Tami Farber / microbit-dal

Revised to disable BLE for radio communication as needed.

Dependencies:   BLE_API nRF51822 mbed-dev-bin

Dependents:   microbit

source/types/Matrix4.cpp@74:26717338739d, 2019-11-26 (annotated)

Committer:
tsfarber
Date:
Tue Nov 26 04:12:46 2019 +0000
Revision:
74:26717338739d
Parent:
1:8aa5cdb4ab67 
This program combines samples programs radio TX and radio RX so that both units can send or receive depending on which unit's buttons are pressed. Tested successfully. MicroBitConfig.h has been edited to disable BLE.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jonathan Austin 1:8aa5cdb4ab67 1 /*
Jonathan Austin 1:8aa5cdb4ab67 2 The MIT License (MIT)
Jonathan Austin 1:8aa5cdb4ab67 3
Jonathan Austin 1:8aa5cdb4ab67 4 Copyright (c) 2016 British Broadcasting Corporation.
Jonathan Austin 1:8aa5cdb4ab67 5 This software is provided by Lancaster University by arrangement with the BBC.
Jonathan Austin 1:8aa5cdb4ab67 6
Jonathan Austin 1:8aa5cdb4ab67 7 Permission is hereby granted, free of charge, to any person obtaining a
Jonathan Austin 1:8aa5cdb4ab67 8 copy of this software and associated documentation files (the "Software"),
Jonathan Austin 1:8aa5cdb4ab67 9 to deal in the Software without restriction, including without limitation
Jonathan Austin 1:8aa5cdb4ab67 10 the rights to use, copy, modify, merge, publish, distribute, sublicense,
Jonathan Austin 1:8aa5cdb4ab67 11 and/or sell copies of the Software, and to permit persons to whom the
Jonathan Austin 1:8aa5cdb4ab67 12 Software is furnished to do so, subject to the following conditions:
Jonathan Austin 1:8aa5cdb4ab67 13
Jonathan Austin 1:8aa5cdb4ab67 14 The above copyright notice and this permission notice shall be included in
Jonathan Austin 1:8aa5cdb4ab67 15 all copies or substantial portions of the Software.
Jonathan Austin 1:8aa5cdb4ab67 16
Jonathan Austin 1:8aa5cdb4ab67 17 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Jonathan Austin 1:8aa5cdb4ab67 18 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Jonathan Austin 1:8aa5cdb4ab67 19 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
Jonathan Austin 1:8aa5cdb4ab67 20 THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Jonathan Austin 1:8aa5cdb4ab67 21 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
Jonathan Austin 1:8aa5cdb4ab67 22 FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
Jonathan Austin 1:8aa5cdb4ab67 23 DEALINGS IN THE SOFTWARE.
Jonathan Austin 1:8aa5cdb4ab67 24 */
Jonathan Austin 1:8aa5cdb4ab67 25
Jonathan Austin 1:8aa5cdb4ab67 26 #include "MicroBitConfig.h"
Jonathan Austin 1:8aa5cdb4ab67 27 #include "Matrix4.h"
Jonathan Austin 1:8aa5cdb4ab67 28 #include "mbed.h"
Jonathan Austin 1:8aa5cdb4ab67 29
Jonathan Austin 1:8aa5cdb4ab67 30 /**
Jonathan Austin 1:8aa5cdb4ab67 31 * Class definition for a simple matrix, optimised for n x 4 or 4 x n matrices.
Jonathan Austin 1:8aa5cdb4ab67 32 *
Jonathan Austin 1:8aa5cdb4ab67 33 * This class is heavily optimised for these commonly used matrices as used in 3D geometry,
Jonathan Austin 1:8aa5cdb4ab67 34 * and is not intended as a general purpose matrix class. For programmers needing more flexible
Jonathan Austin 1:8aa5cdb4ab67 35 * Matrix support, the mbed Matrix and MatrixMath classes from Ernsesto Palacios provide a good basis:
Jonathan Austin 1:8aa5cdb4ab67 36 *
Jonathan Austin 1:8aa5cdb4ab67 37 * https://developer.mbed.org/cookbook/MatrixClass
Jonathan Austin 1:8aa5cdb4ab67 38 * https://developer.mbed.org/users/Yo_Robot/code/MatrixMath/
Jonathan Austin 1:8aa5cdb4ab67 39 */
Jonathan Austin 1:8aa5cdb4ab67 40
Jonathan Austin 1:8aa5cdb4ab67 41 /**
Jonathan Austin 1:8aa5cdb4ab67 42 * Constructor.
Jonathan Austin 1:8aa5cdb4ab67 43 * Create a matrix of the given size.
Jonathan Austin 1:8aa5cdb4ab67 44 *
Jonathan Austin 1:8aa5cdb4ab67 45 * @param rows the number of rows in the matrix to be created.
Jonathan Austin 1:8aa5cdb4ab67 46 *
Jonathan Austin 1:8aa5cdb4ab67 47 * @param cols the number of columns in the matrix to be created.
Jonathan Austin 1:8aa5cdb4ab67 48 *
Jonathan Austin 1:8aa5cdb4ab67 49 * @code
Jonathan Austin 1:8aa5cdb4ab67 50 * Matrix4(10, 4); // Creates a Matrix with 10 rows and 4 columns.
Jonathan Austin 1:8aa5cdb4ab67 51 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 52 */
Jonathan Austin 1:8aa5cdb4ab67 53 Matrix4::Matrix4(int rows, int cols)
Jonathan Austin 1:8aa5cdb4ab67 54 {
Jonathan Austin 1:8aa5cdb4ab67 55 this->rows = rows;
Jonathan Austin 1:8aa5cdb4ab67 56 this->cols = cols;
Jonathan Austin 1:8aa5cdb4ab67 57
Jonathan Austin 1:8aa5cdb4ab67 58 int size = rows * cols;
Jonathan Austin 1:8aa5cdb4ab67 59
Jonathan Austin 1:8aa5cdb4ab67 60 if (size > 0)
Jonathan Austin 1:8aa5cdb4ab67 61 data = new float[size];
Jonathan Austin 1:8aa5cdb4ab67 62 else
Jonathan Austin 1:8aa5cdb4ab67 63 data = NULL;
Jonathan Austin 1:8aa5cdb4ab67 64 }
Jonathan Austin 1:8aa5cdb4ab67 65
Jonathan Austin 1:8aa5cdb4ab67 66 /**
Jonathan Austin 1:8aa5cdb4ab67 67 * Constructor.
Jonathan Austin 1:8aa5cdb4ab67 68 * Create a matrix that is an identical copy of the given matrix.
Jonathan Austin 1:8aa5cdb4ab67 69 *
Jonathan Austin 1:8aa5cdb4ab67 70 * @param matrix The matrix to copy.
Jonathan Austin 1:8aa5cdb4ab67 71 *
Jonathan Austin 1:8aa5cdb4ab67 72 * @code
Jonathan Austin 1:8aa5cdb4ab67 73 * Matrix newMatrix(matrix); .
Jonathan Austin 1:8aa5cdb4ab67 74 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 75 */
Jonathan Austin 1:8aa5cdb4ab67 76 Matrix4::Matrix4(const Matrix4 &matrix)
Jonathan Austin 1:8aa5cdb4ab67 77 {
Jonathan Austin 1:8aa5cdb4ab67 78 this->rows = matrix.rows;
Jonathan Austin 1:8aa5cdb4ab67 79 this->cols = matrix.cols;
Jonathan Austin 1:8aa5cdb4ab67 80
Jonathan Austin 1:8aa5cdb4ab67 81 int size = rows * cols;
Jonathan Austin 1:8aa5cdb4ab67 82
Jonathan Austin 1:8aa5cdb4ab67 83 if (size > 0)
Jonathan Austin 1:8aa5cdb4ab67 84 {
Jonathan Austin 1:8aa5cdb4ab67 85 data = new float[size];
Jonathan Austin 1:8aa5cdb4ab67 86 for (int i = 0; i < size; i++)
Jonathan Austin 1:8aa5cdb4ab67 87 data[i] = matrix.data[i];
Jonathan Austin 1:8aa5cdb4ab67 88 }
Jonathan Austin 1:8aa5cdb4ab67 89 else
Jonathan Austin 1:8aa5cdb4ab67 90 {
Jonathan Austin 1:8aa5cdb4ab67 91 data = NULL;
Jonathan Austin 1:8aa5cdb4ab67 92 }
Jonathan Austin 1:8aa5cdb4ab67 93
Jonathan Austin 1:8aa5cdb4ab67 94 }
Jonathan Austin 1:8aa5cdb4ab67 95
Jonathan Austin 1:8aa5cdb4ab67 96 /**
Jonathan Austin 1:8aa5cdb4ab67 97 * Determines the number of columns in this matrix.
Jonathan Austin 1:8aa5cdb4ab67 98 *
Jonathan Austin 1:8aa5cdb4ab67 99 * @return The number of columns in the matrix.
Jonathan Austin 1:8aa5cdb4ab67 100 *
Jonathan Austin 1:8aa5cdb4ab67 101 * @code
Jonathan Austin 1:8aa5cdb4ab67 102 * int c = matrix.width();
Jonathan Austin 1:8aa5cdb4ab67 103 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 104 */
Jonathan Austin 1:8aa5cdb4ab67 105 int Matrix4::width()
Jonathan Austin 1:8aa5cdb4ab67 106 {
Jonathan Austin 1:8aa5cdb4ab67 107 return cols;
Jonathan Austin 1:8aa5cdb4ab67 108 }
Jonathan Austin 1:8aa5cdb4ab67 109
Jonathan Austin 1:8aa5cdb4ab67 110 /**
Jonathan Austin 1:8aa5cdb4ab67 111 * Determines the number of rows in this matrix.
Jonathan Austin 1:8aa5cdb4ab67 112 *
Jonathan Austin 1:8aa5cdb4ab67 113 * @return The number of rows in the matrix.
Jonathan Austin 1:8aa5cdb4ab67 114 *
Jonathan Austin 1:8aa5cdb4ab67 115 * @code
Jonathan Austin 1:8aa5cdb4ab67 116 * int r = matrix.height();
Jonathan Austin 1:8aa5cdb4ab67 117 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 118 */
Jonathan Austin 1:8aa5cdb4ab67 119 int Matrix4::height()
Jonathan Austin 1:8aa5cdb4ab67 120 {
Jonathan Austin 1:8aa5cdb4ab67 121 return rows;
Jonathan Austin 1:8aa5cdb4ab67 122 }
Jonathan Austin 1:8aa5cdb4ab67 123
Jonathan Austin 1:8aa5cdb4ab67 124 /**
Jonathan Austin 1:8aa5cdb4ab67 125 * Reads the matrix element at the given position.
Jonathan Austin 1:8aa5cdb4ab67 126 *
Jonathan Austin 1:8aa5cdb4ab67 127 * @param row The row of the element to read.
Jonathan Austin 1:8aa5cdb4ab67 128 *
Jonathan Austin 1:8aa5cdb4ab67 129 * @param col The column of the element to read.
Jonathan Austin 1:8aa5cdb4ab67 130 *
Jonathan Austin 1:8aa5cdb4ab67 131 * @return The value of the matrix element at the given position. 0 is returned if the given index is out of range.
Jonathan Austin 1:8aa5cdb4ab67 132 *
Jonathan Austin 1:8aa5cdb4ab67 133 * @code
Jonathan Austin 1:8aa5cdb4ab67 134 * float v = matrix.get(1,2);
Jonathan Austin 1:8aa5cdb4ab67 135 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 136 */
Jonathan Austin 1:8aa5cdb4ab67 137 float Matrix4::get(int row, int col)
Jonathan Austin 1:8aa5cdb4ab67 138 {
Jonathan Austin 1:8aa5cdb4ab67 139 if (row < 0 || col < 0 || row >= rows || col >= cols)
Jonathan Austin 1:8aa5cdb4ab67 140 return 0;
Jonathan Austin 1:8aa5cdb4ab67 141
Jonathan Austin 1:8aa5cdb4ab67 142 return data[width() * row + col];
Jonathan Austin 1:8aa5cdb4ab67 143 }
Jonathan Austin 1:8aa5cdb4ab67 144
Jonathan Austin 1:8aa5cdb4ab67 145 /**
Jonathan Austin 1:8aa5cdb4ab67 146 * Writes the matrix element at the given position.
Jonathan Austin 1:8aa5cdb4ab67 147 *
Jonathan Austin 1:8aa5cdb4ab67 148 * @param row The row of the element to write.
Jonathan Austin 1:8aa5cdb4ab67 149 *
Jonathan Austin 1:8aa5cdb4ab67 150 * @param col The column of the element to write.
Jonathan Austin 1:8aa5cdb4ab67 151 *
Jonathan Austin 1:8aa5cdb4ab67 152 * @param v The new value of the element.
Jonathan Austin 1:8aa5cdb4ab67 153 *
Jonathan Austin 1:8aa5cdb4ab67 154 * @code
Jonathan Austin 1:8aa5cdb4ab67 155 * matrix.set(1,2,42.0);
Jonathan Austin 1:8aa5cdb4ab67 156 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 157 */
Jonathan Austin 1:8aa5cdb4ab67 158 void Matrix4::set(int row, int col, float v)
Jonathan Austin 1:8aa5cdb4ab67 159 {
Jonathan Austin 1:8aa5cdb4ab67 160 if (row < 0 || col < 0 || row >= rows || col >= cols)
Jonathan Austin 1:8aa5cdb4ab67 161 return;
Jonathan Austin 1:8aa5cdb4ab67 162
Jonathan Austin 1:8aa5cdb4ab67 163 data[width() * row + col] = v;
Jonathan Austin 1:8aa5cdb4ab67 164 }
Jonathan Austin 1:8aa5cdb4ab67 165
Jonathan Austin 1:8aa5cdb4ab67 166 /**
Jonathan Austin 1:8aa5cdb4ab67 167 * Transposes this matrix.
Jonathan Austin 1:8aa5cdb4ab67 168 *
Jonathan Austin 1:8aa5cdb4ab67 169 * @return the resultant matrix.
Jonathan Austin 1:8aa5cdb4ab67 170 *
Jonathan Austin 1:8aa5cdb4ab67 171 * @code
Jonathan Austin 1:8aa5cdb4ab67 172 * matrix.transpose();
Jonathan Austin 1:8aa5cdb4ab67 173 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 174 */
Jonathan Austin 1:8aa5cdb4ab67 175 Matrix4 Matrix4::transpose()
Jonathan Austin 1:8aa5cdb4ab67 176 {
Jonathan Austin 1:8aa5cdb4ab67 177 Matrix4 result = Matrix4(cols, rows);
Jonathan Austin 1:8aa5cdb4ab67 178
Jonathan Austin 1:8aa5cdb4ab67 179 for (int i = 0; i < width(); i++)
Jonathan Austin 1:8aa5cdb4ab67 180 for (int j = 0; j < height(); j++)
Jonathan Austin 1:8aa5cdb4ab67 181 result.set(i, j, get(j, i));
Jonathan Austin 1:8aa5cdb4ab67 182
Jonathan Austin 1:8aa5cdb4ab67 183 return result;
Jonathan Austin 1:8aa5cdb4ab67 184 }
Jonathan Austin 1:8aa5cdb4ab67 185
Jonathan Austin 1:8aa5cdb4ab67 186 /**
Jonathan Austin 1:8aa5cdb4ab67 187 * Multiplies this matrix with the given matrix (if possible).
Jonathan Austin 1:8aa5cdb4ab67 188 *
Jonathan Austin 1:8aa5cdb4ab67 189 * @param matrix the matrix to multiply this matrix's values against.
Jonathan Austin 1:8aa5cdb4ab67 190 *
Jonathan Austin 1:8aa5cdb4ab67 191 * @param transpose Transpose the matrices before multiplication. Defaults to false.
Jonathan Austin 1:8aa5cdb4ab67 192 *
Jonathan Austin 1:8aa5cdb4ab67 193 * @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
Jonathan Austin 1:8aa5cdb4ab67 194 *
Jonathan Austin 1:8aa5cdb4ab67 195 * @code
Jonathan Austin 1:8aa5cdb4ab67 196 * Matrix result = matrixA.multiply(matrixB);
Jonathan Austin 1:8aa5cdb4ab67 197 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 198 */
Jonathan Austin 1:8aa5cdb4ab67 199 Matrix4 Matrix4::multiply(Matrix4 &matrix, bool transpose)
Jonathan Austin 1:8aa5cdb4ab67 200 {
Jonathan Austin 1:8aa5cdb4ab67 201 int w = transpose ? height() : width();
Jonathan Austin 1:8aa5cdb4ab67 202 int h = transpose ? width() : height();
Jonathan Austin 1:8aa5cdb4ab67 203
Jonathan Austin 1:8aa5cdb4ab67 204 if (w != matrix.height())
Jonathan Austin 1:8aa5cdb4ab67 205 return Matrix4(0, 0);
Jonathan Austin 1:8aa5cdb4ab67 206
Jonathan Austin 1:8aa5cdb4ab67 207 Matrix4 result(h, matrix.width());
Jonathan Austin 1:8aa5cdb4ab67 208
Jonathan Austin 1:8aa5cdb4ab67 209 for (int r = 0; r < result.height(); r++)
Jonathan Austin 1:8aa5cdb4ab67 210 {
Jonathan Austin 1:8aa5cdb4ab67 211 for (int c = 0; c < result.width(); c++)
Jonathan Austin 1:8aa5cdb4ab67 212 {
Jonathan Austin 1:8aa5cdb4ab67 213 float v = 0.0;
Jonathan Austin 1:8aa5cdb4ab67 214
Jonathan Austin 1:8aa5cdb4ab67 215 for (int i = 0; i < w; i++)
Jonathan Austin 1:8aa5cdb4ab67 216 v += (transpose ? get(i, r) : get(r, i)) * matrix.get(i, c);
Jonathan Austin 1:8aa5cdb4ab67 217
Jonathan Austin 1:8aa5cdb4ab67 218 result.set(r, c, v);
Jonathan Austin 1:8aa5cdb4ab67 219 }
Jonathan Austin 1:8aa5cdb4ab67 220 }
Jonathan Austin 1:8aa5cdb4ab67 221
Jonathan Austin 1:8aa5cdb4ab67 222 return result;
Jonathan Austin 1:8aa5cdb4ab67 223 }
Jonathan Austin 1:8aa5cdb4ab67 224
Jonathan Austin 1:8aa5cdb4ab67 225 /**
Jonathan Austin 1:8aa5cdb4ab67 226 * Performs an optimised inversion of a 4x4 matrix.
Jonathan Austin 1:8aa5cdb4ab67 227 * Only 4x4 matrices are supported by this operation.
Jonathan Austin 1:8aa5cdb4ab67 228 *
Jonathan Austin 1:8aa5cdb4ab67 229 * @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
Jonathan Austin 1:8aa5cdb4ab67 230 *
Jonathan Austin 1:8aa5cdb4ab67 231 * @code
Jonathan Austin 1:8aa5cdb4ab67 232 * Matrix result = matrixA.invert();
Jonathan Austin 1:8aa5cdb4ab67 233 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 234 */
Jonathan Austin 1:8aa5cdb4ab67 235 Matrix4 Matrix4::invert()
Jonathan Austin 1:8aa5cdb4ab67 236 {
Jonathan Austin 1:8aa5cdb4ab67 237 // We only support square matrices of size 4...
Jonathan Austin 1:8aa5cdb4ab67 238 if (width() != height() || width() != 4)
Jonathan Austin 1:8aa5cdb4ab67 239 return Matrix4(0, 0);
Jonathan Austin 1:8aa5cdb4ab67 240
Jonathan Austin 1:8aa5cdb4ab67 241 Matrix4 result(width(), height());
Jonathan Austin 1:8aa5cdb4ab67 242
Jonathan Austin 1:8aa5cdb4ab67 243 result.data[0] = data[5] * data[10] * data[15] - data[5] * data[11] * data[14] - data[9] * data[6] * data[15] + data[9] * data[7] * data[14] + data[13] * data[6] * data[11] - data[13] * data[7] * data[10];
Jonathan Austin 1:8aa5cdb4ab67 244 result.data[1] = -data[1] * data[10] * data[15] + data[1] * data[11] * data[14] + data[9] * data[2] * data[15] - data[9] * data[3] * data[14] - data[13] * data[2] * data[11] + data[13] * data[3] * data[10];
Jonathan Austin 1:8aa5cdb4ab67 245 result.data[2] = data[1] * data[6] * data[15] - data[1] * data[7] * data[14] - data[5] * data[2] * data[15] + data[5] * data[3] * data[14] + data[13] * data[2] * data[7] - data[13] * data[3] * data[6];
Jonathan Austin 1:8aa5cdb4ab67 246 result.data[3] = -data[1] * data[6] * data[11] + data[1] * data[7] * data[10] + data[5] * data[2] * data[11] - data[5] * data[3] * data[10] - data[9] * data[2] * data[7] + data[9] * data[3] * data[6];
Jonathan Austin 1:8aa5cdb4ab67 247 result.data[4] = -data[4] * data[10] * data[15] + data[4] * data[11] * data[14] + data[8] * data[6] * data[15] - data[8] * data[7] * data[14] - data[12] * data[6] * data[11] + data[12] * data[7] * data[10];
Jonathan Austin 1:8aa5cdb4ab67 248 result.data[5] = data[0] * data[10] * data[15] - data[0] * data[11] * data[14] - data[8] * data[2] * data[15] + data[8] * data[3] * data[14] + data[12] * data[2] * data[11] - data[12] * data[3] * data[10];
Jonathan Austin 1:8aa5cdb4ab67 249 result.data[6] = -data[0] * data[6] * data[15] + data[0] * data[7] * data[14] + data[4] * data[2] * data[15] - data[4] * data[3] * data[14] - data[12] * data[2] * data[7] + data[12] * data[3] * data[6];
Jonathan Austin 1:8aa5cdb4ab67 250 result.data[7] = data[0] * data[6] * data[11] - data[0] * data[7] * data[10] - data[4] * data[2] * data[11] + data[4] * data[3] * data[10] + data[8] * data[2] * data[7] - data[8] * data[3] * data[6];
Jonathan Austin 1:8aa5cdb4ab67 251 result.data[8] = data[4] * data[9] * data[15] - data[4] * data[11] * data[13] - data[8] * data[5] * data[15] + data[8] * data[7] * data[13] + data[12] * data[5] * data[11] - data[12] * data[7] * data[9];
Jonathan Austin 1:8aa5cdb4ab67 252 result.data[9] = -data[0] * data[9] * data[15] + data[0] * data[11] * data[13] + data[8] * data[1] * data[15] - data[8] * data[3] * data[13] - data[12] * data[1] * data[11] + data[12] * data[3] * data[9];
Jonathan Austin 1:8aa5cdb4ab67 253 result.data[10] = data[0] * data[5] * data[15] - data[0] * data[7] * data[13] - data[4] * data[1] * data[15] + data[4] * data[3] * data[13] + data[12] * data[1] * data[7] - data[12] * data[3] * data[5];
Jonathan Austin 1:8aa5cdb4ab67 254 result.data[11] = -data[0] * data[5] * data[11] + data[0] * data[7] * data[9] + data[4] * data[1] * data[11] - data[4] * data[3] * data[9] - data[8] * data[1] * data[7] + data[8] * data[3] * data[5];
Jonathan Austin 1:8aa5cdb4ab67 255 result.data[12] = -data[4] * data[9] * data[14] + data[4] * data[10] * data[13] + data[8] * data[5] * data[14] - data[8] * data[6] * data[13] - data[12] * data[5] * data[10] + data[12] * data[6] * data[9];
Jonathan Austin 1:8aa5cdb4ab67 256 result.data[13] = data[0] * data[9] * data[14] - data[0] * data[10] * data[13] - data[8] * data[1] * data[14] + data[8] * data[2] * data[13] + data[12] * data[1] * data[10] - data[12] * data[2] * data[9];
Jonathan Austin 1:8aa5cdb4ab67 257 result.data[14] = -data[0] * data[5] * data[14] + data[0] * data[6] * data[13] + data[4] * data[1] * data[14] - data[4] * data[2] * data[13] - data[12] * data[1] * data[6] + data[12] * data[2] * data[5];
Jonathan Austin 1:8aa5cdb4ab67 258 result.data[15] = data[0] * data[5] * data[10] - data[0] * data[6] * data[9] - data[4] * data[1] * data[10] + data[4] * data[2] * data[9] + data[8] * data[1] * data[6] - data[8] * data[2] * data[5];
Jonathan Austin 1:8aa5cdb4ab67 259
Jonathan Austin 1:8aa5cdb4ab67 260 float det = data[0] * result.data[0] + data[1] * result.data[4] + data[2] * result.data[8] + data[3] * result.data[12];
Jonathan Austin 1:8aa5cdb4ab67 261
Jonathan Austin 1:8aa5cdb4ab67 262 if (det == 0)
Jonathan Austin 1:8aa5cdb4ab67 263 return Matrix4(0, 0);
Jonathan Austin 1:8aa5cdb4ab67 264
Jonathan Austin 1:8aa5cdb4ab67 265 det = 1.0f / det;
Jonathan Austin 1:8aa5cdb4ab67 266
Jonathan Austin 1:8aa5cdb4ab67 267 for (int i = 0; i < 16; i++)
Jonathan Austin 1:8aa5cdb4ab67 268 result.data[i] *= det;
Jonathan Austin 1:8aa5cdb4ab67 269
Jonathan Austin 1:8aa5cdb4ab67 270 return result;
Jonathan Austin 1:8aa5cdb4ab67 271 }
Jonathan Austin 1:8aa5cdb4ab67 272
Jonathan Austin 1:8aa5cdb4ab67 273 /**
Jonathan Austin 1:8aa5cdb4ab67 274 * Destructor.
Jonathan Austin 1:8aa5cdb4ab67 275 *
Jonathan Austin 1:8aa5cdb4ab67 276 * Frees any memory consumed by this Matrix4 instance.
Jonathan Austin 1:8aa5cdb4ab67 277 */
Jonathan Austin 1:8aa5cdb4ab67 278 Matrix4::~Matrix4()
Jonathan Austin 1:8aa5cdb4ab67 279 {
Jonathan Austin 1:8aa5cdb4ab67 280 if (data != NULL)
Jonathan Austin 1:8aa5cdb4ab67 281 {
Jonathan Austin 1:8aa5cdb4ab67 282 delete data;
Jonathan Austin 1:8aa5cdb4ab67 283 data = NULL;
Jonathan Austin 1:8aa5cdb4ab67 284 }
Jonathan Austin 1:8aa5cdb4ab67 285 }