> btw "matrix inversion" does not mean "solving linear systems" (like
> Ax=b) -- it means "finding the explicit inverse of the matrix" (like
> A^{-1}), which you probably don't need to do unless your physics
> engine handles quantum mechanics ;-)
>

That's not true. Matrix inversion is common enough in graphics
programming. I wrote a physics engine that neglected quantum effects
and still needed to invert matrices ;-)

http://java.sun.com/javase/technologies/desktop/java3d/forDevelopers/J3D_1_3_API/j3dapi/index.html

Michael

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