You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and dots ('.'), can be up to 35 characters long. Letters must be lowercase.
582 lines
16 KiB
582 lines
16 KiB
/////////////////////////////////////////////////////////////////////////////////// |
|
/// OpenGL Mathematics (glm.g-truc.net) |
|
/// |
|
/// Copyright (c) 2005 - 2012 G-Truc Creation (www.g-truc.net) |
|
/// Permission is hereby granted, free of charge, to any person obtaining a copy |
|
/// of this software and associated documentation files (the "Software"), to deal |
|
/// in the Software without restriction, including without limitation the rights |
|
/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
/// copies of the Software, and to permit persons to whom the Software is |
|
/// furnished to do so, subject to the following conditions: |
|
/// |
|
/// The above copyright notice and this permission notice shall be included in |
|
/// all copies or substantial portions of the Software. |
|
/// |
|
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
|
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
|
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
|
/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
|
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
|
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
|
/// THE SOFTWARE. |
|
/// |
|
/// @ref core |
|
/// @file glm/core/func_matrix.inl |
|
/// @date 2008-03-08 / 2011-06-15 |
|
/// @author Christophe Riccio |
|
/////////////////////////////////////////////////////////////////////////////////// |
|
|
|
namespace glm |
|
{ |
|
// matrixCompMult |
|
template <typename matType> |
|
GLM_FUNC_QUALIFIER matType matrixCompMult |
|
( |
|
matType const & x, |
|
matType const & y |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<typename matType::value_type>::is_float, "'matrixCompMult' only accept floating-point inputs"); |
|
|
|
matType result(matType::null); |
|
for(typename matType::size_type i = 0; i < matType::row_size(); ++i) |
|
result[i] = x[i] * y[i]; |
|
return result; |
|
} |
|
|
|
// outerProduct |
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat2x2<T> outerProduct |
|
( |
|
detail::tvec2<T> const & c, |
|
detail::tvec2<T> const & r |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs"); |
|
|
|
detail::tmat2x2<T> m(detail::tmat2x2<T>::null); |
|
m[0][0] = c[0] * r[0]; |
|
m[0][1] = c[1] * r[0]; |
|
m[1][0] = c[0] * r[1]; |
|
m[1][1] = c[1] * r[1]; |
|
return m; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat3x3<T> outerProduct |
|
( |
|
detail::tvec3<T> const & c, |
|
detail::tvec3<T> const & r |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs"); |
|
|
|
detail::tmat3x3<T> m(detail::tmat3x3<T>::null); |
|
for(typename detail::tmat3x3<T>::size_type i(0); i < m.length(); ++i) |
|
m[i] = c * r[i]; |
|
return m; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat4x4<T> outerProduct |
|
( |
|
detail::tvec4<T> const & c, |
|
detail::tvec4<T> const & r |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs"); |
|
|
|
detail::tmat4x4<T> m(detail::tmat4x4<T>::null); |
|
for(typename detail::tmat4x4<T>::size_type i(0); i < m.length(); ++i) |
|
m[i] = c * r[i]; |
|
return m; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat2x3<T> outerProduct |
|
( |
|
detail::tvec3<T> const & c, |
|
detail::tvec2<T> const & r |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs"); |
|
|
|
detail::tmat2x3<T> m(detail::tmat2x3<T>::null); |
|
m[0][0] = c.x * r.x; |
|
m[0][1] = c.y * r.x; |
|
m[0][2] = c.z * r.x; |
|
m[1][0] = c.x * r.y; |
|
m[1][1] = c.y * r.y; |
|
m[1][2] = c.z * r.y; |
|
return m; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat3x2<T> outerProduct |
|
( |
|
detail::tvec2<T> const & c, |
|
detail::tvec3<T> const & r |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs"); |
|
|
|
detail::tmat3x2<T> m(detail::tmat3x2<T>::null); |
|
m[0][0] = c.x * r.x; |
|
m[0][1] = c.y * r.x; |
|
m[1][0] = c.x * r.y; |
|
m[1][1] = c.y * r.y; |
|
m[2][0] = c.x * r.z; |
|
m[2][1] = c.y * r.z; |
|
return m; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat2x4<T> outerProduct |
|
( |
|
detail::tvec4<T> const & c, |
|
detail::tvec2<T> const & r |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs"); |
|
|
|
detail::tmat2x4<T> m(detail::tmat2x4<T>::null); |
|
m[0][0] = c.x * r.x; |
|
m[0][1] = c.y * r.x; |
|
m[0][2] = c.z * r.x; |
|
m[0][3] = c.w * r.x; |
|
m[1][0] = c.x * r.y; |
|
m[1][1] = c.y * r.y; |
|
m[1][2] = c.z * r.y; |
|
m[1][3] = c.w * r.y; |
|
return m; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat4x2<T> outerProduct |
|
( |
|
detail::tvec2<T> const & c, |
|
detail::tvec4<T> const & r |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs"); |
|
|
|
detail::tmat4x2<T> m(detail::tmat4x2<T>::null); |
|
m[0][0] = c.x * r.x; |
|
m[0][1] = c.y * r.x; |
|
m[1][0] = c.x * r.y; |
|
m[1][1] = c.y * r.y; |
|
m[2][0] = c.x * r.z; |
|
m[2][1] = c.y * r.z; |
|
m[3][0] = c.x * r.w; |
|
m[3][1] = c.y * r.w; |
|
return m; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat3x4<T> outerProduct |
|
( |
|
detail::tvec4<T> const & c, |
|
detail::tvec3<T> const & r |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs"); |
|
|
|
detail::tmat3x4<T> m(detail::tmat3x4<T>::null); |
|
m[0][0] = c.x * r.x; |
|
m[0][1] = c.y * r.x; |
|
m[0][2] = c.z * r.x; |
|
m[0][3] = c.w * r.x; |
|
m[1][0] = c.x * r.y; |
|
m[1][1] = c.y * r.y; |
|
m[1][2] = c.z * r.y; |
|
m[1][3] = c.w * r.y; |
|
m[2][0] = c.x * r.z; |
|
m[2][1] = c.y * r.z; |
|
m[2][2] = c.z * r.z; |
|
m[2][3] = c.w * r.z; |
|
return m; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat4x3<T> outerProduct |
|
( |
|
detail::tvec3<T> const & c, |
|
detail::tvec4<T> const & r |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs"); |
|
|
|
detail::tmat4x3<T> m(detail::tmat4x3<T>::null); |
|
m[0][0] = c.x * r.x; |
|
m[0][1] = c.y * r.x; |
|
m[0][2] = c.z * r.x; |
|
m[1][0] = c.x * r.y; |
|
m[1][1] = c.y * r.y; |
|
m[1][2] = c.z * r.y; |
|
m[2][0] = c.x * r.z; |
|
m[2][1] = c.y * r.z; |
|
m[2][2] = c.z * r.z; |
|
m[3][0] = c.x * r.w; |
|
m[3][1] = c.y * r.w; |
|
m[3][2] = c.z * r.w; |
|
return m; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat2x2<T> transpose |
|
( |
|
detail::tmat2x2<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs"); |
|
|
|
detail::tmat2x2<T> result(detail::tmat2x2<T>::null); |
|
result[0][0] = m[0][0]; |
|
result[0][1] = m[1][0]; |
|
result[1][0] = m[0][1]; |
|
result[1][1] = m[1][1]; |
|
return result; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat3x3<T> transpose |
|
( |
|
detail::tmat3x3<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs"); |
|
|
|
detail::tmat3x3<T> result(detail::tmat3x3<T>::null); |
|
result[0][0] = m[0][0]; |
|
result[0][1] = m[1][0]; |
|
result[0][2] = m[2][0]; |
|
|
|
result[1][0] = m[0][1]; |
|
result[1][1] = m[1][1]; |
|
result[1][2] = m[2][1]; |
|
|
|
result[2][0] = m[0][2]; |
|
result[2][1] = m[1][2]; |
|
result[2][2] = m[2][2]; |
|
return result; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat4x4<T> transpose |
|
( |
|
detail::tmat4x4<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs"); |
|
|
|
detail::tmat4x4<T> result(detail::tmat4x4<T>::null); |
|
result[0][0] = m[0][0]; |
|
result[0][1] = m[1][0]; |
|
result[0][2] = m[2][0]; |
|
result[0][3] = m[3][0]; |
|
|
|
result[1][0] = m[0][1]; |
|
result[1][1] = m[1][1]; |
|
result[1][2] = m[2][1]; |
|
result[1][3] = m[3][1]; |
|
|
|
result[2][0] = m[0][2]; |
|
result[2][1] = m[1][2]; |
|
result[2][2] = m[2][2]; |
|
result[2][3] = m[3][2]; |
|
|
|
result[3][0] = m[0][3]; |
|
result[3][1] = m[1][3]; |
|
result[3][2] = m[2][3]; |
|
result[3][3] = m[3][3]; |
|
return result; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat2x3<T> transpose |
|
( |
|
detail::tmat3x2<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs"); |
|
|
|
detail::tmat2x3<T> result(detail::tmat2x3<T>::null); |
|
result[0][0] = m[0][0]; |
|
result[0][1] = m[1][0]; |
|
result[0][2] = m[2][0]; |
|
result[1][0] = m[0][1]; |
|
result[1][1] = m[1][1]; |
|
result[1][2] = m[2][1]; |
|
return result; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat3x2<T> transpose |
|
( |
|
detail::tmat2x3<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs"); |
|
|
|
detail::tmat3x2<T> result(detail::tmat3x2<T>::null); |
|
result[0][0] = m[0][0]; |
|
result[0][1] = m[1][0]; |
|
result[1][0] = m[0][1]; |
|
result[1][1] = m[1][1]; |
|
result[2][0] = m[0][2]; |
|
result[2][1] = m[1][2]; |
|
return result; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat2x4<T> transpose |
|
( |
|
detail::tmat4x2<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs"); |
|
|
|
detail::tmat2x4<T> result(detail::tmat2x4<T>::null); |
|
result[0][0] = m[0][0]; |
|
result[0][1] = m[1][0]; |
|
result[0][2] = m[2][0]; |
|
result[0][3] = m[3][0]; |
|
result[1][0] = m[0][1]; |
|
result[1][1] = m[1][1]; |
|
result[1][2] = m[2][1]; |
|
result[1][3] = m[3][1]; |
|
return result; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat4x2<T> transpose |
|
( |
|
detail::tmat2x4<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs"); |
|
|
|
detail::tmat4x2<T> result(detail::tmat4x2<T>::null); |
|
result[0][0] = m[0][0]; |
|
result[0][1] = m[1][0]; |
|
result[1][0] = m[0][1]; |
|
result[1][1] = m[1][1]; |
|
result[2][0] = m[0][2]; |
|
result[2][1] = m[1][2]; |
|
result[3][0] = m[0][3]; |
|
result[3][1] = m[1][3]; |
|
return result; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat3x4<T> transpose |
|
( |
|
detail::tmat4x3<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs"); |
|
|
|
detail::tmat3x4<T> result(detail::tmat3x4<T>::null); |
|
result[0][0] = m[0][0]; |
|
result[0][1] = m[1][0]; |
|
result[0][2] = m[2][0]; |
|
result[0][3] = m[3][0]; |
|
result[1][0] = m[0][1]; |
|
result[1][1] = m[1][1]; |
|
result[1][2] = m[2][1]; |
|
result[1][3] = m[3][1]; |
|
result[2][0] = m[0][2]; |
|
result[2][1] = m[1][2]; |
|
result[2][2] = m[2][2]; |
|
result[2][3] = m[3][2]; |
|
return result; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat4x3<T> transpose |
|
( |
|
detail::tmat3x4<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs"); |
|
|
|
detail::tmat4x3<T> result(detail::tmat4x3<T>::null); |
|
result[0][0] = m[0][0]; |
|
result[0][1] = m[1][0]; |
|
result[0][2] = m[2][0]; |
|
result[1][0] = m[0][1]; |
|
result[1][1] = m[1][1]; |
|
result[1][2] = m[2][1]; |
|
result[2][0] = m[0][2]; |
|
result[2][1] = m[1][2]; |
|
result[2][2] = m[2][2]; |
|
result[3][0] = m[0][3]; |
|
result[3][1] = m[1][3]; |
|
result[3][2] = m[2][3]; |
|
return result; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER typename detail::tmat2x2<T>::value_type determinant |
|
( |
|
detail::tmat2x2<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'determinant' only accept floating-point inputs"); |
|
|
|
return m[0][0] * m[1][1] - m[1][0] * m[0][1]; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER typename detail::tmat3x3<T>::value_type determinant |
|
( |
|
detail::tmat3x3<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'determinant' only accept floating-point inputs"); |
|
|
|
return |
|
+ m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]) |
|
- m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2]) |
|
+ m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2]); |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER typename detail::tmat4x4<T>::value_type determinant |
|
( |
|
detail::tmat4x4<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'determinant' only accept floating-point inputs"); |
|
|
|
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]; |
|
|
|
detail::tvec4<T> DetCof( |
|
+ (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02), |
|
- (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04), |
|
+ (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05), |
|
- (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05)); |
|
|
|
return m[0][0] * DetCof[0] |
|
+ m[0][1] * DetCof[1] |
|
+ m[0][2] * DetCof[2] |
|
+ m[0][3] * DetCof[3]; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat2x2<T> inverse |
|
( |
|
detail::tmat2x2<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'inverse' only accept floating-point inputs"); |
|
|
|
//valType Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1]; |
|
T Determinant = determinant(m); |
|
|
|
detail::tmat2x2<T> Inverse( |
|
+ m[1][1] / Determinant, |
|
- m[0][1] / Determinant, |
|
- m[1][0] / Determinant, |
|
+ m[0][0] / Determinant); |
|
|
|
return Inverse; |
|
} |
|
|
|
template <typename T> |
|
GLM_FUNC_QUALIFIER detail::tmat3x3<T> inverse |
|
( |
|
detail::tmat3x3<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'inverse' only accept floating-point inputs"); |
|
|
|
//valType Determinant = m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]) |
|
// - m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2]) |
|
// + m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2]); |
|
|
|
T Determinant = determinant(m); |
|
|
|
detail::tmat3x3<T> Inverse(detail::tmat3x3<T>::null); |
|
Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]); |
|
Inverse[1][0] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]); |
|
Inverse[2][0] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]); |
|
Inverse[0][1] = - (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[2][1] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]); |
|
Inverse[0][2] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]); |
|
Inverse[1][2] = - (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> |
|
GLM_FUNC_QUALIFIER detail::tmat4x4<T> inverse |
|
( |
|
detail::tmat4x4<T> const & m |
|
) |
|
{ |
|
GLM_STATIC_ASSERT(detail::type<T>::is_float, "'inverse' only accept floating-point inputs"); |
|
|
|
T Coef00 = m[2][2] * m[3][3] - m[3][2] * m[2][3]; |
|
T Coef02 = m[1][2] * m[3][3] - m[3][2] * m[1][3]; |
|
T Coef03 = m[1][2] * m[2][3] - m[2][2] * m[1][3]; |
|
|
|
T Coef04 = m[2][1] * m[3][3] - m[3][1] * m[2][3]; |
|
T Coef06 = m[1][1] * m[3][3] - m[3][1] * m[1][3]; |
|
T Coef07 = m[1][1] * m[2][3] - m[2][1] * m[1][3]; |
|
|
|
T Coef08 = m[2][1] * m[3][2] - m[3][1] * m[2][2]; |
|
T Coef10 = m[1][1] * m[3][2] - m[3][1] * m[1][2]; |
|
T Coef11 = m[1][1] * m[2][2] - m[2][1] * m[1][2]; |
|
|
|
T Coef12 = m[2][0] * m[3][3] - m[3][0] * m[2][3]; |
|
T Coef14 = m[1][0] * m[3][3] - m[3][0] * m[1][3]; |
|
T Coef15 = m[1][0] * m[2][3] - m[2][0] * m[1][3]; |
|
|
|
T Coef16 = m[2][0] * m[3][2] - m[3][0] * m[2][2]; |
|
T Coef18 = m[1][0] * m[3][2] - m[3][0] * m[1][2]; |
|
T Coef19 = m[1][0] * m[2][2] - m[2][0] * m[1][2]; |
|
|
|
T Coef20 = m[2][0] * m[3][1] - m[3][0] * m[2][1]; |
|
T Coef22 = m[1][0] * m[3][1] - m[3][0] * m[1][1]; |
|
T Coef23 = m[1][0] * m[2][1] - m[2][0] * m[1][1]; |
|
|
|
detail::tvec4<T> const SignA(+1, -1, +1, -1); |
|
detail::tvec4<T> const SignB(-1, +1, -1, +1); |
|
|
|
detail::tvec4<T> Fac0(Coef00, Coef00, Coef02, Coef03); |
|
detail::tvec4<T> Fac1(Coef04, Coef04, Coef06, Coef07); |
|
detail::tvec4<T> Fac2(Coef08, Coef08, Coef10, Coef11); |
|
detail::tvec4<T> Fac3(Coef12, Coef12, Coef14, Coef15); |
|
detail::tvec4<T> Fac4(Coef16, Coef16, Coef18, Coef19); |
|
detail::tvec4<T> Fac5(Coef20, Coef20, Coef22, Coef23); |
|
|
|
detail::tvec4<T> Vec0(m[1][0], m[0][0], m[0][0], m[0][0]); |
|
detail::tvec4<T> Vec1(m[1][1], m[0][1], m[0][1], m[0][1]); |
|
detail::tvec4<T> Vec2(m[1][2], m[0][2], m[0][2], m[0][2]); |
|
detail::tvec4<T> Vec3(m[1][3], m[0][3], m[0][3], m[0][3]); |
|
|
|
detail::tvec4<T> Inv0 = SignA * (Vec1 * Fac0 - Vec2 * Fac1 + Vec3 * Fac2); |
|
detail::tvec4<T> Inv1 = SignB * (Vec0 * Fac0 - Vec2 * Fac3 + Vec3 * Fac4); |
|
detail::tvec4<T> Inv2 = SignA * (Vec0 * Fac1 - Vec1 * Fac3 + Vec3 * Fac5); |
|
detail::tvec4<T> Inv3 = SignB * (Vec0 * Fac2 - Vec1 * Fac4 + Vec2 * Fac5); |
|
|
|
detail::tmat4x4<T> Inverse(Inv0, Inv1, Inv2, Inv3); |
|
|
|
detail::tvec4<T> Row0(Inverse[0][0], Inverse[1][0], Inverse[2][0], Inverse[3][0]); |
|
|
|
T Determinant = glm::dot(m[0], Row0); |
|
|
|
Inverse /= Determinant; |
|
|
|
return Inverse; |
|
} |
|
}//namespace glm
|
|
|