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Diffstat (limited to 'include/gal/opengl/glm/gtc/matrix_inverse.inl')
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1 files changed, 159 insertions, 0 deletions
diff --git a/include/gal/opengl/glm/gtc/matrix_inverse.inl b/include/gal/opengl/glm/gtc/matrix_inverse.inl new file mode 100644 index 0000000..470dca8 --- /dev/null +++ b/include/gal/opengl/glm/gtc/matrix_inverse.inl @@ -0,0 +1,159 @@ +/////////////////////////////////////////////////////////////////////////////////// +/// OpenGL Mathematics (glm.g-truc.net) +/// +/// Copyright (c) 2005 - 2013 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 +/////////////////////////////////////////////////////////////////////////////////// + +namespace glm +{ + 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 glm |