mirror of
https://github.com/recp/cglm.git
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234 lines
6.6 KiB
C
234 lines
6.6 KiB
C
/*
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* Copyright (c), Recep Aslantas.
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*
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* MIT License (MIT), http://opensource.org/licenses/MIT
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* Full license can be found in the LICENSE file
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*/
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#ifndef cglm_mat_h
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#define cglm_mat_h
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#include "cglm.h"
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#include "cglm-mat-simd.h"
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#include <assert.h>
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#define GLM_MAT4_IDENTITY_INIT {1.0f, 0.0f, 0.0f, 0.0f, \
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0.0f, 1.0f, 0.0f, 0.0f, \
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0.0f, 0.0f, 1.0f, 0.0f, \
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0.0f, 0.0f, 0.0f, 1.0f}
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#define GLM_MAT4_IDENTITY (mat4)GLM_MAT4_IDENTITY_INIT
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#define glm_mat4_mul_impl(l, r, d) \
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do { \
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d[0] = l[0] * r[0] + l[1] * r[4] + l[2] * r[8] + l[3] * r[12]; \
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d[1] = l[0] * r[1] + l[1] * r[5] + l[2] * r[9] + l[3] * r[13]; \
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d[2] = l[0] * r[2] + l[1] * r[6] + l[2] * r[10] + l[3] * r[14]; \
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d[3] = l[0] * r[3] + l[1] * r[7] + l[2] * r[11] + l[3] * r[15]; \
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d[4] = l[4] * r[0] + l[5] * r[4] + l[6] * r[8] + l[7] * r[12]; \
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d[5] = l[4] * r[1] + l[5] * r[5] + l[6] * r[9] + l[7] * r[13]; \
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d[6] = l[4] * r[2] + l[5] * r[6] + l[6] * r[10] + l[7] * r[14]; \
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d[7] = l[4] * r[3] + l[5] * r[7] + l[6] * r[11] + l[7] * r[15]; \
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d[8] = l[8] * r[0] + l[9] * r[4] + l[10] * r[8] + l[11] * r[12]; \
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d[9] = l[8] * r[1] + l[9] * r[5] + l[10] * r[9] + l[11] * r[13]; \
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d[10] = l[8] * r[2] + l[9] * r[6] + l[10] * r[10] + l[11] * r[14]; \
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d[11] = l[8] * r[3] + l[9] * r[7] + l[10] * r[11] + l[11] * r[15]; \
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d[12] = l[12] * r[0] + l[13] * r[4] + l[14] * r[8] + l[15] * r[12]; \
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d[13] = l[12] * r[1] + l[13] * r[5] + l[14] * r[9] + l[15] * r[13]; \
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d[14] = l[12] * r[2] + l[13] * r[6] + l[14] * r[10] + l[15] * r[14]; \
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d[15] = l[12] * r[3] + l[13] * r[7] + l[14] * r[11] + l[15] * r[15]; \
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} while (0)
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CGLM_INLINE
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void
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glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest) {
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float * __restrict d;
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float * __restrict l;
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d = (float *)dest;
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l = (float *)m1;
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if (m1 != m2) {
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float * __restrict r;
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r = (float *)m2;
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#if defined( __SSE__ ) || defined( __SSE2__ )
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CGLM_MAT_MUL_SSE_4x4f(l, r, d);
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#else
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glm_mat4_mul_impl(l, r, d);
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#endif
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} else {
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#if defined( __SSE__ ) || defined( __SSE2__ )
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CGLM_MAT_MUL_SSE_4x4f(l, l, d);
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#else
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glm_mat4_mul_impl(l, l, d);
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#endif
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}
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}
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CGLM_INLINE
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void
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glm_mat4_mulN(mat4 * __restrict matrices[], int len, mat4 dest) {
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int i;
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assert(len > 1 && "there must be least 2 matrices to go!");
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glm_mat4_mul(*matrices[0],
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*matrices[1],
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dest);
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for (i = 2; i < len; i++)
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glm_mat4_mul(dest,
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*matrices[i],
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dest);
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}
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CGLM_INLINE
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void
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glm_mat4_transpose_to(mat4 m, mat4 dest) {
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#if defined( __SSE__ ) || defined( __SSE2__ )
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CGLM_MAT_TRANSP_SSE_4x4f(m, dest);
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#else
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dest[0][0] = m[0][0];
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dest[0][1] = m[1][0];
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dest[0][2] = m[2][0];
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dest[0][3] = m[3][0];
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dest[1][0] = m[0][1];
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dest[1][1] = m[1][1];
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dest[1][2] = m[2][1];
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dest[1][3] = m[3][1];
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dest[2][0] = m[0][2];
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dest[2][1] = m[1][2];
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dest[2][2] = m[2][2];
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dest[2][3] = m[3][2];
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dest[3][0] = m[0][3];
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dest[3][1] = m[1][3];
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dest[3][2] = m[2][3];
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dest[3][3] = m[3][3];
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#endif
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}
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CGLM_INLINE
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void
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glm_mat4_transpose(mat4 m) {
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#if defined( __SSE__ ) || defined( __SSE2__ )
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CGLM_MAT_TRANSP_SSE_4x4f(m, m);
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#else
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mat4 d;
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glm_mat4_transpose_to(m, d);
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glm__memcpy(float, m, d, sizeof(mat4));
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#endif
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}
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CGLM_INLINE
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void
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glm_mat4_scale_p(mat4 m, float s) {
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m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; m[0][3] *= s;
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m[1][0] *= s; m[1][1] *= s; m[1][2] *= s; m[1][3] *= s;
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m[2][0] *= s; m[2][1] *= s; m[2][2] *= s; m[2][3] *= s;
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m[3][0] *= s; m[3][1] *= s; m[3][2] *= s; m[3][3] *= s;
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}
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CGLM_INLINE
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void
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glm_mat4_scale(mat4 m, float s) {
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#if defined( __SSE__ ) || defined( __SSE2__ )
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CGLM_MAT_SCALE_SSE_4x4f(m, s);
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#else
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glm_mat4_scale_p(m, s);
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#endif
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}
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CGLM_INLINE
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float
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glm_mat4_det(mat4 mat) {
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#if defined( __SSE__ ) || defined( __SSE2__ )
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return glm_mat4_det_sse2(mat);
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#else
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float t[6];
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float a, b, c, d,
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e, f, g, h,
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i, j, k, l,
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m, n, o, p;
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a = mat[0][0], b = mat[1][0], c = mat[2][0], d = mat[3][0],
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e = mat[0][1], f = mat[1][1], g = mat[2][1], h = mat[3][1],
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i = mat[0][2], j = mat[1][2], k = mat[2][2], l = mat[3][2],
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m = mat[0][3], n = mat[1][3], o = mat[2][3], p = mat[3][3];
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t[0] = k * p - o * l;
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t[1] = j * p - n * l;
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t[2] = j * o - n * k;
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t[3] = i * p - m * l;
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t[4] = i * o - m * k;
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t[5] = i * n - m * j;
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return a * (f * t[0] - g * t[1] + h * t[2])
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- b * (e * t[0] - g * t[3] + h * t[4])
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+ c * (e * t[1] - f * t[3] + h * t[5])
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- d * (e * t[2] - f * t[4] + g * t[5]);
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#endif
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}
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CGLM_INLINE
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void
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glm_mat4_inv(mat4 mat, mat4 dest) {
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#if defined( __SSE__ ) || defined( __SSE2__ )
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glm_mat4_inv_see2(mat, dest);
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#else
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float t[6];
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float det;
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float a, b, c, d,
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e, f, g, h,
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i, j, k, l,
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m, n, o, p;
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a = mat[0][0], b = mat[1][0], c = mat[2][0], d = mat[3][0],
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e = mat[0][1], f = mat[1][1], g = mat[2][1], h = mat[3][1],
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i = mat[0][2], j = mat[1][2], k = mat[2][2], l = mat[3][2],
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m = mat[0][3], n = mat[1][3], o = mat[2][3], p = mat[3][3];
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t[0] = k * p - o * l; t[1] = j * p - n * l; t[2] = j * o - n * k;
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t[3] = i * p - m * l; t[4] = i * o - m * k; t[5] = i * n - m * j;
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dest[0][0] = f * t[0] - g * t[1] + h * t[2];
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dest[1][0] =-(e * t[0] - g * t[3] + h * t[4]);
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dest[2][0] = e * t[1] - f * t[3] + h * t[5];
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dest[3][0] =-(e * t[2] - f * t[4] + g * t[5]);
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dest[0][1] =-(b * t[0] - c * t[1] + d * t[2]);
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dest[1][1] = a * t[0] - c * t[3] + d * t[4];
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dest[2][1] =-(a * t[1] - b * t[3] + d * t[5]);
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dest[3][1] = a * t[2] - b * t[4] + c * t[5];
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t[0] = g * p - o * h; t[1] = f * p - n * h; t[2] = f * o - n * g;
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t[3] = e * p - m * h; t[4] = e * o - m * g; t[5] = e * n - m * f;
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dest[0][2] = b * t[0] - c * t[1] + d * t[2];
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dest[1][2] =-(a * t[0] - c * t[3] + d * t[4]);
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dest[2][2] = a * t[1] - b * t[3] + d * t[5];
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dest[3][2] =-(a * t[2] - b * t[4] + c * t[5]);
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t[0] = g * l - k * h; t[1] = f * l - j * h; t[2] = f * k - j * g;
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t[3] = e * l - i * h; t[4] = e * k - i * g; t[5] = e * j - i * f;
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dest[0][3] =-(b * t[0] - c * t[1] + d * t[2]);
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dest[1][3] = a * t[0] - c * t[3] + d * t[4];
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dest[2][3] =-(a * t[1] - b * t[3] + d * t[5]);
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dest[3][3] = a * t[2] - b * t[4] + c * t[5];
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det = 1.0f / (a * dest[0][0] + b * dest[1][0]
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+ c * dest[2][0] + d * dest[3][0]);
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glm_mat4_scale_p(dest, det);
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#endif
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}
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#endif /* cglm_mat_h */
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