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use number_traits::{Num, Signed}; use set::identity; #[inline] pub fn inverse_mat<'a, T: Copy + Signed>( out: &'a mut [T; 9], m11: T, m12: T, m13: T, m21: T, m22: T, m23: T, m31: T, m32: T, m33: T, ) -> &'a mut [T; 9] { let m0 = m22 * m33 - m23 * m32; let m3 = m13 * m32 - m12 * m33; let m6 = m12 * m23 - m13 * m22; let d = m11 * m0 + m21 * m3 + m31 * m6; if d != T::zero() { let inv_d = T::one() / d; out[0] = m0 * inv_d; out[1] = (m23 * m31 - m21 * m33) * inv_d; out[2] = (m21 * m32 - m22 * m31) * inv_d; out[3] = m3 * inv_d; out[4] = (m11 * m33 - m13 * m31) * inv_d; out[5] = (m12 * m31 - m11 * m32) * inv_d; out[6] = m6 * inv_d; out[7] = (m13 * m21 - m11 * m23) * inv_d; out[8] = (m11 * m22 - m12 * m21) * inv_d; out } else { identity(out) } } #[test] fn test_inverse_mat() { let mut v = [1, 0, 0, 0, 1, 0, 0, 0, 1]; inverse_mat(&mut v, 1, 0, 0, 0, 1, 0, 0, 0, 1); assert!(v == [1, 0, 0, 0, 1, 0, 0, 0, 1]); } pub fn inverse<'a, T: Copy + Signed>(out: &'a mut [T; 9], a: &[T; 9]) -> &'a mut [T; 9] { inverse_mat(out, a[0], a[3], a[6], a[1], a[4], a[7], a[2], a[5], a[8]) } pub fn inverse_mat2<'a, T: Copy + Signed>(out: &'a mut [T; 9], a: &[T; 4]) -> &'a mut [T; 9] { inverse_mat( out, a[0], a[2], T::zero(), a[1], a[3], T::zero(), T::zero(), T::zero(), T::one(), ) } pub fn inverse_mat32<'a, T: Copy + Signed>(out: &'a mut [T; 9], a: &[T; 6]) -> &'a mut [T; 9] { inverse_mat( out, a[0], a[2], T::zero(), a[1], a[3], T::zero(), T::zero(), T::zero(), T::one(), ) } pub fn inverse_mat4<'a, T: Copy + Signed>(out: &'a mut [T; 9], a: &[T; 16]) -> &'a mut [T; 9] { inverse_mat(out, a[0], a[4], a[8], a[1], a[5], a[9], a[2], a[6], a[10]) } #[inline] pub fn determinant<'a, T: Copy + Num>(out: &[T; 9]) -> T { let a = out[0]; let b = out[1]; let c = out[2]; let d = out[3]; let e = out[4]; let f = out[5]; let g = out[6]; let h = out[7]; let i = out[8]; return a * e * i - a * f * h - b * d * i + b * f * g + c * d * h - c * e * g; } #[test] fn test_determinant() { assert_eq!(determinant(&[1, 0, 0, 0, 1, 0, 0, 0, 1]), 1); } #[inline] pub fn transpose<'a, T: Copy + Num>(out: &'a mut [T; 9], a: &[T; 9]) -> &'a mut [T; 9] { out[0] = a[0]; out[1] = a[3]; out[2] = a[6]; out[3] = a[1]; out[4] = a[4]; out[5] = a[7]; out[6] = a[2]; out[7] = a[5]; out[8] = a[8]; out } #[test] fn test_transpose() { let mut v = [1, 0, 0, 0, 1, 0, 0, 0, 1]; transpose(&mut v, &[1, 0, 0, 0, 1, 0, 0, 0, 1]); assert_eq!(v, [1, 0, 0, 0, 1, 0, 0, 0, 1]); } #[inline] pub fn eq<T: Copy + Num>(a: &[T; 9], b: &[T; 9]) -> bool { !ne(a, b) } #[inline] pub fn ne<T: Copy + Num>(a: &[T; 9], b: &[T; 9]) -> bool { !a[0].approx_eq(&b[0]) || !a[1].approx_eq(&b[1]) || !a[2].approx_eq(&b[2]) || !a[3].approx_eq(&b[3]) || !a[4].approx_eq(&b[4]) || !a[5].approx_eq(&b[5]) || !a[6].approx_eq(&b[6]) || !a[7].approx_eq(&b[7]) || !a[8].approx_eq(&b[8]) } #[test] fn test_ne() { assert_eq!( ne( &[1f32, 1f32, 1f32, 1f32, 1f32, 1f32, 1f32, 1f32, 1f32], &[1f32, 1f32, 1f32, 1f32, 1f32, 1f32, 1f32, 1f32, 1f32] ), false ); assert_eq!( ne( &[0f32, 0f32, 0f32, 0f32, 0f32, 0f32, 0f32, 0f32, 0f32], &[1f32, 1f32, 1f32, 1f32, 1f32, 1f32, 1f32, 1f32, 1f32] ), true ); }