mat4x4 inverse(const mat4x4 &Matrix)
{
const float *m = Matrix.M;
float det = 0.0f;
det += m[0] * det3x3sub(m, 5, 6, 7, 9, 10, 11, 13, 14, 15);
det -= m[4] * det3x3sub(m, 1, 2, 3, 9, 10, 11, 13, 14, 15);
det += m[8] * det3x3sub(m, 1, 2, 3, 5, 6, 7, 13, 14, 15);
det -= m[12] * det3x3sub(m, 1, 2, 3, 5, 6, 7, 9, 10, 11);
mat4x4 Inverse;
Inverse.M[0] = det3x3sub(m, 5, 6, 7, 9, 10, 11, 13, 14, 15) / det;
Inverse.M[1] = -det3x3sub(m, 1, 2, 3, 9, 10, 11, 13, 14, 15) / det;
Inverse.M[2] = det3x3sub(m, 1, 2, 3, 5, 6, 7, 13, 14, 15) / det;
Inverse.M[3] = -det3x3sub(m, 1, 2, 3, 5, 6, 7, 9, 10, 11) / det;
Inverse.M[4] = -det3x3sub(m, 4, 6, 7, 8, 10, 11, 12, 14, 15) / det;
Inverse.M[5] = det3x3sub(m, 0, 2, 3, 8, 10, 11, 12, 14, 15) / det;
Inverse.M[6] = -det3x3sub(m, 0, 2, 3, 4, 6, 7, 12, 14, 15) / det;
Inverse.M[7] = det3x3sub(m, 0, 2, 3, 4, 6, 7, 8, 10, 11) / det;
Inverse.M[8] = det3x3sub(m, 4, 5, 7, 8, 9, 11, 12, 13, 15) / det;
Inverse.M[9] = -det3x3sub(m, 0, 1, 3, 8, 9, 11, 12, 13, 15) / det;
Inverse.M[10] = det3x3sub(m, 0, 1, 3, 4, 5, 7, 12, 13, 15) / det;
Inverse.M[11] = -det3x3sub(m, 0, 1, 3, 4, 5, 7, 8, 9, 11) / det;
Inverse.M[12] = -det3x3sub(m, 4, 5, 6, 8, 9, 10, 12, 13, 14) / det;
Inverse.M[13] = det3x3sub(m, 0, 1, 2, 8, 9, 10, 12, 13, 14) / det;
Inverse.M[14] = -det3x3sub(m, 0, 1, 2, 4, 5, 6, 12, 13, 14) / det;
Inverse.M[15] = det3x3sub(m, 0, 1, 2, 4, 5, 6, 8, 9, 10) / det;
return Inverse;
}
mat4x4& mat4x4::inverse()
{
const float *m = M;
float det = 0.0f;
det += m[0] * det3x3sub(m, 5, 6, 7, 9, 10, 11, 13, 14, 15);
det -= m[4] * det3x3sub(m, 1, 2, 3, 9, 10, 11, 13, 14, 15);
det += m[8] * det3x3sub(m, 1, 2, 3, 5, 6, 7, 13, 14, 15);
det -= m[12] * det3x3sub(m, 1, 2, 3, 5, 6, 7, 9, 10, 11);
mat4x4 Inverse;
Inverse.M[0] = det3x3sub(m, 5, 6, 7, 9, 10, 11, 13, 14, 15) / det;
Inverse.M[1] = -det3x3sub(m, 1, 2, 3, 9, 10, 11, 13, 14, 15) / det;
Inverse.M[2] = det3x3sub(m, 1, 2, 3, 5, 6, 7, 13, 14, 15) / det;
Inverse.M[3] = -det3x3sub(m, 1, 2, 3, 5, 6, 7, 9, 10, 11) / det;
Inverse.M[4] = -det3x3sub(m, 4, 6, 7, 8, 10, 11, 12, 14, 15) / det;
Inverse.M[5] = det3x3sub(m, 0, 2, 3, 8, 10, 11, 12, 14, 15) / det;
Inverse.M[6] = -det3x3sub(m, 0, 2, 3, 4, 6, 7, 12, 14, 15) / det;
Inverse.M[7] = det3x3sub(m, 0, 2, 3, 4, 6, 7, 8, 10, 11) / det;
Inverse.M[8] = det3x3sub(m, 4, 5, 7, 8, 9, 11, 12, 13, 15) / det;
Inverse.M[9] = -det3x3sub(m, 0, 1, 3, 8, 9, 11, 12, 13, 15) / det;
Inverse.M[10] = det3x3sub(m, 0, 1, 3, 4, 5, 7, 12, 13, 15) / det;
Inverse.M[11] = -det3x3sub(m, 0, 1, 3, 4, 5, 7, 8, 9, 11) / det;
Inverse.M[12] = -det3x3sub(m, 4, 5, 6, 8, 9, 10, 12, 13, 14) / det;
Inverse.M[13] = det3x3sub(m, 0, 1, 2, 8, 9, 10, 12, 13, 14) / det;
Inverse.M[14] = -det3x3sub(m, 0, 1, 2, 4, 5, 6, 12, 13, 14) / det;
Inverse.M[15] = det3x3sub(m, 0, 1, 2, 4, 5, 6, 8, 9, 10) / det;
operator=(Inverse);
return *this;
}
