Method GetInverseTransformMatrix

TSMotor3D.cpp:92–118

}

Transform3D Motor3D::GetInverseTransformMatrix(void) const
{
	float vx2 = v.x * v.x;
	float vy2 = v.y * v.y;
	float vz2 = v.z * v.z;

	float A00 = 1.0F - (vy2 + vz2) * 2.0F;
	float A11 = 1.0F - (vz2 + vx2) * 2.0F;
	float A22 = 1.0F - (vx2 + vy2) * 2.0F;
	float A01 = v.x * v.y;
	float A02 = v.z * v.x;
	float A12 = v.y * v.z;
	float A03 = v.y * m.z - v.z * m.y;
	float A13 = v.z * m.x - v.x * m.z;
	float A23 = v.x * m.y - v.y * m.x;

	float B01 = v.z * v.w;
	float B20 = v.y * v.w;
	float B12 = v.x * v.w;
	float B03 = m.x * v.w - v.x * m.w;
	float B13 = m.y * v.w - v.y * m.w;
	float B23 = m.z * v.w - v.z * m.w;

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

void Motor3D::GetTransformMatrices(Transform3D *M, Transform3D *Minv) const
{