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00039 #include "Stdafx.h"
00040
00041 using namespace IceMaths;
00042
00044
00053
00054 ICEMATHS_API void IceMaths::InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src)
00055 {
00056 dest.m[0][0] = src.m[0][0];
00057 dest.m[1][0] = src.m[0][1];
00058 dest.m[2][0] = src.m[0][2];
00059 dest.m[3][0] = -(src.m[3][0]*src.m[0][0] + src.m[3][1]*src.m[0][1] + src.m[3][2]*src.m[0][2]);
00060
00061 dest.m[0][1] = src.m[1][0];
00062 dest.m[1][1] = src.m[1][1];
00063 dest.m[2][1] = src.m[1][2];
00064 dest.m[3][1] = -(src.m[3][0]*src.m[1][0] + src.m[3][1]*src.m[1][1] + src.m[3][2]*src.m[1][2]);
00065
00066 dest.m[0][2] = src.m[2][0];
00067 dest.m[1][2] = src.m[2][1];
00068 dest.m[2][2] = src.m[2][2];
00069 dest.m[3][2] = -(src.m[3][0]*src.m[2][0] + src.m[3][1]*src.m[2][1] + src.m[3][2]*src.m[2][2]);
00070
00071 dest.m[0][3] = 0.0f;
00072 dest.m[1][3] = 0.0f;
00073 dest.m[2][3] = 0.0f;
00074 dest.m[3][3] = 1.0f;
00075 }
00076
00078
00080 float Matrix4x4::CoFactor(udword row, udword col) const
00081 {
00082 return (( m[(row+1)&3][(col+1)&3]*m[(row+2)&3][(col+2)&3]*m[(row+3)&3][(col+3)&3] +
00083 m[(row+1)&3][(col+2)&3]*m[(row+2)&3][(col+3)&3]*m[(row+3)&3][(col+1)&3] +
00084 m[(row+1)&3][(col+3)&3]*m[(row+2)&3][(col+1)&3]*m[(row+3)&3][(col+2)&3])
00085 - (m[(row+3)&3][(col+1)&3]*m[(row+2)&3][(col+2)&3]*m[(row+1)&3][(col+3)&3] +
00086 m[(row+3)&3][(col+2)&3]*m[(row+2)&3][(col+3)&3]*m[(row+1)&3][(col+1)&3] +
00087 m[(row+3)&3][(col+3)&3]*m[(row+2)&3][(col+1)&3]*m[(row+1)&3][(col+2)&3])) * ((row + col) & 1 ? -1.0f : +1.0f);
00088 }
00089
00091
00093 float Matrix4x4::Determinant() const
00094 {
00095 return m[0][0] * CoFactor(0, 0) +
00096 m[0][1] * CoFactor(0, 1) +
00097 m[0][2] * CoFactor(0, 2) +
00098 m[0][3] * CoFactor(0, 3);
00099 }
00100
00102
00104 Matrix4x4& Matrix4x4::Invert()
00105 {
00106 float Det = Determinant();
00107 Matrix4x4 Temp;
00108
00109 if(fabsf(Det) < MATRIX4X4_EPSILON)
00110 return *this;
00111
00112 float IDet = 1.0f / Det;
00113
00114 Temp.m[0][0] = CoFactor(0,0) * IDet;
00115 Temp.m[1][0] = CoFactor(0,1) * IDet;
00116 Temp.m[2][0] = CoFactor(0,2) * IDet;
00117 Temp.m[3][0] = CoFactor(0,3) * IDet;
00118 Temp.m[0][1] = CoFactor(1,0) * IDet;
00119 Temp.m[1][1] = CoFactor(1,1) * IDet;
00120 Temp.m[2][1] = CoFactor(1,2) * IDet;
00121 Temp.m[3][1] = CoFactor(1,3) * IDet;
00122 Temp.m[0][2] = CoFactor(2,0) * IDet;
00123 Temp.m[1][2] = CoFactor(2,1) * IDet;
00124 Temp.m[2][2] = CoFactor(2,2) * IDet;
00125 Temp.m[3][2] = CoFactor(2,3) * IDet;
00126 Temp.m[0][3] = CoFactor(3,0) * IDet;
00127 Temp.m[1][3] = CoFactor(3,1) * IDet;
00128 Temp.m[2][3] = CoFactor(3,2) * IDet;
00129 Temp.m[3][3] = CoFactor(3,3) * IDet;
00130
00131 *this = Temp;
00132
00133 return *this;
00134 }
00135