145 lines
5.5 KiB
C
145 lines
5.5 KiB
C
#include "matrix3x3.h"
|
|
|
|
// ================= Inversion ================== //
|
|
|
|
int bg_fp32_matrix3x3_invert(BgFP32Matrix3x3* matrix)
|
|
{
|
|
const float determinant = bg_fp32_matrix3x3_get_determinant(matrix);
|
|
|
|
if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
|
|
return 0;
|
|
}
|
|
|
|
const float r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
|
|
const float r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
|
|
const float r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;
|
|
|
|
const float r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
|
|
const float r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
|
|
const float r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;
|
|
|
|
const float r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
|
|
const float r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
|
|
const float r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
|
|
|
|
matrix->r1c1 = r1c1 / determinant;
|
|
matrix->r1c2 = r1c2 / determinant;
|
|
matrix->r1c3 = r1c3 / determinant;
|
|
|
|
matrix->r2c1 = r2c1 / determinant;
|
|
matrix->r2c2 = r2c2 / determinant;
|
|
matrix->r2c3 = r2c3 / determinant;
|
|
|
|
matrix->r3c1 = r3c1 / determinant;
|
|
matrix->r3c2 = r3c2 / determinant;
|
|
matrix->r3c3 = r3c3 / determinant;
|
|
|
|
return 1;
|
|
}
|
|
|
|
int bg_fp64_matrix3x3_invert(BgFP64Matrix3x3* matrix)
|
|
{
|
|
const double determinant = bg_fp64_matrix3x3_get_determinant(matrix);
|
|
|
|
if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) {
|
|
return 0;
|
|
}
|
|
|
|
const double r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
|
|
const double r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
|
|
const double r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;
|
|
|
|
const double r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
|
|
const double r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
|
|
const double r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;
|
|
|
|
const double r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
|
|
const double r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
|
|
const double r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
|
|
|
|
matrix->r1c1 = r1c1 / determinant;
|
|
matrix->r1c2 = r1c2 / determinant;
|
|
matrix->r1c3 = r1c3 / determinant;
|
|
|
|
matrix->r2c1 = r2c1 / determinant;
|
|
matrix->r2c2 = r2c2 / determinant;
|
|
matrix->r2c3 = r2c3 / determinant;
|
|
|
|
matrix->r3c1 = r3c1 / determinant;
|
|
matrix->r3c2 = r3c2 / determinant;
|
|
matrix->r3c3 = r3c3 / determinant;
|
|
|
|
return 1;
|
|
}
|
|
|
|
// ================ Make Inverted =============== //
|
|
|
|
int bg_fp32_matrix3x3_set_inverted(const BgFP32Matrix3x3* matrix, BgFP32Matrix3x3* result)
|
|
{
|
|
const float determinant = bg_fp32_matrix3x3_get_determinant(matrix);
|
|
|
|
if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
|
|
return 0;
|
|
}
|
|
|
|
const float r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
|
|
const float r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
|
|
const float r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;
|
|
|
|
const float r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
|
|
const float r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
|
|
const float r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;
|
|
|
|
const float r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
|
|
const float r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
|
|
const float r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
|
|
|
|
result->r1c1 = r1c1 / determinant;
|
|
result->r1c2 = r1c2 / determinant;
|
|
result->r1c3 = r1c3 / determinant;
|
|
|
|
result->r2c1 = r2c1 / determinant;
|
|
result->r2c2 = r2c2 / determinant;
|
|
result->r2c3 = r2c3 / determinant;
|
|
|
|
result->r3c1 = r3c1 / determinant;
|
|
result->r3c2 = r3c2 / determinant;
|
|
result->r3c3 = r3c3 / determinant;
|
|
|
|
return 1;
|
|
}
|
|
|
|
int bg_fp64_matrix3x3_set_inverted(const BgFP64Matrix3x3* matrix, BgFP64Matrix3x3* result)
|
|
{
|
|
const double determinant = bg_fp64_matrix3x3_get_determinant(matrix);
|
|
|
|
if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) {
|
|
return 0;
|
|
}
|
|
|
|
const double r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
|
|
const double r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
|
|
const double r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;
|
|
|
|
const double r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
|
|
const double r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
|
|
const double r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;
|
|
|
|
const double r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
|
|
const double r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
|
|
const double r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
|
|
|
|
result->r1c1 = r1c1 / determinant;
|
|
result->r1c2 = r1c2 / determinant;
|
|
result->r1c3 = r1c3 / determinant;
|
|
|
|
result->r2c1 = r2c1 / determinant;
|
|
result->r2c2 = r2c2 / determinant;
|
|
result->r2c3 = r2c3 / determinant;
|
|
|
|
result->r3c1 = r3c1 / determinant;
|
|
result->r3c2 = r3c2 / determinant;
|
|
result->r3c3 = r3c3 / determinant;
|
|
|
|
return 1;
|
|
}
|