diff options
| -rw-r--r-- | maths.cpp | 28 | ||||
| -rw-r--r-- | maths.hpp | 2 |
2 files changed, 30 insertions, 0 deletions
@@ -446,3 +446,31 @@ v3f m3f::operator*(const v3f& other) const { m[0][2] * other.x + m[1][2] * other.y + m[2][2] * other.z ); } + +m3f m3f::inverse() const { + m3f r; + r.m[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1]; + r.m[0][1] = m[0][2] * m[2][1] - m[0][1] * m[2][2]; + r.m[0][2] = m[0][1] * m[1][2] - m[0][2] * m[1][1]; + r.m[1][0] = m[1][2] * m[2][0] - m[1][0] * m[2][2]; + r.m[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0]; + r.m[1][2] = m[0][2] * m[1][0] - m[0][0] * m[1][2]; + r.m[2][0] = m[1][0] * m[2][1] - m[1][1] * m[2][0]; + r.m[2][1] = m[0][1] * m[2][0] - m[0][0] * m[2][1]; + r.m[2][2] = m[0][0] * m[1][1] - m[0][1] * m[1][0]; + float d = + m[0][0] * r.m[0][0] + + m[0][1] * r.m[1][0] + + m[0][2] * r.m[2][0]; + d = 1.0f / d; + r.m[0][0] *= d; + r.m[0][1] *= d; + r.m[0][2] *= d; + r.m[1][0] *= d; + r.m[1][1] *= d; + r.m[1][2] *= d; + r.m[2][0] *= d; + r.m[2][1] *= d; + r.m[2][2] *= d; + return r; +} @@ -529,6 +529,8 @@ struct m3f { static v3f transform(const m3f& m, const v3f& v); v3f operator*(const v3f& other) const; + + m3f inverse() const; }; #endif |