ScummVM API documentation
•All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
matrix_inv.h
1 /* ScummVM - Graphic Adventure Engine
2  *
3  * ScummVM is the legal property of its developers, whose names
4  * are too numerous to list here. Please refer to the COPYRIGHT
5  * file distributed with this source distribution.
6  *
7  * This program is free software: you can redistribute it and/or modify
8  * it under the terms of the GNU General Public License as published by
9  * the Free Software Foundation, either version 3 of the License, or
10  * (at your option) any later version.
11  *
12  * This program is distributed in the hope that it will be useful,
13  * but WITHOUT ANY WARRANTY; without even the implied warranty of
14  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15  * GNU General Public License for more details.
16  *
17  * You should have received a copy of the GNU General Public License
18  * along with this program. If not, see <http://www.gnu.org/licenses/>.
19  *
20  */
21 
22 /*
23 * Files matrix_inv.h are a part of the MESA 3D Library (MIT License)
24 *
25 * Copyright (C) 1999-2007 Brian Paul All Rights Reserved.
26 *
27 * Permission is hereby granted, free of charge, to any person obtaining a
28 * copy of this software and associated documentation files (the "Software"),
29 * to deal in the Software without restriction, including without limitation
30 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
31 * and/or sell copies of the Software, and to permit persons to whom the
32 * Software is furnished to do so, subject to the following conditions:
33 *
34 * The above copyright notice and this permission notice shall be included
35 * in all copies or substantial portions of the Software.
36 *
37 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
38 * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
39 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
40 * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
41 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
42 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
43 * SOFTWARE.
44 *
45 */
46 
47 #ifndef TITANIC_MATRIX_INV_H
48 #define TITANIC_MATRIX_INV_H
49 
50 namespace Titanic {
51 
52 // 4x4 Matrix m is column major, e.x., m[3] is the row 4 column 1 element
53 // Modified version of MESA 3D library function (MIT license)
54 template <typename T>
55 bool matrix4Inverse(const T m[16], T invOut[16])
56 {
57  T temp_inv[16];
58  T determinant;
59  T determinant_inv;
60  int i;
61 
62  temp_inv[0] = m[5] * m[10] * m[15] -
63  m[5] * m[11] * m[14] -
64  m[9] * m[6] * m[15] +
65  m[9] * m[7] * m[14] +
66  m[13] * m[6] * m[11] -
67  m[13] * m[7] * m[10];
68 
69  temp_inv[4] = -m[4] * m[10] * m[15] +
70  m[4] * m[11] * m[14] +
71  m[8] * m[6] * m[15] -
72  m[8] * m[7] * m[14] -
73  m[12] * m[6] * m[11] +
74  m[12] * m[7] * m[10];
75 
76  temp_inv[8] = m[4] * m[9] * m[15] -
77  m[4] * m[11] * m[13] -
78  m[8] * m[5] * m[15] +
79  m[8] * m[7] * m[13] +
80  m[12] * m[5] * m[11] -
81  m[12] * m[7] * m[9];
82 
83  temp_inv[12] = -m[4] * m[9] * m[14] +
84  m[4] * m[10] * m[13] +
85  m[8] * m[5] * m[14] -
86  m[8] * m[6] * m[13] -
87  m[12] * m[5] * m[10] +
88  m[12] * m[6] * m[9];
89 
90  temp_inv[1] = -m[1] * m[10] * m[15] +
91  m[1] * m[11] * m[14] +
92  m[9] * m[2] * m[15] -
93  m[9] * m[3] * m[14] -
94  m[13] * m[2] * m[11] +
95  m[13] * m[3] * m[10];
96 
97  temp_inv[5] = m[0] * m[10] * m[15] -
98  m[0] * m[11] * m[14] -
99  m[8] * m[2] * m[15] +
100  m[8] * m[3] * m[14] +
101  m[12] * m[2] * m[11] -
102  m[12] * m[3] * m[10];
103 
104  temp_inv[9] = -m[0] * m[9] * m[15] +
105  m[0] * m[11] * m[13] +
106  m[8] * m[1] * m[15] -
107  m[8] * m[3] * m[13] -
108  m[12] * m[1] * m[11] +
109  m[12] * m[3] * m[9];
110 
111  temp_inv[13] = m[0] * m[9] * m[14] -
112  m[0] * m[10] * m[13] -
113  m[8] * m[1] * m[14] +
114  m[8] * m[2] * m[13] +
115  m[12] * m[1] * m[10] -
116  m[12] * m[2] * m[9];
117 
118  temp_inv[2] = m[1] * m[6] * m[15] -
119  m[1] * m[7] * m[14] -
120  m[5] * m[2] * m[15] +
121  m[5] * m[3] * m[14] +
122  m[13] * m[2] * m[7] -
123  m[13] * m[3] * m[6];
124 
125  temp_inv[6] = -m[0] * m[6] * m[15] +
126  m[0] * m[7] * m[14] +
127  m[4] * m[2] * m[15] -
128  m[4] * m[3] * m[14] -
129  m[12] * m[2] * m[7] +
130  m[12] * m[3] * m[6];
131 
132  temp_inv[10] = m[0] * m[5] * m[15] -
133  m[0] * m[7] * m[13] -
134  m[4] * m[1] * m[15] +
135  m[4] * m[3] * m[13] +
136  m[12] * m[1] * m[7] -
137  m[12] * m[3] * m[5];
138 
139  temp_inv[14] = -m[0] * m[5] * m[14] +
140  m[0] * m[6] * m[13] +
141  m[4] * m[1] * m[14] -
142  m[4] * m[2] * m[13] -
143  m[12] * m[1] * m[6] +
144  m[12] * m[2] * m[5];
145 
146  temp_inv[3] = -m[1] * m[6] * m[11] +
147  m[1] * m[7] * m[10] +
148  m[5] * m[2] * m[11] -
149  m[5] * m[3] * m[10] -
150  m[9] * m[2] * m[7] +
151  m[9] * m[3] * m[6];
152 
153  temp_inv[7] = m[0] * m[6] * m[11] -
154  m[0] * m[7] * m[10] -
155  m[4] * m[2] * m[11] +
156  m[4] * m[3] * m[10] +
157  m[8] * m[2] * m[7] -
158  m[8] * m[3] * m[6];
159 
160  temp_inv[11] = -m[0] * m[5] * m[11] +
161  m[0] * m[7] * m[9] +
162  m[4] * m[1] * m[11] -
163  m[4] * m[3] * m[9] -
164  m[8] * m[1] * m[7] +
165  m[8] * m[3] * m[5];
166 
167  temp_inv[15] = m[0] * m[5] * m[10] -
168  m[0] * m[6] * m[9] -
169  m[4] * m[1] * m[10] +
170  m[4] * m[2] * m[9] +
171  m[8] * m[1] * m[6] -
172  m[8] * m[2] * m[5];
173 
174  determinant = m[0] * temp_inv[0] + m[1] * temp_inv[4] + m[2] * temp_inv[8] + m[3] * temp_inv[12];
175 
176  if (determinant == 0)
177  return false;
178 
179  determinant_inv = 1.0 / determinant;
180 
181  for (i = 0; i < 16; i++)
182  invOut[i] = temp_inv[i] * determinant_inv;
183 
184  return true;
185 }
186 
187 } // End of namespace Titanic
188 
189 #endif /* TITANIC_MATRIX_INV_H */
Titanic
Definition: arm.h:30