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/* ----------------------------------------------------------------------- *
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* This file is part of GEL, http://www.imm.dtu.dk/GEL
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* Copyright (C) the authors and DTU Informatics
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* For license and list of authors, see ../../doc/intro.pdf
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* ----------------------------------------------------------------------- */
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#include "ArithSqMat3x3Float.h"
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#include "Mat3x3f.h"
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#include "Mat3x3d.h"
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namespace CGLA {
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template<class V, class M>
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M invert(const ArithSqMat3x3Float<V,M>& _a)
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{
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jerf |
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// Based on Cramer's rule (Akenine-Möller et al. 2008, Section A.3.1) and
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// Cedrick Collomb. A tutorial on inverting 3 by 3 matrices with cross products.
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// http://www.emptyloop.com/technotes/
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jerf |
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M a = transpose(_a);
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V a1a2 = cross(a[1], a[2]);
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float det = dot(a[0], a1a2);
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if(fabs(det) < TINYf)
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throw(Mat3x3fSingular("Tried to invert singular matrix"));
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return M(a1a2, cross(a[2], a[0]), cross(a[0], a[1]))*(1.0f/det);
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}
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template class ArithSqMat3x3Float<Vec3f,Mat3x3f>;
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template Mat3x3f invert(const ArithSqMat3x3Float<Vec3f,Mat3x3f>&);
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template class ArithSqMat3x3Float<Vec3d,Mat3x3d>;
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template Mat3x3d invert(const ArithSqMat3x3Float<Vec3d,Mat3x3d>&);
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}
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