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  40.    <div id="projectbrief">A multi core friendly Game Physics Engine</div>
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  108.   <div class="headertitle"><div class="title">Matrix.h</div></div>
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  110. <div class="contents">
    111. 

  111. <a href="_matrix_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

  112. <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2021 Jorrit Rouwe</span></div>
    113. 

  113. <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
    114. 

  114. <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
    115. 

  115. <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
    116. 

  116. <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
    117. 

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_vector_8h.html">Jolt/Math/Vector.h</a>&gt;</span></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="_gaussian_elimination_8h.html">Jolt/Math/GaussianElimination.h</a>&gt;</span></div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    121. 

  121. <div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
    122. 

  122. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="keyword">template</span> &lt;u<span class="keywordtype">int</span> Rows, u<span class="keywordtype">int</span> Cols&gt;</div>
    123. 

  123. <div class="foldopen" id="foldopen00014" data-start="{" data-end="};">
    124. 

  124. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="class_matrix.html">   14</a></span><span class="keyword">class </span>[[nodiscard]] <a class="code hl_class" href="class_matrix.html">Matrix</a></div>
    125. 

  125. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
    126. 

  126. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="keyword">public</span>:</div>
    127. 

  127. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="class_matrix.html#a70866296048d7f18cf1cf92d480f5023">   18</a></span>    <span class="keyword">inline</span>                                  <a class="code hl_function" href="class_matrix.html#a70866296048d7f18cf1cf92d480f5023">Matrix</a>() = <span class="keywordflow">default</span>;</div>
    128. 

  128. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="class_matrix.html#a90d5c7ad748e454acb4391cd1686ed36">   19</a></span>    <span class="keyword">inline</span>                                  <a class="code hl_function" href="class_matrix.html#a90d5c7ad748e454acb4391cd1686ed36">Matrix</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_matrix.html">Matrix</a> &amp;inM2)                              { *<span class="keyword">this</span> = inM2; }</div>
    129. 

  129. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
    130. 

  130. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="class_matrix.html#a295baf4af956351b6bf05548e16887ee">   22</a></span>    <span class="keyword">inline</span> <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>                             <a class="code hl_function" href="class_matrix.html#a295baf4af956351b6bf05548e16887ee">GetRows</a>()<span class="keyword"> const                                         </span>{ <span class="keywordflow">return</span> Rows; }</div>
    131. 

  131. <div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="class_matrix.html#a45bd49a18dec51ca82c58aa5d12572be">   23</a></span>    <span class="keyword">inline</span> <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a>                             <a class="code hl_function" href="class_matrix.html#a45bd49a18dec51ca82c58aa5d12572be">GetCols</a>()<span class="keyword"> const                                         </span>{ <span class="keywordflow">return</span> Cols; }</div>
    132. 

  132. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
    133. 

  133. <div class="foldopen" id="foldopen00026" data-start="{" data-end="}">
    134. 

  134. <div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="class_matrix.html#a7b98e3c672cc83e50b0cb6cf33b1ec65">   26</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                             <a class="code hl_function" href="class_matrix.html#a7b98e3c672cc83e50b0cb6cf33b1ec65">SetZero</a>()</div>
    135. 

  135. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    {</div>
    136. 

  136. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; Cols; ++c)</div>
    137. 

  137. <div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>            mCol[c].SetZero();</div>
    138. 

  138. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    }</div>
    139. 

  139. </div>
    140. 

  140. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
    141. 

  141. <div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="class_matrix.html#a0ff410c865209df6d236e3bd8ca50863">   32</a></span>    <span class="keyword">inline</span> <span class="keyword">static</span> <a class="code hl_class" href="class_matrix.html">Matrix</a>                    <a class="code hl_function" href="class_matrix.html#a0ff410c865209df6d236e3bd8ca50863">sZero</a>()                                                 { <a class="code hl_class" href="class_matrix.html">Matrix</a> m; m.<a class="code hl_function" href="class_matrix.html#a7b98e3c672cc83e50b0cb6cf33b1ec65">SetZero</a>(); <span class="keywordflow">return</span> m; }</div>
    142. 

  142. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
    143. 

  143. <div class="foldopen" id="foldopen00035" data-start="{" data-end="}">
    144. 

  144. <div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="class_matrix.html#a8d6bed263967c53112cafe858e32eb9e">   35</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                             <a class="code hl_function" href="class_matrix.html#a8d6bed263967c53112cafe858e32eb9e">IsZero</a>()<span class="keyword"> const</span></div>
    145. 

  145. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="keyword">    </span>{</div>
    146. 

  146. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; Cols; ++c)</div>
    147. 

  147. <div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>            <span class="keywordflow">if</span> (!mCol[c].IsZero())</div>
    148. 

  148. <div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    149. 

  149. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
    150. 

  150. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    151. 

  151. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    }</div>
    152. 

  152. </div>
    153. 

  153. <div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
    154. 

  154. <div class="foldopen" id="foldopen00045" data-start="{" data-end="}">
    155. 

  155. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="class_matrix.html#aa38198e13dcdd62e61e60cb9b0e93337">   45</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                             <a class="code hl_function" href="class_matrix.html#aa38198e13dcdd62e61e60cb9b0e93337">SetIdentity</a>()</div>
    156. 

  156. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    {</div>
    157. 

  157. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>        <span class="comment">// Clear matrix</span></div>
    158. 

  158. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        SetZero();</div>
    159. 

  159. <div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
    160. 

  160. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        <span class="comment">// Set diagonal to 1</span></div>
    161. 

  161. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> rc = 0, min_rc = min(Rows, Cols); rc &lt; min_rc; ++rc)</div>
    162. 

  162. <div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>            mCol[rc].mF32[rc] = 1.0f;</div>
    163. 

  163. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    }</div>
    164. 

  164. </div>
    165. 

  165. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
    166. 

  166. <div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="class_matrix.html#a80273dfe4027f98733b402245010c427">   55</a></span>    <span class="keyword">inline</span> <span class="keyword">static</span> <a class="code hl_class" href="class_matrix.html">Matrix</a>                    <a class="code hl_function" href="class_matrix.html#a80273dfe4027f98733b402245010c427">sIdentity</a>()                                             { <a class="code hl_class" href="class_matrix.html">Matrix</a> m; m.<a class="code hl_function" href="class_matrix.html#aa38198e13dcdd62e61e60cb9b0e93337">SetIdentity</a>(); <span class="keywordflow">return</span> m; }</div>
    167. 

  167. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
    168. 

  168. <div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="class_matrix.html#a35353d8c2a5a249e5368e654bca5fc79">   58</a></span>    <span class="keywordtype">bool</span>                                    <a class="code hl_function" href="class_matrix.html#a35353d8c2a5a249e5368e654bca5fc79">IsIdentity</a>()<span class="keyword"> const                                      </span>{ <span class="keywordflow">return</span> *<span class="keyword">this</span> == sIdentity(); }</div>
    169. 

  169. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
    170. 

  170. <div class="foldopen" id="foldopen00061" data-start="{" data-end="}">
    171. 

  171. <div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="class_matrix.html#abf7221c00ea5a8e8bdcbac0c9082d38e">   61</a></span>    <span class="keyword">inline</span> <span class="keywordtype">void</span>                             <a class="code hl_function" href="class_matrix.html#abf7221c00ea5a8e8bdcbac0c9082d38e">SetDiagonal</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_vector.html">Vector</a>&lt;Rows &lt; Cols? Rows : Cols&gt; &amp;inV)</div>
    172. 

  172. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    {</div>
    173. 

  173. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        <span class="comment">// Clear matrix</span></div>
    174. 

  174. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        SetZero();</div>
    175. 

  175. <div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
    176. 

  176. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        <span class="comment">// Set diagonal</span></div>
    177. 

  177. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> rc = 0, min_rc = min(Rows, Cols); rc &lt; min_rc; ++rc)</div>
    178. 

  178. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>            mCol[rc].mF32[rc] = inV[rc];</div>
    179. 

  179. <div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    }</div>
    180. 

  180. </div>
    181. 

  181. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
    182. 

  182. <div class="foldopen" id="foldopen00071" data-start="{" data-end="}">
    183. 

  183. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="class_matrix.html#ac818c6fffb4e3a42b562bae0f9fccf71">   71</a></span>    <span class="keyword">inline</span> <span class="keyword">static</span> <a class="code hl_class" href="class_matrix.html">Matrix</a>                    <a class="code hl_function" href="class_matrix.html#ac818c6fffb4e3a42b562bae0f9fccf71">sDiagonal</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_vector.html">Vector</a>&lt;Rows &lt; Cols? Rows : Cols&gt; &amp;inV)</div>
    184. 

  184. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    {</div>
    185. 

  185. <div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        <a class="code hl_class" href="class_matrix.html">Matrix</a> m;</div>
    186. 

  186. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        m.<a class="code hl_function" href="class_matrix.html#abf7221c00ea5a8e8bdcbac0c9082d38e">SetDiagonal</a>(inV);</div>
    187. 

  187. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        <span class="keywordflow">return</span> m;</div>
    188. 

  188. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    }</div>
    189. 

  189. </div>
    190. 

  190. <div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
    191. 

  191. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keyword">template</span> &lt;<span class="keyword">class</span> OtherMatrix&gt;</div>
    192. 

  192. <div class="foldopen" id="foldopen00080" data-start="{" data-end="}">
    193. 

  193. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="class_matrix.html#a5e445d50e6137117917385b43e3bbe42">   80</a></span>        <span class="keywordtype">void</span>                                <a class="code hl_function" href="class_matrix.html#a5e445d50e6137117917385b43e3bbe42">CopyPart</a>(<span class="keyword">const</span> OtherMatrix &amp;inM, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inSourceRow, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inSourceCol, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inNumRows, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inNumCols, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inDestRow, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inDestCol)</div>
    194. 

  194. <div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        {</div>
    195. 

  195. <div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>            <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; inNumCols; ++c)</div>
    196. 

  196. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>                <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> r = 0; r &lt; inNumRows; ++r)</div>
    197. 

  197. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>                    mCol[inDestCol + c].mF32[inDestRow + r] = inM(inSourceRow + r, inSourceCol + c);</div>
    198. 

  198. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        }</div>
    199. 

  199. </div>
    200. 

  200. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
    201. 

  201. <div class="foldopen" id="foldopen00088" data-start="{" data-end="}">
    202. 

  202. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="class_matrix.html#aa2c6fb4dd5793351db17038cb563a56e">   88</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span>                            operator () (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inRow, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inColumn)<span class="keyword"> const</span></div>
    203. 

  203. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span><span class="keyword">    </span>{</div>
    204. 

  204. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inRow &lt; Rows);</div>
    205. 

  205. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inColumn &lt; Cols);</div>
    206. 

  206. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="keywordflow">return</span> mCol[inColumn].mF32[inRow];</div>
    207. 

  207. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    }</div>
    208. 

  208. </div>
    209. 

  209. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
    210. 

  210. <div class="foldopen" id="foldopen00095" data-start="{" data-end="}">
    211. 

  211. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="class_matrix.html#a67cd0d0e04d64a43b570bba1ac87110f">   95</a></span>    <span class="keyword">inline</span> <span class="keywordtype">float</span> &amp;                          operator () (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inRow, <a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inColumn)</div>
    212. 

  212. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    {</div>
    213. 

  213. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inRow &lt; Rows);</div>
    214. 

  214. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(inColumn &lt; Cols);</div>
    215. 

  215. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>        <span class="keywordflow">return</span> mCol[inColumn].mF32[inRow];</div>
    216. 

  216. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    }</div>
    217. 

  217. </div>
    218. 

  218. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
    219. 

  219. <div class="foldopen" id="foldopen00103" data-start="{" data-end="}">
    220. 

  220. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="class_matrix.html#ad5017409ae677eedd5e05ecf4cc41557">  103</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                             operator == (<span class="keyword">const</span> <a class="code hl_class" href="class_matrix.html">Matrix</a> &amp;inM2)<span class="keyword"> const</span></div>
    221. 

  221. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span><span class="keyword">    </span>{</div>
    222. 

  222. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; Cols; ++c)</div>
    223. 

  223. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>            <span class="keywordflow">if</span> (mCol[c] != inM2.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[c])</div>
    224. 

  224. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    225. 

  225. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    226. 

  226. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    }</div>
    227. 

  227. </div>
    228. 

  228. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
    229. 

  229. <div class="foldopen" id="foldopen00111" data-start="{" data-end="}">
    230. 

  230. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="class_matrix.html#ad83804c5ac0ed0ad487b2c60a0815344">  111</a></span>    <span class="keyword">inline</span> <span class="keywordtype">bool</span>                             operator != (<span class="keyword">const</span> <a class="code hl_class" href="class_matrix.html">Matrix</a> &amp;inM2)<span class="keyword"> const</span></div>
    231. 

  231. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span><span class="keyword">    </span>{</div>
    232. 

  232. <div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; Cols; ++c)</div>
    233. 

  233. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>            <span class="keywordflow">if</span> (mCol[c] != inM2.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[c])</div>
    234. 

  234. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>                <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    235. 

  235. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    236. 

  236. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    }</div>
    237. 

  237. </div>
    238. 

  238. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
    239. 

  239. <div class="foldopen" id="foldopen00120" data-start="{" data-end="}">
    240. 

  240. <div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="class_matrix.html#abf9e34f58c34dbb9790a82ab0e892f9a">  120</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_matrix.html">Matrix</a> &amp;                         operator = (<span class="keyword">const</span> <a class="code hl_class" href="class_matrix.html">Matrix</a> &amp;inM2)</div>
    241. 

  241. <div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    {</div>
    242. 

  242. <div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; Cols; ++c)</div>
    243. 

  243. <div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>            mCol[c] = inM2.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[c];</div>
    244. 

  244. <div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div>
    245. 

  245. <div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    }</div>
    246. 

  246. </div>
    247. 

  247. <div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
    248. 

  248. <div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="keyword">template</span> &lt;u<span class="keywordtype">int</span> OtherCols&gt;</div>
    249. 

  249. <div class="foldopen" id="foldopen00129" data-start="{" data-end="}">
    250. 

  250. <div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="class_matrix.html#afd8729a9684ca684a16e95dac59b9499">  129</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_matrix.html">Matrix&lt;Rows, OtherCols&gt;</a>  <a class="code hl_function" href="_d_vec3_8inl.html#a786dfc8f87f225995cb77bbf53c39244">operator * </a>(<span class="keyword">const</span> <a class="code hl_class" href="class_matrix.html">Matrix&lt;Cols, OtherCols&gt;</a> &amp;inM)<span class="keyword"> const</span></div>
    251. 

  251. <div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span><span class="keyword">    </span>{</div>
    252. 

  252. <div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>        <a class="code hl_class" href="class_matrix.html">Matrix&lt;Rows, OtherCols&gt;</a> m;</div>
    253. 

  253. <div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; OtherCols; ++c)</div>
    254. 

  254. <div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>            <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> r = 0; r &lt; Rows; ++r)</div>
    255. 

  255. <div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>            {</div>
    256. 

  256. <div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>                <span class="keywordtype">float</span> dot = 0.0f;</div>
    257. 

  257. <div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>                <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> i = 0; i &lt; Cols; ++i)</div>
    258. 

  258. <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>                    dot += mCol[i].mF32[r] * inM.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[c].mF32[i];</div>
    259. 

  259. <div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>                m.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[c].mF32[r] = dot;</div>
    260. 

  260. <div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>            }</div>
    261. 

  261. <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>        <span class="keywordflow">return</span> m;</div>
    262. 

  262. <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    }</div>
    263. 

  263. </div>
    264. 

  264. <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span> </div>
    265. 

  265. <div class="foldopen" id="foldopen00144" data-start="{" data-end="}">
    266. 

  266. <div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="class_matrix.html#a08c8beaf4e7332332cf1ca3e08a4e736">  144</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_vector.html">Vector&lt;Rows&gt;</a>                     <a class="code hl_function" href="_d_vec3_8inl.html#a786dfc8f87f225995cb77bbf53c39244">operator * </a>(<span class="keyword">const</span> <a class="code hl_class" href="class_vector.html">Vector&lt;Cols&gt;</a> &amp;inV)<span class="keyword"> const</span></div>
    267. 

  267. <div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span><span class="keyword">    </span>{</div>
    268. 

  268. <div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>        <a class="code hl_class" href="class_vector.html">Vector&lt;Rows&gt;</a> v;</div>
    269. 

  269. <div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> r = 0; r &lt; Rows; ++r)</div>
    270. 

  270. <div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>        {</div>
    271. 

  271. <div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>            <span class="keywordtype">float</span> dot = 0.0f;</div>
    272. 

  272. <div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>            <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; Cols; ++c)</div>
    273. 

  273. <div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>                dot += mCol[c].mF32[r] * inV.<a class="code hl_variable" href="class_vector.html#a9068b99f1e6ca351876bea81de170b29">mF32</a>[c];</div>
    274. 

  274. <div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>            v.<a class="code hl_variable" href="class_vector.html#a9068b99f1e6ca351876bea81de170b29">mF32</a>[r] = dot;</div>
    275. 

  275. <div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        }</div>
    276. 

  276. <div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>        <span class="keywordflow">return</span> v;</div>
    277. 

  277. <div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    }</div>
    278. 

  278. </div>
    279. 

  279. <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
    280. 

  280. <div class="foldopen" id="foldopen00158" data-start="{" data-end="}">
    281. 

  281. <div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="class_matrix.html#a9daf57728f2ba01747ef258a12aec758">  158</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_matrix.html">Matrix</a>                           <a class="code hl_function" href="_d_vec3_8inl.html#a786dfc8f87f225995cb77bbf53c39244">operator * </a>(<span class="keywordtype">float</span> inV)<span class="keyword"> const</span></div>
    282. 

  282. <div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span><span class="keyword">    </span>{</div>
    283. 

  283. <div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>        <a class="code hl_class" href="class_matrix.html">Matrix</a> m;</div>
    284. 

  284. <div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; Cols; ++c)</div>
    285. 

  285. <div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>            m.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[c] = mCol[c] * inV;</div>
    286. 

  286. <div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        <span class="keywordflow">return</span> m;</div>
    287. 

  287. <div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    }</div>
    288. 

  288. </div>
    289. 

  289. <div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span> </div>
    290. 

  290. <div class="foldopen" id="foldopen00166" data-start="{" data-end="};">
    291. 

  291. <div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="class_matrix.html#a9d56aa1cdf39b7267b15c3f839bcce43">  166</a></span>    <span class="keyword">inline</span> <span class="keyword">friend</span> <a class="code hl_class" href="class_matrix.html">Matrix</a>                    <a class="code hl_function" href="_d_vec3_8inl.html#a786dfc8f87f225995cb77bbf53c39244">operator * </a>(<span class="keywordtype">float</span> inV, <span class="keyword">const</span> <a class="code hl_class" href="class_matrix.html">Matrix</a> &amp;inM)</div>
    292. 

  292. <div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    {</div>
    293. 

  293. <div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>        <span class="keywordflow">return</span> inM * inV;</div>
    294. 

  294. <div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    }</div>
    295. 

  295. </div>
    296. 

  296. <div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span> </div>
    297. 

  297. <div class="foldopen" id="foldopen00172" data-start="{" data-end="}">
    298. 

  298. <div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="class_matrix.html#ab11023ceac2685bb1d103620c348cdd2">  172</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_matrix.html">Matrix</a>                           operator + (<span class="keyword">const</span> <a class="code hl_class" href="class_matrix.html">Matrix</a> &amp;inM)<span class="keyword"> const</span></div>
    299. 

  299. <div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span><span class="keyword">    </span>{</div>
    300. 

  300. <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>        <a class="code hl_class" href="class_matrix.html">Matrix</a> m;</div>
    301. 

  301. <div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; Cols; ++c)</div>
    302. 

  302. <div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>            m.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[c] = mCol[c] + inM.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[c];</div>
    303. 

  303. <div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        <span class="keywordflow">return</span> m;</div>
    304. 

  304. <div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    }</div>
    305. 

  305. </div>
    306. 

  306. <div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span> </div>
    307. 

  307. <div class="foldopen" id="foldopen00181" data-start="{" data-end="}">
    308. 

  308. <div class="line"><a id="l00181" name="l00181"></a><span class="lineno"><a class="line" href="class_matrix.html#a863621d29437a8ef7c38b3e214ca1f9c">  181</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_matrix.html">Matrix</a>                           operator - (<span class="keyword">const</span> <a class="code hl_class" href="class_matrix.html">Matrix</a> &amp;inM)<span class="keyword"> const</span></div>
    309. 

  309. <div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span><span class="keyword">    </span>{</div>
    310. 

  310. <div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        <a class="code hl_class" href="class_matrix.html">Matrix</a> m;</div>
    311. 

  311. <div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; Cols; ++c)</div>
    312. 

  312. <div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>            m.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[c] = mCol[c] - inM.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[c];</div>
    313. 

  313. <div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        <span class="keywordflow">return</span> m;</div>
    314. 

  314. <div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    }</div>
    315. 

  315. </div>
    316. 

  316. <div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
    317. 

  317. <div class="foldopen" id="foldopen00190" data-start="{" data-end="}">
    318. 

  318. <div class="line"><a id="l00190" name="l00190"></a><span class="lineno"><a class="line" href="class_matrix.html#aeb5a5dc25f6b890a27af8f0dbe55cf6d">  190</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_matrix.html">Matrix&lt;Cols, Rows&gt;</a>               <a class="code hl_function" href="class_matrix.html#aeb5a5dc25f6b890a27af8f0dbe55cf6d">Transposed</a>()<span class="keyword"> const</span></div>
    319. 

  319. <div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span><span class="keyword">    </span>{</div>
    320. 

  320. <div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>        <a class="code hl_class" href="class_matrix.html">Matrix&lt;Cols, Rows&gt;</a> m;</div>
    321. 

  321. <div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> r = 0; r &lt; Rows; ++r)</div>
    322. 

  322. <div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>            <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> c = 0; c &lt; Cols; ++c)</div>
    323. 

  323. <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>                m.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[r].mF32[c] = mCol[c].mF32[r];</div>
    324. 

  324. <div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>        <span class="keywordflow">return</span> m;</div>
    325. 

  325. <div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    }</div>
    326. 

  326. </div>
    327. 

  327. <div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span> </div>
    328. 

  328. <div class="foldopen" id="foldopen00200" data-start="{" data-end="}">
    329. 

  329. <div class="line"><a id="l00200" name="l00200"></a><span class="lineno"><a class="line" href="class_matrix.html#a1e2531318f995ae102d4428c3bdba738">  200</a></span>    <span class="keywordtype">bool</span>                                    <a class="code hl_function" href="class_matrix.html#a1e2531318f995ae102d4428c3bdba738">SetInversed</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_matrix.html">Matrix</a> &amp;inM)</div>
    330. 

  330. <div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>    {</div>
    331. 

  331. <div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>        <span class="keywordflow">if</span> <span class="keyword">constexpr</span> (Rows != Cols) <a class="code hl_define" href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a>(<span class="keyword">false</span>);</div>
    332. 

  332. <div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>        <a class="code hl_class" href="class_matrix.html">Matrix</a> copy(inM);</div>
    333. 

  333. <div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>        SetIdentity();</div>
    334. 

  334. <div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>        <span class="keywordflow">return</span> <a class="code hl_function" href="_gaussian_elimination_8h.html#a292d56457a5c67858f083798c34b111c">GaussianElimination</a>(copy, *<span class="keyword">this</span>);</div>
    335. 

  335. <div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    }</div>
    336. 

  336. </div>
    337. 

  337. <div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span> </div>
    338. 

  338. <div class="foldopen" id="foldopen00208" data-start="{" data-end="}">
    339. 

  339. <div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="class_matrix.html#ad36508b39c6773cc40fdd6a27f14b4eb">  208</a></span>    <span class="keyword">inline</span> <a class="code hl_class" href="class_matrix.html">Matrix</a>                           <a class="code hl_function" href="class_matrix.html#ad36508b39c6773cc40fdd6a27f14b4eb">Inversed</a>()<span class="keyword"> const</span></div>
    340. 

  340. <div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span><span class="keyword">    </span>{</div>
    341. 

  341. <div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>        <a class="code hl_class" href="class_matrix.html">Matrix</a> m;</div>
    342. 

  342. <div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>        m.<a class="code hl_function" href="class_matrix.html#a1e2531318f995ae102d4428c3bdba738">SetInversed</a>(*<span class="keyword">this</span>);</div>
    343. 

  343. <div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>        <span class="keywordflow">return</span> m;</div>
    344. 

  344. <div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>    }</div>
    345. 

  345. </div>
    346. 

  346. <div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span> </div>
    347. 

  347. <div class="foldopen" id="foldopen00216" data-start="{" data-end="};">
    348. 

  348. <div class="line"><a id="l00216" name="l00216"></a><span class="lineno"><a class="line" href="class_matrix.html#a1d555eff0c64dbcd766b74b86a160269">  216</a></span>    <span class="keyword">friend</span> ostream &amp;                        operator &lt;&lt; (ostream &amp;inStream, <span class="keyword">const</span> <a class="code hl_class" href="class_matrix.html">Matrix</a> &amp;inM)</div>
    349. 

  349. <div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>    {</div>
    350. 

  350. <div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>        <span class="keywordflow">for</span> (<a class="code hl_typedef" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> i = 0; i &lt; Cols - 1; ++i)</div>
    351. 

  351. <div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>            inStream &lt;&lt; inM.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[i] &lt;&lt; <span class="stringliteral">&quot;, &quot;</span>;</div>
    352. 

  352. <div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>        inStream &lt;&lt; inM.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[Cols - 1];</div>
    353. 

  353. <div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>        <span class="keywordflow">return</span> inStream;</div>
    354. 

  354. <div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>    }</div>
    355. 

  355. </div>
    356. 

  356. <div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span> </div>
    357. 

  357. <div class="line"><a id="l00225" name="l00225"></a><span class="lineno"><a class="line" href="class_matrix.html#a92a370676cc7e0788bc217a358170b4a">  225</a></span>    <span class="keyword">const</span> <a class="code hl_class" href="class_vector.html">Vector&lt;Rows&gt;</a> &amp;                    <a class="code hl_function" href="class_matrix.html#a92a370676cc7e0788bc217a358170b4a">GetColumn</a>(<span class="keywordtype">int</span> inIdx)<span class="keyword"> const                  </span>{ <span class="keywordflow">return</span> mCol[inIdx]; }</div>
    358. 

  358. <div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="class_matrix.html#a82a128d3923926e678aa6acc94f2f05d">  226</a></span>    <a class="code hl_class" href="class_vector.html">Vector&lt;Rows&gt;</a> &amp;                          <a class="code hl_function" href="class_matrix.html#a82a128d3923926e678aa6acc94f2f05d">GetColumn</a>(<span class="keywordtype">int</span> inIdx)                        { <span class="keywordflow">return</span> mCol[inIdx]; }</div>
    359. 

  359. <div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span> </div>
    360. 

  360. <div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">  228</a></span>    <a class="code hl_class" href="class_vector.html">Vector&lt;Rows&gt;</a>                            mCol[Cols];                                 </div>
    361. 

  361. <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>};</div>
    362. 

  362. </div>
    363. 

  363. <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span> </div>
    364. 

  364. <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span><span class="comment">// The template specialization doesn&#39;t sit well with Doxygen</span></div>
    365. 

  365. <div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span><span class="preprocessor">#ifndef JPH_PLATFORM_DOXYGEN</span></div>
    366. 

  366. <div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span> </div>
    367. 

  367. <div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span><span class="keyword">template</span> &lt;&gt;</div>
    368. 

  368. <div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span><span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="class_matrix.html#a1e2531318f995ae102d4428c3bdba738">Matrix&lt;2, 2&gt;::SetInversed</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_matrix.html">Matrix&lt;2, 2&gt;</a> &amp;inM)</div>
    369. 

  369. <div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>{</div>
    370. 

  370. <div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>    <span class="comment">// Fetch elements</span></div>
    371. 

  371. <div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    <span class="keywordtype">float</span> a = inM.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[0].mF32[0];</div>
    372. 

  372. <div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>    <span class="keywordtype">float</span> b = inM.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[1].mF32[0];</div>
    373. 

  373. <div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>    <span class="keywordtype">float</span> c = inM.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[0].mF32[1];</div>
    374. 

  374. <div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>    <span class="keywordtype">float</span> d = inM.<a class="code hl_variable" href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">mCol</a>[1].mF32[1];</div>
    375. 

  375. <div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span> </div>
    376. 

  376. <div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>    <span class="comment">// Calculate determinant</span></div>
    377. 

  377. <div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>    <span class="keywordtype">float</span> det = a * d - b * c;</div>
    378. 

  378. <div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>    <span class="keywordflow">if</span> (det == 0.0f)</div>
    379. 

  379. <div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
    380. 

  380. <div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span> </div>
    381. 

  381. <div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>    <span class="comment">// Construct inverse</span></div>
    382. 

  382. <div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>    mCol[0].mF32[0] = d / det;</div>
    383. 

  383. <div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>    mCol[1].mF32[0] = -b / det;</div>
    384. 

  384. <div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>    mCol[0].mF32[1] = -c / det;</div>
    385. 

  385. <div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>    mCol[1].mF32[1] = a / det;</div>
    386. 

  386. <div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
    387. 

  387. <div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>}</div>
    388. 

  388. <div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span> </div>
    389. 

  389. <div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span><span class="preprocessor">#endif </span><span class="comment">// !JPH_PLATFORM_DOXYGEN</span></div>
    390. 

  390. <div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
    391. 

  391. <div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    392. 

  392. <div class="ttc" id="a_core_8h_html_a69aa29b598b851b0640aa225a9e5d61d"><div class="ttname"><a href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a></div><div class="ttdeci">unsigned int uint</div><div class="ttdef"><b>Definition</b> Core.h:500</div></div>
    393. 

  393. <div class="ttc" id="a_core_8h_html_a73da8725998b00321a9db341202d650d"><div class="ttname"><a href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div><div class="ttdeci">#define JPH_NAMESPACE_END</div><div class="ttdef"><b>Definition</b> Core.h:425</div></div>
    394. 

  394. <div class="ttc" id="a_core_8h_html_ad14098b68b8c44ea6112601031268405"><div class="ttname"><a href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div><div class="ttdeci">#define JPH_NAMESPACE_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:419</div></div>
    395. 

  395. <div class="ttc" id="a_d_vec3_8inl_html_a786dfc8f87f225995cb77bbf53c39244"><div class="ttname"><a href="_d_vec3_8inl.html#a786dfc8f87f225995cb77bbf53c39244">operator*</a></div><div class="ttdeci">DVec3 operator*(double inV1, DVec3Arg inV2)</div><div class="ttdef"><b>Definition</b> DVec3.inl:456</div></div>
    396. 

  396. <div class="ttc" id="a_gaussian_elimination_8h_html"><div class="ttname"><a href="_gaussian_elimination_8h.html">GaussianElimination.h</a></div></div>
    397. 

  397. <div class="ttc" id="a_gaussian_elimination_8h_html_a292d56457a5c67858f083798c34b111c"><div class="ttname"><a href="_gaussian_elimination_8h.html#a292d56457a5c67858f083798c34b111c">GaussianElimination</a></div><div class="ttdeci">JPH_NAMESPACE_BEGIN bool GaussianElimination(MatrixA &amp;ioA, MatrixB &amp;ioB, float inTolerance=1.0e-16f)</div><div class="ttdef"><b>Definition</b> GaussianElimination.h:19</div></div>
    398. 

  398. <div class="ttc" id="a_issue_reporting_8h_html_aaf6b1df827e11b7ca5f6f8778bd8f8cd"><div class="ttname"><a href="_issue_reporting_8h.html#aaf6b1df827e11b7ca5f6f8778bd8f8cd">JPH_ASSERT</a></div><div class="ttdeci">#define JPH_ASSERT(...)</div><div class="ttdef"><b>Definition</b> IssueReporting.h:33</div></div>
    399. 

  399. <div class="ttc" id="a_vector_8h_html"><div class="ttname"><a href="_vector_8h.html">Vector.h</a></div></div>
    400. 

  400. <div class="ttc" id="aclass_matrix_html"><div class="ttname"><a href="class_matrix.html">Matrix</a></div><div class="ttdoc">Templatized matrix class.</div><div class="ttdef"><b>Definition</b> Matrix.h:15</div></div>
    401. 

  401. <div class="ttc" id="aclass_matrix_html_a0ff410c865209df6d236e3bd8ca50863"><div class="ttname"><a href="class_matrix.html#a0ff410c865209df6d236e3bd8ca50863">Matrix::sZero</a></div><div class="ttdeci">static Matrix sZero()</div><div class="ttdef"><b>Definition</b> Matrix.h:32</div></div>
    402. 

  402. <div class="ttc" id="aclass_matrix_html_a1e2531318f995ae102d4428c3bdba738"><div class="ttname"><a href="class_matrix.html#a1e2531318f995ae102d4428c3bdba738">Matrix::SetInversed</a></div><div class="ttdeci">bool SetInversed(const Matrix &amp;inM)</div><div class="ttdoc">Inverse matrix.</div><div class="ttdef"><b>Definition</b> Matrix.h:200</div></div>
    403. 

  403. <div class="ttc" id="aclass_matrix_html_a295baf4af956351b6bf05548e16887ee"><div class="ttname"><a href="class_matrix.html#a295baf4af956351b6bf05548e16887ee">Matrix::GetRows</a></div><div class="ttdeci">uint GetRows() const</div><div class="ttdoc">Dimensions.</div><div class="ttdef"><b>Definition</b> Matrix.h:22</div></div>
    404. 

  404. <div class="ttc" id="aclass_matrix_html_a35353d8c2a5a249e5368e654bca5fc79"><div class="ttname"><a href="class_matrix.html#a35353d8c2a5a249e5368e654bca5fc79">Matrix::IsIdentity</a></div><div class="ttdeci">bool IsIdentity() const</div><div class="ttdoc">Check if this matrix is identity.</div><div class="ttdef"><b>Definition</b> Matrix.h:58</div></div>
    405. 

  405. <div class="ttc" id="aclass_matrix_html_a45bd49a18dec51ca82c58aa5d12572be"><div class="ttname"><a href="class_matrix.html#a45bd49a18dec51ca82c58aa5d12572be">Matrix::GetCols</a></div><div class="ttdeci">uint GetCols() const</div><div class="ttdef"><b>Definition</b> Matrix.h:23</div></div>
    406. 

  406. <div class="ttc" id="aclass_matrix_html_a536e1df6f18300e3ad1a5b2af3663e22"><div class="ttname"><a href="class_matrix.html#a536e1df6f18300e3ad1a5b2af3663e22">Matrix::mCol</a></div><div class="ttdeci">Vector&lt; Rows &gt; mCol[Cols]</div><div class="ttdoc">Column.</div><div class="ttdef"><b>Definition</b> Matrix.h:228</div></div>
    407. 

  407. <div class="ttc" id="aclass_matrix_html_a5e445d50e6137117917385b43e3bbe42"><div class="ttname"><a href="class_matrix.html#a5e445d50e6137117917385b43e3bbe42">Matrix::CopyPart</a></div><div class="ttdeci">void CopyPart(const OtherMatrix &amp;inM, uint inSourceRow, uint inSourceCol, uint inNumRows, uint inNumCols, uint inDestRow, uint inDestCol)</div><div class="ttdoc">Copy a (part) of another matrix into this matrix.</div><div class="ttdef"><b>Definition</b> Matrix.h:80</div></div>
    408. 

  408. <div class="ttc" id="aclass_matrix_html_a70866296048d7f18cf1cf92d480f5023"><div class="ttname"><a href="class_matrix.html#a70866296048d7f18cf1cf92d480f5023">Matrix::Matrix</a></div><div class="ttdeci">Matrix()=default</div><div class="ttdoc">Constructor.</div></div>
    409. 

  409. <div class="ttc" id="aclass_matrix_html_a7b98e3c672cc83e50b0cb6cf33b1ec65"><div class="ttname"><a href="class_matrix.html#a7b98e3c672cc83e50b0cb6cf33b1ec65">Matrix::SetZero</a></div><div class="ttdeci">void SetZero()</div><div class="ttdoc">Zero matrix.</div><div class="ttdef"><b>Definition</b> Matrix.h:26</div></div>
    410. 

  410. <div class="ttc" id="aclass_matrix_html_a80273dfe4027f98733b402245010c427"><div class="ttname"><a href="class_matrix.html#a80273dfe4027f98733b402245010c427">Matrix::sIdentity</a></div><div class="ttdeci">static Matrix sIdentity()</div><div class="ttdef"><b>Definition</b> Matrix.h:55</div></div>
    411. 

  411. <div class="ttc" id="aclass_matrix_html_a82a128d3923926e678aa6acc94f2f05d"><div class="ttname"><a href="class_matrix.html#a82a128d3923926e678aa6acc94f2f05d">Matrix::GetColumn</a></div><div class="ttdeci">Vector&lt; Rows &gt; &amp; GetColumn(int inIdx)</div><div class="ttdef"><b>Definition</b> Matrix.h:226</div></div>
    412. 

  412. <div class="ttc" id="aclass_matrix_html_a8d6bed263967c53112cafe858e32eb9e"><div class="ttname"><a href="class_matrix.html#a8d6bed263967c53112cafe858e32eb9e">Matrix::IsZero</a></div><div class="ttdeci">bool IsZero() const</div><div class="ttdoc">Check if this matrix consists of all zeros.</div><div class="ttdef"><b>Definition</b> Matrix.h:35</div></div>
    413. 

  413. <div class="ttc" id="aclass_matrix_html_a90d5c7ad748e454acb4391cd1686ed36"><div class="ttname"><a href="class_matrix.html#a90d5c7ad748e454acb4391cd1686ed36">Matrix::Matrix</a></div><div class="ttdeci">Matrix(const Matrix &amp;inM2)</div><div class="ttdef"><b>Definition</b> Matrix.h:19</div></div>
    414. 

  414. <div class="ttc" id="aclass_matrix_html_a92a370676cc7e0788bc217a358170b4a"><div class="ttname"><a href="class_matrix.html#a92a370676cc7e0788bc217a358170b4a">Matrix::GetColumn</a></div><div class="ttdeci">const Vector&lt; Rows &gt; &amp; GetColumn(int inIdx) const</div><div class="ttdoc">Column access.</div><div class="ttdef"><b>Definition</b> Matrix.h:225</div></div>
    415. 

  415. <div class="ttc" id="aclass_matrix_html_aa38198e13dcdd62e61e60cb9b0e93337"><div class="ttname"><a href="class_matrix.html#aa38198e13dcdd62e61e60cb9b0e93337">Matrix::SetIdentity</a></div><div class="ttdeci">void SetIdentity()</div><div class="ttdoc">Identity matrix.</div><div class="ttdef"><b>Definition</b> Matrix.h:45</div></div>
    416. 

  416. <div class="ttc" id="aclass_matrix_html_abf7221c00ea5a8e8bdcbac0c9082d38e"><div class="ttname"><a href="class_matrix.html#abf7221c00ea5a8e8bdcbac0c9082d38e">Matrix::SetDiagonal</a></div><div class="ttdeci">void SetDiagonal(const Vector&lt; Rows&lt; Cols? Rows :Cols &gt; &amp;inV)</div><div class="ttdoc">Diagonal matrix.</div><div class="ttdef"><b>Definition</b> Matrix.h:61</div></div>
    417. 

  417. <div class="ttc" id="aclass_matrix_html_ac818c6fffb4e3a42b562bae0f9fccf71"><div class="ttname"><a href="class_matrix.html#ac818c6fffb4e3a42b562bae0f9fccf71">Matrix::sDiagonal</a></div><div class="ttdeci">static Matrix sDiagonal(const Vector&lt; Rows&lt; Cols? Rows :Cols &gt; &amp;inV)</div><div class="ttdef"><b>Definition</b> Matrix.h:71</div></div>
    418. 

  418. <div class="ttc" id="aclass_matrix_html_ad36508b39c6773cc40fdd6a27f14b4eb"><div class="ttname"><a href="class_matrix.html#ad36508b39c6773cc40fdd6a27f14b4eb">Matrix::Inversed</a></div><div class="ttdeci">Matrix Inversed() const</div><div class="ttdef"><b>Definition</b> Matrix.h:208</div></div>
    419. 

  419. <div class="ttc" id="aclass_matrix_html_aeb5a5dc25f6b890a27af8f0dbe55cf6d"><div class="ttname"><a href="class_matrix.html#aeb5a5dc25f6b890a27af8f0dbe55cf6d">Matrix::Transposed</a></div><div class="ttdeci">Matrix&lt; Cols, Rows &gt; Transposed() const</div><div class="ttdoc">Transpose matrix.</div><div class="ttdef"><b>Definition</b> Matrix.h:190</div></div>
    420. 

  420. <div class="ttc" id="aclass_vector_html"><div class="ttname"><a href="class_vector.html">Vector</a></div><div class="ttdoc">Templatized vector class.</div><div class="ttdef"><b>Definition</b> Vector.h:12</div></div>
    421. 

  421. <div class="ttc" id="aclass_vector_html_a9068b99f1e6ca351876bea81de170b29"><div class="ttname"><a href="class_vector.html#a9068b99f1e6ca351876bea81de170b29">Vector::mF32</a></div><div class="ttdeci">float mF32[Rows]</div><div class="ttdef"><b>Definition</b> Vector.h:208</div></div>
    422. 

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