1 /////////////////////////////////////////////////////////////////////////////////// 2 /// OpenGL Mathematics (glm.g-truc.net) 3 /// 4 /// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net) 5 /// Permission is hereby granted, free of charge, to any person obtaining a copy 6 /// of this software and associated documentation files (the "Software"), to deal 7 /// in the Software without restriction, including without limitation the rights 8 /// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 /// copies of the Software, and to permit persons to whom the Software is 10 /// furnished to do so, subject to the following conditions: 11 /// 12 /// The above copyright notice and this permission notice shall be included in 13 /// all copies or substantial portions of the Software. 14 /// 15 /// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 /// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 /// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 /// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 /// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 /// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 21 /// THE SOFTWARE. 22 /// 23 /// @ref core 24 /// @file glm/core/func_matrix.inl 25 /// @date 2008-03-08 / 2011-06-15 26 /// @author Christophe Riccio 27 /////////////////////////////////////////////////////////////////////////////////// 28 29 #include "../geometric.hpp" 30 #include <limits> 31 32 namespace glm{ 33 namespace detail 34 { 35 template 36 < 37 template <class, precision> class vecTypeA, 38 template <class, precision> class vecTypeB, 39 typename T, precision P 40 > 41 struct compute_outerProduct{}; 42 43 template <typename T, precision P> 44 struct compute_outerProduct<detail::tvec2, detail::tvec2, T, P> 45 { 46 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) 47 { 48 detail::tmat2x2<T, P> m(detail::tmat2x2<T, P>::_null); 49 m[0][0] = c[0] * r[0]; 50 m[0][1] = c[1] * r[0]; 51 m[1][0] = c[0] * r[1]; 52 m[1][1] = c[1] * r[1]; 53 return m; 54 } 55 }; 56 57 template <typename T, precision P> 58 struct compute_outerProduct<detail::tvec3, detail::tvec3, T, P> 59 { 60 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) 61 { 62 detail::tmat3x3<T, P> m(detail::tmat3x3<T, P>::_null); 63 for(length_t i(0); i < m.length(); ++i) 64 m[i] = c * r[i]; 65 return m; 66 } 67 }; 68 69 template <typename T, precision P> 70 struct compute_outerProduct<detail::tvec4, detail::tvec4, T, P> 71 { 72 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) 73 { 74 detail::tmat4x4<T, P> m(detail::tmat4x4<T, P>::_null); 75 for(length_t i(0); i < m.length(); ++i) 76 m[i] = c * r[i]; 77 return m; 78 } 79 }; 80 81 template <typename T, precision P> 82 struct compute_outerProduct<detail::tvec3, detail::tvec2, T, P> 83 { 84 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) 85 { 86 detail::tmat2x3<T, P> m(detail::tmat2x3<T, P>::_null); 87 m[0][0] = c.x * r.x; 88 m[0][1] = c.y * r.x; 89 m[0][2] = c.z * r.x; 90 m[1][0] = c.x * r.y; 91 m[1][1] = c.y * r.y; 92 m[1][2] = c.z * r.y; 93 return m; 94 } 95 }; 96 97 template <typename T, precision P> 98 struct compute_outerProduct<detail::tvec2, detail::tvec3, T, P> 99 { 100 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) 101 { 102 detail::tmat3x2<T, P> m(detail::tmat3x2<T, P>::_null); 103 m[0][0] = c.x * r.x; 104 m[0][1] = c.y * r.x; 105 m[1][0] = c.x * r.y; 106 m[1][1] = c.y * r.y; 107 m[2][0] = c.x * r.z; 108 m[2][1] = c.y * r.z; 109 return m; 110 } 111 }; 112 113 template <typename T, precision P> 114 struct compute_outerProduct<detail::tvec4, detail::tvec2, T, P> 115 { 116 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) 117 { 118 detail::tmat2x4<T, P> m(detail::tmat2x4<T, P>::_null); 119 m[0][0] = c.x * r.x; 120 m[0][1] = c.y * r.x; 121 m[0][2] = c.z * r.x; 122 m[0][3] = c.w * r.x; 123 m[1][0] = c.x * r.y; 124 m[1][1] = c.y * r.y; 125 m[1][2] = c.z * r.y; 126 m[1][3] = c.w * r.y; 127 return m; 128 } 129 }; 130 131 template <typename T, precision P> 132 struct compute_outerProduct<detail::tvec2, detail::tvec4, T, P> 133 { 134 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) 135 { 136 detail::tmat4x2<T, P> m(detail::tmat4x2<T, P>::_null); 137 m[0][0] = c.x * r.x; 138 m[0][1] = c.y * r.x; 139 m[1][0] = c.x * r.y; 140 m[1][1] = c.y * r.y; 141 m[2][0] = c.x * r.z; 142 m[2][1] = c.y * r.z; 143 m[3][0] = c.x * r.w; 144 m[3][1] = c.y * r.w; 145 return m; 146 } 147 }; 148 149 template <typename T, precision P> 150 struct compute_outerProduct<detail::tvec4, detail::tvec3, T, P> 151 { 152 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) 153 { 154 detail::tmat3x4<T, P> m(detail::tmat3x4<T, P>::_null); 155 m[0][0] = c.x * r.x; 156 m[0][1] = c.y * r.x; 157 m[0][2] = c.z * r.x; 158 m[0][3] = c.w * r.x; 159 m[1][0] = c.x * r.y; 160 m[1][1] = c.y * r.y; 161 m[1][2] = c.z * r.y; 162 m[1][3] = c.w * r.y; 163 m[2][0] = c.x * r.z; 164 m[2][1] = c.y * r.z; 165 m[2][2] = c.z * r.z; 166 m[2][3] = c.w * r.z; 167 return m; 168 } 169 }; 170 171 template <typename T, precision P> 172 struct compute_outerProduct<detail::tvec3, detail::tvec4, T, P> 173 { 174 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) 175 { 176 detail::tmat4x3<T, P> m(detail::tmat4x3<T, P>::_null); 177 m[0][0] = c.x * r.x; 178 m[0][1] = c.y * r.x; 179 m[0][2] = c.z * r.x; 180 m[1][0] = c.x * r.y; 181 m[1][1] = c.y * r.y; 182 m[1][2] = c.z * r.y; 183 m[2][0] = c.x * r.z; 184 m[2][1] = c.y * r.z; 185 m[2][2] = c.z * r.z; 186 m[3][0] = c.x * r.w; 187 m[3][1] = c.y * r.w; 188 m[3][2] = c.z * r.w; 189 return m; 190 } 191 }; 192 193 template <template <class, precision> class matType, typename T, precision P> 194 struct compute_transpose{}; 195 196 template <typename T, precision P> 197 struct compute_transpose<detail::tmat2x2, T, P> 198 { 199 GLM_FUNC_QUALIFIER static detail::tmat2x2<T, P> call(detail::tmat2x2<T, P> const & m) 200 { 201 detail::tmat2x2<T, P> result(detail::tmat2x2<T, P>::_null); 202 result[0][0] = m[0][0]; 203 result[0][1] = m[1][0]; 204 result[1][0] = m[0][1]; 205 result[1][1] = m[1][1]; 206 return result; 207 } 208 }; 209 210 template <typename T, precision P> 211 struct compute_transpose<detail::tmat2x3, T, P> 212 { 213 GLM_FUNC_QUALIFIER static detail::tmat3x2<T, P> call(detail::tmat2x3<T, P> const & m) 214 { 215 detail::tmat3x2<T, P> result(detail::tmat3x2<T, P>::_null); 216 result[0][0] = m[0][0]; 217 result[0][1] = m[1][0]; 218 result[1][0] = m[0][1]; 219 result[1][1] = m[1][1]; 220 result[2][0] = m[0][2]; 221 result[2][1] = m[1][2]; 222 return result; 223 } 224 }; 225 226 template <typename T, precision P> 227 struct compute_transpose<detail::tmat2x4, T, P> 228 { 229 GLM_FUNC_QUALIFIER static detail::tmat4x2<T, P> call(detail::tmat2x4<T, P> const & m) 230 { 231 detail::tmat4x2<T, P> result(detail::tmat4x2<T, P>::_null); 232 result[0][0] = m[0][0]; 233 result[0][1] = m[1][0]; 234 result[1][0] = m[0][1]; 235 result[1][1] = m[1][1]; 236 result[2][0] = m[0][2]; 237 result[2][1] = m[1][2]; 238 result[3][0] = m[0][3]; 239 result[3][1] = m[1][3]; 240 return result; 241 } 242 }; 243 244 template <typename T, precision P> 245 struct compute_transpose<detail::tmat3x2, T, P> 246 { 247 GLM_FUNC_QUALIFIER static detail::tmat2x3<T, P> call(detail::tmat3x2<T, P> const & m) 248 { 249 detail::tmat2x3<T, P> result(detail::tmat2x3<T, P>::_null); 250 result[0][0] = m[0][0]; 251 result[0][1] = m[1][0]; 252 result[0][2] = m[2][0]; 253 result[1][0] = m[0][1]; 254 result[1][1] = m[1][1]; 255 result[1][2] = m[2][1]; 256 return result; 257 } 258 }; 259 260 template <typename T, precision P> 261 struct compute_transpose<detail::tmat3x3, T, P> 262 { 263 GLM_FUNC_QUALIFIER static detail::tmat3x3<T, P> call(detail::tmat3x3<T, P> const & m) 264 { 265 detail::tmat3x3<T, P> result(detail::tmat3x3<T, P>::_null); 266 result[0][0] = m[0][0]; 267 result[0][1] = m[1][0]; 268 result[0][2] = m[2][0]; 269 270 result[1][0] = m[0][1]; 271 result[1][1] = m[1][1]; 272 result[1][2] = m[2][1]; 273 274 result[2][0] = m[0][2]; 275 result[2][1] = m[1][2]; 276 result[2][2] = m[2][2]; 277 return result; 278 } 279 }; 280 281 template <typename T, precision P> 282 struct compute_transpose<detail::tmat3x4, T, P> 283 { 284 GLM_FUNC_QUALIFIER static detail::tmat4x3<T, P> call(detail::tmat3x4<T, P> const & m) 285 { 286 detail::tmat4x3<T, P> result(detail::tmat4x3<T, P>::_null); 287 result[0][0] = m[0][0]; 288 result[0][1] = m[1][0]; 289 result[0][2] = m[2][0]; 290 result[1][0] = m[0][1]; 291 result[1][1] = m[1][1]; 292 result[1][2] = m[2][1]; 293 result[2][0] = m[0][2]; 294 result[2][1] = m[1][2]; 295 result[2][2] = m[2][2]; 296 result[3][0] = m[0][3]; 297 result[3][1] = m[1][3]; 298 result[3][2] = m[2][3]; 299 return result; 300 } 301 }; 302 303 template <typename T, precision P> 304 struct compute_transpose<detail::tmat4x2, T, P> 305 { 306 GLM_FUNC_QUALIFIER static detail::tmat2x4<T, P> call(detail::tmat4x2<T, P> const & m) 307 { 308 detail::tmat2x4<T, P> result(detail::tmat2x4<T, P>::_null); 309 result[0][0] = m[0][0]; 310 result[0][1] = m[1][0]; 311 result[0][2] = m[2][0]; 312 result[0][3] = m[3][0]; 313 result[1][0] = m[0][1]; 314 result[1][1] = m[1][1]; 315 result[1][2] = m[2][1]; 316 result[1][3] = m[3][1]; 317 return result; 318 } 319 }; 320 321 template <typename T, precision P> 322 struct compute_transpose<detail::tmat4x3, T, P> 323 { 324 GLM_FUNC_QUALIFIER static detail::tmat3x4<T, P> call(detail::tmat4x3<T, P> const & m) 325 { 326 detail::tmat3x4<T, P> result(detail::tmat3x4<T, P>::_null); 327 result[0][0] = m[0][0]; 328 result[0][1] = m[1][0]; 329 result[0][2] = m[2][0]; 330 result[0][3] = m[3][0]; 331 result[1][0] = m[0][1]; 332 result[1][1] = m[1][1]; 333 result[1][2] = m[2][1]; 334 result[1][3] = m[3][1]; 335 result[2][0] = m[0][2]; 336 result[2][1] = m[1][2]; 337 result[2][2] = m[2][2]; 338 result[2][3] = m[3][2]; 339 return result; 340 } 341 }; 342 343 template <typename T, precision P> 344 struct compute_transpose<detail::tmat4x4, T, P> 345 { 346 GLM_FUNC_QUALIFIER static detail::tmat4x4<T, P> call(detail::tmat4x4<T, P> const & m) 347 { 348 detail::tmat4x4<T, P> result(detail::tmat4x4<T, P>::_null); 349 result[0][0] = m[0][0]; 350 result[0][1] = m[1][0]; 351 result[0][2] = m[2][0]; 352 result[0][3] = m[3][0]; 353 354 result[1][0] = m[0][1]; 355 result[1][1] = m[1][1]; 356 result[1][2] = m[2][1]; 357 result[1][3] = m[3][1]; 358 359 result[2][0] = m[0][2]; 360 result[2][1] = m[1][2]; 361 result[2][2] = m[2][2]; 362 result[2][3] = m[3][2]; 363 364 result[3][0] = m[0][3]; 365 result[3][1] = m[1][3]; 366 result[3][2] = m[2][3]; 367 result[3][3] = m[3][3]; 368 return result; 369 } 370 }; 371 372 template <template <class, precision> class matType, typename T, precision P> 373 struct compute_determinant{}; 374 375 template <typename T, precision P> 376 struct compute_determinant<detail::tmat2x2, T, P> 377 { 378 GLM_FUNC_QUALIFIER static T call(detail::tmat2x2<T, P> const & m) 379 { 380 return m[0][0] * m[1][1] - m[1][0] * m[0][1]; 381 } 382 }; 383 384 template <typename T, precision P> 385 struct compute_determinant<detail::tmat3x3, T, P> 386 { 387 GLM_FUNC_QUALIFIER static T call(detail::tmat3x3<T, P> const & m) 388 { 389 return 390 + m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]) 391 - m[1][0] * (m[0][1] * m[2][2] - m[2][1] * m[0][2]) 392 + m[2][0] * (m[0][1] * m[1][2] - m[1][1] * m[0][2]); 393 } 394 }; 395 396 template <typename T, precision P> 397 struct compute_determinant<detail::tmat4x4, T, P> 398 { 399 GLM_FUNC_QUALIFIER static T call(detail::tmat4x4<T, P> const & m) 400 { 401 T SubFactor00 = m[2][2] * m[3][3] - m[3][2] * m[2][3]; 402 T SubFactor01 = m[2][1] * m[3][3] - m[3][1] * m[2][3]; 403 T SubFactor02 = m[2][1] * m[3][2] - m[3][1] * m[2][2]; 404 T SubFactor03 = m[2][0] * m[3][3] - m[3][0] * m[2][3]; 405 T SubFactor04 = m[2][0] * m[3][2] - m[3][0] * m[2][2]; 406 T SubFactor05 = m[2][0] * m[3][1] - m[3][0] * m[2][1]; 407 408 detail::tvec4<T, P> DetCof( 409 + (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02), 410 - (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04), 411 + (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05), 412 - (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05)); 413 414 return 415 m[0][0] * DetCof[0] + m[0][1] * DetCof[1] + 416 m[0][2] * DetCof[2] + m[0][3] * DetCof[3]; 417 } 418 }; 419 }//namespace detail 420 421 template <typename T, precision P, template <typename, precision> class matType> 422 GLM_FUNC_QUALIFIER matType<T, P> matrixCompMult(matType<T, P> const & x, matType<T, P> const & y) 423 { 424 GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'matrixCompMult' only accept floating-point inputs"); 425 426 matType<T, P> result(matType<T, P>::_null); 427 for(length_t i = 0; i < result.length(); ++i) 428 result[i] = x[i] * y[i]; 429 return result; 430 } 431 432 template<typename T, precision P, template <typename, precision> class vecTypeA, template <typename, precision> class vecTypeB> 433 GLM_FUNC_QUALIFIER typename detail::outerProduct_trait<T, P, vecTypeA, vecTypeB>::type outerProduct(vecTypeA<T, P> const & c, vecTypeB<T, P> const & r) 434 { 435 GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'outerProduct' only accept floating-point inputs"); 436 return detail::compute_outerProduct<vecTypeA, vecTypeB, T, P>::call(c, r); 437 } 438 439 template <typename T, precision P, template <typename, precision> class matType> 440 GLM_FUNC_QUALIFIER typename matType<T, P>::transpose_type transpose(matType<T, P> const & m) 441 { 442 GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'transpose' only accept floating-point inputs"); 443 return detail::compute_transpose<matType, T, P>::call(m); 444 } 445 446 template <typename T, precision P, template <typename, precision> class matType> 447 GLM_FUNC_QUALIFIER T determinant(matType<T, P> const & m) 448 { 449 GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'determinant' only accept floating-point inputs"); 450 return detail::compute_determinant<matType, T, P>::call(m); 451 } 452 453 template <typename T, precision P, template <typename, precision> class matType> 454 GLM_FUNC_QUALIFIER matType<T, P> inverse(matType<T, P> const & m) 455 { 456 GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'inverse' only accept floating-point inputs"); 457 return detail::compute_inverse<matType, T, P>::call(m); 458 } 459 460 }//namespace glm 461
