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remove the -f makefile.bsd
[xonotic/darkplaces.git] / matrixlib.c
diff --git a/matrixlib.c b/matrixlib.c
index e983e78213a82eb6e2df7d482d968333415eb19c..210adbab4217307a0cb469bffe7e94e425df8da6 100644 (file)
--- a/matrixlib.c
+++ b/matrixlib.c
@@ -1,6 +1,16 @@
 
-#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, const matrix4x4_t *in)
 {
@@ -148,6 +158,29 @@ void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
        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;
@@ -265,31 +298,100 @@ void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, float x, float y, float z
 {
        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] = (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;
+       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])