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virtualGizmo3D ver.2.1.3 - fix mingw/gcc compiler issue when compiled…
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… w/o -DVGM_USES_TEMPLATE: BrutPitt/imGuIZMO.quat#2
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BrutPitt committed Mar 15, 2020
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74 changes: 37 additions & 37 deletions example/src/tools/vgMath.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
//------------------------------------------------------------------------------
// Copyright (c) 2018-2019 Michele Morrone
// Copyright (c) 2018-2020 Michele Morrone
// All rights reserved.
//
// https://michelemorrone.eu - https://BrutPitt.com
Expand Down Expand Up @@ -256,34 +256,34 @@ TEMPLATE_TYPENAME_T class Quat {
TEMPLATE_TYPENAME_T class Mat3 {
public:
union {
struct { VEC3_T v0 , v1 , v2 ; };
VEC3_T v[3];
struct { T m00, m01, m02,
m10, m11, m12,
m20, m21, m22; };
};

Mat3() {}
Mat3(T s) : v0(s, 0, 0), v1(0, s, 0), v2(0, 0, s) {}
Mat3(const VEC3_T& v0, const VEC3_T& v1, const VEC3_T& v2) : v0(v0), v1(v1), v2(v2) {}
Mat3(T s) : v { VEC3_T(s, 0, 0), VEC3_T(0, s, 0), VEC3_T(0, 0, s) } {}
Mat3(const VEC3_T& v0, const VEC3_T& v1, const VEC3_T& v2) : v {v0, v1, v2 } {}
Mat3(const MAT4_T& m);
Mat3(T v0x, T v0y, T v0z,
T v1x, T v1y, T v1z,
T v2x, T v2y, T v2z) : v0(v0x, v0y, v0z), v1(v1x, v1y, v1z), v2(v2x, v2y, v2z) {}
T v2x, T v2y, T v2z) : v { VEC3_T(v0x, v0y, v0z), VEC3_T(v1x, v1y, v1z), VEC3_T(v2x, v2y, v2z) } {}

const VEC3_T& operator[](int i) const { return *(&v0 + i); }
VEC3_T& operator[](int i) { return *(&v0 + i); }
const VEC3_T& operator[](int i) const { return v[i]; }
VEC3_T& operator[](int i) { return v[i]; }

const Mat3 operator-() const { return Mat3(-v0, -v1, -v2); }
const Mat3 operator-() const { return Mat3(-v[0], -v[1], -v[2]); }

Mat3& operator+=(const Mat3& m) { v0 += m.v0; v1 += m.v1; v2 += m.v2; return *this; }
Mat3& operator-=(const Mat3& m) { v0 -= m.v0; v1 -= m.v1; v2 -= m.v2; return *this; }
Mat3& operator+=(const Mat3& m) { v[0] += m.v[0]; v[1] += m.v[1]; v[2] += m.v[2]; return *this; }
Mat3& operator-=(const Mat3& m) { v[0] -= m.v[0]; v[1] -= m.v[1]; v[2] -= m.v[2]; return *this; }
Mat3& operator/=(const Mat3& m) { v[0] /= m.v[0]; v[1] /= m.v[1]; v[2] /= m.v[2]; return *this; }
Mat3& operator*=(T s) { v[0] *= s; v[1] *= s; v[2] *= s; return *this; }
Mat3& operator/=(T s) { v[0] /= s; v[1] /= s; v[2] /= s; return *this; }
Mat3& operator*=(const Mat3& m) { return *this = *this * m; }
Mat3& operator/=(const Mat3& m) { v0 /= m.v0; v1 /= m.v1; v2 /= m.v2; return *this; }
Mat3& operator*=(T s) { v0 *= s; v1 *= s; v2 *= s; return *this; }
Mat3& operator/=(T s) { v0 /= s; v1 /= s; v2 /= s; return *this; }

const Mat3 operator+(const Mat3& m) const { return Mat3(v0 + m.v0, v1 + m.v1, v2 + m.v2); }
const Mat3 operator-(const Mat3& m) const { return Mat3(v0 - m.v0, v1 - m.v1, v2 - m.v2); }
const Mat3 operator+(const Mat3& m) const { return Mat3(v[0] + m.v[0], v[1] + m.v[1], v[2] + m.v[2]); }
const Mat3 operator-(const Mat3& m) const { return Mat3(v[0] - m.v[0], v[1] - m.v[1], v[2] - m.v[2]); }
#define M(X,Y) (m##X * m.m##Y)
const Mat3 operator*(const Mat3& m) const { return Mat3( M(00,00) + M(10,01) + M(20,02),
M(01,00) + M(11,01) + M(21,02),
Expand All @@ -295,8 +295,8 @@ TEMPLATE_TYPENAME_T class Mat3 {
M(01,20) + M(11,21) + M(21,22),
M(02,20) + M(12,21) + M(22,22)); }
#undef M
const Mat3 operator*(T s) const { return Mat3(v0 * s , v1 * s , v2 * s ); }
const Mat3 operator/(T s) const { return Mat3(v0 / s , v1 / s , v2 / s ); }
const Mat3 operator*(T s) const { return Mat3(v[0] * s, v[1] * s, v[2] * s); }
const Mat3 operator/(T s) const { return Mat3(v[0] / s, v[1] / s, v[2] / s); }

const VEC3_T operator*(const VEC3_T& v) const { return VEC3_T(m00 * v.x + m10 * v.y + m20 * v.z,
m01 * v.x + m11 * v.y + m21 * v.z,
Expand All @@ -309,38 +309,38 @@ TEMPLATE_TYPENAME_T class Mat3 {
TEMPLATE_TYPENAME_T class Mat4 {
public:
union {
struct { VEC4_T v0 , v1 , v2 , v3 ; };
VEC4_T v[4];
struct { T m00, m01, m02, m03,
m10, m11, m12, m13,
m20, m21, m22, m23,
m30, m31, m32, m33; };
};

Mat4() {}
Mat4(T s) : v0(s, 0, 0, 0), v1(0, s, 0, 0), v2(0, 0, s, 0), v3(0, 0, 0, s) {}
Mat4(const VEC4_T& v0, const VEC4_T& v1, const VEC4_T& v2, const VEC4_T& v3) : v0(v0), v1(v1), v2(v2), v3(v3) {}
Mat4(const MAT3_T& m) : v0(VEC4_T(m.v0,0)), v1(VEC4_T(m.v1,0)), v2(VEC4_T(m.v2,0)), v3(0, 0, 0, 1) {}
Mat4(T s) : v { VEC4_T(s, 0, 0, 0), VEC4_T(0, s, 0, 0), VEC4_T(0, 0, s, 0), VEC4_T(0, 0, 0, s)} {}
Mat4(const VEC4_T& v0, const VEC4_T& v1, const VEC4_T& v2, const VEC4_T& v3) : v {v0, v1, v2, v3} {}
Mat4(const MAT3_T& m) : v {VEC4_T(m.v[0],0), VEC4_T(m.v[1],0), VEC4_T(m.v[2],0), VEC4_T(0, 0, 0, 1)} {}
Mat4(T v0x, T v0y, T v0z, T v0w,
T v1x, T v1y, T v1z, T v1w,
T v2x, T v2y, T v2z, T v2w,
T v3x, T v3y, T v3z, T v3w) : v0(v0x, v0y, v0z, v0w), v1(v1x, v1y, v1z, v1w), v2(v2x, v2y, v2z, v2w), v3(v3x, v3y, v3z, v3w) {}
T v3x, T v3y, T v3z, T v3w) : v {VEC4_T(v0x, v0y, v0z, v0w), VEC4_T(v1x, v1y, v1z, v1w), VEC4_T(v2x, v2y, v2z, v2w), VEC4_T(v3x, v3y, v3z, v3w) } {}

const VEC4_T& operator[](int i) const { return *(&v0 + i); }
VEC4_T& operator[](int i) { return *(&v0 + i); }
const VEC4_T& operator[](int i) const { return v[i]; }
VEC4_T& operator[](int i) { return v[i]; }

const Mat4 operator-() const { return Mat4(-v0, -v1, -v2, -v3); }
const Mat4 operator-() const { return Mat4(-v[0], -v[1], -v[2], -v[3]); }

Mat4& operator+=(const Mat4& m) { v0 += m.v0; v1 += m.v1; v2 += m.v2; v3 += m.v3; return *this; }
Mat4& operator-=(const Mat4& m) { v0 -= m.v0; v1 -= m.v1; v2 -= m.v2; v3 -= m.v3; return *this; }
Mat4& operator+=(const Mat4& m) { v[0] += m.v[0]; v[1] += m.v[1]; v[2] += m.v[2]; v[3] += m.v[3]; return *this; }
Mat4& operator-=(const Mat4& m) { v[0] -= m.v[0]; v[1] -= m.v[1]; v[2] -= m.v[2]; v[3] -= m.v[3]; return *this; }
Mat4& operator/=(const Mat4& m) { v[0] /= m.v[0]; v[1] /= m.v[1]; v[2] /= m.v[2]; v[3] /= m.v[3]; return *this; }
Mat4& operator*=(T s) { v[0] *= s; v[1] *= s; v[2] *= s; v[3] *= s; return *this; }
Mat4& operator/=(T s) { v[0] /= s; v[1] /= s; v[2] /= s; v[3] /= s; return *this; }
Mat4& operator*=(const Mat4& m) { return *this = *this * m; }
Mat4& operator/=(const Mat4& m) { v0 /= m.v0; v1 /= m.v1; v2 /= m.v2; v3 /= m.v3; return *this; }
Mat4& operator*=(T s) { v0 *= s; v1 *= s; v2 *= s; v3 *= s; return *this; }
Mat4& operator/=(T s) { v0 /= s; v1 /= s; v2 /= s; v3 /= s; return *this; }

const Mat4 operator+(const Mat4& m) const { return Mat4(v0 + m.v0, v1 + m.v1, v2 + m.v2, v3 + m.v3); }
const Mat4 operator-(const Mat4& m) const { return Mat4(v0 - m.v0, v1 - m.v1, v2 - m.v2, v3 - m.v3); }
const Mat4 operator*(T s) const { return Mat4(v0 * s , v1 * s , v2 * s , v3 * s ); }
const Mat4 operator/(T s) const { return Mat4(v0 / s , v1 / s , v2 / s , v3 / s ); }

const Mat4 operator+(const Mat4& m) const { return Mat4(v[0] + m.v[0], v[1] + m.v[1], v[2] + m.v[2], v[3] + m.v[3]); }
const Mat4 operator-(const Mat4& m) const { return Mat4(v[0] - m.v[0], v[1] - m.v[1], v[2] - m.v[2], v[3] - m.v[3]); }
const Mat4 operator*(T s) const { return Mat4(v[0] * s , v[1] * s , v[2] * s , v[3] * s ); }
const Mat4 operator/(T s) const { return Mat4(v[0] / s , v[1] / s , v[2] / s , v[3] / s ); }
#define M(X,Y) (m##X * m.m##Y)
const Mat4 operator*(const Mat4& m) const { return Mat4( M(00,00) + M(10,01) + M(20,02) + M(30,03),
M(01,00) + M(11,01) + M(21,02) + M(31,03),
Expand Down Expand Up @@ -369,7 +369,7 @@ TEMPLATE_TYPENAME_T class Mat4 {
// cast / conversion
//////////////////////////
TEMPLATE_TYPENAME_T inline VEC3_T::Vec3(const VEC4_T& v) : x(v.x), y(v.y), z(v.z) {}
TEMPLATE_TYPENAME_T inline MAT3_T::Mat3(const MAT4_T& m) : v0(m.v0), v1(m.v1), v2(m.v2) {}
TEMPLATE_TYPENAME_T inline MAT3_T::Mat3(const MAT4_T& m) : v {m.v[0], m.v[1], m.v[2]} {}
TEMPLATE_TYPENAME_T inline MAT3_T mat3_cast(QUAT_T const& q) {
T xx(q.x * q.x); T yy(q.y * q.y); T zz(q.z * q.z);
T xz(q.x * q.z); T xy(q.x * q.y); T yz(q.y * q.z);
Expand Down Expand Up @@ -476,7 +476,7 @@ TEMPLATE_TYPENAME_T inline const MAT4_T inverse(MAT4_T const &m) {
(v0 * f1 - v1 * f3 + v3 * f5) * signV,
(v0 * f2 - v1 * f4 + v2 * f5) * -signV);

VEC4_T v0r0(m.v0 * VEC4_T(inv.m00, inv.m10, inv.m20, inv.m30));
VEC4_T v0r0(m.v[0] * VEC4_T(inv.m00, inv.m10, inv.m20, inv.m30));
return inv * (T(1) / (v0r0.x + v0r0.y + v0r0.z + v0r0.w)); }// 1/determinant ==> "operator *" is faster
// external operators
//////////////////////////
Expand Down
74 changes: 37 additions & 37 deletions virtualGizmo3D/vgMath.h
View file
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
//------------------------------------------------------------------------------
// Copyright (c) 2018-2019 Michele Morrone
// Copyright (c) 2018-2020 Michele Morrone
// All rights reserved.
//
// https://michelemorrone.eu - https://BrutPitt.com
Expand Down Expand Up @@ -256,34 +256,34 @@ TEMPLATE_TYPENAME_T class Quat {
TEMPLATE_TYPENAME_T class Mat3 {
public:
union {
struct { VEC3_T v0 , v1 , v2 ; };
VEC3_T v[3];
struct { T m00, m01, m02,
m10, m11, m12,
m20, m21, m22; };
};

Mat3() {}
Mat3(T s) : v0(s, 0, 0), v1(0, s, 0), v2(0, 0, s) {}
Mat3(const VEC3_T& v0, const VEC3_T& v1, const VEC3_T& v2) : v0(v0), v1(v1), v2(v2) {}
Mat3(T s) : v { VEC3_T(s, 0, 0), VEC3_T(0, s, 0), VEC3_T(0, 0, s) } {}
Mat3(const VEC3_T& v0, const VEC3_T& v1, const VEC3_T& v2) : v {v0, v1, v2 } {}
Mat3(const MAT4_T& m);
Mat3(T v0x, T v0y, T v0z,
T v1x, T v1y, T v1z,
T v2x, T v2y, T v2z) : v0(v0x, v0y, v0z), v1(v1x, v1y, v1z), v2(v2x, v2y, v2z) {}
T v2x, T v2y, T v2z) : v { VEC3_T(v0x, v0y, v0z), VEC3_T(v1x, v1y, v1z), VEC3_T(v2x, v2y, v2z) } {}

const VEC3_T& operator[](int i) const { return *(&v0 + i); }
VEC3_T& operator[](int i) { return *(&v0 + i); }
const VEC3_T& operator[](int i) const { return v[i]; }
VEC3_T& operator[](int i) { return v[i]; }

const Mat3 operator-() const { return Mat3(-v0, -v1, -v2); }
const Mat3 operator-() const { return Mat3(-v[0], -v[1], -v[2]); }

Mat3& operator+=(const Mat3& m) { v0 += m.v0; v1 += m.v1; v2 += m.v2; return *this; }
Mat3& operator-=(const Mat3& m) { v0 -= m.v0; v1 -= m.v1; v2 -= m.v2; return *this; }
Mat3& operator+=(const Mat3& m) { v[0] += m.v[0]; v[1] += m.v[1]; v[2] += m.v[2]; return *this; }
Mat3& operator-=(const Mat3& m) { v[0] -= m.v[0]; v[1] -= m.v[1]; v[2] -= m.v[2]; return *this; }
Mat3& operator/=(const Mat3& m) { v[0] /= m.v[0]; v[1] /= m.v[1]; v[2] /= m.v[2]; return *this; }
Mat3& operator*=(T s) { v[0] *= s; v[1] *= s; v[2] *= s; return *this; }
Mat3& operator/=(T s) { v[0] /= s; v[1] /= s; v[2] /= s; return *this; }
Mat3& operator*=(const Mat3& m) { return *this = *this * m; }
Mat3& operator/=(const Mat3& m) { v0 /= m.v0; v1 /= m.v1; v2 /= m.v2; return *this; }
Mat3& operator*=(T s) { v0 *= s; v1 *= s; v2 *= s; return *this; }
Mat3& operator/=(T s) { v0 /= s; v1 /= s; v2 /= s; return *this; }

const Mat3 operator+(const Mat3& m) const { return Mat3(v0 + m.v0, v1 + m.v1, v2 + m.v2); }
const Mat3 operator-(const Mat3& m) const { return Mat3(v0 - m.v0, v1 - m.v1, v2 - m.v2); }
const Mat3 operator+(const Mat3& m) const { return Mat3(v[0] + m.v[0], v[1] + m.v[1], v[2] + m.v[2]); }
const Mat3 operator-(const Mat3& m) const { return Mat3(v[0] - m.v[0], v[1] - m.v[1], v[2] - m.v[2]); }
#define M(X,Y) (m##X * m.m##Y)
const Mat3 operator*(const Mat3& m) const { return Mat3( M(00,00) + M(10,01) + M(20,02),
M(01,00) + M(11,01) + M(21,02),
Expand All @@ -295,8 +295,8 @@ TEMPLATE_TYPENAME_T class Mat3 {
M(01,20) + M(11,21) + M(21,22),
M(02,20) + M(12,21) + M(22,22)); }
#undef M
const Mat3 operator*(T s) const { return Mat3(v0 * s , v1 * s , v2 * s ); }
const Mat3 operator/(T s) const { return Mat3(v0 / s , v1 / s , v2 / s ); }
const Mat3 operator*(T s) const { return Mat3(v[0] * s, v[1] * s, v[2] * s); }
const Mat3 operator/(T s) const { return Mat3(v[0] / s, v[1] / s, v[2] / s); }

const VEC3_T operator*(const VEC3_T& v) const { return VEC3_T(m00 * v.x + m10 * v.y + m20 * v.z,
m01 * v.x + m11 * v.y + m21 * v.z,
Expand All @@ -309,38 +309,38 @@ TEMPLATE_TYPENAME_T class Mat3 {
TEMPLATE_TYPENAME_T class Mat4 {
public:
union {
struct { VEC4_T v0 , v1 , v2 , v3 ; };
VEC4_T v[4];
struct { T m00, m01, m02, m03,
m10, m11, m12, m13,
m20, m21, m22, m23,
m30, m31, m32, m33; };
};

Mat4() {}
Mat4(T s) : v0(s, 0, 0, 0), v1(0, s, 0, 0), v2(0, 0, s, 0), v3(0, 0, 0, s) {}
Mat4(const VEC4_T& v0, const VEC4_T& v1, const VEC4_T& v2, const VEC4_T& v3) : v0(v0), v1(v1), v2(v2), v3(v3) {}
Mat4(const MAT3_T& m) : v0(VEC4_T(m.v0,0)), v1(VEC4_T(m.v1,0)), v2(VEC4_T(m.v2,0)), v3(0, 0, 0, 1) {}
Mat4(T s) : v { VEC4_T(s, 0, 0, 0), VEC4_T(0, s, 0, 0), VEC4_T(0, 0, s, 0), VEC4_T(0, 0, 0, s)} {}
Mat4(const VEC4_T& v0, const VEC4_T& v1, const VEC4_T& v2, const VEC4_T& v3) : v {v0, v1, v2, v3} {}
Mat4(const MAT3_T& m) : v {VEC4_T(m.v[0],0), VEC4_T(m.v[1],0), VEC4_T(m.v[2],0), VEC4_T(0, 0, 0, 1)} {}
Mat4(T v0x, T v0y, T v0z, T v0w,
T v1x, T v1y, T v1z, T v1w,
T v2x, T v2y, T v2z, T v2w,
T v3x, T v3y, T v3z, T v3w) : v0(v0x, v0y, v0z, v0w), v1(v1x, v1y, v1z, v1w), v2(v2x, v2y, v2z, v2w), v3(v3x, v3y, v3z, v3w) {}
T v3x, T v3y, T v3z, T v3w) : v {VEC4_T(v0x, v0y, v0z, v0w), VEC4_T(v1x, v1y, v1z, v1w), VEC4_T(v2x, v2y, v2z, v2w), VEC4_T(v3x, v3y, v3z, v3w) } {}

const VEC4_T& operator[](int i) const { return *(&v0 + i); }
VEC4_T& operator[](int i) { return *(&v0 + i); }
const VEC4_T& operator[](int i) const { return v[i]; }
VEC4_T& operator[](int i) { return v[i]; }

const Mat4 operator-() const { return Mat4(-v0, -v1, -v2, -v3); }
const Mat4 operator-() const { return Mat4(-v[0], -v[1], -v[2], -v[3]); }

Mat4& operator+=(const Mat4& m) { v0 += m.v0; v1 += m.v1; v2 += m.v2; v3 += m.v3; return *this; }
Mat4& operator-=(const Mat4& m) { v0 -= m.v0; v1 -= m.v1; v2 -= m.v2; v3 -= m.v3; return *this; }
Mat4& operator+=(const Mat4& m) { v[0] += m.v[0]; v[1] += m.v[1]; v[2] += m.v[2]; v[3] += m.v[3]; return *this; }
Mat4& operator-=(const Mat4& m) { v[0] -= m.v[0]; v[1] -= m.v[1]; v[2] -= m.v[2]; v[3] -= m.v[3]; return *this; }
Mat4& operator/=(const Mat4& m) { v[0] /= m.v[0]; v[1] /= m.v[1]; v[2] /= m.v[2]; v[3] /= m.v[3]; return *this; }
Mat4& operator*=(T s) { v[0] *= s; v[1] *= s; v[2] *= s; v[3] *= s; return *this; }
Mat4& operator/=(T s) { v[0] /= s; v[1] /= s; v[2] /= s; v[3] /= s; return *this; }
Mat4& operator*=(const Mat4& m) { return *this = *this * m; }
Mat4& operator/=(const Mat4& m) { v0 /= m.v0; v1 /= m.v1; v2 /= m.v2; v3 /= m.v3; return *this; }
Mat4& operator*=(T s) { v0 *= s; v1 *= s; v2 *= s; v3 *= s; return *this; }
Mat4& operator/=(T s) { v0 /= s; v1 /= s; v2 /= s; v3 /= s; return *this; }

const Mat4 operator+(const Mat4& m) const { return Mat4(v0 + m.v0, v1 + m.v1, v2 + m.v2, v3 + m.v3); }
const Mat4 operator-(const Mat4& m) const { return Mat4(v0 - m.v0, v1 - m.v1, v2 - m.v2, v3 - m.v3); }
const Mat4 operator*(T s) const { return Mat4(v0 * s , v1 * s , v2 * s , v3 * s ); }
const Mat4 operator/(T s) const { return Mat4(v0 / s , v1 / s , v2 / s , v3 / s ); }

const Mat4 operator+(const Mat4& m) const { return Mat4(v[0] + m.v[0], v[1] + m.v[1], v[2] + m.v[2], v[3] + m.v[3]); }
const Mat4 operator-(const Mat4& m) const { return Mat4(v[0] - m.v[0], v[1] - m.v[1], v[2] - m.v[2], v[3] - m.v[3]); }
const Mat4 operator*(T s) const { return Mat4(v[0] * s , v[1] * s , v[2] * s , v[3] * s ); }
const Mat4 operator/(T s) const { return Mat4(v[0] / s , v[1] / s , v[2] / s , v[3] / s ); }
#define M(X,Y) (m##X * m.m##Y)
const Mat4 operator*(const Mat4& m) const { return Mat4( M(00,00) + M(10,01) + M(20,02) + M(30,03),
M(01,00) + M(11,01) + M(21,02) + M(31,03),
Expand Down Expand Up @@ -369,7 +369,7 @@ TEMPLATE_TYPENAME_T class Mat4 {
// cast / conversion
//////////////////////////
TEMPLATE_TYPENAME_T inline VEC3_T::Vec3(const VEC4_T& v) : x(v.x), y(v.y), z(v.z) {}
TEMPLATE_TYPENAME_T inline MAT3_T::Mat3(const MAT4_T& m) : v0(m.v0), v1(m.v1), v2(m.v2) {}
TEMPLATE_TYPENAME_T inline MAT3_T::Mat3(const MAT4_T& m) : v {m.v[0], m.v[1], m.v[2]} {}
TEMPLATE_TYPENAME_T inline MAT3_T mat3_cast(QUAT_T const& q) {
T xx(q.x * q.x); T yy(q.y * q.y); T zz(q.z * q.z);
T xz(q.x * q.z); T xy(q.x * q.y); T yz(q.y * q.z);
Expand Down Expand Up @@ -476,7 +476,7 @@ TEMPLATE_TYPENAME_T inline const MAT4_T inverse(MAT4_T const &m) {
(v0 * f1 - v1 * f3 + v3 * f5) * signV,
(v0 * f2 - v1 * f4 + v2 * f5) * -signV);

VEC4_T v0r0(m.v0 * VEC4_T(inv.m00, inv.m10, inv.m20, inv.m30));
VEC4_T v0r0(m.v[0] * VEC4_T(inv.m00, inv.m10, inv.m20, inv.m30));
return inv * (T(1) / (v0r0.x + v0r0.y + v0r0.z + v0r0.w)); }// 1/determinant ==> "operator *" is faster
// external operators
//////////////////////////
Expand Down

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