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@@ -384,104 +384,3 @@ Matrix3 nv::inverse(const Matrix3 & m) { | |
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| #if 0 | ||
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| // Copyright (C) 1999-2004 Michael Garland. | ||
| // | ||
| // Permission is hereby granted, free of charge, to any person obtaining a | ||
| // copy of this software and associated documentation files (the | ||
| // "Software"), to deal in the Software without restriction, including | ||
| // without limitation the rights to use, copy, modify, merge, publish, | ||
| // distribute, and/or sell copies of the Software, and to permit persons | ||
| // to whom the Software is furnished to do so, provided that the above | ||
| // copyright notice(s) and this permission notice appear in all copies of | ||
| // the Software and that both the above copyright notice(s) and this | ||
| // permission notice appear in supporting documentation. | ||
| // | ||
| // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS | ||
| // OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF | ||
| // MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT | ||
| // OF THIRD PARTY RIGHTS. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR | ||
| // HOLDERS INCLUDED IN THIS NOTICE BE LIABLE FOR ANY CLAIM, OR ANY SPECIAL | ||
| // INDIRECT OR CONSEQUENTIAL DAMAGES, OR ANY DAMAGES WHATSOEVER RESULTING | ||
| // FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, | ||
| // NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION | ||
| // WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. | ||
| // | ||
| // Except as contained in this notice, the name of a copyright holder | ||
| // shall not be used in advertising or otherwise to promote the sale, use | ||
| // or other dealings in this Software without prior written authorization | ||
| // of the copyright holder. | ||
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| // Matrix inversion code for 4x4 matrices using Gaussian elimination | ||
| // with partial pivoting. This is a specialized version of a | ||
| // procedure originally due to Paul Heckbert <[email protected]>. | ||
| // | ||
| // Returns determinant of A, and B=inverse(A) | ||
| // If matrix A is singular, returns 0 and leaves trash in B. | ||
| // | ||
| #define SWAP(a, b, t) {t = a; a = b; b = t;} | ||
| double invert(Mat4& B, const Mat4& m) | ||
| { | ||
| Mat4 A = m; | ||
| int i, j, k; | ||
| double max, t, det, pivot; | ||
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| /*---------- forward elimination ----------*/ | ||
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| for (i=0; i<4; i++) /* put identity matrix in B */ | ||
| for (j=0; j<4; j++) | ||
| B(i, j) = (double)(i==j); | ||
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| det = 1.0; | ||
| for (i=0; i<4; i++) { /* eliminate in column i, below diag */ | ||
| max = -1.; | ||
| for (k=i; k<4; k++) /* find pivot for column i */ | ||
| if (fabs(A(k, i)) > max) { | ||
| max = fabs(A(k, i)); | ||
| j = k; | ||
| } | ||
| if (max<=0.) return 0.; /* if no nonzero pivot, PUNT */ | ||
| if (j!=i) { /* swap rows i and j */ | ||
| for (k=i; k<4; k++) | ||
| SWAP(A(i, k), A(j, k), t); | ||
| for (k=0; k<4; k++) | ||
| SWAP(B(i, k), B(j, k), t); | ||
| det = -det; | ||
| } | ||
| pivot = A(i, i); | ||
| det *= pivot; | ||
| for (k=i+1; k<4; k++) /* only do elems to right of pivot */ | ||
| A(i, k) /= pivot; | ||
| for (k=0; k<4; k++) | ||
| B(i, k) /= pivot; | ||
| /* we know that A(i, i) will be set to 1, so don't bother to do it */ | ||
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| for (j=i+1; j<4; j++) { /* eliminate in rows below i */ | ||
| t = A(j, i); /* we're gonna zero this guy */ | ||
| for (k=i+1; k<4; k++) /* subtract scaled row i from row j */ | ||
| A(j, k) -= A(i, k)*t; /* (ignore k<=i, we know they're 0) */ | ||
| for (k=0; k<4; k++) | ||
| B(j, k) -= B(i, k)*t; | ||
| } | ||
| } | ||
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| /*---------- backward elimination ----------*/ | ||
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| for (i=4-1; i>0; i--) { /* eliminate in column i, above diag */ | ||
| for (j=0; j<i; j++) { /* eliminate in rows above i */ | ||
| t = A(j, i); /* we're gonna zero this guy */ | ||
| for (k=0; k<4; k++) /* subtract scaled row i from row j */ | ||
| B(j, k) -= B(i, k)*t; | ||
| } | ||
| } | ||
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| return det; | ||
| } | ||
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| #endif // 0 | ||
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