| /////////////////////////////////////////////////////////////////////////////////// |
| /// 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 core |
| /// @file glm/core/func_matrix.inl |
| /// @date 2008-03-08 / 2011-06-15 |
| /// @author Christophe Riccio |
| /////////////////////////////////////////////////////////////////////////////////// |
| |
| #include "../geometric.hpp" |
| #include <limits> |
| |
| namespace glm{ |
| namespace detail |
| { |
| template |
| < |
| template <class, precision> class vecTypeA, |
| template <class, precision> class vecTypeB, |
| typename T, precision P |
| > |
| struct compute_outerProduct{}; |
| |
| template <typename T, precision P> |
| struct compute_outerProduct<detail::tvec2, detail::tvec2, T, P> |
| { |
| GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, detail::tvec2, detail::tvec2>::type call(detail::tvec2<T, P> const & c, detail::tvec2<T, P> const & r) |
| { |
| detail::tmat2x2<T, P> m(detail::tmat2x2<T, P>::_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, precision P> |
| struct compute_outerProduct<detail::tvec3, detail::tvec3, T, P> |
| { |
| GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, detail::tvec3, detail::tvec3>::type call(detail::tvec3<T, P> const & c, detail::tvec3<T, P> const & r) |
| { |
| detail::tmat3x3<T, P> m(detail::tmat3x3<T, P>::_null); |
| for(length_t i(0); i < m.length(); ++i) |
| m[i] = c * r[i]; |
| return m; |
| } |
| }; |
| |
| template <typename T, precision P> |
| struct compute_outerProduct<detail::tvec4, detail::tvec4, T, P> |
| { |
| GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, detail::tvec4, detail::tvec4>::type call(detail::tvec4<T, P> const & c, detail::tvec4<T, P> const & r) |
| { |
| detail::tmat4x4<T, P> m(detail::tmat4x4<T, P>::_null); |
| for(length_t i(0); i < m.length(); ++i) |
| m[i] = c * r[i]; |
| return m; |
| } |
| }; |
| |
| template <typename T, precision P> |
| struct compute_outerProduct<detail::tvec3, detail::tvec2, T, P> |
| { |
| GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, detail::tvec3, detail::tvec2>::type call(detail::tvec3<T, P> const & c, detail::tvec2<T, P> const & r) |
| { |
| detail::tmat2x3<T, P> m(detail::tmat2x3<T, P>::_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, precision P> |
| struct compute_outerProduct<detail::tvec2, detail::tvec3, T, P> |
| { |
| GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, detail::tvec2, detail::tvec3>::type call(detail::tvec2<T, P> const & c, detail::tvec3<T, P> const & r) |
| { |
| detail::tmat3x2<T, P> m(detail::tmat3x2<T, P>::_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, precision P> |
| struct compute_outerProduct<detail::tvec4, detail::tvec2, T, P> |
| { |
| GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, detail::tvec4, detail::tvec2>::type call(detail::tvec4<T, P> const & c, detail::tvec2<T, P> const & r) |
| { |
| detail::tmat2x4<T, P> m(detail::tmat2x4<T, P>::_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, precision P> |
| struct compute_outerProduct<detail::tvec2, detail::tvec4, T, P> |
| { |
| GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, detail::tvec2, detail::tvec4>::type call(detail::tvec2<T, P> const & c, detail::tvec4<T, P> const & r) |
| { |
| detail::tmat4x2<T, P> m(detail::tmat4x2<T, P>::_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, precision P> |
| struct compute_outerProduct<detail::tvec4, detail::tvec3, T, P> |
| { |
| GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, detail::tvec4, detail::tvec3>::type call(detail::tvec4<T, P> const & c, detail::tvec3<T, P> const & r) |
| { |
| detail::tmat3x4<T, P> m(detail::tmat3x4<T, P>::_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, precision P> |
| struct compute_outerProduct<detail::tvec3, detail::tvec4, T, P> |
| { |
| GLM_FUNC_QUALIFIER static typename detail::outerProduct_trait<T, P, detail::tvec3, detail::tvec4>::type call(detail::tvec3<T, P> const & c, detail::tvec4<T, P> const & r) |
| { |
| detail::tmat4x3<T, P> m(detail::tmat4x3<T, P>::_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 <template <class, precision> class matType, typename T, precision P> |
| struct compute_transpose{}; |
| |
| template <typename T, precision P> |
| struct compute_transpose<detail::tmat2x2, T, P> |
| { |
| GLM_FUNC_QUALIFIER static detail::tmat2x2<T, P> call(detail::tmat2x2<T, P> const & m) |
| { |
| detail::tmat2x2<T, P> result(detail::tmat2x2<T, P>::_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, precision P> |
| struct compute_transpose<detail::tmat2x3, T, P> |
| { |
| GLM_FUNC_QUALIFIER static detail::tmat3x2<T, P> call(detail::tmat2x3<T, P> const & m) |
| { |
| detail::tmat3x2<T, P> result(detail::tmat3x2<T, P>::_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, precision P> |
| struct compute_transpose<detail::tmat2x4, T, P> |
| { |
| GLM_FUNC_QUALIFIER static detail::tmat4x2<T, P> call(detail::tmat2x4<T, P> const & m) |
| { |
| detail::tmat4x2<T, P> result(detail::tmat4x2<T, P>::_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, precision P> |
| struct compute_transpose<detail::tmat3x2, T, P> |
| { |
| GLM_FUNC_QUALIFIER static detail::tmat2x3<T, P> call(detail::tmat3x2<T, P> const & m) |
| { |
| detail::tmat2x3<T, P> result(detail::tmat2x3<T, P>::_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, precision P> |
| struct compute_transpose<detail::tmat3x3, T, P> |
| { |
| GLM_FUNC_QUALIFIER static detail::tmat3x3<T, P> call(detail::tmat3x3<T, P> const & m) |
| { |
| detail::tmat3x3<T, P> result(detail::tmat3x3<T, P>::_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, precision P> |
| struct compute_transpose<detail::tmat3x4, T, P> |
| { |
| GLM_FUNC_QUALIFIER static detail::tmat4x3<T, P> call(detail::tmat3x4<T, P> const & m) |
| { |
| detail::tmat4x3<T, P> result(detail::tmat4x3<T, P>::_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, precision P> |
| struct compute_transpose<detail::tmat4x2, T, P> |
| { |
| GLM_FUNC_QUALIFIER static detail::tmat2x4<T, P> call(detail::tmat4x2<T, P> const & m) |
| { |
| detail::tmat2x4<T, P> result(detail::tmat2x4<T, P>::_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, precision P> |
| struct compute_transpose<detail::tmat4x3, T, P> |
| { |
| GLM_FUNC_QUALIFIER static detail::tmat3x4<T, P> call(detail::tmat4x3<T, P> const & m) |
| { |
| detail::tmat3x4<T, P> result(detail::tmat3x4<T, P>::_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, precision P> |
| struct compute_transpose<detail::tmat4x4, T, P> |
| { |
| GLM_FUNC_QUALIFIER static detail::tmat4x4<T, P> call(detail::tmat4x4<T, P> const & m) |
| { |
| detail::tmat4x4<T, P> result(detail::tmat4x4<T, P>::_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 <template <class, precision> class matType, typename T, precision P> |
| struct compute_determinant{}; |
| |
| template <typename T, precision P> |
| struct compute_determinant<detail::tmat2x2, T, P> |
| { |
| GLM_FUNC_QUALIFIER static T call(detail::tmat2x2<T, P> const & m) |
| { |
| return m[0][0] * m[1][1] - m[1][0] * m[0][1]; |
| } |
| }; |
| |
| template <typename T, precision P> |
| struct compute_determinant<detail::tmat3x3, T, P> |
| { |
| GLM_FUNC_QUALIFIER static T call(detail::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> |
| struct compute_determinant<detail::tmat4x4, T, P> |
| { |
| GLM_FUNC_QUALIFIER static T call(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]; |
| |
| detail::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]; |
| } |
| }; |
| }//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, "'matrixCompMult' only accept floating-point inputs"); |
| |
| matType<T, P> result(matType<T, P>::_null); |
| for(length_t i = 0; i < result.length(); ++i) |
| result[i] = x[i] * y[i]; |
| return result; |
| } |
| |
| 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, "'outerProduct' only accept floating-point inputs"); |
| return detail::compute_outerProduct<vecTypeA, vecTypeB, T, P>::call(c, r); |
| } |
| |
| 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, "'transpose' only accept floating-point inputs"); |
| return detail::compute_transpose<matType, T, P>::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, "'determinant' only accept floating-point inputs"); |
| return detail::compute_determinant<matType, T, P>::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, "'inverse' only accept floating-point inputs"); |
| return detail::compute_inverse<matType, T, P>::call(m); |
| } |
| |
| }//namespace glm |
