out->m[3][3] = 1;
}
+void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1)
+{
+ // scale rotation matrix vectors to a length of 1
+ // note: this is only designed to undo uniform scaling
+ double scale = 1.0 / 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]);
+ out->m[0][0] = (float)(in1->m[0][0] * scale);
+ out->m[0][1] = (float)(in1->m[0][1] * scale);
+ out->m[0][2] = (float)(in1->m[0][2] * scale);
+ out->m[0][3] = (float)(in1->m[0][3]);
+ out->m[1][0] = (float)(in1->m[1][0] * scale);
+ out->m[1][1] = (float)(in1->m[1][1] * scale);
+ out->m[1][2] = (float)(in1->m[1][2] * scale);
+ out->m[1][3] = (float)(in1->m[1][3]);
+ out->m[2][0] = (float)(in1->m[2][0] * scale);
+ out->m[2][1] = (float)(in1->m[2][1] * scale);
+ out->m[2][2] = (float)(in1->m[2][2] * scale);
+ out->m[2][3] = (float)(in1->m[2][3]);
+ out->m[3][0] = 0;
+ out->m[3][1] = 0;
+ out->m[3][2] = 0;
+ out->m[3][3] = 1;
+}
+
void Matrix4x4_CreateIdentity (matrix4x4_t *out)
{
out->m[0][0]=1.0f;