90 lines
5.5 KiB
C++
90 lines
5.5 KiB
C++
/*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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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 util::matrix;
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//-----------------------------------------------------------------------------
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template <size_t S, typename T>
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T
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util::determinant (const matrix<S,T> &m)
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{
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static_assert (S == 4, "hard coded 4x4 specialisation");
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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 util::determinant (const matrix<4,float>&);
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template double util::determinant (const matrix<4,double>&);
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//-----------------------------------------------------------------------------
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template <size_t S, typename T>
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matrix<S,T>
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util::inverse (const matrix<S,T> &m)
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{
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static_assert (S == 4, "hard coded 4x4 specialisation");
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return matrix<S,T> {
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m[1][2]*m[2][3]*m[3][1] - m[1][3]*m[2][2]*m[3][1] + m[1][3]*m[2][1]*m[3][2] - m[1][1]*m[2][3]*m[3][2] - m[1][2]*m[2][1]*m[3][3] + m[1][1]*m[2][2]*m[3][3],
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m[0][3]*m[2][2]*m[3][1] - m[0][2]*m[2][3]*m[3][1] - m[0][3]*m[2][1]*m[3][2] + m[0][1]*m[2][3]*m[3][2] + m[0][2]*m[2][1]*m[3][3] - m[0][1]*m[2][2]*m[3][3],
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m[0][2]*m[1][3]*m[3][1] - m[0][3]*m[1][2]*m[3][1] + m[0][3]*m[1][1]*m[3][2] - m[0][1]*m[1][3]*m[3][2] - m[0][2]*m[1][1]*m[3][3] + m[0][1]*m[1][2]*m[3][3],
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m[0][3]*m[1][2]*m[2][1] - m[0][2]*m[1][3]*m[2][1] - m[0][3]*m[1][1]*m[2][2] + m[0][1]*m[1][3]*m[2][2] + m[0][2]*m[1][1]*m[2][3] - m[0][1]*m[1][2]*m[2][3],
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m[1][3]*m[2][2]*m[3][0] - m[1][2]*m[2][3]*m[3][0] - m[1][3]*m[2][0]*m[3][2] + m[1][0]*m[2][3]*m[3][2] + m[1][2]*m[2][0]*m[3][3] - m[1][0]*m[2][2]*m[3][3],
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m[0][2]*m[2][3]*m[3][0] - m[0][3]*m[2][2]*m[3][0] + m[0][3]*m[2][0]*m[3][2] - m[0][0]*m[2][3]*m[3][2] - m[0][2]*m[2][0]*m[3][3] + m[0][0]*m[2][2]*m[3][3],
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m[0][3]*m[1][2]*m[3][0] - m[0][2]*m[1][3]*m[3][0] - m[0][3]*m[1][0]*m[3][2] + m[0][0]*m[1][3]*m[3][2] + m[0][2]*m[1][0]*m[3][3] - m[0][0]*m[1][2]*m[3][3],
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m[0][2]*m[1][3]*m[2][0] - m[0][3]*m[1][2]*m[2][0] + m[0][3]*m[1][0]*m[2][2] - m[0][0]*m[1][3]*m[2][2] - m[0][2]*m[1][0]*m[2][3] + m[0][0]*m[1][2]*m[2][3],
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m[1][1]*m[2][3]*m[3][0] - m[1][3]*m[2][1]*m[3][0] + m[1][3]*m[2][0]*m[3][1] - m[1][0]*m[2][3]*m[3][1] - m[1][1]*m[2][0]*m[3][3] + m[1][0]*m[2][1]*m[3][3],
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m[0][3]*m[2][1]*m[3][0] - m[0][1]*m[2][3]*m[3][0] - m[0][3]*m[2][0]*m[3][1] + m[0][0]*m[2][3]*m[3][1] + m[0][1]*m[2][0]*m[3][3] - m[0][0]*m[2][1]*m[3][3],
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m[0][1]*m[1][3]*m[3][0] - m[0][3]*m[1][1]*m[3][0] + m[0][3]*m[1][0]*m[3][1] - m[0][0]*m[1][3]*m[3][1] - m[0][1]*m[1][0]*m[3][3] + m[0][0]*m[1][1]*m[3][3],
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m[0][3]*m[1][1]*m[2][0] - m[0][1]*m[1][3]*m[2][0] - m[0][3]*m[1][0]*m[2][1] + m[0][0]*m[1][3]*m[2][1] + m[0][1]*m[1][0]*m[2][3] - m[0][0]*m[1][1]*m[2][3],
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m[1][2]*m[2][1]*m[3][0] - m[1][1]*m[2][2]*m[3][0] - m[1][2]*m[2][0]*m[3][1] + m[1][0]*m[2][2]*m[3][1] + m[1][1]*m[2][0]*m[3][2] - m[1][0]*m[2][1]*m[3][2],
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m[0][1]*m[2][2]*m[3][0] - m[0][2]*m[2][1]*m[3][0] + m[0][2]*m[2][0]*m[3][1] - m[0][0]*m[2][2]*m[3][1] - m[0][1]*m[2][0]*m[3][2] + m[0][0]*m[2][1]*m[3][2],
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m[0][2]*m[1][1]*m[3][0] - m[0][1]*m[1][2]*m[3][0] - m[0][2]*m[1][0]*m[3][1] + m[0][0]*m[1][2]*m[3][1] + m[0][1]*m[1][0]*m[3][2] - m[0][0]*m[1][1]*m[3][2],
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m[0][1]*m[1][2]*m[2][0] - m[0][2]*m[1][1]*m[2][0] + m[0][2]*m[1][0]*m[2][1] - m[0][0]*m[1][2]*m[2][1] - m[0][1]*m[1][0]*m[2][2] + m[0][0]*m[1][1]*m[2][2],
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} / determinant (m);
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}
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template util::matrix<4,float> util::inverse (const matrix<4,float>&);
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template util::matrix<4,double> util::inverse (const matrix<4,double>&);
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///////////////////////////////////////////////////////////////////////////////
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template <size_t S, typename T>
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const matrix<S,T>
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matrix<S,T>::IDENTITY = { { { 1, 0, 0, 0 },
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{ 0, 1, 0, 0 },
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{ 0, 0, 1, 0 },
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{ 0, 0, 0, 1 } } };
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///////////////////////////////////////////////////////////////////////////////
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template struct util::matrix<4,float>;
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template struct util::matrix<4,double>;
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