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engines/titanic/star_control/matrix_inv.h

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+/* ScummVM - Graphic Adventure Engine
+ *
+ * ScummVM is the legal property of its developers, whose names
+ * are too numerous to list here. Please refer to the COPYRIGHT
+ * file distributed with this source distribution.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/*
+* Files matrix_inv.h are a part of the MESA 3D Library (MIT License)
+*
+* Copyright (C) 1999-2007  Brian Paul   All Rights Reserved.
+*
+* Permission is hereby granted, free of charge, to any person obtaining a
+* copy of this software and associated documentation files (the "Software"),
+* to deal in the Software without restriction, including without limitation
+* the rights to use, copy, modify, merge, publish, distribute, sublicense,
+* and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included
+* in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
+* THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+* SOFTWARE.
+*
+*/
+
+#ifndef TITANIC_MATRIX_INV_H
+#define TITANIC_MATRIX_INV_H
+
+namespace Titanic {
+
+// 4x4 Matrix m is column major, e.x., m[3] is the row 4 column 1 element
+// Modified version of MESA 3D library function (MIT license)
+template <typename T>
+bool matrix4Inverse(const T m[16], T invOut[16])
+{
+	T temp_inv[16];
+	T determinant;
+	T determinant_inv;
+	int i;
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	temp_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];
+
+	determinant = m[0] * temp_inv[0] + m[1] * temp_inv[4] + m[2] * temp_inv[8] + m[3] * temp_inv[12];
+
+	if (determinant == 0)
+		return false;
+
+	determinant_inv = 1.0 / determinant;
+
+	for (i = 0; i < 16; i++)
+		invOut[i] = temp_inv[i] * determinant_inv;
+
+	return true;
+}
+
+} // End of namespace Titanic
+
+#endif /* TITANIC_MATRIX_INV_H */