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new __gluInvertMatrix() function (Mesa bug 6748)

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This commit is contained in:
Brian 2007-08-27 10:36:25 -06:00
parent b3788a0e4f
commit 3069f34841
1 changed files with 49 additions and 66 deletions
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115
src/glu/sgi/libutil/project.c
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@ -168,74 +168,57 @@ static void __gluMultMatrixVecd(const GLdouble matrix[16], const GLdouble in[4],
}
/*
** inverse = invert(src)
** New, faster implementation by Shan Hao Bo, April 2006.
** Invert 4x4 matrix.
** Contributed by David Moore (See Mesa bug #6748)
*/
static int __gluInvertMatrixd(const GLdouble src[16], GLdouble inverse[16])
static int __gluInvertMatrixd(const GLdouble m[16], GLdouble inv[16])
{
int i, j, k;
double t;
GLdouble temp[4][4];
for (i=0; i<4; i++) {
for (j=0; j<4; j++) {
temp[i][j] = src[i*4+j];
}
}
__gluMakeIdentityd(inverse);
for (i = 0; i < 4; i++) {
if (temp[i][i] == 0.0f) {
/*
** Look for non-zero element in column
*/
for (j = i + 1; j < 4; j++) {
if (temp[j][i] != 0.0f) {
break;
}
}
if (j != 4) {
/*
** Swap rows.
*/
for (k = 0; k < 4; k++) {
t = temp[i][k];
temp[i][k] = temp[j][k];
temp[j][k] = t;
t = inverse[i*4+k];
inverse[i*4+k] = inverse[j*4+k];
inverse[j*4+k] = t;
}
}
else {
/*
** No non-zero pivot. The matrix is singular,
which shouldn't
** happen. This means the user gave us a bad
matrix.
*/
return GL_FALSE;
}
}
t = 1.0f / temp[i][i];
for (k = 0; k < 4; k++) {
temp[i][k] *= t;
inverse[i*4+k] *= t;
}
for (j = 0; j < 4; j++) {
if (j != i) {
t = temp[j][i];
for (k = 0; k < 4; k++) {
temp[j][k] -= temp[i][k]*t;
inverse[j*4+k] -= inverse[i*4+k]*t;
}
}
}
}
return GL_TRUE;
double det;
int i;
inv[0] = m[5]*m[10]*m[15] - m[5]*m[11]*m[14] - m[9]*m[6]*m[15]
+ m[9]*m[7]*m[14] + m[13]*m[6]*m[11] - m[13]*m[7]*m[10];
inv[4] = -m[4]*m[10]*m[15] + m[4]*m[11]*m[14] + m[8]*m[6]*m[15]
- m[8]*m[7]*m[14] - m[12]*m[6]*m[11] + m[12]*m[7]*m[10];
inv[8] = m[4]*m[9]*m[15] - m[4]*m[11]*m[13] - m[8]*m[5]*m[15]
+ m[8]*m[7]*m[13] + m[12]*m[5]*m[11] - m[12]*m[7]*m[9];
inv[12] = -m[4]*m[9]*m[14] + m[4]*m[10]*m[13] + m[8]*m[5]*m[14]
- m[8]*m[6]*m[13] - m[12]*m[5]*m[10] + m[12]*m[6]*m[9];
inv[1] = -m[1]*m[10]*m[15] + m[1]*m[11]*m[14] + m[9]*m[2]*m[15]
- m[9]*m[3]*m[14] - m[13]*m[2]*m[11] + m[13]*m[3]*m[10];
inv[5] = m[0]*m[10]*m[15] - m[0]*m[11]*m[14] - m[8]*m[2]*m[15]
+ m[8]*m[3]*m[14] + m[12]*m[2]*m[11] - m[12]*m[3]*m[10];
inv[9] = -m[0]*m[9]*m[15] + m[0]*m[11]*m[13] + m[8]*m[1]*m[15]
- m[8]*m[3]*m[13] - m[12]*m[1]*m[11] + m[12]*m[3]*m[9];
inv[13] = m[0]*m[9]*m[14] - m[0]*m[10]*m[13] - m[8]*m[1]*m[14]
+ m[8]*m[2]*m[13] + m[12]*m[1]*m[10] - m[12]*m[2]*m[9];
inv[2] = m[1]*m[6]*m[15] - m[1]*m[7]*m[14] - m[5]*m[2]*m[15]
+ m[5]*m[3]*m[14] + m[13]*m[2]*m[7] - m[13]*m[3]*m[6];
inv[6] = -m[0]*m[6]*m[15] + m[0]*m[7]*m[14] + m[4]*m[2]*m[15]
- m[4]*m[3]*m[14] - m[12]*m[2]*m[7] + m[12]*m[3]*m[6];
inv[10] = m[0]*m[5]*m[15] - m[0]*m[7]*m[13] - m[4]*m[1]*m[15]
+ m[4]*m[3]*m[13] + m[12]*m[1]*m[7] - m[12]*m[3]*m[5];
inv[14] = -m[0]*m[5]*m[14] + m[0]*m[6]*m[13] + m[4]*m[1]*m[14]
- m[4]*m[2]*m[13] - m[12]*m[1]*m[6] + m[12]*m[2]*m[5];
inv[3] = -m[1]*m[6]*m[11] + m[1]*m[7]*m[10] + m[5]*m[2]*m[11]
- m[5]*m[3]*m[10] - m[9]*m[2]*m[7] + m[9]*m[3]*m[6];
inv[7] = m[0]*m[6]*m[11] - m[0]*m[7]*m[10] - m[4]*m[2]*m[11]
+ m[4]*m[3]*m[10] + m[8]*m[2]*m[7] - m[8]*m[3]*m[6];
inv[11] = -m[0]*m[5]*m[11] + m[0]*m[7]*m[9] + m[4]*m[1]*m[11]
- m[4]*m[3]*m[9] - m[8]*m[1]*m[7] + m[8]*m[3]*m[5];
inv[15] = m[0]*m[5]*m[10] - m[0]*m[6]*m[9] - m[4]*m[1]*m[10]
+ m[4]*m[2]*m[9] + m[8]*m[1]*m[6] - m[8]*m[2]*m[5];
det = m[0]*inv[0] + m[1]*inv[4] + m[2]*inv[8] + m[3]*inv[12];
if (det == 0)
return GL_FALSE;
det = 1.0 / det;
for (i = 0; i < 16; i++)
inv[i] *= det;
return GL_TRUE;
}
static void __gluMultMatricesd(const GLdouble a[16], const GLdouble b[16],