00001 #include "sysdep.h"
00002 #include "math3d.h"
00003
00004 const Vector3D Vector3D::Zero(0.0f,0.0f,0.0f);
00005 const Matrix3D Matrix3D::Identity(1.0f,0.0f,0.0f,0.0f,
00006 0.0f,1.0f,0.0f,0.0f,
00007 0.0f,0.0f,1.0f,0.0f,
00008 0.0f,0.0f,0.0f,1.0f);
00009
00010
00011 inline float
00012 MINOR(const Matrix3D& m, const int r0, const int r1, const int r2, const int c0, const int c1, const int c2)
00013 {
00014 return m(r0,c0) * (m(r1,c1) * m(r2,c2) - m(r2,c1) * m(r1,c2)) -
00015 m(r0,c1) * (m(r1,c0) * m(r2,c2) - m(r2,c0) * m(r1,c2)) +
00016 m(r0,c2) * (m(r1,c0) * m(r2,c1) - m(r2,c0) * m(r1,c1));
00017 }
00018
00019
00020 Matrix3D
00021 Matrix3D::Adjoint() const
00022 {
00023 return Matrix3D( MINOR(*this, 1, 2, 3, 1, 2, 3),
00024 -MINOR(*this, 0, 2, 3, 1, 2, 3),
00025 MINOR(*this, 0, 1, 3, 1, 2, 3),
00026 -MINOR(*this, 0, 1, 2, 1, 2, 3),
00027
00028 -MINOR(*this, 1, 2, 3, 0, 2, 3),
00029 MINOR(*this, 0, 2, 3, 0, 2, 3),
00030 -MINOR(*this, 0, 1, 3, 0, 2, 3),
00031 MINOR(*this, 0, 1, 2, 0, 2, 3),
00032
00033 MINOR(*this, 1, 2, 3, 0, 1, 3),
00034 -MINOR(*this, 0, 2, 3, 0, 1, 3),
00035 MINOR(*this, 0, 1, 3, 0, 1, 3),
00036 -MINOR(*this, 0, 1, 2, 0, 1, 3),
00037
00038 -MINOR(*this, 1, 2, 3, 0, 1, 2),
00039 MINOR(*this, 0, 2, 3, 0, 1, 2),
00040 -MINOR(*this, 0, 1, 3, 0, 1, 2),
00041 MINOR(*this, 0, 1, 2, 0, 1, 2));
00042 }
00043
00044
00045 float
00046 Matrix3D::Determinant() const
00047 {
00048 return m[0][0] * MINOR(*this, 1, 2, 3, 1, 2, 3) -
00049 m[0][1] * MINOR(*this, 1, 2, 3, 0, 2, 3) +
00050 m[0][2] * MINOR(*this, 1, 2, 3, 0, 1, 3) -
00051 m[0][3] * MINOR(*this, 1, 2, 3, 0, 1, 2);
00052 }
00053
00054 Matrix3D
00055 Matrix3D::Inverse() const
00056 {
00057 return (1.0f / Determinant()) * Adjoint();
00058 }
00059
