#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;
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)
-// number of multiplications reduced by divVerent, yet to be benchmarked
-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[2][3]*in1->m[3][2]) - in1->m[2][1]*(in1->m[1][2]*in1->m[3][3] - in1->m[1][3]*in1->m[3][2]) + in1->m[3][1]*(in1->m[1][2]*in1->m[2][3] - 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[2][3]*in1->m[3][2]) + in1->m[2][0]*(in1->m[1][2]*in1->m[3][3] - in1->m[1][3]*in1->m[3][2]) - in1->m[3][0]*(in1->m[1][2]*in1->m[2][3] - 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[2][3]*in1->m[3][1]) - in1->m[2][0]*(in1->m[1][1]*in1->m[3][3] - in1->m[1][3]*in1->m[3][1]) + in1->m[3][0]*(in1->m[1][1]*in1->m[2][3] - 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[2][2]*in1->m[3][1]) + in1->m[2][0]*(in1->m[1][1]*in1->m[3][2] - in1->m[1][2]*in1->m[3][1]) - in1->m[3][0]*(in1->m[1][1]*in1->m[2][2] - 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[2][3]*in1->m[3][2]) + in1->m[2][1]*(in1->m[0][2]*in1->m[3][3] - in1->m[0][3]*in1->m[3][2]) - in1->m[3][1]*(in1->m[0][2]*in1->m[2][3] - 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[2][3]*in1->m[3][2]) - in1->m[2][0]*(in1->m[0][2]*in1->m[3][3] - in1->m[0][3]*in1->m[3][2]) + in1->m[3][0]*(in1->m[0][2]*in1->m[2][3] - 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[2][3]*in1->m[3][1]) + in1->m[2][0]*(in1->m[0][1]*in1->m[3][3] - in1->m[0][3]*in1->m[3][1]) - in1->m[3][0]*(in1->m[0][1]*in1->m[2][3] - 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[2][2]*in1->m[3][1]) - in1->m[2][0]*(in1->m[0][1]*in1->m[3][2] - in1->m[0][2]*in1->m[3][1]) + in1->m[3][0]*(in1->m[0][1]*in1->m[2][2] - 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[1][3]*in1->m[3][2]) - in1->m[1][1]*(in1->m[0][2]*in1->m[3][3] - in1->m[0][3]*in1->m[3][2]) + in1->m[3][1]*(in1->m[0][2]*in1->m[1][3] - 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[1][3]*in1->m[3][2]) + in1->m[1][0]*(in1->m[0][2]*in1->m[3][3] - in1->m[0][3]*in1->m[3][2]) - in1->m[3][0]*(in1->m[0][2]*in1->m[1][3] - 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[1][3]*in1->m[3][1]) - in1->m[1][0]*(in1->m[0][1]*in1->m[3][3] - in1->m[0][3]*in1->m[3][1]) + in1->m[3][0]*(in1->m[0][1]*in1->m[1][3] - 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[1][2]*in1->m[3][1]) + in1->m[1][0]*(in1->m[0][1]*in1->m[3][2] - in1->m[0][2]*in1->m[3][1]) - in1->m[3][0]*(in1->m[0][1]*in1->m[1][2] - 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[1][3]*in1->m[2][2]) + in1->m[1][1]*(in1->m[0][2]*in1->m[2][3] - in1->m[0][3]*in1->m[2][2]) - in1->m[2][1]*(in1->m[0][2]*in1->m[1][3] - 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[1][3]*in1->m[2][2]) - in1->m[1][0]*(in1->m[0][2]*in1->m[2][3] - in1->m[0][3]*in1->m[2][2]) + in1->m[2][0]*(in1->m[0][2]*in1->m[1][3] - 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[1][3]*in1->m[2][1]) + in1->m[1][0]*(in1->m[0][1]*in1->m[2][3] - in1->m[0][3]*in1->m[2][1]) - in1->m[2][0]*(in1->m[0][1]*in1->m[1][3] - 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[1][2]*in1->m[2][1]) - in1->m[1][0]*(in1->m[0][1]*in1->m[2][2] - in1->m[0][2]*in1->m[2][1]) + in1->m[2][0]*(in1->m[0][1]*in1->m[1][2] - 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[3][2]*in1->m[2][3]) - in1->m[1][2]*(in1->m[2][1]*in1->m[3][3] - in1->m[3][1]*in1->m[2][3]) + in1->m[1][3]*(in1->m[2][1]*in1->m[3][2] - 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[3][2]*in1->m[2][3]) + in1->m[0][2]*(in1->m[2][1]*in1->m[3][3] - in1->m[3][1]*in1->m[2][3]) - in1->m[0][3]*(in1->m[2][1]*in1->m[3][2] - 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[3][2]*in1->m[1][3]) - in1->m[0][2]*(in1->m[1][1]*in1->m[3][3] - in1->m[3][1]*in1->m[1][3]) + in1->m[0][3]*(in1->m[1][1]*in1->m[3][2] - 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[2][2]*in1->m[1][3]) + in1->m[0][2]*(in1->m[1][1]*in1->m[2][3] - in1->m[2][1]*in1->m[1][3]) - in1->m[0][3]*(in1->m[1][1]*in1->m[2][2] - 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[3][2]*in1->m[2][3]) + in1->m[1][2]*(in1->m[2][0]*in1->m[3][3] - in1->m[3][0]*in1->m[2][3]) - in1->m[1][3]*(in1->m[2][0]*in1->m[3][2] - 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[3][2]*in1->m[2][3]) - in1->m[0][2]*(in1->m[2][0]*in1->m[3][3] - in1->m[3][0]*in1->m[2][3]) + in1->m[0][3]*(in1->m[2][0]*in1->m[3][2] - 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[3][2]*in1->m[1][3]) + in1->m[0][2]*(in1->m[1][0]*in1->m[3][3] - in1->m[3][0]*in1->m[1][3]) - in1->m[0][3]*(in1->m[1][0]*in1->m[3][2] - 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[2][2]*in1->m[1][3]) - in1->m[0][2]*(in1->m[1][0]*in1->m[2][3] - in1->m[2][0]*in1->m[1][3]) + in1->m[0][3]*(in1->m[1][0]*in1->m[2][2] - 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[3][1]*in1->m[2][3]) - in1->m[1][1]*(in1->m[2][0]*in1->m[3][3] - in1->m[3][0]*in1->m[2][3]) + in1->m[1][3]*(in1->m[2][0]*in1->m[3][1] - 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[3][1]*in1->m[2][3]) + in1->m[0][1]*(in1->m[2][0]*in1->m[3][3] - in1->m[3][0]*in1->m[2][3]) - in1->m[0][3]*(in1->m[2][0]*in1->m[3][1] - 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[3][1]*in1->m[1][3]) - in1->m[0][1]*(in1->m[1][0]*in1->m[3][3] - in1->m[3][0]*in1->m[1][3]) + in1->m[0][3]*(in1->m[1][0]*in1->m[3][1] - 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[2][1]*in1->m[1][3]) + in1->m[0][1]*(in1->m[1][0]*in1->m[2][3] - in1->m[2][0]*in1->m[1][3]) - in1->m[0][3]*(in1->m[1][0]*in1->m[2][1] - 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[3][1]*in1->m[2][2]) + in1->m[1][1]*(in1->m[2][0]*in1->m[3][2] - in1->m[3][0]*in1->m[2][2]) - in1->m[1][2]*(in1->m[2][0]*in1->m[3][1] - 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[3][1]*in1->m[2][2]) - in1->m[0][1]*(in1->m[2][0]*in1->m[3][2] - in1->m[3][0]*in1->m[2][2]) + in1->m[0][2]*(in1->m[2][0]*in1->m[3][1] - 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[3][1]*in1->m[1][2]) + in1->m[0][1]*(in1->m[1][0]*in1->m[3][2] - in1->m[3][0]*in1->m[1][2]) - in1->m[0][2]*(in1->m[1][0]*in1->m[3][1] - 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[2][1]*in1->m[1][2]) - in1->m[0][1]*(in1->m[1][0]*in1->m[2][2] - in1->m[2][0]*in1->m[1][2]) + in1->m[0][2]*(in1->m[1][0]*in1->m[2][1] - 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)
{
#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_FromBonePose6s(matrix4x4_t *m, float originscale, const short *pose6s)
+{
+ 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;
+ 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)
+{
+ 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]
+ 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;
+}
+
void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
{
double iblend = 1 - blend;
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];
- 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]);
+ 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];
- 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]);
+ 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_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];
- 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]);
+ 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];
- 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]);
+ 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
}
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