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Diffstat (limited to 'src/include/glm/gtc/matrix_inverse.inl')
| -rw-r--r-- | src/include/glm/gtc/matrix_inverse.inl | 118 |
1 files changed, 118 insertions, 0 deletions
diff --git a/src/include/glm/gtc/matrix_inverse.inl b/src/include/glm/gtc/matrix_inverse.inl new file mode 100644 index 0000000..2964b9d --- /dev/null +++ b/src/include/glm/gtc/matrix_inverse.inl @@ -0,0 +1,118 @@ +/// @ref gtc_matrix_inverse
+
+namespace glm
+{
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER mat<3, 3, T, Q> affineInverse(mat<3, 3, T, Q> const& m)
+ {
+ mat<2, 2, T, Q> const Inv(inverse(mat<2, 2, T, Q>(m)));
+
+ return mat<3, 3, T, Q>(
+ vec<3, T, Q>(Inv[0], static_cast<T>(0)),
+ vec<3, T, Q>(Inv[1], static_cast<T>(0)),
+ vec<3, T, Q>(-Inv * vec<2, T, Q>(m[2]), static_cast<T>(1)));
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER mat<4, 4, T, Q> affineInverse(mat<4, 4, T, Q> const& m)
+ {
+ mat<3, 3, T, Q> const Inv(inverse(mat<3, 3, T, Q>(m)));
+
+ return mat<4, 4, T, Q>(
+ vec<4, T, Q>(Inv[0], static_cast<T>(0)),
+ vec<4, T, Q>(Inv[1], static_cast<T>(0)),
+ vec<4, T, Q>(Inv[2], static_cast<T>(0)),
+ vec<4, T, Q>(-Inv * vec<3, T, Q>(m[3]), static_cast<T>(1)));
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER mat<2, 2, T, Q> inverseTranspose(mat<2, 2, T, Q> const& m)
+ {
+ T Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1];
+
+ mat<2, 2, T, Q> Inverse(
+ + m[1][1] / Determinant,
+ - m[0][1] / Determinant,
+ - m[1][0] / Determinant,
+ + m[0][0] / Determinant);
+
+ return Inverse;
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER mat<3, 3, T, Q> inverseTranspose(mat<3, 3, T, Q> 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]);
+
+ mat<3, 3, T, Q> Inverse;
+ 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, qualifier Q>
+ GLM_FUNC_QUALIFIER mat<4, 4, T, Q> inverseTranspose(mat<4, 4, T, Q> 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][0] * m[3][1] - m[3][0] * m[1][1];
+ T SubFactor12 = m[1][2] * m[2][3] - m[2][2] * m[1][3];
+ T SubFactor13 = m[1][1] * m[2][3] - m[2][1] * m[1][3];
+ T SubFactor14 = m[1][1] * m[2][2] - m[2][1] * m[1][2];
+ T SubFactor15 = m[1][0] * m[2][3] - m[2][0] * m[1][3];
+ T SubFactor16 = m[1][0] * m[2][2] - m[2][0] * m[1][2];
+ T SubFactor17 = m[1][0] * m[2][1] - m[2][0] * m[1][1];
+
+ mat<4, 4, T, Q> Inverse;
+ 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] * SubFactor07 - m[0][1] * SubFactor09 + m[0][3] * SubFactor11);
+ Inverse[2][3] = - (m[0][0] * SubFactor08 - m[0][1] * SubFactor10 + m[0][2] * SubFactor11);
+
+ Inverse[3][0] = - (m[0][1] * SubFactor12 - m[0][2] * SubFactor13 + m[0][3] * SubFactor14);
+ Inverse[3][1] = + (m[0][0] * SubFactor12 - m[0][2] * SubFactor15 + m[0][3] * SubFactor16);
+ Inverse[3][2] = - (m[0][0] * SubFactor13 - m[0][1] * SubFactor15 + m[0][3] * SubFactor17);
+ Inverse[3][3] = + (m[0][0] * SubFactor14 - m[0][1] * SubFactor16 + m[0][2] * SubFactor17);
+
+ 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
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