void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
{
- out->m[0][0] = 0.0f;
+ out->m[0][0] = 1.0f;
out->m[0][1] = 0.0f;
out->m[0][2] = 0.0f;
out->m[0][3] = in->m[0][3];
out->m[1][0] = 0.0f;
- out->m[1][1] = 0.0f;
+ out->m[1][1] = 1.0f;
out->m[1][2] = 0.0f;
out->m[1][3] = in->m[1][3];
out->m[2][0] = 0.0f;
out->m[2][1] = 0.0f;
- out->m[2][2] = 0.0f;
+ out->m[2][2] = 1.0f;
out->m[2][3] = in->m[2][3];
out->m[3][0] = 0.0f;
out->m[3][1] = 0.0f;
// 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[1][0] * scale);
- out->m[0][2] = (float)(in1->m[2][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[0][1] * scale);
+ 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[2][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[0][2] * scale);
- out->m[2][1] = (float)(in1->m[1][2] * scale);
+ 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][3]=1.0f;
}
-void Matrix4x4_CreateTranslate (matrix4x4_t *out, float x, float y, float z)
+void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z)
{
out->m[0][0]=1.0f;
out->m[0][1]=0.0f;
out->m[3][3]=1.0f;
}
-void Matrix4x4_CreateRotate (matrix4x4_t *out, float angle, float x, float y, float z)
+void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z)
{
- float len, c, s;
+ double len, c, s;
len = x*x+y*y+z*z;
if (len != 0.0f)
out->m[3][3]=1.0f;
}
-void Matrix4x4_CreateScale (matrix4x4_t *out, float x)
+void Matrix4x4_CreateScale (matrix4x4_t *out, double x)
{
out->m[0][0]=x;
out->m[0][1]=0.0f;
out->m[3][3]=1.0f;
}
-void Matrix4x4_CreateScale3 (matrix4x4_t *out, float x, float y, float z)
+void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z)
{
out->m[0][0]=x;
out->m[0][1]=0.0f;
out->m[3][3]=1.0f;
}
-void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, float x, float y, float z, float pitch, float yaw, float roll, float scale)
+void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale)
{
double angle, sr, sp, sy, cr, cp, cy;
out->m[3][3] = 1.0f;
}
-void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, float blend)
+void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16])
+{
+ out[ 0] = in->m[0][0];
+ out[ 1] = in->m[1][0];
+ out[ 2] = in->m[2][0];
+ out[ 3] = in->m[3][0];
+ out[ 4] = in->m[0][1];
+ out[ 5] = in->m[1][1];
+ out[ 6] = in->m[2][1];
+ out[ 7] = in->m[3][1];
+ out[ 8] = in->m[0][2];
+ out[ 9] = in->m[1][2];
+ out[10] = in->m[2][2];
+ out[11] = in->m[3][2];
+ out[12] = in->m[0][3];
+ out[13] = in->m[1][3];
+ out[14] = in->m[2][3];
+ out[15] = in->m[3][3];
+}
+
+void Matrix4x4_FromArrayDoubleGL (matrix4x4_t *out, const double in[16])
+{
+ out->m[0][0] = in[0];
+ out->m[1][0] = in[1];
+ out->m[2][0] = in[2];
+ out->m[3][0] = in[3];
+ out->m[0][1] = in[4];
+ out->m[1][1] = in[5];
+ out->m[2][1] = in[6];
+ out->m[3][1] = in[7];
+ out->m[0][2] = in[8];
+ out->m[1][2] = in[9];
+ out->m[2][2] = in[10];
+ out->m[3][2] = in[11];
+ out->m[0][3] = in[12];
+ out->m[1][3] = in[13];
+ out->m[2][3] = in[14];
+ out->m[3][3] = in[15];
+}
+
+void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16])
+{
+ out[ 0] = in->m[0][0];
+ out[ 1] = in->m[0][1];
+ out[ 2] = in->m[0][2];
+ out[ 3] = in->m[0][3];
+ out[ 4] = in->m[1][0];
+ out[ 5] = in->m[1][1];
+ out[ 6] = in->m[1][2];
+ out[ 7] = in->m[1][3];
+ out[ 8] = in->m[2][0];
+ out[ 9] = in->m[2][1];
+ out[10] = in->m[2][2];
+ out[11] = in->m[2][3];
+ out[12] = in->m[3][0];
+ out[13] = in->m[3][1];
+ out[14] = in->m[3][2];
+ out[15] = in->m[3][3];
+}
+
+void Matrix4x4_FromArrayDoubleD3D (matrix4x4_t *out, const double in[16])
+{
+ out->m[0][0] = in[0];
+ out->m[0][1] = in[1];
+ out->m[0][2] = in[2];
+ out->m[0][3] = in[3];
+ out->m[1][0] = in[4];
+ out->m[1][1] = in[5];
+ out->m[1][2] = in[6];
+ out->m[1][3] = in[7];
+ out->m[2][0] = in[8];
+ out->m[2][1] = in[9];
+ out->m[2][2] = in[10];
+ out->m[2][3] = in[11];
+ out->m[3][0] = in[12];
+ out->m[3][1] = in[13];
+ out->m[3][2] = in[14];
+ out->m[3][3] = in[15];
+}
+
+void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12])
+{
+ out[ 0] = in->m[0][0];
+ out[ 1] = in->m[1][0];
+ out[ 2] = in->m[2][0];
+ out[ 3] = in->m[0][1];
+ out[ 4] = in->m[1][1];
+ out[ 5] = in->m[2][1];
+ out[ 6] = in->m[0][2];
+ out[ 7] = in->m[1][2];
+ out[ 8] = in->m[2][2];
+ out[ 9] = in->m[0][3];
+ out[10] = in->m[1][3];
+ out[11] = in->m[2][3];
+}
+
+void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12])
+{
+ out->m[0][0] = in[0];
+ out->m[1][0] = in[1];
+ out->m[2][0] = in[2];
+ out->m[3][0] = 0;
+ out->m[0][1] = in[3];
+ out->m[1][1] = in[4];
+ out->m[2][1] = in[5];
+ out->m[3][1] = 0;
+ out->m[0][2] = in[6];
+ out->m[1][2] = in[7];
+ out->m[2][2] = in[8];
+ out->m[3][2] = 0;
+ out->m[0][3] = in[9];
+ out->m[1][3] = in[10];
+ out->m[2][3] = in[11];
+ out->m[3][3] = 1;
+}
+
+void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12])
+{
+ out[ 0] = in->m[0][0];
+ out[ 1] = in->m[0][1];
+ out[ 2] = in->m[0][2];
+ out[ 3] = in->m[0][3];
+ out[ 4] = in->m[1][0];
+ out[ 5] = in->m[1][1];
+ out[ 6] = in->m[1][2];
+ out[ 7] = in->m[1][3];
+ out[ 8] = in->m[2][0];
+ out[ 9] = in->m[2][1];
+ out[10] = in->m[2][2];
+ out[11] = in->m[2][3];
+}
+
+void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12])
+{
+ out->m[0][0] = in[0];
+ out->m[0][1] = in[1];
+ out->m[0][2] = in[2];
+ out->m[0][3] = in[3];
+ out->m[1][0] = in[4];
+ out->m[1][1] = in[5];
+ out->m[1][2] = in[6];
+ out->m[1][3] = in[7];
+ out->m[2][0] = in[8];
+ out->m[2][1] = in[9];
+ out->m[2][2] = in[10];
+ out->m[2][3] = in[11];
+ out->m[3][0] = 0;
+ out->m[3][1] = 0;
+ out->m[3][2] = 0;
+ out->m[3][3] = 1;
+}
+
+void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w)
+{
+ m->m[0][0]=1-2*(y*y+z*z);m->m[0][1]= 2*(x*y-z*w);m->m[0][2]= 2*(x*z+y*w);m->m[0][3]=ox;
+ m->m[1][0]= 2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[1][2]= 2*(y*z-x*w);m->m[1][3]=oy;
+ m->m[2][0]= 2*(x*z-y*w);m->m[2][1]= 2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[2][3]=oz;
+ m->m[3][0]= 0 ;m->m[3][1]= 0 ;m->m[3][2]= 0 ;m->m[3][3]=1;
+}
+
+// LordHavoc: I got this code from:
+//http://www.doom3world.org/phpbb2/viewtopic.php?t=2884
+void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z)
{
- float iblend = 1 - blend;
+ double w = 1.0 - (x*x+y*y+z*z);
+ w = w > 0.0 ? -sqrt(w) : 0.0;
+ m->m[0][0]=1-2*(y*y+z*z);m->m[0][1]= 2*(x*y-z*w);m->m[0][2]= 2*(x*z+y*w);m->m[0][3]=ox;
+ m->m[1][0]= 2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[1][2]= 2*(y*z-x*w);m->m[1][3]=oy;
+ m->m[2][0]= 2*(x*z-y*w);m->m[2][1]= 2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[2][3]=oz;
+ m->m[3][0]= 0 ;m->m[3][1]= 0 ;m->m[3][2]= 0 ;m->m[3][3]=1;
+}
+
+void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
+{
+ double iblend = 1 - blend;
out->m[0][0] = in1->m[0][0] * iblend + in2->m[0][0] * blend;
out->m[0][1] = in1->m[0][1] * iblend + in2->m[0][1] * blend;
out->m[0][2] = in1->m[0][2] * iblend + in2->m[0][2] * blend;
/*
void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
{
- float t[3];
+ double 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];
*/
// FIXME: optimize
-void Matrix4x4_ConcatTranslate (matrix4x4_t *out, float x, float y, float z)
+void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z)
{
matrix4x4_t base, temp;
base = *out;
}
// FIXME: optimize
-void Matrix4x4_ConcatRotate (matrix4x4_t *out, float angle, float x, float y, float z)
+void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z)
{
matrix4x4_t base, temp;
base = *out;
}
// FIXME: optimize
-void Matrix4x4_ConcatScale (matrix4x4_t *out, float x)
+void Matrix4x4_ConcatScale (matrix4x4_t *out, double x)
{
matrix4x4_t base, temp;
base = *out;
}
// FIXME: optimize
-void Matrix4x4_ConcatScale3 (matrix4x4_t *out, float x, float y, float z)
+void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z)
{
matrix4x4_t base, temp;
base = *out;
out[2] = in->m[2][3];
}
-float Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in)
+double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in)
{
// we only support uniform scaling, so assume the first row is enough
return (float)sqrt(in->m[0][0] * in->m[0][0] + in->m[0][1] * in->m[0][1] + in->m[0][2] * in->m[0][2]);
}
+void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z)
+{
+ out->m[0][3] = x;
+ out->m[1][3] = y;
+ out->m[2][3] = z;
+}
+
+void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z)
+{
+ out->m[0][3] += x;
+ out->m[1][3] += y;
+ out->m[2][3] += z;
+}
+
+void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale)
+{
+ out->m[0][0] *= rotatescale;
+ out->m[0][1] *= rotatescale;
+ out->m[0][2] *= rotatescale;
+ out->m[0][3] *= originscale;
+ out->m[1][0] *= rotatescale;
+ out->m[1][1] *= rotatescale;
+ out->m[1][2] *= rotatescale;
+ out->m[1][3] *= originscale;
+ out->m[2][0] *= rotatescale;
+ out->m[2][1] *= rotatescale;
+ out->m[2][2] *= rotatescale;
+ out->m[2][3] *= originscale;
+}
projects / xonotic / darkplaces.git / blobdiff