Resolve SwiftLint violations and preserve type annotations

.swiftformat

@@ -3,6 +3,8 @@
 --commas inline
 --disable opaqueGenericParameters
 --disable preferKeyPath
+--disable redundantType
+--disable wrapMultilineStatementBraces
 --exclude .build,.github,.swiftpm,Scripts
 --extensionacl on-declarations
 --header strip

.swiftlint.yml

@@ -25,7 +25,6 @@ opt_in_rules:
   #- required_deinit
   #- type_contents_order
   #- unowned_variable_capture
-  - anyobject_protocol
   - array_init
   - attributes
   - closure_body_length
@@ -48,7 +47,6 @@ opt_in_rules:
   - enum_case_associated_values_count
   - expiring_todo
   - explicit_init
-  - explicit_self
   - explicit_top_level_acl
   - fallthrough
   - fatal_error_message
@@ -95,7 +93,6 @@ opt_in_rules:
   - raw_value_for_camel_cased_codable_enum   
   - reduce_into
   - redundant_nil_coalescing
-  - redundant_type_annotation
   - required_enum_case
   - single_test_class
   - sorted_first_last
@@ -109,11 +106,14 @@ opt_in_rules:
   - unavailable_function
   - unneeded_parentheses_in_closure_argument 
   - untyped_error_in_catch
-  - unused_declaration
-  - unused_import
   - vertical_parameter_alignment_on_call
   - vertical_whitespace_between_cases
   - vertical_whitespace_closing_braces
   - vertical_whitespace_opening_braces
   - xct_specific_matcher
   - yoda_condition
+
+analyzer_rules:
+  - explicit_self
+  - unused_declaration
+  - unused_import

Sources/FirebladeMath/Constants.swift

@@ -1,21 +1,35 @@
 /// Factor to convert degrees to radians (Double).
-@inlinable public var kDegreeToRadians64: Double { Double.pi / 180.0 }
+@inlinable public var kDegreeToRadians64: Double {
+    Double.pi / 180.0
+}
+
 /// Factor to convert degrees to radians (Float).
-@inlinable public var kDegreeToRadians32: Float { Float(Double.pi / 180.0) }
+@inlinable public var kDegreeToRadians32: Float {
+    Float(Double.pi / 180.0)
+}
 
 /// Factor to convert radians to degrees (Double).
-@inlinable public var kRadiansToDegree64: Double { 180.0 / Double.pi }
+@inlinable public var kRadiansToDegree64: Double {
+    180.0 / Double.pi
+}
+
 /// Factor to convert radians to degrees (Float).
-@inlinable public var kRadiansToDegree32: Float { Float(180.0 / Double.pi) }
+@inlinable public var kRadiansToDegree32: Float {
+    Float(180.0 / Double.pi)
+}
 
 /// Extension to add constants to Float.
 extension Float {
     /// Half of Pi (π/2).
-    @inlinable public static var halfPi: Float { Float.pi * 0.5 }
+    @inlinable public static var halfPi: Float {
+        Float.pi * 0.5
+    }
 }
 
 /// Extension to add constants to Double.
 extension Double {
     /// Half of Pi (π/2).
-    @inlinable public static var halfPi: Double { Double.pi * 0.5 }
+    @inlinable public static var halfPi: Double {
+        Double.pi * 0.5
+    }
 }

Sources/FirebladeMath/Functions/adjugate.swift

@@ -41,62 +41,126 @@ public func adjugate(_ inMat: Mat3x3d) -> Mat3x3d {
 }
 
 /// Computes the adjugate of a 4x4 matrix.
-/// - Parameter m: The input matrix.
+/// - Parameter matrix: The input matrix.
 /// - Returns: The adjugate of the input matrix.
-public func adjugate(_ m: Mat4x4f) -> Mat4x4f {
+public func adjugate(_ matrix: Mat4x4f) -> Mat4x4f {
     // Adjugate is the transpose of the cofactor matrix.
     // cofactor(i, j) = (-1)^(i+j) * minor(i, j)
-    // Here we use m[col, row] indexing.
+    // Here we use matrix[col, row] indexing.
     var res = Mat4x4f.identity
 
-    res[0, 0] = m[1, 1] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 1] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) + m[3, 1] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2])
-    res[1, 0] = -(m[1, 0] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 0] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) + m[3, 0] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]))
-    res[2, 0] = m[1, 0] * (m[2, 1] * m[3, 3] - m[2, 3] * m[3, 1]) - m[2, 0] * (m[1, 1] * m[3, 3] - m[1, 3] * m[3, 1]) + m[3, 0] * (m[1, 1] * m[2, 3] - m[1, 3] * m[2, 1])
-    res[3, 0] = -(m[1, 0] * (m[2, 1] * m[3, 2] - m[2, 2] * m[3, 1]) - m[2, 0] * (m[1, 1] * m[3, 2] - m[1, 2] * m[3, 1]) + m[3, 0] * (m[1, 1] * m[2, 2] - m[1, 2] * m[2, 1]))
-
-    res[0, 1] = -(m[0, 1] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 1] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 1] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]))
-    res[1, 1] = m[0, 0] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 0] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 0] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2])
-    res[2, 1] = -(m[0, 0] * (m[2, 1] * m[3, 3] - m[2, 3] * m[3, 1]) - m[2, 0] * (m[0, 1] * m[3, 3] - m[0, 3] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[2, 3] - m[0, 3] * m[2, 1]))
-    res[3, 1] = m[0, 0] * (m[2, 1] * m[3, 2] - m[2, 2] * m[3, 1]) - m[2, 0] * (m[0, 1] * m[3, 2] - m[0, 2] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[2, 2] - m[0, 2] * m[2, 1])
-
-    res[0, 2] = m[0, 1] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) - m[1, 1] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 1] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2])
-    res[1, 2] = -(m[0, 0] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) - m[1, 0] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 0] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2]))
-    res[2, 2] = m[0, 0] * (m[1, 1] * m[3, 3] - m[1, 3] * m[3, 1]) - m[1, 0] * (m[0, 1] * m[3, 3] - m[0, 3] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[1, 3] - m[0, 3] * m[1, 1])
-    res[3, 2] = -(m[0, 0] * (m[1, 1] * m[3, 2] - m[1, 2] * m[3, 1]) - m[1, 0] * (m[0, 1] * m[3, 2] - m[0, 2] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[1, 2] - m[0, 2] * m[1, 1]))
-
-    res[0, 3] = -(m[0, 1] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]) - m[1, 1] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]) + m[2, 1] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2]))
-    res[1, 3] = m[0, 0] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]) - m[1, 0] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]) + m[2, 0] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2])
-    res[2, 3] = -(m[0, 0] * (m[1, 1] * m[2, 3] - m[1, 3] * m[2, 1]) - m[1, 0] * (m[0, 1] * m[2, 3] - m[0, 3] * m[2, 1]) + m[2, 0] * (m[0, 1] * m[1, 3] - m[0, 3] * m[1, 1]))
-    res[3, 3] = m[0, 0] * (m[1, 1] * m[2, 2] - m[1, 2] * m[2, 1]) - m[1, 0] * (m[0, 1] * m[2, 2] - m[0, 2] * m[2, 1]) + m[2, 0] * (m[0, 1] * m[1, 2] - m[0, 2] * m[1, 1])
+    res[0, 0] = matrix[1, 1] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 1] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+    res[1, 0] = -(matrix[1, 0] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 0] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2]))
+    res[2, 0] = matrix[1, 0] * (matrix[2, 1] * matrix[3, 3] - matrix[2, 3] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[1, 1] * matrix[3, 3] - matrix[1, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[1, 1] * matrix[2, 3] - matrix[1, 3] * matrix[2, 1])
+    res[3, 0] = -(matrix[1, 0] * (matrix[2, 1] * matrix[3, 2] - matrix[2, 2] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[1, 1] * matrix[3, 2] - matrix[1, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1]))
+
+    res[0, 1] = -(matrix[0, 1] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 1] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2]))
+    res[1, 1] = matrix[0, 0] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 0] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+    res[2, 1] = -(matrix[0, 0] * (matrix[2, 1] * matrix[3, 3] - matrix[2, 3] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[0, 1] * matrix[3, 3] - matrix[0, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[2, 3] - matrix[0, 3] * matrix[2, 1]))
+    res[3, 1] = matrix[0, 0] * (matrix[2, 1] * matrix[3, 2] - matrix[2, 2] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[0, 1] * matrix[3, 2] - matrix[0, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[2, 2] - matrix[0, 2] * matrix[2, 1])
+
+    res[0, 2] = matrix[0, 1] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        - matrix[1, 1] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2])
+    res[1, 2] = -(matrix[0, 0] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        - matrix[1, 0] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2]))
+    res[2, 2] = matrix[0, 0] * (matrix[1, 1] * matrix[3, 3] - matrix[1, 3] * matrix[3, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[3, 3] - matrix[0, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[1, 3] - matrix[0, 3] * matrix[1, 1])
+    res[3, 2] = -(matrix[0, 0] * (matrix[1, 1] * matrix[3, 2] - matrix[1, 2] * matrix[3, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[3, 2] - matrix[0, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[1, 2] - matrix[0, 2] * matrix[1, 1]))
+
+    res[0, 3] = -(matrix[0, 1] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+        - matrix[1, 1] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+        + matrix[2, 1] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2]))
+    res[1, 3] = matrix[0, 0] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+        - matrix[1, 0] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+        + matrix[2, 0] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2])
+    res[2, 3] = -(matrix[0, 0] * (matrix[1, 1] * matrix[2, 3] - matrix[1, 3] * matrix[2, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[2, 3] - matrix[0, 3] * matrix[2, 1])
+        + matrix[2, 0] * (matrix[0, 1] * matrix[1, 3] - matrix[0, 3] * matrix[1, 1]))
+    res[3, 3] = matrix[0, 0] * (matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[2, 2] - matrix[0, 2] * matrix[2, 1])
+        + matrix[2, 0] * (matrix[0, 1] * matrix[1, 2] - matrix[0, 2] * matrix[1, 1])
 
     return res
 }
 
 /// Computes the adjugate of a 4x4 matrix.
-/// - Parameter m: The input matrix.
+/// - Parameter matrix: The input matrix.
 /// - Returns: The adjugate of the input matrix.
-public func adjugate(_ m: Mat4x4d) -> Mat4x4d {
+public func adjugate(_ matrix: Mat4x4d) -> Mat4x4d {
     var res = Mat4x4d.identity
 
-    res[0, 0] = m[1, 1] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 1] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) + m[3, 1] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2])
-    res[1, 0] = -(m[1, 0] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 0] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) + m[3, 0] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]))
-    res[2, 0] = m[1, 0] * (m[2, 1] * m[3, 3] - m[2, 3] * m[3, 1]) - m[2, 0] * (m[1, 1] * m[3, 3] - m[1, 3] * m[3, 1]) + m[3, 0] * (m[1, 1] * m[2, 3] - m[1, 3] * m[2, 1])
-    res[3, 0] = -(m[1, 0] * (m[2, 1] * m[3, 2] - m[2, 2] * m[3, 1]) - m[2, 0] * (m[1, 1] * m[3, 2] - m[1, 2] * m[3, 1]) + m[3, 0] * (m[1, 1] * m[2, 2] - m[1, 2] * m[2, 1]))
-
-    res[0, 1] = -(m[0, 1] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 1] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 1] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]))
-    res[1, 1] = m[0, 0] * (m[2, 2] * m[3, 3] - m[2, 3] * m[3, 2]) - m[2, 0] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 0] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2])
-    res[2, 1] = -(m[0, 0] * (m[2, 1] * m[3, 3] - m[2, 3] * m[3, 1]) - m[2, 0] * (m[0, 1] * m[3, 3] - m[0, 3] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[2, 3] - m[0, 3] * m[2, 1]))
-    res[3, 1] = m[0, 0] * (m[2, 1] * m[3, 2] - m[2, 2] * m[3, 1]) - m[2, 0] * (m[0, 1] * m[3, 2] - m[0, 2] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[2, 2] - m[0, 2] * m[2, 1])
-
-    res[0, 2] = m[0, 1] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) - m[1, 1] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 1] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2])
-    res[1, 2] = -(m[0, 0] * (m[1, 2] * m[3, 3] - m[1, 3] * m[3, 2]) - m[1, 0] * (m[0, 2] * m[3, 3] - m[0, 3] * m[3, 2]) + m[3, 0] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2]))
-    res[2, 2] = m[0, 0] * (m[1, 1] * m[3, 3] - m[1, 3] * m[3, 1]) - m[1, 0] * (m[0, 1] * m[3, 3] - m[0, 3] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[1, 3] - m[0, 3] * m[1, 1])
-    res[3, 2] = -(m[0, 0] * (m[1, 1] * m[3, 2] - m[1, 2] * m[3, 1]) - m[1, 0] * (m[0, 1] * m[3, 2] - m[0, 2] * m[3, 1]) + m[3, 0] * (m[0, 1] * m[1, 2] - m[0, 2] * m[1, 1]))
-
-    res[0, 3] = -(m[0, 1] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]) - m[1, 1] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]) + m[2, 1] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2]))
-    res[1, 3] = m[0, 0] * (m[1, 2] * m[2, 3] - m[1, 3] * m[2, 2]) - m[1, 0] * (m[0, 2] * m[2, 3] - m[0, 3] * m[2, 2]) + m[2, 0] * (m[0, 2] * m[1, 3] - m[0, 3] * m[1, 2])
-    res[2, 3] = -(m[0, 0] * (m[1, 1] * m[2, 3] - m[1, 3] * m[2, 1]) - m[1, 0] * (m[0, 1] * m[2, 3] - m[0, 3] * m[2, 1]) + m[2, 0] * (m[0, 1] * m[1, 3] - m[0, 3] * m[1, 1]))
-    res[3, 3] = m[0, 0] * (m[1, 1] * m[2, 2] - m[1, 2] * m[2, 1]) - m[1, 0] * (m[0, 1] * m[2, 2] - m[0, 2] * m[2, 1]) + m[2, 0] * (m[0, 1] * m[1, 2] - m[0, 2] * m[1, 1])
+    res[0, 0] = matrix[1, 1] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 1] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+    res[1, 0] = -(matrix[1, 0] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 0] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2]))
+    res[2, 0] = matrix[1, 0] * (matrix[2, 1] * matrix[3, 3] - matrix[2, 3] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[1, 1] * matrix[3, 3] - matrix[1, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[1, 1] * matrix[2, 3] - matrix[1, 3] * matrix[2, 1])
+    res[3, 0] = -(matrix[1, 0] * (matrix[2, 1] * matrix[3, 2] - matrix[2, 2] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[1, 1] * matrix[3, 2] - matrix[1, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1]))
+
+    res[0, 1] = -(matrix[0, 1] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 1] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2]))
+    res[1, 1] = matrix[0, 0] * (matrix[2, 2] * matrix[3, 3] - matrix[2, 3] * matrix[3, 2])
+        - matrix[2, 0] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+    res[2, 1] = -(matrix[0, 0] * (matrix[2, 1] * matrix[3, 3] - matrix[2, 3] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[0, 1] * matrix[3, 3] - matrix[0, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[2, 3] - matrix[0, 3] * matrix[2, 1]))
+    res[3, 1] = matrix[0, 0] * (matrix[2, 1] * matrix[3, 2] - matrix[2, 2] * matrix[3, 1])
+        - matrix[2, 0] * (matrix[0, 1] * matrix[3, 2] - matrix[0, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[2, 2] - matrix[0, 2] * matrix[2, 1])
+
+    res[0, 2] = matrix[0, 1] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        - matrix[1, 1] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 1] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2])
+    res[1, 2] = -(matrix[0, 0] * (matrix[1, 2] * matrix[3, 3] - matrix[1, 3] * matrix[3, 2])
+        - matrix[1, 0] * (matrix[0, 2] * matrix[3, 3] - matrix[0, 3] * matrix[3, 2])
+        + matrix[3, 0] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2]))
+    res[2, 2] = matrix[0, 0] * (matrix[1, 1] * matrix[3, 3] - matrix[1, 3] * matrix[3, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[3, 3] - matrix[0, 3] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[1, 3] - matrix[0, 3] * matrix[1, 1])
+    res[3, 2] = -(matrix[0, 0] * (matrix[1, 1] * matrix[3, 2] - matrix[1, 2] * matrix[3, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[3, 2] - matrix[0, 2] * matrix[3, 1])
+        + matrix[3, 0] * (matrix[0, 1] * matrix[1, 2] - matrix[0, 2] * matrix[1, 1]))
+
+    res[0, 3] = -(matrix[0, 1] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+        - matrix[1, 1] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+        + matrix[2, 1] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2]))
+    res[1, 3] = matrix[0, 0] * (matrix[1, 2] * matrix[2, 3] - matrix[1, 3] * matrix[2, 2])
+        - matrix[1, 0] * (matrix[0, 2] * matrix[2, 3] - matrix[0, 3] * matrix[2, 2])
+        + matrix[2, 0] * (matrix[0, 2] * matrix[1, 3] - matrix[0, 3] * matrix[1, 2])
+    res[2, 3] = -(matrix[0, 0] * (matrix[1, 1] * matrix[2, 3] - matrix[1, 3] * matrix[2, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[2, 3] - matrix[0, 3] * matrix[2, 1])
+        + matrix[2, 0] * (matrix[0, 1] * matrix[1, 3] - matrix[0, 3] * matrix[1, 1]))
+    res[3, 3] = matrix[0, 0] * (matrix[1, 1] * matrix[2, 2] - matrix[1, 2] * matrix[2, 1])
+        - matrix[1, 0] * (matrix[0, 1] * matrix[2, 2] - matrix[0, 2] * matrix[2, 1])
+        + matrix[2, 0] * (matrix[0, 1] * matrix[1, 2] - matrix[0, 2] * matrix[1, 1])
 
     return res
 }

Sources/FirebladeMath/Functions/determinant.swift

@@ -40,10 +40,10 @@ public func determinant(_ mat: Mat3x3f) -> Float {
     #if FRB_MATH_USE_SIMD
     return simd.simd_determinant(mat.storage)
     #else
-    let a = mat[0, 0] * (mat[1, 1] * mat[2, 2] - mat[1, 2] * mat[2, 1])
-    let b = mat[0, 1] * (mat[1, 0] * mat[2, 2] - mat[1, 2] * mat[2, 0])
-    let c = mat[0, 2] * (mat[1, 0] * mat[2, 1] - mat[1, 1] * mat[2, 0])
-    return a - b + c
+    let termA = mat[0, 0] * (mat[1, 1] * mat[2, 2] - mat[1, 2] * mat[2, 1])
+    let termB = mat[0, 1] * (mat[1, 0] * mat[2, 2] - mat[1, 2] * mat[2, 0])
+    let termC = mat[0, 2] * (mat[1, 0] * mat[2, 1] - mat[1, 1] * mat[2, 0])
+    return termA - termB + termC
     #endif
 }
 
@@ -85,9 +85,9 @@ public func determinant(_ mat: Mat3x3d) -> Double {
     #if FRB_MATH_USE_SIMD
     return simd.simd_determinant(mat.storage)
     #else
-    let a = mat[0, 0] * (mat[1, 1] * mat[2, 2] - mat[1, 2] * mat[2, 1])
-    let b = mat[0, 1] * (mat[1, 0] * mat[2, 2] - mat[1, 2] * mat[2, 0])
-    let c = mat[0, 2] * (mat[1, 0] * mat[2, 1] - mat[1, 1] * mat[2, 0])
-    return a - b + c
+    let termA = mat[0, 0] * (mat[1, 1] * mat[2, 2] - mat[1, 2] * mat[2, 1])
+    let termB = mat[0, 1] * (mat[1, 0] * mat[2, 2] - mat[1, 2] * mat[2, 0])
+    let termC = mat[0, 2] * (mat[1, 0] * mat[2, 1] - mat[1, 1] * mat[2, 0])
+    return termA - termB + termC
     #endif
 }