mat3 0.2.1

matrix 3x3
Documentation 
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use core::ops::{Add, Div, Mul, Sub};

use num_traits::{One, Zero};

use super::set_identity;

/// # Example
/// ```
/// let mut m = mat3::new_identity::<f32>();
/// mat3::inv_mat3_values(&mut m, &1_f32, &0_f32, &0_f32, &0_f32, &1_f32, &0_f32, &0_f32, &0_f32, &1_f32);
/// assert_eq!(m, mat3::new_identity::<f32>());
/// ```
#[inline]
pub fn inv_mat3_values<'out, T>(
    out: &'out mut [T; 9],
    m00: &T,
    m01: &T,
    m02: &T,
    m10: &T,
    m11: &T,
    m12: &T,
    m20: &T,
    m21: &T,
    m22: &T,
) -> &'out mut [T; 9]
where
    T: One + Zero + Add<T, Output = T> + Sub<T, Output = T>,
    for<'a, 'b> &'a T: Mul<&'b T, Output = T> + Div<&'b T, Output = T>,
{
    let m0 = m11 * m22 - m12 * m21;
    let m3 = m02 * m21 - m01 * m22;
    let m6 = m01 * m12 - m02 * m11;
    let d = m00 * &m0 + m10 * &m3 + m20 * &m6;

    if d.is_zero() {
        set_identity(out)
    } else {
        let inv_d = &T::one() / &d;

        out[0] = &m0 * &inv_d;
        out[1] = &(m12 * m20 - m10 * m22) * &inv_d;
        out[2] = &(m10 * m21 - m11 * m20) * &inv_d;

        out[3] = &m3 * &inv_d;
        out[4] = &(m00 * m22 - m02 * m20) * &inv_d;
        out[5] = &(m01 * m20 - m00 * m21) * &inv_d;

        out[6] = &m6 * &inv_d;
        out[7] = &(m02 * m10 - m00 * m12) * &inv_d;
        out[8] = &(m00 * m11 - m01 * m10) * &inv_d;
        out
    }
}
/// # Example
/// ```
/// let mut m = mat3::new_identity::<f32>();
/// mat3::inv(&mut m, &mat3::new_identity::<f32>());
/// assert_eq!(m, mat3::new_identity::<f32>());
/// ```
#[inline]
pub fn inv<'out, T>(out: &'out mut [T; 9], a: &[T; 9]) -> &'out mut [T; 9]
where
    T: Clone + One + Zero + Add<T, Output = T> + Sub<T, Output = T>,
    for<'a, 'b> &'a T: Mul<&'b T, Output = T> + Div<&'b T, Output = T>,
{
    inv_mat3_values(
        out,
        &a[0],
        &a[3],
        &a[6],
        &a[1],
        &a[4],
        &a[7],
        &a[2],
        &a[5],
        &a[8],
    )
}
/// # Example
/// ```
/// let mut m = mat3::new_identity::<f32>();
/// mat3::inv_mut(&mut m);
/// assert_eq!(m, mat3::new_identity::<f32>());
/// ```
#[inline]
pub fn inv_mut<'out, T>(out: &'out mut [T; 9]) -> &'out mut [T; 9]
where
    T: Clone + One + Zero + Add<T, Output = T> + Sub<T, Output = T>,
    for<'a, 'b> &'a T: Mul<&'b T, Output = T> + Div<&'b T, Output = T>,
{
    let tmp = out.clone();
    inv(out, &tmp)
}
/// # Example
/// ```
/// let mut m = mat3::new_identity::<f32>();
/// mat3::inv_mat2(&mut m, &[1_f32, 0_f32, 0_f32, 1_f32]);
/// assert_eq!(m, mat3::new_identity::<f32>());
/// ```
#[inline]
pub fn inv_mat2<'out, T>(out: &'out mut [T; 9], a: &[T; 4]) -> &'out mut [T; 9]
where
    T: Clone + One + Zero + Add<T, Output = T> + Sub<T, Output = T>,
    for<'a, 'b> &'a T: Mul<&'b T, Output = T> + Div<&'b T, Output = T>,
{
    inv_mat3_values(
        out,
        &a[0],
        &a[2],
        &T::zero(),
        &a[1],
        &a[3],
        &T::zero(),
        &T::zero(),
        &T::zero(),
        &T::one(),
    )
}
/// # Example
/// ```
/// let mut m = mat3::new_identity::<f32>();
/// mat3::inv_mat32(&mut m, &[1_f32, 0_f32, 0_f32, 1_f32, 0_f32, 0_f32]);
/// assert_eq!(m, mat3::new_identity::<f32>());
/// ```
#[inline]
pub fn inv_mat32<'out, T>(out: &'out mut [T; 9], a: &[T; 6]) -> &'out mut [T; 9]
where
    T: Clone + One + Zero + Add<T, Output = T> + Sub<T, Output = T>,
    for<'a, 'b> &'a T: Mul<&'b T, Output = T> + Div<&'b T, Output = T>,
{
    inv_mat3_values(
        out,
        &a[0],
        &a[2],
        &T::zero(),
        &a[1],
        &a[3],
        &T::zero(),
        &T::zero(),
        &T::zero(),
        &T::one(),
    )
}
/// # Example
/// ```
/// let mut m = mat3::new_identity::<f32>();
/// mat3::inv_mat4(&mut m, &[1_f32, 0_f32, 0_f32, 0_f32, 0_f32, 1_f32, 0_f32, 0_f32, 0_f32, 0_f32, 1_f32, 0_f32, 0_f32, 0_f32, 0_f32, 1_f32]);
/// assert_eq!(m, mat3::new_identity::<f32>());
/// ```
#[inline]
pub fn inv_mat4<'out, T>(out: &'out mut [T; 9], a: &[T; 16]) -> &'out mut [T; 9]
where
    T: Clone + One + Zero + Add<T, Output = T> + Sub<T, Output = T>,
    for<'a, 'b> &'a T: Mul<&'b T, Output = T> + Div<&'b T, Output = T>,
{
    inv_mat3_values(
        out,
        &a[0],
        &a[4],
        &a[8],
        &a[1],
        &a[5],
        &a[9],
        &a[2],
        &a[6],
        &a[10],
    )
}