#![allow(clippy::inline_always)]
#![allow(unused)]
use crate::{Matrix3x3, Matrix3x3Math, Matrix4x4, Vector4d};
pub trait Matrix4x4Math: Sized {
fn m4x4_neg(this: Matrix4x4<Self>) -> Matrix4x4<Self>;
fn m4x4_abs(this: Matrix4x4<Self>) -> Matrix4x4<Self>;
fn m4x4_add(this: Matrix4x4<Self>, this: Matrix4x4<Self>) -> Matrix4x4<Self>;
fn m4x4_mul_scalar(this: Matrix4x4<Self>, other: Self) -> Matrix4x4<Self>;
fn m4x4_div_scalar(this: Matrix4x4<Self>, other: Self) -> Matrix4x4<Self>;
fn m4x4_mul_add(this: Matrix4x4<Self>, k: Self, other: Matrix4x4<Self>) -> Matrix4x4<Self>;
fn m4x4_mul_vector(this: Matrix4x4<Self>, other: Vector4d<Self>) -> Vector4d<Self>;
fn m4x4_vector_mul(this: Vector4d<Self>, other: Matrix4x4<Self>) -> Vector4d<Self>;
fn m4x4_mul(this: Matrix4x4<Self>, other: Matrix4x4<Self>) -> Matrix4x4<Self>;
fn m4x4_determinant(this: Matrix4x4<Self>) -> Self;
fn m4x4_top_right_determinant(this: Matrix4x4<Self>) -> Self;
fn m4x4_top_right_sum_squares(this: Matrix4x4<Self>) -> Self;
fn m4x4_trace(this: Matrix4x4<Self>) -> Self;
fn m4x4_trace_sum_squares(this: Matrix4x4<Self>) -> Self;
fn m4x4_sum(this: Matrix4x4<Self>) -> Self;
fn m4x4_mean(this: Matrix4x4<Self>) -> Self;
fn m4x4_product(this: Matrix4x4<Self>) -> Self;
fn m4x4_adjugate(this: Matrix4x4<Self>) -> (Matrix4x4<Self>, Self);
}
impl Matrix4x4Math for f32 {
#[inline(always)]
fn m4x4_neg(this: Matrix4x4<Self>) -> Matrix4x4<Self> {
let ret = core::array::from_fn(|ii| -this.a[ii]);
Matrix4x4::from(ret)
}
#[inline(always)]
fn m4x4_abs(this: Matrix4x4<Self>) -> Matrix4x4<Self> {
let ret = core::array::from_fn(|ii| this.a[ii].abs());
Matrix4x4::from(ret)
}
#[inline(always)]
fn m4x4_add(this: Matrix4x4<Self>, other: Matrix4x4<Self>) -> Matrix4x4<Self> {
let ret = core::array::from_fn(|ii| this.a[ii] + other.a[ii]);
Matrix4x4::from(ret)
}
#[inline(always)]
fn m4x4_mul_scalar(this: Matrix4x4<Self>, other: Self) -> Matrix4x4<Self> {
let ret = core::array::from_fn(|ii| this.a[ii] * other);
Matrix4x4::from(ret)
}
#[inline(always)]
fn m4x4_div_scalar(this: Matrix4x4<Self>, other: Self) -> Matrix4x4<Self> {
Self::m4x4_mul_scalar(this, 1.0 / other)
}
#[inline(always)]
fn m4x4_mul_add(this: Matrix4x4<Self>, k: Self, other: Matrix4x4<Self>) -> Matrix4x4<Self> {
Self::m4x4_add(Self::m4x4_mul_scalar(this, k), other)
}
#[rustfmt::skip]
#[inline]
fn m4x4_vector_mul(this: Vector4d<Self>, other: Matrix4x4<Self>) -> Vector4d<Self> {
Vector4d {
x: this.x * other.a[0] + this.y * other.a[4] + this.z * other.a[8] + this.t * other.a[12],
y: this.x * other.a[1] + this.y * other.a[5] + this.z * other.a[9] + this.t * other.a[13],
z: this.x * other.a[2] + this.y * other.a[6] + this.z * other.a[10] + this.t * other.a[14],
t: this.x * other.a[3] + this.y * other.a[7] + this.z * other.a[11] + this.t * other.a[15],
}
}
#[allow(clippy::needless_range_loop)]
#[rustfmt::skip]
#[inline]
fn m4x4_mul_vector(this: Matrix4x4<Self>, other: Vector4d<Self>) -> Vector4d<Self> {
let mut res = [0.0; 4];
let v = [other.x, other.y, other.z, other.t];
for i in 0..4 {
let col_scalar = v[i];
for j in 0..4 {
res[j] += this.a[i + j * 4] * col_scalar;
}
}
Vector4d { x: res[0], y: res[1], z: res[2], t: res[3] }
}
#[inline]
fn m4x4_mul(this: Matrix4x4<Self>, other: Matrix4x4<Self>) -> Matrix4x4<Self> {
let mut ret = [0.0; 16];
for i in 0..4 {
let row = &this.a[i * 4..(i * 4) + 4];
for j in 0..4 {
ret[i * 4 + j] =
row[0] * other.a[j] + row[1] * other.a[j + 4] + row[2] * other.a[j + 8] + row[3] * other.a[j + 12];
}
}
Matrix4x4::from(ret)
}
#[inline(always)]
fn m4x4_trace(this: Matrix4x4<Self>) -> Self {
this.a[0] + this.a[5] + this.a[10] + this.a[15]
}
#[inline(always)]
fn m4x4_trace_sum_squares(this: Matrix4x4<Self>) -> Self {
{ this.a[0] * this.a[0] + this.a[5] * this.a[5] + this.a[10] * this.a[10] + this.a[15] * this.a[15] }
}
#[inline(always)]
fn m4x4_sum(this: Matrix4x4<Self>) -> Self {
this.a.iter().sum()
}
#[inline(always)]
fn m4x4_mean(this: Matrix4x4<Self>) -> Self {
Self::m4x4_sum(this) / 16.0
}
#[inline(always)]
fn m4x4_product(this: Matrix4x4<Self>) -> Self {
this.a.iter().product()
}
#[inline]
fn m4x4_top_right_sum_squares(this: Matrix4x4<Self>) -> Self {
this.a[1] * this.a[1]
+ this.a[2] * this.a[2]
+ this.a[3] * this.a[3]
+ this.a[6] * this.a[6]
+ this.a[7] * this.a[7]
+ this.a[11] * this.a[11]
}
#[rustfmt::skip]
#[inline(always)]
fn m4x4_top_right_determinant(this: Matrix4x4<Self>) -> Self {
0.0
}
#[rustfmt::skip]
#[inline]
fn m4x4_determinant(this: Matrix4x4<Self>) -> Self {
this.a[0] * Self::m3x3_determinant(Matrix3x3::from([this.a[5], this.a[6], this.a[7], this.a[9], this.a[10], this.a[11], this.a[13], this.a[14], this.a[15]]))
-this.a[1] * Self::m3x3_determinant(Matrix3x3::from([this.a[4], this.a[6], this.a[7], this.a[8], this.a[10], this.a[11], this.a[12], this.a[14], this.a[15]]))
+this.a[2] * Self::m3x3_determinant(Matrix3x3::from([this.a[4], this.a[5], this.a[7], this.a[8], this.a[9], this.a[11], this.a[12], this.a[13], this.a[15]]))
-this.a[3] * Self::m3x3_determinant(Matrix3x3::from([this.a[4], this.a[5], this.a[6], this.a[8], this.a[9], this.a[10], this.a[12], this.a[13], this.a[14]]))
}
#[rustfmt::skip]
fn m4x4_adjugate(s: Matrix4x4<Self>) -> (Matrix4x4<Self>, Self) {
let s0 = s.a[0]; let s1 = s.a[1]; let s2 = s.a[2]; let s3 = s.a[3];
let s4 = s.a[4]; let s5 = s.a[5]; let s6 = s.a[6]; let s7 = s.a[7];
let s8 = s.a[8]; let s9 = s.a[9]; let s10 = s.a[10]; let s11 = s.a[11];
let s12 = s.a[12]; let s13 = s.a[13]; let s14 = s.a[14]; let s15 = s.a[15];
let b0 = s8 * s13 - s9 * s12;
let b1 = s8 * s14 - s10 * s12;
let b2 = s8 * s15 - s11 * s12;
let b3 = s9 * s14 - s10 * s13;
let b4 = s9 * s15 - s11 * s13;
let b5 = s10 * s15 - s11 * s14;
let t0 = s0 * s5 - s1 * s4;
let t1 = s0 * s6 - s2 * s4;
let t2 = s0 * s7 - s3 * s4;
let t3 = s1 * s6 - s2 * s5;
let t4 = s1 * s7 - s3 * s5;
let t5 = s2 * s7 - s3 * s6;
let c00 = s5 * b5 - s6 * b4 + s7 * b3;
let c01 = -s1 * b5 + s2 * b4 - s3 * b3;
let c02 = s13 * t5 - s14 * t4 + s15 * t3;
let c03 = -s9 * t5 + s10 * t4 - s11 * t3;
let c10 = -s4 * b5 + s6 * b2 - s7 * b1;
let c11 = s0 * b5 - s2 * b2 + s3 * b1;
let c12 = -s12 * t5 + s14 * t2 - s15 * t1;
let c13 = s8 * t5 - s10 * t2 + s11 * t1;
let c20 = s4 * b4 - s5 * b2 + s7 * b0;
let c21 = -s0 * b4 + s1 * b2 - s3 * b0;
let c22 = s12 * t4 - s13 * t2 + s15 * t0;
let c23 = -s8 * t4 + s9 * t2 - s11 * t0;
let c30 = -s4 * b3 + s5 * b1 - s6 * b0;
let c31 = s0 * b3 - s1 * b1 + s2 * b0;
let c32 = -s12 * t3 + s13 * t1 - s14 * t0;
let c33 = s8 * t3 - s9 * t1 + s10 * t0;
let det = s0 * c00 + s1 * c10 + s2 * c20 + s3 * c30;
(Matrix4x4::from([
c00, c01, c02, c03,
c10, c11, c12, c13,
c20, c21, c22, c23,
c30, c31, c32, c33
]), det)
}
}
impl Matrix4x4Math for f64 {
#[inline(always)]
fn m4x4_neg(this: Matrix4x4<Self>) -> Matrix4x4<Self> {
let ret = core::array::from_fn(|ii| -this.a[ii]);
Matrix4x4::from(ret)
}
#[inline(always)]
fn m4x4_abs(this: Matrix4x4<Self>) -> Matrix4x4<Self> {
let ret = core::array::from_fn(|ii| this.a[ii].abs());
Matrix4x4::from(ret)
}
#[inline(always)]
fn m4x4_add(this: Matrix4x4<Self>, other: Matrix4x4<Self>) -> Matrix4x4<Self> {
let ret = core::array::from_fn(|ii| this.a[ii] + other.a[ii]);
Matrix4x4::from(ret)
}
#[inline(always)]
fn m4x4_mul_scalar(this: Matrix4x4<Self>, other: Self) -> Matrix4x4<Self> {
let ret = core::array::from_fn(|ii| this.a[ii] * other);
Matrix4x4::from(ret)
}
#[inline(always)]
fn m4x4_div_scalar(this: Matrix4x4<Self>, other: Self) -> Matrix4x4<Self> {
Self::m4x4_mul_scalar(this, 1.0 / other)
}
#[inline(always)]
fn m4x4_mul_add(this: Matrix4x4<Self>, k: Self, other: Matrix4x4<Self>) -> Matrix4x4<Self> {
Self::m4x4_add(Self::m4x4_mul_scalar(this, k), other)
}
#[rustfmt::skip]
#[inline]
fn m4x4_vector_mul(this: Vector4d<Self>, other: Matrix4x4<Self>) -> Vector4d<Self> {
Vector4d {
x: this.x * other.a[0] + this.y * other.a[4] + this.z * other.a[8] + this.t * other.a[12],
y: this.x * other.a[1] + this.y * other.a[5] + this.z * other.a[9] + this.t * other.a[13],
z: this.x * other.a[2] + this.y * other.a[6] + this.z * other.a[10] + this.t * other.a[14],
t: this.x * other.a[3] + this.y * other.a[7] + this.z * other.a[11] + this.t * other.a[15],
}
}
#[rustfmt::skip]
#[inline]
fn m4x4_mul_vector(this: Matrix4x4<Self>, other: Vector4d<Self>) -> Vector4d<Self> {
Vector4d {
x: this.a[0] * other.x + this.a[1] * other.y + this.a[2] * other.z + this.a[3] * other.t,
y: this.a[4] * other.x + this.a[5] * other.y + this.a[6] * other.z + this.a[7] * other.t,
z: this.a[8] * other.x + this.a[9] * other.y + this.a[10] * other.z + this.a[11] * other.t,
t: this.a[12] * other.x + this.a[13] * other.y + this.a[14] * other.z + this.a[15] * other.t,
}
}
#[inline]
fn m4x4_mul(this: Matrix4x4<Self>, other: Matrix4x4<Self>) -> Matrix4x4<Self> {
let mut ret = [0.0; 16];
for i in 0..4 {
let row = &this.a[i * 4..(i * 4) + 4];
for j in 0..4 {
ret[i * 4 + j] =
row[0] * other.a[j] + row[1] * other.a[j + 4] + row[2] * other.a[j + 8] + row[3] * other.a[j + 12];
}
}
Matrix4x4::from(ret)
}
#[inline(always)]
fn m4x4_trace(this: Matrix4x4<Self>) -> Self {
this.a[0] + this.a[5] + this.a[10] + this.a[15]
}
#[inline(always)]
fn m4x4_trace_sum_squares(this: Matrix4x4<Self>) -> Self {
{ this.a[0] * this.a[0] + this.a[5] * this.a[5] + this.a[10] * this.a[10] + this.a[15] * this.a[15] }
}
#[inline(always)]
fn m4x4_sum(this: Matrix4x4<Self>) -> Self {
this.a.iter().sum()
}
#[inline(always)]
fn m4x4_mean(this: Matrix4x4<Self>) -> Self {
Self::m4x4_sum(this) / 16.0
}
#[inline(always)]
fn m4x4_product(this: Matrix4x4<Self>) -> Self {
this.a.iter().product()
}
#[inline(always)]
fn m4x4_top_right_sum_squares(this: Matrix4x4<Self>) -> Self {
this.a[1] * this.a[1]
+ this.a[2] * this.a[2]
+ this.a[3] * this.a[3]
+ this.a[6] * this.a[6]
+ this.a[7] * this.a[7]
+ this.a[11] * this.a[11]
}
#[rustfmt::skip]
#[inline(always)]
fn m4x4_top_right_determinant(this: Matrix4x4<Self>) -> Self {
0.0
}
#[rustfmt::skip]
#[inline]
fn m4x4_determinant(this: Matrix4x4<Self>) -> Self {
this.a[0] * Self::m3x3_determinant(Matrix3x3::from([this.a[5], this.a[6], this.a[7], this.a[9], this.a[10], this.a[11], this.a[13], this.a[14], this.a[15]]))
-this.a[1] * Self::m3x3_determinant(Matrix3x3::from([this.a[4], this.a[6], this.a[7], this.a[8], this.a[10], this.a[11], this.a[12], this.a[14], this.a[15]]))
+this.a[2] * Self::m3x3_determinant(Matrix3x3::from([this.a[4], this.a[5], this.a[7], this.a[8], this.a[9], this.a[11], this.a[12], this.a[13], this.a[15]]))
-this.a[3] * Self::m3x3_determinant(Matrix3x3::from([this.a[4], this.a[5], this.a[6], this.a[8], this.a[9], this.a[10], this.a[12], this.a[13], this.a[14]]))
}
#[rustfmt::skip]
fn m4x4_adjugate(s: Matrix4x4<Self>) -> (Matrix4x4<Self>, Self) {
let s0 = s.a[0]; let s1 = s.a[1]; let s2 = s.a[2]; let s3 = s.a[3];
let s4 = s.a[4]; let s5 = s.a[5]; let s6 = s.a[6]; let s7 = s.a[7];
let s8 = s.a[8]; let s9 = s.a[9]; let s10 = s.a[10]; let s11 = s.a[11];
let s12 = s.a[12]; let s13 = s.a[13]; let s14 = s.a[14]; let s15 = s.a[15];
let b0 = s8 * s13 - s9 * s12;
let b1 = s8 * s14 - s10 * s12;
let b2 = s8 * s15 - s11 * s12;
let b3 = s9 * s14 - s10 * s13;
let b4 = s9 * s15 - s11 * s13;
let b5 = s10 * s15 - s11 * s14;
let t0 = s0 * s5 - s1 * s4;
let t1 = s0 * s6 - s2 * s4;
let t2 = s0 * s7 - s3 * s4;
let t3 = s1 * s6 - s2 * s5;
let t4 = s1 * s7 - s3 * s5;
let t5 = s2 * s7 - s3 * s6;
let c00 = s5 * b5 - s6 * b4 + s7 * b3;
let c01 = -s1 * b5 + s2 * b4 - s3 * b3;
let c02 = s13 * t5 - s14 * t4 + s15 * t3;
let c03 = -s9 * t5 + s10 * t4 - s11 * t3;
let c10 = -s4 * b5 + s6 * b2 - s7 * b1;
let c11 = s0 * b5 - s2 * b2 + s3 * b1;
let c12 = -s12 * t5 + s14 * t2 - s15 * t1;
let c13 = s8 * t5 - s10 * t2 + s11 * t1;
let c20 = s4 * b4 - s5 * b2 + s7 * b0;
let c21 = -s0 * b4 + s1 * b2 - s3 * b0;
let c22 = s12 * t4 - s13 * t2 + s15 * t0;
let c23 = -s8 * t4 + s9 * t2 - s11 * t0;
let c30 = -s4 * b3 + s5 * b1 - s6 * b0;
let c31 = s0 * b3 - s1 * b1 + s2 * b0;
let c32 = -s12 * t3 + s13 * t1 - s14 * t0;
let c33 = s8 * t3 - s9 * t1 + s10 * t0;
let det = s0 * c00 + s1 * c10 + s2 * c20 + s3 * c30;
(Matrix4x4::from([
c00, c01, c02, c03,
c10, c11, c12, c13,
c20, c21, c22, c23,
c30, c31, c32, c33
]), det)
}
}