added calculateInverse() to util/Matrix module
git-svn-id: svn://anubis/fart/trunk@11 7f9b0f55-74a9-4bce-be96-3c2cd072584d
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Josh Holtrop
parent
aec4a17e45
commit
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118
util/Matrix.cc
118
util/Matrix.cc
@ -1,6 +1,11 @@
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#include "Matrix.h"
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Matrix::Matrix()
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{
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m_inverse_calculated = false;
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}
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Matrix Matrix::identity()
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{
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Matrix res;
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@ -47,6 +52,119 @@ double Matrix::determinant()
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- m_matrix[0][3]*m_matrix[1][2]*m_matrix[2][0]*m_matrix[3][1];
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}
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void Matrix::calculateInverse()
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{
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m_inverse_calculated = true;
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m_inverse_valid = false;
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double det = determinant();
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if (det == 0.0)
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return;
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m_inverse[0][0] = m_matrix[1][1]*m_matrix[2][2]*m_matrix[3][3]
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+ m_matrix[1][2]*m_matrix[2][3]*m_matrix[3][1]
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+ m_matrix[1][3]*m_matrix[2][1]*m_matrix[3][2]
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- m_matrix[1][1]*m_matrix[2][3]*m_matrix[3][2]
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- m_matrix[1][2]*m_matrix[2][1]*m_matrix[3][3]
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- m_matrix[1][3]*m_matrix[2][2]*m_matrix[3][1];
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m_inverse[0][1] = m_matrix[0][1]*m_matrix[2][3]*m_matrix[3][2]
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+ m_matrix[0][2]*m_matrix[2][1]*m_matrix[3][3]
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+ m_matrix[0][3]*m_matrix[2][2]*m_matrix[3][1]
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- m_matrix[0][1]*m_matrix[2][2]*m_matrix[3][3]
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- m_matrix[0][2]*m_matrix[2][3]*m_matrix[3][1]
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- m_matrix[0][3]*m_matrix[2][1]*m_matrix[3][2];
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m_inverse[0][2] = m_matrix[0][1]*m_matrix[1][2]*m_matrix[3][3]
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+ m_matrix[0][2]*m_matrix[1][3]*m_matrix[3][1]
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+ m_matrix[0][3]*m_matrix[1][1]*m_matrix[3][2]
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- m_matrix[0][1]*m_matrix[1][3]*m_matrix[3][2]
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- m_matrix[0][2]*m_matrix[1][1]*m_matrix[3][3]
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- m_matrix[0][3]*m_matrix[1][2]*m_matrix[3][1];
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m_inverse[0][3] = m_matrix[0][1]*m_matrix[1][3]*m_matrix[2][2]
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+ m_matrix[0][2]*m_matrix[1][1]*m_matrix[2][3]
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+ m_matrix[0][3]*m_matrix[1][2]*m_matrix[2][1]
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- m_matrix[0][1]*m_matrix[1][2]*m_matrix[2][3]
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- m_matrix[0][2]*m_matrix[1][3]*m_matrix[2][1]
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- m_matrix[0][3]*m_matrix[1][1]*m_matrix[2][2];
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m_inverse[1][0] = m_matrix[1][0]*m_matrix[2][3]*m_matrix[3][2]
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+ m_matrix[1][2]*m_matrix[2][0]*m_matrix[3][3]
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+ m_matrix[1][3]*m_matrix[2][2]*m_matrix[3][0]
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- m_matrix[1][0]*m_matrix[2][2]*m_matrix[3][3]
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- m_matrix[1][2]*m_matrix[2][3]*m_matrix[3][0]
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- m_matrix[1][3]*m_matrix[2][0]*m_matrix[3][2];
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m_inverse[1][1] = m_matrix[0][0]*m_matrix[2][2]*m_matrix[3][3]
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+ m_matrix[0][2]*m_matrix[2][3]*m_matrix[3][0]
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+ m_matrix[0][3]*m_matrix[2][0]*m_matrix[3][2]
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- m_matrix[0][0]*m_matrix[2][3]*m_matrix[3][2]
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- m_matrix[0][2]*m_matrix[2][0]*m_matrix[3][3]
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- m_matrix[0][3]*m_matrix[2][2]*m_matrix[3][0];
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m_inverse[1][2] = m_matrix[0][0]*m_matrix[1][3]*m_matrix[3][2]
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+ m_matrix[0][2]*m_matrix[1][0]*m_matrix[3][3]
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+ m_matrix[0][3]*m_matrix[1][2]*m_matrix[3][0]
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- m_matrix[0][0]*m_matrix[1][2]*m_matrix[3][3]
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- m_matrix[0][2]*m_matrix[1][3]*m_matrix[3][0]
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- m_matrix[0][3]*m_matrix[1][0]*m_matrix[3][2];
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m_inverse[1][3] = m_matrix[0][0]*m_matrix[1][2]*m_matrix[2][3]
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+ m_matrix[0][2]*m_matrix[1][3]*m_matrix[2][0]
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+ m_matrix[0][3]*m_matrix[1][0]*m_matrix[2][2]
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- m_matrix[0][0]*m_matrix[1][3]*m_matrix[2][2]
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- m_matrix[0][2]*m_matrix[1][0]*m_matrix[2][3]
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- m_matrix[0][3]*m_matrix[1][2]*m_matrix[2][0];
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m_inverse[2][0] = m_matrix[1][0]*m_matrix[2][1]*m_matrix[3][3]
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+ m_matrix[1][1]*m_matrix[2][3]*m_matrix[3][0]
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+ m_matrix[1][3]*m_matrix[2][0]*m_matrix[3][1]
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- m_matrix[1][0]*m_matrix[2][3]*m_matrix[3][1]
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- m_matrix[1][1]*m_matrix[2][0]*m_matrix[3][3]
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- m_matrix[1][3]*m_matrix[2][1]*m_matrix[3][0];
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m_inverse[2][1] = m_matrix[0][0]*m_matrix[2][3]*m_matrix[3][1]
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+ m_matrix[0][1]*m_matrix[2][0]*m_matrix[3][3]
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+ m_matrix[0][3]*m_matrix[2][1]*m_matrix[3][0]
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- m_matrix[0][0]*m_matrix[2][1]*m_matrix[3][3]
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- m_matrix[0][1]*m_matrix[2][3]*m_matrix[3][0]
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- m_matrix[0][3]*m_matrix[2][0]*m_matrix[3][1];
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m_inverse[2][2] = m_matrix[0][0]*m_matrix[1][1]*m_matrix[3][3]
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+ m_matrix[0][1]*m_matrix[1][3]*m_matrix[3][0]
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+ m_matrix[0][3]*m_matrix[1][0]*m_matrix[3][1]
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- m_matrix[0][0]*m_matrix[1][3]*m_matrix[3][1]
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- m_matrix[0][1]*m_matrix[1][0]*m_matrix[3][3]
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- m_matrix[0][3]*m_matrix[1][1]*m_matrix[3][0];
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m_inverse[2][3] = m_matrix[0][0]*m_matrix[1][3]*m_matrix[2][1]
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+ m_matrix[0][1]*m_matrix[1][0]*m_matrix[2][3]
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+ m_matrix[0][3]*m_matrix[1][1]*m_matrix[2][0]
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- m_matrix[0][0]*m_matrix[1][1]*m_matrix[2][3]
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- m_matrix[0][1]*m_matrix[1][3]*m_matrix[2][0]
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- m_matrix[0][3]*m_matrix[1][0]*m_matrix[2][1];
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m_inverse[3][0] = m_matrix[1][0]*m_matrix[2][2]*m_matrix[3][1]
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+ m_matrix[1][1]*m_matrix[2][0]*m_matrix[3][2]
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+ m_matrix[1][2]*m_matrix[2][1]*m_matrix[3][0]
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- m_matrix[1][0]*m_matrix[2][1]*m_matrix[3][2]
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- m_matrix[1][1]*m_matrix[2][2]*m_matrix[3][0]
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- m_matrix[1][2]*m_matrix[2][0]*m_matrix[3][1];
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m_inverse[3][1] = m_matrix[0][0]*m_matrix[2][1]*m_matrix[3][2]
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+ m_matrix[0][1]*m_matrix[2][2]*m_matrix[3][0]
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+ m_matrix[0][2]*m_matrix[2][0]*m_matrix[3][1]
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- m_matrix[0][0]*m_matrix[2][2]*m_matrix[3][1]
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- m_matrix[0][1]*m_matrix[2][0]*m_matrix[3][2]
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- m_matrix[0][2]*m_matrix[2][1]*m_matrix[3][0];
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m_inverse[3][2] = m_matrix[0][0]*m_matrix[1][2]*m_matrix[3][1]
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+ m_matrix[0][1]*m_matrix[1][0]*m_matrix[3][2]
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+ m_matrix[0][2]*m_matrix[1][1]*m_matrix[3][0]
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- m_matrix[0][0]*m_matrix[1][1]*m_matrix[3][2]
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- m_matrix[0][1]*m_matrix[1][2]*m_matrix[3][0]
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- m_matrix[0][2]*m_matrix[1][0]*m_matrix[3][1];
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m_inverse[3][3] = m_matrix[0][0]*m_matrix[1][1]*m_matrix[2][2]
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+ m_matrix[0][1]*m_matrix[1][2]*m_matrix[2][0]
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+ m_matrix[0][2]*m_matrix[1][0]*m_matrix[2][1]
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- m_matrix[0][0]*m_matrix[1][2]*m_matrix[2][1]
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- m_matrix[0][1]*m_matrix[1][0]*m_matrix[2][2]
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- m_matrix[0][2]*m_matrix[1][1]*m_matrix[2][0];
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for (int i = 0; i < 4; i++)
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{
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for (int j = 0; j < 4; j++)
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{
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m_inverse[i][j] /= det;
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}
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}
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m_inverse_valid = true;
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}
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Matrix operator*(const Matrix & m1, const Matrix & m2)
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{
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Matrix res;
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@ -7,6 +7,7 @@
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class Matrix
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{
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public:
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Matrix();
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typedef double Matrix_row_t[4];
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Matrix_row_t & operator[](int idx) { return m_matrix[idx]; }
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const Matrix_row_t & operator[](int idx) const { return m_matrix[idx]; }
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@ -15,6 +16,10 @@ class Matrix
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protected:
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double m_matrix[4][4];
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double m_inverse[4][4];
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bool m_inverse_calculated;
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bool m_inverse_valid;
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void calculateInverse();
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};
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Matrix operator*(const Matrix & m1, const Matrix & m2);
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