * shake * 48.0f, 0.0f));
 

src/controller.h

@@ -743,7 +743,7 @@ struct Controller {
     }
 
     bool collide(const Sphere &sphere) {
-        return getBoundingBoxLocal().intersect(Sphere(getMatrix().inverse() * sphere.center, sphere.radius));
+        return getBoundingBoxLocal().intersect(Sphere(getMatrix().inverseOrtho() * sphere.center, sphere.radius));
     }
 
     vec3 trace(int fromRoom, const vec3 &from, const vec3 &to, int &room, bool isCamera) { // TODO: use Bresenham

src/frustum.h

@@ -47,7 +47,7 @@ struct Frustum {
     bool isVisible(const mat4 &matrix, const vec3 &min, const vec3 &max) {
         start = count;
         // transform clip planes (relative)
-        mat4 m = matrix.inverse();
+        mat4 m = matrix.inverseOrtho();
         for (int i = 0; i < count; i++) {
             vec4 &p = planes[i];
             vec4 o = m * vec4(p.xyz() * (-p.w), 1.0f);

src/inventory.h

@@ -1329,7 +1329,7 @@ struct Inventory {
 
         Core::mView.up()  *= -1.0f;
         Core::mView.dir() *= -1.0f;
-        Core::mViewInv = Core::mView.inverse();
+        Core::mViewInv = Core::mView.inverseOrtho();
 
         Core::mProj     = mat4(70.0f, aspect, 32.0f, 2048.0f);
         Core::setViewProj(Core::mView, Core::mProj);

src/level.h

@@ -1730,7 +1730,7 @@ struct Level : IGame {
         }
 
         Core::mViewInv  = mat4(pos, pos + dir, up);
-        Core::mView     = Core::mViewInv.inverse();
+        Core::mView     = Core::mViewInv.inverseOrtho();
         Core::mProj     = mat4(90, 1.0f, camera->znear, camera->zfar);
         Core::mViewProj = Core::mProj * Core::mView;
         Core::viewPos   = Core::mViewInv.offset().xyz();
@@ -1742,7 +1742,7 @@ struct Level : IGame {
         vec3 pos = player->getBoundingBox().center();
 
         Core::mViewInv = mat4(player->mainLightPos, pos, vec3(0, -1, 0));
-        Core::mView    = Core::mViewInv.inverse();
+        Core::mView    = Core::mViewInv.inverseOrtho();
         Core::mProj    = mat4(90.0f, 1.0f, camera->znear, player->mainLightColor.w * 1.5f);
 
         mat4 bias;
@@ -1778,7 +1778,7 @@ struct Level : IGame {
 
     #ifdef _DEBUG
     void renderDebug() {
-        if (level.isTitle()) return;
+        if (level.isTitle() || inventory.titleTimer > 1.0f) return;
 
         Core::setViewport(0, 0, Core::width, Core::height);
         camera->setup(true);

src/utils.h

@@ -737,6 +737,18 @@ struct mat4 {
         return r;
     }
 
+    mat4 inverseOrtho() const {
+        mat4 r;
+        r.e00 =  e00; r.e10 = e01; r.e20 = e02; r.e30 = 0;
+        r.e01 =  e10; r.e11 = e11; r.e21 = e12; r.e31 = 0;
+        r.e02 =  e20; r.e12 = e21; r.e22 = e22; r.e32 = 0;
+        r.e03 = -(e03 * e00 + e13 * e10 + e23 * e20); // -dot(pos, right)
+        r.e13 = -(e03 * e01 + e13 * e11 + e23 * e21); // -dot(pos, up)
+        r.e23 = -(e03 * e02 + e13 * e12 + e23 * e22); // -dot(pos, dir)
+        r.e33 = 1;
+        return r;
+    }
+
     mat4 transpose() const {
         mat4 r;
         r.e00 = e00; r.e10 = e01; r.e20 = e02; r.e30 = e03;
@@ -1126,7 +1138,7 @@ struct Box {
     }
 
     bool intersect(const mat4 &matrix, const vec3 &rayPos, const vec3 &rayDir, float &t) const {
-        mat4 mInv = matrix.inverse();
+        mat4 mInv = matrix.inverseOrtho();
         return intersect(mInv * rayPos, (mInv * vec4(rayDir, 0)).xyz(), t);
     }
 };