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-rw-r--r--3rdparty/bx/src/math.cpp383
1 files changed, 136 insertions, 247 deletions
diff --git a/3rdparty/bx/src/math.cpp b/3rdparty/bx/src/math.cpp
index ba0676e96bf..4e3380a3774 100644
--- a/3rdparty/bx/src/math.cpp
+++ b/3rdparty/bx/src/math.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright 2011-2018 Branimir Karadzic. All rights reserved.
+ * Copyright 2011-2019 Branimir Karadzic. All rights reserved.
* License: https://github.com/bkaradzic/bx#license-bsd-2-clause
*/
@@ -239,87 +239,53 @@ namespace bx
return result;
}
- BX_CONST_FUNC float floor(float _a)
+ void mtxLookAt(float* _result, const Vec3& _eye, const Vec3& _at, const Vec3& _up, Handness::Enum _handness)
{
- if (_a < 0.0f)
- {
- const float fr = fract(-_a);
- const float result = -_a - fr;
-
- return -(0.0f != fr
- ? result + 1.0f
- : result)
- ;
- }
-
- return _a - fract(_a);
- }
-
- static void mtxLookAtImpl(float* _result, const Vec3& _eye, const Vec3& _view, const Vec3& _up)
- {
- const Vec3 uxv = cross(_up, _view);
+ const Vec3 view = normalize(
+ Handness::Right == _handness
+ ? sub(_eye, _at)
+ : sub(_at, _eye)
+ );
+ const Vec3 uxv = cross(_up, view);
const Vec3 right = normalize(uxv);
- const Vec3 up = cross(_view, right);
+ const Vec3 up = cross(view, right);
memSet(_result, 0, sizeof(float)*16);
_result[ 0] = right.x;
_result[ 1] = up.x;
- _result[ 2] = _view.x;
+ _result[ 2] = view.x;
_result[ 4] = right.y;
_result[ 5] = up.y;
- _result[ 6] = _view.y;
+ _result[ 6] = view.y;
_result[ 8] = right.z;
_result[ 9] = up.z;
- _result[10] = _view.z;
+ _result[10] = view.z;
_result[12] = -dot(right, _eye);
- _result[13] = -dot(up, _eye);
- _result[14] = -dot(_view, _eye);
+ _result[13] = -dot(up, _eye);
+ _result[14] = -dot(view, _eye);
_result[15] = 1.0f;
}
- void mtxLookAtLh(float* _result, const Vec3& _eye, const Vec3& _at, const Vec3& _up)
- {
- const Vec3 tmp = sub(_at, _eye);
- const Vec3 view = normalize(tmp);
-
- mtxLookAtImpl(_result, _eye, view, _up);
- }
-
- void mtxLookAtRh(float* _result, const Vec3& _eye, const Vec3& _at, const Vec3& _up)
- {
- const Vec3 tmp = sub(_eye, _at);
- const Vec3 view = normalize(tmp);
-
- mtxLookAtImpl(_result, _eye, view, _up);
- }
-
- void mtxLookAt(float* _result, const Vec3& _eye, const Vec3& _at, const Vec3& _up)
- {
- mtxLookAtLh(_result, _eye, _at, _up);
- }
-
- template<Handness::Enum HandnessT>
- void mtxProjXYWH(float* _result, float _x, float _y, float _width, float _height, float _near, float _far, bool _oglNdc)
+ static void mtxProjXYWH(float* _result, float _x, float _y, float _width, float _height, float _near, float _far, bool _homogeneousNdc, Handness::Enum _handness)
{
const float diff = _far-_near;
- const float aa = _oglNdc ? ( _far+_near)/diff : _far/diff;
- const float bb = _oglNdc ? (2.0f*_far*_near)/diff : _near*aa;
+ const float aa = _homogeneousNdc ? ( _far+_near)/diff : _far/diff;
+ const float bb = _homogeneousNdc ? (2.0f*_far*_near)/diff : _near*aa;
memSet(_result, 0, sizeof(float)*16);
_result[ 0] = _width;
_result[ 5] = _height;
- _result[ 8] = (Handness::Right == HandnessT) ? _x : -_x;
- _result[ 9] = (Handness::Right == HandnessT) ? _y : -_y;
- _result[10] = (Handness::Right == HandnessT) ? -aa : aa;
- _result[11] = (Handness::Right == HandnessT) ? -1.0f : 1.0f;
+ _result[ 8] = (Handness::Right == _handness) ? _x : -_x;
+ _result[ 9] = (Handness::Right == _handness) ? _y : -_y;
+ _result[10] = (Handness::Right == _handness) ? -aa : aa;
+ _result[11] = (Handness::Right == _handness) ? -1.0f : 1.0f;
_result[14] = -bb;
}
- template<Handness::Enum HandnessT>
- void mtxProjImpl(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc)
+ void mtxProj(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _homogeneousNdc, Handness::Enum _handness)
{
const float invDiffRl = 1.0f/(_rt - _lt);
const float invDiffUd = 1.0f/(_ut - _dt);
@@ -327,96 +293,47 @@ namespace bx
const float height = 2.0f*_near * invDiffUd;
const float xx = (_rt + _lt) * invDiffRl;
const float yy = (_ut + _dt) * invDiffUd;
- mtxProjXYWH<HandnessT>(_result, xx, yy, width, height, _near, _far, _oglNdc);
+ mtxProjXYWH(_result, xx, yy, width, height, _near, _far, _homogeneousNdc, _handness);
}
- template<Handness::Enum HandnessT>
- void mtxProjImpl(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc)
+ void mtxProj(float* _result, const float _fov[4], float _near, float _far, bool _homogeneousNdc, Handness::Enum _handness)
{
- mtxProjImpl<HandnessT>(_result, _fov[0], _fov[1], _fov[2], _fov[3], _near, _far, _oglNdc);
+ mtxProj(_result, _fov[0], _fov[1], _fov[2], _fov[3], _near, _far, _homogeneousNdc, _handness);
}
- template<Handness::Enum HandnessT>
- void mtxProjImpl(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc)
+ void mtxProj(float* _result, float _fovy, float _aspect, float _near, float _far, bool _homogeneousNdc, Handness::Enum _handness)
{
const float height = 1.0f/tan(toRad(_fovy)*0.5f);
const float width = height * 1.0f/_aspect;
- mtxProjXYWH<HandnessT>(_result, 0.0f, 0.0f, width, height, _near, _far, _oglNdc);
+ mtxProjXYWH(_result, 0.0f, 0.0f, width, height, _near, _far, _homogeneousNdc, _handness);
}
- void mtxProj(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc)
- {
- mtxProjImpl<Handness::Left>(_result, _ut, _dt, _lt, _rt, _near, _far, _oglNdc);
- }
-
- void mtxProj(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc)
- {
- mtxProjImpl<Handness::Left>(_result, _fov, _near, _far, _oglNdc);
- }
-
- void mtxProj(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc)
- {
- mtxProjImpl<Handness::Left>(_result, _fovy, _aspect, _near, _far, _oglNdc);
- }
-
- void mtxProjLh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc)
- {
- mtxProjImpl<Handness::Left>(_result, _ut, _dt, _lt, _rt, _near, _far, _oglNdc);
- }
-
- void mtxProjLh(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc)
- {
- mtxProjImpl<Handness::Left>(_result, _fov, _near, _far, _oglNdc);
- }
-
- void mtxProjLh(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc)
- {
- mtxProjImpl<Handness::Left>(_result, _fovy, _aspect, _near, _far, _oglNdc);
- }
-
- void mtxProjRh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _oglNdc)
- {
- mtxProjImpl<Handness::Right>(_result, _ut, _dt, _lt, _rt, _near, _far, _oglNdc);
- }
-
- void mtxProjRh(float* _result, const float _fov[4], float _near, float _far, bool _oglNdc)
- {
- mtxProjImpl<Handness::Right>(_result, _fov, _near, _far, _oglNdc);
- }
-
- void mtxProjRh(float* _result, float _fovy, float _aspect, float _near, float _far, bool _oglNdc)
- {
- mtxProjImpl<Handness::Right>(_result, _fovy, _aspect, _near, _far, _oglNdc);
- }
-
- template<NearFar::Enum NearFarT, Handness::Enum HandnessT>
- void mtxProjInfXYWH(float* _result, float _x, float _y, float _width, float _height, float _near, bool _oglNdc)
+ static void mtxProjInfXYWH(float* _result, float _x, float _y, float _width, float _height, float _near, bool _homogeneousNdc, Handness::Enum _handness, NearFar::Enum _nearFar)
{
float aa;
float bb;
- if (BX_ENABLED(NearFar::Reverse == NearFarT) )
+ if (NearFar::Reverse == _nearFar)
{
- aa = _oglNdc ? -1.0f : 0.0f;
- bb = _oglNdc ? -2.0f*_near : -_near;
+ aa = _homogeneousNdc ? -1.0f : 0.0f;
+ bb = _homogeneousNdc ? -2.0f*_near : -_near;
}
else
{
aa = 1.0f;
- bb = _oglNdc ? 2.0f*_near : _near;
+ bb = _homogeneousNdc ? 2.0f*_near : _near;
}
memSet(_result, 0, sizeof(float)*16);
_result[ 0] = _width;
_result[ 5] = _height;
- _result[ 8] = (Handness::Right == HandnessT) ? _x : -_x;
- _result[ 9] = (Handness::Right == HandnessT) ? _y : -_y;
- _result[10] = (Handness::Right == HandnessT) ? -aa : aa;
- _result[11] = (Handness::Right == HandnessT) ? -1.0f : 1.0f;
+ _result[ 8] = (Handness::Right == _handness) ? _x : -_x;
+ _result[ 9] = (Handness::Right == _handness) ? _y : -_y;
+ _result[10] = (Handness::Right == _handness) ? -aa : aa;
+ _result[11] = (Handness::Right == _handness) ? -1.0f : 1.0f;
_result[14] = -bb;
}
- template<NearFar::Enum NearFarT, Handness::Enum HandnessT>
- void mtxProjInfImpl(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc)
+ void mtxProjInf(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _homogeneousNdc, Handness::Enum _handness, NearFar::Enum _nearFar)
{
const float invDiffRl = 1.0f/(_rt - _lt);
const float invDiffUd = 1.0f/(_ut - _dt);
@@ -424,107 +341,29 @@ namespace bx
const float height = 2.0f*_near * invDiffUd;
const float xx = (_rt + _lt) * invDiffRl;
const float yy = (_ut + _dt) * invDiffUd;
- mtxProjInfXYWH<NearFarT,HandnessT>(_result, xx, yy, width, height, _near, _oglNdc);
+ mtxProjInfXYWH(_result, xx, yy, width, height, _near, _homogeneousNdc, _handness, _nearFar);
}
- template<NearFar::Enum NearFarT, Handness::Enum HandnessT>
- void mtxProjInfImpl(float* _result, const float _fov[4], float _near, bool _oglNdc)
+ void mtxProjInf(float* _result, const float _fov[4], float _near, bool _homogeneousNdc, Handness::Enum _handness, NearFar::Enum _nearFar)
{
- mtxProjInfImpl<NearFarT,HandnessT>(_result, _fov[0], _fov[1], _fov[2], _fov[3], _near, _oglNdc);
+ mtxProjInf(_result, _fov[0], _fov[1], _fov[2], _fov[3], _near, _homogeneousNdc, _handness, _nearFar);
}
- template<NearFar::Enum NearFarT, Handness::Enum HandnessT>
- void mtxProjInfImpl(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc)
+ void mtxProjInf(float* _result, float _fovy, float _aspect, float _near, bool _homogeneousNdc, Handness::Enum _handness, NearFar::Enum _nearFar)
{
const float height = 1.0f/tan(toRad(_fovy)*0.5f);
const float width = height * 1.0f/_aspect;
- mtxProjInfXYWH<NearFarT,HandnessT>(_result, 0.0f, 0.0f, width, height, _near, _oglNdc);
- }
-
- void mtxProjInf(float* _result, const float _fov[4], float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Default,Handness::Left>(_result, _fov, _near, _oglNdc);
- }
-
- void mtxProjInf(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Default,Handness::Left>(_result, _ut, _dt, _lt, _rt, _near, _oglNdc);
+ mtxProjInfXYWH(_result, 0.0f, 0.0f, width, height, _near, _homogeneousNdc, _handness, _nearFar);
}
- void mtxProjInf(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Default,Handness::Left>(_result, _fovy, _aspect, _near, _oglNdc);
- }
-
- void mtxProjInfLh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Default,Handness::Left>(_result, _ut, _dt, _lt, _rt, _near, _oglNdc);
- }
-
- void mtxProjInfLh(float* _result, const float _fov[4], float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Default,Handness::Left>(_result, _fov, _near, _oglNdc);
- }
-
- void mtxProjInfLh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Default,Handness::Left>(_result, _fovy, _aspect, _near, _oglNdc);
- }
-
- void mtxProjInfRh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Default,Handness::Right>(_result, _ut, _dt, _lt, _rt, _near, _oglNdc);
- }
-
- void mtxProjInfRh(float* _result, const float _fov[4], float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Default,Handness::Right>(_result, _fov, _near, _oglNdc);
- }
-
- void mtxProjInfRh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Default,Handness::Right>(_result, _fovy, _aspect, _near, _oglNdc);
- }
-
- void mtxProjRevInfLh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Reverse,Handness::Left>(_result, _ut, _dt, _lt, _rt, _near, _oglNdc);
- }
-
- void mtxProjRevInfLh(float* _result, const float _fov[4], float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Reverse,Handness::Left>(_result, _fov, _near, _oglNdc);
- }
-
- void mtxProjRevInfLh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Reverse,Handness::Left>(_result, _fovy, _aspect, _near, _oglNdc);
- }
-
- void mtxProjRevInfRh(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Reverse,Handness::Right>(_result, _ut, _dt, _lt, _rt, _near, _oglNdc);
- }
-
- void mtxProjRevInfRh(float* _result, const float _fov[4], float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Reverse,Handness::Right>(_result, _fov, _near, _oglNdc);
- }
-
- void mtxProjRevInfRh(float* _result, float _fovy, float _aspect, float _near, bool _oglNdc)
- {
- mtxProjInfImpl<NearFar::Reverse,Handness::Right>(_result, _fovy, _aspect, _near, _oglNdc);
- }
-
- template<Handness::Enum HandnessT>
- void mtxOrthoImpl(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc)
+ void mtxOrtho(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _homogeneousNdc, Handness::Enum _handness)
{
const float aa = 2.0f/(_right - _left);
const float bb = 2.0f/(_top - _bottom);
- const float cc = (_oglNdc ? 2.0f : 1.0f) / (_far - _near);
+ const float cc = (_homogeneousNdc ? 2.0f : 1.0f) / (_far - _near);
const float dd = (_left + _right )/(_left - _right);
const float ee = (_top + _bottom)/(_bottom - _top );
- const float ff = _oglNdc
+ const float ff = _homogeneousNdc
? (_near + _far)/(_near - _far)
: _near /(_near - _far)
;
@@ -532,28 +371,13 @@ namespace bx
memSet(_result, 0, sizeof(float)*16);
_result[ 0] = aa;
_result[ 5] = bb;
- _result[10] = (Handness::Right == HandnessT) ? -cc : cc;
+ _result[10] = Handness::Right == _handness ? -cc : cc;
_result[12] = dd + _offset;
_result[13] = ee;
_result[14] = ff;
_result[15] = 1.0f;
}
- void mtxOrtho(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc)
- {
- mtxOrthoImpl<Handness::Left>(_result, _left, _right, _bottom, _top, _near, _far, _offset, _oglNdc);
- }
-
- void mtxOrthoLh(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc)
- {
- mtxOrthoImpl<Handness::Left>(_result, _left, _right, _bottom, _top, _near, _far, _offset, _oglNdc);
- }
-
- void mtxOrthoRh(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _oglNdc)
- {
- mtxOrthoImpl<Handness::Right>(_result, _left, _right, _bottom, _top, _near, _far, _offset, _oglNdc);
- }
-
void mtxRotateX(float* _result, float _ax)
{
const float sx = sin(_ax);
@@ -694,15 +518,15 @@ namespace bx
void mtx3Inverse(float* _result, const float* _a)
{
- float xx = _a[0];
- float xy = _a[1];
- float xz = _a[2];
- float yx = _a[3];
- float yy = _a[4];
- float yz = _a[5];
- float zx = _a[6];
- float zy = _a[7];
- float zz = _a[8];
+ const float xx = _a[0];
+ const float xy = _a[1];
+ const float xz = _a[2];
+ const float yx = _a[3];
+ const float yy = _a[4];
+ const float yz = _a[5];
+ const float zx = _a[6];
+ const float zy = _a[7];
+ const float zz = _a[8];
float det = 0.0f;
det += xx * (yy*zz - yz*zy);
@@ -726,22 +550,22 @@ namespace bx
void mtxInverse(float* _result, const float* _a)
{
- float xx = _a[ 0];
- float xy = _a[ 1];
- float xz = _a[ 2];
- float xw = _a[ 3];
- float yx = _a[ 4];
- float yy = _a[ 5];
- float yz = _a[ 6];
- float yw = _a[ 7];
- float zx = _a[ 8];
- float zy = _a[ 9];
- float zz = _a[10];
- float zw = _a[11];
- float wx = _a[12];
- float wy = _a[13];
- float wz = _a[14];
- float ww = _a[15];
+ const float xx = _a[ 0];
+ const float xy = _a[ 1];
+ const float xz = _a[ 2];
+ const float xw = _a[ 3];
+ const float yx = _a[ 4];
+ const float yy = _a[ 5];
+ const float yz = _a[ 6];
+ const float yw = _a[ 7];
+ const float zx = _a[ 8];
+ const float zy = _a[ 9];
+ const float zz = _a[10];
+ const float zw = _a[11];
+ const float wx = _a[12];
+ const float wy = _a[13];
+ const float wz = _a[14];
+ const float ww = _a[15];
float det = 0.0f;
det += xx * (yy*(zz*ww - zw*wz) - yz*(zy*ww - zw*wy) + yw*(zy*wz - zz*wy) );
@@ -772,6 +596,71 @@ namespace bx
_result[15] = +(xx*(yy*zz - zy*yz) - xy*(yx*zz - zx*yz) + xz*(yx*zy - zx*yy) ) * invDet;
}
+ void mtx3Cofactor(float* _result, const float* _a)
+ {
+ const float xx = _a[0];
+ const float xy = _a[1];
+ const float xz = _a[2];
+ const float yx = _a[3];
+ const float yy = _a[4];
+ const float yz = _a[5];
+ const float zx = _a[6];
+ const float zy = _a[7];
+ const float zz = _a[8];
+
+ _result[0] = +(yy*zz - yz * zy);
+ _result[1] = -(yx*zz - yz * zx);
+ _result[2] = +(yx*zy - yy * zx);
+
+ _result[3] = -(xy*zz - xz * zy);
+ _result[4] = +(xx*zz - xz * zx);
+ _result[5] = -(xx*zy - xy * zx);
+
+ _result[6] = +(xy*yz - xz * yy);
+ _result[7] = -(xx*yz - xz * yx);
+ _result[8] = +(xx*yy - xy * yx);
+ }
+
+ void mtxCofactor(float* _result, const float* _a)
+ {
+ const float xx = _a[0];
+ const float xy = _a[1];
+ const float xz = _a[2];
+ const float xw = _a[3];
+ const float yx = _a[4];
+ const float yy = _a[5];
+ const float yz = _a[6];
+ const float yw = _a[7];
+ const float zx = _a[8];
+ const float zy = _a[9];
+ const float zz = _a[10];
+ const float zw = _a[11];
+ const float wx = _a[12];
+ const float wy = _a[13];
+ const float wz = _a[14];
+ const float ww = _a[15];
+
+ _result[ 0] = +(yy*(zz*ww - wz * zw) - yz * (zy*ww - wy * zw) + yw * (zy*wz - wy * zz) );
+ _result[ 1] = -(yx*(zz*ww - wz * zw) - yz * (zx*ww - wx * zw) + yw * (zx*wz - wx * zz) );
+ _result[ 2] = +(yx*(zy*ww - wy * zw) - yy * (zx*ww - wx * zw) + yw * (zx*wy - wx * zy) );
+ _result[ 3] = -(yx*(zy*wz - wy * zz) - yy * (zx*wz - wx * zz) + yz * (zx*wy - wx * zy) );
+
+ _result[ 4] = -(xy*(zz*ww - wz * zw) - xz * (zy*ww - wy * zw) + xw * (zy*wz - wy * zz) );
+ _result[ 5] = +(xx*(zz*ww - wz * zw) - xz * (zx*ww - wx * zw) + xw * (zx*wz - wx * zz) );
+ _result[ 6] = -(xx*(zy*ww - wy * zw) - xy * (zx*ww - wx * zw) + xw * (zx*wy - wx * zy) );
+ _result[ 7] = +(xx*(zy*wz - wy * zz) - xy * (zx*wz - wx * zz) + xz * (zx*wy - wx * zy) );
+
+ _result[ 8] = +(xy*(yz*ww - wz * yw) - xz * (yy*ww - wy * yw) + xw * (yy*wz - wy * yz) );
+ _result[ 9] = -(xx*(yz*ww - wz * yw) - xz * (yx*ww - wx * yw) + xw * (yx*wz - wx * yz) );
+ _result[10] = +(xx*(yy*ww - wy * yw) - xy * (yx*ww - wx * yw) + xw * (yx*wy - wx * yy) );
+ _result[11] = -(xx*(yy*wz - wy * yz) - xy * (yx*wz - wx * yz) + xz * (yx*wy - wx * yy) );
+
+ _result[12] = -(xy*(yz*zw - zz * yw) - xz * (yy*zw - zy * yw) + xw * (yy*zz - zy * yz) );
+ _result[13] = +(xx*(yz*zw - zz * yw) - xz * (yx*zw - zx * yw) + xw * (yx*zz - zx * yz) );
+ _result[14] = -(xx*(yy*zw - zy * yw) - xy * (yx*zw - zx * yw) + xw * (yx*zy - zx * yy) );
+ _result[15] = +(xx*(yy*zz - zy * yz) - xy * (yx*zz - zx * yz) + xz * (yx*zy - zx * yy) );
+ }
+
void calcLinearFit2D(float _result[2], const void* _points, uint32_t _stride, uint32_t _numPoints)
{
float sumX = 0.0f;