// 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;
+ 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)
}
}
+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_FromBonePose6s(matrix4x4_t *m, float originscale, const short *pose6s)
+void Matrix4x4_FromBonePose7s(matrix4x4_t *m, float originscale, const short *pose7s)
{
float origin[3];
float quat[4];
- origin[0] = pose6s[0] * originscale;
- origin[1] = pose6s[1] * originscale;
- origin[2] = pose6s[2] * originscale;
- quat[0] = pose6s[3] * (1.0f / 32767.0f);
- quat[1] = pose6s[4] * (1.0f / 32767.0f);
- quat[2] = pose6s[5] * (1.0f / 32767.0f);
- quat[3] = 1.0f - (quat[0]*quat[0]+quat[1]*quat[1]+quat[2]*quat[2]);
- quat[3] = quat[3] > 0.0f ? -sqrt(quat[3]) : 0.0f;
+ 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_ToBonePose6s(const matrix4x4_t *m, float origininvscale, short *pose6s)
+void Matrix4x4_ToBonePose7s(const matrix4x4_t *m, float origininvscale, short *pose7s)
{
float origin[3];
float quat[4];
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]
- pose6s[0] = origin[0] * origininvscale;
- pose6s[1] = origin[1] * origininvscale;
- pose6s[2] = origin[2] * origininvscale;
- pose6s[3] = quat[0] * quatscale;
- pose6s[4] = quat[1] * quatscale;
- pose6s[5] = quat[2] * quatscale;
+ 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)
#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]);
#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]);
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]);
+ 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]);
}
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