gluLookAt矩阵、矩阵的转置与求逆矩阵方法

1. gluLookAt矩阵

这次使用opengl es 2.0中，由于里面没有gluLookAt这个函数，参考了网上的一些代码自己封装了一个，经过使用，没发现问题，具体代码如下：

void ESUTIL_API 
esGluLookAt(ESMatrix *result, float eyeX, float eyeY, float eyeZ, float centerX, float centerY, float centerZ, float upX, float upY, float upZ)
{
	float fx, fy, fz;
	float rlf, rls;
	float sx, sy, sz;
	float ux, uy, uz;
	fx = centerX - eyeX;
	fy = centerY - eyeY;
	fz = centerZ - eyeZ;

	// Normalize f
	rlf = 1.0f / sqrt(fx * fx + fy * fy + fz * fz);
	fx *= rlf;
	fy *= rlf;
	fz *= rlf;

	// compute s = f x up (x means "cross product")
	sx = fy * upZ - fz * upY;
	sy = fz * upX - fx * upZ;
	sz = fx * upY - fy * upX;

	// and normalize s
	rls = 1.0f / sqrt(sx * sx + sy * sy + sz * sz);
	sx *= rls;
	sy *= rls;
	sz *= rls;

	// compute u = s x f
	ux = sy * fz - sz * fy;
	uy &