X-Git-Url: http://de.git.xonotic.org/?a=blobdiff_plain;f=matrixlib.c;h=e430a7d476a03693e16e2c157a4043f100b1c0dd;hb=7f043025258a677f89d5d54130a42bfad0552abd;hp=2800ac0d8f3d4a7fb91c4efa7c6c628b02e9b0a7;hpb=2fe9d8457697fb9d9846e1464829bd976da30cfc;p=xonotic%2Fdarkplaces.git

diff --git a/matrixlib.c b/matrixlib.c
index 2800ac0d..e430a7d4 100644
--- a/matrixlib.c
+++ b/matrixlib.c
@@ -2,6 +2,11 @@
 #include <math.h>
 #include "matrixlib.h"
 
+#ifdef _MSC_VER
+#pragma warning(disable : 4244)     // LordHavoc: MSVC++ 4 x86, double/float
+#pragma warning(disable : 4305)         // LordHavoc: MSVC++ 6 x86, double/float
+#endif
+
 const matrix4x4_t identitymatrix =
 {
 	{
@@ -39,6 +44,24 @@ void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in)
 
 void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[0][0] = 1.0f;
+	out->m[1][0] = 0.0f;
+	out->m[2][0] = 0.0f;
+	out->m[3][0] = in->m[0][3];
+	out->m[0][1] = 0.0f;
+	out->m[1][1] = 1.0f;
+	out->m[2][1] = 0.0f;
+	out->m[3][1] = in->m[1][3];
+	out->m[0][2] = 0.0f;
+	out->m[1][2] = 0.0f;
+	out->m[2][2] = 1.0f;
+	out->m[3][2] = in->m[2][3];
+	out->m[0][3] = 0.0f;
+	out->m[1][3] = 0.0f;
+	out->m[2][3] = 0.0f;
+	out->m[3][3] = 1.0f;
+#else
 	out->m[0][0] = 1.0f;
 	out->m[0][1] = 0.0f;
 	out->m[0][2] = 0.0f;
@@ -55,10 +78,29 @@ void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
 	out->m[3][1] = 0.0f;
 	out->m[3][2] = 0.0f;
 	out->m[3][3] = 1.0f;
+#endif
 }
 
 void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2)
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[0][0] = in1->m[0][0] * in2->m[0][0] + in1->m[1][0] * in2->m[0][1] + in1->m[2][0] * in2->m[0][2] + in1->m[3][0] * in2->m[0][3];
+	out->m[1][0] = in1->m[0][0] * in2->m[1][0] + in1->m[1][0] * in2->m[1][1] + in1->m[2][0] * in2->m[1][2] + in1->m[3][0] * in2->m[1][3];
+	out->m[2][0] = in1->m[0][0] * in2->m[2][0] + in1->m[1][0] * in2->m[2][1] + in1->m[2][0] * in2->m[2][2] + in1->m[3][0] * in2->m[2][3];
+	out->m[3][0] = in1->m[0][0] * in2->m[3][0] + in1->m[1][0] * in2->m[3][1] + in1->m[2][0] * in2->m[3][2] + in1->m[3][0] * in2->m[3][3];
+	out->m[0][1] = in1->m[0][1] * in2->m[0][0] + in1->m[1][1] * in2->m[0][1] + in1->m[2][1] * in2->m[0][2] + in1->m[3][1] * in2->m[0][3];
+	out->m[1][1] = in1->m[0][1] * in2->m[1][0] + in1->m[1][1] * in2->m[1][1] + in1->m[2][1] * in2->m[1][2] + in1->m[3][1] * in2->m[1][3];
+	out->m[2][1] = in1->m[0][1] * in2->m[2][0] + in1->m[1][1] * in2->m[2][1] + in1->m[2][1] * in2->m[2][2] + in1->m[3][1] * in2->m[2][3];
+	out->m[3][1] = in1->m[0][1] * in2->m[3][0] + in1->m[1][1] * in2->m[3][1] + in1->m[2][1] * in2->m[3][2] + in1->m[3][1] * in2->m[3][3];
+	out->m[0][2] = in1->m[0][2] * in2->m[0][0] + in1->m[1][2] * in2->m[0][1] + in1->m[2][2] * in2->m[0][2] + in1->m[3][2] * in2->m[0][3];
+	out->m[1][2] = in1->m[0][2] * in2->m[1][0] + in1->m[1][2] * in2->m[1][1] + in1->m[2][2] * in2->m[1][2] + in1->m[3][2] * in2->m[1][3];
+	out->m[2][2] = in1->m[0][2] * in2->m[2][0] + in1->m[1][2] * in2->m[2][1] + in1->m[2][2] * in2->m[2][2] + in1->m[3][2] * in2->m[2][3];
+	out->m[3][2] = in1->m[0][2] * in2->m[3][0] + in1->m[1][2] * in2->m[3][1] + in1->m[2][2] * in2->m[3][2] + in1->m[3][2] * in2->m[3][3];
+	out->m[0][3] = in1->m[0][3] * in2->m[0][0] + in1->m[1][3] * in2->m[0][1] + in1->m[2][3] * in2->m[0][2] + in1->m[3][3] * in2->m[0][3];
+	out->m[1][3] = in1->m[0][3] * in2->m[1][0] + in1->m[1][3] * in2->m[1][1] + in1->m[2][3] * in2->m[1][2] + in1->m[3][3] * in2->m[1][3];
+	out->m[2][3] = in1->m[0][3] * in2->m[2][0] + in1->m[1][3] * in2->m[2][1] + in1->m[2][3] * in2->m[2][2] + in1->m[3][3] * in2->m[2][3];
+	out->m[3][3] = in1->m[0][3] * in2->m[3][0] + in1->m[1][3] * in2->m[3][1] + in1->m[2][3] * in2->m[3][2] + in1->m[3][3] * in2->m[3][3];
+#else
 	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] + in1->m[0][3] * in2->m[3][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] + in1->m[0][3] * in2->m[3][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] + in1->m[0][3] * in2->m[3][2];
@@ -75,6 +117,7 @@ void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4
 	out->m[3][1] = in1->m[3][0] * in2->m[0][1] + in1->m[3][1] * in2->m[1][1] + in1->m[3][2] * in2->m[2][1] + in1->m[3][3] * in2->m[3][1];
 	out->m[3][2] = in1->m[3][0] * in2->m[0][2] + in1->m[3][1] * in2->m[1][2] + in1->m[3][2] * in2->m[2][2] + in1->m[3][3] * in2->m[3][2];
 	out->m[3][3] = in1->m[3][0] * in2->m[0][3] + in1->m[3][1] * in2->m[1][3] + in1->m[3][2] * in2->m[2][3] + in1->m[3][3] * in2->m[3][3];
+#endif
 }
 
 void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
@@ -97,25 +140,172 @@ 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)
+int Matrix4x4_Invert_Full (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];
+	double	*temp;
+	double	*r[4];
+	double	rtemp[4][8];
+	double	m[4];
+	double	s;
 
-	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];
+	r[0]	= rtemp[0];
+	r[1]	= rtemp[1];
+	r[2]	= rtemp[2];
+	r[3]	= rtemp[3];
+
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	r[0][0]	= in1->m[0][0];	r[0][1]	= in1->m[1][0];	r[0][2]	= in1->m[2][0];	r[0][3]	= in1->m[3][0];
+	r[0][4]	= 1.0;			r[0][5]	=				r[0][6]	=				r[0][7]	= 0.0;
+
+	r[1][0]	= in1->m[0][1];	r[1][1]	= in1->m[1][1];	r[1][2]	= in1->m[2][1];	r[1][3]	= in1->m[3][1];
+	r[1][5]	= 1.0;			r[1][4]	=				r[1][6]	=				r[1][7]	= 0.0;
+
+	r[2][0]	= in1->m[0][2];	r[2][1]	= in1->m[1][2];	r[2][2]	= in1->m[2][2];	r[2][3]	= in1->m[3][2];
+	r[2][6]	= 1.0;			r[2][4]	=				r[2][5]	=				r[2][7]	= 0.0;
+
+	r[3][0]	= in1->m[0][3];	r[3][1]	= in1->m[1][3];	r[3][2]	= in1->m[2][3];	r[3][3]	= in1->m[3][3];
+	r[3][7]	= 1.0;			r[3][4]	=				r[3][5]	=				r[3][6]	= 0.0;
+#else
+	r[0][0]	= in1->m[0][0];	r[0][1]	= in1->m[0][1];	r[0][2]	= in1->m[0][2];	r[0][3]	= in1->m[0][3];
+	r[0][4]	= 1.0;			r[0][5]	=				r[0][6]	=				r[0][7]	= 0.0;
+
+	r[1][0]	= in1->m[1][0];	r[1][1]	= in1->m[1][1];	r[1][2]	= in1->m[1][2];	r[1][3]	= in1->m[1][3];
+	r[1][5]	= 1.0;			r[1][4]	=				r[1][6]	=				r[1][7]	= 0.0;
+
+	r[2][0]	= in1->m[2][0];	r[2][1]	= in1->m[2][1];	r[2][2]	= in1->m[2][2];	r[2][3]	= in1->m[2][3];
+	r[2][6]	= 1.0;			r[2][4]	=				r[2][5]	=				r[2][7]	= 0.0;
+
+	r[3][0]	= in1->m[3][0];	r[3][1]	= in1->m[3][1];	r[3][2]	= in1->m[3][2];	r[3][3]	= in1->m[3][3];
+	r[3][7]	= 1.0;			r[3][4]	=				r[3][5]	=				r[3][6]	= 0.0;
+#endif
+
+	if (fabs (r[3][0]) > fabs (r[2][0])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
+	if (fabs (r[2][0]) > fabs (r[1][0])) { temp = r[2]; r[2] = r[1]; r[1] = temp; }
+	if (fabs (r[1][0]) > fabs (r[0][0])) { temp = r[1]; r[1] = r[0]; r[0] = temp; }
+
+	if (r[0][0])
+	{
+		m[1]	= r[1][0] / r[0][0];
+		m[2]	= r[2][0] / r[0][0];
+		m[3]	= r[3][0] / r[0][0];
+
+		s	= r[0][1]; r[1][1] -= m[1] * s; r[2][1] -= m[2] * s; r[3][1] -= m[3] * s;
+		s	= r[0][2]; r[1][2] -= m[1] * s; r[2][2] -= m[2] * s; r[3][2] -= m[3] * s;
+		s	= r[0][3]; r[1][3] -= m[1] * s; r[2][3] -= m[2] * s; r[3][3] -= m[3] * s;
+
+		s	= r[0][4]; if (s) { r[1][4] -= m[1] * s; r[2][4] -= m[2] * s; r[3][4] -= m[3] * s; }
+		s	= r[0][5]; if (s) { r[1][5] -= m[1] * s; r[2][5] -= m[2] * s; r[3][5] -= m[3] * s; }
+		s	= r[0][6]; if (s) { r[1][6] -= m[1] * s; r[2][6] -= m[2] * s; r[3][6] -= m[3] * s; }
+		s	= r[0][7]; if (s) { r[1][7] -= m[1] * s; r[2][7] -= m[2] * s; r[3][7] -= m[3] * s; }
+
+		if (fabs (r[3][1]) > fabs (r[2][1])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
+		if (fabs (r[2][1]) > fabs (r[1][1])) { temp = r[2]; r[2] = r[1]; r[1] = temp; }
+
+		if (r[1][1])
+		{
+			m[2]		= r[2][1] / r[1][1];
+			m[3]		= r[3][1] / r[1][1];
+			r[2][2]	-= m[2] * r[1][2];
+			r[3][2]	-= m[3] * r[1][2];
+			r[2][3]	-= m[2] * r[1][3];
+			r[3][3]	-= m[3] * r[1][3];
+
+			s	= r[1][4]; if (s) { r[2][4] -= m[2] * s; r[3][4] -= m[3] * s; }
+			s	= r[1][5]; if (s) { r[2][5] -= m[2] * s; r[3][5] -= m[3] * s; }
+			s	= r[1][6]; if (s) { r[2][6] -= m[2] * s; r[3][6] -= m[3] * s; }
+			s	= r[1][7]; if (s) { r[2][7] -= m[2] * s; r[3][7] -= m[3] * s; }
+
+			if (fabs (r[3][2]) > fabs (r[2][2])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
+
+			if (r[2][2])
+			{
+				m[3]		= r[3][2] / r[2][2];
+				r[3][3]	-= m[3] * r[2][3];
+				r[3][4]	-= m[3] * r[2][4];
+				r[3][5]	-= m[3] * r[2][5];
+				r[3][6]	-= m[3] * r[2][6];
+				r[3][7]	-= m[3] * r[2][7];
+
+				if (r[3][3])
+				{
+					s			= 1.0 / r[3][3];
+					r[3][4]	*= s;
+					r[3][5]	*= s;
+					r[3][6]	*= s;
+					r[3][7]	*= s;
+
+					m[2]		= r[2][3];
+					s			= 1.0 / r[2][2];
+					r[2][4]	= s * (r[2][4] - r[3][4] * m[2]);
+					r[2][5]	= s * (r[2][5] - r[3][5] * m[2]);
+					r[2][6]	= s * (r[2][6] - r[3][6] * m[2]);
+					r[2][7]	= s * (r[2][7] - r[3][7] * m[2]);
+
+					m[1]		= r[1][3];
+					r[1][4]	-= r[3][4] * m[1], r[1][5] -= r[3][5] * m[1];
+					r[1][6]	-= r[3][6] * m[1], r[1][7] -= r[3][7] * m[1];
+
+					m[0]		= r[0][3];
+					r[0][4]	-= r[3][4] * m[0], r[0][5] -= r[3][5] * m[0];
+					r[0][6]	-= r[3][6] * m[0], r[0][7] -= r[3][7] * m[0];
+
+					m[1]		= r[1][2];
+					s			= 1.0 / r[1][1];
+					r[1][4]	= s * (r[1][4] - r[2][4] * m[1]), r[1][5] = s * (r[1][5] - r[2][5] * m[1]);
+					r[1][6]	= s * (r[1][6] - r[2][6] * m[1]), r[1][7] = s * (r[1][7] - r[2][7] * m[1]);
+
+					m[0]		= r[0][2];
+					r[0][4]	-= r[2][4] * m[0], r[0][5] -= r[2][5] * m[0];
+					r[0][6]	-= r[2][6] * m[0], r[0][7] -= r[2][7] * m[0];
+
+					m[0]		= r[0][1];
+					s			= 1.0 / r[0][0];
+					r[0][4]	= s * (r[0][4] - r[1][4] * m[0]), r[0][5] = s * (r[0][5] - r[1][5] * m[0]);
+					r[0][6]	= s * (r[0][6] - r[1][6] * m[0]), r[0][7] = s * (r[0][7] - r[1][7] * m[0]);
+
+#ifdef MATRIX4x4_OPENGLORIENTATION
+					out->m[0][0]	= r[0][4];
+					out->m[0][1]	= r[1][4];
+					out->m[0][2]	= r[2][4];
+					out->m[0][3]	= r[3][4];
+					out->m[1][0]	= r[0][5];
+					out->m[1][1]	= r[1][5];
+					out->m[1][2]	= r[2][5];
+					out->m[1][3]	= r[3][5];
+					out->m[2][0]	= r[0][6];
+					out->m[2][1]	= r[1][6];
+					out->m[2][2]	= r[2][6];
+					out->m[2][3]	= r[3][6];
+					out->m[3][0]	= r[0][7];
+					out->m[3][1]	= r[1][7];
+					out->m[3][2]	= r[2][7];
+					out->m[3][3]	= r[3][7];
+#else
+					out->m[0][0]	= r[0][4];
+					out->m[0][1]	= r[0][5];
+					out->m[0][2]	= r[0][6];
+					out->m[0][3]	= r[0][7];
+					out->m[1][0]	= r[1][4];
+					out->m[1][1]	= r[1][5];
+					out->m[1][2]	= r[1][6];
+					out->m[1][3]	= r[1][7];
+					out->m[2][0]	= r[2][4];
+					out->m[2][1]	= r[2][5];
+					out->m[2][2]	= r[2][6];
+					out->m[2][3]	= r[2][7];
+					out->m[3][0]	= r[3][4];
+					out->m[3][1]	= r[3][5];
+					out->m[3][2]	= r[3][6];
+					out->m[3][3]	= r[3][7];
+#endif
+
+					return 1;
+				}
+			}
+		}
+	}
+
+	return 0;
 }
 
 void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
@@ -136,16 +326,28 @@ void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
 
 	// 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);
+	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;
 
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	// invert the translate
+	out->m[3][0] = -(in1->m[3][0] * out->m[0][0] + in1->m[3][1] * out->m[1][0] + in1->m[3][2] * out->m[2][0]);
+	out->m[3][1] = -(in1->m[3][0] * out->m[0][1] + in1->m[3][1] * out->m[1][1] + in1->m[3][2] * out->m[2][1]);
+	out->m[3][2] = -(in1->m[3][0] * out->m[0][2] + in1->m[3][1] * out->m[1][2] + in1->m[3][2] * out->m[2][2]);
+
+	// don't know if there's anything worth doing here
+	out->m[0][3] = 0;
+	out->m[1][3] = 0;
+	out->m[2][3] = 0;
+	out->m[3][3] = 1;
+#else
 	// 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]);
@@ -156,6 +358,7 @@ void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
 	out->m[3][1] = 0;
 	out->m[3][2] = 0;
 	out->m[3][3] = 1;
+#endif
 }
 
 void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1)
@@ -163,22 +366,37 @@ 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;
+	*out = *in1;
+	Matrix4x4_Scale(out, scale, 1);
+}
+
+void Matrix4x4_Reflect (matrix4x4_t *out, double normalx, double normaly, double normalz, double dist, double axisscale)
+{
+	int i;
+	double d;
+	double p[4], p2[4];
+	p[0] = normalx;
+	p[1] = normaly;
+	p[2] = normalz;
+	p[3] = -dist;
+	p2[0] = p[0] * axisscale;
+	p2[1] = p[1] * axisscale;
+	p2[2] = p[2] * axisscale;
+	p2[3] = 0;
+	for (i = 0;i < 4;i++)
+	{
+#ifdef MATRIX4x4_OPENGLORIENTATION
+		d = out->m[i][0] * p[0] + out->m[i][1] * p[1] + out->m[i][2] * p[2] + out->m[i][3] * p[3];
+		out->m[i][0] += p2[0] * d;
+		out->m[i][1] += p2[1] * d;
+		out->m[i][2] += p2[2] * d;
+#else
+		d = out->m[0][i] * p[0] + out->m[1][i] * p[1] + out->m[2][i] * p[2] + out->m[3][i] * p[3];
+		out->m[0][i] += p2[0] * d;
+		out->m[1][i] += p2[1] * d;
+		out->m[2][i] += p2[2] * d;
+#endif
+	}
 }
 
 void Matrix4x4_CreateIdentity (matrix4x4_t *out)
@@ -203,6 +421,24 @@ void Matrix4x4_CreateIdentity (matrix4x4_t *out)
 
 void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z)
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[0][0]=1.0f;
+	out->m[1][0]=0.0f;
+	out->m[2][0]=0.0f;
+	out->m[3][0]=x;
+	out->m[0][1]=0.0f;
+	out->m[1][1]=1.0f;
+	out->m[2][1]=0.0f;
+	out->m[3][1]=y;
+	out->m[0][2]=0.0f;
+	out->m[1][2]=0.0f;
+	out->m[2][2]=1.0f;
+	out->m[3][2]=z;
+	out->m[0][3]=0.0f;
+	out->m[1][3]=0.0f;
+	out->m[2][3]=0.0f;
+	out->m[3][3]=1.0f;
+#else
 	out->m[0][0]=1.0f;
 	out->m[0][1]=0.0f;
 	out->m[0][2]=0.0f;
@@ -219,6 +455,7 @@ void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z)
 	out->m[3][1]=0.0f;
 	out->m[3][2]=0.0f;
 	out->m[3][3]=1.0f;
+#endif
 }
 
 void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z)
@@ -227,15 +464,33 @@ void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y,
 
 	len = x*x+y*y+z*z;
 	if (len != 0.0f)
-		len = 1.0f / (float)sqrt(len);
+		len = 1.0f / sqrt(len);
 	x *= len;
 	y *= len;
 	z *= len;
 
-	angle *= (float)(-M_PI / 180.0);
-	c = (float)cos(angle);
-	s = (float)sin(angle);
+	angle *= (-M_PI / 180.0);
+	c = cos(angle);
+	s = sin(angle);
 
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[0][0]=x * x + c * (1 - x * x);
+	out->m[1][0]=x * y * (1 - c) + z * s;
+	out->m[2][0]=z * x * (1 - c) - y * s;
+	out->m[3][0]=0.0f;
+	out->m[0][1]=x * y * (1 - c) - z * s;
+	out->m[1][1]=y * y + c * (1 - y * y);
+	out->m[2][1]=y * z * (1 - c) + x * s;
+	out->m[3][1]=0.0f;
+	out->m[0][2]=z * x * (1 - c) + y * s;
+	out->m[1][2]=y * z * (1 - c) - x * s;
+	out->m[2][2]=z * z + c * (1 - z * z);
+	out->m[3][2]=0.0f;
+	out->m[0][3]=0.0f;
+	out->m[1][3]=0.0f;
+	out->m[2][3]=0.0f;
+	out->m[3][3]=1.0f;
+#else
 	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;
@@ -252,6 +507,7 @@ void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y,
 	out->m[3][1]=0.0f;
 	out->m[3][2]=0.0f;
 	out->m[3][3]=1.0f;
+#endif
 }
 
 void Matrix4x4_CreateScale (matrix4x4_t *out, double x)
@@ -309,22 +565,41 @@ void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, doubl
 		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);
+#ifdef MATRIX4x4_OPENGLORIENTATION
+		out->m[0][0] = (cp*cy) * scale;
+		out->m[1][0] = (sr*sp*cy+cr*-sy) * scale;
+		out->m[2][0] = (cr*sp*cy+-sr*-sy) * scale;
+		out->m[3][0] = x;
+		out->m[0][1] = (cp*sy) * scale;
+		out->m[1][1] = (sr*sp*sy+cr*cy) * scale;
+		out->m[2][1] = (cr*sp*sy+-sr*cy) * scale;
+		out->m[3][1] = y;
+		out->m[0][2] = (-sp) * scale;
+		out->m[1][2] = (sr*cp) * scale;
+		out->m[2][2] = (cr*cp) * scale;
+		out->m[3][2] = z;
+		out->m[0][3] = 0;
+		out->m[1][3] = 0;
+		out->m[2][3] = 0;
+		out->m[3][3] = 1;
+#else
+		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] = (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][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] = (float)((-sp) * scale);
-		out->m[2][1] = (float)((sr*cp) * scale);
-		out->m[2][2] = (float)((cr*cp) * scale);
+		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;
 		out->m[3][0] = 0;
 		out->m[3][1] = 0;
 		out->m[3][2] = 0;
 		out->m[3][3] = 1;
+#endif
 	}
 	else if (pitch)
 	{
@@ -334,34 +609,71 @@ void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, doubl
 		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);
+#ifdef MATRIX4x4_OPENGLORIENTATION
+		out->m[0][0] = (cp*cy) * scale;
+		out->m[1][0] = (-sy) * scale;
+		out->m[2][0] = (sp*cy) * scale;
+		out->m[3][0] = x;
+		out->m[0][1] = (cp*sy) * scale;
+		out->m[1][1] = (cy) * scale;
+		out->m[2][1] = (sp*sy) * scale;
+		out->m[3][1] = y;
+		out->m[0][2] = (-sp) * scale;
+		out->m[1][2] = 0;
+		out->m[2][2] = (cp) * scale;
+		out->m[3][2] = z;
+		out->m[0][3] = 0;
+		out->m[1][3] = 0;
+		out->m[2][3] = 0;
+		out->m[3][3] = 1;
+#else
+		out->m[0][0] = (cp*cy) * scale;
+		out->m[0][1] = (-sy) * scale;
+		out->m[0][2] = (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][0] = (cp*sy) * scale;
+		out->m[1][1] = (cy) * scale;
+		out->m[1][2] = (sp*sy) * scale;
 		out->m[1][3] = y;
-		out->m[2][0] = (float)((-sp) * scale);
+		out->m[2][0] = (-sp) * scale;
 		out->m[2][1] = 0;
-		out->m[2][2] = (float)((cp) * scale);
+		out->m[2][2] = (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;
+#endif
 	}
 	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);
+#ifdef MATRIX4x4_OPENGLORIENTATION
+		out->m[0][0] = (cy) * scale;
+		out->m[1][0] = (-sy) * scale;
+		out->m[2][0] = 0;
+		out->m[3][0] = x;
+		out->m[0][1] = (sy) * scale;
+		out->m[1][1] = (cy) * scale;
+		out->m[2][1] = 0;
+		out->m[3][1] = y;
+		out->m[0][2] = 0;
+		out->m[1][2] = 0;
+		out->m[2][2] = scale;
+		out->m[3][2] = z;
+		out->m[0][3] = 0;
+		out->m[1][3] = 0;
+		out->m[2][3] = 0;
+		out->m[3][3] = 1;
+#else
+		out->m[0][0] = (cy) * scale;
+		out->m[0][1] = (-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][0] = (sy) * scale;
+		out->m[1][1] = (cy) * scale;
 		out->m[1][2] = 0;
 		out->m[1][3] = y;
 		out->m[2][0] = 0;
@@ -372,9 +684,28 @@ void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, doubl
 		out->m[3][1] = 0;
 		out->m[3][2] = 0;
 		out->m[3][3] = 1;
+#endif
 	}
 	else
 	{
+#ifdef MATRIX4x4_OPENGLORIENTATION
+		out->m[0][0] = scale;
+		out->m[1][0] = 0;
+		out->m[2][0] = 0;
+		out->m[3][0] = x;
+		out->m[0][1] = 0;
+		out->m[1][1] = scale;
+		out->m[2][1] = 0;
+		out->m[3][1] = y;
+		out->m[0][2] = 0;
+		out->m[1][2] = 0;
+		out->m[2][2] = scale;
+		out->m[3][2] = z;
+		out->m[0][3] = 0;
+		out->m[1][3] = 0;
+		out->m[2][3] = 0;
+		out->m[3][3] = 1;
+#else
 		out->m[0][0] = scale;
 		out->m[0][1] = 0;
 		out->m[0][2] = 0;
@@ -391,11 +722,26 @@ void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, doubl
 		out->m[3][1] = 0;
 		out->m[3][2] = 0;
 		out->m[3][3] = 1;
+#endif
 	}
 }
 
 void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	vx[0] = in->m[0][0];
+	vx[1] = in->m[0][1];
+	vx[2] = in->m[0][2];
+	vy[0] = in->m[1][0];
+	vy[1] = in->m[1][1];
+	vy[2] = in->m[1][2];
+	vz[0] = in->m[2][0];
+	vz[1] = in->m[2][1];
+	vz[2] = in->m[2][2];
+	t [0] = in->m[3][0];
+	t [1] = in->m[3][1];
+	t [2] = in->m[3][2];
+#else
 	vx[0] = in->m[0][0];
 	vx[1] = in->m[1][0];
 	vx[2] = in->m[2][0];
@@ -405,13 +751,32 @@ void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float
 	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];
+	t [0] = in->m[0][3];
+	t [1] = in->m[1][3];
+	t [2] = in->m[2][3];
+#endif
 }
 
 void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[0][0] = vx[0];
+	out->m[1][0] = vy[0];
+	out->m[2][0] = vz[0];
+	out->m[3][0] = t[0];
+	out->m[0][1] = vx[1];
+	out->m[1][1] = vy[1];
+	out->m[2][1] = vz[1];
+	out->m[3][1] = t[1];
+	out->m[0][2] = vx[2];
+	out->m[1][2] = vy[2];
+	out->m[2][2] = vz[2];
+	out->m[3][2] = t[2];
+	out->m[0][3] = 0.0f;
+	out->m[1][3] = 0.0f;
+	out->m[2][3] = 0.0f;
+	out->m[3][3] = 1.0f;
+#else
 	out->m[0][0] = vx[0];
 	out->m[0][1] = vy[0];
 	out->m[0][2] = vz[0];
@@ -428,10 +793,29 @@ void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3
 	out->m[3][1] = 0.0f;
 	out->m[3][2] = 0.0f;
 	out->m[3][3] = 1.0f;
+#endif
 }
 
 void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	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];
+#else
 	out[ 0] = in->m[0][0];
 	out[ 1] = in->m[1][0];
 	out[ 2] = in->m[2][0];
@@ -448,10 +832,29 @@ void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16])
 	out[13] = in->m[1][3];
 	out[14] = in->m[2][3];
 	out[15] = in->m[3][3];
+#endif
 }
 
 void Matrix4x4_FromArrayDoubleGL (matrix4x4_t *out, const double in[16])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	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];
+#else
 	out->m[0][0] = in[0];
 	out->m[1][0] = in[1];
 	out->m[2][0] = in[2];
@@ -468,10 +871,29 @@ void Matrix4x4_FromArrayDoubleGL (matrix4x4_t *out, const double in[16])
 	out->m[1][3] = in[13];
 	out->m[2][3] = in[14];
 	out->m[3][3] = in[15];
+#endif
 }
 
 void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	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];
+#else
 	out[ 0] = in->m[0][0];
 	out[ 1] = in->m[0][1];
 	out[ 2] = in->m[0][2];
@@ -488,10 +910,29 @@ void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16])
 	out[13] = in->m[3][1];
 	out[14] = in->m[3][2];
 	out[15] = in->m[3][3];
+#endif
 }
 
 void Matrix4x4_FromArrayDoubleD3D (matrix4x4_t *out, const double in[16])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	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];
+#else
 	out->m[0][0] = in[0];
 	out->m[0][1] = in[1];
 	out->m[0][2] = in[2];
@@ -508,10 +949,25 @@ void Matrix4x4_FromArrayDoubleD3D (matrix4x4_t *out, const double in[16])
 	out->m[3][1] = in[13];
 	out->m[3][2] = in[14];
 	out->m[3][3] = in[15];
+#endif
 }
 
 void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out[ 0] = in->m[0][0];
+	out[ 1] = in->m[0][1];
+	out[ 2] = in->m[0][2];
+	out[ 3] = in->m[1][0];
+	out[ 4] = in->m[1][1];
+	out[ 5] = in->m[1][2];
+	out[ 6] = in->m[2][0];
+	out[ 7] = in->m[2][1];
+	out[ 8] = in->m[2][2];
+	out[ 9] = in->m[3][0];
+	out[10] = in->m[3][1];
+	out[11] = in->m[3][2];
+#else
 	out[ 0] = in->m[0][0];
 	out[ 1] = in->m[1][0];
 	out[ 2] = in->m[2][0];
@@ -524,10 +980,29 @@ void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12])
 	out[ 9] = in->m[0][3];
 	out[10] = in->m[1][3];
 	out[11] = in->m[2][3];
+#endif
 }
 
 void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[0][0] = in[0];
+	out->m[0][1] = in[1];
+	out->m[0][2] = in[2];
+	out->m[0][3] = 0;
+	out->m[1][0] = in[3];
+	out->m[1][1] = in[4];
+	out->m[1][2] = in[5];
+	out->m[1][3] = 0;
+	out->m[2][0] = in[6];
+	out->m[2][1] = in[7];
+	out->m[2][2] = in[8];
+	out->m[2][3] = 0;
+	out->m[3][0] = in[9];
+	out->m[3][1] = in[10];
+	out->m[3][2] = in[11];
+	out->m[3][3] = 1;
+#else
 	out->m[0][0] = in[0];
 	out->m[1][0] = in[1];
 	out->m[2][0] = in[2];
@@ -544,10 +1019,25 @@ void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12])
 	out->m[1][3] = in[10];
 	out->m[2][3] = in[11];
 	out->m[3][3] = 1;
+#endif
 }
 
 void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	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];
+#else
 	out[ 0] = in->m[0][0];
 	out[ 1] = in->m[0][1];
 	out[ 2] = in->m[0][2];
@@ -560,10 +1050,29 @@ void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12])
 	out[ 9] = in->m[2][1];
 	out[10] = in->m[2][2];
 	out[11] = in->m[2][3];
+#endif
 }
 
 void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	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] = 0;
+	out->m[1][3] = 0;
+	out->m[2][3] = 0;
+	out->m[3][3] = 1;
+#else
 	out->m[0][0] = in[0];
 	out->m[0][1] = in[1];
 	out->m[0][2] = in[2];
@@ -580,14 +1089,22 @@ void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12])
 	out->m[3][1] = 0;
 	out->m[3][2] = 0;
 	out->m[3][3] = 1;
+#endif
 }
 
 void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w)
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	m->m[0][0]=1-2*(y*y+z*z);m->m[1][0]=  2*(x*y-z*w);m->m[2][0]=  2*(x*z+y*w);m->m[3][0]=ox;
+	m->m[0][1]=  2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[2][1]=  2*(y*z-x*w);m->m[3][1]=oy;
+	m->m[0][2]=  2*(x*z-y*w);m->m[1][2]=  2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[3][2]=oz;
+	m->m[0][3]=  0          ;m->m[1][3]=  0          ;m->m[2][3]=  0          ;m->m[3][3]=1;
+#else
 	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;
+#endif
 }
 
 // LordHavoc: I got this code from:
@@ -596,10 +1113,17 @@ void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, d
 {
 	double w = 1.0 - (x*x+y*y+z*z);
 	w = w > 0.0 ? -sqrt(w) : 0.0;
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	m->m[0][0]=1-2*(y*y+z*z);m->m[1][0]=  2*(x*y-z*w);m->m[2][0]=  2*(x*z+y*w);m->m[3][0]=ox;
+	m->m[0][1]=  2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[2][1]=  2*(y*z-x*w);m->m[3][1]=oy;
+	m->m[0][2]=  2*(x*z-y*w);m->m[1][2]=  2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[3][2]=oz;
+	m->m[0][3]=  0          ;m->m[1][3]=  0          ;m->m[2][3]=  0          ;m->m[3][3]=1;
+#else
 	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;
+#endif
 }
 
 void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
@@ -626,36 +1150,64 @@ void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_
 
 void Matrix4x4_Transform (const matrix4x4_t *in, const float v[3], float out[3])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0] + in->m[3][0];
+	out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1] + in->m[3][1];
+	out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2] + in->m[3][2];
+#else
 	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];
+#endif
 }
 
 void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0] + v[3] * in->m[3][0];
+	out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1] + v[3] * in->m[3][1];
+	out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2] + v[3] * in->m[3][2];
+	out[3] = v[0] * in->m[0][3] + v[1] * in->m[1][3] + v[2] * in->m[2][3] + v[3] * in->m[3][3];
+#else
 	out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + v[3] * in->m[0][3];
 	out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + v[3] * in->m[1][3];
 	out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + v[3] * in->m[2][3];
 	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];
+#endif
 }
 
 void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const float v[3], float out[3])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0];
+	out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1];
+	out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2];
+#else
 	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];
+#endif
 }
 
 /*
 void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
 {
 	double t[3];
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	t[0] = v[0] - in->m[3][0];
+	t[1] = v[1] - in->m[3][1];
+	t[2] = v[2] - in->m[3][2];
+	out[0] = t[0] * in->m[0][0] + t[1] * in->m[0][1] + t[2] * in->m[0][2];
+	out[1] = t[0] * in->m[1][0] + t[1] * in->m[1][1] + t[2] * in->m[1][2];
+	out[2] = t[0] * in->m[2][0] + t[1] * in->m[2][1] + t[2] * in->m[2][2];
+#else
 	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];
+#endif
 }
 */
 
@@ -697,29 +1249,47 @@ void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z)
 
 void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, float *out)
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out[0] = in->m[3][0];
+	out[1] = in->m[3][1];
+	out[2] = in->m[3][2];
+#else
 	out[0] = in->m[0][3];
 	out[1] = in->m[1][3];
 	out[2] = in->m[2][3];
+#endif
 }
 
 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]);
+	return 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)
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[3][0] = x;
+	out->m[3][1] = y;
+	out->m[3][2] = z;
+#else
 	out->m[0][3] = x;
 	out->m[1][3] = y;
 	out->m[2][3] = z;
+#endif
 }
 
 void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z)
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[3][0] += x;
+	out->m[3][1] += y;
+	out->m[3][2] += z;
+#else
 	out->m[0][3] += x;
 	out->m[1][3] += y;
 	out->m[2][3] += z;
+#endif
 }
 
 void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale)
@@ -727,13 +1297,19 @@ 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;
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[3][0] *= originscale;
+	out->m[3][1] *= originscale;
+	out->m[3][2] *= originscale;
+#else
+	out->m[0][3] *= originscale;
+	out->m[1][3] *= originscale;
 	out->m[2][3] *= originscale;
+#endif
 }