- // (note the lack of sqrt here, because we're trying to undo the scaling,
- // this means multiplying by the inverse scale twice - squaring it, which
- // makes the sqrt a waste of time)
-#if 1
- double scale = 1.0 / (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]);
-#else
- double scale = 3.0 / sqrt
- (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]
- + in1->m[1][0] * in1->m[1][0] + in1->m[1][1] * in1->m[1][1] + in1->m[1][2] * in1->m[1][2]
- + in1->m[2][0] * in1->m[2][0] + in1->m[2][1] * in1->m[2][1] + in1->m[2][2] * in1->m[2][2]);
- scale *= scale;
-#endif
-
- // invert the rotation by transposing and multiplying by the squared
- // recipricol of the input matrix scale as described above
- out->m[0][0] = in1->m[0][0] * scale;
- out->m[0][1] = in1->m[1][0] * scale;
- out->m[0][2] = in1->m[2][0] * scale;
- out->m[1][0] = in1->m[0][1] * scale;
- out->m[1][1] = in1->m[1][1] * scale;
- out->m[1][2] = in1->m[2][1] * scale;
- out->m[2][0] = in1->m[0][2] * scale;
- out->m[2][1] = in1->m[1][2] * scale;
- out->m[2][2] = in1->m[2][2] * scale;
-
- // invert the translate
- out->m[0][3] = -(in1->m[0][3] * out->m[0][0] + in1->m[1][3] * out->m[0][1] + in1->m[2][3] * out->m[0][2]);
- out->m[1][3] = -(in1->m[0][3] * out->m[1][0] + in1->m[1][3] * out->m[1][1] + in1->m[2][3] * out->m[1][2]);
- out->m[2][3] = -(in1->m[0][3] * out->m[2][0] + in1->m[1][3] * out->m[2][1] + in1->m[2][3] * out->m[2][2]);
-}
-
-
-void Matrix3x4_CreateIdentity (matrix3x4_t *out)
-{
- out->m[0][0]=1.0f;
- out->m[0][1]=0.0f;
- out->m[0][2]=0.0f;
- out->m[0][3]=0.0f;
- out->m[1][0]=0.0f;
- out->m[1][1]=1.0f;
- out->m[1][2]=0.0f;
- out->m[1][3]=0.0f;
- out->m[2][0]=0.0f;
- out->m[2][1]=0.0f;
- out->m[2][2]=1.0f;
- out->m[2][3]=0.0f;
-}
-
-void Matrix3x4_CreateTranslate (matrix3x4_t *out, float x, float y, float z)
-{
- out->m[0][0]=1.0f;
- out->m[0][1]=0.0f;
- out->m[0][2]=0.0f;
- out->m[0][3]=x;
- out->m[1][0]=0.0f;
- out->m[1][1]=1.0f;
- out->m[1][2]=0.0f;
- out->m[1][3]=y;
- out->m[2][0]=0.0f;
- out->m[2][1]=0.0f;
- out->m[2][2]=1.0f;
- out->m[2][3]=z;
-}
-
-void Matrix3x4_CreateRotate (matrix3x4_t *out, float angle, float x, float y, float z)
-{
- float len, c, s;
-
- len = x*x+y*y+z*z;
- if (len != 0.0f)
- len = 1.0f / sqrt(len);
- x *= len;
- y *= len;
- z *= len;
-
- angle *= M_PI / 180.0;
- c = cos(angle);
- s = sin(angle);
-
- out->m[0][0]=x * x + c * (1 - x * x);
- out->m[0][1]=x * y * (1 - c) + z * s;
- out->m[0][2]=z * x * (1 - c) - y * s;
- out->m[0][3]=0.0f;
- out->m[1][0]=x * y * (1 - c) - z * s;
- out->m[1][1]=y * y + c * (1 - y * y);
- out->m[1][2]=y * z * (1 - c) + x * s;
- out->m[1][3]=0.0f;
- out->m[2][0]=z * x * (1 - c) + y * s;
- out->m[2][1]=y * z * (1 - c) - x * s;
- out->m[2][2]=z * z + c * (1 - z * z);
- out->m[2][3]=0.0f;
-}
-
-void Matrix3x4_CreateScale (matrix3x4_t *out, float x)
-{
- out->m[0][0]=x;
- out->m[0][1]=0.0f;
- out->m[0][2]=0.0f;
- out->m[0][3]=0.0f;
- out->m[1][0]=0.0f;
- out->m[1][1]=x;
- out->m[1][2]=0.0f;
- out->m[1][3]=0.0f;
- out->m[2][0]=0.0f;
- out->m[2][1]=0.0f;
- out->m[2][2]=x;
- out->m[2][3]=0.0f;
-}
-
-void Matrix3x4_CreateScale3 (matrix3x4_t *out, float x, float y, float z)
-{
- out->m[0][0]=x;
- out->m[0][1]=0.0f;
- out->m[0][2]=0.0f;
- out->m[0][3]=0.0f;
- out->m[1][0]=0.0f;
- out->m[1][1]=y;
- out->m[1][2]=0.0f;
- out->m[1][3]=0.0f;
- out->m[2][0]=0.0f;
- out->m[2][1]=0.0f;
- out->m[2][2]=z;
- out->m[2][3]=0.0f;
-}
-
-void Matrix3x4_CreateFromQuakeEntity(matrix3x4_t *out, float x, float y, float z, float pitch, float yaw, float roll, float scale)
-{
- double angle, sr, sp, sy, cr, cp, cy;
-
- angle = yaw * (M_PI*2 / 360);
- sy = sin(angle);
- cy = cos(angle);
- angle = pitch * (M_PI*2 / 360);
- sp = sin(angle);
- cp = cos(angle);
- angle = roll * (M_PI*2 / 360);
- sr = sin(angle);
- cr = cos(angle);
- out->m[0][0] = (cp*cy) * scale;
- out->m[0][1] = (sr*sp*cy+cr*-sy) * scale;
- out->m[0][2] = (cr*sp*cy+-sr*-sy) * scale;
- out->m[0][3] = x;
- out->m[1][0] = (cp*sy) * scale;
- out->m[1][1] = (sr*sp*sy+cr*cy) * scale;
- out->m[1][2] = (cr*sp*sy+-sr*cy) * scale;
- out->m[1][3] = y;
- out->m[2][0] = (-sp) * scale;
- out->m[2][1] = (sr*cp) * scale;
- out->m[2][2] = (cr*cp) * scale;
- out->m[2][3] = z;
-}
-
-void Matrix3x4_ToVectors(const matrix3x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
-{
- vx[0] = in->m[0][0];
- vx[1] = in->m[1][0];
- vx[2] = in->m[2][0];
- vy[0] = in->m[0][1];
- vy[1] = in->m[1][1];
- vy[2] = in->m[2][1];
- vz[0] = in->m[0][2];
- vz[1] = in->m[1][2];
- vz[2] = in->m[2][2];
- t[0] = in->m[0][3];
- t[1] = in->m[1][3];
- t[2] = in->m[2][3];
-}
-
-void Matrix3x4_FromVectors(matrix3x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
-{
- out->m[0][0] = vx[0];
- out->m[0][1] = vy[0];
- out->m[0][2] = vz[0];
- out->m[0][3] = t[0];
- out->m[1][0] = vx[1];
- out->m[1][1] = vy[1];
- out->m[1][2] = vz[1];
- out->m[1][3] = t[1];
- out->m[2][0] = vx[2];
- out->m[2][1] = vy[2];
- out->m[2][2] = vz[2];
- out->m[2][3] = t[2];
-}
-
-void Matrix3x4_Transform (const matrix3x4_t *in, const float v[3], float out[3])
-{
- out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3];
- out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3];
- out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3];
-}
-
-/*
-void Matrix3x4_SimpleUntransform (const matrix3x4_t *in, const float v[3], float out[3])
-{
- float t[3];
- t[0] = v[0] - in->m[0][3];
- t[1] = v[1] - in->m[1][3];
- t[2] = v[2] - in->m[2][3];
- out[0] = t[0] * in->m[0][0] + t[1] * in->m[1][0] + t[2] * in->m[2][0];
- out[1] = t[0] * in->m[0][1] + t[1] * in->m[1][1] + t[2] * in->m[2][1];
- out[2] = t[0] * in->m[0][2] + t[1] * in->m[1][2] + t[2] * in->m[2][2];
-}
-*/
-
-void Matrix3x4_Transform3x3 (const matrix3x4_t *in, const float v[3], float out[3])
-{
- out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3];
- out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3];
- out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3];
-}
-
-
-// FIXME: optimize
-void Matrix3x4_ConcatTranslate (matrix3x4_t *out, float x, float y, float z)
-{
- matrix3x4_t base, temp;
- base = *out;
- Matrix3x4_CreateTranslate(&temp, x, y, z);
- Matrix3x4_Concat(out, &base, &temp);
-}
-
-// FIXME: optimize
-void Matrix3x4_ConcatRotate (matrix3x4_t *out, float angle, float x, float y, float z)
-{
- matrix3x4_t base, temp;
- base = *out;
- Matrix3x4_CreateRotate(&temp, angle, x, y, z);
- Matrix3x4_Concat(out, &base, &temp);
-}
-
-// FIXME: optimize
-void Matrix3x4_ConcatScale (matrix3x4_t *out, float x)
-{
- matrix3x4_t base, temp;
- base = *out;
- Matrix3x4_CreateScale(&temp, x);
- Matrix3x4_Concat(out, &base, &temp);
-}
-
-// FIXME: optimize
-void Matrix3x4_ConcatScale3 (matrix3x4_t *out, float x, float y, float z)
-{
- matrix3x4_t base, temp;
- base = *out;
- Matrix3x4_CreateScale3(&temp, x, y, z);
- Matrix3x4_Concat(out, &base, &temp);
-}
-
-void Matrix3x4_Print (const matrix3x4_t *in)
-{
- Con_Printf("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n"
- , in->m[0][0], in->m[0][1], in->m[0][2], in->m[0][3]
- , in->m[1][0], in->m[1][1], in->m[1][2], in->m[1][3]
- , in->m[2][0], in->m[2][1], in->m[2][2], in->m[2][3]);