static void m_matF_invert_to_C(const F32 *m, F32 *d)
{
// using Cramers Rule find the Inverse
// Minv = (1/det(M)) * adjoint(M)
F32 det = m_matF_determinant( m );
AssertFatal( det != 0.0f, "MatrixF::inverse: non-singular matrix, no inverse.");
F32 invDet = 1.0f/det;
d[0] = (m[5] * m[10]- m[6] * m[9]) * invDet;
d[1] = (m[9] * m[2] - m[10]* m[1]) * invDet;
d[2] = (m[1] * m[6] - m[2] * m[5]) * invDet;
d[4] = (m[6] * m[8] - m[4] * m[10])* invDet;
d[5] = (m[10]* m[0] - m[8] * m[2]) * invDet;
d[6] = (m[2] * m[4] - m[0] * m[6]) * invDet;
d[8] = (m[4] * m[9] - m[5] * m[8]) * invDet;
d[9] = (m[8] * m[1] - m[9] * m[0]) * invDet;
d[10]= (m[0] * m[5] - m[1] * m[4]) * invDet;
// invert the translation
F32 temp[6];
temp[0] = -m[3];
temp[1] = -m[7];
temp[2] = -m[11];
m_matF_x_vectorF(d, temp, &temp[3]);
d[3] = temp[3];
d[7] = temp[4];
d[11]= temp[5];
d[ 12 ] = m[ 12 ];
d[ 13 ] = m[ 13 ];
d[ 14 ] = m[ 14 ];
d[ 15 ] = m[ 15 ];
}
/// Get the world transform of the node at the specified time
MatrixF ColladaAppNode::getNodeTransform(F32 time)
{
// Avoid re-computing the default transform if possible
if (defaultTransformValid && time == TSShapeLoader::DefaultTime)
{
return defaultNodeTransform;
}
else
{
MatrixF nodeTransform = getTransform(time);
// Check for inverted node coordinate spaces => can happen when modelers
// use the 'mirror' tool in their 3d app. Shows up as negative <scale>
// transforms in the collada model.
if (m_matF_determinant(nodeTransform) < 0.0f)
{
// Mark this node as inverted so we can mirror mesh geometry, then
// de-invert the transform matrix
invertMeshes = true;
nodeTransform.scale(Point3F(1, 1, -1));
}
// Cache the default transform
if (time == TSShapeLoader::DefaultTime)
{
defaultTransformValid = true;
defaultNodeTransform = nodeTransform;
}
return nodeTransform;
}
}
//--------------------------------------
static void m_matF_inverse_C(F32 *m)
{
// using Cramers Rule find the Inverse
// Minv = (1/det(M)) * adjoint(M)
F32 det = m_matF_determinant( m );
AssertFatal( det != 0.0f, "MatrixF::inverse: non-singular matrix, no inverse.");
F32 invDet = 1.0f/det;
F32 temp[16];
temp[0] = (m[5] * m[10]- m[6] * m[9]) * invDet;
temp[1] = (m[9] * m[2] - m[10]* m[1]) * invDet;
temp[2] = (m[1] * m[6] - m[2] * m[5]) * invDet;
temp[4] = (m[6] * m[8] - m[4] * m[10])* invDet;
temp[5] = (m[10]* m[0] - m[8] * m[2]) * invDet;
temp[6] = (m[2] * m[4] - m[0] * m[6]) * invDet;
temp[8] = (m[4] * m[9] - m[5] * m[8]) * invDet;
temp[9] = (m[8] * m[1] - m[9] * m[0]) * invDet;
temp[10]= (m[0] * m[5] - m[1] * m[4]) * invDet;
m[0] = temp[0];
m[1] = temp[1];
m[2] = temp[2];
m[4] = temp[4];
m[5] = temp[5];
m[6] = temp[6];
m[8] = temp[8];
m[9] = temp[9];
m[10] = temp[10];
// invert the translation
temp[0] = -m[3];
temp[1] = -m[7];
temp[2] = -m[11];
m_matF_x_vectorF(m, temp, &temp[4]);
m[3] = temp[4];
m[7] = temp[5];
m[11]= temp[6];
}
