I'm looking for a C library that is able to compute 4x4 and 3x3 matrix math

Does anyone know a good one? I'm looking for multiplication of matrices, transpose, i开发者_运维问答nvert, converting from 4x4 to top left corner 3x3 etc.

Like you say, rolling your own is easy enough. The inverse is tricky to get efficient unless you read this:

http://www.geometrictools.com/Documentation/LaplaceExpansionTheorem.pdf

I could send you my code, but it's a 4x4-only c++ class and does not take that paper into account yet, among other things that probably don't fit your needs.

Try BLAS or LAPACK.

Intel's Math Kernel or Numerical Receipes in C by Press, Flannery, Teukolsky and Vetterling