Method GetInverseTransformMatrix

TSFlector3D.cpp:44–70

}

Transform3D Flector3D::GetInverseTransformMatrix(void) const
{
	float gx2 = g.x * g.x;
	float gy2 = g.y * g.y;
	float gz2 = g.z * g.z;

	float A00 = (gy2 + gz2) * 2.0F - 1.0F;
	float A11 = (gz2 + gx2) * 2.0F - 1.0F;
	float A22 = (gx2 + gy2) * 2.0F - 1.0F;
	float A01 = g.x * g.y * -2.0F;
	float A02 = g.z * g.x * -2.0F;
	float A12 = g.y * g.z * -2.0F;
	float A03 = p.x * p.w - g.x * g.w;
	float A13 = p.y * p.w - g.y * g.w;
	float A23 = p.z * p.w - g.z * g.w;

	float B01 = g.z * p.w * 2.0F;
	float B20 = g.y * p.w * 2.0F;
	float B12 = g.x * p.w * 2.0F;
	float B03 = g.y * p.z - g.z * p.y;
	float B13 = g.z * p.x - g.x * p.z;
	float B23 = g.x * p.y - g.y * p.x;

	return (Transform3D(   A00,    A01 - B01, A02 + B20, (A03 - B03) * 2.0F,
	                    A01 + B01,    A11,    A12 - B12, (A13 - B13) * 2.0F,
	                    A02 - B20, A12 + B12,    A22,    (A23 - B23) * 2.0F));
}

void Flector3D::GetTransformMatrices(Transform3D *M, Transform3D *Minv) const
{