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Adding a Mtx_Inverse calculation.

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This commit is contained in:
Thompson Lee 2016-07-30 23:11:52 -04:00
parent ab534333b2
commit e999c4c6f7
1 changed files with 129 additions and 0 deletions
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source/maths/mtx_inverse.c Normal file
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#include <c3d/maths.h>
void 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[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[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];
det = 1.0 / det;
for (i = 0; i < 16; i++)
out->m[i] = inv[i] * det;
}
}