int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
{
float det;
- int i, j;
// note: orientation does not matter, as transpose(invert(transpose(m))) == invert(m), proof:
// transpose(invert(transpose(m))) * m
out->m[3][3] = (m00*(m11*m22 - m12*m21) - m10*(m01*m22 - m02*m21) + m20*(m01*m12 - m02*m11));
// calculate the determinant (as inverse == 1/det * adjoint, adjoint * m == identity * det, so this calculates the det)
- det = in1->m[0][0]*out->m[0][0] + in1->m[1][0]*out->m[0][1] + in1->m[2][0]*out->m[0][2] + in1->m[3][0]*out->m[0][3];
+ det = m00*out->m[0][0] + m10*out->m[0][1] + m20*out->m[0][2] + m30*out->m[0][3];
if (det == 0.0f)
return 0;