diff --git a/source/maths/mtx_inverse.c b/source/maths/mtx_inverse.c index 8afadae..3dcfadc 100644 --- a/source/maths/mtx_inverse.c +++ b/source/maths/mtx_inverse.c @@ -5,121 +5,121 @@ bool Mtx_Inverse(C3D_Mtx* out) float inv[16], det; int i; - inv[0] = out->m[5] * out->m[10] * out->m[15] - - out->m[5] * out->m[11] * out->m[14] - - out->m[9] * out->m[6] * out->m[15] + - out->m[9] * out->m[7] * out->m[14] + - out->m[13] * out->m[6] * out->m[11] - - out->m[13] * out->m[7] * out->m[10]; + inv[0] = out->m[5] * out->m[10] * out->m[15] - + out->m[5] * out->m[11] * out->m[14] - + out->m[9] * out->m[6] * out->m[15] + + out->m[9] * out->m[7] * out->m[14] + + out->m[13] * out->m[6] * out->m[11] - + out->m[13] * out->m[7] * out->m[10]; - inv[4] = -out->m[4] * out->m[10] * out->m[15] + - out->m[4] * out->m[11] * out->m[14] + - out->m[8] * out->m[6] * out->m[15] - - out->m[8] * out->m[7] * out->m[14] - - out->m[12] * out->m[6] * out->m[11] + - out->m[12] * out->m[7] * out->m[10]; + inv[4] = -out->m[4] * out->m[10] * out->m[15] + + out->m[4] * out->m[11] * out->m[14] + + out->m[8] * out->m[6] * out->m[15] - + out->m[8] * out->m[7] * out->m[14] - + out->m[12] * out->m[6] * out->m[11] + + out->m[12] * out->m[7] * out->m[10]; - inv[8] = out->m[4] * out->m[9] * out->m[15] - - out->m[4] * out->m[11] * out->m[13] - - out->m[8] * out->m[5] * out->m[15] + - out->m[8] * out->m[7] * out->m[13] + - out->m[12] * out->m[5] * out->m[11] - - out->m[12] * out->m[7] * out->m[9]; + inv[8] = out->m[4] * out->m[9] * out->m[15] - + out->m[4] * out->m[11] * out->m[13] - + out->m[8] * out->m[5] * out->m[15] + + out->m[8] * out->m[7] * out->m[13] + + out->m[12] * out->m[5] * out->m[11] - + out->m[12] * out->m[7] * out->m[9]; + + inv[12] = -out->m[4] * out->m[9] * out->m[14] + + out->m[4] * out->m[10] * out->m[13] + + out->m[8] * out->m[5] * out->m[14] - + out->m[8] * out->m[6] * out->m[13] - + out->m[12] * out->m[5] * out->m[10] + + out->m[12] * out->m[6] * out->m[9]; - inv[12] = -out->m[4] * out->m[9] * out->m[14] + - out->m[4] * out->m[10] * out->m[13] + - out->m[8] * out->m[5] * out->m[14] - - out->m[8] * out->m[6] * out->m[13] - - out->m[12] * out->m[5] * out->m[10] + - out->m[12] * out->m[6] * out->m[9]; - det = out->m[0] * inv[0] + out->m[1] * inv[4] + out->m[2] * inv[8] + out->m[3] * inv[12]; if (det != 0.0f){ - inv[1] = -out->m[1] * out->m[10] * out->m[15] + - out->m[1] * out->m[11] * out->m[14] + - out->m[9] * out->m[2] * out->m[15] - - out->m[9] * out->m[3] * out->m[14] - - out->m[13] * out->m[2] * out->m[11] + - out->m[13] * out->m[3] * out->m[10]; - - inv[5] = out->m[0] * out->m[10] * out->m[15] - - out->m[0] * out->m[11] * out->m[14] - - out->m[8] * out->m[2] * out->m[15] + - out->m[8] * out->m[3] * out->m[14] + - out->m[12] * out->m[2] * out->m[11] - - out->m[12] * out->m[3] * out->m[10]; - - inv[9] = -out->m[0] * out->m[9] * out->m[15] + - out->m[0] * out->m[11] * out->m[13] + - out->m[8] * out->m[1] * out->m[15] - - out->m[8] * out->m[3] * out->m[13] - - out->m[12] * out->m[1] * out->m[11] + - out->m[12] * out->m[3] * out->m[9]; - - inv[13] = out->m[0] * out->m[9] * out->m[14] - - out->m[0] * out->m[10] * out->m[13] - - out->m[8] * out->m[1] * out->m[14] + - out->m[8] * out->m[2] * out->m[13] + - out->m[12] * out->m[1] * out->m[10] - - out->m[12] * out->m[2] * out->m[9]; - - inv[2] = out->m[1] * out->m[6] * out->m[15] - - out->m[1] * out->m[7] * out->m[14] - - out->m[5] * out->m[2] * out->m[15] + - out->m[5] * out->m[3] * out->m[14] + - out->m[13] * out->m[2] * out->m[7] - - out->m[13] * out->m[3] * out->m[6]; - - inv[6] = -out->m[0] * out->m[6] * out->m[15] + - out->m[0] * out->m[7] * out->m[14] + - out->m[4] * out->m[2] * out->m[15] - - out->m[4] * out->m[3] * out->m[14] - - out->m[12] * out->m[2] * out->m[7] + - out->m[12] * out->m[3] * out->m[6]; - - inv[10] = out->m[0] * out->m[5] * out->m[15] - - out->m[0] * out->m[7] * out->m[13] - - out->m[4] * out->m[1] * out->m[15] + - out->m[4] * out->m[3] * out->m[13] + - out->m[12] * out->m[1] * out->m[7] - - out->m[12] * out->m[3] * out->m[5]; - - inv[14] = -out->m[0] * out->m[5] * out->m[14] + - out->m[0] * out->m[6] * out->m[13] + - out->m[4] * out->m[1] * out->m[14] - - out->m[4] * out->m[2] * out->m[13] - - out->m[12] * out->m[1] * out->m[6] + - out->m[12] * out->m[2] * out->m[5]; - - inv[3] = -out->m[1] * out->m[6] * out->m[11] + - out->m[1] * out->m[7] * out->m[10] + - out->m[5] * out->m[2] * out->m[11] - - out->m[5] * out->m[3] * out->m[10] - - out->m[9] * out->m[2] * out->m[7] + - out->m[9] * out->m[3] * out->m[6]; - - inv[7] = out->m[0] * out->m[6] * out->m[11] - - out->m[0] * out->m[7] * out->m[10] - - out->m[4] * out->m[2] * out->m[11] + - out->m[4] * out->m[3] * out->m[10] + - out->m[8] * out->m[2] * out->m[7] - - out->m[8] * out->m[3] * out->m[6]; - - inv[11] = -out->m[0] * out->m[5] * out->m[11] + - out->m[0] * out->m[7] * out->m[9] + - out->m[4] * out->m[1] * out->m[11] - - out->m[4] * out->m[3] * out->m[9] - - out->m[8] * out->m[1] * out->m[7] + - out->m[8] * out->m[3] * out->m[5]; - - inv[15] = out->m[0] * out->m[5] * out->m[10] - - out->m[0] * out->m[6] * out->m[9] - - out->m[4] * out->m[1] * out->m[10] + - out->m[4] * out->m[2] * out->m[9] + - out->m[8] * out->m[1] * out->m[6] - - out->m[8] * out->m[2] * out->m[5]; - + inv[1] = -out->m[1] * out->m[10] * out->m[15] + + out->m[1] * out->m[11] * out->m[14] + + out->m[9] * out->m[2] * out->m[15] - + out->m[9] * out->m[3] * out->m[14] - + out->m[13] * out->m[2] * out->m[11] + + out->m[13] * out->m[3] * out->m[10]; + + inv[5] = out->m[0] * out->m[10] * out->m[15] - + out->m[0] * out->m[11] * out->m[14] - + out->m[8] * out->m[2] * out->m[15] + + out->m[8] * out->m[3] * out->m[14] + + out->m[12] * out->m[2] * out->m[11] - + out->m[12] * out->m[3] * out->m[10]; + + inv[9] = -out->m[0] * out->m[9] * out->m[15] + + out->m[0] * out->m[11] * out->m[13] + + out->m[8] * out->m[1] * out->m[15] - + out->m[8] * out->m[3] * out->m[13] - + out->m[12] * out->m[1] * out->m[11] + + out->m[12] * out->m[3] * out->m[9]; + + inv[13] = out->m[0] * out->m[9] * out->m[14] - + out->m[0] * out->m[10] * out->m[13] - + out->m[8] * out->m[1] * out->m[14] + + out->m[8] * out->m[2] * out->m[13] + + out->m[12] * out->m[1] * out->m[10] - + out->m[12] * out->m[2] * out->m[9]; + + inv[2] = out->m[1] * out->m[6] * out->m[15] - + out->m[1] * out->m[7] * out->m[14] - + out->m[5] * out->m[2] * out->m[15] + + out->m[5] * out->m[3] * out->m[14] + + out->m[13] * out->m[2] * out->m[7] - + out->m[13] * out->m[3] * out->m[6]; + + inv[6] = -out->m[0] * out->m[6] * out->m[15] + + out->m[0] * out->m[7] * out->m[14] + + out->m[4] * out->m[2] * out->m[15] - + out->m[4] * out->m[3] * out->m[14] - + out->m[12] * out->m[2] * out->m[7] + + out->m[12] * out->m[3] * out->m[6]; + + inv[10] = out->m[0] * out->m[5] * out->m[15] - + out->m[0] * out->m[7] * out->m[13] - + out->m[4] * out->m[1] * out->m[15] + + out->m[4] * out->m[3] * out->m[13] + + out->m[12] * out->m[1] * out->m[7] - + out->m[12] * out->m[3] * out->m[5]; + + inv[14] = -out->m[0] * out->m[5] * out->m[14] + + out->m[0] * out->m[6] * out->m[13] + + out->m[4] * out->m[1] * out->m[14] - + out->m[4] * out->m[2] * out->m[13] - + out->m[12] * out->m[1] * out->m[6] + + out->m[12] * out->m[2] * out->m[5]; + + inv[3] = -out->m[1] * out->m[6] * out->m[11] + + out->m[1] * out->m[7] * out->m[10] + + out->m[5] * out->m[2] * out->m[11] - + out->m[5] * out->m[3] * out->m[10] - + out->m[9] * out->m[2] * out->m[7] + + out->m[9] * out->m[3] * out->m[6]; + + inv[7] = out->m[0] * out->m[6] * out->m[11] - + out->m[0] * out->m[7] * out->m[10] - + out->m[4] * out->m[2] * out->m[11] + + out->m[4] * out->m[3] * out->m[10] + + out->m[8] * out->m[2] * out->m[7] - + out->m[8] * out->m[3] * out->m[6]; + + inv[11] = -out->m[0] * out->m[5] * out->m[11] + + out->m[0] * out->m[7] * out->m[9] + + out->m[4] * out->m[1] * out->m[11] - + out->m[4] * out->m[3] * out->m[9] - + out->m[8] * out->m[1] * out->m[7] + + out->m[8] * out->m[3] * out->m[5]; + + inv[15] = out->m[0] * out->m[5] * out->m[10] - + out->m[0] * out->m[6] * out->m[9] - + out->m[4] * out->m[1] * out->m[10] + + out->m[4] * out->m[2] * out->m[9] + + out->m[8] * out->m[1] * out->m[6] - + out->m[8] * out->m[2] * out->m[5]; + det = 1.0 / det; for (i = 0; i < 16; i++)