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Rebuild trinity visualizer from bare SDL and OpenGL to using Raylib. Added Code for serial parsing on linux. Current functionality reads incoming quaternion packet data coming in over serial and displays the values and also visualizes with a cube, connect and disconnect is implemented. Essentially rebuild the functionality of the old version with added linux support.

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pima
2026-09-13 19:44:26 +02:00
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ressources/glm/gtc/matrix_inverse.inl
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/// @ref gtc_matrix_inverse
namespace glm
{
template<typename T, qualifier Q>
GLM_FUNC_QUALIFIER mat<3, 3, T, Q> affineInverse(mat<3, 3, T, Q> const& m)
{
mat<2, 2, T, Q> const Inv(inverse(mat<2, 2, T, Q>(m)));
return mat<3, 3, T, Q>(
vec<3, T, Q>(Inv[0], static_cast<T>(0)),
vec<3, T, Q>(Inv[1], static_cast<T>(0)),
vec<3, T, Q>(-Inv * vec<2, T, Q>(m[2]), static_cast<T>(1)));
}
template<typename T, qualifier Q>
GLM_FUNC_QUALIFIER mat<4, 4, T, Q> affineInverse(mat<4, 4, T, Q> const& m)
{
mat<3, 3, T, Q> const Inv(inverse(mat<3, 3, T, Q>(m)));
return mat<4, 4, T, Q>(
vec<4, T, Q>(Inv[0], static_cast<T>(0)),
vec<4, T, Q>(Inv[1], static_cast<T>(0)),
vec<4, T, Q>(Inv[2], static_cast<T>(0)),
vec<4, T, Q>(-Inv * vec<3, T, Q>(m[3]), static_cast<T>(1)));
}
template<typename T, qualifier Q>
GLM_FUNC_QUALIFIER mat<2, 2, T, Q> inverseTranspose(mat<2, 2, T, Q> const& m)
{
T Determinant = m[0][0] * m[1][1] - m[1][0] * m[0][1];
mat<2, 2, T, Q> Inverse(
+ m[1][1] / Determinant,
- m[0][1] / Determinant,
- m[1][0] / Determinant,
+ m[0][0] / Determinant);
return Inverse;
}
template<typename T, qualifier Q>
GLM_FUNC_QUALIFIER mat<3, 3, T, Q> inverseTranspose(mat<3, 3, T, Q> const& m)
{
T Determinant =
+ m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1])
- m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0])
+ m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
mat<3, 3, T, Q> Inverse;
Inverse[0][0] = + (m[1][1] * m[2][2] - m[2][1] * m[1][2]);
Inverse[0][1] = - (m[1][0] * m[2][2] - m[2][0] * m[1][2]);
Inverse[0][2] = + (m[1][0] * m[2][1] - m[2][0] * m[1][1]);
Inverse[1][0] = - (m[0][1] * m[2][2] - m[2][1] * m[0][2]);
Inverse[1][1] = + (m[0][0] * m[2][2] - m[2][0] * m[0][2]);
Inverse[1][2] = - (m[0][0] * m[2][1] - m[2][0] * m[0][1]);
Inverse[2][0] = + (m[0][1] * m[1][2] - m[1][1] * m[0][2]);
Inverse[2][1] = - (m[0][0] * m[1][2] - m[1][0] * m[0][2]);
Inverse[2][2] = + (m[0][0] * m[1][1] - m[1][0] * m[0][1]);
Inverse /= Determinant;
return Inverse;
}
template<typename T, qualifier Q>
GLM_FUNC_QUALIFIER mat<4, 4, T, Q> inverseTranspose(mat<4, 4, T, Q> const& m)
{
T SubFactor00 = m[2][2] * m[3][3] - m[3][2] * m[2][3];
T SubFactor01 = m[2][1] * m[3][3] - m[3][1] * m[2][3];
T SubFactor02 = m[2][1] * m[3][2] - m[3][1] * m[2][2];
T SubFactor03 = m[2][0] * m[3][3] - m[3][0] * m[2][3];
T SubFactor04 = m[2][0] * m[3][2] - m[3][0] * m[2][2];
T SubFactor05 = m[2][0] * m[3][1] - m[3][0] * m[2][1];
T SubFactor06 = m[1][2] * m[3][3] - m[3][2] * m[1][3];
T SubFactor07 = m[1][1] * m[3][3] - m[3][1] * m[1][3];
T SubFactor08 = m[1][1] * m[3][2] - m[3][1] * m[1][2];
T SubFactor09 = m[1][0] * m[3][3] - m[3][0] * m[1][3];
T SubFactor10 = m[1][0] * m[3][2] - m[3][0] * m[1][2];
T SubFactor11 = m[1][0] * m[3][1] - m[3][0] * m[1][1];
T SubFactor12 = m[1][2] * m[2][3] - m[2][2] * m[1][3];
T SubFactor13 = m[1][1] * m[2][3] - m[2][1] * m[1][3];
T SubFactor14 = m[1][1] * m[2][2] - m[2][1] * m[1][2];
T SubFactor15 = m[1][0] * m[2][3] - m[2][0] * m[1][3];
T SubFactor16 = m[1][0] * m[2][2] - m[2][0] * m[1][2];
T SubFactor17 = m[1][0] * m[2][1] - m[2][0] * m[1][1];
mat<4, 4, T, Q> Inverse;
Inverse[0][0] = + (m[1][1] * SubFactor00 - m[1][2] * SubFactor01 + m[1][3] * SubFactor02);
Inverse[0][1] = - (m[1][0] * SubFactor00 - m[1][2] * SubFactor03 + m[1][3] * SubFactor04);
Inverse[0][2] = + (m[1][0] * SubFactor01 - m[1][1] * SubFactor03 + m[1][3] * SubFactor05);
Inverse[0][3] = - (m[1][0] * SubFactor02 - m[1][1] * SubFactor04 + m[1][2] * SubFactor05);
Inverse[1][0] = - (m[0][1] * SubFactor00 - m[0][2] * SubFactor01 + m[0][3] * SubFactor02);
Inverse[1][1] = + (m[0][0] * SubFactor00 - m[0][2] * SubFactor03 + m[0][3] * SubFactor04);
Inverse[1][2] = - (m[0][0] * SubFactor01 - m[0][1] * SubFactor03 + m[0][3] * SubFactor05);
Inverse[1][3] = + (m[0][0] * SubFactor02 - m[0][1] * SubFactor04 + m[0][2] * SubFactor05);
Inverse[2][0] = + (m[0][1] * SubFactor06 - m[0][2] * SubFactor07 + m[0][3] * SubFactor08);
Inverse[2][1] = - (m[0][0] * SubFactor06 - m[0][2] * SubFactor09 + m[0][3] * SubFactor10);
Inverse[2][2] = + (m[0][0] * SubFactor07 - m[0][1] * SubFactor09 + m[0][3] * SubFactor11);
Inverse[2][3] = - (m[0][0] * SubFactor08 - m[0][1] * SubFactor10 + m[0][2] * SubFactor11);
Inverse[3][0] = - (m[0][1] * SubFactor12 - m[0][2] * SubFactor13 + m[0][3] * SubFactor14);
Inverse[3][1] = + (m[0][0] * SubFactor12 - m[0][2] * SubFactor15 + m[0][3] * SubFactor16);
Inverse[3][2] = - (m[0][0] * SubFactor13 - m[0][1] * SubFactor15 + m[0][3] * SubFactor17);
Inverse[3][3] = + (m[0][0] * SubFactor14 - m[0][1] * SubFactor16 + m[0][2] * SubFactor17);
T Determinant =
+ m[0][0] * Inverse[0][0]
+ m[0][1] * Inverse[0][1]
+ m[0][2] * Inverse[0][2]
+ m[0][3] * Inverse[0][3];
Inverse /= Determinant;
return Inverse;
}
}//namespace glm