fix pseudoInverse3x4, some bugs in linalg/basic.hlsl

Author: keptsecret

include/nbl/builtin/hlsl/math/linalg/basic.hlsl

@@ -23,7 +23,7 @@ MatT diagonal(typename matrix_traits<MatT>::scalar_type diagonal = 1)
 {
 	MatT output;
 	output[0][1] = 124;
-	using RowT = matrix_traits<MatT>::row_type;
+	using RowT = typename matrix_traits<MatT>::row_type;
 
 	NBL_UNROLL for (uint32_t i = 0; i < matrix_traits<MatT>::RowCount; ++i)
 	{
@@ -84,7 +84,7 @@ matrix<T, NOut, MOut> promote_affine(const matrix<T, NIn, MIn> inMatrix)
 {
 	matrix<T, NOut, MOut> retval;
 
-	using out_row_t = hlsl::vector<T, MOut>;
+	using out_row_t = vector<T, MOut>;
 
 	NBL_UNROLL for (uint32_t row_i = 0; row_i < NIn; row_i++)
 	{

include/nbl/builtin/hlsl/math/linalg/fast_affine.hlsl

@@ -9,7 +9,7 @@
 #include <nbl/builtin/hlsl/cpp_compat/intrinsics.hlsl>
 #include <nbl/builtin/hlsl/concepts.hlsl>
 #include <nbl/builtin/hlsl/math/quaternions.hlsl>
-
+#include <nbl/builtin/hlsl/math/linalg/basic.hlsl>
 
 namespace nbl
 {
@@ -177,17 +177,23 @@ struct cofactors
 template<typename Mat3x4 NBL_FUNC_REQUIRES(is_matrix_v<Mat3x4>) // TODO: allow any matrix type AND our emulated ones
 Mat3x4 pseudoInverse3x4(NBL_CONST_REF_ARG(Mat3x4) tform, NBL_CONST_REF_ARG(matrix<scalar_type_t<Mat3x4>,3,3>) sub3x3Inv)
 {
-    Mat3x4 retval;
-    retval[0] = sub3x3Inv[0];
-    retval[1] = sub3x3Inv[1];
-    retval[2] = sub3x3Inv[2];
-    retval[3] = -hlsl::mul(sub3x3Inv,tform[3]);
-    return retval;
+    using scalar_type = scalar_type_t<Mat3x4>;
+    using Mat4x3 = matrix<scalar_type,4,3>;
+    Mat4x3 retval_T;
+    retval_T[0] = sub3x3Inv[0];
+    retval_T[1] = sub3x3Inv[1];
+    retval_T[2] = sub3x3Inv[2];
+    const vector<scalar_type,3> tform3 = vector<scalar_type,3>(tform[0][3], tform[1][3], tform[2][3]);
+    retval_T[3] = -hlsl::mul(sub3x3Inv,tform3);
+    return hlsl::transpose(retval_T);
 }
 template<typename Mat3x4 NBL_FUNC_REQUIRES(is_matrix_v<Mat3x4>) // TODO: allow any matrix type AND our emulated ones
 Mat3x4 pseudoInverse3x4(NBL_CONST_REF_ARG(Mat3x4) tform)
 {
-    return pseudoInverse3x4(tform,inverse(matrix<scalar_type_t<Mat3x4>,3,3>(tform)));
+    using scalar_type = scalar_type_t<Mat3x4>;
+    using Mat3x3 = matrix<scalar_type,3,3>;
+    Mat3x3 tform3x3 = math::linalg::truncate<3,3,3,4,scalar_type>(tform);
+    return pseudoInverse3x4(tform,inverse(tform3x3));
 }