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.
120 lines
4.9 KiB
120 lines
4.9 KiB
/// @ref gtc_matrix_inverse |
|
/// @file glm/gtc/matrix_inverse.inl |
|
|
|
namespace glm |
|
{ |
|
template<typename T, precision P> |
|
GLM_FUNC_QUALIFIER mat<3, 3, T, P> affineInverse(mat<3, 3, T, P> const & m) |
|
{ |
|
mat<2, 2, T, P> const Inv(inverse(mat<2, 2, T, P>(m))); |
|
|
|
return mat<3, 3, T, P>( |
|
vec<3, T, P>(Inv[0], static_cast<T>(0)), |
|
vec<3, T, P>(Inv[1], static_cast<T>(0)), |
|
vec<3, T, P>(-Inv * vec<2, T, P>(m[2]), static_cast<T>(1))); |
|
} |
|
|
|
template<typename T, precision P> |
|
GLM_FUNC_QUALIFIER mat<4, 4, T, P> affineInverse(mat<4, 4, T, P> const & m) |
|
{ |
|
mat<3, 3, T, P> const Inv(inverse(mat<3, 3, T, P>(m))); |
|
|
|
return mat<4, 4, T, P>( |
|
vec<4, T, P>(Inv[0], static_cast<T>(0)), |
|
vec<4, T, P>(Inv[1], static_cast<T>(0)), |
|
vec<4, T, P>(Inv[2], static_cast<T>(0)), |
|
vec<4, T, P>(-Inv * vec<3, T, P>(m[3]), static_cast<T>(1))); |
|
} |
|
|
|
template<typename T, precision P> |
|
GLM_FUNC_QUALIFIER mat<2, 2, T, P> inverseTranspose(mat<2, 2, T, P> const & m) |
|
{ |
|
T Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1]; |
|
|
|
mat<2, 2, 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 mat<3, 3, T, P> inverseTranspose(mat<3, 3, 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]); |
|
|
|
mat<3, 3, T, P> 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, precision P> |
|
GLM_FUNC_QUALIFIER mat<4, 4, T, P> inverseTranspose(mat<4, 4, 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]; |
|
|
|
mat<4, 4, T, P> 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] * 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
|
|
|