399 lines
12 KiB
C++
399 lines
12 KiB
C++
#include "../geometric.hpp"
|
|
#include <limits>
|
|
|
|
namespace glm{
|
|
namespace detail
|
|
{
|
|
template<length_t C, length_t R, typename T, qualifier Q, bool Aligned>
|
|
struct compute_matrixCompMult
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<C, R, T, Q> call(mat<C, R, T, Q> const& x, mat<C, R, T, Q> const& y)
|
|
{
|
|
mat<C, R, T, Q> Result;
|
|
for(length_t i = 0; i < Result.length(); ++i)
|
|
Result[i] = x[i] * y[i];
|
|
return Result;
|
|
}
|
|
};
|
|
|
|
template<length_t C, length_t R, typename T, qualifier Q, bool Aligned>
|
|
struct compute_transpose{};
|
|
|
|
template<typename T, qualifier Q, bool Aligned>
|
|
struct compute_transpose<2, 2, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<2, 2, T, Q> call(mat<2, 2, T, Q> const& m)
|
|
{
|
|
mat<2, 2, T, Q> Result;
|
|
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, qualifier Q, bool Aligned>
|
|
struct compute_transpose<2, 3, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<3, 2, T, Q> call(mat<2, 3, T, Q> const& m)
|
|
{
|
|
mat<3,2, T, Q> Result;
|
|
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, qualifier Q, bool Aligned>
|
|
struct compute_transpose<2, 4, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<4, 2, T, Q> call(mat<2, 4, T, Q> const& m)
|
|
{
|
|
mat<4, 2, T, Q> Result;
|
|
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, qualifier Q, bool Aligned>
|
|
struct compute_transpose<3, 2, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<2, 3, T, Q> call(mat<3, 2, T, Q> const& m)
|
|
{
|
|
mat<2, 3, T, Q> Result;
|
|
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, qualifier Q, bool Aligned>
|
|
struct compute_transpose<3, 3, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<3, 3, T, Q> call(mat<3, 3, T, Q> const& m)
|
|
{
|
|
mat<3, 3, T, Q> Result;
|
|
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, qualifier Q, bool Aligned>
|
|
struct compute_transpose<3, 4, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<4, 3, T, Q> call(mat<3, 4, T, Q> const& m)
|
|
{
|
|
mat<4, 3, T, Q> Result;
|
|
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, qualifier Q, bool Aligned>
|
|
struct compute_transpose<4, 2, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<2, 4, T, Q> call(mat<4, 2, T, Q> const& m)
|
|
{
|
|
mat<2, 4, T, Q> Result;
|
|
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, qualifier Q, bool Aligned>
|
|
struct compute_transpose<4, 3, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<3, 4, T, Q> call(mat<4, 3, T, Q> const& m)
|
|
{
|
|
mat<3, 4, T, Q> Result;
|
|
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, qualifier Q, bool Aligned>
|
|
struct compute_transpose<4, 4, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<4, 4, T, Q> call(mat<4, 4, T, Q> const& m)
|
|
{
|
|
mat<4, 4, T, Q> Result;
|
|
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<length_t C, length_t R, typename T, qualifier Q, bool Aligned>
|
|
struct compute_determinant{};
|
|
|
|
template<typename T, qualifier Q, bool Aligned>
|
|
struct compute_determinant<2, 2, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static T call(mat<2, 2, T, Q> const& m)
|
|
{
|
|
return m[0][0] * m[1][1] - m[1][0] * m[0][1];
|
|
}
|
|
};
|
|
|
|
template<typename T, qualifier Q, bool Aligned>
|
|
struct compute_determinant<3, 3, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static T call(mat<3, 3, T, Q> const& m)
|
|
{
|
|
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, qualifier Q, bool Aligned>
|
|
struct compute_determinant<4, 4, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static T call(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];
|
|
|
|
vec<4, T, Q> 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<length_t C, length_t R, typename T, qualifier Q, bool Aligned>
|
|
struct compute_inverse{};
|
|
|
|
template<typename T, qualifier Q, bool Aligned>
|
|
struct compute_inverse<2, 2, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<2, 2, T, Q> call(mat<2, 2, T, Q> const& m)
|
|
{
|
|
T OneOverDeterminant = static_cast<T>(1) / (
|
|
+ m[0][0] * m[1][1]
|
|
- m[1][0] * m[0][1]);
|
|
|
|
mat<2, 2, T, Q> Inverse(
|
|
+ m[1][1] * OneOverDeterminant,
|
|
- m[0][1] * OneOverDeterminant,
|
|
- m[1][0] * OneOverDeterminant,
|
|
+ m[0][0] * OneOverDeterminant);
|
|
|
|
return Inverse;
|
|
}
|
|
};
|
|
|
|
template<typename T, qualifier Q, bool Aligned>
|
|
struct compute_inverse<3, 3, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<3, 3, T, Q> call(mat<3, 3, T, Q> const& m)
|
|
{
|
|
T OneOverDeterminant = static_cast<T>(1) / (
|
|
+ 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]));
|
|
|
|
mat<3, 3, T, Q> Inverse;
|
|
Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]) * OneOverDeterminant;
|
|
Inverse[1][0] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]) * OneOverDeterminant;
|
|
Inverse[2][0] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]) * OneOverDeterminant;
|
|
Inverse[0][1] = - (m[0][1] * m[2][2] - m[2][1] * m[0][2]) * OneOverDeterminant;
|
|
Inverse[1][1] = + (m[0][0] * m[2][2] - m[2][0] * m[0][2]) * OneOverDeterminant;
|
|
Inverse[2][1] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]) * OneOverDeterminant;
|
|
Inverse[0][2] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]) * OneOverDeterminant;
|
|
Inverse[1][2] = - (m[0][0] * m[1][2] - m[1][0] * m[0][2]) * OneOverDeterminant;
|
|
Inverse[2][2] = + (m[0][0] * m[1][1] - m[1][0] * m[0][1]) * OneOverDeterminant;
|
|
|
|
return Inverse;
|
|
}
|
|
};
|
|
|
|
template<typename T, qualifier Q, bool Aligned>
|
|
struct compute_inverse<4, 4, T, Q, Aligned>
|
|
{
|
|
GLM_FUNC_QUALIFIER static mat<4, 4, T, Q> call(mat<4, 4, T, Q> const& m)
|
|
{
|
|
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];
|
|
|
|
vec<4, T, Q> Fac0(Coef00, Coef00, Coef02, Coef03);
|
|
vec<4, T, Q> Fac1(Coef04, Coef04, Coef06, Coef07);
|
|
vec<4, T, Q> Fac2(Coef08, Coef08, Coef10, Coef11);
|
|
vec<4, T, Q> Fac3(Coef12, Coef12, Coef14, Coef15);
|
|
vec<4, T, Q> Fac4(Coef16, Coef16, Coef18, Coef19);
|
|
vec<4, T, Q> Fac5(Coef20, Coef20, Coef22, Coef23);
|
|
|
|
vec<4, T, Q> Vec0(m[1][0], m[0][0], m[0][0], m[0][0]);
|
|
vec<4, T, Q> Vec1(m[1][1], m[0][1], m[0][1], m[0][1]);
|
|
vec<4, T, Q> Vec2(m[1][2], m[0][2], m[0][2], m[0][2]);
|
|
vec<4, T, Q> Vec3(m[1][3], m[0][3], m[0][3], m[0][3]);
|
|
|
|
vec<4, T, Q> Inv0(Vec1 * Fac0 - Vec2 * Fac1 + Vec3 * Fac2);
|
|
vec<4, T, Q> Inv1(Vec0 * Fac0 - Vec2 * Fac3 + Vec3 * Fac4);
|
|
vec<4, T, Q> Inv2(Vec0 * Fac1 - Vec1 * Fac3 + Vec3 * Fac5);
|
|
vec<4, T, Q> Inv3(Vec0 * Fac2 - Vec1 * Fac4 + Vec2 * Fac5);
|
|
|
|
vec<4, T, Q> SignA(+1, -1, +1, -1);
|
|
vec<4, T, Q> SignB(-1, +1, -1, +1);
|
|
mat<4, 4, T, Q> Inverse(Inv0 * SignA, Inv1 * SignB, Inv2 * SignA, Inv3 * SignB);
|
|
|
|
vec<4, T, Q> Row0(Inverse[0][0], Inverse[1][0], Inverse[2][0], Inverse[3][0]);
|
|
|
|
vec<4, T, Q> Dot0(m[0] * Row0);
|
|
T Dot1 = (Dot0.x + Dot0.y) + (Dot0.z + Dot0.w);
|
|
|
|
T OneOverDeterminant = static_cast<T>(1) / Dot1;
|
|
|
|
return Inverse * OneOverDeterminant;
|
|
}
|
|
};
|
|
}//namespace detail
|
|
|
|
template<length_t C, length_t R, typename T, qualifier Q>
|
|
GLM_FUNC_QUALIFIER mat<C, R, T, Q> matrixCompMult(mat<C, R, T, Q> const& x, mat<C, R, T, Q> const& y)
|
|
{
|
|
GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, "'matrixCompMult' only accept floating-point inputs");
|
|
return detail::compute_matrixCompMult<C, R, T, Q, detail::is_aligned<Q>::value>::call(x, y);
|
|
}
|
|
|
|
template<length_t DA, length_t DB, typename T, qualifier Q>
|
|
GLM_FUNC_QUALIFIER typename detail::outerProduct_trait<DA, DB, T, Q>::type outerProduct(vec<DA, T, Q> const& c, vec<DB, T, Q> const& r)
|
|
{
|
|
GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, "'outerProduct' only accept floating-point inputs");
|
|
|
|
typename detail::outerProduct_trait<DA, DB, T, Q>::type m;
|
|
for(length_t i = 0; i < m.length(); ++i)
|
|
m[i] = c * r[i];
|
|
return m;
|
|
}
|
|
|
|
template<length_t C, length_t R, typename T, qualifier Q>
|
|
GLM_FUNC_QUALIFIER typename mat<C, R, T, Q>::transpose_type transpose(mat<C, R, T, Q> const& m)
|
|
{
|
|
GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, "'transpose' only accept floating-point inputs");
|
|
return detail::compute_transpose<C, R, T, Q, detail::is_aligned<Q>::value>::call(m);
|
|
}
|
|
|
|
template<length_t C, length_t R, typename T, qualifier Q>
|
|
GLM_FUNC_QUALIFIER T determinant(mat<C, R, T, Q> const& m)
|
|
{
|
|
GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, "'determinant' only accept floating-point inputs");
|
|
return detail::compute_determinant<C, R, T, Q, detail::is_aligned<Q>::value>::call(m);
|
|
}
|
|
|
|
template<length_t C, length_t R, typename T, qualifier Q>
|
|
GLM_FUNC_QUALIFIER mat<C, R, T, Q> inverse(mat<C, R, T, Q> const& m)
|
|
{
|
|
GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_GENTYPE, "'inverse' only accept floating-point inputs");
|
|
return detail::compute_inverse<C, R, T, Q, detail::is_aligned<Q>::value>::call(m);
|
|
}
|
|
}//namespace glm
|
|
|
|
#if GLM_CONFIG_SIMD == GLM_ENABLE
|
|
# include "func_matrix_simd.inl"
|
|
#endif
|
|
|