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Diffstat (limited to 'src/glm/gtc/matrix_inverse.inl')
| -rw-r--r-- | src/glm/gtc/matrix_inverse.inl | 139 |
1 files changed, 139 insertions, 0 deletions
diff --git a/src/glm/gtc/matrix_inverse.inl b/src/glm/gtc/matrix_inverse.inl new file mode 100644 index 0000000..50e10ec --- /dev/null +++ b/src/glm/gtc/matrix_inverse.inl @@ -0,0 +1,139 @@ +///////////////////////////////////////////////////////////////////////////////////////////////////
+// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// Created : 2005-12-21
+// Updated : 2010-12-13
+// Licence : This source is under MIT License
+// File : glm/gtc/matrix_inverse.inl
+///////////////////////////////////////////////////////////////////////////////////////////////////
+
+namespace glm{
+namespace gtc{
+namespace matrix_inverse
+{
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat3x3<T> affineInverse
+ (
+ detail::tmat3x3<T> const & m
+ )
+ {
+ detail::tmat3x3<T> Result(m);
+ Result[2] = detail::tvec3<T>(0, 0, 1);
+ Result = transpose(Result);
+ detail::tvec3<T> Translation = Result * detail::tvec3<T>(-detail::tvec2<T>(m[2]), m[2][2]);
+ Result[2] = Translation;
+ return Result;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tmat4x4<T> affineInverse
+ (
+ detail::tmat4x4<T> const & m
+ )
+ {
+ detail::tmat4x4<T> Result(m);
+ Result[3] = detail::tvec4<T>(0, 0, 0, 1);
+ Result = transpose(Result);
+ detail::tvec4<T> Translation = Result * detail::tvec4<T>(-detail::tvec3<T>(m[3]), m[3][3]);
+ Result[3] = Translation;
+ return Result;
+ }
+
+ template <typename valType>
+ GLM_FUNC_QUALIFIER detail::tmat2x2<valType> inverseTranspose(
+ detail::tmat2x2<valType> const & m)
+ {
+ valType Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1];
+
+ detail::tmat2x2<valType> Inverse(
+ + m[1][1] / Determinant,
+ - m[0][1] / Determinant,
+ - m[1][0] / Determinant,
+ + m[0][0] / Determinant);
+
+ return Inverse;
+ }
+
+ template <typename valType>
+ GLM_FUNC_QUALIFIER detail::tmat3x3<valType> inverseTranspose(
+ detail::tmat3x3<valType> const & m)
+ {
+ valType 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<valType> 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 valType>
+ GLM_FUNC_QUALIFIER detail::tmat4x4<valType> inverseTranspose(
+ detail::tmat4x4<valType> const & m)
+ {
+ valType SubFactor00 = m[2][2] * m[3][3] - m[3][2] * m[2][3];
+ valType SubFactor01 = m[2][1] * m[3][3] - m[3][1] * m[2][3];
+ valType SubFactor02 = m[2][1] * m[3][2] - m[3][1] * m[2][2];
+ valType SubFactor03 = m[2][0] * m[3][3] - m[3][0] * m[2][3];
+ valType SubFactor04 = m[2][0] * m[3][2] - m[3][0] * m[2][2];
+ valType SubFactor05 = m[2][0] * m[3][1] - m[3][0] * m[2][1];
+ valType SubFactor06 = m[1][2] * m[3][3] - m[3][2] * m[1][3];
+ valType SubFactor07 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
+ valType SubFactor08 = m[1][1] * m[3][2] - m[3][1] * m[1][2];
+ valType SubFactor09 = m[1][0] * m[3][3] - m[3][0] * m[1][3];
+ valType SubFactor10 = m[1][0] * m[3][2] - m[3][0] * m[1][2];
+ valType SubFactor11 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
+ valType SubFactor12 = m[1][0] * m[3][1] - m[3][0] * m[1][1];
+ valType SubFactor13 = m[1][2] * m[2][3] - m[2][2] * m[1][3];
+ valType SubFactor14 = m[1][1] * m[2][3] - m[2][1] * m[1][3];
+ valType SubFactor15 = m[1][1] * m[2][2] - m[2][1] * m[1][2];
+ valType SubFactor16 = m[1][0] * m[2][3] - m[2][0] * m[1][3];
+ valType SubFactor17 = m[1][0] * m[2][2] - m[2][0] * m[1][2];
+ valType SubFactor18 = m[1][0] * m[2][1] - m[2][0] * m[1][1];
+
+ detail::tmat4x4<valType> 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);
+
+ valType 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 matrix_inverse
+}//namespace gtc
+}//namespace glm
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