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authorLaG1924 <12997935+LaG1924@users.noreply.github.com>2018-01-13 03:51:33 +0100
committerLaG1924 <12997935+LaG1924@users.noreply.github.com>2018-01-13 03:51:34 +0100
commit6f67371bb1b46579ae837d0e0c61ac1b291be743 (patch)
tree5a43692a064d84e5c5688b1b3639342555139c3c /external/include/glm/gtc/matrix_inverse.inl
parentBackported to C++14 (diff)
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+/// @ref gtc_matrix_inverse
+/// @file glm/gtc/matrix_inverse.inl
+
+namespace glm
+{
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat3x3<T, P> affineInverse(tmat3x3<T, P> const & m)
+ {
+ tmat2x2<T, P> const Inv(inverse(tmat2x2<T, P>(m)));
+
+ return tmat3x3<T, P>(
+ tvec3<T, P>(Inv[0], static_cast<T>(0)),
+ tvec3<T, P>(Inv[1], static_cast<T>(0)),
+ tvec3<T, P>(-Inv * tvec2<T, P>(m[2]), static_cast<T>(1)));
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat4x4<T, P> affineInverse(tmat4x4<T, P> const & m)
+ {
+ tmat3x3<T, P> const Inv(inverse(tmat3x3<T, P>(m)));
+
+ return tmat4x4<T, P>(
+ tvec4<T, P>(Inv[0], static_cast<T>(0)),
+ tvec4<T, P>(Inv[1], static_cast<T>(0)),
+ tvec4<T, P>(Inv[2], static_cast<T>(0)),
+ tvec4<T, P>(-Inv * tvec3<T, P>(m[3]), static_cast<T>(1)));
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat2x2<T, P> inverseTranspose(tmat2x2<T, P> const & m)
+ {
+ T Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1];
+
+ tmat2x2<T, P> Inverse(
+ + m[1][1] / Determinant,
+ - m[0][1] / Determinant,
+ - m[1][0] / Determinant,
+ + m[0][0] / Determinant);
+
+ return Inverse;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat3x3<T, P> inverseTranspose(tmat3x3<T, P> const & m)
+ {
+ T Determinant =
+ + m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1])
+ - m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0])
+ + m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
+
+ tmat3x3<T, P> Inverse(uninitialize);
+ Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]);
+ Inverse[0][1] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]);
+ Inverse[0][2] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]);
+ Inverse[1][0] = - (m[0][1] * m[2][2] - m[2][1] * m[0][2]);
+ Inverse[1][1] = + (m[0][0] * m[2][2] - m[2][0] * m[0][2]);
+ Inverse[1][2] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]);
+ Inverse[2][0] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]);
+ Inverse[2][1] = - (m[0][0] * m[1][2] - m[1][0] * m[0][2]);
+ Inverse[2][2] = + (m[0][0] * m[1][1] - m[1][0] * m[0][1]);
+ Inverse /= Determinant;
+
+ return Inverse;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat4x4<T, P> inverseTranspose(tmat4x4<T, P> const & m)
+ {
+ T SubFactor00 = m[2][2] * m[3][3] - m[3][2] * m[2][3];
+ T SubFactor01 = m[2][1] * m[3][3] - m[3][1] * m[2][3];
+ T SubFactor02 = m[2][1] * m[3][2] - m[3][1] * m[2][2];
+ T SubFactor03 = m[2][0] * m[3][3] - m[3][0] * m[2][3];
+ T SubFactor04 = m[2][0] * m[3][2] - m[3][0] * m[2][2];
+ T SubFactor05 = m[2][0] * m[3][1] - m[3][0] * m[2][1];
+ T SubFactor06 = m[1][2] * m[3][3] - m[3][2] * m[1][3];
+ T SubFactor07 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
+ T SubFactor08 = m[1][1] * m[3][2] - m[3][1] * m[1][2];
+ T SubFactor09 = m[1][0] * m[3][3] - m[3][0] * m[1][3];
+ T SubFactor10 = m[1][0] * m[3][2] - m[3][0] * m[1][2];
+ T SubFactor11 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
+ T SubFactor12 = m[1][0] * m[3][1] - m[3][0] * m[1][1];
+ T SubFactor13 = m[1][2] * m[2][3] - m[2][2] * m[1][3];
+ T SubFactor14 = m[1][1] * m[2][3] - m[2][1] * m[1][3];
+ T SubFactor15 = m[1][1] * m[2][2] - m[2][1] * m[1][2];
+ T SubFactor16 = m[1][0] * m[2][3] - m[2][0] * m[1][3];
+ T SubFactor17 = m[1][0] * m[2][2] - m[2][0] * m[1][2];
+ T SubFactor18 = m[1][0] * m[2][1] - m[2][0] * m[1][1];
+
+ tmat4x4<T, P> Inverse(uninitialize);
+ Inverse[0][0] = + (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02);
+ Inverse[0][1] = - (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04);
+ Inverse[0][2] = + (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05);
+ Inverse[0][3] = - (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05);
+
+ Inverse[1][0] = - (m[0][1] * SubFactor00 - m[0][2] * SubFactor01 + m[0][3] * SubFactor02);
+ Inverse[1][1] = + (m[0][0] * SubFactor00 - m[0][2] * SubFactor03 + m[0][3] * SubFactor04);
+ Inverse[1][2] = - (m[0][0] * SubFactor01 - m[0][1] * SubFactor03 + m[0][3] * SubFactor05);
+ Inverse[1][3] = + (m[0][0] * SubFactor02 - m[0][1] * SubFactor04 + m[0][2] * SubFactor05);
+
+ Inverse[2][0] = + (m[0][1] * SubFactor06 - m[0][2] * SubFactor07 + m[0][3] * SubFactor08);
+ Inverse[2][1] = - (m[0][0] * SubFactor06 - m[0][2] * SubFactor09 + m[0][3] * SubFactor10);
+ Inverse[2][2] = + (m[0][0] * SubFactor11 - m[0][1] * SubFactor09 + m[0][3] * SubFactor12);
+ Inverse[2][3] = - (m[0][0] * SubFactor08 - m[0][1] * SubFactor10 + m[0][2] * SubFactor12);
+
+ Inverse[3][0] = - (m[0][1] * SubFactor13 - m[0][2] * SubFactor14 + m[0][3] * SubFactor15);
+ Inverse[3][1] = + (m[0][0] * SubFactor13 - m[0][2] * SubFactor16 + m[0][3] * SubFactor17);
+ Inverse[3][2] = - (m[0][0] * SubFactor14 - m[0][1] * SubFactor16 + m[0][3] * SubFactor18);
+ Inverse[3][3] = + (m[0][0] * SubFactor15 - m[0][1] * SubFactor17 + m[0][2] * SubFactor18);
+
+ T Determinant =
+ + m[0][0] * Inverse[0][0]
+ + m[0][1] * Inverse[0][1]
+ + m[0][2] * Inverse[0][2]
+ + m[0][3] * Inverse[0][3];
+
+ Inverse /= Determinant;
+
+ return Inverse;
+ }
+}//namespace glm