X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=src%2Fvg%2Fvg_m.h;h=03f197f94b18003b731430a6ac2228ce38eb2b62;hb=3206e1d1db56fe2120efe6fbe4aefe85134fb2d5;hp=c28e477e606f497c86abd6c73e34edc21208111f;hpb=2a8c3c81345133939e0893ae8a972e83532888b4;p=vg.git

diff --git a/src/vg/vg_m.h b/src/vg/vg_m.h
index c28e477..03f197f 100644
--- a/src/vg/vg_m.h
+++ b/src/vg/vg_m.h
@@ -635,6 +635,45 @@ static inline void m4x3_invert_affine( m4x3f a, m4x3f b )
    v3_negate( b[3], b[3] );
 }
 
+static void m4x3_invert_full( m4x3f src, m4x3f dst )
+{
+  float t2, t4, t5,
+        det,
+        a = src[0][0], b = src[0][1], c = src[0][2],
+        e = src[1][0], f = src[1][1], g = src[1][2],
+        i = src[2][0], j = src[2][1], k = src[2][2],
+        m = src[3][0], n = src[3][1], o = src[3][2];
+
+   t2 = j*o - n*k;
+   t4 = i*o - m*k;
+   t5 = i*n - m*j;
+   
+   dst[0][0] =  f*k - g*j;
+   dst[1][0] =-(e*k - g*i);
+   dst[2][0] =  e*j - f*i;
+   dst[3][0] =-(e*t2 - f*t4 + g*t5);
+   
+   dst[0][1] =-(b*k - c*j);
+   dst[1][1] =  a*k - c*i;
+   dst[2][1] =-(a*j - b*i);
+   dst[3][1] =  a*t2 - b*t4 + c*t5;
+   
+   t2 = f*o - n*g;
+   t4 = e*o - m*g; 
+   t5 = e*n - m*f;
+   
+   dst[0][2] =  b*g - c*f ;
+   dst[1][2] =-(a*g - c*e );
+   dst[2][2] =  a*f - b*e ;
+   dst[3][2] =-(a*t2 - b*t4 + c * t5);
+
+   det = 1.0f / (a * dst[0][0] + b * dst[1][0] + c * dst[2][0]);
+   v3_muls( dst[0], det, dst[0] );
+   v3_muls( dst[1], det, dst[1] );
+   v3_muls( dst[2], det, dst[2] );
+   v3_muls( dst[3], det, dst[3] );
+}
+
 static inline void m4x3_copy( m4x3f a, m4x3f b )
 {
 	v3_copy( a[0], b[0] );