/**
* \brief ND Normal law
* \param x a pointer to double, location where to calculate the output value
* \param mu a pointer double, array of centers of the Gaussian
* \param cov a pointer to MyMatrix, covariance matrix
* \return a double, value of the Gaussian at x
*
* Returns the value of the ND Normal law at the input location
*/
double normalMultivariate(double* x, double* mu, MyMatrix* cov){
int i;
double* xmu;
MyMatrix* cov1;
double* cov1_times_xmu;
double det;
double arg;
/* calculate the vector x - mu */
xmu = malloc(cov->N*sizeof(double));
for(i = 0; i < cov->N; i++){
xmu[i] = x[i] - mu[i];
}
/* inverse the covariance matrix */
cov1 = InvMat(cov, &det);
/* cov-1 * (x-mu) */
cov1_times_xmu = MatVectProd(cov1, xmu);
/* (x-mu) * cov-1 * (x-mu) */
arg = VectVectProd(cov->N, xmu, cov1_times_xmu);
free(xmu);
for(i = 0; i < cov1->N; i++) free(cov1->m[i]);
free(cov1->m);
free(cov1);
free(cov1_times_xmu);
return exp(-0.5*arg)/(sqrt(det)*pow(2.*M_PI, cov->N));
}
//-----------------------------------------------------------------------------------------------
void CRenderCamera::RebuildMatrices()
{
m4x4 mToInvert = m_TM;
m4x4 m = i4x4;
InvMat( mToInvert, m_InvTM );
m_worldToClip = m_InvTM * m_projectionMatrix;
}
//------------------------------------------------------------------------------------------
void CSkeleton::ComputeBonesDefaultInvMat()
{
for( u32 i=0; i<m_bones.Size(); i++ )
{
CBone* bone = m_bones[i];
m4x4 defaultModelTM = i4x4;
bone->GetDefaultModelTM( defaultModelTM );
InvMat( defaultModelTM, bone->m_invDefaultModelTM );
}
}