X-Git-Url: http://de.git.xonotic.org/?a=blobdiff_plain;ds=sidebyside;f=matrixlib.c;h=550a511837d6981c196204e21f8d6618334bcea8;hb=259805bfa4bc021a5d33c17f859e90941ad0ffdf;hp=c6c4161afc796318d30155fcb6f7f93d66855a7c;hpb=a93c26c05ad8a678959a745ad4a5c61e545b912e;p=xonotic%2Fdarkplaces.git

diff --git a/matrixlib.c b/matrixlib.c
index c6c4161a..550a5118 100644
--- a/matrixlib.c
+++ b/matrixlib.c
@@ -1,14 +1,23 @@
 
-#include "quakedef.h"
-#include "matrixlib.h"
 #include <math.h>
+#include "matrixlib.h"
+
+const matrix4x4_t identitymatrix =
+{
+	{
+		{1, 0, 0, 0},
+		{0, 1, 0, 0},
+		{0, 0, 1, 0},
+		{0, 0, 0, 1}
+	}
+};
 
-void Matrix4x4_Copy (matrix4x4_t *out, matrix4x4_t *in)
+void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in)
 {
 	*out = *in;
 }
 
-void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, matrix4x4_t *in)
+void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in)
 {
 	out->m[0][0] = in->m[0][0];
 	out->m[0][1] = in->m[0][1];
@@ -28,7 +37,7 @@ void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, matrix4x4_t *in)
 	out->m[3][3] = 1.0f;
 }
 
-void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, matrix4x4_t *in)
+void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
 {
 	out->m[0][0] = 0.0f;
 	out->m[0][1] = 0.0f;
@@ -37,30 +46,10 @@ void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, matrix4x4_t *in)
 	out->m[1][0] = 0.0f;
 	out->m[1][1] = 0.0f;
 	out->m[1][2] = 0.0f;
-	out->m[1][3] = in->m[0][3];
+	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][3] = in->m[0][3];
-	out->m[3][0] = 0.0f;
-	out->m[3][1] = 0.0f;
-	out->m[3][2] = 0.0f;
-	out->m[3][3] = 1.0f;
-}
-
-void Matrix4x4_FromMatrix3x4 (matrix4x4_t *out, matrix3x4_t *in)
-{
-	out->m[0][0] = in->m[0][0];
-	out->m[0][1] = in->m[0][1];
-	out->m[0][2] = in->m[0][2];
-	out->m[0][3] = in->m[0][3];
-	out->m[1][0] = in->m[1][0];
-	out->m[1][1] = in->m[1][1];
-	out->m[1][2] = in->m[1][2];
-	out->m[1][3] = in->m[1][3];
-	out->m[2][0] = in->m[2][0];
-	out->m[2][1] = in->m[2][1];
-	out->m[2][2] = in->m[2][2];
 	out->m[2][3] = in->m[2][3];
 	out->m[3][0] = 0.0f;
 	out->m[3][1] = 0.0f;
@@ -90,27 +79,17 @@ void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4
 
 void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
 {
-	float scale;
-	scale = 3.0 / (in1->m[0][0] * in1->m[0][0]
-	             + in1->m[0][1] * in1->m[0][1]
-	             + in1->m[0][2] * in1->m[0][2]
-	             + 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]);
-	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[0][0] = in1->m[0][0];
+	out->m[0][1] = in1->m[1][0];
+	out->m[0][2] = in1->m[2][0];
 	out->m[0][3] = in1->m[3][0];
-	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[1][0] = in1->m[0][1];
+	out->m[1][1] = in1->m[1][1];
+	out->m[1][2] = in1->m[2][1];
 	out->m[1][3] = in1->m[3][1];
-	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;
+	out->m[2][0] = in1->m[0][2];
+	out->m[2][1] = in1->m[1][2];
+	out->m[2][2] = in1->m[2][2];
 	out->m[2][3] = in1->m[3][2];
 	out->m[3][0] = in1->m[0][3];
 	out->m[3][1] = in1->m[1][3];
@@ -118,6 +97,67 @@ void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
 	out->m[3][3] = in1->m[3][3];
 }
 
+void Matrix4x4_Transpose3x3 (matrix4x4_t *out, const matrix4x4_t *in1)
+{
+	out->m[0][0] = in1->m[0][0];
+	out->m[0][1] = in1->m[1][0];
+	out->m[0][2] = in1->m[2][0];
+	out->m[1][0] = in1->m[0][1];
+	out->m[1][1] = in1->m[1][1];
+	out->m[1][2] = in1->m[2][1];
+	out->m[2][0] = in1->m[0][2];
+	out->m[2][1] = in1->m[1][2];
+	out->m[2][2] = in1->m[2][2];
+
+	out->m[0][3] = in1->m[0][3];
+	out->m[1][3] = in1->m[1][3];
+	out->m[2][3] = in1->m[2][3];
+	out->m[3][0] = in1->m[0][3];
+	out->m[3][1] = in1->m[1][3];
+	out->m[3][2] = in1->m[2][3];
+	out->m[3][3] = in1->m[3][3];
+}
+
+void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
+{
+	// we only support uniform scaling, so assume the first row is enough
+	// (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] = (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[1][0] = (float)(in1->m[0][1] * scale);
+	out->m[1][1] = (float)(in1->m[1][1] * scale);
+	out->m[1][2] = (float)(in1->m[2][1] * scale);
+	out->m[2][0] = (float)(in1->m[0][2] * scale);
+	out->m[2][1] = (float)(in1->m[1][2] * scale);
+	out->m[2][2] = (float)(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]);
+
+	// don't know if there's anything worth doing here
+	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;
@@ -164,14 +204,14 @@ void Matrix4x4_CreateRotate (matrix4x4_t *out, float angle, float x, float y, fl
 
 	len = x*x+y*y+z*z;
 	if (len != 0.0f)
-		len = 1.0f / sqrt(len);
+		len = 1.0f / (float)sqrt(len);
 	x *= len;
 	y *= len;
 	z *= len;
 
-	angle *= M_PI / 180.0;
-	c = cos(angle);
-	s = sin(angle);
+	angle *= (float)(-M_PI / 180.0);
+	c = (float)cos(angle);
+	s = (float)sin(angle);
 
 	out->m[0][0]=x * x + c * (1 - x * x);
 	out->m[0][1]=x * y * (1 - c) + z * s;
@@ -231,6 +271,106 @@ void Matrix4x4_CreateScale3 (matrix4x4_t *out, float x, float y, float z)
 	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)
+{
+	double angle, sr, sp, sy, cr, cp, cy;
+
+	if (roll)
+	{
+		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] = (float)((cp*cy) * scale);
+		out->m[0][1] = (float)((sr*sp*cy+cr*-sy) * scale);
+		out->m[0][2] = (float)((cr*sp*cy+-sr*-sy) * scale);
+		out->m[0][3] = x;
+		out->m[1][0] = (float)((cp*sy) * scale);
+		out->m[1][1] = (float)((sr*sp*sy+cr*cy) * scale);
+		out->m[1][2] = (float)((cr*sp*sy+-sr*cy) * scale);
+		out->m[1][3] = y;
+		out->m[2][0] = (float)((-sp) * scale);
+		out->m[2][1] = (float)((sr*cp) * scale);
+		out->m[2][2] = (float)((cr*cp) * scale);
+		out->m[2][3] = z;
+		out->m[3][0] = 0;
+		out->m[3][1] = 0;
+		out->m[3][2] = 0;
+		out->m[3][3] = 1;
+	}
+	else if (pitch)
+	{
+		angle = yaw * (M_PI*2 / 360);
+		sy = sin(angle);
+		cy = cos(angle);
+		angle = pitch * (M_PI*2 / 360);
+		sp = sin(angle);
+		cp = cos(angle);
+		out->m[0][0] = (float)((cp*cy) * scale);
+		out->m[0][1] = (float)((-sy) * scale);
+		out->m[0][2] = (float)((sp*cy) * scale);
+		out->m[0][3] = x;
+		out->m[1][0] = (float)((cp*sy) * scale);
+		out->m[1][1] = (float)((cy) * scale);
+		out->m[1][2] = (float)((sp*sy) * scale);
+		out->m[1][3] = y;
+		out->m[2][0] = (float)((-sp) * scale);
+		out->m[2][1] = 0;
+		out->m[2][2] = (float)((cp) * scale);
+		out->m[2][3] = z;
+		out->m[3][0] = 0;
+		out->m[3][1] = 0;
+		out->m[3][2] = 0;
+		out->m[3][3] = 1;
+	}
+	else if (yaw)
+	{
+		angle = yaw * (M_PI*2 / 360);
+		sy = sin(angle);
+		cy = cos(angle);
+		out->m[0][0] = (float)((cy) * scale);
+		out->m[0][1] = (float)((-sy) * scale);
+		out->m[0][2] = 0;
+		out->m[0][3] = x;
+		out->m[1][0] = (float)((sy) * scale);
+		out->m[1][1] = (float)((cy) * scale);
+		out->m[1][2] = 0;
+		out->m[1][3] = y;
+		out->m[2][0] = 0;
+		out->m[2][1] = 0;
+		out->m[2][2] = scale;
+		out->m[2][3] = z;
+		out->m[3][0] = 0;
+		out->m[3][1] = 0;
+		out->m[3][2] = 0;
+		out->m[3][3] = 1;
+	}
+	else
+	{
+		out->m[0][0] = scale;
+		out->m[0][1] = 0;
+		out->m[0][2] = 0;
+		out->m[0][3] = x;
+		out->m[1][0] = 0;
+		out->m[1][1] = scale;
+		out->m[1][2] = 0;
+		out->m[1][3] = y;
+		out->m[2][0] = 0;
+		out->m[2][1] = 0;
+		out->m[2][2] = scale;
+		out->m[2][3] = z;
+		out->m[3][0] = 0;
+		out->m[3][1] = 0;
+		out->m[3][2] = 0;
+		out->m[3][3] = 1;
+	}
+}
+
 void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
 {
 	vx[0] = in->m[0][0];
@@ -267,6 +407,28 @@ void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3
 	out->m[3][3] = 1.0f;
 }
 
+void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, float blend)
+{
+	float 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;
+	out->m[0][3] = in1->m[0][3] * iblend + in2->m[0][3] * blend;
+	out->m[1][0] = in1->m[1][0] * iblend + in2->m[1][0] * blend;
+	out->m[1][1] = in1->m[1][1] * iblend + in2->m[1][1] * blend;
+	out->m[1][2] = in1->m[1][2] * iblend + in2->m[1][2] * blend;
+	out->m[1][3] = in1->m[1][3] * iblend + in2->m[1][3] * blend;
+	out->m[2][0] = in1->m[2][0] * iblend + in2->m[2][0] * blend;
+	out->m[2][1] = in1->m[2][1] * iblend + in2->m[2][1] * blend;
+	out->m[2][2] = in1->m[2][2] * iblend + in2->m[2][2] * blend;
+	out->m[2][3] = in1->m[2][3] * iblend + in2->m[2][3] * blend;
+	out->m[3][0] = in1->m[3][0] * iblend + in2->m[3][0] * blend;
+	out->m[3][1] = in1->m[3][1] * iblend + in2->m[3][1] * blend;
+	out->m[3][2] = in1->m[3][2] * iblend + in2->m[3][2] * blend;
+	out->m[3][3] = in1->m[3][3] * iblend + in2->m[3][3] * blend;
+}
+
+
 void Matrix4x4_Transform (const matrix4x4_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];
@@ -282,6 +444,14 @@ void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4]
 	out[3] = v[0] * in->m[3][0] + v[1] * in->m[3][1] + v[2] * in->m[3][2] + v[3] * in->m[3][3];
 }
 
+void Matrix4x4_Transform3x3 (const matrix4x4_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];
+	out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2];
+	out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2];
+}
+
+/*
 void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
 {
 	float t[3];
@@ -292,12 +462,13 @@ void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float
 	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];
 }
+*/
 
 // FIXME: optimize
 void Matrix4x4_ConcatTranslate (matrix4x4_t *out, float x, float y, float z)
 {
 	matrix4x4_t base, temp;
-	Matrix4x4_Copy(out, &base);
+	base = *out;
 	Matrix4x4_CreateTranslate(&temp, x, y, z);
 	Matrix4x4_Concat(out, &base, &temp);
 }
@@ -306,7 +477,7 @@ void Matrix4x4_ConcatTranslate (matrix4x4_t *out, float x, float y, float z)
 void Matrix4x4_ConcatRotate (matrix4x4_t *out, float angle, float x, float y, float z)
 {
 	matrix4x4_t base, temp;
-	Matrix4x4_Copy(out, &base);
+	base = *out;
 	Matrix4x4_CreateRotate(&temp, angle, x, y, z);
 	Matrix4x4_Concat(out, &base, &temp);
 }
@@ -315,7 +486,7 @@ void Matrix4x4_ConcatRotate (matrix4x4_t *out, float angle, float x, float y, fl
 void Matrix4x4_ConcatScale (matrix4x4_t *out, float x)
 {
 	matrix4x4_t base, temp;
-	Matrix4x4_Copy(out, &base);
+	base = *out;
 	Matrix4x4_CreateScale(&temp, x);
 	Matrix4x4_Concat(out, &base, &temp);
 }
@@ -324,288 +495,21 @@ void Matrix4x4_ConcatScale (matrix4x4_t *out, float x)
 void Matrix4x4_ConcatScale3 (matrix4x4_t *out, float x, float y, float z)
 {
 	matrix4x4_t base, temp;
-	Matrix4x4_Copy(out, &base);
+	base = *out;
 	Matrix4x4_CreateScale3(&temp, x, y, z);
 	Matrix4x4_Concat(out, &base, &temp);
 }
 
-
-
-
-
-
-
-
-void Matrix3x4_Copy (matrix3x4_t *out, matrix3x4_t *in)
-{
-	*out = *in;
-}
-
-void Matrix3x4_CopyRotateOnly (matrix3x4_t *out, matrix3x4_t *in)
-{
-	out->m[0][0] = in->m[0][0];
-	out->m[0][1] = in->m[0][1];
-	out->m[0][2] = in->m[0][2];
-	out->m[0][3] = 0.0f;
-	out->m[1][0] = in->m[1][0];
-	out->m[1][1] = in->m[1][1];
-	out->m[1][2] = in->m[1][2];
-	out->m[1][3] = 0.0f;
-	out->m[2][0] = in->m[2][0];
-	out->m[2][1] = in->m[2][1];
-	out->m[2][2] = in->m[2][2];
-	out->m[2][3] = 0.0f;
-}
-
-void Matrix3x4_CopyTranslateOnly (matrix3x4_t *out, matrix3x4_t *in)
-{
-	out->m[0][0] = 0.0f;
-	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][2] = 0.0f;
-	out->m[1][3] = in->m[0][3];
-	out->m[2][0] = 0.0f;
-	out->m[2][1] = 0.0f;
-	out->m[2][2] = 0.0f;
-	out->m[2][3] = in->m[0][3];
-}
-
-void Matrix3x4_FromMatrix4x4 (matrix3x4_t *out, matrix4x4_t *in)
-{
-	out->m[0][0] = in->m[0][0];
-	out->m[0][1] = in->m[0][1];
-	out->m[0][2] = in->m[0][2];
-	out->m[0][3] = in->m[0][3];
-	out->m[1][0] = in->m[1][0];
-	out->m[1][1] = in->m[1][1];
-	out->m[1][2] = in->m[1][2];
-	out->m[1][3] = in->m[1][3];
-	out->m[2][0] = in->m[2][0];
-	out->m[2][1] = in->m[2][1];
-	out->m[2][2] = in->m[2][2];
-	out->m[2][3] = in->m[2][3];
-}
-
-void Matrix3x4_Concat (matrix3x4_t *out, const matrix3x4_t *in1, const matrix3x4_t *in2)
-{
-	out->m[0][0] = in1->m[0][0] * in2->m[0][0] + in1->m[0][1] * in2->m[1][0] + in1->m[0][2] * in2->m[2][0];
-	out->m[0][1] = in1->m[0][0] * in2->m[0][1] + in1->m[0][1] * in2->m[1][1] + in1->m[0][2] * in2->m[2][1];
-	out->m[0][2] = in1->m[0][0] * in2->m[0][2] + in1->m[0][1] * in2->m[1][2] + in1->m[0][2] * in2->m[2][2];
-	out->m[0][3] = in1->m[0][0] * in2->m[0][3] + in1->m[0][1] * in2->m[1][3] + in1->m[0][2] * in2->m[2][3] + in1->m[0][3];
-	out->m[1][0] = in1->m[1][0] * in2->m[0][0] + in1->m[1][1] * in2->m[1][0] + in1->m[1][2] * in2->m[2][0];
-	out->m[1][1] = in1->m[1][0] * in2->m[0][1] + in1->m[1][1] * in2->m[1][1] + in1->m[1][2] * in2->m[2][1];
-	out->m[1][2] = in1->m[1][0] * in2->m[0][2] + in1->m[1][1] * in2->m[1][2] + in1->m[1][2] * in2->m[2][2];
-	out->m[1][3] = in1->m[1][0] * in2->m[0][3] + in1->m[1][1] * in2->m[1][3] + in1->m[1][2] * in2->m[2][3] + in1->m[1][3];
-	out->m[2][0] = in1->m[2][0] * in2->m[0][0] + in1->m[2][1] * in2->m[1][0] + in1->m[2][2] * in2->m[2][0];
-	out->m[2][1] = in1->m[2][0] * in2->m[0][1] + in1->m[2][1] * in2->m[1][1] + in1->m[2][2] * in2->m[2][1];
-	out->m[2][2] = in1->m[2][0] * in2->m[0][2] + in1->m[2][1] * in2->m[1][2] + in1->m[2][2] * in2->m[2][2];
-	out->m[2][3] = in1->m[2][0] * in2->m[0][3] + in1->m[2][1] * in2->m[1][3] + in1->m[2][2] * in2->m[2][3] + in1->m[2][3];
-}
-
-void Matrix3x4_Transpose3x3 (matrix3x4_t *out, const matrix3x4_t *in1)
-{
-	float scale;
-	scale = 3.0 / (in1->m[0][0] * in1->m[0][0]
-	             + in1->m[0][1] * in1->m[0][1]
-	             + in1->m[0][2] * in1->m[0][2]
-	             + 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]);
-	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[0][3] = 0.0f;
-	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[1][3] = 0.0f;
-	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;
-	out->m[2][3] = 0.0f;
-}
-
-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_ToVectors(const matrix3x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
+void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, float *out)
 {
-	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];
+	out[0] = in->m[0][3];
+	out[1] = in->m[1][3];
+	out[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])
+float Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in)
 {
-	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];
+	// 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 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];
-}
-
-// FIXME: optimize
-void Matrix3x4_ConcatTranslate (matrix3x4_t *out, float x, float y, float z)
-{
-	matrix3x4_t base, temp;
-	Matrix3x4_Copy(out, &base);
-	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;
-	Matrix3x4_Copy(out, &base);
-	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;
-	Matrix3x4_Copy(out, &base);
-	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;
-	Matrix3x4_Copy(out, &base);
-	Matrix3x4_CreateScale3(&temp, x, y, z);
-	Matrix3x4_Concat(out, &base, &temp);
-}