static int
test_inverse (const vec3_t angles, const vec3_t scale)
{
int i;
quat_t rotation;
mat3_t mat, inv, I, res;
AngleQuat (angles, rotation);
Mat3Init (rotation, scale, mat);
Mat3Identity (I);
Mat3Inverse (mat, inv);
Mat3Mult (mat, inv, res);
for (i = 0; i < 3 * 3; i++)
if (!compare (I[i], res[i]))
goto fail;
return 1;
fail:
printf ("\n\n(%g %g %g) (%g %g %g)\n",
VectorExpand (angles), VectorExpand (scale));
printf (" [%g %g %g]\n [%g %g %g]\n [%g %g %g]\n\n", Mat3Expand (mat));
printf (" [%g %g %g]\n [%g %g %g]\n [%g %g %g]\n\n", Mat3Expand (inv));
printf (" [%g %g %g]\n [%g %g %g]\n [%g %g %g]\n\n", Mat3Expand (res));
return 0;
}
//--------------------------------------------------------------------------------------------------------------
//获取反矩阵
Matrix3 Matrix3::GetInverse() const
{
static Matrix3 tmp;
Mat3Inverse( &tmp, this );
return tmp;
}
//--------------------------------------------------------------------------------------------------------------
//生成反矩阵
void Matrix3::SetInverse()
{
static Matrix3 tmp;
Mat3Inverse( &tmp, this );
*this = tmp;
}