Promoted matrix inverse functions
This commit is contained in:
Christophe Riccio
parent
455144b990
commit
cd183edb29
@ -65,7 +65,6 @@ namespace glm
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genIType & msb,
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genIType & lsb);
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//! Extracts bits [offset, offset + bits - 1] from value,
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//! returning them in the least significant bits of the result.
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//! For unsigned data types, the most significant bits of the
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@ -2,7 +2,7 @@
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// OpenGL Mathematics Copyright (c) 2005 - 2010 G-Truc Creation (www.g-truc.net)
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Created : 2009-05-01
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// Updated : 2010-04-30
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// Updated : 2010-12-13
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// Licence : This source is under MIT License
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// File : glm/ext.hpp
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///////////////////////////////////////////////////////////////////////////////////////////////////
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@ -12,6 +12,7 @@
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#include "./gtc/half_float.hpp"
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#include "./gtc/matrix_access.hpp"
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#include "./gtc/matrix_inverse.hpp"
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#include "./gtc/matrix_transform.hpp"
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#include "./gtc/quaternion.hpp"
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#include "./gtc/swizzle.hpp"
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@ -27,7 +28,6 @@
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#include "./gtx/comparison.hpp"
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#include "./gtx/compatibility.hpp"
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#include "./gtx/component_wise.hpp"
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#include "./gtx/determinant.hpp"
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#include "./gtx/epsilon.hpp"
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#include "./gtx/euler_angles.hpp"
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#include "./gtx/extend.hpp"
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@ -41,14 +41,11 @@
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#include "./gtx/int_10_10_10_2.hpp"
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#include "./gtx/integer.hpp"
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#include "./gtx/intersect.hpp"
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#include "./gtx/inverse.hpp"
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#include "./gtx/inverse_transpose.hpp"
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#include "./gtx/log_base.hpp"
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#include "./gtx/matrix_cross_product.hpp"
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#include "./gtx/matrix_major_storage.hpp"
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#include "./gtx/matrix_operation.hpp"
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#include "./gtx/matrix_query.hpp"
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#include "./gtx/matrix_selection.hpp"
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#include "./gtx/mixed_product.hpp"
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#include "./gtx/norm.hpp"
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#include "./gtx/normal.hpp"
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@ -0,0 +1,43 @@
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// OpenGL Mathematics Copyright (c) 2005 - 2010 G-Truc Creation (www.g-truc.net)
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Created : 2005-12-21
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// Updated : 2010-12-13
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// Licence : This source is under MIT License
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// File : glm/gtc/matrix_inverse.hpp
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Dependency:
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// - GLM core
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///////////////////////////////////////////////////////////////////////////////////////////////////
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#ifndef glm_gtc_matrix_inverse
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#define glm_gtc_matrix_inverse
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// Dependency:
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#include "../glm.hpp"
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namespace glm{
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namespace gtc{
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//! GLM_GTC_matrix_inverse extension: Inverse matrix functions
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namespace matrix_inverse
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{
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//! Fast matrix inverse for affine matrix.
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//! From GLM_GTC_matrix_inverse extension.
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template <typename genType>
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genType affineInverse(genType const & m);
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//! Compute the inverse transpose of a matrix.
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//! From GLM_GTC_matrix_inverse extension.
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template <typename genType>
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inline typename genType::value_type inverseTranspose(
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genType const & m);
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}//namespace matrix_inverse
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}//namespace gtc
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}//namespace glm
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#include "matrix_inverse.inl"
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namespace glm{using namespace gtc::matrix_inverse;}
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#endif//glm_gtc_matrix_inverse
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@ -0,0 +1,139 @@
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// OpenGL Mathematics Copyright (c) 2005 - 2010 G-Truc Creation (www.g-truc.net)
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Created : 2005-12-21
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// Updated : 2010-12-13
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// Licence : This source is under MIT License
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// File : glm/gtc/matrix_inverse.inl
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///////////////////////////////////////////////////////////////////////////////////////////////////
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namespace glm{
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namespace gtx{
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namespace matrix_inverse
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{
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template <typename T>
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inline detail::tmat3x3<T> affineInverse
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(
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detail::tmat3x3<T> const & m
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)
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{
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detail::tmat3x3<T> Result(m);
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Result[2] = detail::tvec3<T>(0, 0, 1);
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Result = transpose(Result);
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detail::tvec3<T> Translation = Result * detail::tvec3<T>(-detail::tvec2<T>(m[2]), m[2][2]);
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Result[2] = Translation;
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return Result;
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}
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template <typename T>
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inline detail::tmat4x4<T> affineInverse
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(
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detail::tmat4x4<T> const & m
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)
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{
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detail::tmat4x4<T> Result(m);
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Result[3] = detail::tvec4<T>(0, 0, 0, 1);
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Result = transpose(Result);
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detail::tvec4<T> Translation = Result * detail::tvec4<T>(-detail::tvec3<T>(m[3]), m[3][3]);
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Result[3] = Translation;
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return Result;
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}
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template <typename valType>
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inline detail::tmat2x2<valType> inverseTranspose(
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detail::tmat2x2<valType> const & m)
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{
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valType Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1];
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detail::tmat2x2<valType> Inverse(
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+ m[1][1] / Determinant,
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- m[0][1] / Determinant,
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- m[1][0] / Determinant,
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+ m[0][0] / Determinant);
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return Inverse;
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}
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template <typename valType>
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inline detail::tmat3x3<valType> inverseTranspose(
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detail::tmat3x3<valType> const & m)
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{
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valType Determinant =
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+ m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1])
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- m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0])
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+ m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
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detail::tmat3x3<valType> Inverse;
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Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]);
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Inverse[0][1] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]);
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Inverse[0][2] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]);
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Inverse[1][0] = - (m[0][1] * m[2][2] - m[2][1] * m[0][2]);
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Inverse[1][1] = + (m[0][0] * m[2][2] - m[2][0] * m[0][2]);
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Inverse[1][2] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]);
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Inverse[2][0] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]);
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Inverse[2][1] = - (m[0][0] * m[1][2] - m[1][0] * m[0][2]);
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Inverse[2][2] = + (m[0][0] * m[1][1] - m[1][0] * m[0][1]);
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Inverse /= Determinant;
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return Inverse;
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}
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template <typename valType>
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inline detail::tmat4x4<valType> inverseTranspose(
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detail::tmat4x4<valType> const & m)
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{
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valType SubFactor00 = m[2][2] * m[3][3] - m[3][2] * m[2][3];
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valType SubFactor01 = m[2][1] * m[3][3] - m[3][1] * m[2][3];
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valType SubFactor02 = m[2][1] * m[3][2] - m[3][1] * m[2][2];
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valType SubFactor03 = m[2][0] * m[3][3] - m[3][0] * m[2][3];
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valType SubFactor04 = m[2][0] * m[3][2] - m[3][0] * m[2][2];
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valType SubFactor05 = m[2][0] * m[3][1] - m[3][0] * m[2][1];
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valType SubFactor06 = m[1][2] * m[3][3] - m[3][2] * m[1][3];
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valType SubFactor07 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
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valType SubFactor08 = m[1][1] * m[3][2] - m[3][1] * m[1][2];
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valType SubFactor09 = m[1][0] * m[3][3] - m[3][0] * m[1][3];
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valType SubFactor10 = m[1][0] * m[3][2] - m[3][0] * m[1][2];
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valType SubFactor11 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
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valType SubFactor12 = m[1][0] * m[3][1] - m[3][0] * m[1][1];
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valType SubFactor13 = m[1][2] * m[2][3] - m[2][2] * m[1][3];
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valType SubFactor14 = m[1][1] * m[2][3] - m[2][1] * m[1][3];
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valType SubFactor15 = m[1][1] * m[2][2] - m[2][1] * m[1][2];
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valType SubFactor16 = m[1][0] * m[2][3] - m[2][0] * m[1][3];
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valType SubFactor17 = m[1][0] * m[2][2] - m[2][0] * m[1][2];
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valType SubFactor18 = m[1][0] * m[2][1] - m[2][0] * m[1][1];
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detail::tmat4x4<valType> Inverse;
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Inverse[0][0] = + (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02);
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Inverse[0][1] = - (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04);
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Inverse[0][2] = + (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05);
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Inverse[0][3] = - (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05);
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Inverse[1][0] = - (m[0][1] * SubFactor00 - m[0][2] * SubFactor01 + m[0][3] * SubFactor02);
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Inverse[1][1] = + (m[0][0] * SubFactor00 - m[0][2] * SubFactor03 + m[0][3] * SubFactor04);
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Inverse[1][2] = - (m[0][0] * SubFactor01 - m[0][1] * SubFactor03 + m[0][3] * SubFactor05);
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Inverse[1][3] = + (m[0][0] * SubFactor02 - m[0][1] * SubFactor04 + m[0][2] * SubFactor05);
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Inverse[2][0] = + (m[0][1] * SubFactor06 - m[0][2] * SubFactor07 + m[0][3] * SubFactor08);
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Inverse[2][1] = - (m[0][0] * SubFactor06 - m[0][2] * SubFactor09 + m[0][3] * SubFactor10);
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Inverse[2][2] = + (m[0][0] * SubFactor11 - m[0][1] * SubFactor09 + m[0][3] * SubFactor12);
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Inverse[2][3] = - (m[0][0] * SubFactor08 - m[0][1] * SubFactor10 + m[0][2] * SubFactor12);
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Inverse[3][0] = - (m[0][1] * SubFactor13 - m[0][2] * SubFactor14 + m[0][3] * SubFactor15);
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Inverse[3][1] = + (m[0][0] * SubFactor13 - m[0][2] * SubFactor16 + m[0][3] * SubFactor17);
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Inverse[3][2] = - (m[0][0] * SubFactor14 - m[0][1] * SubFactor16 + m[0][3] * SubFactor18);
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Inverse[3][3] = + (m[0][0] * SubFactor15 - m[0][1] * SubFactor17 + m[0][2] * SubFactor18);
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valType Determinant =
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+ m[0][0] * Inverse[0][0]
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+ m[0][1] * Inverse[0][1]
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+ m[0][2] * Inverse[0][2]
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+ m[0][3] * Inverse[0][3];
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Inverse /= Determinant;
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return Inverse;
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}
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}//namespace matrix_inverse
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}//namespace gtx
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}//namespace glm
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@ -1,40 +0,0 @@
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// OpenGL Mathematics Copyright (c) 2005 - 2010 G-Truc Creation (www.g-truc.net)
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Created : 2005-12-21
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// Updated : 2008-09-30
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// Licence : This source is under MIT License
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// File : glm/gtx/inverse.hpp
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Dependency:
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// - GLM core
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///////////////////////////////////////////////////////////////////////////////////////////////////
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#ifndef glm_gtx_inverse
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#define glm_gtx_inverse
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// Dependency:
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#include "../glm.hpp"
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#include "../gtc/matrix_operation.hpp"
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namespace glm{
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namespace gtx{
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//! GLM_GTX_inverse extension: Inverse matrix functions
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namespace inverse
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{
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using namespace gtc::matrix_operation;
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//! Fast matrix inverse for affine matrix.
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//! From GLM_GTX_inverse extension.
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template <typename genType>
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genType affineInverse(genType const & m);
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}//namespace inverse
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}//namespace gtx
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}//namespace glm
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#include "inverse.inl"
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namespace glm{using namespace gtx::inverse;}
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#endif//glm_gtx_inverse
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@ -1,44 +0,0 @@
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// OpenGL Mathematics Copyright (c) 2005 - 2010 G-Truc Creation (www.g-truc.net)
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Created : 2005-12-21
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// Updated : 2008-09-30
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// Licence : This source is under MIT License
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// File : glm/gtx/inverse.inl
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///////////////////////////////////////////////////////////////////////////////////////////////////
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namespace glm{
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namespace gtx{
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namespace inverse
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{
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template <typename T>
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inline detail::tmat3x3<T> affineInverse
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(
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detail::tmat3x3<T> const & m
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)
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{
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detail::tmat3x3<T> Result(m);
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Result[2] = detail::tvec3<T>(0, 0, 1);
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Result = transpose(Result);
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detail::tvec3<T> Translation = Result * detail::tvec3<T>(-detail::tvec2<T>(m[2]), m[2][2]);
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Result[2] = Translation;
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return Result;
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}
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template <typename T>
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inline detail::tmat4x4<T> affineInverse
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(
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detail::tmat4x4<T> const & m
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)
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{
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detail::tmat4x4<T> Result(m);
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Result[3] = detail::tvec4<T>(0, 0, 0, 1);
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Result = transpose(Result);
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detail::tvec4<T> Translation = Result * detail::tvec4<T>(-detail::tvec3<T>(m[3]), m[3][3]);
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Result[3] = Translation;
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return Result;
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}
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}//namespace inverse
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}//namespace gtx
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}//namespace glm
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@ -1,39 +0,0 @@
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// OpenGL Mathematics Copyright (c) 2005 - 2010 G-Truc Creation (www.g-truc.net)
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Created : 2006-01-04
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// Updated : 2008-10-23
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// Licence : This source is under MIT License
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// File : glm/gtx/inverse_transpose.hpp
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Dependency:
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// - GLM core
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///////////////////////////////////////////////////////////////////////////////////////////////////
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#ifndef glm_gtx_inverse_transpose
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#define glm_gtx_inverse_transpose
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// Dependency:
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#include "../glm.hpp"
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namespace glm
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{
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namespace gtx{
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//! GLM_GTX_inverse_transpose extension: Inverse transpose matrix functions
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namespace inverse_transpose
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{
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//! Compute the inverse transpose of a matrix.
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//! From GLM_GTX_inverse extension.
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template <typename genType>
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inline typename genType::value_type inverseTranspose(
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genType const & m);
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}//namespace inverse_transpose
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}//namespace gtx
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}//namespace glm
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#include "inverse_transpose.inl"
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namespace glm{using namespace gtx::inverse_transpose;}
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#endif//glm_gtx_inverse_transpose
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@ -1,112 +0,0 @@
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// OpenGL Mathematics Copyright (c) 2005 - 2010 G-Truc Creation (www.g-truc.net)
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Created : 2006-01-04
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// Updated : 2008-12-02
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// Licence : This source is under MIT License
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// File : glm/gtx/inverse_transpose.inl
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///////////////////////////////////////////////////////////////////////////////////////////////////
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namespace glm{
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namespace gtx{
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//! GLM_GTX_inverse_transpose extension: Inverse transpose matrix functions
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namespace inverse_transpose{
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template <typename valType>
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inline detail::tmat2x2<valType> inverseTranspose(
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detail::tmat2x2<valType> const & m)
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{
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valType Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1];
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detail::tmat2x2<valType> Inverse(
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+ m[1][1] / Determinant,
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- m[0][1] / Determinant,
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- m[1][0] / Determinant,
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+ m[0][0] / Determinant);
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return Inverse;
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}
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template <typename valType>
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inline detail::tmat3x3<valType> inverseTranspose(
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detail::tmat3x3<valType> const & m)
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{
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valType Determinant =
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+ m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1])
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- m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0])
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+ m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
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detail::tmat3x3<valType> Inverse;
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Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]);
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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>
|
||||
inline 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 inverse_transpose
|
||||
}//namespace gtx
|
||||
}//namespace glm
|
||||
Loading…
Reference in New Issue
Block a user