+#include "quakedef.h"
#include "matrixlib.h"
#include <math.h>
-void Matrix4x4_Copy (matrix4x4_t *out, matrix4x4_t *in)
+void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in)
{
*out = *in;
}
-void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, matrix4x4_t *in)
+void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in)
{
out->m[0][0] = in->m[0][0];
out->m[0][1] = in->m[0][1];
out->m[3][3] = 1.0f;
}
-void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, matrix4x4_t *in)
+void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
{
out->m[0][0] = 0.0f;
out->m[0][1] = 0.0f;
out->m[3][3] = 1.0f;
}
-void Matrix4x4_FromMatrix3x4 (matrix4x4_t *out, matrix3x4_t *in)
+void Matrix4x4_FromMatrix3x4 (matrix4x4_t *out, const matrix3x4_t *in)
{
out->m[0][0] = in->m[0][0];
out->m[0][1] = in->m[0][1];
void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
{
- float scale;
- scale = 3.0 / (in1->m[0][0] * in1->m[0][0]
- + in1->m[0][1] * in1->m[0][1]
- + in1->m[0][2] * in1->m[0][2]
- + in1->m[1][0] * in1->m[1][0]
- + in1->m[1][1] * in1->m[1][1]
- + in1->m[1][2] * in1->m[1][2]
- + in1->m[2][0] * in1->m[2][0]
- + in1->m[2][1] * in1->m[2][1]
- + in1->m[2][2] * in1->m[2][2]);
+ 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[0][3] = in1->m[3][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[1][3] = in1->m[3][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];
+ out->m[2][3] = in1->m[3][2];
+ 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];
+}
+
+void Matrix4x4_Transpose3x3 (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];
+
+ 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];
+}
+
+void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
+{
+ // we only support uniform scaling, so assume the first row is enough
+ // (note the lack of sqrt here, because we're trying to undo the scaling,
+ // this means multiplying by the inverse scale twice - squaring it, which
+ // makes the sqrt a waste of time)
+#if 1
+ double scale = 1.0 / (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]);
+#else
+ double scale = 3.0 / 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]
+ + in1->m[1][0] * in1->m[1][0] + in1->m[1][1] * in1->m[1][1] + in1->m[1][2] * in1->m[1][2]
+ + in1->m[2][0] * in1->m[2][0] + in1->m[2][1] * in1->m[2][1] + in1->m[2][2] * in1->m[2][2]);
+ scale *= scale;
+#endif
+
+ // invert the rotation by transposing and multiplying by the squared
+ // recipricol of the input matrix scale as described above
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[0][3] = in1->m[3][0];
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[1][3] = in1->m[3][1];
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;
- out->m[2][3] = in1->m[3][2];
- 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];
+
+ // 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]);
+ out->m[2][3] = -(in1->m[0][3] * out->m[2][0] + in1->m[1][3] * out->m[2][1] + in1->m[2][3] * out->m[2][2]);
+
+ // don't know if there's anything worth doing here
+ 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)
y *= len;
z *= len;
- angle *= M_PI / 180.0;
+ angle *= -M_PI / 180.0;
c = cos(angle);
s = sin(angle);
out->m[3][3]=1.0f;
}
+void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, float x, float y, float z, float pitch, float yaw, float roll, float scale)
+{
+ 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] = (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] = (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] = (-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;
+}
+
void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
{
vx[0] = in->m[0][0];
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];
}
+/*
void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
{
float t[3];
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];
}
+*/
// FIXME: optimize
void Matrix4x4_ConcatTranslate (matrix4x4_t *out, float x, float y, float z)
{
matrix4x4_t base, temp;
- Matrix4x4_Copy(out, &base);
+ base = *out;
Matrix4x4_CreateTranslate(&temp, x, y, z);
Matrix4x4_Concat(out, &base, &temp);
}
void Matrix4x4_ConcatRotate (matrix4x4_t *out, float angle, float x, float y, float z)
{
matrix4x4_t base, temp;
- Matrix4x4_Copy(out, &base);
+ base = *out;
Matrix4x4_CreateRotate(&temp, angle, x, y, z);
Matrix4x4_Concat(out, &base, &temp);
}
void Matrix4x4_ConcatScale (matrix4x4_t *out, float x)
{
matrix4x4_t base, temp;
- Matrix4x4_Copy(out, &base);
+ base = *out;
Matrix4x4_CreateScale(&temp, x);
Matrix4x4_Concat(out, &base, &temp);
}
void Matrix4x4_ConcatScale3 (matrix4x4_t *out, float x, float y, float z)
{
matrix4x4_t base, temp;
- Matrix4x4_Copy(out, &base);
+ base = *out;
Matrix4x4_CreateScale3(&temp, x, y, z);
Matrix4x4_Concat(out, &base, &temp);
}
+void Matrix4x4_Print (const matrix4x4_t *in)
+{
+ Con_Printf("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n"
+ , in->m[0][0], in->m[0][1], in->m[0][2], in->m[0][3]
+ , in->m[1][0], in->m[1][1], in->m[1][2], in->m[1][3]
+ , in->m[2][0], in->m[2][1], in->m[2][2], in->m[2][3]
+ , in->m[3][0], in->m[3][1], in->m[3][2], in->m[3][3]);
+}
-void Matrix3x4_Copy (matrix3x4_t *out, matrix3x4_t *in)
+void Matrix3x4_Copy (matrix3x4_t *out, const matrix3x4_t *in)
{
*out = *in;
}
-void Matrix3x4_CopyRotateOnly (matrix3x4_t *out, matrix3x4_t *in)
+void Matrix3x4_CopyRotateOnly (matrix3x4_t *out, const matrix3x4_t *in)
{
out->m[0][0] = in->m[0][0];
out->m[0][1] = in->m[0][1];
out->m[2][3] = 0.0f;
}
-void Matrix3x4_CopyTranslateOnly (matrix3x4_t *out, matrix3x4_t *in)
+void Matrix3x4_CopyTranslateOnly (matrix3x4_t *out, const matrix3x4_t *in)
{
out->m[0][0] = 0.0f;
out->m[0][1] = 0.0f;
out->m[2][3] = in->m[0][3];
}
-void Matrix3x4_FromMatrix4x4 (matrix3x4_t *out, matrix4x4_t *in)
+void Matrix3x4_FromMatrix4x4 (matrix3x4_t *out, const matrix4x4_t *in)
{
out->m[0][0] = in->m[0][0];
out->m[0][1] = in->m[0][1];
void Matrix3x4_Transpose3x3 (matrix3x4_t *out, const matrix3x4_t *in1)
{
- float scale;
- scale = 3.0 / (in1->m[0][0] * in1->m[0][0]
- + in1->m[0][1] * in1->m[0][1]
- + in1->m[0][2] * in1->m[0][2]
- + in1->m[1][0] * in1->m[1][0]
- + in1->m[1][1] * in1->m[1][1]
- + in1->m[1][2] * in1->m[1][2]
- + in1->m[2][0] * in1->m[2][0]
- + in1->m[2][1] * in1->m[2][1]
- + in1->m[2][2] * in1->m[2][2]);
+ 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[0][3] = 0.0f;
+ 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[1][3] = 0.0f;
+ out->m[2][0] = in1->m[0][2];
+ out->m[2][1] = in1->m[1][2];
+ out->m[2][2] = in1->m[2][2];
+ out->m[2][3] = 0.0f;
+}
+
+void Matrix3x4_Invert_Simple (matrix3x4_t *out, const matrix3x4_t *in1)
+{
+ // we only support uniform scaling, so assume the first row is enough
+ // (note the lack of sqrt here, because we're trying to undo the scaling,
+ // this means multiplying by the inverse scale twice - squaring it, which
+ // makes the sqrt a waste of time)
+#if 1
+ double scale = 1.0 / (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]);
+#else
+ double scale = 3.0 / 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]
+ + in1->m[1][0] * in1->m[1][0] + in1->m[1][1] * in1->m[1][1] + in1->m[1][2] * in1->m[1][2]
+ + in1->m[2][0] * in1->m[2][0] + in1->m[2][1] * in1->m[2][1] + in1->m[2][2] * in1->m[2][2]);
+ scale *= scale;
+#endif
+
+ // invert the rotation by transposing and multiplying by the squared
+ // recipricol of the input matrix scale as described above
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[0][3] = 0.0f;
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[1][3] = 0.0f;
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;
- out->m[2][3] = 0.0f;
+
+ // 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]);
+ out->m[2][3] = -(in1->m[0][3] * out->m[2][0] + in1->m[1][3] * out->m[2][1] + in1->m[2][3] * out->m[2][2]);
}
+
void Matrix3x4_CreateIdentity (matrix3x4_t *out)
{
out->m[0][0]=1.0f;
out->m[2][3]=0.0f;
}
+void Matrix3x4_CreateFromQuakeEntity(matrix3x4_t *out, float x, float y, float z, float pitch, float yaw, float roll, float scale)
+{
+ 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] = (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] = (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] = (-sp) * scale;
+ out->m[2][1] = (sr*cp) * scale;
+ out->m[2][2] = (cr*cp) * scale;
+ out->m[2][3] = z;
+}
+
void Matrix3x4_ToVectors(const matrix3x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
{
vx[0] = in->m[0][0];
void Matrix3x4_ConcatTranslate (matrix3x4_t *out, float x, float y, float z)
{
matrix3x4_t base, temp;
- Matrix3x4_Copy(out, &base);
+ base = *out;
Matrix3x4_CreateTranslate(&temp, x, y, z);
Matrix3x4_Concat(out, &base, &temp);
}
void Matrix3x4_ConcatRotate (matrix3x4_t *out, float angle, float x, float y, float z)
{
matrix3x4_t base, temp;
- Matrix3x4_Copy(out, &base);
+ base = *out;
Matrix3x4_CreateRotate(&temp, angle, x, y, z);
Matrix3x4_Concat(out, &base, &temp);
}
void Matrix3x4_ConcatScale (matrix3x4_t *out, float x)
{
matrix3x4_t base, temp;
- Matrix3x4_Copy(out, &base);
+ base = *out;
Matrix3x4_CreateScale(&temp, x);
Matrix3x4_Concat(out, &base, &temp);
}
void Matrix3x4_ConcatScale3 (matrix3x4_t *out, float x, float y, float z)
{
matrix3x4_t base, temp;
- Matrix3x4_Copy(out, &base);
+ base = *out;
Matrix3x4_CreateScale3(&temp, x, y, z);
Matrix3x4_Concat(out, &base, &temp);
}
+
+void Matrix3x4_Print (const matrix3x4_t *in)
+{
+ Con_Printf("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n"
+ , in->m[0][0], in->m[0][1], in->m[0][2], in->m[0][3]
+ , in->m[1][0], in->m[1][1], in->m[1][2], in->m[1][3]
+ , in->m[2][0], in->m[2][1], in->m[2][2], in->m[2][3]);
+}
+
projects / xonotic / darkplaces.git / blobdiff