nerdcruft/libcruft-util
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libcruft-util/matrix4.cpp
Danny Robson d3f434b523 coord: make template parameters more flexible 
The coordinate system was unable to support types that prohibited
redim or retype operations. Additionally, the `tags' type used for
providing named data parameters was unwiedly.

We remove much of the dependance on template template parameters in the
defined operations and instead define these in terms of a template
specialisation of is_coord.

The tag types were replaced with direct specialisation of the `store'
struct by the primary type, and passing this type through use of the
CRTP.
2017-11-22 17:03:00 +11:00

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/*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Copyright 2015 Danny Robson <danny@nerdcruft.net>
*/
#include "matrix.hpp"
using util::matrix;
//-----------------------------------------------------------------------------
template <std::size_t Rows, std::size_t Cols, typename T>
T
util::determinant (const matrix<Rows,Cols,T> &m)
{
static_assert (Rows == 4 && Cols == 4);
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] -
m[0][3] * m[1][1] * m[2][2] * m[3][0] + m[0][1] * m[1][3] * m[2][2] * m[3][0] +
m[0][2] * m[1][1] * m[2][3] * m[3][0] - m[0][1] * m[1][2] * m[2][3] * m[3][0] -
m[0][3] * m[1][2] * m[2][0] * m[3][1] + m[0][2] * m[1][3] * m[2][0] * m[3][1] +
m[0][3] * m[1][0] * m[2][2] * m[3][1] - m[0][0] * m[1][3] * m[2][2] * m[3][1] -
m[0][2] * m[1][0] * m[2][3] * m[3][1] + m[0][0] * m[1][2] * m[2][3] * m[3][1] +
m[0][3] * m[1][1] * m[2][0] * m[3][2] - m[0][1] * m[1][3] * m[2][0] * m[3][2] -
m[0][3] * m[1][0] * m[2][1] * m[3][2] + m[0][0] * m[1][3] * m[2][1] * m[3][2] +
m[0][1] * m[1][0] * m[2][3] * m[3][2] - m[0][0] * m[1][1] * m[2][3] * m[3][2] -
m[0][2] * m[1][1] * m[2][0] * m[3][3] + m[0][1] * m[1][2] * m[2][0] * m[3][3] +
m[0][2] * m[1][0] * m[2][1] * m[3][3] - m[0][0] * m[1][2] * m[2][1] * m[3][3] -
m[0][1] * m[1][0] * m[2][2] * m[3][3] + m[0][0] * m[1][1] * m[2][2] * m[3][3];
}
template float util::determinant (const matrix<4,4,float>&);
template double util::determinant (const matrix<4,4,double>&);
//-----------------------------------------------------------------------------
template <std::size_t Rows, std::size_t Cols, typename T>
matrix<Rows,Cols,T>
util::inverse (const matrix<Rows,Cols,T> &m)
{
static_assert (Rows == 4 && Cols == 4);
return matrix<4,4,T> {{
{ 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],
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],
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],
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], },
{ 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],
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],
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],
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], },
{ 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],
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],
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],
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], },
{ 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],
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],
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],
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], }
}} / determinant (m);
}
template util::matrix<4,4,float> util::inverse (const matrix<4,4,float>&);
template util::matrix<4,4,double> util::inverse (const matrix<4,4,double>&);
///////////////////////////////////////////////////////////////////////////////
template struct util::matrix<4,4,float>;
template struct util::matrix<4,4,double>;
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