IPhone matrix multiplication and inversion

Question

I'm trying to apply a Kalman filter to data coming out of an iPhone’s accelerometer. I needed to perform matrix multiplication and inversion as quickly as possible, so I was interested to learn how to use the GPU to complete these two tasks. At the moment, I have found only one link for matrix multiplication:

float mBone01[16] = { ... }
float mBone02[16] = { ... }
float mResult[16];

glMatrixMode  ( GL_MODELVIEW );
glLoadIdentity( );
glLoadMatrix  ( mBone01 );
glMultMatrix  ( mBone02 );
glGetMatrix   ( GL_MODELVIEW, mResult );

even a tough user is not sure that this multiplication is done inside the GPU. Do you have any hint on how to do (if possible) the same for inversion?

Thanks everyone!

Answer 1

Kornel ( OpenGL FAQ) , OpenGL .
++, iPhone SDK.
, API OpenGL, .
iPhone, OpenGL ES 2.0, :

• iPhone 3GS
• iPod touch 32GB
• iPod touch 64GB

Apple , OpenGL ES 2.0 : http://developer.apple.com/iphone/library/samplecode/GLES2Sample/index.html

Answer 2

- shaders.

, OpenGL, GLSL , .

Answer 3

The vfpmathlibrary in Google code contains a quick vfp build for several matrix operations, including inversion. This will probably win the use of shaders simply because of the overhead that entails.