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460 lines
13 KiB
460 lines
13 KiB
/////////////////////////////////////////////////////////////////////////////////// |
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/// OpenGL Mathematics (glm.g-truc.net) |
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/// |
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/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net) |
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/// Permission is hereby granted, free of charge, to any person obtaining a copy |
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/// of this software and associated documentation files (the "Software"), to deal |
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/// in the Software without restriction, including without limitation the rights |
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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/// copies of the Software, and to permit persons to whom the Software is |
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/// furnished to do so, subject to the following conditions: |
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/// |
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/// The above copyright notice and this permission notice shall be included in |
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/// all copies or substantial portions of the Software. |
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/// |
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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/// THE SOFTWARE. |
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/// |
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/// @ref core |
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/// @file glm/core/func_matrix.inl |
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/// @date 2008-03-08 / 2011-06-15 |
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/// @author Christophe Riccio |
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/////////////////////////////////////////////////////////////////////////////////// |
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#include "../geometric.hpp" |
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#include <limits> |
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namespace glm{ |
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namespace detail |
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{ |
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template |
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< |
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template <class, precision> class vecTypeA, |
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template <class, precision> class vecTypeB, |
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typename T, precision P |
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> |
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struct compute_outerProduct{}; |
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template <typename T, precision P> |
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struct compute_outerProduct<tvec2, tvec2, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, tvec2, tvec2>::type call(tvec2<T, P> const & c, tvec2<T, P> const & r) |
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{ |
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tmat2x2<T, P> m(uninitialize); |
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m[0][0] = c[0] * r[0]; |
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m[0][1] = c[1] * r[0]; |
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m[1][0] = c[0] * r[1]; |
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m[1][1] = c[1] * r[1]; |
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return m; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_outerProduct<tvec3, tvec3, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, tvec3, tvec3>::type call(tvec3<T, P> const & c, tvec3<T, P> const & r) |
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{ |
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tmat3x3<T, P> m(uninitialize); |
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for(detail::component_count_t i = 0; i < detail::component_count(m); ++i) |
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m[i] = c * r[i]; |
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return m; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_outerProduct<tvec4, tvec4, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, tvec4, tvec4>::type call(tvec4<T, P> const & c, tvec4<T, P> const & r) |
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{ |
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tmat4x4<T, P> m(uninitialize); |
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for(detail::component_count_t i = 0; i < detail::component_count(m); ++i) |
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m[i] = c * r[i]; |
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return m; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_outerProduct<tvec3, tvec2, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, tvec3, tvec2>::type call(tvec3<T, P> const & c, tvec2<T, P> const & r) |
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{ |
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tmat2x3<T, P> m(uninitialize); |
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m[0][0] = c.x * r.x; |
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m[0][1] = c.y * r.x; |
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m[0][2] = c.z * r.x; |
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m[1][0] = c.x * r.y; |
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m[1][1] = c.y * r.y; |
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m[1][2] = c.z * r.y; |
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return m; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_outerProduct<tvec2, tvec3, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, tvec2, tvec3>::type call(tvec2<T, P> const & c, tvec3<T, P> const & r) |
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{ |
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tmat3x2<T, P> m(uninitialize); |
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m[0][0] = c.x * r.x; |
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m[0][1] = c.y * r.x; |
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m[1][0] = c.x * r.y; |
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m[1][1] = c.y * r.y; |
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m[2][0] = c.x * r.z; |
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m[2][1] = c.y * r.z; |
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return m; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_outerProduct<tvec4, tvec2, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, tvec4, tvec2>::type call(tvec4<T, P> const & c, tvec2<T, P> const & r) |
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{ |
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tmat2x4<T, P> m(uninitialize); |
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m[0][0] = c.x * r.x; |
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m[0][1] = c.y * r.x; |
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m[0][2] = c.z * r.x; |
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m[0][3] = c.w * r.x; |
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m[1][0] = c.x * r.y; |
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m[1][1] = c.y * r.y; |
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m[1][2] = c.z * r.y; |
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m[1][3] = c.w * r.y; |
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return m; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_outerProduct<tvec2, tvec4, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, tvec2, tvec4>::type call(tvec2<T, P> const & c, tvec4<T, P> const & r) |
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{ |
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tmat4x2<T, P> m(uninitialize); |
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m[0][0] = c.x * r.x; |
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m[0][1] = c.y * r.x; |
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m[1][0] = c.x * r.y; |
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m[1][1] = c.y * r.y; |
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m[2][0] = c.x * r.z; |
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m[2][1] = c.y * r.z; |
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m[3][0] = c.x * r.w; |
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m[3][1] = c.y * r.w; |
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return m; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_outerProduct<tvec4, tvec3, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, tvec4, tvec3>::type call(tvec4<T, P> const & c, tvec3<T, P> const & r) |
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{ |
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tmat3x4<T, P> m(uninitialize); |
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m[0][0] = c.x * r.x; |
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m[0][1] = c.y * r.x; |
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m[0][2] = c.z * r.x; |
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m[0][3] = c.w * r.x; |
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m[1][0] = c.x * r.y; |
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m[1][1] = c.y * r.y; |
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m[1][2] = c.z * r.y; |
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m[1][3] = c.w * r.y; |
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m[2][0] = c.x * r.z; |
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m[2][1] = c.y * r.z; |
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m[2][2] = c.z * r.z; |
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m[2][3] = c.w * r.z; |
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return m; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_outerProduct<tvec3, tvec4, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, tvec3, tvec4>::type call(tvec3<T, P> const & c, tvec4<T, P> const & r) |
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{ |
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tmat4x3<T, P> m(uninitialize); |
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m[0][0] = c.x * r.x; |
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m[0][1] = c.y * r.x; |
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m[0][2] = c.z * r.x; |
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m[1][0] = c.x * r.y; |
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m[1][1] = c.y * r.y; |
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m[1][2] = c.z * r.y; |
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m[2][0] = c.x * r.z; |
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m[2][1] = c.y * r.z; |
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m[2][2] = c.z * r.z; |
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m[3][0] = c.x * r.w; |
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m[3][1] = c.y * r.w; |
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m[3][2] = c.z * r.w; |
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return m; |
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} |
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}; |
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template <template <class, precision> class matType, typename T, precision P> |
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struct compute_transpose{}; |
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template <typename T, precision P> |
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struct compute_transpose<tmat2x2, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static tmat2x2<T, P> call(tmat2x2<T, P> const & m) |
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{ |
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tmat2x2<T, P> result(uninitialize); |
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result[0][0] = m[0][0]; |
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result[0][1] = m[1][0]; |
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result[1][0] = m[0][1]; |
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result[1][1] = m[1][1]; |
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return result; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_transpose<tmat2x3, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static tmat3x2<T, P> call(tmat2x3<T, P> const & m) |
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{ |
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tmat3x2<T, P> result(uninitialize); |
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result[0][0] = m[0][0]; |
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result[0][1] = m[1][0]; |
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result[1][0] = m[0][1]; |
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result[1][1] = m[1][1]; |
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result[2][0] = m[0][2]; |
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result[2][1] = m[1][2]; |
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return result; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_transpose<tmat2x4, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static tmat4x2<T, P> call(tmat2x4<T, P> const & m) |
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{ |
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tmat4x2<T, P> result(uninitialize); |
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result[0][0] = m[0][0]; |
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result[0][1] = m[1][0]; |
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result[1][0] = m[0][1]; |
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result[1][1] = m[1][1]; |
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result[2][0] = m[0][2]; |
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result[2][1] = m[1][2]; |
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result[3][0] = m[0][3]; |
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result[3][1] = m[1][3]; |
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return result; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_transpose<tmat3x2, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static tmat2x3<T, P> call(tmat3x2<T, P> const & m) |
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{ |
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tmat2x3<T, P> result(uninitialize); |
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result[0][0] = m[0][0]; |
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result[0][1] = m[1][0]; |
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result[0][2] = m[2][0]; |
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result[1][0] = m[0][1]; |
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result[1][1] = m[1][1]; |
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result[1][2] = m[2][1]; |
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return result; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_transpose<tmat3x3, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static tmat3x3<T, P> call(tmat3x3<T, P> const & m) |
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{ |
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tmat3x3<T, P> result(uninitialize); |
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result[0][0] = m[0][0]; |
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result[0][1] = m[1][0]; |
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result[0][2] = m[2][0]; |
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result[1][0] = m[0][1]; |
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result[1][1] = m[1][1]; |
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result[1][2] = m[2][1]; |
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result[2][0] = m[0][2]; |
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result[2][1] = m[1][2]; |
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result[2][2] = m[2][2]; |
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return result; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_transpose<tmat3x4, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static tmat4x3<T, P> call(tmat3x4<T, P> const & m) |
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{ |
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tmat4x3<T, P> result(uninitialize); |
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result[0][0] = m[0][0]; |
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result[0][1] = m[1][0]; |
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result[0][2] = m[2][0]; |
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result[1][0] = m[0][1]; |
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result[1][1] = m[1][1]; |
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result[1][2] = m[2][1]; |
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result[2][0] = m[0][2]; |
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result[2][1] = m[1][2]; |
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result[2][2] = m[2][2]; |
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result[3][0] = m[0][3]; |
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result[3][1] = m[1][3]; |
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result[3][2] = m[2][3]; |
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return result; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_transpose<tmat4x2, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static tmat2x4<T, P> call(tmat4x2<T, P> const & m) |
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{ |
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tmat2x4<T, P> result(uninitialize); |
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result[0][0] = m[0][0]; |
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result[0][1] = m[1][0]; |
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result[0][2] = m[2][0]; |
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result[0][3] = m[3][0]; |
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result[1][0] = m[0][1]; |
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result[1][1] = m[1][1]; |
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result[1][2] = m[2][1]; |
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result[1][3] = m[3][1]; |
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return result; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_transpose<tmat4x3, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static tmat3x4<T, P> call(tmat4x3<T, P> const & m) |
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{ |
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tmat3x4<T, P> result(uninitialize); |
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result[0][0] = m[0][0]; |
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result[0][1] = m[1][0]; |
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result[0][2] = m[2][0]; |
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result[0][3] = m[3][0]; |
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result[1][0] = m[0][1]; |
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result[1][1] = m[1][1]; |
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result[1][2] = m[2][1]; |
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result[1][3] = m[3][1]; |
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result[2][0] = m[0][2]; |
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result[2][1] = m[1][2]; |
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result[2][2] = m[2][2]; |
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result[2][3] = m[3][2]; |
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return result; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_transpose<tmat4x4, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static tmat4x4<T, P> call(tmat4x4<T, P> const & m) |
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{ |
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tmat4x4<T, P> result(uninitialize); |
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result[0][0] = m[0][0]; |
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result[0][1] = m[1][0]; |
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result[0][2] = m[2][0]; |
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result[0][3] = m[3][0]; |
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result[1][0] = m[0][1]; |
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result[1][1] = m[1][1]; |
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result[1][2] = m[2][1]; |
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result[1][3] = m[3][1]; |
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result[2][0] = m[0][2]; |
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result[2][1] = m[1][2]; |
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result[2][2] = m[2][2]; |
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result[2][3] = m[3][2]; |
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result[3][0] = m[0][3]; |
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result[3][1] = m[1][3]; |
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result[3][2] = m[2][3]; |
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result[3][3] = m[3][3]; |
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return result; |
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} |
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}; |
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template <template <class, precision> class matType, typename T, precision P> |
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struct compute_determinant{}; |
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template <typename T, precision P> |
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struct compute_determinant<tmat2x2, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static T call(tmat2x2<T, P> const & m) |
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{ |
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return m[0][0] * m[1][1] - m[1][0] * m[0][1]; |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_determinant<tmat3x3, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static T call(tmat3x3<T, P> const & m) |
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{ |
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return |
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+ m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]) |
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- m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2]) |
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+ m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2]); |
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} |
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}; |
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template <typename T, precision P> |
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struct compute_determinant<tmat4x4, T, P> |
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{ |
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GLM_FUNC_QUALIFIER static T call(tmat4x4<T, P> const & m) |
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{ |
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T SubFactor00 = m[2][2] * m[3][3] - m[3][2] * m[2][3]; |
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T SubFactor01 = m[2][1] * m[3][3] - m[3][1] * m[2][3]; |
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T SubFactor02 = m[2][1] * m[3][2] - m[3][1] * m[2][2]; |
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T SubFactor03 = m[2][0] * m[3][3] - m[3][0] * m[2][3]; |
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T SubFactor04 = m[2][0] * m[3][2] - m[3][0] * m[2][2]; |
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T SubFactor05 = m[2][0] * m[3][1] - m[3][0] * m[2][1]; |
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tvec4<T, P> DetCof( |
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+ (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02), |
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- (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04), |
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+ (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05), |
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- (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05)); |
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return |
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m[0][0] * DetCof[0] + m[0][1] * DetCof[1] + |
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m[0][2] * DetCof[2] + m[0][3] * DetCof[3]; |
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} |
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}; |
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}//namespace detail |
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template <typename T, precision P, template <typename, precision> class matType> |
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GLM_FUNC_QUALIFIER matType<T, P> matrixCompMult(matType<T, P> const & x, matType<T, P> const & y) |
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{ |
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GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'matrixCompMult' only accept floating-point inputs"); |
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matType<T, P> result(uninitialize); |
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for(detail::component_count_t i = 0; i < detail::component_count(result); ++i) |
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result[i] = x[i] * y[i]; |
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return result; |
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} |
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template<typename T, precision P, template <typename, precision> class vecTypeA, template <typename, precision> class vecTypeB> |
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GLM_FUNC_QUALIFIER typename detail::outerProduct_trait<T, P, vecTypeA, vecTypeB>::type outerProduct(vecTypeA<T, P> const & c, vecTypeB<T, P> const & r) |
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{ |
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GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'outerProduct' only accept floating-point inputs"); |
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return detail::compute_outerProduct<vecTypeA, vecTypeB, T, P>::call(c, r); |
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} |
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template <typename T, precision P, template <typename, precision> class matType> |
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GLM_FUNC_QUALIFIER typename matType<T, P>::transpose_type transpose(matType<T, P> const & m) |
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{ |
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GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'transpose' only accept floating-point inputs"); |
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return detail::compute_transpose<matType, T, P>::call(m); |
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} |
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template <typename T, precision P, template <typename, precision> class matType> |
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GLM_FUNC_QUALIFIER T determinant(matType<T, P> const & m) |
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{ |
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GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'determinant' only accept floating-point inputs"); |
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return detail::compute_determinant<matType, T, P>::call(m); |
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} |
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template <typename T, precision P, template <typename, precision> class matType> |
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GLM_FUNC_QUALIFIER matType<T, P> inverse(matType<T, P> const & m) |
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{ |
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GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'inverse' only accept floating-point inputs"); |
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return detail::compute_inverse(m); |
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} |
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}//namespace glm
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