| /////////////////////////////////////////////////////////////////////////////////// |
| /// OpenGL Mathematics (glm.g-truc.net) |
| /// |
| /// Copyright (c) 2005 - 2014 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 gtc_matrix_inverse |
| /// @file glm/gtc/matrix_inverse.inl |
| /// @date 2005-12-21 / 2011-06-15 |
| /// @author Christophe Riccio |
| /////////////////////////////////////////////////////////////////////////////////// |
| |
| #include "../mat2x2.hpp" |
| #include "../mat3x3.hpp" |
| #include "../mat4x4.hpp" |
| |
| namespace glm |
| { |
| template <typename T, precision P> |
| GLM_FUNC_QUALIFIER detail::tmat3x3<T, P> affineInverse |
| ( |
| detail::tmat3x3<T, P> const & m |
| ) |
| { |
| detail::tmat3x3<T, P> Result(m); |
| Result[2] = detail::tvec3<T, P>(0, 0, 1); |
| Result = transpose(Result); |
| detail::tvec3<T, P> Translation = Result * detail::tvec3<T, P>(-detail::tvec2<T, P>(m[2]), m[2][2]); |
| Result[2] = Translation; |
| return Result; |
| } |
| |
| template <typename T, precision P> |
| GLM_FUNC_QUALIFIER detail::tmat4x4<T, P> affineInverse |
| ( |
| detail::tmat4x4<T, P> const & m |
| ) |
| { |
| detail::tmat4x4<T, P> Result(m); |
| Result[3] = detail::tvec4<T, P>(0, 0, 0, 1); |
| Result = transpose(Result); |
| detail::tvec4<T, P> Translation = Result * detail::tvec4<T, P>(-detail::tvec3<T, P>(m[3]), m[3][3]); |
| Result[3] = Translation; |
| return Result; |
| } |
| |
| template <typename T, precision P> |
| GLM_FUNC_QUALIFIER detail::tmat2x2<T, P> inverseTranspose |
| ( |
| detail::tmat2x2<T, P> const & m |
| ) |
| { |
| T Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1]; |
| |
| detail::tmat2x2<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 detail::tmat3x3<T, P> inverseTranspose |
| ( |
| detail::tmat3x3<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]); |
| |
| detail::tmat3x3<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 detail::tmat4x4<T, P> inverseTranspose |
| ( |
| detail::tmat4x4<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]; |
| |
| detail::tmat4x4<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 |