168 lines
5.7 KiB
C++
168 lines
5.7 KiB
C++
/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*
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* Copyright 2015 Danny Robson <danny@nerdcruft.net>
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*/
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#include "matrix.hpp"
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using cruft::matrix;
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//-----------------------------------------------------------------------------
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template <std::size_t Rows, std::size_t Cols, typename T>
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T
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cruft::determinant (const matrix<Rows,Cols,T> &m)
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{
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static_assert (Rows == 4 && Cols == 4);
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return m[0][3] * m[1][2] * m[2][1] * m[3][0] - m[0][2] * m[1][3] * m[2][1] * m[3][0] -
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m[0][3] * m[1][1] * m[2][2] * m[3][0] + m[0][1] * m[1][3] * m[2][2] * m[3][0] +
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m[0][2] * m[1][1] * m[2][3] * m[3][0] - m[0][1] * m[1][2] * m[2][3] * m[3][0] -
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m[0][3] * m[1][2] * m[2][0] * m[3][1] + m[0][2] * m[1][3] * m[2][0] * m[3][1] +
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m[0][3] * m[1][0] * m[2][2] * m[3][1] - m[0][0] * m[1][3] * m[2][2] * m[3][1] -
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m[0][2] * m[1][0] * m[2][3] * m[3][1] + m[0][0] * m[1][2] * m[2][3] * m[3][1] +
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m[0][3] * m[1][1] * m[2][0] * m[3][2] - m[0][1] * m[1][3] * m[2][0] * m[3][2] -
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m[0][3] * m[1][0] * m[2][1] * m[3][2] + m[0][0] * m[1][3] * m[2][1] * m[3][2] +
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m[0][1] * m[1][0] * m[2][3] * m[3][2] - m[0][0] * m[1][1] * m[2][3] * m[3][2] -
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m[0][2] * m[1][1] * m[2][0] * m[3][3] + m[0][1] * m[1][2] * m[2][0] * m[3][3] +
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m[0][2] * m[1][0] * m[2][1] * m[3][3] - m[0][0] * m[1][2] * m[2][1] * m[3][3] -
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m[0][1] * m[1][0] * m[2][2] * m[3][3] + m[0][0] * m[1][1] * m[2][2] * m[3][3];
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}
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template float cruft::determinant (const matrix<4,4,float>&);
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template double cruft::determinant (const matrix<4,4,double>&);
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//-----------------------------------------------------------------------------
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template <std::size_t Rows, std::size_t Cols, typename T>
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matrix<Rows,Cols,T>
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cruft::inverse (const matrix<Rows,Cols,T> &m)
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{
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static_assert (Rows == 4 && Cols == 4);
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return matrix<4,4,T> {{
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{ m[1][2]*m[2][3]*m[3][1]
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-m[1][3]*m[2][2]*m[3][1]
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+m[1][3]*m[2][1]*m[3][2]
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-m[1][1]*m[2][3]*m[3][2]
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-m[1][2]*m[2][1]*m[3][3]
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+m[1][1]*m[2][2]*m[3][3],
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m[0][3]*m[2][2]*m[3][1]
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-m[0][2]*m[2][3]*m[3][1]
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-m[0][3]*m[2][1]*m[3][2]
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+m[0][1]*m[2][3]*m[3][2]
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+m[0][2]*m[2][1]*m[3][3]
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-m[0][1]*m[2][2]*m[3][3],
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m[0][2]*m[1][3]*m[3][1]
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-m[0][3]*m[1][2]*m[3][1]
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+m[0][3]*m[1][1]*m[3][2]
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-m[0][1]*m[1][3]*m[3][2]
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-m[0][2]*m[1][1]*m[3][3]
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+m[0][1]*m[1][2]*m[3][3],
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m[0][3]*m[1][2]*m[2][1]
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-m[0][2]*m[1][3]*m[2][1]
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-m[0][3]*m[1][1]*m[2][2]
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+m[0][1]*m[1][3]*m[2][2]
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+m[0][2]*m[1][1]*m[2][3]
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-m[0][1]*m[1][2]*m[2][3], },
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{ m[1][3]*m[2][2]*m[3][0]
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-m[1][2]*m[2][3]*m[3][0]
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-m[1][3]*m[2][0]*m[3][2]
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+m[1][0]*m[2][3]*m[3][2]
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+m[1][2]*m[2][0]*m[3][3]
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-m[1][0]*m[2][2]*m[3][3],
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m[0][2]*m[2][3]*m[3][0]
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-m[0][3]*m[2][2]*m[3][0]
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+m[0][3]*m[2][0]*m[3][2]
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-m[0][0]*m[2][3]*m[3][2]
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-m[0][2]*m[2][0]*m[3][3]
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+m[0][0]*m[2][2]*m[3][3],
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m[0][3]*m[1][2]*m[3][0]
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-m[0][2]*m[1][3]*m[3][0]
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-m[0][3]*m[1][0]*m[3][2]
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+m[0][0]*m[1][3]*m[3][2]
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+m[0][2]*m[1][0]*m[3][3]
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-m[0][0]*m[1][2]*m[3][3],
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m[0][2]*m[1][3]*m[2][0]
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-m[0][3]*m[1][2]*m[2][0]
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+m[0][3]*m[1][0]*m[2][2]
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-m[0][0]*m[1][3]*m[2][2]
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-m[0][2]*m[1][0]*m[2][3]
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+m[0][0]*m[1][2]*m[2][3], },
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{ m[1][1]*m[2][3]*m[3][0]
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-m[1][3]*m[2][1]*m[3][0]
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+m[1][3]*m[2][0]*m[3][1]
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-m[1][0]*m[2][3]*m[3][1]
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-m[1][1]*m[2][0]*m[3][3]
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+m[1][0]*m[2][1]*m[3][3],
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m[0][3]*m[2][1]*m[3][0]
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-m[0][1]*m[2][3]*m[3][0]
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-m[0][3]*m[2][0]*m[3][1]
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+m[0][0]*m[2][3]*m[3][1]
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+m[0][1]*m[2][0]*m[3][3]
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-m[0][0]*m[2][1]*m[3][3],
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m[0][1]*m[1][3]*m[3][0]
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-m[0][3]*m[1][1]*m[3][0]
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+m[0][3]*m[1][0]*m[3][1]
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-m[0][0]*m[1][3]*m[3][1]
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-m[0][1]*m[1][0]*m[3][3]
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+m[0][0]*m[1][1]*m[3][3],
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m[0][3]*m[1][1]*m[2][0]
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-m[0][1]*m[1][3]*m[2][0]
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-m[0][3]*m[1][0]*m[2][1]
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+m[0][0]*m[1][3]*m[2][1]
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+m[0][1]*m[1][0]*m[2][3]
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-m[0][0]*m[1][1]*m[2][3], },
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{ m[1][2]*m[2][1]*m[3][0]
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-m[1][1]*m[2][2]*m[3][0]
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-m[1][2]*m[2][0]*m[3][1]
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+m[1][0]*m[2][2]*m[3][1]
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+m[1][1]*m[2][0]*m[3][2]
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-m[1][0]*m[2][1]*m[3][2],
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m[0][1]*m[2][2]*m[3][0]
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-m[0][2]*m[2][1]*m[3][0]
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+m[0][2]*m[2][0]*m[3][1]
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-m[0][0]*m[2][2]*m[3][1]
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-m[0][1]*m[2][0]*m[3][2]
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+m[0][0]*m[2][1]*m[3][2],
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m[0][2]*m[1][1]*m[3][0]
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-m[0][1]*m[1][2]*m[3][0]
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-m[0][2]*m[1][0]*m[3][1]
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+m[0][0]*m[1][2]*m[3][1]
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+m[0][1]*m[1][0]*m[3][2]
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-m[0][0]*m[1][1]*m[3][2],
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m[0][1]*m[1][2]*m[2][0]
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-m[0][2]*m[1][1]*m[2][0]
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+m[0][2]*m[1][0]*m[2][1]
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-m[0][0]*m[1][2]*m[2][1]
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-m[0][1]*m[1][0]*m[2][2]
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+m[0][0]*m[1][1]*m[2][2], }
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}} / determinant (m);
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}
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template cruft::matrix<4,4,float> cruft::inverse (const matrix<4,4,float>&);
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template cruft::matrix<4,4,double> cruft::inverse (const matrix<4,4,double>&);
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///////////////////////////////////////////////////////////////////////////////
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template struct cruft::matrix<4,4,float>;
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template struct cruft::matrix<4,4,double>;
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