| 1 | #include "../geometric.hpp" |
| 2 | #include <limits> |
| 3 | |
| 4 | namespace glm{ |
| 5 | namespace detail |
| 6 | { |
| 7 | template<length_t C, length_t R, typename T, qualifier Q, bool Aligned> |
| 8 | struct compute_matrixCompMult |
| 9 | { |
| 10 | GLM_FUNC_QUALIFIER static mat<C, R, T, Q> call(mat<C, R, T, Q> const& x, mat<C, R, T, Q> const& y) |
| 11 | { |
| 12 | mat<C, R, T, Q> Result; |
| 13 | for(length_t i = 0; i < Result.length(); ++i) |
| 14 | Result[i] = x[i] * y[i]; |
| 15 | return Result; |
| 16 | } |
| 17 | }; |
| 18 | |
| 19 | template<length_t C, length_t R, typename T, qualifier Q, bool Aligned> |
| 20 | struct compute_transpose{}; |
| 21 | |
| 22 | template<typename T, qualifier Q, bool Aligned> |
| 23 | struct compute_transpose<2, 2, T, Q, Aligned> |
| 24 | { |
| 25 | GLM_FUNC_QUALIFIER static mat<2, 2, T, Q> call(mat<2, 2, T, Q> const& m) |
| 26 | { |
| 27 | mat<2, 2, T, Q> Result; |
| 28 | Result[0][0] = m[0][0]; |
| 29 | Result[0][1] = m[1][0]; |
| 30 | Result[1][0] = m[0][1]; |
| 31 | Result[1][1] = m[1][1]; |
| 32 | return Result; |
| 33 | } |
| 34 | }; |
| 35 | |
| 36 | template<typename T, qualifier Q, bool Aligned> |
| 37 | struct compute_transpose<2, 3, T, Q, Aligned> |
| 38 | { |
| 39 | GLM_FUNC_QUALIFIER static mat<3, 2, T, Q> call(mat<2, 3, T, Q> const& m) |
| 40 | { |
| 41 | mat<3,2, T, Q> Result; |
| 42 | Result[0][0] = m[0][0]; |
| 43 | Result[0][1] = m[1][0]; |
| 44 | Result[1][0] = m[0][1]; |
| 45 | Result[1][1] = m[1][1]; |
| 46 | Result[2][0] = m[0][2]; |
| 47 | Result[2][1] = m[1][2]; |
| 48 | return Result; |
| 49 | } |
| 50 | }; |
| 51 | |
| 52 | template<typename T, qualifier Q, bool Aligned> |
| 53 | struct compute_transpose<2, 4, T, Q, Aligned> |
| 54 | { |
| 55 | GLM_FUNC_QUALIFIER static mat<4, 2, T, Q> call(mat<2, 4, T, Q> const& m) |
| 56 | { |
| 57 | mat<4, 2, T, Q> Result; |
| 58 | Result[0][0] = m[0][0]; |
| 59 | Result[0][1] = m[1][0]; |
| 60 | Result[1][0] = m[0][1]; |
| 61 | Result[1][1] = m[1][1]; |
| 62 | Result[2][0] = m[0][2]; |
| 63 | Result[2][1] = m[1][2]; |
| 64 | Result[3][0] = m[0][3]; |
| 65 | Result[3][1] = m[1][3]; |
| 66 | return Result; |
| 67 | } |
| 68 | }; |
| 69 | |
| 70 | template<typename T, qualifier Q, bool Aligned> |
| 71 | struct compute_transpose<3, 2, T, Q, Aligned> |
| 72 | { |
| 73 | GLM_FUNC_QUALIFIER static mat<2, 3, T, Q> call(mat<3, 2, T, Q> const& m) |
| 74 | { |
| 75 | mat<2, 3, T, Q> Result; |
| 76 | Result[0][0] = m[0][0]; |
| 77 | Result[0][1] = m[1][0]; |
| 78 | Result[0][2] = m[2][0]; |
| 79 | Result[1][0] = m[0][1]; |
| 80 | Result[1][1] = m[1][1]; |
| 81 | Result[1][2] = m[2][1]; |
| 82 | return Result; |
| 83 | } |
| 84 | }; |
| 85 | |
| 86 | template<typename T, qualifier Q, bool Aligned> |
| 87 | struct compute_transpose<3, 3, T, Q, Aligned> |
| 88 | { |
| 89 | GLM_FUNC_QUALIFIER static mat<3, 3, T, Q> call(mat<3, 3, T, Q> const& m) |
| 90 | { |
| 91 | mat<3, 3, T, Q> Result; |
| 92 | Result[0][0] = m[0][0]; |
| 93 | Result[0][1] = m[1][0]; |
| 94 | Result[0][2] = m[2][0]; |
| 95 | |
| 96 | Result[1][0] = m[0][1]; |
| 97 | Result[1][1] = m[1][1]; |
| 98 | Result[1][2] = m[2][1]; |
| 99 | |
| 100 | Result[2][0] = m[0][2]; |
| 101 | Result[2][1] = m[1][2]; |
| 102 | Result[2][2] = m[2][2]; |
| 103 | return Result; |
| 104 | } |
| 105 | }; |
| 106 | |
| 107 | template<typename T, qualifier Q, bool Aligned> |
| 108 | struct compute_transpose<3, 4, T, Q, Aligned> |
| 109 | { |
| 110 | GLM_FUNC_QUALIFIER static mat<4, 3, T, Q> call(mat<3, 4, T, Q> const& m) |
| 111 | { |
| 112 | mat<4, 3, T, Q> Result; |
| 113 | Result[0][0] = m[0][0]; |
| 114 | Result[0][1] = m[1][0]; |
| 115 | Result[0][2] = m[2][0]; |
| 116 | Result[1][0] = m[0][1]; |
| 117 | Result[1][1] = m[1][1]; |
| 118 | Result[1][2] = m[2][1]; |
| 119 | Result[2][0] = m[0][2]; |
| 120 | Result[2][1] = m[1][2]; |
| 121 | Result[2][2] = m[2][2]; |
| 122 | Result[3][0] = m[0][3]; |
| 123 | Result[3][1] = m[1][3]; |
| 124 | Result[3][2] = m[2][3]; |
| 125 | return Result; |
| 126 | } |
| 127 | }; |
| 128 | |
| 129 | template<typename T, qualifier Q, bool Aligned> |
| 130 | struct compute_transpose<4, 2, T, Q, Aligned> |
| 131 | { |
| 132 | GLM_FUNC_QUALIFIER static mat<2, 4, T, Q> call(mat<4, 2, T, Q> const& m) |
| 133 | { |
| 134 | mat<2, 4, T, Q> Result; |
| 135 | Result[0][0] = m[0][0]; |
| 136 | Result[0][1] = m[1][0]; |
| 137 | Result[0][2] = m[2][0]; |
| 138 | Result[0][3] = m[3][0]; |
| 139 | Result[1][0] = m[0][1]; |
| 140 | Result[1][1] = m[1][1]; |
| 141 | Result[1][2] = m[2][1]; |
| 142 | Result[1][3] = m[3][1]; |
| 143 | return Result; |
| 144 | } |
| 145 | }; |
| 146 | |
| 147 | template<typename T, qualifier Q, bool Aligned> |
| 148 | struct compute_transpose<4, 3, T, Q, Aligned> |
| 149 | { |
| 150 | GLM_FUNC_QUALIFIER static mat<3, 4, T, Q> call(mat<4, 3, T, Q> const& m) |
| 151 | { |
| 152 | mat<3, 4, T, Q> Result; |
| 153 | Result[0][0] = m[0][0]; |
| 154 | Result[0][1] = m[1][0]; |
| 155 | Result[0][2] = m[2][0]; |
| 156 | Result[0][3] = m[3][0]; |
| 157 | Result[1][0] = m[0][1]; |
| 158 | Result[1][1] = m[1][1]; |
| 159 | Result[1][2] = m[2][1]; |
| 160 | Result[1][3] = m[3][1]; |
| 161 | Result[2][0] = m[0][2]; |
| 162 | Result[2][1] = m[1][2]; |
| 163 | Result[2][2] = m[2][2]; |
| 164 | Result[2][3] = m[3][2]; |
| 165 | return Result; |
| 166 | } |
| 167 | }; |
| 168 | |
| 169 | template<typename T, qualifier Q, bool Aligned> |
| 170 | struct compute_transpose<4, 4, T, Q, Aligned> |
| 171 | { |
| 172 | GLM_FUNC_QUALIFIER static mat<4, 4, T, Q> call(mat<4, 4, T, Q> const& m) |
| 173 | { |
| 174 | mat<4, 4, T, Q> Result; |
| 175 | Result[0][0] = m[0][0]; |
| 176 | Result[0][1] = m[1][0]; |
| 177 | Result[0][2] = m[2][0]; |
| 178 | Result[0][3] = m[3][0]; |
| 179 | |
| 180 | Result[1][0] = m[0][1]; |
| 181 | Result[1][1] = m[1][1]; |
| 182 | Result[1][2] = m[2][1]; |
| 183 | Result[1][3] = m[3][1]; |
| 184 | |
| 185 | Result[2][0] = m[0][2]; |
| 186 | Result[2][1] = m[1][2]; |
| 187 | Result[2][2] = m[2][2]; |
| 188 | Result[2][3] = m[3][2]; |
| 189 | |
| 190 | Result[3][0] = m[0][3]; |
| 191 | Result[3][1] = m[1][3]; |
| 192 | Result[3][2] = m[2][3]; |
| 193 | Result[3][3] = m[3][3]; |
| 194 | return Result; |
| 195 | } |
| 196 | }; |
| 197 | |
| 198 | template<length_t C, length_t R, typename T, qualifier Q, bool Aligned> |
| 199 | struct compute_determinant{}; |
| 200 | |
| 201 | template<typename T, qualifier Q, bool Aligned> |
| 202 | struct compute_determinant<2, 2, T, Q, Aligned> |
| 203 | { |
| 204 | GLM_FUNC_QUALIFIER static T call(mat<2, 2, T, Q> const& m) |
| 205 | { |
| 206 | return m[0][0] * m[1][1] - m[1][0] * m[0][1]; |
| 207 | } |
| 208 | }; |
| 209 | |
| 210 | template<typename T, qualifier Q, bool Aligned> |
| 211 | struct compute_determinant<3, 3, T, Q, Aligned> |
| 212 | { |
| 213 | GLM_FUNC_QUALIFIER static T call(mat<3, 3, T, Q> const& m) |
| 214 | { |
| 215 | return |
| 216 | + m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]) |
| 217 | - m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2]) |
| 218 | + m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2]); |
| 219 | } |
| 220 | }; |
| 221 | |
| 222 | template<typename T, qualifier Q, bool Aligned> |
| 223 | struct compute_determinant<4, 4, T, Q, Aligned> |
| 224 | { |
| 225 | GLM_FUNC_QUALIFIER static T call(mat<4, 4, T, Q> const& m) |
| 226 | { |
| 227 | T SubFactor00 = m[2][2] * m[3][3] - m[3][2] * m[2][3]; |
| 228 | T SubFactor01 = m[2][1] * m[3][3] - m[3][1] * m[2][3]; |
| 229 | T SubFactor02 = m[2][1] * m[3][2] - m[3][1] * m[2][2]; |
| 230 | T SubFactor03 = m[2][0] * m[3][3] - m[3][0] * m[2][3]; |
| 231 | T SubFactor04 = m[2][0] * m[3][2] - m[3][0] * m[2][2]; |
| 232 | T SubFactor05 = m[2][0] * m[3][1] - m[3][0] * m[2][1]; |
| 233 | |
| 234 | vec<4, T, Q> DetCof( |
| 235 | + (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02), |
| 236 | - (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04), |
| 237 | + (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05), |
| 238 | - (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05)); |
| 239 | |
| 240 | return |
| 241 | m[0][0] * DetCof[0] + m[0][1] * DetCof[1] + |
| 242 | m[0][2] * DetCof[2] + m[0][3] * DetCof[3]; |
| 243 | } |
| 244 | }; |
| 245 | |
| 246 | template<length_t C, length_t R, typename T, qualifier Q, bool Aligned> |
| 247 | struct compute_inverse{}; |
| 248 | |
| 249 | template<typename T, qualifier Q, bool Aligned> |
| 250 | struct compute_inverse<2, 2, T, Q, Aligned> |
| 251 | { |
| 252 | GLM_FUNC_QUALIFIER static mat<2, 2, T, Q> call(mat<2, 2, T, Q> const& m) |
| 253 | { |
| 254 | T OneOverDeterminant = static_cast<T>(1) / ( |
| 255 | + m[0][0] * m[1][1] |
| 256 | - m[1][0] * m[0][1]); |
| 257 | |
| 258 | mat<2, 2, T, Q> Inverse( |
| 259 | + m[1][1] * OneOverDeterminant, |
| 260 | - m[0][1] * OneOverDeterminant, |
| 261 | - m[1][0] * OneOverDeterminant, |
| 262 | + m[0][0] * OneOverDeterminant); |
| 263 | |
| 264 | return Inverse; |
| 265 | } |
| 266 | }; |
| 267 | |
| 268 | template<typename T, qualifier Q, bool Aligned> |
| 269 | struct compute_inverse<3, 3, T, Q, Aligned> |
| 270 | { |
| 271 | GLM_FUNC_QUALIFIER static mat<3, 3, T, Q> call(mat<3, 3, T, Q> const& m) |
| 272 | { |
| 273 | T OneOverDeterminant = static_cast<T>(1) / ( |
| 274 | + m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]) |
| 275 | - m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2]) |
| 276 | + m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2])); |
| 277 | |
| 278 | mat<3, 3, T, Q> Inverse; |
| 279 | Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]) * OneOverDeterminant; |
| 280 | Inverse[1][0] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]) * OneOverDeterminant; |
| 281 | Inverse[2][0] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]) * OneOverDeterminant; |
| 282 | Inverse[0][1] = - (m[0][1] * m[2][2] - m[2][1] * m[0][2]) * OneOverDeterminant; |
| 283 | Inverse[1][1] = + (m[0][0] * m[2][2] - m[2][0] * m[0][2]) * OneOverDeterminant; |
| 284 | Inverse[2][1] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]) * OneOverDeterminant; |
| 285 | Inverse[0][2] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]) * OneOverDeterminant; |
| 286 | Inverse[1][2] = - (m[0][0] * m[1][2] - m[1][0] * m[0][2]) * OneOverDeterminant; |
| 287 | Inverse[2][2] = + (m[0][0] * m[1][1] - m[1][0] * m[0][1]) * OneOverDeterminant; |
| 288 | |
| 289 | return Inverse; |
| 290 | } |
| 291 | }; |
| 292 | |
| 293 | template<typename T, qualifier Q, bool Aligned> |
| 294 | struct compute_inverse<4, 4, T, Q, Aligned> |
| 295 | { |
| 296 | GLM_FUNC_QUALIFIER static mat<4, 4, T, Q> call(mat<4, 4, T, Q> const& m) |
| 297 | { |
| 298 | T Coef00 = m[2][2] * m[3][3] - m[3][2] * m[2][3]; |
| 299 | T Coef02 = m[1][2] * m[3][3] - m[3][2] * m[1][3]; |
| 300 | T Coef03 = m[1][2] * m[2][3] - m[2][2] * m[1][3]; |
| 301 | |
| 302 | T Coef04 = m[2][1] * m[3][3] - m[3][1] * m[2][3]; |
| 303 | T Coef06 = m[1][1] * m[3][3] - m[3][1] * m[1][3]; |
| 304 | T Coef07 = m[1][1] * m[2][3] - m[2][1] * m[1][3]; |
| 305 | |
| 306 | T Coef08 = m[2][1] * m[3][2] - m[3][1] * m[2][2]; |
| 307 | T Coef10 = m[1][1] * m[3][2] - m[3][1] * m[1][2]; |
| 308 | T Coef11 = m[1][1] * m[2][2] - m[2][1] * m[1][2]; |
| 309 | |
| 310 | T Coef12 = m[2][0] * m[3][3] - m[3][0] * m[2][3]; |
| 311 | T Coef14 = m[1][0] * m[3][3] - m[3][0] * m[1][3]; |
| 312 | T Coef15 = m[1][0] * m[2][3] - m[2][0] * m[1][3]; |
| 313 | |
| 314 | T Coef16 = m[2][0] * m[3][2] - m[3][0] * m[2][2]; |
| 315 | T Coef18 = m[1][0] * m[3][2] - m[3][0] * m[1][2]; |
| 316 | T Coef19 = m[1][0] * m[2][2] - m[2][0] * m[1][2]; |
| 317 | |
| 318 | T Coef20 = m[2][0] * m[3][1] - m[3][0] * m[2][1]; |
| 319 | T Coef22 = m[1][0] * m[3][1] - m[3][0] * m[1][1]; |
| 320 | T Coef23 = m[1][0] * m[2][1] - m[2][0] * m[1][1]; |
| 321 | |
| 322 | vec<4, T, Q> Fac0(Coef00, Coef00, Coef02, Coef03); |
| 323 | vec<4, T, Q> Fac1(Coef04, Coef04, Coef06, Coef07); |
| 324 | vec<4, T, Q> Fac2(Coef08, Coef08, Coef10, Coef11); |
| 325 | vec<4, T, Q> Fac3(Coef12, Coef12, Coef14, Coef15); |
| 326 | vec<4, T, Q> Fac4(Coef16, Coef16, Coef18, Coef19); |
| 327 | vec<4, T, Q> Fac5(Coef20, Coef20, Coef22, Coef23); |
| 328 | |
| 329 | vec<4, T, Q> Vec0(m[1][0], m[0][0], m[0][0], m[0][0]); |
| 330 | vec<4, T, Q> Vec1(m[1][1], m[0][1], m[0][1], m[0][1]); |
| 331 | vec<4, T, Q> Vec2(m[1][2], m[0][2], m[0][2], m[0][2]); |
| 332 | vec<4, T, Q> Vec3(m[1][3], m[0][3], m[0][3], m[0][3]); |
| 333 | |
| 334 | vec<4, T, Q> Inv0(Vec1 * Fac0 - Vec2 * Fac1 + Vec3 * Fac2); |
| 335 | vec<4, T, Q> Inv1(Vec0 * Fac0 - Vec2 * Fac3 + Vec3 * Fac4); |
| 336 | vec<4, T, Q> Inv2(Vec0 * Fac1 - Vec1 * Fac3 + Vec3 * Fac5); |
| 337 | vec<4, T, Q> Inv3(Vec0 * Fac2 - Vec1 * Fac4 + Vec2 * Fac5); |
| 338 | |
| 339 | vec<4, T, Q> SignA(+1, -1, +1, -1); |
| 340 | vec<4, T, Q> SignB(-1, +1, -1, +1); |
| 341 | mat<4, 4, T, Q> Inverse(Inv0 * SignA, Inv1 * SignB, Inv2 * SignA, Inv3 * SignB); |
| 342 | |
| 343 | vec<4, T, Q> Row0(Inverse[0][0], Inverse[1][0], Inverse[2][0], Inverse[3][0]); |
| 344 | |
| 345 | vec<4, T, Q> Dot0(m[0] * Row0); |
| 346 | T Dot1 = (Dot0.x + Dot0.y) + (Dot0.z + Dot0.w); |
| 347 | |
| 348 | T OneOverDeterminant = static_cast<T>(1) / Dot1; |
| 349 | |
| 350 | return Inverse * OneOverDeterminant; |
| 351 | } |
| 352 | }; |
| 353 | }//namespace detail |
| 354 | |
| 355 | template<length_t C, length_t R, typename T, qualifier Q> |
| 356 | GLM_FUNC_QUALIFIER mat<C, R, T, Q> matrixCompMult(mat<C, R, T, Q> const& x, mat<C, R, T, Q> const& y) |
| 357 | { |
| 358 | GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, "'matrixCompMult' only accept floating-point inputs"); |
| 359 | return detail::compute_matrixCompMult<C, R, T, Q, detail::is_aligned<Q>::value>::call(x, y); |
| 360 | } |
| 361 | |
| 362 | template<length_t DA, length_t DB, typename T, qualifier Q> |
| 363 | GLM_FUNC_QUALIFIER typename detail::outerProduct_trait<DA, DB, T, Q>::type outerProduct(vec<DA, T, Q> const& c, vec<DB, T, Q> const& r) |
| 364 | { |
| 365 | GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, "'outerProduct' only accept floating-point inputs"); |
| 366 | |
| 367 | typename detail::outerProduct_trait<DA, DB, T, Q>::type m; |
| 368 | for(length_t i = 0; i < m.length(); ++i) |
| 369 | m[i] = c * r[i]; |
| 370 | return m; |
| 371 | } |
| 372 | |
| 373 | template<length_t C, length_t R, typename T, qualifier Q> |
| 374 | GLM_FUNC_QUALIFIER typename mat<C, R, T, Q>::transpose_type transpose(mat<C, R, T, Q> const& m) |
| 375 | { |
| 376 | GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, "'transpose' only accept floating-point inputs"); |
| 377 | return detail::compute_transpose<C, R, T, Q, detail::is_aligned<Q>::value>::call(m); |
| 378 | } |
| 379 | |
| 380 | template<length_t C, length_t R, typename T, qualifier Q> |
| 381 | GLM_FUNC_QUALIFIER T determinant(mat<C, R, T, Q> const& m) |
| 382 | { |
| 383 | GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, "'determinant' only accept floating-point inputs"); |
| 384 | return detail::compute_determinant<C, R, T, Q, detail::is_aligned<Q>::value>::call(m); |
| 385 | } |
| 386 | |
| 387 | template<length_t C, length_t R, typename T, qualifier Q> |
| 388 | GLM_FUNC_QUALIFIER mat<C, R, T, Q> inverse(mat<C, R, T, Q> const& m) |
| 389 | { |
| 390 | GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, "'inverse' only accept floating-point inputs"); |
| 391 | return detail::compute_inverse<C, R, T, Q, detail::is_aligned<Q>::value>::call(m); |
| 392 | } |
| 393 | }//namespace glm |
| 394 | |
| 395 | #if GLM_CONFIG_SIMD == GLM_ENABLE |
| 396 | # include "func_matrix_simd.inl" |
| 397 | #endif |
| 398 | |