I've updated the code from my previous post: 4x4 transformation matching OpenGL to remove the requirement for a separate linear algebra library by introducing some 4x4 inverse code from Rodolphe Vaillant (originally at http://www.irit.fr/~Rodolphe.Vaillant/?e=7) along with some other minor improvements. You can still use Eigen or GMM to perform matrix inverses, but it is no longer a requirement.
As before, the code re-implements the main OpenGL matrix functions and includes code for testing the output against the system OpenGL. I use the code for a number of my imaging projects where it is desirable (but optional) to have an OpenGL preview.
The code is now also hosted at Github which should simply future updates:
https://github.com/jamesgregson/transformation
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