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Diffstat (limited to 'src/glm/core/func_matrix.inl')
| -rw-r--r-- | src/glm/core/func_matrix.inl | 571 |
1 files changed, 571 insertions, 0 deletions
diff --git a/src/glm/core/func_matrix.inl b/src/glm/core/func_matrix.inl new file mode 100644 index 0000000..fb2adb8 --- /dev/null +++ b/src/glm/core/func_matrix.inl @@ -0,0 +1,571 @@ +///////////////////////////////////////////////////////////////////////////////////////////////////
+// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// Created : 2008-03-08
+// Updated : 2010-02-04
+// Licence : This source is under MIT License
+// File : glm/core/func_matrix.inl
+///////////////////////////////////////////////////////////////////////////////////////////////////
+
+namespace glm
+{
+ namespace core{
+ namespace function{
+ namespace matrix{
+
+ // matrixCompMult
+ template <typename matType>
+ GLM_FUNC_QUALIFIER matType matrixCompMult
+ (
+ matType const & x,
+ matType const & y
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<typename matType::value_type>::is_float, "'matrixCompMult' only accept floating-point inputs");
+
+ matType result(matType::null);
+ for(typename matType::size_type i = 0; i < matType::col_size(); ++i)
+ result[i] = x[i] * y[i];
+ return result;
+ }
+
+ // outerProduct
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat2x2<T> outerProduct
+ (
+ detail::tvec2<T> const & c,
+ detail::tvec2<T> const & r
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs");
+
+ detail::tmat2x2<T> m(detail::tmat2x2<T>::null);
+ m[0][0] = c[0] * r[0];
+ m[0][1] = c[1] * r[0];
+ m[1][0] = c[0] * r[1];
+ m[1][1] = c[1] * r[1];
+ return m;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat3x3<T> outerProduct
+ (
+ detail::tvec3<T> const & c,
+ detail::tvec3<T> const & r
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs");
+
+ detail::tmat3x3<T> m(detail::tmat3x3<T>::null);
+ for(typename detail::tmat3x3<T>::size_type i = 0; i < detail::tmat3x3<T>::col_size(); ++i)
+ m[i] = c * r[i];
+ return m;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat4x4<T> outerProduct
+ (
+ detail::tvec4<T> const & c,
+ detail::tvec4<T> const & r
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs");
+
+ detail::tmat4x4<T> m(detail::tmat4x4<T>::null);
+ for(typename detail::tmat4x4<T>::size_type i = 0; i < detail::tmat4x4<T>::col_size(); ++i)
+ m[i] = c * r[i];
+ return m;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat2x3<T> outerProduct
+ (
+ detail::tvec3<T> const & c,
+ detail::tvec2<T> const & r
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs");
+
+ detail::tmat2x3<T> m(detail::tmat2x3<T>::null);
+ m[0][0] = c.x * r.x;
+ m[0][1] = c.y * r.x;
+ m[0][2] = c.z * r.x;
+ m[1][0] = c.x * r.y;
+ m[1][1] = c.y * r.y;
+ m[1][2] = c.z * r.y;
+ return m;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat3x2<T> outerProduct
+ (
+ detail::tvec2<T> const & c,
+ detail::tvec3<T> const & r
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs");
+
+ detail::tmat3x2<T> m(detail::tmat3x2<T>::null);
+ m[0][0] = c.x * r.x;
+ m[0][1] = c.y * r.x;
+ m[1][0] = c.x * r.y;
+ m[1][1] = c.y * r.y;
+ m[2][0] = c.x * r.z;
+ m[2][1] = c.y * r.z;
+ return m;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat2x4<T> outerProduct
+ (
+ detail::tvec2<T> const & c,
+ detail::tvec4<T> const & r
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs");
+
+ detail::tmat2x4<T> m(detail::tmat2x4<T>::null);
+ m[0][0] = c.x * r.x;
+ m[0][1] = c.y * r.x;
+ m[0][2] = c.z * r.x;
+ m[0][3] = c.w * r.x;
+ m[1][0] = c.x * r.y;
+ m[1][1] = c.y * r.y;
+ m[1][2] = c.z * r.y;
+ m[1][3] = c.w * r.y;
+ return m;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat4x2<T> outerProduct
+ (
+ detail::tvec4<T> const & c,
+ detail::tvec2<T> const & r
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs");
+
+ detail::tmat4x2<T> m(detail::tmat4x2<T>::null);
+ m[0][0] = c.x * r.x;
+ m[0][1] = c.y * r.x;
+ m[1][0] = c.x * r.y;
+ m[1][1] = c.y * r.y;
+ m[2][0] = c.x * r.z;
+ m[2][1] = c.y * r.z;
+ m[3][0] = c.x * r.w;
+ m[3][1] = c.y * r.w;
+ return m;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat3x4<T> outerProduct
+ (
+ detail::tvec4<T> const & c,
+ detail::tvec3<T> const & r
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs");
+
+ detail::tmat3x4<T> m(detail::tmat3x4<T>::null);
+ m[0][0] = c.x * r.x;
+ m[0][1] = c.y * r.x;
+ m[0][2] = c.z * r.x;
+ m[0][3] = c.w * r.x;
+ m[1][0] = c.x * r.y;
+ m[1][1] = c.y * r.y;
+ m[1][2] = c.z * r.y;
+ m[1][3] = c.w * r.y;
+ m[2][0] = c.x * r.z;
+ m[2][1] = c.y * r.z;
+ m[2][2] = c.z * r.z;
+ m[2][3] = c.w * r.z;
+ return m;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat4x3<T> outerProduct
+ (
+ detail::tvec3<T> const & c,
+ detail::tvec4<T> const & r
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'outerProduct' only accept floating-point inputs");
+
+ detail::tmat4x3<T> m(detail::tmat4x3<T>::null);
+ m[0][0] = c.x * r.x;
+ m[0][1] = c.y * r.x;
+ m[0][2] = c.z * r.x;
+ m[1][0] = c.x * r.y;
+ m[1][1] = c.y * r.y;
+ m[1][2] = c.z * r.y;
+ m[2][0] = c.x * r.z;
+ m[2][1] = c.y * r.z;
+ m[2][2] = c.z * r.z;
+ m[3][0] = c.x * r.w;
+ m[3][1] = c.y * r.w;
+ m[3][2] = c.z * r.w;
+ return m;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat2x2<T> transpose
+ (
+ detail::tmat2x2<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs");
+
+ detail::tmat2x2<T> result(detail::tmat2x2<T>::null);
+ 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>
+ GLM_FUNC_QUALIFIER detail::tmat3x3<T> transpose
+ (
+ detail::tmat3x3<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs");
+
+ detail::tmat3x3<T> result(detail::tmat3x3<T>::null);
+ 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>
+ GLM_FUNC_QUALIFIER detail::tmat4x4<T> transpose
+ (
+ detail::tmat4x4<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs");
+
+ detail::tmat4x4<T> result(detail::tmat4x4<T>::null);
+ 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 <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat2x3<T> transpose
+ (
+ detail::tmat3x2<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs");
+
+ detail::tmat2x3<T> result(detail::tmat2x3<T>::null);
+ 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>
+ GLM_FUNC_QUALIFIER detail::tmat3x2<T> transpose
+ (
+ detail::tmat2x3<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs");
+
+ detail::tmat3x2<T> result(detail::tmat3x2<T>::null);
+ 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>
+ GLM_FUNC_QUALIFIER detail::tmat2x4<T> transpose
+ (
+ detail::tmat4x2<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs");
+
+ detail::tmat2x4<T> result(detail::tmat2x4<T>::null);
+ 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>
+ GLM_FUNC_QUALIFIER detail::tmat4x2<T> transpose
+ (
+ detail::tmat2x4<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs");
+
+ detail::tmat4x2<T> result(detail::tmat4x2<T>::null);
+ 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>
+ GLM_FUNC_QUALIFIER detail::tmat3x4<T> transpose
+ (
+ detail::tmat4x3<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs");
+
+ detail::tmat3x4<T> result(detail::tmat3x4<T>::null);
+ 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>
+ GLM_FUNC_QUALIFIER detail::tmat4x3<T> transpose
+ (
+ detail::tmat3x4<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'transpose' only accept floating-point inputs");
+
+ detail::tmat4x3<T> result(detail::tmat4x3<T>::null);
+ 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>
+ GLM_FUNC_QUALIFIER typename detail::tmat2x2<T>::value_type determinant
+ (
+ detail::tmat2x2<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'determinant' only accept floating-point inputs");
+
+ return m[0][0] * m[1][1] - m[1][0] * m[0][1];
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER typename detail::tmat3x3<T>::value_type determinant
+ (
+ detail::tmat3x3<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'determinant' only accept floating-point inputs");
+
+ 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>
+ GLM_FUNC_QUALIFIER typename detail::tmat4x4<T>::value_type determinant
+ (
+ detail::tmat4x4<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'determinant' only accept floating-point inputs");
+
+ 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];
+
+ detail::tvec4<T> 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 <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat2x2<T> inverse
+ (
+ detail::tmat2x2<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'inverse' only accept floating-point inputs");
+
+ //valType Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1];
+ T Determinant = determinant(m);
+
+ detail::tmat2x2<T> Inverse(
+ + m[1][1] / Determinant,
+ - m[0][1] / Determinant,
+ - m[1][0] / Determinant,
+ + m[0][0] / Determinant);
+
+ return Inverse;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat3x3<T> inverse
+ (
+ detail::tmat3x3<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'inverse' only accept floating-point inputs");
+
+ //valType Determinant = 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]);
+
+ T Determinant = determinant(m);
+
+ detail::tmat3x3<T> Inverse(detail::tmat3x3<T>::null);
+ Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]);
+ Inverse[1][0] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]);
+ Inverse[2][0] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]);
+ Inverse[0][1] = - (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[2][1] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]);
+ Inverse[0][2] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]);
+ Inverse[1][2] = - (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>
+ GLM_FUNC_QUALIFIER detail::tmat4x4<T> inverse
+ (
+ detail::tmat4x4<T> const & m
+ )
+ {
+ GLM_STATIC_ASSERT(detail::type<T>::is_float, "'inverse' only accept floating-point inputs");
+
+ 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];
+
+ detail::tvec4<T> const SignA(+1, -1, +1, -1);
+ detail::tvec4<T> const SignB(-1, +1, -1, +1);
+
+ detail::tvec4<T> Fac0(Coef00, Coef00, Coef02, Coef03);
+ detail::tvec4<T> Fac1(Coef04, Coef04, Coef06, Coef07);
+ detail::tvec4<T> Fac2(Coef08, Coef08, Coef10, Coef11);
+ detail::tvec4<T> Fac3(Coef12, Coef12, Coef14, Coef15);
+ detail::tvec4<T> Fac4(Coef16, Coef16, Coef18, Coef19);
+ detail::tvec4<T> Fac5(Coef20, Coef20, Coef22, Coef23);
+
+ detail::tvec4<T> Vec0(m[1][0], m[0][0], m[0][0], m[0][0]);
+ detail::tvec4<T> Vec1(m[1][1], m[0][1], m[0][1], m[0][1]);
+ detail::tvec4<T> Vec2(m[1][2], m[0][2], m[0][2], m[0][2]);
+ detail::tvec4<T> Vec3(m[1][3], m[0][3], m[0][3], m[0][3]);
+
+ detail::tvec4<T> Inv0 = SignA * (Vec1 * Fac0 - Vec2 * Fac1 + Vec3 * Fac2);
+ detail::tvec4<T> Inv1 = SignB * (Vec0 * Fac0 - Vec2 * Fac3 + Vec3 * Fac4);
+ detail::tvec4<T> Inv2 = SignA * (Vec0 * Fac1 - Vec1 * Fac3 + Vec3 * Fac5);
+ detail::tvec4<T> Inv3 = SignB * (Vec0 * Fac2 - Vec1 * Fac4 + Vec2 * Fac5);
+
+ detail::tmat4x4<T> Inverse(Inv0, Inv1, Inv2, Inv3);
+
+ detail::tvec4<T> Row0(Inverse[0][0], Inverse[1][0], Inverse[2][0], Inverse[3][0]);
+
+ T Determinant = glm::dot(m[0], Row0);
+
+ Inverse /= Determinant;
+
+ return Inverse;
+ }
+
+ }//namespace matrix
+ }//namespace function
+ }//namespace core
+}//namespace glm
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