317 lines
9.8 KiB
Rust
317 lines
9.8 KiB
Rust
//! 4x4 matrix inverse
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// Code ported from the `packed_simd` crate
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// Run this code with `cargo test --example matrix_inversion`
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#![feature(array_chunks, portable_simd)]
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use core_simd::simd::*;
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use Which::*;
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// Gotta define our own 4x4 matrix since Rust doesn't ship multidim arrays yet :^)
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#[derive(Copy, Clone, Debug, PartialEq, PartialOrd)]
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pub struct Matrix4x4([[f32; 4]; 4]);
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#[allow(clippy::too_many_lines)]
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pub fn scalar_inv4x4(m: Matrix4x4) -> Option<Matrix4x4> {
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let m = m.0;
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#[rustfmt::skip]
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let mut inv = [
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// row 0:
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[
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// 0,0:
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m[1][1] * m[2][2] * m[3][3] -
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m[1][1] * m[2][3] * m[3][2] -
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m[2][1] * m[1][2] * m[3][3] +
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m[2][1] * m[1][3] * m[3][2] +
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m[3][1] * m[1][2] * m[2][3] -
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m[3][1] * m[1][3] * m[2][2],
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// 0,1:
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-m[0][1] * m[2][2] * m[3][3] +
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m[0][1] * m[2][3] * m[3][2] +
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m[2][1] * m[0][2] * m[3][3] -
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m[2][1] * m[0][3] * m[3][2] -
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m[3][1] * m[0][2] * m[2][3] +
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m[3][1] * m[0][3] * m[2][2],
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// 0,2:
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m[0][1] * m[1][2] * m[3][3] -
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m[0][1] * m[1][3] * m[3][2] -
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m[1][1] * m[0][2] * m[3][3] +
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m[1][1] * m[0][3] * m[3][2] +
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m[3][1] * m[0][2] * m[1][3] -
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m[3][1] * m[0][3] * m[1][2],
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// 0,3:
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-m[0][1] * m[1][2] * m[2][3] +
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m[0][1] * m[1][3] * m[2][2] +
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m[1][1] * m[0][2] * m[2][3] -
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m[1][1] * m[0][3] * m[2][2] -
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m[2][1] * m[0][2] * m[1][3] +
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m[2][1] * m[0][3] * m[1][2],
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],
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// row 1
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[
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// 1,0:
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-m[1][0] * m[2][2] * m[3][3] +
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m[1][0] * m[2][3] * m[3][2] +
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m[2][0] * m[1][2] * m[3][3] -
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m[2][0] * m[1][3] * m[3][2] -
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m[3][0] * m[1][2] * m[2][3] +
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m[3][0] * m[1][3] * m[2][2],
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// 1,1:
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m[0][0] * m[2][2] * m[3][3] -
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m[0][0] * m[2][3] * m[3][2] -
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m[2][0] * m[0][2] * m[3][3] +
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m[2][0] * m[0][3] * m[3][2] +
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m[3][0] * m[0][2] * m[2][3] -
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m[3][0] * m[0][3] * m[2][2],
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// 1,2:
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-m[0][0] * m[1][2] * m[3][3] +
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m[0][0] * m[1][3] * m[3][2] +
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m[1][0] * m[0][2] * m[3][3] -
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m[1][0] * m[0][3] * m[3][2] -
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m[3][0] * m[0][2] * m[1][3] +
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m[3][0] * m[0][3] * m[1][2],
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// 1,3:
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m[0][0] * m[1][2] * m[2][3] -
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m[0][0] * m[1][3] * m[2][2] -
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m[1][0] * m[0][2] * m[2][3] +
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m[1][0] * m[0][3] * m[2][2] +
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m[2][0] * m[0][2] * m[1][3] -
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m[2][0] * m[0][3] * m[1][2],
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],
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// row 2
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[
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// 2,0:
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m[1][0] * m[2][1] * m[3][3] -
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m[1][0] * m[2][3] * m[3][1] -
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m[2][0] * m[1][1] * m[3][3] +
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m[2][0] * m[1][3] * m[3][1] +
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m[3][0] * m[1][1] * m[2][3] -
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m[3][0] * m[1][3] * m[2][1],
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// 2,1:
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-m[0][0] * m[2][1] * m[3][3] +
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m[0][0] * m[2][3] * m[3][1] +
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m[2][0] * m[0][1] * m[3][3] -
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m[2][0] * m[0][3] * m[3][1] -
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m[3][0] * m[0][1] * m[2][3] +
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m[3][0] * m[0][3] * m[2][1],
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// 2,2:
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m[0][0] * m[1][1] * m[3][3] -
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m[0][0] * m[1][3] * m[3][1] -
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m[1][0] * m[0][1] * m[3][3] +
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m[1][0] * m[0][3] * m[3][1] +
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m[3][0] * m[0][1] * m[1][3] -
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m[3][0] * m[0][3] * m[1][1],
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// 2,3:
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-m[0][0] * m[1][1] * m[2][3] +
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m[0][0] * m[1][3] * m[2][1] +
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m[1][0] * m[0][1] * m[2][3] -
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m[1][0] * m[0][3] * m[2][1] -
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m[2][0] * m[0][1] * m[1][3] +
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m[2][0] * m[0][3] * m[1][1],
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],
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// row 3
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[
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// 3,0:
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-m[1][0] * m[2][1] * m[3][2] +
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m[1][0] * m[2][2] * m[3][1] +
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m[2][0] * m[1][1] * m[3][2] -
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m[2][0] * m[1][2] * m[3][1] -
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m[3][0] * m[1][1] * m[2][2] +
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m[3][0] * m[1][2] * m[2][1],
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// 3,1:
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m[0][0] * m[2][1] * m[3][2] -
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m[0][0] * m[2][2] * m[3][1] -
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m[2][0] * m[0][1] * m[3][2] +
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m[2][0] * m[0][2] * m[3][1] +
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m[3][0] * m[0][1] * m[2][2] -
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m[3][0] * m[0][2] * m[2][1],
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// 3,2:
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-m[0][0] * m[1][1] * m[3][2] +
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m[0][0] * m[1][2] * m[3][1] +
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m[1][0] * m[0][1] * m[3][2] -
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m[1][0] * m[0][2] * m[3][1] -
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m[3][0] * m[0][1] * m[1][2] +
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m[3][0] * m[0][2] * m[1][1],
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// 3,3:
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m[0][0] * m[1][1] * m[2][2] -
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m[0][0] * m[1][2] * m[2][1] -
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m[1][0] * m[0][1] * m[2][2] +
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m[1][0] * m[0][2] * m[2][1] +
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m[2][0] * m[0][1] * m[1][2] -
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m[2][0] * m[0][2] * m[1][1],
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],
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];
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let det = m[0][0] * inv[0][0] + m[0][1] * inv[1][0] + m[0][2] * inv[2][0] + m[0][3] * inv[3][0];
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if det == 0. {
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return None;
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}
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let det_inv = 1. / det;
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for row in &mut inv {
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for elem in row.iter_mut() {
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*elem *= det_inv;
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}
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}
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Some(Matrix4x4(inv))
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}
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pub fn simd_inv4x4(m: Matrix4x4) -> Option<Matrix4x4> {
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let m = m.0;
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let m_0 = f32x4::from_array(m[0]);
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let m_1 = f32x4::from_array(m[1]);
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let m_2 = f32x4::from_array(m[2]);
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let m_3 = f32x4::from_array(m[3]);
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const SHUFFLE01: [Which; 4] = [First(0), First(1), Second(0), Second(1)];
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const SHUFFLE02: [Which; 4] = [First(0), First(2), Second(0), Second(2)];
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const SHUFFLE13: [Which; 4] = [First(1), First(3), Second(1), Second(3)];
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const SHUFFLE23: [Which; 4] = [First(2), First(3), Second(2), Second(3)];
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let tmp = simd_swizzle!(m_0, m_1, SHUFFLE01);
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let row1 = simd_swizzle!(m_2, m_3, SHUFFLE01);
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let row0 = simd_swizzle!(tmp, row1, SHUFFLE02);
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let row1 = simd_swizzle!(row1, tmp, SHUFFLE13);
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let tmp = simd_swizzle!(m_0, m_1, SHUFFLE23);
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let row3 = simd_swizzle!(m_2, m_3, SHUFFLE23);
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let row2 = simd_swizzle!(tmp, row3, SHUFFLE02);
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let row3 = simd_swizzle!(row3, tmp, SHUFFLE13);
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let tmp = (row2 * row3).reverse().rotate_lanes_right::<2>();
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let minor0 = row1 * tmp;
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let minor1 = row0 * tmp;
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let tmp = tmp.rotate_lanes_right::<2>();
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let minor0 = (row1 * tmp) - minor0;
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let minor1 = (row0 * tmp) - minor1;
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let minor1 = minor1.rotate_lanes_right::<2>();
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let tmp = (row1 * row2).reverse().rotate_lanes_right::<2>();
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let minor0 = (row3 * tmp) + minor0;
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let minor3 = row0 * tmp;
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let tmp = tmp.rotate_lanes_right::<2>();
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let minor0 = minor0 - row3 * tmp;
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let minor3 = row0 * tmp - minor3;
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let minor3 = minor3.rotate_lanes_right::<2>();
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let tmp = (row3 * row1.rotate_lanes_right::<2>())
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.reverse()
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.rotate_lanes_right::<2>();
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let row2 = row2.rotate_lanes_right::<2>();
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let minor0 = row2 * tmp + minor0;
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let minor2 = row0 * tmp;
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let tmp = tmp.rotate_lanes_right::<2>();
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let minor0 = minor0 - row2 * tmp;
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let minor2 = row0 * tmp - minor2;
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let minor2 = minor2.rotate_lanes_right::<2>();
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let tmp = (row0 * row1).reverse().rotate_lanes_right::<2>();
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let minor2 = minor2 + row3 * tmp;
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let minor3 = row2 * tmp - minor3;
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let tmp = tmp.rotate_lanes_right::<2>();
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let minor2 = row3 * tmp - minor2;
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let minor3 = minor3 - row2 * tmp;
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let tmp = (row0 * row3).reverse().rotate_lanes_right::<2>();
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let minor1 = minor1 - row2 * tmp;
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let minor2 = row1 * tmp + minor2;
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let tmp = tmp.rotate_lanes_right::<2>();
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let minor1 = row2 * tmp + minor1;
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let minor2 = minor2 - row1 * tmp;
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let tmp = (row0 * row2).reverse().rotate_lanes_right::<2>();
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let minor1 = row3 * tmp + minor1;
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let minor3 = minor3 - row1 * tmp;
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let tmp = tmp.rotate_lanes_right::<2>();
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let minor1 = minor1 - row3 * tmp;
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let minor3 = row1 * tmp + minor3;
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let det = row0 * minor0;
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let det = det.rotate_lanes_right::<2>() + det;
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let det = det.reverse().rotate_lanes_right::<2>() + det;
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if det.reduce_sum() == 0. {
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return None;
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}
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// calculate the reciprocal
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let tmp = f32x4::splat(1.0) / det;
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let det = tmp + tmp - det * tmp * tmp;
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let res0 = minor0 * det;
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let res1 = minor1 * det;
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let res2 = minor2 * det;
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let res3 = minor3 * det;
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let mut m = m;
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m[0] = res0.to_array();
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m[1] = res1.to_array();
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m[2] = res2.to_array();
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m[3] = res3.to_array();
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Some(Matrix4x4(m))
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}
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#[cfg(test)]
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#[rustfmt::skip]
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mod tests {
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use super::*;
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#[test]
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fn test() {
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let tests: &[(Matrix4x4, Option<Matrix4x4>)] = &[
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// Identity:
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(Matrix4x4([
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[1., 0., 0., 0.],
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[0., 1., 0., 0.],
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[0., 0., 1., 0.],
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[0., 0., 0., 1.],
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]),
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Some(Matrix4x4([
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[1., 0., 0., 0.],
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[0., 1., 0., 0.],
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[0., 0., 1., 0.],
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[0., 0., 0., 1.],
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]))
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),
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// None:
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(Matrix4x4([
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[1., 2., 3., 4.],
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[12., 11., 10., 9.],
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[5., 6., 7., 8.],
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[16., 15., 14., 13.],
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]),
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None
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),
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// Other:
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(Matrix4x4([
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[1., 1., 1., 0.],
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[0., 3., 1., 2.],
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[2., 3., 1., 0.],
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[1., 0., 2., 1.],
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]),
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Some(Matrix4x4([
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[-3., -0.5, 1.5, 1.0],
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[ 1., 0.25, -0.25, -0.5],
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[ 3., 0.25, -1.25, -0.5],
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[-3., 0.0, 1.0, 1.0],
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]))
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),
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];
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for &(input, output) in tests {
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assert_eq!(scalar_inv4x4(input), output);
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assert_eq!(simd_inv4x4(input), output);
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}
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}
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}
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fn main() {
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// Empty main to make cargo happy
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}
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