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 /// @ref gtc_matrix_inverse /// @file glm/gtc/matrix_inverse.inl namespace glm { template GLM_FUNC_QUALIFIER tmat3x3 affineInverse(tmat3x3 const & m) { tmat2x2 const Inv(inverse(tmat2x2(m))); return tmat3x3( tvec3(Inv[0], static_cast(0)), tvec3(Inv[1], static_cast(0)), tvec3(-Inv * tvec2(m[2]), static_cast(1))); } template GLM_FUNC_QUALIFIER tmat4x4 affineInverse(tmat4x4 const & m) { tmat3x3 const Inv(inverse(tmat3x3(m))); return tmat4x4( tvec4(Inv[0], static_cast(0)), tvec4(Inv[1], static_cast(0)), tvec4(Inv[2], static_cast(0)), tvec4(-Inv * tvec3(m[3]), static_cast(1))); } template GLM_FUNC_QUALIFIER tmat2x2 inverseTranspose(tmat2x2 const & m) { T Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1]; tmat2x2 Inverse( + m[1][1] / Determinant, - m[0][1] / Determinant, - m[1][0] / Determinant, + m[0][0] / Determinant); return Inverse; } template GLM_FUNC_QUALIFIER tmat3x3 inverseTranspose(tmat3x3 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 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 GLM_FUNC_QUALIFIER tmat4x4 inverseTranspose(tmat4x4 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 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