95 lines
2.4 KiB
Rust
95 lines
2.4 KiB
Rust
|
use std::num::{Zero, One};
|
||
|
|
use mat::{Mat1, Mat2, Mat3};
|
||
|
|
use traits::division_ring::DivisionRing;
|
||
|
|
use traits::inv::Inv;
|
||
|
|
|
||
|
|
// some specializations:
|
||
|
|
impl<N: Copy + DivisionRing>
|
||
|
|
Inv for Mat1<N>
|
||
|
|
{
|
||
|
|
#[inline]
|
||
|
|
fn inverse(&self) -> Mat1<N>
|
||
|
|
{
|
||
|
|
let mut res : Mat1<N> = copy *self;
|
||
|
|
|
||
|
|
res.invert();
|
||
|
|
|
||
|
|
res
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
fn invert(&mut self)
|
||
|
|
{
|
||
|
|
assert!(!self.mij[0].is_zero());
|
||
|
|
|
||
|
|
self.mij[0] = One::one::<N>() / self.mij[0]
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
impl<N: Copy + DivisionRing>
|
||
|
|
Inv for Mat2<N>
|
||
|
|
{
|
||
|
|
#[inline]
|
||
|
|
fn inverse(&self) -> Mat2<N>
|
||
|
|
{
|
||
|
|
let mut res : Mat2<N> = copy *self;
|
||
|
|
|
||
|
|
res.invert();
|
||
|
|
|
||
|
|
res
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
fn invert(&mut self)
|
||
|
|
{
|
||
|
|
let det = self.mij[0 * 2 + 0] * self.mij[1 * 2 + 1] - self.mij[1 * 2 + 0] * self.mij[0 * 2 + 1];
|
||
|
|
|
||
|
|
assert!(!det.is_zero());
|
||
|
|
|
||
|
|
*self = Mat2::new([self.mij[1 * 2 + 1] / det , -self.mij[0 * 2 + 1] / det,
|
||
|
|
-self.mij[1 * 2 + 0] / det, self.mij[0 * 2 + 0] / det])
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
impl<N: Copy + DivisionRing>
|
||
|
|
Inv for Mat3<N>
|
||
|
|
{
|
||
|
|
#[inline]
|
||
|
|
fn inverse(&self) -> Mat3<N>
|
||
|
|
{
|
||
|
|
let mut res = copy *self;
|
||
|
|
|
||
|
|
res.invert();
|
||
|
|
|
||
|
|
res
|
||
|
|
}
|
||
|
|
|
||
|
|
#[inline]
|
||
|
|
fn invert(&mut self)
|
||
|
|
{
|
||
|
|
let minor_m12_m23 = self.mij[1 * 3 + 1] * self.mij[2 * 3 + 2] - self.mij[2 * 3 + 1] * self.mij[1 * 3 + 2];
|
||
|
|
let minor_m11_m23 = self.mij[1 * 3 + 0] * self.mij[2 * 3 + 2] - self.mij[2 * 3 + 0] * self.mij[1 * 3 + 2];
|
||
|
|
let minor_m11_m22 = self.mij[1 * 3 + 0] * self.mij[2 * 3 + 1] - self.mij[2 * 3 + 0] * self.mij[1 * 3 + 1];
|
||
|
|
|
||
|
|
let det = self.mij[0 * 3 + 0] * minor_m12_m23
|
||
|
|
- self.mij[0 * 3 + 1] * minor_m11_m23
|
||
|
|
+ self.mij[0 * 3 + 2] * minor_m11_m22;
|
||
|
|
|
||
|
|
assert!(!det.is_zero());
|
||
|
|
|
||
|
|
*self = Mat3::new( [
|
||
|
|
(minor_m12_m23 / det),
|
||
|
|
((self.mij[0 * 3 + 2] * self.mij[2 * 3 + 1] - self.mij[2 * 3 + 2] * self.mij[0 * 3 + 1]) / det),
|
||
|
|
((self.mij[0 * 3 + 1] * self.mij[1 * 3 + 2] - self.mij[1 * 3 + 1] * self.mij[0 * 3 + 2]) / det),
|
||
|
|
|
||
|
|
(-minor_m11_m23 / det),
|
||
|
|
((self.mij[0 * 3 + 0] * self.mij[2 * 3 + 2] - self.mij[2 * 3 + 0] * self.mij[0 * 3 + 2]) / det),
|
||
|
|
((self.mij[0 * 3 + 2] * self.mij[1 * 3 + 0] - self.mij[1 * 3 + 2] * self.mij[0 * 3 + 0]) / det),
|
||
|
|
|
||
|
|
(minor_m11_m22 / det),
|
||
|
|
((self.mij[0 * 3 + 1] * self.mij[2 * 3 + 0] - self.mij[2 * 3 + 1] * self.mij[0 * 3 + 0]) / det),
|
||
|
|
((self.mij[0 * 3 + 0] * self.mij[1 * 3 + 1] - self.mij[1 * 3 + 0] * self.mij[0 * 3 + 1]) / det)
|
||
|
|
] )
|
||
|
|
}
|
||
|
|
}
|