libcruft-util/matrix3.cpp
Danny Robson f6056153e3 rename root namespace from util to cruft
This places, at long last, the core library code into the same namespace
as the extended library code.
2018-08-05 14:42:02 +10:00

59 lines
1.9 KiB
C++

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