diff --git a/Source/OpenTK/Math/Matrix4.cs b/Source/OpenTK/Math/Matrix4.cs index 8ad4e570..2608b142 100644 --- a/Source/OpenTK/Math/Matrix4.cs +++ b/Source/OpenTK/Math/Matrix4.cs @@ -1214,9 +1214,9 @@ namespace OpenTK /// Calculate the inverse of the given matrix /// /// The matrix to invert - /// The inverse of the given matrix if it has one, or the input if it is singular + /// The inverse of the given matrix if it has one, or the input if it is singular /// Thrown if the Matrix4 is singular. - public static Matrix4 Invert(Matrix4 mat) + public static void Invert(ref Matrix4 mat, out Matrix4 result) { int[] colIdx = { 0, 0, 0, 0 }; int[] rowIdx = { 0, 0, 0, 0 }; @@ -1251,7 +1251,8 @@ namespace OpenTK } else if (pivotIdx[k] > 0) { - return mat; + result = mat; + return; } } } @@ -1278,7 +1279,6 @@ namespace OpenTK if (pivot == 0.0f) { throw new InvalidOperationException("Matrix is singular and cannot be inverted."); - //return mat; } // Scale row so it has a unit diagonal @@ -1313,24 +1313,35 @@ namespace OpenTK } } - mat.Row0.X = inverse[0, 0]; - mat.Row0.Y = inverse[0, 1]; - mat.Row0.Z = inverse[0, 2]; - mat.Row0.W = inverse[0, 3]; - mat.Row1.X = inverse[1, 0]; - mat.Row1.Y = inverse[1, 1]; - mat.Row1.Z = inverse[1, 2]; - mat.Row1.W = inverse[1, 3]; - mat.Row2.X = inverse[2, 0]; - mat.Row2.Y = inverse[2, 1]; - mat.Row2.Z = inverse[2, 2]; - mat.Row2.W = inverse[2, 3]; - mat.Row3.X = inverse[3, 0]; - mat.Row3.Y = inverse[3, 1]; - mat.Row3.Z = inverse[3, 2]; - mat.Row3.W = inverse[3, 3]; + result.Row0.X = inverse[0, 0]; + result.Row0.Y = inverse[0, 1]; + result.Row0.Z = inverse[0, 2]; + result.Row0.W = inverse[0, 3]; + result.Row1.X = inverse[1, 0]; + result.Row1.Y = inverse[1, 1]; + result.Row1.Z = inverse[1, 2]; + result.Row1.W = inverse[1, 3]; + result.Row2.X = inverse[2, 0]; + result.Row2.Y = inverse[2, 1]; + result.Row2.Z = inverse[2, 2]; + result.Row2.W = inverse[2, 3]; + result.Row3.X = inverse[3, 0]; + result.Row3.Y = inverse[3, 1]; + result.Row3.Z = inverse[3, 2]; + result.Row3.W = inverse[3, 3]; + } - return mat; + /// + /// Calculate the inverse of the given matrix + /// + /// The matrix to invert + /// The inverse of the given matrix if it has one, or the input if it is singular + /// Thrown if the Matrix4 is singular. + public static Matrix4 Invert(Matrix4 mat) + { + Matrix4 result; + Invert(ref mat, out result); + return result; } #endregion