bool MxQuadric::optimize(MxVector& v) const
{
MxMatrix Ainv(A.dim());
double det = A.invert(Ainv);
if( FEQ(det, 0.0, 1e-12) )
return false;
v = (Ainv * b);
mxv_neg(v, v.dim());
return true;
}
void adjoint44(Mat4 *out, const Mat4 *in)
{
Mat4 A;
Vec4 tempv;
copy44( &A, in );
mxv_neg( tempv.elt, A.row[0].elt, 4 );
cross4( &(out->row[0]), &(A.row[1]), &(A.row[2]), &(A.row[3]));
cross4( &(out->row[1]), &(tempv), &(A.row[2]), &(A.row[3]));
cross4( &(out->row[2]), &(A.row[0]), &(A.row[1]), &(A.row[3]));
cross4( &(out->row[3]), &(tempv), &(A.row[1]), &(A.row[2]));
}
MxBool optimizev( const MxQuadric3 *q, Vec3 *v)
{
Mat3 Ainv, tensor;
double det;
Vec3 vtemp;
quad_tensor( q, &tensor );
det = invert33( &Ainv, &tensor );
if( MxFEQ(det, 0.0, 1e-12f) )
return 0;
quad_vector( &vtemp, q );
vecmul33( v, &Ainv, &vtemp );
mxv_neg( v->elt, v->elt, 3 );
/* MX_ASSERT( quad_evaluatev( q, v->elt ) >= 0 ); */
return 1;
}
