X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=matrixlib.c;h=7e4783e2c7ec01c44c07f382b10319be352fdfcd;hp=af5ec5ee5697ab7ff25e5cb668bc4769ff1a3e8d;hb=302711d37e168e57a9e2c8003084a22a3285c555;hpb=a8e147ca855a521a60e4d1304d4a87fc164e6ec7

diff --git a/matrixlib.c b/matrixlib.c
index af5ec5ee..7e4783e2 100644
--- a/matrixlib.c
+++ b/matrixlib.c
@@ -1,7 +1,16 @@
 
-#include "quakedef.h"
-#include "matrixlib.h"
 #include <math.h>
+#include "matrixlib.h"
+
+const matrix4x4_t identitymatrix =
+{
+	{
+		{1, 0, 0, 0},
+		{0, 1, 0, 0},
+		{0, 0, 1, 0},
+		{0, 0, 0, 1}
+	}
+};
 
 void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in)
 {
@@ -30,46 +39,63 @@ void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in)
 
 void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
 {
-	out->m[0][0] = 0.0f;
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[0][0] = 1.0f;
+	out->m[1][0] = 0.0f;
+	out->m[2][0] = 0.0f;
+	out->m[3][0] = in->m[0][3];
+	out->m[0][1] = 0.0f;
+	out->m[1][1] = 1.0f;
+	out->m[2][1] = 0.0f;
+	out->m[3][1] = in->m[1][3];
+	out->m[0][2] = 0.0f;
+	out->m[1][2] = 0.0f;
+	out->m[2][2] = 1.0f;
+	out->m[3][2] = in->m[2][3];
+	out->m[0][3] = 0.0f;
+	out->m[1][3] = 0.0f;
+	out->m[2][3] = 0.0f;
+	out->m[3][3] = 1.0f;
+#else
+	out->m[0][0] = 1.0f;
 	out->m[0][1] = 0.0f;
 	out->m[0][2] = 0.0f;
 	out->m[0][3] = in->m[0][3];
 	out->m[1][0] = 0.0f;
-	out->m[1][1] = 0.0f;
+	out->m[1][1] = 1.0f;
 	out->m[1][2] = 0.0f;
-	out->m[1][3] = in->m[0][3];
+	out->m[1][3] = in->m[1][3];
 	out->m[2][0] = 0.0f;
 	out->m[2][1] = 0.0f;
-	out->m[2][2] = 0.0f;
-	out->m[2][3] = in->m[0][3];
-	out->m[3][0] = 0.0f;
-	out->m[3][1] = 0.0f;
-	out->m[3][2] = 0.0f;
-	out->m[3][3] = 1.0f;
-}
-
-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];
-	out->m[0][2] = in->m[0][2];
-	out->m[0][3] = in->m[0][3];
-	out->m[1][0] = in->m[1][0];
-	out->m[1][1] = in->m[1][1];
-	out->m[1][2] = in->m[1][2];
-	out->m[1][3] = in->m[1][3];
-	out->m[2][0] = in->m[2][0];
-	out->m[2][1] = in->m[2][1];
-	out->m[2][2] = in->m[2][2];
+	out->m[2][2] = 1.0f;
 	out->m[2][3] = in->m[2][3];
 	out->m[3][0] = 0.0f;
 	out->m[3][1] = 0.0f;
 	out->m[3][2] = 0.0f;
 	out->m[3][3] = 1.0f;
+#endif
 }
 
 void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2)
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[0][0] = in1->m[0][0] * in2->m[0][0] + in1->m[1][0] * in2->m[0][1] + in1->m[2][0] * in2->m[0][2] + in1->m[3][0] * in2->m[0][3];
+	out->m[1][0] = in1->m[0][0] * in2->m[1][0] + in1->m[1][0] * in2->m[1][1] + in1->m[2][0] * in2->m[1][2] + in1->m[3][0] * in2->m[1][3];
+	out->m[2][0] = in1->m[0][0] * in2->m[2][0] + in1->m[1][0] * in2->m[2][1] + in1->m[2][0] * in2->m[2][2] + in1->m[3][0] * in2->m[2][3];
+	out->m[3][0] = in1->m[0][0] * in2->m[3][0] + in1->m[1][0] * in2->m[3][1] + in1->m[2][0] * in2->m[3][2] + in1->m[3][0] * in2->m[3][3];
+	out->m[0][1] = in1->m[0][1] * in2->m[0][0] + in1->m[1][1] * in2->m[0][1] + in1->m[2][1] * in2->m[0][2] + in1->m[3][1] * in2->m[0][3];
+	out->m[1][1] = in1->m[0][1] * in2->m[1][0] + in1->m[1][1] * in2->m[1][1] + in1->m[2][1] * in2->m[1][2] + in1->m[3][1] * in2->m[1][3];
+	out->m[2][1] = in1->m[0][1] * in2->m[2][0] + in1->m[1][1] * in2->m[2][1] + in1->m[2][1] * in2->m[2][2] + in1->m[3][1] * in2->m[2][3];
+	out->m[3][1] = in1->m[0][1] * in2->m[3][0] + in1->m[1][1] * in2->m[3][1] + in1->m[2][1] * in2->m[3][2] + in1->m[3][1] * in2->m[3][3];
+	out->m[0][2] = in1->m[0][2] * in2->m[0][0] + in1->m[1][2] * in2->m[0][1] + in1->m[2][2] * in2->m[0][2] + in1->m[3][2] * in2->m[0][3];
+	out->m[1][2] = in1->m[0][2] * in2->m[1][0] + in1->m[1][2] * in2->m[1][1] + in1->m[2][2] * in2->m[1][2] + in1->m[3][2] * in2->m[1][3];
+	out->m[2][2] = in1->m[0][2] * in2->m[2][0] + in1->m[1][2] * in2->m[2][1] + in1->m[2][2] * in2->m[2][2] + in1->m[3][2] * in2->m[2][3];
+	out->m[3][2] = in1->m[0][2] * in2->m[3][0] + in1->m[1][2] * in2->m[3][1] + in1->m[2][2] * in2->m[3][2] + in1->m[3][2] * in2->m[3][3];
+	out->m[0][3] = in1->m[0][3] * in2->m[0][0] + in1->m[1][3] * in2->m[0][1] + in1->m[2][3] * in2->m[0][2] + in1->m[3][3] * in2->m[0][3];
+	out->m[1][3] = in1->m[0][3] * in2->m[1][0] + in1->m[1][3] * in2->m[1][1] + in1->m[2][3] * in2->m[1][2] + in1->m[3][3] * in2->m[1][3];
+	out->m[2][3] = in1->m[0][3] * in2->m[2][0] + in1->m[1][3] * in2->m[2][1] + in1->m[2][3] * in2->m[2][2] + in1->m[3][3] * in2->m[2][3];
+	out->m[3][3] = in1->m[0][3] * in2->m[3][0] + in1->m[1][3] * in2->m[3][1] + in1->m[2][3] * in2->m[3][2] + in1->m[3][3] * in2->m[3][3];
+#else
 	out->m[0][0] = in1->m[0][0] * in2->m[0][0] + in1->m[0][1] * in2->m[1][0] + in1->m[0][2] * in2->m[2][0] + in1->m[0][3] * in2->m[3][0];
 	out->m[0][1] = in1->m[0][0] * in2->m[0][1] + in1->m[0][1] * in2->m[1][1] + in1->m[0][2] * in2->m[2][1] + in1->m[0][3] * in2->m[3][1];
 	out->m[0][2] = in1->m[0][0] * in2->m[0][2] + in1->m[0][1] * in2->m[1][2] + in1->m[0][2] * in2->m[2][2] + in1->m[0][3] * in2->m[3][2];
@@ -86,6 +112,7 @@ void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4
 	out->m[3][1] = in1->m[3][0] * in2->m[0][1] + in1->m[3][1] * in2->m[1][1] + in1->m[3][2] * in2->m[2][1] + in1->m[3][3] * in2->m[3][1];
 	out->m[3][2] = in1->m[3][0] * in2->m[0][2] + in1->m[3][1] * in2->m[1][2] + in1->m[3][2] * in2->m[2][2] + in1->m[3][3] * in2->m[3][2];
 	out->m[3][3] = in1->m[3][0] * in2->m[0][3] + in1->m[3][1] * in2->m[1][3] + in1->m[3][2] * in2->m[2][3] + in1->m[3][3] * in2->m[3][3];
+#endif
 }
 
 void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
@@ -108,25 +135,172 @@ void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
 	out->m[3][3] = in1->m[3][3];
 }
 
-void Matrix4x4_Transpose3x3 (matrix4x4_t *out, const matrix4x4_t *in1)
+int Matrix4x4_Invert_Full (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];
+	double	*temp;
+	double	*r[4];
+	double	rtemp[4][8];
+	double	m[4];
+	double	s;
 
-	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];
+	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)
@@ -157,6 +331,18 @@ void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
 	out->m[2][1] = in1->m[1][2] * scale;
 	out->m[2][2] = in1->m[2][2] * scale;
 
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	// invert the translate
+	out->m[3][0] = -(in1->m[3][0] * out->m[0][0] + in1->m[3][1] * out->m[1][0] + in1->m[3][2] * out->m[2][0]);
+	out->m[3][1] = -(in1->m[3][0] * out->m[0][1] + in1->m[3][1] * out->m[1][1] + in1->m[3][2] * out->m[2][1]);
+	out->m[3][2] = -(in1->m[3][0] * out->m[0][2] + in1->m[3][1] * out->m[1][2] + in1->m[3][2] * out->m[2][2]);
+
+	// don't know if there's anything worth doing here
+	out->m[0][3] = 0;
+	out->m[1][3] = 0;
+	out->m[2][3] = 0;
+	out->m[3][3] = 1;
+#else
 	// 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]);
@@ -167,6 +353,16 @@ void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
 	out->m[3][1] = 0;
 	out->m[3][2] = 0;
 	out->m[3][3] = 1;
+#endif
+}
+
+void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1)
+{
+	// scale rotation matrix vectors to a length of 1
+	// note: this is only designed to undo uniform scaling
+	double scale = 1.0 / 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]);
+	*out = *in1;
+	Matrix4x4_Scale(out, scale, 1);
 }
 
 void Matrix4x4_CreateIdentity (matrix4x4_t *out)
@@ -189,8 +385,26 @@ void Matrix4x4_CreateIdentity (matrix4x4_t *out)
 	out->m[3][3]=1.0f;
 }
 
-void Matrix4x4_CreateTranslate (matrix4x4_t *out, float x, float y, float z)
+void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z)
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[0][0]=1.0f;
+	out->m[1][0]=0.0f;
+	out->m[2][0]=0.0f;
+	out->m[3][0]=x;
+	out->m[0][1]=0.0f;
+	out->m[1][1]=1.0f;
+	out->m[2][1]=0.0f;
+	out->m[3][1]=y;
+	out->m[0][2]=0.0f;
+	out->m[1][2]=0.0f;
+	out->m[2][2]=1.0f;
+	out->m[3][2]=z;
+	out->m[0][3]=0.0f;
+	out->m[1][3]=0.0f;
+	out->m[2][3]=0.0f;
+	out->m[3][3]=1.0f;
+#else
 	out->m[0][0]=1.0f;
 	out->m[0][1]=0.0f;
 	out->m[0][2]=0.0f;
@@ -207,11 +421,12 @@ void Matrix4x4_CreateTranslate (matrix4x4_t *out, float x, float y, float z)
 	out->m[3][1]=0.0f;
 	out->m[3][2]=0.0f;
 	out->m[3][3]=1.0f;
+#endif
 }
 
-void Matrix4x4_CreateRotate (matrix4x4_t *out, float angle, float x, float y, float z)
+void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z)
 {
-	float len, c, s;
+	double len, c, s;
 
 	len = x*x+y*y+z*z;
 	if (len != 0.0f)
@@ -220,10 +435,28 @@ void Matrix4x4_CreateRotate (matrix4x4_t *out, float angle, float x, float y, fl
 	y *= len;
 	z *= len;
 
-	angle *= -M_PI / 180.0;
+	angle *= (-M_PI / 180.0);
 	c = cos(angle);
 	s = sin(angle);
 
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[0][0]=x * x + c * (1 - x * x);
+	out->m[1][0]=x * y * (1 - c) + z * s;
+	out->m[2][0]=z * x * (1 - c) - y * s;
+	out->m[3][0]=0.0f;
+	out->m[0][1]=x * y * (1 - c) - z * s;
+	out->m[1][1]=y * y + c * (1 - y * y);
+	out->m[2][1]=y * z * (1 - c) + x * s;
+	out->m[3][1]=0.0f;
+	out->m[0][2]=z * x * (1 - c) + y * s;
+	out->m[1][2]=y * z * (1 - c) - x * s;
+	out->m[2][2]=z * z + c * (1 - z * z);
+	out->m[3][2]=0.0f;
+	out->m[0][3]=0.0f;
+	out->m[1][3]=0.0f;
+	out->m[2][3]=0.0f;
+	out->m[3][3]=1.0f;
+#else
 	out->m[0][0]=x * x + c * (1 - x * x);
 	out->m[0][1]=x * y * (1 - c) + z * s;
 	out->m[0][2]=z * x * (1 - c) - y * s;
@@ -240,9 +473,10 @@ void Matrix4x4_CreateRotate (matrix4x4_t *out, float angle, float x, float y, fl
 	out->m[3][1]=0.0f;
 	out->m[3][2]=0.0f;
 	out->m[3][3]=1.0f;
+#endif
 }
 
-void Matrix4x4_CreateScale (matrix4x4_t *out, float x)
+void Matrix4x4_CreateScale (matrix4x4_t *out, double x)
 {
 	out->m[0][0]=x;
 	out->m[0][1]=0.0f;
@@ -262,7 +496,7 @@ void Matrix4x4_CreateScale (matrix4x4_t *out, float x)
 	out->m[3][3]=1.0f;
 }
 
-void Matrix4x4_CreateScale3 (matrix4x4_t *out, float x, float y, float z)
+void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z)
 {
 	out->m[0][0]=x;
 	out->m[0][1]=0.0f;
@@ -282,39 +516,198 @@ void Matrix4x4_CreateScale3 (matrix4x4_t *out, float x, float y, float z)
 	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)
+void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double 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;
+	if (roll)
+	{
+		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);
+#ifdef MATRIX4x4_OPENGLORIENTATION
+		out->m[0][0] = (cp*cy) * scale;
+		out->m[1][0] = (sr*sp*cy+cr*-sy) * scale;
+		out->m[2][0] = (cr*sp*cy+-sr*-sy) * scale;
+		out->m[3][0] = x;
+		out->m[0][1] = (cp*sy) * scale;
+		out->m[1][1] = (sr*sp*sy+cr*cy) * scale;
+		out->m[2][1] = (cr*sp*sy+-sr*cy) * scale;
+		out->m[3][1] = y;
+		out->m[0][2] = (-sp) * scale;
+		out->m[1][2] = (sr*cp) * scale;
+		out->m[2][2] = (cr*cp) * scale;
+		out->m[3][2] = z;
+		out->m[0][3] = 0;
+		out->m[1][3] = 0;
+		out->m[2][3] = 0;
+		out->m[3][3] = 1;
+#else
+		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;
+#endif
+	}
+	else if (pitch)
+	{
+		angle = yaw * (M_PI*2 / 360);
+		sy = sin(angle);
+		cy = cos(angle);
+		angle = pitch * (M_PI*2 / 360);
+		sp = sin(angle);
+		cp = cos(angle);
+#ifdef MATRIX4x4_OPENGLORIENTATION
+		out->m[0][0] = (cp*cy) * scale;
+		out->m[1][0] = (-sy) * scale;
+		out->m[2][0] = (sp*cy) * scale;
+		out->m[3][0] = x;
+		out->m[0][1] = (cp*sy) * scale;
+		out->m[1][1] = (cy) * scale;
+		out->m[2][1] = (sp*sy) * scale;
+		out->m[3][1] = y;
+		out->m[0][2] = (-sp) * scale;
+		out->m[1][2] = 0;
+		out->m[2][2] = (cp) * scale;
+		out->m[3][2] = z;
+		out->m[0][3] = 0;
+		out->m[1][3] = 0;
+		out->m[2][3] = 0;
+		out->m[3][3] = 1;
+#else
+		out->m[0][0] = (cp*cy) * scale;
+		out->m[0][1] = (-sy) * scale;
+		out->m[0][2] = (sp*cy) * scale;
+		out->m[0][3] = x;
+		out->m[1][0] = (cp*sy) * scale;
+		out->m[1][1] = (cy) * scale;
+		out->m[1][2] = (sp*sy) * scale;
+		out->m[1][3] = y;
+		out->m[2][0] = (-sp) * scale;
+		out->m[2][1] = 0;
+		out->m[2][2] = (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;
+#endif
+	}
+	else if (yaw)
+	{
+		angle = yaw * (M_PI*2 / 360);
+		sy = sin(angle);
+		cy = cos(angle);
+#ifdef MATRIX4x4_OPENGLORIENTATION
+		out->m[0][0] = (cy) * scale;
+		out->m[1][0] = (-sy) * scale;
+		out->m[2][0] = 0;
+		out->m[3][0] = x;
+		out->m[0][1] = (sy) * scale;
+		out->m[1][1] = (cy) * scale;
+		out->m[2][1] = 0;
+		out->m[3][1] = y;
+		out->m[0][2] = 0;
+		out->m[1][2] = 0;
+		out->m[2][2] = scale;
+		out->m[3][2] = z;
+		out->m[0][3] = 0;
+		out->m[1][3] = 0;
+		out->m[2][3] = 0;
+		out->m[3][3] = 1;
+#else
+		out->m[0][0] = (cy) * scale;
+		out->m[0][1] = (-sy) * scale;
+		out->m[0][2] = 0;
+		out->m[0][3] = x;
+		out->m[1][0] = (sy) * scale;
+		out->m[1][1] = (cy) * scale;
+		out->m[1][2] = 0;
+		out->m[1][3] = y;
+		out->m[2][0] = 0;
+		out->m[2][1] = 0;
+		out->m[2][2] = 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;
+#endif
+	}
+	else
+	{
+#ifdef MATRIX4x4_OPENGLORIENTATION
+		out->m[0][0] = scale;
+		out->m[1][0] = 0;
+		out->m[2][0] = 0;
+		out->m[3][0] = x;
+		out->m[0][1] = 0;
+		out->m[1][1] = scale;
+		out->m[2][1] = 0;
+		out->m[3][1] = y;
+		out->m[0][2] = 0;
+		out->m[1][2] = 0;
+		out->m[2][2] = scale;
+		out->m[3][2] = z;
+		out->m[0][3] = 0;
+		out->m[1][3] = 0;
+		out->m[2][3] = 0;
+		out->m[3][3] = 1;
+#else
+		out->m[0][0] = scale;
+		out->m[0][1] = 0;
+		out->m[0][2] = 0;
+		out->m[0][3] = x;
+		out->m[1][0] = 0;
+		out->m[1][1] = scale;
+		out->m[1][2] = 0;
+		out->m[1][3] = y;
+		out->m[2][0] = 0;
+		out->m[2][1] = 0;
+		out->m[2][2] = 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;
+#endif
+	}
 }
 
 void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	vx[0] = in->m[0][0];
+	vx[1] = in->m[0][1];
+	vx[2] = in->m[0][2];
+	vy[0] = in->m[1][0];
+	vy[1] = in->m[1][1];
+	vy[2] = in->m[1][2];
+	vz[0] = in->m[2][0];
+	vz[1] = in->m[2][1];
+	vz[2] = in->m[2][2];
+	t [0] = in->m[3][0];
+	t [1] = in->m[3][1];
+	t [2] = in->m[3][2];
+#else
 	vx[0] = in->m[0][0];
 	vx[1] = in->m[1][0];
 	vx[2] = in->m[2][0];
@@ -324,13 +717,32 @@ void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float
 	vz[0] = in->m[0][2];
 	vz[1] = in->m[1][2];
 	vz[2] = in->m[2][2];
-	t[0] = in->m[0][3];
-	t[1] = in->m[1][3];
-	t[2] = in->m[2][3];
+	t [0] = in->m[0][3];
+	t [1] = in->m[1][3];
+	t [2] = in->m[2][3];
+#endif
 }
 
 void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[0][0] = vx[0];
+	out->m[1][0] = vy[0];
+	out->m[2][0] = vz[0];
+	out->m[3][0] = t[0];
+	out->m[0][1] = vx[1];
+	out->m[1][1] = vy[1];
+	out->m[2][1] = vz[1];
+	out->m[3][1] = t[1];
+	out->m[0][2] = vx[2];
+	out->m[1][2] = vy[2];
+	out->m[2][2] = vz[2];
+	out->m[3][2] = t[2];
+	out->m[0][3] = 0.0f;
+	out->m[1][3] = 0.0f;
+	out->m[2][3] = 0.0f;
+	out->m[3][3] = 1.0f;
+#else
 	out->m[0][0] = vx[0];
 	out->m[0][1] = vy[0];
 	out->m[0][2] = vz[0];
@@ -347,38 +759,426 @@ void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3
 	out->m[3][1] = 0.0f;
 	out->m[3][2] = 0.0f;
 	out->m[3][3] = 1.0f;
+#endif
+}
+
+void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double 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_FromArrayDoubleGL (matrix4x4_t *out, const double 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_ToArrayDoubleD3D(const matrix4x4_t *in, double 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_FromArrayDoubleD3D (matrix4x4_t *out, const double 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
+	out[ 0] = in->m[0][0];
+	out[ 1] = in->m[0][1];
+	out[ 2] = in->m[0][2];
+	out[ 3] = in->m[1][0];
+	out[ 4] = in->m[1][1];
+	out[ 5] = in->m[1][2];
+	out[ 6] = in->m[2][0];
+	out[ 7] = in->m[2][1];
+	out[ 8] = in->m[2][2];
+	out[ 9] = in->m[3][0];
+	out[10] = in->m[3][1];
+	out[11] = in->m[3][2];
+#else
+	out[ 0] = in->m[0][0];
+	out[ 1] = in->m[1][0];
+	out[ 2] = in->m[2][0];
+	out[ 3] = in->m[0][1];
+	out[ 4] = in->m[1][1];
+	out[ 5] = in->m[2][1];
+	out[ 6] = in->m[0][2];
+	out[ 7] = in->m[1][2];
+	out[ 8] = in->m[2][2];
+	out[ 9] = in->m[0][3];
+	out[10] = in->m[1][3];
+	out[11] = in->m[2][3];
+#endif
+}
+
+void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12])
+{
+#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] = 0;
+	out->m[1][0] = in[3];
+	out->m[1][1] = in[4];
+	out->m[1][2] = in[5];
+	out->m[1][3] = 0;
+	out->m[2][0] = in[6];
+	out->m[2][1] = in[7];
+	out->m[2][2] = in[8];
+	out->m[2][3] = 0;
+	out->m[3][0] = in[9];
+	out->m[3][1] = in[10];
+	out->m[3][2] = in[11];
+	out->m[3][3] = 1;
+#else
+	out->m[0][0] = in[0];
+	out->m[1][0] = in[1];
+	out->m[2][0] = in[2];
+	out->m[3][0] = 0;
+	out->m[0][1] = in[3];
+	out->m[1][1] = in[4];
+	out->m[2][1] = in[5];
+	out->m[3][1] = 0;
+	out->m[0][2] = in[6];
+	out->m[1][2] = in[7];
+	out->m[2][2] = in[8];
+	out->m[3][2] = 0;
+	out->m[0][3] = in[9];
+	out->m[1][3] = in[10];
+	out->m[2][3] = in[11];
+	out->m[3][3] = 1;
+#endif
+}
+
+void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12])
+{
+#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];
+#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];
+#endif
+}
+
+void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12])
+{
+#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] = 0;
+	out->m[1][3] = 0;
+	out->m[2][3] = 0;
+	out->m[3][3] = 1;
+#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] = 0;
+	out->m[3][1] = 0;
+	out->m[3][2] = 0;
+	out->m[3][3] = 1;
+#endif
 }
 
+void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w)
+{
+#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;
+	m->m[0][2]=  2*(x*z-y*w);m->m[1][2]=  2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[3][2]=oz;
+	m->m[0][3]=  0          ;m->m[1][3]=  0          ;m->m[2][3]=  0          ;m->m[3][3]=1;
+#else
+	m->m[0][0]=1-2*(y*y+z*z);m->m[0][1]=  2*(x*y-z*w);m->m[0][2]=  2*(x*z+y*w);m->m[0][3]=ox;
+	m->m[1][0]=  2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[1][2]=  2*(y*z-x*w);m->m[1][3]=oy;
+	m->m[2][0]=  2*(x*z-y*w);m->m[2][1]=  2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[2][3]=oz;
+	m->m[3][0]=  0          ;m->m[3][1]=  0          ;m->m[3][2]=  0          ;m->m[3][3]=1;
+#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;
+#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;
+	m->m[0][2]=  2*(x*z-y*w);m->m[1][2]=  2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[3][2]=oz;
+	m->m[0][3]=  0          ;m->m[1][3]=  0          ;m->m[2][3]=  0          ;m->m[3][3]=1;
+#else
+	m->m[0][0]=1-2*(y*y+z*z);m->m[0][1]=  2*(x*y-z*w);m->m[0][2]=  2*(x*z+y*w);m->m[0][3]=ox;
+	m->m[1][0]=  2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[1][2]=  2*(y*z-x*w);m->m[1][3]=oy;
+	m->m[2][0]=  2*(x*z-y*w);m->m[2][1]=  2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[2][3]=oz;
+	m->m[3][0]=  0          ;m->m[3][1]=  0          ;m->m[3][2]=  0          ;m->m[3][3]=1;
+#endif
+}
+
+void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
+{
+	double iblend = 1 - blend;
+	out->m[0][0] = in1->m[0][0] * iblend + in2->m[0][0] * blend;
+	out->m[0][1] = in1->m[0][1] * iblend + in2->m[0][1] * blend;
+	out->m[0][2] = in1->m[0][2] * iblend + in2->m[0][2] * blend;
+	out->m[0][3] = in1->m[0][3] * iblend + in2->m[0][3] * blend;
+	out->m[1][0] = in1->m[1][0] * iblend + in2->m[1][0] * blend;
+	out->m[1][1] = in1->m[1][1] * iblend + in2->m[1][1] * blend;
+	out->m[1][2] = in1->m[1][2] * iblend + in2->m[1][2] * blend;
+	out->m[1][3] = in1->m[1][3] * iblend + in2->m[1][3] * blend;
+	out->m[2][0] = in1->m[2][0] * iblend + in2->m[2][0] * blend;
+	out->m[2][1] = in1->m[2][1] * iblend + in2->m[2][1] * blend;
+	out->m[2][2] = in1->m[2][2] * iblend + in2->m[2][2] * blend;
+	out->m[2][3] = in1->m[2][3] * iblend + in2->m[2][3] * blend;
+	out->m[3][0] = in1->m[3][0] * iblend + in2->m[3][0] * blend;
+	out->m[3][1] = in1->m[3][1] * iblend + in2->m[3][1] * blend;
+	out->m[3][2] = in1->m[3][2] * iblend + in2->m[3][2] * blend;
+	out->m[3][3] = in1->m[3][3] * iblend + in2->m[3][3] * blend;
+}
+
+
 void Matrix4x4_Transform (const matrix4x4_t *in, const float v[3], float out[3])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0] + in->m[3][0];
+	out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1] + in->m[3][1];
+	out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2] + in->m[3][2];
+#else
 	out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3];
 	out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3];
 	out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3];
+#endif
 }
 
 void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4])
 {
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0] + v[3] * in->m[3][0];
+	out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1] + v[3] * in->m[3][1];
+	out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2] + v[3] * in->m[3][2];
+	out[3] = v[0] * in->m[0][3] + v[1] * in->m[1][3] + v[2] * in->m[2][3] + v[3] * in->m[3][3];
+#else
 	out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + v[3] * in->m[0][3];
 	out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + v[3] * in->m[1][3];
 	out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + v[3] * in->m[2][3];
 	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];
+#endif
+}
+
+void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const float v[3], float out[3])
+{
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0];
+	out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1];
+	out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2];
+#else
+	out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2];
+	out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2];
+	out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2];
+#endif
 }
 
 /*
 void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
 {
-	float t[3];
+	double t[3];
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	t[0] = v[0] - in->m[3][0];
+	t[1] = v[1] - in->m[3][1];
+	t[2] = v[2] - in->m[3][2];
+	out[0] = t[0] * in->m[0][0] + t[1] * in->m[0][1] + t[2] * in->m[0][2];
+	out[1] = t[0] * in->m[1][0] + t[1] * in->m[1][1] + t[2] * in->m[1][2];
+	out[2] = t[0] * in->m[2][0] + t[1] * in->m[2][1] + t[2] * in->m[2][2];
+#else
 	t[0] = v[0] - in->m[0][3];
 	t[1] = v[1] - in->m[1][3];
 	t[2] = v[2] - in->m[2][3];
 	out[0] = t[0] * in->m[0][0] + t[1] * in->m[1][0] + t[2] * in->m[2][0];
 	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];
+#endif
 }
 */
 
 // FIXME: optimize
-void Matrix4x4_ConcatTranslate (matrix4x4_t *out, float x, float y, float z)
+void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z)
 {
 	matrix4x4_t base, temp;
 	base = *out;
@@ -387,7 +1187,7 @@ void Matrix4x4_ConcatTranslate (matrix4x4_t *out, float x, float y, float z)
 }
 
 // FIXME: optimize
-void Matrix4x4_ConcatRotate (matrix4x4_t *out, float angle, float x, float y, float z)
+void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z)
 {
 	matrix4x4_t base, temp;
 	base = *out;
@@ -396,7 +1196,7 @@ void Matrix4x4_ConcatRotate (matrix4x4_t *out, float angle, float x, float y, fl
 }
 
 // FIXME: optimize
-void Matrix4x4_ConcatScale (matrix4x4_t *out, float x)
+void Matrix4x4_ConcatScale (matrix4x4_t *out, double x)
 {
 	matrix4x4_t base, temp;
 	base = *out;
@@ -405,7 +1205,7 @@ void Matrix4x4_ConcatScale (matrix4x4_t *out, float x)
 }
 
 // FIXME: optimize
-void Matrix4x4_ConcatScale3 (matrix4x4_t *out, float x, float y, float z)
+void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z)
 {
 	matrix4x4_t base, temp;
 	base = *out;
@@ -413,352 +1213,69 @@ void Matrix4x4_ConcatScale3 (matrix4x4_t *out, float x, float y, float 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, const matrix3x4_t *in)
-{
-	*out = *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[0][2] = in->m[0][2];
-	out->m[0][3] = 0.0f;
-	out->m[1][0] = in->m[1][0];
-	out->m[1][1] = in->m[1][1];
-	out->m[1][2] = in->m[1][2];
-	out->m[1][3] = 0.0f;
-	out->m[2][0] = in->m[2][0];
-	out->m[2][1] = in->m[2][1];
-	out->m[2][2] = in->m[2][2];
-	out->m[2][3] = 0.0f;
-}
-
-void Matrix3x4_CopyTranslateOnly (matrix3x4_t *out, const matrix3x4_t *in)
-{
-	out->m[0][0] = 0.0f;
-	out->m[0][1] = 0.0f;
-	out->m[0][2] = 0.0f;
-	out->m[0][3] = in->m[0][3];
-	out->m[1][0] = 0.0f;
-	out->m[1][1] = 0.0f;
-	out->m[1][2] = 0.0f;
-	out->m[1][3] = in->m[0][3];
-	out->m[2][0] = 0.0f;
-	out->m[2][1] = 0.0f;
-	out->m[2][2] = 0.0f;
-	out->m[2][3] = in->m[0][3];
-}
-
-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];
-	out->m[0][2] = in->m[0][2];
-	out->m[0][3] = in->m[0][3];
-	out->m[1][0] = in->m[1][0];
-	out->m[1][1] = in->m[1][1];
-	out->m[1][2] = in->m[1][2];
-	out->m[1][3] = in->m[1][3];
-	out->m[2][0] = in->m[2][0];
-	out->m[2][1] = in->m[2][1];
-	out->m[2][2] = in->m[2][2];
-	out->m[2][3] = in->m[2][3];
-}
-
-void Matrix3x4_Concat (matrix3x4_t *out, const matrix3x4_t *in1, const matrix3x4_t *in2)
+void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, float *out)
 {
-	out->m[0][0] = in1->m[0][0] * in2->m[0][0] + in1->m[0][1] * in2->m[1][0] + in1->m[0][2] * in2->m[2][0];
-	out->m[0][1] = in1->m[0][0] * in2->m[0][1] + in1->m[0][1] * in2->m[1][1] + in1->m[0][2] * in2->m[2][1];
-	out->m[0][2] = in1->m[0][0] * in2->m[0][2] + in1->m[0][1] * in2->m[1][2] + in1->m[0][2] * in2->m[2][2];
-	out->m[0][3] = in1->m[0][0] * in2->m[0][3] + in1->m[0][1] * in2->m[1][3] + in1->m[0][2] * in2->m[2][3] + in1->m[0][3];
-	out->m[1][0] = in1->m[1][0] * in2->m[0][0] + in1->m[1][1] * in2->m[1][0] + in1->m[1][2] * in2->m[2][0];
-	out->m[1][1] = in1->m[1][0] * in2->m[0][1] + in1->m[1][1] * in2->m[1][1] + in1->m[1][2] * in2->m[2][1];
-	out->m[1][2] = in1->m[1][0] * in2->m[0][2] + in1->m[1][1] * in2->m[1][2] + in1->m[1][2] * in2->m[2][2];
-	out->m[1][3] = in1->m[1][0] * in2->m[0][3] + in1->m[1][1] * in2->m[1][3] + in1->m[1][2] * in2->m[2][3] + in1->m[1][3];
-	out->m[2][0] = in1->m[2][0] * in2->m[0][0] + in1->m[2][1] * in2->m[1][0] + in1->m[2][2] * in2->m[2][0];
-	out->m[2][1] = in1->m[2][0] * in2->m[0][1] + in1->m[2][1] * in2->m[1][1] + in1->m[2][2] * in2->m[2][1];
-	out->m[2][2] = in1->m[2][0] * in2->m[0][2] + in1->m[2][1] * in2->m[1][2] + in1->m[2][2] * in2->m[2][2];
-	out->m[2][3] = in1->m[2][0] * in2->m[0][3] + in1->m[2][1] * in2->m[1][3] + in1->m[2][2] * in2->m[2][3] + in1->m[2][3];
-}
-
-void Matrix3x4_Transpose3x3 (matrix3x4_t *out, const matrix3x4_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[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]);
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out[0] = in->m[3][0];
+	out[1] = in->m[3][1];
+	out[2] = in->m[3][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;
+	out[0] = in->m[0][3];
+	out[1] = in->m[1][3];
+	out[2] = in->m[2][3];
 #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[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[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;
-
-	// 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[0][1]=0.0f;
-	out->m[0][2]=0.0f;
-	out->m[0][3]=0.0f;
-	out->m[1][0]=0.0f;
-	out->m[1][1]=1.0f;
-	out->m[1][2]=0.0f;
-	out->m[1][3]=0.0f;
-	out->m[2][0]=0.0f;
-	out->m[2][1]=0.0f;
-	out->m[2][2]=1.0f;
-	out->m[2][3]=0.0f;
-}
-
-void Matrix3x4_CreateTranslate (matrix3x4_t *out, float x, float y, float z)
-{
-	out->m[0][0]=1.0f;
-	out->m[0][1]=0.0f;
-	out->m[0][2]=0.0f;
-	out->m[0][3]=x;
-	out->m[1][0]=0.0f;
-	out->m[1][1]=1.0f;
-	out->m[1][2]=0.0f;
-	out->m[1][3]=y;
-	out->m[2][0]=0.0f;
-	out->m[2][1]=0.0f;
-	out->m[2][2]=1.0f;
-	out->m[2][3]=z;
-}
-
-void Matrix3x4_CreateRotate (matrix3x4_t *out, float angle, float x, float y, float z)
-{
-	float len, c, s;
-
-	len = x*x+y*y+z*z;
-	if (len != 0.0f)
-		len = 1.0f / sqrt(len);
-	x *= len;
-	y *= len;
-	z *= len;
-
-	angle *= M_PI / 180.0;
-	c = cos(angle);
-	s = sin(angle);
-
-	out->m[0][0]=x * x + c * (1 - x * x);
-	out->m[0][1]=x * y * (1 - c) + z * s;
-	out->m[0][2]=z * x * (1 - c) - y * s;
-	out->m[0][3]=0.0f;
-	out->m[1][0]=x * y * (1 - c) - z * s;
-	out->m[1][1]=y * y + c * (1 - y * y);
-	out->m[1][2]=y * z * (1 - c) + x * s;
-	out->m[1][3]=0.0f;
-	out->m[2][0]=z * x * (1 - c) + y * s;
-	out->m[2][1]=y * z * (1 - c) - x * s;
-	out->m[2][2]=z * z + c * (1 - z * z);
-	out->m[2][3]=0.0f;
 }
 
-void Matrix3x4_CreateScale (matrix3x4_t *out, float x)
+double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in)
 {
-	out->m[0][0]=x;
-	out->m[0][1]=0.0f;
-	out->m[0][2]=0.0f;
-	out->m[0][3]=0.0f;
-	out->m[1][0]=0.0f;
-	out->m[1][1]=x;
-	out->m[1][2]=0.0f;
-	out->m[1][3]=0.0f;
-	out->m[2][0]=0.0f;
-	out->m[2][1]=0.0f;
-	out->m[2][2]=x;
-	out->m[2][3]=0.0f;
-}
-
-void Matrix3x4_CreateScale3 (matrix3x4_t *out, float x, float y, float z)
-{
-	out->m[0][0]=x;
-	out->m[0][1]=0.0f;
-	out->m[0][2]=0.0f;
-	out->m[0][3]=0.0f;
-	out->m[1][0]=0.0f;
-	out->m[1][1]=y;
-	out->m[1][2]=0.0f;
-	out->m[1][3]=0.0f;
-	out->m[2][0]=0.0f;
-	out->m[2][1]=0.0f;
-	out->m[2][2]=z;
-	out->m[2][3]=0.0f;
+	// we only support uniform scaling, so assume the first row is enough
+	return 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 Matrix3x4_CreateFromQuakeEntity(matrix3x4_t *out, float x, float y, float z, float pitch, float yaw, float roll, float scale)
+void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z)
 {
-	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;
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[3][0] = x;
+	out->m[3][1] = y;
+	out->m[3][2] = z;
+#else
 	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;
+#endif
 }
 
-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];
-	vx[1] = in->m[1][0];
-	vx[2] = in->m[2][0];
-	vy[0] = in->m[0][1];
-	vy[1] = in->m[1][1];
-	vy[2] = in->m[2][1];
-	vz[0] = in->m[0][2];
-	vz[1] = in->m[1][2];
-	vz[2] = in->m[2][2];
-	t[0] = in->m[0][3];
-	t[1] = in->m[1][3];
-	t[2] = in->m[2][3];
-}
-
-void Matrix3x4_FromVectors(matrix3x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
-{
-	out->m[0][0] = vx[0];
-	out->m[0][1] = vy[0];
-	out->m[0][2] = vz[0];
-	out->m[0][3] = t[0];
-	out->m[1][0] = vx[1];
-	out->m[1][1] = vy[1];
-	out->m[1][2] = vz[1];
-	out->m[1][3] = t[1];
-	out->m[2][0] = vx[2];
-	out->m[2][1] = vy[2];
-	out->m[2][2] = vz[2];
-	out->m[2][3] = t[2];
-}
-
-void Matrix3x4_Transform (const matrix3x4_t *in, const float v[3], float out[3])
-{
-	out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3];
-	out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3];
-	out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3];
-}
-
-void Matrix3x4_SimpleUntransform (const matrix3x4_t *in, const float v[3], float out[3])
-{
-	float t[3];
-	t[0] = v[0] - in->m[0][3];
-	t[1] = v[1] - in->m[1][3];
-	t[2] = v[2] - in->m[2][3];
-	out[0] = t[0] * in->m[0][0] + t[1] * in->m[1][0] + t[2] * in->m[2][0];
-	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 Matrix3x4_ConcatTranslate (matrix3x4_t *out, float x, float y, float z)
-{
-	matrix3x4_t base, temp;
-	base = *out;
-	Matrix3x4_CreateTranslate(&temp, x, y, z);
-	Matrix3x4_Concat(out, &base, &temp);
-}
-
-// FIXME: optimize
-void Matrix3x4_ConcatRotate (matrix3x4_t *out, float angle, float x, float y, float z)
-{
-	matrix3x4_t base, temp;
-	base = *out;
-	Matrix3x4_CreateRotate(&temp, angle, x, y, z);
-	Matrix3x4_Concat(out, &base, &temp);
-}
-
-// FIXME: optimize
-void Matrix3x4_ConcatScale (matrix3x4_t *out, float x)
-{
-	matrix3x4_t base, temp;
-	base = *out;
-	Matrix3x4_CreateScale(&temp, x);
-	Matrix3x4_Concat(out, &base, &temp);
-}
-
-// FIXME: optimize
-void Matrix3x4_ConcatScale3 (matrix3x4_t *out, float x, float y, float z)
+void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z)
 {
-	matrix3x4_t base, temp;
-	base = *out;
-	Matrix3x4_CreateScale3(&temp, x, y, z);
-	Matrix3x4_Concat(out, &base, &temp);
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[3][0] += x;
+	out->m[3][1] += y;
+	out->m[3][2] += z;
+#else
+	out->m[0][3] += x;
+	out->m[1][3] += y;
+	out->m[2][3] += z;
+#endif
 }
 
-void Matrix3x4_Print (const matrix3x4_t *in)
+void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale)
 {
-	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]);
+	out->m[0][0] *= rotatescale;
+	out->m[0][1] *= rotatescale;
+	out->m[0][2] *= rotatescale;
+	out->m[1][0] *= rotatescale;
+	out->m[1][1] *= rotatescale;
+	out->m[1][2] *= rotatescale;
+	out->m[2][0] *= rotatescale;
+	out->m[2][1] *= rotatescale;
+	out->m[2][2] *= rotatescale;
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	out->m[3][0] *= originscale;
+	out->m[3][1] *= originscale;
+	out->m[3][2] *= originscale;
+#else
+	out->m[0][3] *= originscale;
+	out->m[1][3] *= originscale;
+	out->m[2][3] *= originscale;
+#endif
 }
-