+#include "quakedef.h"
#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 =
{
{
out->m[3][3] = in1->m[3][3];
}
+#if 1
+// Adapted from code contributed to Mesa by David Moore (Mesa 7.6 under SGI Free License B - which is MIT/X11-type)
+// added helper for common subexpression elimination by eihrul, and other optimizations by div0
+int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
+{
+ float det;
+
+ // note: orientation does not matter, as transpose(invert(transpose(m))) == invert(m), proof:
+ // transpose(invert(transpose(m))) * m
+ // = transpose(invert(transpose(m))) * transpose(transpose(m))
+ // = transpose(transpose(m) * invert(transpose(m)))
+ // = transpose(identity)
+ // = identity
+
+ // this seems to help gcc's common subexpression elimination, and also makes the code look nicer
+ float m00 = in1->m[0][0], m01 = in1->m[0][1], m02 = in1->m[0][2], m03 = in1->m[0][3],
+ m10 = in1->m[1][0], m11 = in1->m[1][1], m12 = in1->m[1][2], m13 = in1->m[1][3],
+ m20 = in1->m[2][0], m21 = in1->m[2][1], m22 = in1->m[2][2], m23 = in1->m[2][3],
+ m30 = in1->m[3][0], m31 = in1->m[3][1], m32 = in1->m[3][2], m33 = in1->m[3][3];
+
+ // calculate the adjoint
+ out->m[0][0] = (m11*(m22*m33 - m23*m32) - m21*(m12*m33 - m13*m32) + m31*(m12*m23 - m13*m22));
+ out->m[0][1] = -(m01*(m22*m33 - m23*m32) - m21*(m02*m33 - m03*m32) + m31*(m02*m23 - m03*m22));
+ out->m[0][2] = (m01*(m12*m33 - m13*m32) - m11*(m02*m33 - m03*m32) + m31*(m02*m13 - m03*m12));
+ out->m[0][3] = -(m01*(m12*m23 - m13*m22) - m11*(m02*m23 - m03*m22) + m21*(m02*m13 - m03*m12));
+ out->m[1][0] = -(m10*(m22*m33 - m23*m32) - m20*(m12*m33 - m13*m32) + m30*(m12*m23 - m13*m22));
+ out->m[1][1] = (m00*(m22*m33 - m23*m32) - m20*(m02*m33 - m03*m32) + m30*(m02*m23 - m03*m22));
+ out->m[1][2] = -(m00*(m12*m33 - m13*m32) - m10*(m02*m33 - m03*m32) + m30*(m02*m13 - m03*m12));
+ out->m[1][3] = (m00*(m12*m23 - m13*m22) - m10*(m02*m23 - m03*m22) + m20*(m02*m13 - m03*m12));
+ out->m[2][0] = (m10*(m21*m33 - m23*m31) - m20*(m11*m33 - m13*m31) + m30*(m11*m23 - m13*m21));
+ out->m[2][1] = -(m00*(m21*m33 - m23*m31) - m20*(m01*m33 - m03*m31) + m30*(m01*m23 - m03*m21));
+ out->m[2][2] = (m00*(m11*m33 - m13*m31) - m10*(m01*m33 - m03*m31) + m30*(m01*m13 - m03*m11));
+ out->m[2][3] = -(m00*(m11*m23 - m13*m21) - m10*(m01*m23 - m03*m21) + m20*(m01*m13 - m03*m11));
+ out->m[3][0] = -(m10*(m21*m32 - m22*m31) - m20*(m11*m32 - m12*m31) + m30*(m11*m22 - m12*m21));
+ out->m[3][1] = (m00*(m21*m32 - m22*m31) - m20*(m01*m32 - m02*m31) + m30*(m01*m22 - m02*m21));
+ out->m[3][2] = -(m00*(m11*m32 - m12*m31) - m10*(m01*m32 - m02*m31) + m30*(m01*m12 - m02*m11));
+ out->m[3][3] = (m00*(m11*m22 - m12*m21) - m10*(m01*m22 - m02*m21) + m20*(m01*m12 - m02*m11));
+
+ // calculate the determinant (as inverse == 1/det * adjoint, adjoint * m == identity * det, so this calculates the det)
+ det = m00*out->m[0][0] + m10*out->m[0][1] + m20*out->m[0][2] + m30*out->m[0][3];
+ if (det == 0.0f)
+ return 0;
+
+ // multiplications are faster than divisions, usually
+ det = 1.0f / det;
+
+ // manually unrolled loop to multiply all matrix elements by 1/det
+ out->m[0][0] *= det; out->m[0][1] *= det; out->m[0][2] *= det; out->m[0][3] *= det;
+ out->m[1][0] *= det; out->m[1][1] *= det; out->m[1][2] *= det; out->m[1][3] *= det;
+ out->m[2][0] *= det; out->m[2][1] *= det; out->m[2][2] *= det; out->m[2][3] *= det;
+ out->m[3][0] *= det; out->m[3][1] *= det; out->m[3][2] *= det; out->m[3][3] *= det;
+
+ return 1;
+}
+#elif 1
+// Adapted from code contributed to Mesa by David Moore (Mesa 7.6 under SGI Free License B - which is MIT/X11-type)
+int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
+{
+ matrix4x4_t temp;
+ double det;
+ int i, j;
+
+#ifdef MATRIX4x4_OPENGLORIENTATION
+ temp.m[0][0] = in1->m[1][1]*in1->m[2][2]*in1->m[3][3] - in1->m[1][1]*in1->m[2][3]*in1->m[3][2] - in1->m[2][1]*in1->m[1][2]*in1->m[3][3] + in1->m[2][1]*in1->m[1][3]*in1->m[3][2] + in1->m[3][1]*in1->m[1][2]*in1->m[2][3] - in1->m[3][1]*in1->m[1][3]*in1->m[2][2];
+ temp.m[1][0] = -in1->m[1][0]*in1->m[2][2]*in1->m[3][3] + in1->m[1][0]*in1->m[2][3]*in1->m[3][2] + in1->m[2][0]*in1->m[1][2]*in1->m[3][3] - in1->m[2][0]*in1->m[1][3]*in1->m[3][2] - in1->m[3][0]*in1->m[1][2]*in1->m[2][3] + in1->m[3][0]*in1->m[1][3]*in1->m[2][2];
+ temp.m[2][0] = in1->m[1][0]*in1->m[2][1]*in1->m[3][3] - in1->m[1][0]*in1->m[2][3]*in1->m[3][1] - in1->m[2][0]*in1->m[1][1]*in1->m[3][3] + in1->m[2][0]*in1->m[1][3]*in1->m[3][1] + in1->m[3][0]*in1->m[1][1]*in1->m[2][3] - in1->m[3][0]*in1->m[1][3]*in1->m[2][1];
+ temp.m[3][0] = -in1->m[1][0]*in1->m[2][1]*in1->m[3][2] + in1->m[1][0]*in1->m[2][2]*in1->m[3][1] + in1->m[2][0]*in1->m[1][1]*in1->m[3][2] - in1->m[2][0]*in1->m[1][2]*in1->m[3][1] - in1->m[3][0]*in1->m[1][1]*in1->m[2][2] + in1->m[3][0]*in1->m[1][2]*in1->m[2][1];
+ temp.m[0][1] = -in1->m[0][1]*in1->m[2][2]*in1->m[3][3] + in1->m[0][1]*in1->m[2][3]*in1->m[3][2] + in1->m[2][1]*in1->m[0][2]*in1->m[3][3] - in1->m[2][1]*in1->m[0][3]*in1->m[3][2] - in1->m[3][1]*in1->m[0][2]*in1->m[2][3] + in1->m[3][1]*in1->m[0][3]*in1->m[2][2];
+ temp.m[1][1] = in1->m[0][0]*in1->m[2][2]*in1->m[3][3] - in1->m[0][0]*in1->m[2][3]*in1->m[3][2] - in1->m[2][0]*in1->m[0][2]*in1->m[3][3] + in1->m[2][0]*in1->m[0][3]*in1->m[3][2] + in1->m[3][0]*in1->m[0][2]*in1->m[2][3] - in1->m[3][0]*in1->m[0][3]*in1->m[2][2];
+ temp.m[2][1] = -in1->m[0][0]*in1->m[2][1]*in1->m[3][3] + in1->m[0][0]*in1->m[2][3]*in1->m[3][1] + in1->m[2][0]*in1->m[0][1]*in1->m[3][3] - in1->m[2][0]*in1->m[0][3]*in1->m[3][1] - in1->m[3][0]*in1->m[0][1]*in1->m[2][3] + in1->m[3][0]*in1->m[0][3]*in1->m[2][1];
+ temp.m[3][1] = in1->m[0][0]*in1->m[2][1]*in1->m[3][2] - in1->m[0][0]*in1->m[2][2]*in1->m[3][1] - in1->m[2][0]*in1->m[0][1]*in1->m[3][2] + in1->m[2][0]*in1->m[0][2]*in1->m[3][1] + in1->m[3][0]*in1->m[0][1]*in1->m[2][2] - in1->m[3][0]*in1->m[0][2]*in1->m[2][1];
+ temp.m[0][2] = in1->m[0][1]*in1->m[1][2]*in1->m[3][3] - in1->m[0][1]*in1->m[1][3]*in1->m[3][2] - in1->m[1][1]*in1->m[0][2]*in1->m[3][3] + in1->m[1][1]*in1->m[0][3]*in1->m[3][2] + in1->m[3][1]*in1->m[0][2]*in1->m[1][3] - in1->m[3][1]*in1->m[0][3]*in1->m[1][2];
+ temp.m[1][2] = -in1->m[0][0]*in1->m[1][2]*in1->m[3][3] + in1->m[0][0]*in1->m[1][3]*in1->m[3][2] + in1->m[1][0]*in1->m[0][2]*in1->m[3][3] - in1->m[1][0]*in1->m[0][3]*in1->m[3][2] - in1->m[3][0]*in1->m[0][2]*in1->m[1][3] + in1->m[3][0]*in1->m[0][3]*in1->m[1][2];
+ temp.m[2][2] = in1->m[0][0]*in1->m[1][1]*in1->m[3][3] - in1->m[0][0]*in1->m[1][3]*in1->m[3][1] - in1->m[1][0]*in1->m[0][1]*in1->m[3][3] + in1->m[1][0]*in1->m[0][3]*in1->m[3][1] + in1->m[3][0]*in1->m[0][1]*in1->m[1][3] - in1->m[3][0]*in1->m[0][3]*in1->m[1][1];
+ temp.m[3][2] = -in1->m[0][0]*in1->m[1][1]*in1->m[3][2] + in1->m[0][0]*in1->m[1][2]*in1->m[3][1] + in1->m[1][0]*in1->m[0][1]*in1->m[3][2] - in1->m[1][0]*in1->m[0][2]*in1->m[3][1] - in1->m[3][0]*in1->m[0][1]*in1->m[1][2] + in1->m[3][0]*in1->m[0][2]*in1->m[1][1];
+ temp.m[0][3] = -in1->m[0][1]*in1->m[1][2]*in1->m[2][3] + in1->m[0][1]*in1->m[1][3]*in1->m[2][2] + in1->m[1][1]*in1->m[0][2]*in1->m[2][3] - in1->m[1][1]*in1->m[0][3]*in1->m[2][2] - in1->m[2][1]*in1->m[0][2]*in1->m[1][3] + in1->m[2][1]*in1->m[0][3]*in1->m[1][2];
+ temp.m[1][3] = in1->m[0][0]*in1->m[1][2]*in1->m[2][3] - in1->m[0][0]*in1->m[1][3]*in1->m[2][2] - in1->m[1][0]*in1->m[0][2]*in1->m[2][3] + in1->m[1][0]*in1->m[0][3]*in1->m[2][2] + in1->m[2][0]*in1->m[0][2]*in1->m[1][3] - in1->m[2][0]*in1->m[0][3]*in1->m[1][2];
+ temp.m[2][3] = -in1->m[0][0]*in1->m[1][1]*in1->m[2][3] + in1->m[0][0]*in1->m[1][3]*in1->m[2][1] + in1->m[1][0]*in1->m[0][1]*in1->m[2][3] - in1->m[1][0]*in1->m[0][3]*in1->m[2][1] - in1->m[2][0]*in1->m[0][1]*in1->m[1][3] + in1->m[2][0]*in1->m[0][3]*in1->m[1][1];
+ temp.m[3][3] = in1->m[0][0]*in1->m[1][1]*in1->m[2][2] - in1->m[0][0]*in1->m[1][2]*in1->m[2][1] - in1->m[1][0]*in1->m[0][1]*in1->m[2][2] + in1->m[1][0]*in1->m[0][2]*in1->m[2][1] + in1->m[2][0]*in1->m[0][1]*in1->m[1][2] - in1->m[2][0]*in1->m[0][2]*in1->m[1][1];
+#else
+ temp.m[0][0] = in1->m[1][1]*in1->m[2][2]*in1->m[3][3] - in1->m[1][1]*in1->m[3][2]*in1->m[2][3] - in1->m[1][2]*in1->m[2][1]*in1->m[3][3] + in1->m[1][2]*in1->m[3][1]*in1->m[2][3] + in1->m[1][3]*in1->m[2][1]*in1->m[3][2] - in1->m[1][3]*in1->m[3][1]*in1->m[2][2];
+ temp.m[0][1] = -in1->m[0][1]*in1->m[2][2]*in1->m[3][3] + in1->m[0][1]*in1->m[3][2]*in1->m[2][3] + in1->m[0][2]*in1->m[2][1]*in1->m[3][3] - in1->m[0][2]*in1->m[3][1]*in1->m[2][3] - in1->m[0][3]*in1->m[2][1]*in1->m[3][2] + in1->m[0][3]*in1->m[3][1]*in1->m[2][2];
+ temp.m[0][2] = in1->m[0][1]*in1->m[1][2]*in1->m[3][3] - in1->m[0][1]*in1->m[3][2]*in1->m[1][3] - in1->m[0][2]*in1->m[1][1]*in1->m[3][3] + in1->m[0][2]*in1->m[3][1]*in1->m[1][3] + in1->m[0][3]*in1->m[1][1]*in1->m[3][2] - in1->m[0][3]*in1->m[3][1]*in1->m[1][2];
+ temp.m[0][3] = -in1->m[0][1]*in1->m[1][2]*in1->m[2][3] + in1->m[0][1]*in1->m[2][2]*in1->m[1][3] + in1->m[0][2]*in1->m[1][1]*in1->m[2][3] - in1->m[0][2]*in1->m[2][1]*in1->m[1][3] - in1->m[0][3]*in1->m[1][1]*in1->m[2][2] + in1->m[0][3]*in1->m[2][1]*in1->m[1][2];
+ temp.m[1][0] = -in1->m[1][0]*in1->m[2][2]*in1->m[3][3] + in1->m[1][0]*in1->m[3][2]*in1->m[2][3] + in1->m[1][2]*in1->m[2][0]*in1->m[3][3] - in1->m[1][2]*in1->m[3][0]*in1->m[2][3] - in1->m[1][3]*in1->m[2][0]*in1->m[3][2] + in1->m[1][3]*in1->m[3][0]*in1->m[2][2];
+ temp.m[1][1] = in1->m[0][0]*in1->m[2][2]*in1->m[3][3] - in1->m[0][0]*in1->m[3][2]*in1->m[2][3] - in1->m[0][2]*in1->m[2][0]*in1->m[3][3] + in1->m[0][2]*in1->m[3][0]*in1->m[2][3] + in1->m[0][3]*in1->m[2][0]*in1->m[3][2] - in1->m[0][3]*in1->m[3][0]*in1->m[2][2];
+ temp.m[1][2] = -in1->m[0][0]*in1->m[1][2]*in1->m[3][3] + in1->m[0][0]*in1->m[3][2]*in1->m[1][3] + in1->m[0][2]*in1->m[1][0]*in1->m[3][3] - in1->m[0][2]*in1->m[3][0]*in1->m[1][3] - in1->m[0][3]*in1->m[1][0]*in1->m[3][2] + in1->m[0][3]*in1->m[3][0]*in1->m[1][2];
+ temp.m[1][3] = in1->m[0][0]*in1->m[1][2]*in1->m[2][3] - in1->m[0][0]*in1->m[2][2]*in1->m[1][3] - in1->m[0][2]*in1->m[1][0]*in1->m[2][3] + in1->m[0][2]*in1->m[2][0]*in1->m[1][3] + in1->m[0][3]*in1->m[1][0]*in1->m[2][2] - in1->m[0][3]*in1->m[2][0]*in1->m[1][2];
+ temp.m[2][0] = in1->m[1][0]*in1->m[2][1]*in1->m[3][3] - in1->m[1][0]*in1->m[3][1]*in1->m[2][3] - in1->m[1][1]*in1->m[2][0]*in1->m[3][3] + in1->m[1][1]*in1->m[3][0]*in1->m[2][3] + in1->m[1][3]*in1->m[2][0]*in1->m[3][1] - in1->m[1][3]*in1->m[3][0]*in1->m[2][1];
+ temp.m[2][1] = -in1->m[0][0]*in1->m[2][1]*in1->m[3][3] + in1->m[0][0]*in1->m[3][1]*in1->m[2][3] + in1->m[0][1]*in1->m[2][0]*in1->m[3][3] - in1->m[0][1]*in1->m[3][0]*in1->m[2][3] - in1->m[0][3]*in1->m[2][0]*in1->m[3][1] + in1->m[0][3]*in1->m[3][0]*in1->m[2][1];
+ temp.m[2][2] = in1->m[0][0]*in1->m[1][1]*in1->m[3][3] - in1->m[0][0]*in1->m[3][1]*in1->m[1][3] - in1->m[0][1]*in1->m[1][0]*in1->m[3][3] + in1->m[0][1]*in1->m[3][0]*in1->m[1][3] + in1->m[0][3]*in1->m[1][0]*in1->m[3][1] - in1->m[0][3]*in1->m[3][0]*in1->m[1][1];
+ temp.m[2][3] = -in1->m[0][0]*in1->m[1][1]*in1->m[2][3] + in1->m[0][0]*in1->m[2][1]*in1->m[1][3] + in1->m[0][1]*in1->m[1][0]*in1->m[2][3] - in1->m[0][1]*in1->m[2][0]*in1->m[1][3] - in1->m[0][3]*in1->m[1][0]*in1->m[2][1] + in1->m[0][3]*in1->m[2][0]*in1->m[1][1];
+ temp.m[3][0] = -in1->m[1][0]*in1->m[2][1]*in1->m[3][2] + in1->m[1][0]*in1->m[3][1]*in1->m[2][2] + in1->m[1][1]*in1->m[2][0]*in1->m[3][2] - in1->m[1][1]*in1->m[3][0]*in1->m[2][2] - in1->m[1][2]*in1->m[2][0]*in1->m[3][1] + in1->m[1][2]*in1->m[3][0]*in1->m[2][1];
+ temp.m[3][1] = in1->m[0][0]*in1->m[2][1]*in1->m[3][2] - in1->m[0][0]*in1->m[3][1]*in1->m[2][2] - in1->m[0][1]*in1->m[2][0]*in1->m[3][2] + in1->m[0][1]*in1->m[3][0]*in1->m[2][2] + in1->m[0][2]*in1->m[2][0]*in1->m[3][1] - in1->m[0][2]*in1->m[3][0]*in1->m[2][1];
+ temp.m[3][2] = -in1->m[0][0]*in1->m[1][1]*in1->m[3][2] + in1->m[0][0]*in1->m[3][1]*in1->m[1][2] + in1->m[0][1]*in1->m[1][0]*in1->m[3][2] - in1->m[0][1]*in1->m[3][0]*in1->m[1][2] - in1->m[0][2]*in1->m[1][0]*in1->m[3][1] + in1->m[0][2]*in1->m[3][0]*in1->m[1][1];
+ temp.m[3][3] = in1->m[0][0]*in1->m[1][1]*in1->m[2][2] - in1->m[0][0]*in1->m[2][1]*in1->m[1][2] - in1->m[0][1]*in1->m[1][0]*in1->m[2][2] + in1->m[0][1]*in1->m[2][0]*in1->m[1][2] + in1->m[0][2]*in1->m[1][0]*in1->m[2][1] - in1->m[0][2]*in1->m[2][0]*in1->m[1][1];
+#endif
+
+ det = in1->m[0][0]*temp.m[0][0] + in1->m[1][0]*temp.m[0][1] + in1->m[2][0]*temp.m[0][2] + in1->m[3][0]*temp.m[0][3];
+ if (det == 0.0f)
+ return 0;
+
+ det = 1.0f / det;
+
+ for (i = 0;i < 4;i++)
+ for (j = 0;j < 4;j++)
+ out->m[i][j] = temp.m[i][j] * det;
+
+ return 1;
+}
+#else
+int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
+{
+ double *temp;
+ double *r[4];
+ double rtemp[4][8];
+ double m[4];
+ double s;
+
+ 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;
+}
+#endif
+
void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
{
// we only support uniform scaling, so assume the first row is enough
#endif
}
+void Matrix4x4_Interpolate (matrix4x4_t *out, matrix4x4_t *in1, matrix4x4_t *in2, double frac)
+{
+ int i, j;
+ for (i = 0;i < 4;i++)
+ for (j = 0;j < 4;j++)
+ out->m[i][j] = in1->m[i][j] + frac * (in2->m[i][j] - in1->m[i][j]);
+}
+
+void Matrix4x4_Clear (matrix4x4_t *out)
+{
+ int i, j;
+ for (i = 0;i < 4;i++)
+ for (j = 0;j < 4;j++)
+ out->m[i][j] = 0;
+}
+
+void Matrix4x4_Accumulate (matrix4x4_t *out, matrix4x4_t *in, double weight)
+{
+ int i, j;
+ for (i = 0;i < 4;i++)
+ for (j = 0;j < 4;j++)
+ out->m[i][j] += in->m[i][j] * weight;
+}
+
void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1)
{
// scale rotation matrix vectors to a length of 1
Matrix4x4_Scale(out, scale, 1);
}
+void Matrix4x4_Normalize3 (matrix4x4_t *out, matrix4x4_t *in1)
+{
+ int i;
+ double scale;
+ // scale each rotation matrix vector to a length of 1
+ // intended for use after Matrix4x4_Interpolate or Matrix4x4_Accumulate
+ *out = *in1;
+ for (i = 0;i < 3;i++)
+ {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+ scale = sqrt(in1->m[i][0] * in1->m[i][0] + in1->m[i][1] * in1->m[i][1] + in1->m[i][2] * in1->m[i][2]);
+ if (scale)
+ scale = 1.0 / scale;
+ out->m[i][0] *= scale;
+ out->m[i][1] *= scale;
+ out->m[i][2] *= scale;
+#else
+ scale = sqrt(in1->m[0][i] * in1->m[0][i] + in1->m[1][i] * in1->m[1][i] + in1->m[2][i] * in1->m[2][i]);
+ if (scale)
+ scale = 1.0 / scale;
+ out->m[0][i] *= scale;
+ out->m[1][i] *= scale;
+ out->m[2][i] *= scale;
+#endif
+ }
+}
+
+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)
{
out->m[0][0]=1.0f;
}
}
+void Matrix4x4_QuakeToDuke3D(const matrix4x4_t *in, matrix4x4_t *out, double maxShearAngle)
+{
+ // Sorry - this isn't direct at all. We can't just use an alternative to
+ // Matrix4x4_CreateFromQuakeEntity as in some cases the input for
+ // generating the view matrix is generated externally.
+ vec3_t forward, left, up, angles;
+ double scaleforward, scaleleft, scaleup;
+#ifdef MATRIX4x4_OPENGLORIENTATION
+ VectorSet(forward, in->m[0][0], in->m[0][1], in->m[0][2]);
+ VectorSet(left, in->m[1][0], in->m[1][1], in->m[1][2]);
+ VectorSet(up, in->m[2][0], in->m[2][1], in->m[2][2]);
+#else
+ VectorSet(forward, in->m[0][0], in->m[1][0], in->m[2][0]);
+ VectorSet(left, in->m[0][1], in->m[1][1], in->m[2][1]);
+ VectorSet(up, in->m[0][2], in->m[1][2], in->m[2][2]);
+#endif
+ scaleforward = VectorNormalizeLength(forward);
+ scaleleft = VectorNormalizeLength(left);
+ scaleup = VectorNormalizeLength(up);
+ AnglesFromVectors(angles, forward, up, false);
+ AngleVectorsDuke3DFLU(angles, forward, left, up, maxShearAngle);
+ VectorScale(forward, scaleforward, forward);
+ VectorScale(left, scaleleft, left);
+ VectorScale(up, scaleup, up);
+ *out = *in;
+#ifdef MATRIX4x4_OPENGLORIENTATION
+ out->m[0][0] = forward[0];
+ out->m[1][0] = left[0];
+ out->m[2][0] = up[0];
+ out->m[0][1] = forward[1];
+ out->m[1][1] = left[1];
+ out->m[2][1] = up[1];
+ out->m[0][2] = forward[2];
+ out->m[1][2] = left[2];
+ out->m[2][2] = up[2];
+#else
+ out->m[0][0] = forward[0];
+ out->m[0][1] = left[0];
+ out->m[0][2] = up[0];
+ out->m[1][0] = forward[1];
+ out->m[1][1] = left[1];
+ out->m[1][2] = up[1];
+ out->m[2][0] = forward[2];
+ out->m[2][1] = left[2];
+ out->m[2][2] = up[2];
+#endif
+}
+
void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
#endif
}
+void Matrix4x4_ToArrayFloatGL(const matrix4x4_t *in, float 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];
+ 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];
+#endif
+}
+
+void Matrix4x4_FromArrayFloatGL (matrix4x4_t *out, const float 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];
+ 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];
+#endif
+}
+
+void Matrix4x4_ToArrayFloatD3D(const matrix4x4_t *in, float 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];
+ 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];
+#endif
+}
+
+void Matrix4x4_FromArrayFloatD3D (matrix4x4_t *out, const float 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];
+ 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];
+#endif
+}
+
void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
#endif
}
+// see http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
+void Matrix4x4_ToOrigin3Quat4Float(const matrix4x4_t *m, float *origin, float *quat)
+{
+#if 0
+ float s;
+ quat[3] = sqrt(1.0f + m->m[0][0] + m->m[1][1] + m->m[2][2]) * 0.5f;
+ s = 0.25f / quat[3];
+#ifdef MATRIX4x4_OPENGLORIENTATION
+ origin[0] = m->m[3][0];
+ origin[1] = m->m[3][1];
+ origin[2] = m->m[3][2];
+ quat[0] = (m->m[1][2] - m->m[2][1]) * s;
+ quat[1] = (m->m[2][0] - m->m[0][2]) * s;
+ quat[2] = (m->m[0][1] - m->m[1][0]) * s;
+#else
+ origin[0] = m->m[0][3];
+ origin[1] = m->m[1][3];
+ origin[2] = m->m[2][3];
+ quat[0] = (m->m[2][1] - m->m[1][2]) * s;
+ quat[1] = (m->m[0][2] - m->m[2][0]) * s;
+ quat[2] = (m->m[1][0] - m->m[0][1]) * s;
+#endif
+
+#else
+
+#ifdef MATRIX4x4_OPENGLORIENTATION
+ float trace = m->m[0][0] + m->m[1][1] + m->m[2][2];
+ origin[0] = m->m[3][0];
+ origin[1] = m->m[3][1];
+ origin[2] = m->m[3][2];
+ if(trace > 0)
+ {
+ float r = sqrt(1.0f + trace), inv = 0.5f / r;
+ quat[0] = (m->m[1][2] - m->m[2][1]) * inv;
+ quat[1] = (m->m[2][0] - m->m[0][2]) * inv;
+ quat[2] = (m->m[0][1] - m->m[1][0]) * inv;
+ quat[3] = 0.5f * r;
+ }
+ else if(m->m[0][0] > m->m[1][1] && m->m[0][0] > m->m[2][2])
+ {
+ float r = sqrt(1.0f + m->m[0][0] - m->m[1][1] - m->m[2][2]), inv = 0.5f / r;
+ quat[0] = 0.5f * r;
+ quat[1] = (m->m[0][1] + m->m[1][0]) * inv;
+ quat[2] = (m->m[2][0] + m->m[0][2]) * inv;
+ quat[3] = (m->m[1][2] - m->m[2][1]) * inv;
+ }
+ else if(m->m[1][1] > m->m[2][2])
+ {
+ float r = sqrt(1.0f + m->m[1][1] - m->m[0][0] - m->m[2][2]), inv = 0.5f / r;
+ quat[0] = (m->m[0][1] + m->m[1][0]) * inv;
+ quat[1] = 0.5f * r;
+ quat[2] = (m->m[1][2] + m->m[2][1]) * inv;
+ quat[3] = (m->m[2][0] - m->m[0][2]) * inv;
+ }
+ else
+ {
+ float r = sqrt(1.0f + m->m[2][2] - m->m[0][0] - m->m[1][1]), inv = 0.5f / r;
+ quat[0] = (m->m[2][0] + m->m[0][2]) * inv;
+ quat[1] = (m->m[1][2] + m->m[2][1]) * inv;
+ quat[2] = 0.5f * r;
+ quat[3] = (m->m[0][1] - m->m[1][0]) * inv;
+ }
+#else
+ float trace = m->m[0][0] + m->m[1][1] + m->m[2][2];
+ origin[0] = m->m[0][3];
+ origin[1] = m->m[1][3];
+ origin[2] = m->m[2][3];
+ if(trace > 0)
+ {
+ float r = sqrt(1.0f + trace), inv = 0.5f / r;
+ quat[0] = (m->m[2][1] - m->m[1][2]) * inv;
+ quat[1] = (m->m[0][2] - m->m[2][0]) * inv;
+ quat[2] = (m->m[1][0] - m->m[0][1]) * inv;
+ quat[3] = 0.5f * r;
+ }
+ else if(m->m[0][0] > m->m[1][1] && m->m[0][0] > m->m[2][2])
+ {
+ float r = sqrt(1.0f + m->m[0][0] - m->m[1][1] - m->m[2][2]), inv = 0.5f / r;
+ quat[0] = 0.5f * r;
+ quat[1] = (m->m[1][0] + m->m[0][1]) * inv;
+ quat[2] = (m->m[0][2] + m->m[2][0]) * inv;
+ quat[3] = (m->m[2][1] - m->m[1][2]) * inv;
+ }
+ else if(m->m[1][1] > m->m[2][2])
+ {
+ float r = sqrt(1.0f + m->m[1][1] - m->m[0][0] - m->m[2][2]), inv = 0.5f / r;
+ quat[0] = (m->m[1][0] + m->m[0][1]) * inv;
+ quat[1] = 0.5f * r;
+ quat[2] = (m->m[2][1] + m->m[1][2]) * inv;
+ quat[3] = (m->m[0][2] - m->m[2][0]) * inv;
+ }
+ else
+ {
+ float r = sqrt(1.0f + m->m[2][2] - m->m[0][0] - m->m[1][1]), inv = 0.5f / r;
+ quat[0] = (m->m[0][2] + m->m[2][0]) * inv;
+ quat[1] = (m->m[2][1] + m->m[1][2]) * inv;
+ quat[2] = 0.5f * r;
+ quat[3] = (m->m[1][0] - m->m[0][1]) * inv;
+ }
+#endif
+
+#endif
+}
+
// 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)
{
- double w = 1.0 - (x*x+y*y+z*z);
- w = w > 0.0 ? -sqrt(w) : 0.0;
+ double w = 1.0f - (x*x+y*y+z*z);
+ w = w > 0.0f ? -sqrt(w) : 0.0f;
#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;
#endif
}
+void Matrix4x4_FromBonePose7s(matrix4x4_t *m, float originscale, const short *pose7s)
+{
+ float origin[3];
+ float quat[4];
+ float quatscale = pose7s[6] > 0 ? -1.0f / 32767.0f : 1.0f / 32767.0f;
+ origin[0] = pose7s[0] * originscale;
+ origin[1] = pose7s[1] * originscale;
+ origin[2] = pose7s[2] * originscale;
+ quat[0] = pose7s[3] * quatscale;
+ quat[1] = pose7s[4] * quatscale;
+ quat[2] = pose7s[5] * quatscale;
+ quat[3] = pose7s[6] * quatscale;
+ Matrix4x4_FromOriginQuat(m, origin[0], origin[1], origin[2], quat[0], quat[1], quat[2], quat[3]);
+}
+
+void Matrix4x4_ToBonePose7s(const matrix4x4_t *m, float origininvscale, short *pose7s)
+{
+ float origin[3];
+ float quat[4];
+ float quatscale;
+ Matrix4x4_ToOrigin3Quat4Float(m, origin, quat);
+ // normalize quaternion so that it is unit length
+ quatscale = quat[0]*quat[0]+quat[1]*quat[1]+quat[2]*quat[2]+quat[3]*quat[3];
+ if (quatscale)
+ quatscale = (quat[3] >= 0 ? -32767.0f : 32767.0f) / sqrt(quatscale);
+ // use a negative scale on the quat because the above function produces a
+ // positive quat[3] and canonical quaternions have negative quat[3]
+ pose7s[0] = origin[0] * origininvscale;
+ pose7s[1] = origin[1] * origininvscale;
+ pose7s[2] = origin[2] * origininvscale;
+ pose7s[3] = quat[0] * quatscale;
+ pose7s[4] = quat[1] * quatscale;
+ pose7s[5] = quat[2] * quatscale;
+ pose7s[6] = quat[3] * quatscale;
+}
+
void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
{
double iblend = 1 - blend;
#endif
}
+// transforms a positive distance plane (A*x+B*y+C*z-D=0) through a rotation or translation matrix
+void Matrix4x4_TransformPositivePlane(const matrix4x4_t *in, float x, float y, float z, float d, float *o)
+{
+ float scale = 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]);
+ float iscale = 1.0f / scale;
+#ifdef MATRIX4x4_OPENGLORIENTATION
+ o[0] = (x * in->m[0][0] + y * in->m[1][0] + z * in->m[2][0]) * iscale;
+ o[1] = (x * in->m[0][1] + y * in->m[1][1] + z * in->m[2][1]) * iscale;
+ o[2] = (x * in->m[0][2] + y * in->m[1][2] + z * in->m[2][2]) * iscale;
+ o[3] = d * scale + (o[0] * in->m[3][0] + o[1] * in->m[3][1] + o[2] * in->m[3][2]);
+#else
+ o[0] = (x * in->m[0][0] + y * in->m[0][1] + z * in->m[0][2]) * iscale;
+ o[1] = (x * in->m[1][0] + y * in->m[1][1] + z * in->m[1][2]) * iscale;
+ o[2] = (x * in->m[2][0] + y * in->m[2][1] + z * in->m[2][2]) * iscale;
+ o[3] = d * scale + (o[0] * in->m[0][3] + o[1] * in->m[1][3] + o[2] * in->m[2][3]);
+#endif
+}
+
+// transforms a standard plane (A*x+B*y+C*z+D=0) through a rotation or translation matrix
+void Matrix4x4_TransformStandardPlane(const matrix4x4_t *in, float x, float y, float z, float d, float *o)
+{
+ float scale = 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]);
+ float iscale = 1.0f / scale;
+#ifdef MATRIX4x4_OPENGLORIENTATION
+ o[0] = (x * in->m[0][0] + y * in->m[1][0] + z * in->m[2][0]) * iscale;
+ o[1] = (x * in->m[0][1] + y * in->m[1][1] + z * in->m[2][1]) * iscale;
+ o[2] = (x * in->m[0][2] + y * in->m[1][2] + z * in->m[2][2]) * iscale;
+ o[3] = d * scale - (o[0] * in->m[3][0] + o[1] * in->m[3][1] + o[2] * in->m[3][2]);
+#else
+ o[0] = (x * in->m[0][0] + y * in->m[0][1] + z * in->m[0][2]) * iscale;
+ o[1] = (x * in->m[1][0] + y * in->m[1][1] + z * in->m[1][2]) * iscale;
+ o[2] = (x * in->m[2][0] + y * in->m[2][1] + z * in->m[2][2]) * iscale;
+ o[3] = d * scale - (o[0] * in->m[0][3] + o[1] * in->m[1][3] + o[2] * in->m[2][3]);
+#endif
+}
+
/*
void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
{
out->m[2][3] *= originscale;
#endif
}
+
+void Matrix4x4_Abs (matrix4x4_t *out)
+{
+ out->m[0][0] = fabs(out->m[0][0]);
+ out->m[0][1] = fabs(out->m[0][1]);
+ out->m[0][2] = fabs(out->m[0][2]);
+ out->m[1][0] = fabs(out->m[1][0]);
+ out->m[1][1] = fabs(out->m[1][1]);
+ out->m[1][2] = fabs(out->m[1][2]);
+ out->m[2][0] = fabs(out->m[2][0]);
+ out->m[2][1] = fabs(out->m[2][1]);
+ out->m[2][2] = fabs(out->m[2][2]);
+}
+
projects / xonotic / darkplaces.git / blobdiff