public TMat4x4 FindInverseMat()
{
float Det;
float[,] C = new float[4, 4];
C[0, 0] = m11 * (m22 * m33 - m23 * m32) -
m12 * (m21 * m33 - m23 * m31) +
m13 * (m21 * m32 - m22 * m31);
C[0, 1] = -(m10 * (m22 * m33 - m23 * m32) -
m12 * (m20 * m33 - m23 * m30) +
m13 * (m20 * m32 - m22 * m30));
C[0, 2] = m10 * (m21 * m33 - m23 * m31) -
m11 * (m20 * m33 - m23 * m30) +
m13 * (m20 * m31 - m21 * m30);
C[0, 3] = 0;
C[1, 0] = -(m01 * (m22 * m33 - m23 * m32) -
m02 * (m21 * m33 - m23 * m31) +
m03 * (m21 * m32 - m22 * m31));
C[1, 1] = m00 * (m22 * m33 - m23 * m32) -
m02 * (m20 * m33 - m23 * m30) +
m03 * (m20 * m32 - m22 * m30);
C[1, 2] = -(m00 * (m21 * m33 - m23 * m31) -
m01 * (m20 * m33 - m23 * m30) +
m03 * (m20 * m31 - m21 * m30));
C[1, 3] = 0;
C[2, 0] = m01 * (m12 * m33 - m13 * m32) -
m02 * (m11 * m33 - m13 * m31) +
m03 * (m11 * m32 - m12 * m31);
C[2, 1] = -(m00 * (m12 * m33 - m13 * m32) -
m02 * (m10 * m33 - m13 * m30) +
m03 * (m10 * m32 - m12 * m30));
C[2, 2] = m00 * (m11 * m33 - m13 * m31) -
m01 * (m10 * m33 - m13 * m30) +
m03 * (m10 * m31 - m11 * m30);
C[2, 3] = 0;
C[3, 0] = -(m01 * (m12 * m23 - m13 * m22) -
m02 * (m11 * m23 - m13 * m21) +
m03 * (m11 * m22 - m12 * m21));
C[3, 1] = m00 * (m12 * m23 - m13 * m22) -
m02 * (m10 * m23 - m13 * m20) +
m03 * (m10 * m22 - m12 * m20);
C[3, 2] = -(m00 * (m11 * m23 - m13 * m21) -
m01 * (m10 * m23 - m13 * m20) +
m03 * (m10 * m21 - m11 * m20));
C[3, 3] = m00 * (m11 * m22 - m12 * m21) -
m01 * (m10 * m22 - m12 * m20) +
m02 * (m10 * m21 - m11 * m20);
Det = 0;
// Create a temporary array in order to ease calculations
float[,] TmpM = ConvertToArray();
for (int i = 0; i < 4; i++)
{
Det += TmpM[0, i] * C[0, i];
}
float[,] Result = new float[4, 4];
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{
Result[i, j] = C[j, i] / Det;
}
}
Result[3, 3] = 1;
for (int i = 0; i < 4; i++)
{
Result[i, 3] = 0;
Result[3, i] = 0;
for (int j = 0; j < 4; j++)
{
Result[3, i] = Result[3, i] + TmpM[3, j] * Result[j, i];
}
Result[3, i] = -Result[3, i];
}
TMat4x4 InverseMat = ZeroMat();
InverseMat.ConvertFromArray(Result);
return(InverseMat);
}
