/////////////////////////////////////////////////////////////////////////////////// /// OpenGL Mathematics (glm.g-truc.net) /// /// Copyright (c) 2005 - 2013 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. /// /// 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 core /// @file glm/core/type_mat3x3.inl /// @date 2005-01-27 / 2011-06-15 /// @author Christophe Riccio /////////////////////////////////////////////////////////////////////////////////// namespace glm{ namespace detail { template GLM_FUNC_QUALIFIER GLM_CONSTEXPR typename tmat3x3::size_type tmat3x3::length() const { return 3; } template GLM_FUNC_QUALIFIER typename tmat3x3::size_type tmat3x3::col_size() { return 3; } template GLM_FUNC_QUALIFIER typename tmat3x3::size_type tmat3x3::row_size() { return 3; } ////////////////////////////////////// // Accesses template GLM_FUNC_QUALIFIER typename tmat3x3::col_type & tmat3x3::operator[] ( size_type i ) { assert(i < this->length()); return this->value[i]; } template GLM_FUNC_QUALIFIER typename tmat3x3::col_type const & tmat3x3::operator[] ( size_type i ) const { assert(i < this->length()); return this->value[i]; } ////////////////////////////////////////////////////////////// // Constructors template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3() { value_type const Zero(0); value_type const One(1); this->value[0] = col_type(One, Zero, Zero); this->value[1] = col_type(Zero, One, Zero); this->value[2] = col_type(Zero, Zero, One); } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( tmat3x3 const & m ) { this->value[0] = m.value[0]; this->value[1] = m.value[1]; this->value[2] = m.value[2]; } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( ctor ) {} template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( value_type const & s ) { value_type const Zero(0); this->value[0] = col_type(s, Zero, Zero); this->value[1] = col_type(Zero, s, Zero); this->value[2] = col_type(Zero, Zero, s); } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( value_type const & x0, value_type const & y0, value_type const & z0, value_type const & x1, value_type const & y1, value_type const & z1, value_type const & x2, value_type const & y2, value_type const & z2 ) { this->value[0] = col_type(x0, y0, z0); this->value[1] = col_type(x1, y1, z1); this->value[2] = col_type(x2, y2, z2); } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( col_type const & v0, col_type const & v1, col_type const & v2 ) { this->value[0] = v0; this->value[1] = v1; this->value[2] = v2; } ////////////////////////////////////// // Convertion constructors template template GLM_FUNC_DECL tmat3x3::tmat3x3 ( U const & s ) { value_type const Zero(0); this->value[0] = tvec3(value_type(s), Zero, Zero); this->value[1] = tvec3(Zero, value_type(s), Zero); this->value[2] = tvec3(Zero, Zero, value_type(s)); } template template < typename X1, typename Y1, typename Z1, typename X2, typename Y2, typename Z2, typename X3, typename Y3, typename Z3> GLM_FUNC_DECL tmat3x3::tmat3x3 ( X1 const & x1, Y1 const & y1, Z1 const & z1, X2 const & x2, Y2 const & y2, Z2 const & z2, X3 const & x3, Y3 const & y3, Z3 const & z3 ) { this->value[0] = col_type(value_type(x1), value_type(y1), value_type(z1)); this->value[1] = col_type(value_type(x2), value_type(y2), value_type(z2)); this->value[2] = col_type(value_type(x3), value_type(y3), value_type(z3)); } template template GLM_FUNC_DECL tmat3x3::tmat3x3 ( tvec3 const & v1, tvec3 const & v2, tvec3 const & v3 ) { this->value[0] = col_type(v1); this->value[1] = col_type(v2); this->value[2] = col_type(v3); } ////////////////////////////////////////////////////////////// // Conversions template template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( tmat3x3 const & m ) { this->value[0] = col_type(m[0]); this->value[1] = col_type(m[1]); this->value[2] = col_type(m[2]); } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( tmat2x2 const & m ) { this->value[0] = col_type(m[0], value_type(0)); this->value[1] = col_type(m[1], value_type(0)); this->value[2] = col_type(detail::tvec2(0), value_type(1)); } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( tmat4x4 const & m ) { this->value[0] = col_type(m[0]); this->value[1] = col_type(m[1]); this->value[2] = col_type(m[2]); } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( tmat2x3 const & m ) { this->value[0] = m[0]; this->value[1] = m[1]; this->value[2] = col_type(detail::tvec2(0), value_type(1)); } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( tmat3x2 const & m ) { this->value[0] = col_type(m[0], value_type(0)); this->value[1] = col_type(m[1], value_type(0)); this->value[2] = col_type(m[2], value_type(1)); } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( tmat2x4 const & m ) { this->value[0] = col_type(m[0]); this->value[1] = col_type(m[1]); this->value[2] = col_type(detail::tvec2(0), value_type(1)); } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( tmat4x2 const & m ) { this->value[0] = col_type(m[0], value_type(0)); this->value[1] = col_type(m[1], value_type(0)); this->value[2] = col_type(m[2], value_type(1)); } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( tmat3x4 const & m ) { this->value[0] = col_type(m[0]); this->value[1] = col_type(m[1]); this->value[2] = col_type(m[2]); } template GLM_FUNC_QUALIFIER tmat3x3::tmat3x3 ( tmat4x3 const & m ) { this->value[0] = m[0]; this->value[1] = m[1]; this->value[2] = m[2]; } ////////////////////////////////////////////////////////////// // Operators template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator= ( tmat3x3 const & m ) { this->value[0] = m[0]; this->value[1] = m[1]; this->value[2] = m[2]; return *this; } template template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator= ( tmat3x3 const & m ) { this->value[0] = m[0]; this->value[1] = m[1]; this->value[2] = m[2]; return *this; } template template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator+= ( U const & s ) { this->value[0] += s; this->value[1] += s; this->value[2] += s; return *this; } template template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator+= ( tmat3x3 const & m ) { this->value[0] += m[0]; this->value[1] += m[1]; this->value[2] += m[2]; return *this; } template template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator-= ( U const & s ) { this->value[0] -= s; this->value[1] -= s; this->value[2] -= s; return *this; } template template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator-= ( tmat3x3 const & m ) { this->value[0] -= m[0]; this->value[1] -= m[1]; this->value[2] -= m[2]; return *this; } template template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator*= ( U const & s ) { this->value[0] *= s; this->value[1] *= s; this->value[2] *= s; return *this; } template template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator*= ( tmat3x3 const & m ) { return (*this = *this * m); } template template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator/= ( U const & s ) { this->value[0] /= s; this->value[1] /= s; this->value[2] /= s; return *this; } template template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator/= ( tmat3x3 const & m ) { return (*this = *this / m); } template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator++ () { ++this->value[0]; ++this->value[1]; ++this->value[2]; return *this; } template GLM_FUNC_QUALIFIER tmat3x3 & tmat3x3::operator-- () { --this->value[0]; --this->value[1]; --this->value[2]; return *this; } template GLM_FUNC_QUALIFIER tmat3x3 tmat3x3::_inverse() const { T S00 = value[0][0]; T S01 = value[0][1]; T S02 = value[0][2]; T S10 = value[1][0]; T S11 = value[1][1]; T S12 = value[1][2]; T S20 = value[2][0]; T S21 = value[2][1]; T S22 = value[2][2]; /* tmat3x3 Inverse( + (S11 * S22 - S21 * S12), - (S10 * S22 - S20 * S12), + (S10 * S21 - S20 * S11), - (S01 * S22 - S21 * S02), + (S00 * S22 - S20 * S02), - (S00 * S21 - S20 * S01), + (S01 * S12 - S11 * S02), - (S00 * S12 - S10 * S02), + (S00 * S11 - S10 * S01)); */ tmat3x3 Inverse( S11 * S22 - S21 * S12, S12 * S20 - S22 * S10, S10 * S21 - S20 * S11, S02 * S21 - S01 * S22, S00 * S22 - S02 * S20, S01 * S20 - S00 * S21, S12 * S01 - S11 * S02, S10 * S02 - S12 * S00, S11 * S00 - S10 * S01); T Determinant = S00 * (S11 * S22 - S21 * S12) - S10 * (S01 * S22 - S21 * S02) + S20 * (S01 * S12 - S11 * S02); Inverse /= Determinant; return Inverse; } ////////////////////////////////////////////////////////////// // Binary operators template GLM_FUNC_QUALIFIER tmat3x3 operator+ ( tmat3x3 const & m, typename tmat3x3::value_type const & s ) { return tmat3x3( m[0] + s, m[1] + s, m[2] + s); } template GLM_FUNC_QUALIFIER tmat3x3 operator+ ( typename tmat3x3::value_type const & s, tmat3x3 const & m ) { return tmat3x3( m[0] + s, m[1] + s, m[2] + s); } template GLM_FUNC_QUALIFIER tmat3x3 operator+ ( tmat3x3 const & m1, tmat3x3 const & m2 ) { return tmat3x3( m1[0] + m2[0], m1[1] + m2[1], m1[2] + m2[2]); } template GLM_FUNC_QUALIFIER tmat3x3 operator- ( tmat3x3 const & m, typename tmat3x3::value_type const & s ) { return tmat3x3( m[0] - s, m[1] - s, m[2] - s); } template GLM_FUNC_QUALIFIER tmat3x3 operator- ( typename tmat3x3::value_type const & s, tmat3x3 const & m ) { return tmat3x3( s - m[0], s - m[1], s - m[2]); } template GLM_FUNC_QUALIFIER tmat3x3 operator- ( tmat3x3 const & m1, tmat3x3 const & m2 ) { return tmat3x3( m1[0] - m2[0], m1[1] - m2[1], m1[2] - m2[2]); } template GLM_FUNC_QUALIFIER tmat3x3 operator* ( tmat3x3 const & m, typename tmat3x3::value_type const & s ) { return tmat3x3( m[0] * s, m[1] * s, m[2] * s); } template GLM_FUNC_QUALIFIER tmat3x3 operator* ( typename tmat3x3::value_type const & s, tmat3x3 const & m ) { return tmat3x3( m[0] * s, m[1] * s, m[2] * s); } template GLM_FUNC_QUALIFIER typename tmat3x3::col_type operator* ( tmat3x3 const & m, typename tmat3x3::row_type const & v ) { return typename tmat3x3::col_type( m[0][0] * v.x + m[1][0] * v.y + m[2][0] * v.z, m[0][1] * v.x + m[1][1] * v.y + m[2][1] * v.z, m[0][2] * v.x + m[1][2] * v.y + m[2][2] * v.z); } template GLM_FUNC_QUALIFIER typename tmat3x3::row_type operator* ( typename tmat3x3::col_type const & v, tmat3x3 const & m ) { return typename tmat3x3::row_type( m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z, m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z, m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z); } template GLM_FUNC_QUALIFIER tmat3x3 operator* ( tmat3x3 const & m1, tmat3x3 const & m2 ) { typename tmat3x3::value_type const SrcA00 = m1[0][0]; typename tmat3x3::value_type const SrcA01 = m1[0][1]; typename tmat3x3::value_type const SrcA02 = m1[0][2]; typename tmat3x3::value_type const SrcA10 = m1[1][0]; typename tmat3x3::value_type const SrcA11 = m1[1][1]; typename tmat3x3::value_type const SrcA12 = m1[1][2]; typename tmat3x3::value_type const SrcA20 = m1[2][0]; typename tmat3x3::value_type const SrcA21 = m1[2][1]; typename tmat3x3::value_type const SrcA22 = m1[2][2]; typename tmat3x3::value_type const SrcB00 = m2[0][0]; typename tmat3x3::value_type const SrcB01 = m2[0][1]; typename tmat3x3::value_type const SrcB02 = m2[0][2]; typename tmat3x3::value_type const SrcB10 = m2[1][0]; typename tmat3x3::value_type const SrcB11 = m2[1][1]; typename tmat3x3::value_type const SrcB12 = m2[1][2]; typename tmat3x3::value_type const SrcB20 = m2[2][0]; typename tmat3x3::value_type const SrcB21 = m2[2][1]; typename tmat3x3::value_type const SrcB22 = m2[2][2]; tmat3x3 Result(tmat3x3::null); Result[0][0] = SrcA00 * SrcB00 + SrcA10 * SrcB01 + SrcA20 * SrcB02; Result[0][1] = SrcA01 * SrcB00 + SrcA11 * SrcB01 + SrcA21 * SrcB02; Result[0][2] = SrcA02 * SrcB00 + SrcA12 * SrcB01 + SrcA22 * SrcB02; Result[1][0] = SrcA00 * SrcB10 + SrcA10 * SrcB11 + SrcA20 * SrcB12; Result[1][1] = SrcA01 * SrcB10 + SrcA11 * SrcB11 + SrcA21 * SrcB12; Result[1][2] = SrcA02 * SrcB10 + SrcA12 * SrcB11 + SrcA22 * SrcB12; Result[2][0] = SrcA00 * SrcB20 + SrcA10 * SrcB21 + SrcA20 * SrcB22; Result[2][1] = SrcA01 * SrcB20 + SrcA11 * SrcB21 + SrcA21 * SrcB22; Result[2][2] = SrcA02 * SrcB20 + SrcA12 * SrcB21 + SrcA22 * SrcB22; return Result; } template GLM_FUNC_QUALIFIER tmat2x3 operator* ( tmat3x3 const & m1, tmat2x3 const & m2 ) { return tmat2x3( m1[0][0] * m2[0][0] + m1[1][0] * m2[0][1] + m1[2][0] * m2[0][2], m1[0][1] * m2[0][0] + m1[1][1] * m2[0][1] + m1[2][1] * m2[0][2], m1[0][2] * m2[0][0] + m1[1][2] * m2[0][1] + m1[2][2] * m2[0][2], m1[0][0] * m2[1][0] + m1[1][0] * m2[1][1] + m1[2][0] * m2[1][2], m1[0][1] * m2[1][0] + m1[1][1] * m2[1][1] + m1[2][1] * m2[1][2], m1[0][2] * m2[1][0] + m1[1][2] * m2[1][1] + m1[2][2] * m2[1][2]); } template GLM_FUNC_QUALIFIER tmat4x3 operator* ( tmat3x3 const & m1, tmat4x3 const & m2 ) { return tmat4x3( m1[0][0] * m2[0][0] + m1[1][0] * m2[0][1] + m1[2][0] * m2[0][2], m1[0][1] * m2[0][0] + m1[1][1] * m2[0][1] + m1[2][1] * m2[0][2], m1[0][2] * m2[0][0] + m1[1][2] * m2[0][1] + m1[2][2] * m2[0][2], m1[0][0] * m2[1][0] + m1[1][0] * m2[1][1] + m1[2][0] * m2[1][2], m1[0][1] * m2[1][0] + m1[1][1] * m2[1][1] + m1[2][1] * m2[1][2], m1[0][2] * m2[1][0] + m1[1][2] * m2[1][1] + m1[2][2] * m2[1][2], m1[0][0] * m2[2][0] + m1[1][0] * m2[2][1] + m1[2][0] * m2[2][2], m1[0][1] * m2[2][0] + m1[1][1] * m2[2][1] + m1[2][1] * m2[2][2], m1[0][2] * m2[2][0] + m1[1][2] * m2[2][1] + m1[2][2] * m2[2][2], m1[0][0] * m2[3][0] + m1[1][0] * m2[3][1] + m1[2][0] * m2[3][2], m1[0][1] * m2[3][0] + m1[1][1] * m2[3][1] + m1[2][1] * m2[3][2], m1[0][2] * m2[3][0] + m1[1][2] * m2[3][1] + m1[2][2] * m2[3][2]); } template GLM_FUNC_QUALIFIER tmat3x3 operator/ ( tmat3x3 const & m, typename tmat3x3::value_type const & s ) { return tmat3x3( m[0] / s, m[1] / s, m[2] / s); } template GLM_FUNC_QUALIFIER tmat3x3 operator/ ( typename tmat3x3::value_type const & s, tmat3x3 const & m ) { return tmat3x3( s / m[0], s / m[1], s / m[2]); } template GLM_FUNC_QUALIFIER typename tmat3x3::col_type operator/ ( tmat3x3 const & m, typename tmat3x3::row_type const & v ) { return m._inverse() * v; } template GLM_FUNC_QUALIFIER typename tmat3x3::row_type operator/ ( typename tmat3x3::col_type const & v, tmat3x3 const & m ) { return v * m._inverse(); } template GLM_FUNC_QUALIFIER tmat3x3 operator/ ( tmat3x3 const & m1, tmat3x3 const & m2 ) { return m1 * m2._inverse(); } // Unary constant operators template GLM_FUNC_QUALIFIER tmat3x3 const operator- ( tmat3x3 const & m ) { return tmat3x3( -m[0], -m[1], -m[2]); } template GLM_FUNC_QUALIFIER tmat3x3 const operator++ ( tmat3x3 const & m, int ) { return tmat3x3( m[0] + T(1), m[1] + T(1), m[2] + T(1)); } template GLM_FUNC_QUALIFIER tmat3x3 const operator-- ( tmat3x3 const & m, int ) { return tmat3x3( m[0] - T(1), m[1] - T(1), m[2] - T(1)); } ////////////////////////////////////// // Boolean operators template GLM_FUNC_QUALIFIER bool operator== ( tmat3x3 const & m1, tmat3x3 const & m2 ) { return (m1[0] == m2[0]) && (m1[1] == m2[1]) && (m1[2] == m2[2]); } template GLM_FUNC_QUALIFIER bool operator!= ( tmat3x3 const & m1, tmat3x3 const & m2 ) { return (m1[0] != m2[0]) || (m1[1] != m2[1]) || (m1[2] != m2[2]); } } //namespace detail } //namespace glm