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Diffstat (limited to 'src/libraries/glm/core/func_matrix.inl')
| -rwxr-xr-x | src/libraries/glm/core/func_matrix.inl | 582 |
1 files changed, 582 insertions, 0 deletions
diff --git a/src/libraries/glm/core/func_matrix.inl b/src/libraries/glm/core/func_matrix.inl new file mode 100755 index 0000000..3b07b74 --- /dev/null +++ b/src/libraries/glm/core/func_matrix.inl @@ -0,0 +1,582 @@ +/////////////////////////////////////////////////////////////////////////////////// +/// OpenGL Mathematics (glm.g-truc.net) +/// +/// Copyright (c) 2005 - 2012 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 +/////////////////////////////////////////////////////////////////////////////////// + +namespace glm +{ + // 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::row_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 < m.length(); ++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 < m.length(); ++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::tvec4<T> const & c, + detail::tvec2<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::tvec2<T> const & c, + detail::tvec4<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 glm |