/// @ref core /// @file glm/detail/func_matrix.inl #include "../geometric.hpp" #include <limits> namespace glm{ namespace detail { template <template <typename, precision> class matType, typename T, precision P, bool Aligned> struct compute_matrixCompMult { GLM_FUNC_QUALIFIER static matType<T, P> call(matType<T, P> const& x, matType<T, P> const& y) { matType<T, P> result(uninitialize); for(length_t i = 0; i < result.length(); ++i) result[i] = x[i] * y[i]; return result; } }; template <template <class, precision> class matType, typename T, precision P, bool Aligned> struct compute_transpose{}; template <typename T, precision P, bool Aligned> struct compute_transpose<tmat2x2, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat2x2<T, P> call(tmat2x2<T, P> const & m) { tmat2x2<T, P> result(uninitialize); 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, precision P, bool Aligned> struct compute_transpose<tmat2x3, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat3x2<T, P> call(tmat2x3<T, P> const & m) { tmat3x2<T, P> result(uninitialize); 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, precision P, bool Aligned> struct compute_transpose<tmat2x4, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat4x2<T, P> call(tmat2x4<T, P> const & m) { tmat4x2<T, P> result(uninitialize); 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, precision P, bool Aligned> struct compute_transpose<tmat3x2, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat2x3<T, P> call(tmat3x2<T, P> const & m) { tmat2x3<T, P> result(uninitialize); 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, precision P, bool Aligned> struct compute_transpose<tmat3x3, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat3x3<T, P> call(tmat3x3<T, P> const & m) { tmat3x3<T, P> result(uninitialize); 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, precision P, bool Aligned> struct compute_transpose<tmat3x4, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat4x3<T, P> call(tmat3x4<T, P> const & m) { tmat4x3<T, P> result(uninitialize); 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, precision P, bool Aligned> struct compute_transpose<tmat4x2, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat2x4<T, P> call(tmat4x2<T, P> const & m) { tmat2x4<T, P> result(uninitialize); 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, precision P, bool Aligned> struct compute_transpose<tmat4x3, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat3x4<T, P> call(tmat4x3<T, P> const & m) { tmat3x4<T, P> result(uninitialize); 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, precision P, bool Aligned> struct compute_transpose<tmat4x4, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat4x4<T, P> call(tmat4x4<T, P> const & m) { tmat4x4<T, P> result(uninitialize); 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 <template <typename, precision> class matType, typename T, precision P, bool Aligned> struct compute_determinant{}; template <typename T, precision P, bool Aligned> struct compute_determinant<tmat2x2, T, P, Aligned> { GLM_FUNC_QUALIFIER static T call(tmat2x2<T, P> const & m) { return m[0][0] * m[1][1] - m[1][0] * m[0][1]; } }; template <typename T, precision P, bool Aligned> struct compute_determinant<tmat3x3, T, P, Aligned> { GLM_FUNC_QUALIFIER static T call(tmat3x3<T, P> const & m) { 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, precision P, bool Aligned> struct compute_determinant<tmat4x4, T, P, Aligned> { GLM_FUNC_QUALIFIER static T call(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]; tvec4<T, P> 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 <template <typename, precision> class matType, typename T, precision P, bool Aligned> struct compute_inverse{}; template <typename T, precision P, bool Aligned> struct compute_inverse<tmat2x2, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat2x2<T, P> call(tmat2x2<T, P> const& m) { T OneOverDeterminant = static_cast<T>(1) / ( + m[0][0] * m[1][1] - m[1][0] * m[0][1]); tmat2x2<T, P> Inverse( + m[1][1] * OneOverDeterminant, - m[0][1] * OneOverDeterminant, - m[1][0] * OneOverDeterminant, + m[0][0] * OneOverDeterminant); return Inverse; } }; template <typename T, precision P, bool Aligned> struct compute_inverse<tmat3x3, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat3x3<T, P> call(tmat3x3<T, P> const& m) { T OneOverDeterminant = static_cast<T>(1) / ( + 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])); tmat3x3<T, P> Inverse(uninitialize); Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]) * OneOverDeterminant; Inverse[1][0] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]) * OneOverDeterminant; Inverse[2][0] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]) * OneOverDeterminant; Inverse[0][1] = - (m[0][1] * m[2][2] - m[2][1] * m[0][2]) * OneOverDeterminant; Inverse[1][1] = + (m[0][0] * m[2][2] - m[2][0] * m[0][2]) * OneOverDeterminant; Inverse[2][1] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]) * OneOverDeterminant; Inverse[0][2] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]) * OneOverDeterminant; Inverse[1][2] = - (m[0][0] * m[1][2] - m[1][0] * m[0][2]) * OneOverDeterminant; Inverse[2][2] = + (m[0][0] * m[1][1] - m[1][0] * m[0][1]) * OneOverDeterminant; return Inverse; } }; template <typename T, precision P, bool Aligned> struct compute_inverse<tmat4x4, T, P, Aligned> { GLM_FUNC_QUALIFIER static tmat4x4<T, P> call(tmat4x4<T, P> const& m) { 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]; tvec4<T, P> Fac0(Coef00, Coef00, Coef02, Coef03); tvec4<T, P> Fac1(Coef04, Coef04, Coef06, Coef07); tvec4<T, P> Fac2(Coef08, Coef08, Coef10, Coef11); tvec4<T, P> Fac3(Coef12, Coef12, Coef14, Coef15); tvec4<T, P> Fac4(Coef16, Coef16, Coef18, Coef19); tvec4<T, P> Fac5(Coef20, Coef20, Coef22, Coef23); tvec4<T, P> Vec0(m[1][0], m[0][0], m[0][0], m[0][0]); tvec4<T, P> Vec1(m[1][1], m[0][1], m[0][1], m[0][1]); tvec4<T, P> Vec2(m[1][2], m[0][2], m[0][2], m[0][2]); tvec4<T, P> Vec3(m[1][3], m[0][3], m[0][3], m[0][3]); tvec4<T, P> Inv0(Vec1 * Fac0 - Vec2 * Fac1 + Vec3 * Fac2); tvec4<T, P> Inv1(Vec0 * Fac0 - Vec2 * Fac3 + Vec3 * Fac4); tvec4<T, P> Inv2(Vec0 * Fac1 - Vec1 * Fac3 + Vec3 * Fac5); tvec4<T, P> Inv3(Vec0 * Fac2 - Vec1 * Fac4 + Vec2 * Fac5); tvec4<T, P> SignA(+1, -1, +1, -1); tvec4<T, P> SignB(-1, +1, -1, +1); tmat4x4<T, P> Inverse(Inv0 * SignA, Inv1 * SignB, Inv2 * SignA, Inv3 * SignB); tvec4<T, P> Row0(Inverse[0][0], Inverse[1][0], Inverse[2][0], Inverse[3][0]); tvec4<T, P> Dot0(m[0] * Row0); T Dot1 = (Dot0.x + Dot0.y) + (Dot0.z + Dot0.w); T OneOverDeterminant = static_cast<T>(1) / Dot1; return Inverse * OneOverDeterminant; } }; }//namespace detail template <typename T, precision P, template <typename, precision> class matType> GLM_FUNC_QUALIFIER matType<T, P> matrixCompMult(matType<T, P> const & x, matType<T, P> const & y) { GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_UNRESTRICTED_GENTYPE, "'matrixCompMult' only accept floating-point inputs"); return detail::compute_matrixCompMult<matType, T, P, detail::is_aligned<P>::value>::call(x, y); } template<typename T, precision P, template <typename, precision> class vecTypeA, template <typename, precision> class vecTypeB> GLM_FUNC_QUALIFIER typename detail::outerProduct_trait<T, P, vecTypeA, vecTypeB>::type outerProduct(vecTypeA<T, P> const & c, vecTypeB<T, P> const & r) { GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_UNRESTRICTED_GENTYPE, "'outerProduct' only accept floating-point inputs"); typename detail::outerProduct_trait<T, P, vecTypeA, vecTypeB>::type m(uninitialize); for(length_t i = 0; i < m.length(); ++i) m[i] = c * r[i]; return m; } template <typename T, precision P, template <typename, precision> class matType> GLM_FUNC_QUALIFIER typename matType<T, P>::transpose_type transpose(matType<T, P> const & m) { GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_UNRESTRICTED_GENTYPE, "'transpose' only accept floating-point inputs"); return detail::compute_transpose<matType, T, P, detail::is_aligned<P>::value>::call(m); } template <typename T, precision P, template <typename, precision> class matType> GLM_FUNC_QUALIFIER T determinant(matType<T, P> const & m) { GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_UNRESTRICTED_GENTYPE, "'determinant' only accept floating-point inputs"); return detail::compute_determinant<matType, T, P, detail::is_aligned<P>::value>::call(m); } template <typename T, precision P, template <typename, precision> class matType> GLM_FUNC_QUALIFIER matType<T, P> inverse(matType<T, P> const & m) { GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_UNRESTRICTED_GENTYPE, "'inverse' only accept floating-point inputs"); return detail::compute_inverse<matType, T, P, detail::is_aligned<P>::value>::call(m); } }//namespace glm #if GLM_ARCH != GLM_ARCH_PURE && GLM_HAS_UNRESTRICTED_UNIONS # include "func_matrix_simd.inl" #endif