X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=matrixlib.c;h=911f9ace0de4fbc3c59de2ae1fbfab0e072bf1ee;hp=73b8458afd731a00e0a630f21430f1acb017b961;hb=0f623a3edc8209fb1b07cb0724ce689c84d1067c;hpb=615c9db8a46177062894d229cd7afd5bd975f760 diff --git a/matrixlib.c b/matrixlib.c index 73b8458a..911f9ace 100644 --- a/matrixlib.c +++ b/matrixlib.c @@ -146,54 +146,54 @@ void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1) // 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) @@ -890,6 +890,54 @@ void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, doubl } } +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 @@ -1427,12 +1475,116 @@ void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, d #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; @@ -1446,6 +1598,42 @@ void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, d #endif } +void Matrix4x4_FromBonePose7s(matrix4x4_t *m, float originscale, const short *pose7s) +{ + float origin[3]; + float quat[4]; + 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_ToBonePose7s(const matrix4x4_t *m, float origininvscale, short *pose7s) +{ + 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] + 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) { double iblend = 1 - blend; @@ -1509,33 +1697,39 @@ void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const float v[3], float out[ #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]); + 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 } +// 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]); + 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 } @@ -1663,3 +1857,17 @@ void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale) 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]); +} +