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/************************************************************************
*
* Copyright (C) 2025 IRCAD France
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#pragma once
#include <sight/geometry/__/config.hpp>
#include <glm/gtc/type_ptr.hpp>
#include <glm/mat4x4.hpp>
#include <glm/matrix.hpp>
namespace sight::geometry
{
/**
* @brief Fast method to invert of a matrix when it is only composed of a rotation and a translation.
* Use with care, result will be wrong if a scale is present and no prior check is performed.
*
* @param[in] _input Input matrix
* @return Inverted matrix.
*/
template<typename M = glm::dmat4>
requires std::is_same_v<M, glm::mat4>|| std::is_same_v<M, glm::dmat4>
M inverse_translation_rotation(const M& _input)
{
const auto inverse_translation = -_input[3];
const glm::mat<3, 3, typename M::value_type> rotation {
_input[0][0], _input[0][1], _input[0][2],
_input[1][0], _input[1][1], _input[1][2],
_input[2][0], _input[2][1], _input[2][2],
};
const auto rotated_translation = inverse_translation * rotation;
const M inverse_transform = {
_input[0][0], _input[1][0], _input[2][0], 0.,
_input[0][1], _input[1][1], _input[2][1], 0.,
_input[0][2], _input[1][2], _input[2][2], 0.,
rotated_translation[0], rotated_translation[1], rotated_translation[2], 1.
};
return inverse_transform;
}
} // namespace sight::geometry
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