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+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+///
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+///
+/// Restrictions:
+/// By making use of the Software for military purposes, you choose to make
+/// a Bunny unhappy.
+///
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref gtc_matrix_inverse
+/// @file glm/gtc/matrix_inverse.inl
+/// @date 2005-12-21 / 2011-06-15
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+namespace glm
+{
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat3x3<T, P> affineInverse(tmat3x3<T, P> const & m)
+ {
+ tmat3x3<T, P> Result(m);
+ Result[2] = tvec3<T, P>(0, 0, 1);
+ Result = transpose(Result);
+ tvec3<T, P> Translation = Result * tvec3<T, P>(-tvec2<T, P>(m[2]), m[2][2]);
+ Result[2] = Translation;
+ return Result;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat4x4<T, P> affineInverse(tmat4x4<T, P> const & m)
+ {
+ tmat4x4<T, P> Result(m);
+ Result[3] = tvec4<T, P>(0, 0, 0, 1);
+ Result = transpose(Result);
+ tvec4<T, P> Translation = Result * tvec4<T, P>(-tvec3<T, P>(m[3]), m[3][3]);
+ Result[3] = Translation;
+ return Result;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat2x2<T, P> inverseTranspose(tmat2x2<T, P> const & m)
+ {
+ T Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1];
+
+ tmat2x2<T, P> Inverse(
+ + m[1][1] / Determinant,
+ - m[0][1] / Determinant,
+ - m[1][0] / Determinant,
+ + m[0][0] / Determinant);
+
+ return Inverse;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat3x3<T, P> inverseTranspose(tmat3x3<T, P> const & m)
+ {
+ T Determinant =
+ + m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1])
+ - 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]);
+
+ tmat3x3<T, P> Inverse(uninitialize);
+ Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]);
+ Inverse[0][1] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]);
+ Inverse[0][2] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]);
+ Inverse[1][0] = - (m[0][1] * m[2][2] - m[2][1] * m[0][2]);
+ Inverse[1][1] = + (m[0][0] * m[2][2] - m[2][0] * m[0][2]);
+ Inverse[1][2] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]);
+ Inverse[2][0] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]);
+ Inverse[2][1] = - (m[0][0] * m[1][2] - m[1][0] * m[0][2]);
+ Inverse[2][2] = + (m[0][0] * m[1][1] - m[1][0] * m[0][1]);
+ Inverse /= Determinant;
+
+ return Inverse;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat4x4<T, P> inverseTranspose(tmat4x4<T, P> const & m)
+ {
+ T SubFactor00 = m[2][2] * m[3][3] - m[3][2] * m[2][3];
+ T SubFactor01 = m[2][1] * m[3][3] - m[3][1] * m[2][3];
+ T SubFactor02 = m[2][1] * m[3][2] - m[3][1] * m[2][2];
+ T SubFactor03 = m[2][0] * m[3][3] - m[3][0] * m[2][3];
+ T SubFactor04 = m[2][0] * m[3][2] - m[3][0] * m[2][2];
+ T SubFactor05 = m[2][0] * m[3][1] - m[3][0] * m[2][1];
+ T SubFactor06 = m[1][2] * m[3][3] - m[3][2] * m[1][3];
+ T SubFactor07 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
+ T SubFactor08 = m[1][1] * m[3][2] - m[3][1] * m[1][2];
+ T SubFactor09 = m[1][0] * m[3][3] - m[3][0] * m[1][3];
+ T SubFactor10 = m[1][0] * m[3][2] - m[3][0] * m[1][2];
+ T SubFactor11 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
+ T SubFactor12 = m[1][0] * m[3][1] - m[3][0] * m[1][1];
+ T SubFactor13 = m[1][2] * m[2][3] - m[2][2] * m[1][3];
+ T SubFactor14 = m[1][1] * m[2][3] - m[2][1] * m[1][3];
+ T SubFactor15 = m[1][1] * m[2][2] - m[2][1] * m[1][2];
+ T SubFactor16 = m[1][0] * m[2][3] - m[2][0] * m[1][3];
+ T SubFactor17 = m[1][0] * m[2][2] - m[2][0] * m[1][2];
+ T SubFactor18 = m[1][0] * m[2][1] - m[2][0] * m[1][1];
+
+ tmat4x4<T, P> Inverse(uninitialize);
+ Inverse[0][0] = + (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02);
+ Inverse[0][1] = - (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04);
+ Inverse[0][2] = + (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05);
+ Inverse[0][3] = - (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05);
+
+ Inverse[1][0] = - (m[0][1] * SubFactor00 - m[0][2] * SubFactor01 + m[0][3] * SubFactor02);
+ Inverse[1][1] = + (m[0][0] * SubFactor00 - m[0][2] * SubFactor03 + m[0][3] * SubFactor04);
+ Inverse[1][2] = - (m[0][0] * SubFactor01 - m[0][1] * SubFactor03 + m[0][3] * SubFactor05);
+ Inverse[1][3] = + (m[0][0] * SubFactor02 - m[0][1] * SubFactor04 + m[0][2] * SubFactor05);
+
+ Inverse[2][0] = + (m[0][1] * SubFactor06 - m[0][2] * SubFactor07 + m[0][3] * SubFactor08);
+ Inverse[2][1] = - (m[0][0] * SubFactor06 - m[0][2] * SubFactor09 + m[0][3] * SubFactor10);
+ Inverse[2][2] = + (m[0][0] * SubFactor11 - m[0][1] * SubFactor09 + m[0][3] * SubFactor12);
+ Inverse[2][3] = - (m[0][0] * SubFactor08 - m[0][1] * SubFactor10 + m[0][2] * SubFactor12);
+
+ Inverse[3][0] = - (m[0][1] * SubFactor13 - m[0][2] * SubFactor14 + m[0][3] * SubFactor15);
+ Inverse[3][1] = + (m[0][0] * SubFactor13 - m[0][2] * SubFactor16 + m[0][3] * SubFactor17);
+ Inverse[3][2] = - (m[0][0] * SubFactor14 - m[0][1] * SubFactor16 + m[0][3] * SubFactor18);
+ Inverse[3][3] = + (m[0][0] * SubFactor15 - m[0][1] * SubFactor17 + m[0][2] * SubFactor18);
+
+ T Determinant =
+ + m[0][0] * Inverse[0][0]
+ + m[0][1] * Inverse[0][1]
+ + m[0][2] * Inverse[0][2]
+ + m[0][3] * Inverse[0][3];
+
+ Inverse /= Determinant;
+
+ return Inverse;
+ }
+}//namespace glm
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-06 10:08:52 +0000