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* of a rigid body.
*/
class Matrix3
// ... Other Matrix3 code as before ...
/**
* Sets the matrix to be the inverse of the given matrix.
*
* @param m The matrix to invert and use to set this.
*/
void setInverse(const Matrix3 &m)
{
real t4 = m.data[0]*m.data[4];
real t6 = m.data[0]*m.data[5];
real t8 = m.data[1]*m.data[3];
real t10 = m.data[2]*m.data[3];
real t12 = m.data[1]*m.data[6];
real t14 = m.data[2]*m.data[6];
// Calculate the determinant.
real t16 = (t4*m.data[8] - t6*m.data[7] - t8*m.data[8] +
t10*m.data[7] + t12*m.data[5] - t14*m.data[4]);
// Make sure the determinant is non-zero.
if (t16 == (real)0.0f) return;
real t17 = 1/t16;
data[0] = (m.data[4]*m.data[8]-m.data[5]*m.data[7])*t17;
data[1] = -(m.data[1]*m.data[8]-m.data[2]*m.data[7])*t17;
data[2] = (m.data[1]*m.data[5]-m.data[2]*m.data[4])*t17;
data[3] = -(m.data[3]*m.data[8]-m.data[5]*m.data[6])*t17;
data[4] = (m.data[0]*m.data[8]-t14)*t17;
data[5] = -(t6-t10)*t17;
data[6] = (m.data[3]*m.data[7]-m.data[4]*m.data[6])*t17;
data[7] = -(m.data[0]*m.data[7]-t12)*t17;
data[8] = (t4-t8)*t17;
}
/** Returns a new matrix containing the inverse of this matrix. */
Matrix3 inverse() const
{
Matrix3 result;
result.setInverse(*this);
return result;
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