153 lines
5.6 KiB
C
153 lines
5.6 KiB
C
#include "matrix3x3.h"
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// ================= Inversion ================== //
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int fp32_matrix3x3_invert(fp32_matrix3x3_t* matrix)
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{
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const float determinant = fp32_matrix3x3_get_determinant(matrix);
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if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
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return 0;
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}
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const float r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
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const float r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
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const float r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;
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const float r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
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const float r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
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const float r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;
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const float r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
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const float r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
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const float r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
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const float multiplier = 1.0f / determinant;
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matrix->r1c1 = r1c1 * multiplier;
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matrix->r1c2 = r1c2 * multiplier;
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matrix->r1c3 = r1c3 * multiplier;
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matrix->r2c1 = r2c1 * multiplier;
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matrix->r2c2 = r2c2 * multiplier;
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matrix->r2c3 = r2c3 * multiplier;
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matrix->r3c1 = r3c1 * multiplier;
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matrix->r3c2 = r3c2 * multiplier;
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matrix->r3c3 = r3c3 * multiplier;
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return 1;
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}
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int fp64_matrix3x3_invert(fp64_matrix3x3_t* matrix)
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{
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const double determinant = fp64_matrix3x3_get_determinant(matrix);
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if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
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return 0;
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}
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const double r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
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const double r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
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const double r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;
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const double r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
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const double r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
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const double r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;
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const double r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
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const double r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
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const double r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
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const double multiplier = 1.0 / determinant;
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matrix->r1c1 = r1c1 * multiplier;
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matrix->r1c2 = r1c2 * multiplier;
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matrix->r1c3 = r1c3 * multiplier;
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matrix->r2c1 = r2c1 * multiplier;
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matrix->r2c2 = r2c2 * multiplier;
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matrix->r2c3 = r2c3 * multiplier;
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matrix->r3c1 = r3c1 * multiplier;
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matrix->r3c2 = r3c2 * multiplier;
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matrix->r3c3 = r3c3 * multiplier;
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return 1;
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}
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// ================ Make Inverted =============== //
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int fp32_matrix3x3_set_inverted(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result)
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{
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const float determinant = fp32_matrix3x3_get_determinant(matrix);
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if (-FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON) {
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return 0;
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}
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const float r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
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const float r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
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const float r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;
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const float r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
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const float r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
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const float r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;
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const float r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
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const float r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
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const float r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
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const float multiplier = 1.0f / determinant;
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result->r1c1 = r1c1 * multiplier;
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result->r1c2 = r1c2 * multiplier;
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result->r1c3 = r1c3 * multiplier;
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result->r2c1 = r2c1 * multiplier;
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result->r2c2 = r2c2 * multiplier;
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result->r2c3 = r2c3 * multiplier;
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result->r3c1 = r3c1 * multiplier;
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result->r3c2 = r3c2 * multiplier;
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result->r3c3 = r3c3 * multiplier;
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return 1;
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}
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int fp64_matrix3x3_set_inverted(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result)
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{
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const double determinant = fp64_matrix3x3_get_determinant(matrix);
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if (-FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON) {
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return 0;
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}
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const double r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
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const double r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
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const double r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;
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const double r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
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const double r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
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const double r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;
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const double r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
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const double r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
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const double r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
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const double multiplier = 1.0 / determinant;
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result->r1c1 = r1c1 * multiplier;
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result->r1c2 = r1c2 * multiplier;
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result->r1c3 = r1c3 * multiplier;
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result->r2c1 = r2c1 * multiplier;
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result->r2c2 = r2c2 * multiplier;
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result->r2c3 = r2c3 * multiplier;
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result->r3c1 = r3c1 * multiplier;
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result->r3c2 = r3c2 * multiplier;
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result->r3c3 = r3c3 * multiplier;
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return 1;
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}
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