+#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];
}
+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;
+}
+
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;
#endif
}
+void Matrix4x4_TransformPositivePlane(const matrix4x4_t *in, float x, float y, float z, float d, float *o)
+{
+#ifdef MATRIX4x4_OPENGLORIENTATION
+ o[0] = x * in->m[0][0] + y * in->m[1][0] + z * in->m[2][0];
+ o[1] = x * in->m[0][1] + y * in->m[1][1] + z * in->m[2][1];
+ o[2] = x * in->m[0][2] + y * in->m[1][2] + z * in->m[2][2];
+ o[3] = d + (x * in->m[3][0] + y * in->m[3][1] + z * in->m[3][2]);
+#else
+ o[0] = x * in->m[0][0] + y * in->m[0][1] + z * in->m[0][2];
+ o[1] = x * in->m[1][0] + y * in->m[1][1] + z * in->m[1][2];
+ o[2] = x * in->m[2][0] + y * in->m[2][1] + z * in->m[2][2];
+ o[3] = d + (x * in->m[0][3] + y * in->m[1][3] + z * in->m[2][3]);
+#endif
+}
+
+void Matrix4x4_TransformStandardPlane(const matrix4x4_t *in, float x, float y, float z, float d, float *o)
+{
+#ifdef MATRIX4x4_OPENGLORIENTATION
+ o[0] = x * in->m[0][0] + y * in->m[1][0] + z * in->m[2][0];
+ o[1] = x * in->m[0][1] + y * in->m[1][1] + z * in->m[2][1];
+ o[2] = x * in->m[0][2] + y * in->m[1][2] + z * in->m[2][2];
+ o[3] = d - (x * in->m[3][0] + y * in->m[3][1] + z * in->m[3][2]);
+#else
+ o[0] = x * in->m[0][0] + y * in->m[0][1] + z * in->m[0][2];
+ o[1] = x * in->m[1][0] + y * in->m[1][1] + z * in->m[1][2];
+ o[2] = x * in->m[2][0] + y * in->m[2][1] + z * in->m[2][2];
+ o[3] = d - (x * in->m[0][3] + y * in->m[1][3] + z * in->m[2][3]);
+#endif
+}
+
/*
void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
{
projects / xonotic / darkplaces.git / blobdiff