1/// @ref gtc_matrix_inverse 2/// @file glm/gtc/matrix_inverse.inl 3 4namespace glm 5{ 6 template <typename T, precision P> 7 GLM_FUNC_QUALIFIER tmat3x3<T, P> affineInverse(tmat3x3<T, P> const & m) 8 { 9 tmat2x2<T, P> const Inv(inverse(tmat2x2<T, P>(m))); 10 11 return tmat3x3<T, P>( 12 tvec3<T, P>(Inv[0], static_cast<T>(0)), 13 tvec3<T, P>(Inv[1], static_cast<T>(0)), 14 tvec3<T, P>(-Inv * tvec2<T, P>(m[2]), static_cast<T>(1))); 15 } 16 17 template <typename T, precision P> 18 GLM_FUNC_QUALIFIER tmat4x4<T, P> affineInverse(tmat4x4<T, P> const & m) 19 { 20 tmat3x3<T, P> const Inv(inverse(tmat3x3<T, P>(m))); 21 22 return tmat4x4<T, P>( 23 tvec4<T, P>(Inv[0], static_cast<T>(0)), 24 tvec4<T, P>(Inv[1], static_cast<T>(0)), 25 tvec4<T, P>(Inv[2], static_cast<T>(0)), 26 tvec4<T, P>(-Inv * tvec3<T, P>(m[3]), static_cast<T>(1))); 27 } 28 29 template <typename T, precision P> 30 GLM_FUNC_QUALIFIER tmat2x2<T, P> inverseTranspose(tmat2x2<T, P> const & m) 31 { 32 T Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1]; 33 34 tmat2x2<T, P> Inverse( 35 + m[1][1] / Determinant, 36 - m[0][1] / Determinant, 37 - m[1][0] / Determinant, 38 + m[0][0] / Determinant); 39 40 return Inverse; 41 } 42 43 template <typename T, precision P> 44 GLM_FUNC_QUALIFIER tmat3x3<T, P> inverseTranspose(tmat3x3<T, P> const & m) 45 { 46 T Determinant = 47 + m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]) 48 - m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0]) 49 + m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); 50 51 tmat3x3<T, P> Inverse(uninitialize); 52 Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]); 53 Inverse[0][1] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]); 54 Inverse[0][2] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]); 55 Inverse[1][0] = - (m[0][1] * m[2][2] - m[2][1] * m[0][2]); 56 Inverse[1][1] = + (m[0][0] * m[2][2] - m[2][0] * m[0][2]); 57 Inverse[1][2] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]); 58 Inverse[2][0] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]); 59 Inverse[2][1] = - (m[0][0] * m[1][2] - m[1][0] * m[0][2]); 60 Inverse[2][2] = + (m[0][0] * m[1][1] - m[1][0] * m[0][1]); 61 Inverse /= Determinant; 62 63 return Inverse; 64 } 65 66 template <typename T, precision P> 67 GLM_FUNC_QUALIFIER tmat4x4<T, P> inverseTranspose(tmat4x4<T, P> const & m) 68 { 69 T SubFactor00 = m[2][2] * m[3][3] - m[3][2] * m[2][3]; 70 T SubFactor01 = m[2][1] * m[3][3] - m[3][1] * m[2][3]; 71 T SubFactor02 = m[2][1] * m[3][2] - m[3][1] * m[2][2]; 72 T SubFactor03 = m[2][0] * m[3][3] - m[3][0] * m[2][3]; 73 T SubFactor04 = m[2][0] * m[3][2] - m[3][0] * m[2][2]; 74 T SubFactor05 = m[2][0] * m[3][1] - m[3][0] * m[2][1]; 75 T SubFactor06 = m[1][2] * m[3][3] - m[3][2] * m[1][3]; 76 T SubFactor07 = m[1][1] * m[3][3] - m[3][1] * m[1][3]; 77 T SubFactor08 = m[1][1] * m[3][2] - m[3][1] * m[1][2]; 78 T SubFactor09 = m[1][0] * m[3][3] - m[3][0] * m[1][3]; 79 T SubFactor10 = m[1][0] * m[3][2] - m[3][0] * m[1][2]; 80 T SubFactor11 = m[1][1] * m[3][3] - m[3][1] * m[1][3]; 81 T SubFactor12 = m[1][0] * m[3][1] - m[3][0] * m[1][1]; 82 T SubFactor13 = m[1][2] * m[2][3] - m[2][2] * m[1][3]; 83 T SubFactor14 = m[1][1] * m[2][3] - m[2][1] * m[1][3]; 84 T SubFactor15 = m[1][1] * m[2][2] - m[2][1] * m[1][2]; 85 T SubFactor16 = m[1][0] * m[2][3] - m[2][0] * m[1][3]; 86 T SubFactor17 = m[1][0] * m[2][2] - m[2][0] * m[1][2]; 87 T SubFactor18 = m[1][0] * m[2][1] - m[2][0] * m[1][1]; 88 89 tmat4x4<T, P> Inverse(uninitialize); 90 Inverse[0][0] = + (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02); 91 Inverse[0][1] = - (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04); 92 Inverse[0][2] = + (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05); 93 Inverse[0][3] = - (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05); 94 95 Inverse[1][0] = - (m[0][1] * SubFactor00 - m[0][2] * SubFactor01 + m[0][3] * SubFactor02); 96 Inverse[1][1] = + (m[0][0] * SubFactor00 - m[0][2] * SubFactor03 + m[0][3] * SubFactor04); 97 Inverse[1][2] = - (m[0][0] * SubFactor01 - m[0][1] * SubFactor03 + m[0][3] * SubFactor05); 98 Inverse[1][3] = + (m[0][0] * SubFactor02 - m[0][1] * SubFactor04 + m[0][2] * SubFactor05); 99 100 Inverse[2][0] = + (m[0][1] * SubFactor06 - m[0][2] * SubFactor07 + m[0][3] * SubFactor08); 101 Inverse[2][1] = - (m[0][0] * SubFactor06 - m[0][2] * SubFactor09 + m[0][3] * SubFactor10); 102 Inverse[2][2] = + (m[0][0] * SubFactor11 - m[0][1] * SubFactor09 + m[0][3] * SubFactor12); 103 Inverse[2][3] = - (m[0][0] * SubFactor08 - m[0][1] * SubFactor10 + m[0][2] * SubFactor12); 104 105 Inverse[3][0] = - (m[0][1] * SubFactor13 - m[0][2] * SubFactor14 + m[0][3] * SubFactor15); 106 Inverse[3][1] = + (m[0][0] * SubFactor13 - m[0][2] * SubFactor16 + m[0][3] * SubFactor17); 107 Inverse[3][2] = - (m[0][0] * SubFactor14 - m[0][1] * SubFactor16 + m[0][3] * SubFactor18); 108 Inverse[3][3] = + (m[0][0] * SubFactor15 - m[0][1] * SubFactor17 + m[0][2] * SubFactor18); 109 110 T Determinant = 111 + m[0][0] * Inverse[0][0] 112 + m[0][1] * Inverse[0][1] 113 + m[0][2] * Inverse[0][2] 114 + m[0][3] * Inverse[0][3]; 115 116 Inverse /= Determinant; 117 118 return Inverse; 119 } 120}//namespace glm 121