20 lines
651 B
Rust
20 lines
651 B
Rust
use na::{DefaultAllocator, RealField};
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use crate::aliases::TMat;
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use crate::traits::{Alloc, Dimension};
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/// Fast matrix inverse for affine matrix.
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pub fn affine_inverse<N: RealField, D: Dimension>(m: TMat<N, D, D>) -> TMat<N, D, D>
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where DefaultAllocator: Alloc<N, D, D> {
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// FIXME: this should be optimized.
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m.try_inverse().unwrap_or_else(TMat::<_, D, D>::zeros)
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}
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/// Compute the transpose of the inverse of a matrix.
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pub fn inverse_transpose<N: RealField, D: Dimension>(m: TMat<N, D, D>) -> TMat<N, D, D>
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where DefaultAllocator: Alloc<N, D, D> {
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m.try_inverse()
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.unwrap_or_else(TMat::<_, D, D>::zeros)
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.transpose()
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}
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