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full inverse of mat3

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Recep Aslantas
2016-10-12 12:15:10 +03:00
parent 15663fcb26
commit 90259e673f
1 changed files with 33 additions and 0 deletions
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33
include/cglm-mat3.h
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@@ -152,4 +152,37 @@ glm_mat3_scale(mat3 m, float s) {
m[2][0] *= s; m[2][1] *= s; m[2][2] *= s;
}
/*!
* @brief inverse mat3 and store in dest
*
* @param[in] mat matrix
* @param[out] dest inverse matrix
*/
CGLM_INLINE
void
glm_mat3_inv(mat3 mat, mat3 dest) {
float det;
float a, b, c,
d, e, f,
g, h, i;
a = mat[0][0], b = mat[0][1], c = mat[0][2],
d = mat[1][0], e = mat[1][1], f = mat[1][2],
g = mat[2][0], h = mat[2][1], i = mat[2][2];
dest[0][0] = e * i - f * h;
dest[0][1] = -(b * i - h * c);
dest[0][2] = b * f - e * c;
dest[1][0] = -(d * i - g * f);
dest[1][1] = a * i - c * g;
dest[1][2] = -(a * f - d * c);
dest[2][0] = d * h - g * e;
dest[2][1] = -(a * h - g * b);
dest[2][2] = a * e - b * d;
det = 1.0f / (a * dest[0][0] + b * dest[1][0] + c * dest[2][0]);
glm_mat3_scale(dest, det);
}
#endif /* cglm_mat3_h */