119 lines
4.8 KiB
C++
119 lines
4.8 KiB
C++
/// @ref gtc_matrix_inverse
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namespace glm
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{
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template<typename T, qualifier Q>
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GLM_FUNC_QUALIFIER mat<3, 3, T, Q> affineInverse(mat<3, 3, T, Q> const& m)
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{
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mat<2, 2, T, Q> const Inv(inverse(mat<2, 2, T, Q>(m)));
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return mat<3, 3, T, Q>(
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vec<3, T, Q>(Inv[0], static_cast<T>(0)),
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vec<3, T, Q>(Inv[1], static_cast<T>(0)),
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vec<3, T, Q>(-Inv * vec<2, T, Q>(m[2]), static_cast<T>(1)));
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}
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template<typename T, qualifier Q>
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GLM_FUNC_QUALIFIER mat<4, 4, T, Q> affineInverse(mat<4, 4, T, Q> const& m)
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{
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mat<3, 3, T, Q> const Inv(inverse(mat<3, 3, T, Q>(m)));
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return mat<4, 4, T, Q>(
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vec<4, T, Q>(Inv[0], static_cast<T>(0)),
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vec<4, T, Q>(Inv[1], static_cast<T>(0)),
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vec<4, T, Q>(Inv[2], static_cast<T>(0)),
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vec<4, T, Q>(-Inv * vec<3, T, Q>(m[3]), static_cast<T>(1)));
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}
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template<typename T, qualifier Q>
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GLM_FUNC_QUALIFIER mat<2, 2, T, Q> inverseTranspose(mat<2, 2, T, Q> const& m)
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{
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T Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1];
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mat<2, 2, T, Q> Inverse(
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+ m[1][1] / Determinant,
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- m[0][1] / Determinant,
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- m[1][0] / Determinant,
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+ m[0][0] / Determinant);
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return Inverse;
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}
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template<typename T, qualifier Q>
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GLM_FUNC_QUALIFIER mat<3, 3, T, Q> inverseTranspose(mat<3, 3, T, Q> const& m)
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{
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T Determinant =
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+ m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1])
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- m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0])
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+ m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
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mat<3, 3, T, Q> Inverse;
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Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]);
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Inverse[0][1] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]);
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Inverse[0][2] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]);
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Inverse[1][0] = - (m[0][1] * m[2][2] - m[2][1] * m[0][2]);
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Inverse[1][1] = + (m[0][0] * m[2][2] - m[2][0] * m[0][2]);
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Inverse[1][2] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]);
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Inverse[2][0] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]);
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Inverse[2][1] = - (m[0][0] * m[1][2] - m[1][0] * m[0][2]);
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Inverse[2][2] = + (m[0][0] * m[1][1] - m[1][0] * m[0][1]);
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Inverse /= Determinant;
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return Inverse;
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}
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template<typename T, qualifier Q>
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GLM_FUNC_QUALIFIER mat<4, 4, T, Q> inverseTranspose(mat<4, 4, T, Q> 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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T SubFactor06 = m[1][2] * m[3][3] - m[3][2] * m[1][3];
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T SubFactor07 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
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T SubFactor08 = m[1][1] * m[3][2] - m[3][1] * m[1][2];
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T SubFactor09 = m[1][0] * m[3][3] - m[3][0] * m[1][3];
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T SubFactor10 = m[1][0] * m[3][2] - m[3][0] * m[1][2];
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T SubFactor11 = m[1][0] * m[3][1] - m[3][0] * m[1][1];
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T SubFactor12 = m[1][2] * m[2][3] - m[2][2] * m[1][3];
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T SubFactor13 = m[1][1] * m[2][3] - m[2][1] * m[1][3];
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T SubFactor14 = m[1][1] * m[2][2] - m[2][1] * m[1][2];
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T SubFactor15 = m[1][0] * m[2][3] - m[2][0] * m[1][3];
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T SubFactor16 = m[1][0] * m[2][2] - m[2][0] * m[1][2];
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T SubFactor17 = m[1][0] * m[2][1] - m[2][0] * m[1][1];
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mat<4, 4, T, Q> Inverse;
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Inverse[0][0] = + (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02);
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Inverse[0][1] = - (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04);
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Inverse[0][2] = + (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05);
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Inverse[0][3] = - (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05);
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Inverse[1][0] = - (m[0][1] * SubFactor00 - m[0][2] * SubFactor01 + m[0][3] * SubFactor02);
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Inverse[1][1] = + (m[0][0] * SubFactor00 - m[0][2] * SubFactor03 + m[0][3] * SubFactor04);
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Inverse[1][2] = - (m[0][0] * SubFactor01 - m[0][1] * SubFactor03 + m[0][3] * SubFactor05);
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Inverse[1][3] = + (m[0][0] * SubFactor02 - m[0][1] * SubFactor04 + m[0][2] * SubFactor05);
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Inverse[2][0] = + (m[0][1] * SubFactor06 - m[0][2] * SubFactor07 + m[0][3] * SubFactor08);
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Inverse[2][1] = - (m[0][0] * SubFactor06 - m[0][2] * SubFactor09 + m[0][3] * SubFactor10);
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Inverse[2][2] = + (m[0][0] * SubFactor07 - m[0][1] * SubFactor09 + m[0][3] * SubFactor11);
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Inverse[2][3] = - (m[0][0] * SubFactor08 - m[0][1] * SubFactor10 + m[0][2] * SubFactor11);
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Inverse[3][0] = - (m[0][1] * SubFactor12 - m[0][2] * SubFactor13 + m[0][3] * SubFactor14);
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Inverse[3][1] = + (m[0][0] * SubFactor12 - m[0][2] * SubFactor15 + m[0][3] * SubFactor16);
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Inverse[3][2] = - (m[0][0] * SubFactor13 - m[0][1] * SubFactor15 + m[0][3] * SubFactor17);
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Inverse[3][3] = + (m[0][0] * SubFactor14 - m[0][1] * SubFactor16 + m[0][2] * SubFactor17);
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T Determinant =
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+ m[0][0] * Inverse[0][0]
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+ m[0][1] * Inverse[0][1]
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+ m[0][2] * Inverse[0][2]
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+ m[0][3] * Inverse[0][3];
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Inverse /= Determinant;
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return Inverse;
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}
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}//namespace glm
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