public static GenMatrix Invert(GenMatrix m)
{
var m2 = new GenMatrix();
float _a= m.M32*m.M43 - m.M33*m.M42;
float _b= m.M32*m.M44 - m.M34*m.M42;
float _c= m.M33*m.M44 - m.M34*m.M43;
float _d= m.M22*m.M33 - m.M23*m.M32;
float _e= m.M22*m.M34 - m.M24*m.M32;
float _f= m.M23*m.M34 - m.M24*m.M33;
float _g= m.M22*m.M43 - m.M23*m.M42;
float _h= m.M22*m.M44 - m.M24*m.M42;
float _i= m.M23*m.M44 - m.M24*m.M43;
m2.M11 = (m.M22*_c - m.M23*_b + m.M24*_a);
m2.M12 = -(m.M12*_c - m.M13*_b + m.M14*_a);
m2.M13 = (m.M12*_i - m.M13*_h + m.M14*_g);
m2.M14 = -(m.M12*_f - m.M13*_e + m.M14*_d);
float _j= m.M31*m.M43 - m.M33*m.M41;
float _k= m.M31*m.M44 - m.M34*m.M41;
float _l= m.M21*m.M33 - m.M23*m.M31;
float _m= m.M21*m.M34 - m.M24*m.M31;
float _n= m.M21*m.M43 - m.M23*m.M41;
float _o= m.M21*m.M44 - m.M24*m.M41;
m2.M21 = -(m.M21*_c - m.M23*_k + m.M24*_j);
m2.M22 = (m.M11*_c - m.M13*_k + m.M14*_j);
m2.M23 = -(m.M11*_i - m.M13*_o + m.M14*_n);
m2.M24 = (m.M11*_f - m.M13*_m + m.M14*_l);
float _p= m.M31*m.M42 - m.M32*m.M41;
float _q= m.M21*m.M32 - m.M22*m.M31;
float _r= m.M21*m.M42 - m.M22*m.M41;
m2.M31 = (m.M21*_b - m.M22*_k + m.M24*_p);
m2.M32 = -(m.M11*_b - m.M12*_k + m.M14*_p);
m2.M33 = (m.M11*_h - m.M12*_o + m.M14*_r);
m2.M34 = -(m.M11*_e - m.M12*_m + m.M14*_q);
m2.M41 = -(m.M21*_a - m.M22*_j + m.M23*_p);
m2.M42 = (m.M11*_a - m.M12*_j + m.M13*_p);
m2.M43 = -(m.M11*_g - m.M12*_n + m.M13*_r);
m2.M44 = (m.M11*_d - m.M12*_l + m.M13*_q);
float d = 1 / (m.M11*m2.M11 - m.M12*m2.M21 + m.M13*m2.M31 - m.M14*m2.M41);
m2.M11*=d; m2.M12*=d; m2.M13*=d; m2.M14*=d;
m2.M21*=d; m2.M22*=d; m2.M23*=d; m2.M24*=d;
m2.M31*=d; m2.M32*=d; m2.M33*=d; m2.M34*=d;
m2.M41*=d; m2.M42*=d; m2.M43*=d; m2.M44*=d;
return m2;
}
public static GenMatrix Multiply(GenMatrix a, GenMatrix b)
{
return new GenMatrix(
a.M11*b.M11 + a.M12*b.M21 + a.M13*b.M31 + a.M14*b.M41,
a.M11*b.M12 + a.M12*b.M22 + a.M13*b.M32 + a.M14*b.M42,
a.M11*b.M13 + a.M12*b.M23 + a.M13*b.M33 + a.M14*b.M43,
a.M11*b.M14 + a.M12*b.M24 + a.M13*b.M34 + a.M14*b.M44,
a.M21*b.M11 + a.M22*b.M21 + a.M23*b.M31 + a.M24*b.M41,
a.M21*b.M12 + a.M22*b.M22 + a.M23*b.M32 + a.M24*b.M42,
a.M21*b.M13 + a.M22*b.M23 + a.M23*b.M33 + a.M24*b.M43,
a.M21*b.M14 + a.M22*b.M24 + a.M23*b.M34 + a.M24*b.M44,
a.M31*b.M11 + a.M32*b.M21 + a.M33*b.M31 + a.M34*b.M41,
a.M31*b.M12 + a.M32*b.M22 + a.M33*b.M32 + a.M34*b.M42,
a.M31*b.M13 + a.M32*b.M23 + a.M33*b.M33 + a.M34*b.M43,
a.M31*b.M14 + a.M32*b.M24 + a.M33*b.M34 + a.M34*b.M44,
a.M41*b.M11 + a.M42*b.M21 + a.M43*b.M31 + a.M44*b.M41,
a.M41*b.M12 + a.M42*b.M22 + a.M43*b.M32 + a.M44*b.M42,
a.M41*b.M13 + a.M42*b.M23 + a.M43*b.M33 + a.M44*b.M43,
a.M41*b.M14 + a.M42*b.M24 + a.M43*b.M34 + a.M44*b.M44);
}
