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use core::ops::{Div, Mul, Neg, Sub};
use num_traits::{One, Zero};
use super::set_identity;
#[inline]
pub fn inv<'out, T>(out: &'out mut [T; 4], m: &[T; 4]) -> &'out mut [T; 4]
where
T: One + Zero + Sub<T, Output = T>,
for<'a, 'b> &'a T: Neg<Output = T> + Mul<&'b T, Output = T> + Div<&'b T, Output = T>,
{
let m00 = &m[0];
let m10 = &m[1];
let m01 = &m[2];
let m11 = &m[3];
let d = m00 * m11 - m10 * m01;
if d.is_zero() {
set_identity(out)
} else {
let inv_d = &T::one() / &d;
out[0] = m11 * &inv_d;
out[1] = &-m01 * &inv_d;
out[2] = &-m10 * &inv_d;
out[3] = m00 * &inv_d;
out
}
}
#[inline]
pub fn inv_mut<'out, T>(out: &'out mut [T; 4]) -> &'out mut [T; 4]
where
T: Clone + One + Zero + Sub<T, Output = T>,
for<'a, 'b> &'a T: Neg<Output = T> + Mul<&'b T, Output = T> + Div<&'b T, Output = T>,
{
let tmp = out.clone();
inv(out, &tmp)
}