/////////////////////////////////////////////////////////////////////////////////// /// 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