Here you can find the source of invert4x4(float m[], float inv[])
| Parameter | Description |
|---|---|
| m | The input matrix |
| inv | The inverse matrix |
static void invert4x4(float m[], float inv[])
//package com.java2s; /*// w w w . ja v a 2 s . c o m * www.javagl.de - JglTF * * Copyright 2015-2016 Marco Hutter - http://www.javagl.de * * 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, sublicense, and/or sell * copies of the Software, and to permit persons to whom the * Software is furnished to do so, subject to the following * conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * 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. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR * OTHER DEALINGS IN THE SOFTWARE. */ import java.util.Arrays; public class Main { /** * Epsilon for floating point computations */ private static final float FLOAT_EPSILON = 1e-6f; /** * Inverts the given matrix and writes the result into the given target * matrix. If the given matrix is not invertible, then the target matrix * will be set to identity. * * @param m The input matrix * @param inv The inverse matrix */ static void invert4x4(float m[], float inv[]) { // Adapted from The Mesa 3-D graphics library. // Copyright (C) 1999-2007 Brian Paul All Rights Reserved. // Published under the MIT license (see the header of this file) float m0 = m[0]; float m1 = m[1]; float m2 = m[2]; float m3 = m[3]; float m4 = m[4]; float m5 = m[5]; float m6 = m[6]; float m7 = m[7]; float m8 = m[8]; float m9 = m[9]; float mA = m[10]; float mB = m[11]; float mC = m[12]; float mD = m[13]; float mE = m[14]; float mF = m[15]; inv[0] = m5 * mA * mF - m5 * mB * mE - m9 * m6 * mF + m9 * m7 * mE + mD * m6 * mB - mD * m7 * mA; inv[4] = -m4 * mA * mF + m4 * mB * mE + m8 * m6 * mF - m8 * m7 * mE - mC * m6 * mB + mC * m7 * mA; inv[8] = m4 * m9 * mF - m4 * mB * mD - m8 * m5 * mF + m8 * m7 * mD + mC * m5 * mB - mC * m7 * m9; inv[12] = -m4 * m9 * mE + m4 * mA * mD + m8 * m5 * mE - m8 * m6 * mD - mC * m5 * mA + mC * m6 * m9; inv[1] = -m1 * mA * mF + m1 * mB * mE + m9 * m2 * mF - m9 * m3 * mE - mD * m2 * mB + mD * m3 * mA; inv[5] = m0 * mA * mF - m0 * mB * mE - m8 * m2 * mF + m8 * m3 * mE + mC * m2 * mB - mC * m3 * mA; inv[9] = -m0 * m9 * mF + m0 * mB * mD + m8 * m1 * mF - m8 * m3 * mD - mC * m1 * mB + mC * m3 * m9; inv[13] = m0 * m9 * mE - m0 * mA * mD - m8 * m1 * mE + m8 * m2 * mD + mC * m1 * mA - mC * m2 * m9; inv[2] = m1 * m6 * mF - m1 * m7 * mE - m5 * m2 * mF + m5 * m3 * mE + mD * m2 * m7 - mD * m3 * m6; inv[6] = -m0 * m6 * mF + m0 * m7 * mE + m4 * m2 * mF - m4 * m3 * mE - mC * m2 * m7 + mC * m3 * m6; inv[10] = m0 * m5 * mF - m0 * m7 * mD - m4 * m1 * mF + m4 * m3 * mD + mC * m1 * m7 - mC * m3 * m5; inv[14] = -m0 * m5 * mE + m0 * m6 * mD + m4 * m1 * mE - m4 * m2 * mD - mC * m1 * m6 + mC * m2 * m5; inv[3] = -m1 * m6 * mB + m1 * m7 * mA + m5 * m2 * mB - m5 * m3 * mA - m9 * m2 * m7 + m9 * m3 * m6; inv[7] = m0 * m6 * mB - m0 * m7 * mA - m4 * m2 * mB + m4 * m3 * mA + m8 * m2 * m7 - m8 * m3 * m6; inv[11] = -m0 * m5 * mB + m0 * m7 * m9 + m4 * m1 * mB - m4 * m3 * m9 - m8 * m1 * m7 + m8 * m3 * m5; inv[15] = m0 * m5 * mA - m0 * m6 * m9 - m4 * m1 * mA + m4 * m2 * m9 + m8 * m1 * m6 - m8 * m2 * m5; // (Ain't that pretty?) float det = m0 * inv[0] + m1 * inv[4] + m2 * inv[8] + m3 * inv[12]; if (Math.abs(det) <= FLOAT_EPSILON) { setIdentity4x4(inv); return; } float invDet = 1.0f / det; for (int i = 0; i < 16; i++) { inv[i] *= invDet; } } /** * Set the given matrix to be the identity matrix. * * @param m The matrix */ static void setIdentity4x4(float m[]) { Arrays.fill(m, 0.0f); m[0] = 1.0f; m[5] = 1.0f; m[10] = 1.0f; m[15] = 1.0f; } }