| 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(1); |
| 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 IsFloat, bool Aligned> |
| 20 | struct compute_matrixCompMult_type { |
| 21 | GLM_FUNC_QUALIFIER static mat<C, R, T, Q> call(mat<C, R, T, Q> const& x, mat<C, R, T, Q> const& y) |
| 22 | { |
| 23 | static_assert(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, |
| 24 | "'matrixCompMult' only accept floating-point inputs, include <glm/ext/matrix_integer.hpp> to discard this restriction."); |
| 25 | return detail::compute_matrixCompMult<C, R, T, Q, detail::is_aligned<Q>::value>::call(x, y); |
| 26 | } |
| 27 | }; |
| 28 | |
| 29 | template<length_t DA, length_t DB, typename T, qualifier Q> |
| 30 | struct compute_outerProduct { |
| 31 | GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<DA, DB, T, Q>::type call(vec<DA, T, Q> const& c, vec<DB, T, Q> const& r) |
| 32 | { |
| 33 | typename detail::outerProduct_trait<DA, DB, T, Q>::type m(0); |
| 34 | for(length_t i = 0; i < m.length(); ++i) |
| 35 | m[i] = c * r[i]; |
| 36 | return m; |
| 37 | } |
| 38 | }; |
| 39 | |
| 40 | template<length_t DA, length_t DB, typename T, qualifier Q, bool IsFloat> |
| 41 | struct compute_outerProduct_type { |
| 42 | GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<DA, DB, T, Q>::type call(vec<DA, T, Q> const& c, vec<DB, T, Q> const& r) |
| 43 | { |
| 44 | static_assert(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, |
| 45 | "'outerProduct' only accept floating-point inputs, include <glm/ext/matrix_integer.hpp> to discard this restriction."); |
| 46 | |
| 47 | return detail::compute_outerProduct<DA, DB, T, Q>::call(c, r); |
| 48 | } |
| 49 | }; |
| 50 | |
| 51 | template<length_t C, length_t R, typename T, qualifier Q, bool Aligned> |
| 52 | struct compute_transpose{}; |
| 53 | |
| 54 | template<typename T, qualifier Q, bool Aligned> |
| 55 | struct compute_transpose<2, 2, T, Q, Aligned> |
| 56 | { |
| 57 | GLM_FUNC_QUALIFIER static mat<2, 2, T, Q> call(mat<2, 2, T, Q> const& m) |
| 58 | { |
| 59 | mat<2, 2, T, Q> Result(1); |
| 60 | Result[0][0] = m[0][0]; |
| 61 | Result[0][1] = m[1][0]; |
| 62 | Result[1][0] = m[0][1]; |
| 63 | Result[1][1] = m[1][1]; |
| 64 | return Result; |
| 65 | } |
| 66 | }; |
| 67 | |
| 68 | template<typename T, qualifier Q, bool Aligned> |
| 69 | struct compute_transpose<2, 3, T, Q, Aligned> |
| 70 | { |
| 71 | GLM_FUNC_QUALIFIER static mat<3, 2, T, Q> call(mat<2, 3, T, Q> const& m) |
| 72 | { |
| 73 | mat<3,2, T, Q> Result(1); |
| 74 | Result[0][0] = m[0][0]; |
| 75 | Result[0][1] = m[1][0]; |
| 76 | Result[1][0] = m[0][1]; |
| 77 | Result[1][1] = m[1][1]; |
| 78 | Result[2][0] = m[0][2]; |
| 79 | Result[2][1] = m[1][2]; |
| 80 | return Result; |
| 81 | } |
| 82 | }; |
| 83 | |
| 84 | template<typename T, qualifier Q, bool Aligned> |
| 85 | struct compute_transpose<2, 4, T, Q, Aligned> |
| 86 | { |
| 87 | GLM_FUNC_QUALIFIER static mat<4, 2, T, Q> call(mat<2, 4, T, Q> const& m) |
| 88 | { |
| 89 | mat<4, 2, T, Q> Result(1); |
| 90 | Result[0][0] = m[0][0]; |
| 91 | Result[0][1] = m[1][0]; |
| 92 | Result[1][0] = m[0][1]; |
| 93 | Result[1][1] = m[1][1]; |
| 94 | Result[2][0] = m[0][2]; |
| 95 | Result[2][1] = m[1][2]; |
| 96 | Result[3][0] = m[0][3]; |
| 97 | Result[3][1] = m[1][3]; |
| 98 | return Result; |
| 99 | } |
| 100 | }; |
| 101 | |
| 102 | template<typename T, qualifier Q, bool Aligned> |
| 103 | struct compute_transpose<3, 2, T, Q, Aligned> |
| 104 | { |
| 105 | GLM_FUNC_QUALIFIER static mat<2, 3, T, Q> call(mat<3, 2, T, Q> const& m) |
| 106 | { |
| 107 | mat<2, 3, T, Q> Result(1); |
| 108 | Result[0][0] = m[0][0]; |
| 109 | Result[0][1] = m[1][0]; |
| 110 | Result[0][2] = m[2][0]; |
| 111 | Result[1][0] = m[0][1]; |
| 112 | Result[1][1] = m[1][1]; |
| 113 | Result[1][2] = m[2][1]; |
| 114 | return Result; |
| 115 | } |
| 116 | }; |
| 117 | |
| 118 | template<typename T, qualifier Q, bool Aligned> |
| 119 | struct compute_transpose<3, 3, T, Q, Aligned> |
| 120 | { |
| 121 | GLM_FUNC_QUALIFIER static mat<3, 3, T, Q> call(mat<3, 3, T, Q> const& m) |
| 122 | { |
| 123 | mat<3, 3, T, Q> Result(1); |
| 124 | Result[0][0] = m[0][0]; |
| 125 | Result[0][1] = m[1][0]; |
| 126 | Result[0][2] = m[2][0]; |
| 127 | |
| 128 | Result[1][0] = m[0][1]; |
| 129 | Result[1][1] = m[1][1]; |
| 130 | Result[1][2] = m[2][1]; |
| 131 | |
| 132 | Result[2][0] = m[0][2]; |
| 133 | Result[2][1] = m[1][2]; |
| 134 | Result[2][2] = m[2][2]; |
| 135 | return Result; |
| 136 | } |
| 137 | }; |
| 138 | |
| 139 | template<typename T, qualifier Q, bool Aligned> |
| 140 | struct compute_transpose<3, 4, T, Q, Aligned> |
| 141 | { |
| 142 | GLM_FUNC_QUALIFIER static mat<4, 3, T, Q> call(mat<3, 4, T, Q> const& m) |
| 143 | { |
| 144 | mat<4, 3, T, Q> Result(1); |
| 145 | Result[0][0] = m[0][0]; |
| 146 | Result[0][1] = m[1][0]; |
| 147 | Result[0][2] = m[2][0]; |
| 148 | Result[1][0] = m[0][1]; |
| 149 | Result[1][1] = m[1][1]; |
| 150 | Result[1][2] = m[2][1]; |
| 151 | Result[2][0] = m[0][2]; |
| 152 | Result[2][1] = m[1][2]; |
| 153 | Result[2][2] = m[2][2]; |
| 154 | Result[3][0] = m[0][3]; |
| 155 | Result[3][1] = m[1][3]; |
| 156 | Result[3][2] = m[2][3]; |
| 157 | return Result; |
| 158 | } |
| 159 | }; |
| 160 | |
| 161 | template<typename T, qualifier Q, bool Aligned> |
| 162 | struct compute_transpose<4, 2, T, Q, Aligned> |
| 163 | { |
| 164 | GLM_FUNC_QUALIFIER static mat<2, 4, T, Q> call(mat<4, 2, T, Q> const& m) |
| 165 | { |
| 166 | mat<2, 4, T, Q> Result(1); |
| 167 | Result[0][0] = m[0][0]; |
| 168 | Result[0][1] = m[1][0]; |
| 169 | Result[0][2] = m[2][0]; |
| 170 | Result[0][3] = m[3][0]; |
| 171 | Result[1][0] = m[0][1]; |
| 172 | Result[1][1] = m[1][1]; |
| 173 | Result[1][2] = m[2][1]; |
| 174 | Result[1][3] = m[3][1]; |
| 175 | return Result; |
| 176 | } |
| 177 | }; |
| 178 | |
| 179 | template<typename T, qualifier Q, bool Aligned> |
| 180 | struct compute_transpose<4, 3, T, Q, Aligned> |
| 181 | { |
| 182 | GLM_FUNC_QUALIFIER static mat<3, 4, T, Q> call(mat<4, 3, T, Q> const& m) |
| 183 | { |
| 184 | mat<3, 4, T, Q> Result(1); |
| 185 | Result[0][0] = m[0][0]; |
| 186 | Result[0][1] = m[1][0]; |
| 187 | Result[0][2] = m[2][0]; |
| 188 | Result[0][3] = m[3][0]; |
| 189 | Result[1][0] = m[0][1]; |
| 190 | Result[1][1] = m[1][1]; |
| 191 | Result[1][2] = m[2][1]; |
| 192 | Result[1][3] = m[3][1]; |
| 193 | Result[2][0] = m[0][2]; |
| 194 | Result[2][1] = m[1][2]; |
| 195 | Result[2][2] = m[2][2]; |
| 196 | Result[2][3] = m[3][2]; |
| 197 | return Result; |
| 198 | } |
| 199 | }; |
| 200 | |
| 201 | template<typename T, qualifier Q, bool Aligned> |
| 202 | struct compute_transpose<4, 4, T, Q, Aligned> |
| 203 | { |
| 204 | GLM_FUNC_QUALIFIER static mat<4, 4, T, Q> call(mat<4, 4, T, Q> const& m) |
| 205 | { |
| 206 | mat<4, 4, T, Q> Result(1); |
| 207 | Result[0][0] = m[0][0]; |
| 208 | Result[0][1] = m[1][0]; |
| 209 | Result[0][2] = m[2][0]; |
| 210 | Result[0][3] = m[3][0]; |
| 211 | |
| 212 | Result[1][0] = m[0][1]; |
| 213 | Result[1][1] = m[1][1]; |
| 214 | Result[1][2] = m[2][1]; |
| 215 | Result[1][3] = m[3][1]; |
| 216 | |
| 217 | Result[2][0] = m[0][2]; |
| 218 | Result[2][1] = m[1][2]; |
| 219 | Result[2][2] = m[2][2]; |
| 220 | Result[2][3] = m[3][2]; |
| 221 | |
| 222 | Result[3][0] = m[0][3]; |
| 223 | Result[3][1] = m[1][3]; |
| 224 | Result[3][2] = m[2][3]; |
| 225 | Result[3][3] = m[3][3]; |
| 226 | return Result; |
| 227 | } |
| 228 | }; |
| 229 | |
| 230 | template<length_t C, length_t R, typename T, qualifier Q, bool IsFloat, bool Aligned> |
| 231 | struct compute_transpose_type { |
| 232 | GLM_FUNC_QUALIFIER static mat<R, C, T, Q> call(mat<C, R, T, Q> const& m) |
| 233 | { |
| 234 | static_assert(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, |
| 235 | "'transpose' only accept floating-point inputs, include <glm/ext/matrix_integer.hpp> to discard this restriction."); |
| 236 | return detail::compute_transpose<C, R, T, Q, detail::is_aligned<Q>::value>::call(m); |
| 237 | } |
| 238 | }; |
| 239 | |
| 240 | template<length_t C, length_t R, typename T, qualifier Q, bool Aligned> |
| 241 | struct compute_determinant{}; |
| 242 | |
| 243 | template<typename T, qualifier Q, bool Aligned> |
| 244 | struct compute_determinant<2, 2, T, Q, Aligned> |
| 245 | { |
| 246 | GLM_FUNC_QUALIFIER static T call(mat<2, 2, T, Q> const& m) |
| 247 | { |
| 248 | return m[0][0] * m[1][1] - m[1][0] * m[0][1]; |
| 249 | } |
| 250 | }; |
| 251 | |
| 252 | template<typename T, qualifier Q, bool Aligned> |
| 253 | struct compute_determinant<3, 3, T, Q, Aligned> |
| 254 | { |
| 255 | GLM_FUNC_QUALIFIER static T call(mat<3, 3, T, Q> const& m) |
| 256 | { |
| 257 | return |
| 258 | + m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]) |
| 259 | - m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2]) |
| 260 | + m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2]); |
| 261 | } |
| 262 | }; |
| 263 | |
| 264 | template<typename T, qualifier Q, bool Aligned> |
| 265 | struct compute_determinant<4, 4, T, Q, Aligned> |
| 266 | { |
| 267 | GLM_FUNC_QUALIFIER static T call(mat<4, 4, T, Q> const& m) |
| 268 | { |
| 269 | T SubFactor00 = m[2][2] * m[3][3] - m[3][2] * m[2][3]; |
| 270 | T SubFactor01 = m[2][1] * m[3][3] - m[3][1] * m[2][3]; |
| 271 | T SubFactor02 = m[2][1] * m[3][2] - m[3][1] * m[2][2]; |
| 272 | T SubFactor03 = m[2][0] * m[3][3] - m[3][0] * m[2][3]; |
| 273 | T SubFactor04 = m[2][0] * m[3][2] - m[3][0] * m[2][2]; |
| 274 | T SubFactor05 = m[2][0] * m[3][1] - m[3][0] * m[2][1]; |
| 275 | |
| 276 | vec<4, T, Q> DetCof( |
| 277 | + (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02), |
| 278 | - (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04), |
| 279 | + (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05), |
| 280 | - (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05)); |
| 281 | |
| 282 | return |
| 283 | m[0][0] * DetCof[0] + m[0][1] * DetCof[1] + |
| 284 | m[0][2] * DetCof[2] + m[0][3] * DetCof[3]; |
| 285 | } |
| 286 | }; |
| 287 | |
| 288 | template<length_t C, length_t R, typename T, qualifier Q, bool IsFloat, bool Aligned> |
| 289 | struct compute_determinant_type{ |
| 290 | |
| 291 | GLM_FUNC_QUALIFIER static T call(mat<C, R, T, Q> const& m) |
| 292 | { |
| 293 | static_assert(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, |
| 294 | "'determinant' only accept floating-point inputs, include <glm/ext/matrix_integer.hpp> to discard this restriction."); |
| 295 | return detail::compute_determinant<C, R, T, Q, detail::is_aligned<Q>::value>::call(m); |
| 296 | } |
| 297 | }; |
| 298 | |
| 299 | template<length_t C, length_t R, typename T, qualifier Q, bool Aligned> |
| 300 | struct compute_inverse{}; |
| 301 | |
| 302 | template<typename T, qualifier Q, bool Aligned> |
| 303 | struct compute_inverse<2, 2, T, Q, Aligned> |
| 304 | { |
| 305 | GLM_FUNC_QUALIFIER static mat<2, 2, T, Q> call(mat<2, 2, T, Q> const& m) |
| 306 | { |
| 307 | T OneOverDeterminant = static_cast<T>(1) / ( |
| 308 | + m[0][0] * m[1][1] |
| 309 | - m[1][0] * m[0][1]); |
| 310 | |
| 311 | mat<2, 2, T, Q> Inverse( |
| 312 | + m[1][1] * OneOverDeterminant, |
| 313 | - m[0][1] * OneOverDeterminant, |
| 314 | - m[1][0] * OneOverDeterminant, |
| 315 | + m[0][0] * OneOverDeterminant); |
| 316 | |
| 317 | return Inverse; |
| 318 | } |
| 319 | }; |
| 320 | |
| 321 | template<typename T, qualifier Q, bool is_aligned> |
| 322 | struct inv3x3 {}; |
| 323 | |
| 324 | template<typename T, qualifier Q> |
| 325 | struct inv3x3<T, Q, true> |
| 326 | { |
| 327 | GLM_FUNC_QUALIFIER static mat<3, 3, T, Q> call(mat<3, 3, T, Q> const& m) |
| 328 | { |
| 329 | // see: https://www.onlinemathstutor.org/post/3x3_inverses |
| 330 | |
| 331 | vec<4, T, Q> a = xyz0(m[0]); |
| 332 | vec<4, T, Q> b = xyz0(m[1]); |
| 333 | vec<4, T, Q> c = xyz0(m[2]); |
| 334 | |
| 335 | vec<4, T, Q> i0 = compute_cross<T, Q, true>::call(b, c); |
| 336 | vec<4, T, Q> i1 = compute_cross<T, Q, true>::call(c, a); |
| 337 | vec<4, T, Q> i2 = compute_cross<T, Q, true>::call(a, b); |
| 338 | |
| 339 | mat<3, 3, T, Q> Inverse; |
| 340 | Inverse[0] = xyz(i0); |
| 341 | Inverse[1] = xyz(i1); |
| 342 | Inverse[2] = xyz(i2); |
| 343 | Inverse = transpose(Inverse); |
| 344 | |
| 345 | T Determinant = compute_dot<vec<4, T, Q>, T, true>::call(a, compute_cross<T, Q, true>::call(b, c)); |
| 346 | vec<3, T, Q> OneOverDeterminant(static_cast<T>(1) / Determinant); |
| 347 | Inverse *= OneOverDeterminant; |
| 348 | return Inverse; |
| 349 | } |
| 350 | }; |
| 351 | |
| 352 | template<typename T, qualifier Q> |
| 353 | struct inv3x3<T, Q, false> |
| 354 | { |
| 355 | GLM_FUNC_QUALIFIER static mat<3, 3, T, Q> call(mat<3, 3, T, Q> const& m) |
| 356 | { |
| 357 | T OneOverDeterminant = static_cast<T>(1) / ( |
| 358 | +m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]) |
| 359 | - m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2]) |
| 360 | + m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2])); |
| 361 | |
| 362 | mat<3, 3, T, Q> Inverse; |
| 363 | Inverse[0][0] = +(m[1][1] * m[2][2] - m[2][1] * m[1][2]); |
| 364 | Inverse[1][0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]); |
| 365 | Inverse[2][0] = +(m[1][0] * m[2][1] - m[2][0] * m[1][1]); |
| 366 | Inverse[0][1] = -(m[0][1] * m[2][2] - m[2][1] * m[0][2]); |
| 367 | Inverse[1][1] = +(m[0][0] * m[2][2] - m[2][0] * m[0][2]); |
| 368 | Inverse[2][1] = -(m[0][0] * m[2][1] - m[2][0] * m[0][1]); |
| 369 | Inverse[0][2] = +(m[0][1] * m[1][2] - m[1][1] * m[0][2]); |
| 370 | Inverse[1][2] = -(m[0][0] * m[1][2] - m[1][0] * m[0][2]); |
| 371 | Inverse[2][2] = +(m[0][0] * m[1][1] - m[1][0] * m[0][1]); |
| 372 | |
| 373 | Inverse *= OneOverDeterminant; |
| 374 | return Inverse; |
| 375 | } |
| 376 | }; |
| 377 | |
| 378 | template<typename T, qualifier Q, bool Aligned> |
| 379 | struct compute_inverse<3, 3, T, Q, Aligned> |
| 380 | { |
| 381 | GLM_FUNC_QUALIFIER static mat<3, 3, T, Q> call(mat<3, 3, T, Q> const& m) |
| 382 | { |
| 383 | return detail::inv3x3<T, Q, detail::is_aligned<Q>::value>::call(m); |
| 384 | } |
| 385 | }; |
| 386 | |
| 387 | template<typename T, qualifier Q, bool Aligned> |
| 388 | struct compute_inverse<4, 4, T, Q, Aligned> |
| 389 | { |
| 390 | GLM_FUNC_QUALIFIER static mat<4, 4, T, Q> call(mat<4, 4, T, Q> const& m) |
| 391 | { |
| 392 | T Coef00 = m[2][2] * m[3][3] - m[3][2] * m[2][3]; |
| 393 | T Coef02 = m[1][2] * m[3][3] - m[3][2] * m[1][3]; |
| 394 | T Coef03 = m[1][2] * m[2][3] - m[2][2] * m[1][3]; |
| 395 | |
| 396 | T Coef04 = m[2][1] * m[3][3] - m[3][1] * m[2][3]; |
| 397 | T Coef06 = m[1][1] * m[3][3] - m[3][1] * m[1][3]; |
| 398 | T Coef07 = m[1][1] * m[2][3] - m[2][1] * m[1][3]; |
| 399 | |
| 400 | T Coef08 = m[2][1] * m[3][2] - m[3][1] * m[2][2]; |
| 401 | T Coef10 = m[1][1] * m[3][2] - m[3][1] * m[1][2]; |
| 402 | T Coef11 = m[1][1] * m[2][2] - m[2][1] * m[1][2]; |
| 403 | |
| 404 | T Coef12 = m[2][0] * m[3][3] - m[3][0] * m[2][3]; |
| 405 | T Coef14 = m[1][0] * m[3][3] - m[3][0] * m[1][3]; |
| 406 | T Coef15 = m[1][0] * m[2][3] - m[2][0] * m[1][3]; |
| 407 | |
| 408 | T Coef16 = m[2][0] * m[3][2] - m[3][0] * m[2][2]; |
| 409 | T Coef18 = m[1][0] * m[3][2] - m[3][0] * m[1][2]; |
| 410 | T Coef19 = m[1][0] * m[2][2] - m[2][0] * m[1][2]; |
| 411 | |
| 412 | T Coef20 = m[2][0] * m[3][1] - m[3][0] * m[2][1]; |
| 413 | T Coef22 = m[1][0] * m[3][1] - m[3][0] * m[1][1]; |
| 414 | T Coef23 = m[1][0] * m[2][1] - m[2][0] * m[1][1]; |
| 415 | |
| 416 | vec<4, T, Q> Fac0(Coef00, Coef00, Coef02, Coef03); |
| 417 | vec<4, T, Q> Fac1(Coef04, Coef04, Coef06, Coef07); |
| 418 | vec<4, T, Q> Fac2(Coef08, Coef08, Coef10, Coef11); |
| 419 | vec<4, T, Q> Fac3(Coef12, Coef12, Coef14, Coef15); |
| 420 | vec<4, T, Q> Fac4(Coef16, Coef16, Coef18, Coef19); |
| 421 | vec<4, T, Q> Fac5(Coef20, Coef20, Coef22, Coef23); |
| 422 | |
| 423 | vec<4, T, Q> Vec0(m[1][0], m[0][0], m[0][0], m[0][0]); |
| 424 | vec<4, T, Q> Vec1(m[1][1], m[0][1], m[0][1], m[0][1]); |
| 425 | vec<4, T, Q> Vec2(m[1][2], m[0][2], m[0][2], m[0][2]); |
| 426 | vec<4, T, Q> Vec3(m[1][3], m[0][3], m[0][3], m[0][3]); |
| 427 | |
| 428 | vec<4, T, Q> Inv0(Vec1 * Fac0 - Vec2 * Fac1 + Vec3 * Fac2); |
| 429 | vec<4, T, Q> Inv1(Vec0 * Fac0 - Vec2 * Fac3 + Vec3 * Fac4); |
| 430 | vec<4, T, Q> Inv2(Vec0 * Fac1 - Vec1 * Fac3 + Vec3 * Fac5); |
| 431 | vec<4, T, Q> Inv3(Vec0 * Fac2 - Vec1 * Fac4 + Vec2 * Fac5); |
| 432 | |
| 433 | vec<4, T, Q> SignA(+1, -1, +1, -1); |
| 434 | vec<4, T, Q> SignB(-1, +1, -1, +1); |
| 435 | mat<4, 4, T, Q> Inverse(Inv0 * SignA, Inv1 * SignB, Inv2 * SignA, Inv3 * SignB); |
| 436 | |
| 437 | vec<4, T, Q> Row0(Inverse[0][0], Inverse[1][0], Inverse[2][0], Inverse[3][0]); |
| 438 | |
| 439 | vec<4, T, Q> Dot0(m[0] * Row0); |
| 440 | T Dot1 = (Dot0.x + Dot0.y) + (Dot0.z + Dot0.w); |
| 441 | |
| 442 | T OneOverDeterminant = static_cast<T>(1) / Dot1; |
| 443 | |
| 444 | return Inverse * OneOverDeterminant; |
| 445 | } |
| 446 | }; |
| 447 | }//namespace detail |
| 448 | |
| 449 | template<length_t C, length_t R, typename T, qualifier Q> |
| 450 | GLM_FUNC_QUALIFIER mat<C, R, T, Q> matrixCompMult(mat<C, R, T, Q> const& x, mat<C, R, T, Q> const& y) |
| 451 | { |
| 452 | return detail::compute_matrixCompMult_type<C, R, T, Q, std::numeric_limits<T>::is_iec559, detail::is_aligned<Q>::value>::call(x, y); |
| 453 | } |
| 454 | |
| 455 | template<length_t DA, length_t DB, typename T, qualifier Q> |
| 456 | 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) |
| 457 | { |
| 458 | return detail::compute_outerProduct_type<DA, DB, T, Q, std::numeric_limits<T>::is_iec559>::call(c, r); |
| 459 | } |
| 460 | |
| 461 | template<length_t C, length_t R, typename T, qualifier Q> |
| 462 | GLM_FUNC_QUALIFIER typename mat<C, R, T, Q>::transpose_type transpose(mat<C, R, T, Q> const& m) |
| 463 | { |
| 464 | return detail::compute_transpose_type<C, R, T, Q, std::numeric_limits<T>::is_iec559, detail::is_aligned<Q>::value>::call(m); |
| 465 | } |
| 466 | |
| 467 | template<length_t C, length_t R, typename T, qualifier Q> |
| 468 | GLM_FUNC_QUALIFIER T determinant(mat<C, R, T, Q> const& m) |
| 469 | { |
| 470 | return detail::compute_determinant_type<C, R, T, Q, std::numeric_limits<T>::is_iec559, detail::is_aligned<Q>::value>::call(m); |
| 471 | } |
| 472 | |
| 473 | template<length_t C, length_t R, typename T, qualifier Q> |
| 474 | GLM_FUNC_QUALIFIER mat<C, R, T, Q> inverse(mat<C, R, T, Q> const& m) |
| 475 | { |
| 476 | static_assert(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, "'inverse' only accept floating-point inputs"); |
| 477 | return detail::compute_inverse<C, R, T, Q, detail::is_aligned<Q>::value>::call(m); |
| 478 | } |
| 479 | }//namespace glm |
| 480 | |
| 481 | #if GLM_CONFIG_SIMD == GLM_ENABLE |
| 482 | # include "func_matrix_simd.inl" |
| 483 | #endif |
| 484 | |