diff options
Diffstat (limited to 'src/glu/sgi/libutil/project.c')
| -rw-r--r-- | src/glu/sgi/libutil/project.c | 115 |
1 files changed, 49 insertions, 66 deletions
diff --git a/src/glu/sgi/libutil/project.c b/src/glu/sgi/libutil/project.c index 5ba396ca1c..7d786036df 100644 --- a/src/glu/sgi/libutil/project.c +++ b/src/glu/sgi/libutil/project.c @@ -166,74 +166,57 @@ static void __gluMultMatrixVecd(const GLdouble matrix[16], const GLdouble in[4], } /* -** inverse = invert(src) -** New, faster implementation by Shan Hao Bo, April 2006. +** Invert 4x4 matrix. +** Contributed by David Moore (See Mesa bug #6748) */ -static int __gluInvertMatrixd(const GLdouble src[16], GLdouble inverse[16]) +static int __gluInvertMatrixd(const GLdouble m[16], GLdouble invOut[16]) { - int i, j, k; - double t; - GLdouble temp[4][4]; - - for (i=0; i<4; i++) { - for (j=0; j<4; j++) { - temp[i][j] = src[i*4+j]; - } - } - __gluMakeIdentityd(inverse); - - for (i = 0; i < 4; i++) { - if (temp[i][i] == 0.0f) { - /* - ** Look for non-zero element in column - */ - for (j = i + 1; j < 4; j++) { - if (temp[j][i] != 0.0f) { - break; - } - } - - if (j != 4) { - /* - ** Swap rows. - */ - for (k = 0; k < 4; k++) { - t = temp[i][k]; - temp[i][k] = temp[j][k]; - temp[j][k] = t; - - t = inverse[i*4+k]; - inverse[i*4+k] = inverse[j*4+k]; - inverse[j*4+k] = t; - } - } - else { - /* - ** No non-zero pivot. The matrix is singular, -which shouldn't - ** happen. This means the user gave us a bad -matrix. - */ - return GL_FALSE; - } - } - - t = 1.0f / temp[i][i]; - for (k = 0; k < 4; k++) { - temp[i][k] *= t; - inverse[i*4+k] *= t; - } - for (j = 0; j < 4; j++) { - if (j != i) { - t = temp[j][i]; - for (k = 0; k < 4; k++) { - temp[j][k] -= temp[i][k]*t; - inverse[j*4+k] -= inverse[i*4+k]*t; - } - } - } - } - return GL_TRUE; + double inv[16], det; + int i; + + inv[0] = m[5]*m[10]*m[15] - m[5]*m[11]*m[14] - m[9]*m[6]*m[15] + + m[9]*m[7]*m[14] + m[13]*m[6]*m[11] - m[13]*m[7]*m[10]; + inv[4] = -m[4]*m[10]*m[15] + m[4]*m[11]*m[14] + m[8]*m[6]*m[15] + - m[8]*m[7]*m[14] - m[12]*m[6]*m[11] + m[12]*m[7]*m[10]; + inv[8] = m[4]*m[9]*m[15] - m[4]*m[11]*m[13] - m[8]*m[5]*m[15] + + m[8]*m[7]*m[13] + m[12]*m[5]*m[11] - m[12]*m[7]*m[9]; + inv[12] = -m[4]*m[9]*m[14] + m[4]*m[10]*m[13] + m[8]*m[5]*m[14] + - m[8]*m[6]*m[13] - m[12]*m[5]*m[10] + m[12]*m[6]*m[9]; + inv[1] = -m[1]*m[10]*m[15] + m[1]*m[11]*m[14] + m[9]*m[2]*m[15] + - m[9]*m[3]*m[14] - m[13]*m[2]*m[11] + m[13]*m[3]*m[10]; + inv[5] = m[0]*m[10]*m[15] - m[0]*m[11]*m[14] - m[8]*m[2]*m[15] + + m[8]*m[3]*m[14] + m[12]*m[2]*m[11] - m[12]*m[3]*m[10]; + inv[9] = -m[0]*m[9]*m[15] + m[0]*m[11]*m[13] + m[8]*m[1]*m[15] + - m[8]*m[3]*m[13] - m[12]*m[1]*m[11] + m[12]*m[3]*m[9]; + inv[13] = m[0]*m[9]*m[14] - m[0]*m[10]*m[13] - m[8]*m[1]*m[14] + + m[8]*m[2]*m[13] + m[12]*m[1]*m[10] - m[12]*m[2]*m[9]; + inv[2] = m[1]*m[6]*m[15] - m[1]*m[7]*m[14] - m[5]*m[2]*m[15] + + m[5]*m[3]*m[14] + m[13]*m[2]*m[7] - m[13]*m[3]*m[6]; + inv[6] = -m[0]*m[6]*m[15] + m[0]*m[7]*m[14] + m[4]*m[2]*m[15] + - m[4]*m[3]*m[14] - m[12]*m[2]*m[7] + m[12]*m[3]*m[6]; + inv[10] = m[0]*m[5]*m[15] - m[0]*m[7]*m[13] - m[4]*m[1]*m[15] + + m[4]*m[3]*m[13] + m[12]*m[1]*m[7] - m[12]*m[3]*m[5]; + inv[14] = -m[0]*m[5]*m[14] + m[0]*m[6]*m[13] + m[4]*m[1]*m[14] + - m[4]*m[2]*m[13] - m[12]*m[1]*m[6] + m[12]*m[2]*m[5]; + inv[3] = -m[1]*m[6]*m[11] + m[1]*m[7]*m[10] + m[5]*m[2]*m[11] + - m[5]*m[3]*m[10] - m[9]*m[2]*m[7] + m[9]*m[3]*m[6]; + inv[7] = m[0]*m[6]*m[11] - m[0]*m[7]*m[10] - m[4]*m[2]*m[11] + + m[4]*m[3]*m[10] + m[8]*m[2]*m[7] - m[8]*m[3]*m[6]; + inv[11] = -m[0]*m[5]*m[11] + m[0]*m[7]*m[9] + m[4]*m[1]*m[11] + - m[4]*m[3]*m[9] - m[8]*m[1]*m[7] + m[8]*m[3]*m[5]; + inv[15] = m[0]*m[5]*m[10] - m[0]*m[6]*m[9] - m[4]*m[1]*m[10] + + m[4]*m[2]*m[9] + m[8]*m[1]*m[6] - m[8]*m[2]*m[5]; + + det = m[0]*inv[0] + m[1]*inv[4] + m[2]*inv[8] + m[3]*inv[12]; + if (det == 0) + return GL_FALSE; + + det = 1.0 / det; + + for (i = 0; i < 16; i++) + invOut[i] = inv[i] * det; + + return GL_TRUE; } static void __gluMultMatricesd(const GLdouble a[16], const GLdouble b[16], |