X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=matrixlib.c;h=af5ec5ee5697ab7ff25e5cb668bc4769ff1a3e8d;hp=8f439107c0c6f8792bb322017bee186006910384;hb=35b6b522b4b9300121a15f94c1065273bab3e9a5;hpb=56b60280e816b41ce6201f21a1921d2f59d32566

diff --git a/matrixlib.c b/matrixlib.c
index 8f439107..af5ec5ee 100644
--- a/matrixlib.c
+++ b/matrixlib.c
@@ -1,13 +1,14 @@
 
+#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];
@@ -27,7 +28,7 @@ void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, matrix4x4_t *in)
 	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;
@@ -47,7 +48,7 @@ void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, matrix4x4_t *in)
 	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];
@@ -89,32 +90,83 @@ void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4
 
 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)
@@ -168,7 +220,7 @@ 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);
 
@@ -230,6 +282,37 @@ 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)
+{
+	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];
@@ -281,6 +364,7 @@ void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4]
 	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];
@@ -291,12 +375,13 @@ void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float
 	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);
 }
@@ -305,7 +390,7 @@ void Matrix4x4_ConcatTranslate (matrix4x4_t *out, float x, float y, float z)
 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);
 }
@@ -314,7 +399,7 @@ void Matrix4x4_ConcatRotate (matrix4x4_t *out, float angle, float x, float y, fl
 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);
 }
@@ -323,11 +408,19 @@ void Matrix4x4_ConcatScale (matrix4x4_t *out, float x)
 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]);
+}
 
 
 
@@ -335,12 +428,12 @@ void Matrix4x4_ConcatScale3 (matrix4x4_t *out, float x, float y, float z)
 
 
 
-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];
@@ -356,7 +449,7 @@ void Matrix3x4_CopyRotateOnly (matrix3x4_t *out, matrix3x4_t *in)
 	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;
@@ -372,7 +465,7 @@ void Matrix3x4_CopyTranslateOnly (matrix3x4_t *out, matrix3x4_t *in)
 	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];
@@ -406,30 +499,55 @@ void Matrix3x4_Concat (matrix3x4_t *out, const matrix3x4_t *in1, const matrix3x4
 
 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;
@@ -523,6 +641,33 @@ void Matrix3x4_CreateScale3 (matrix3x4_t *out, float x, float y, float z)
 	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];
@@ -577,7 +722,7 @@ void Matrix3x4_SimpleUntransform (const matrix3x4_t *in, const float v[3], float
 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);
 }
@@ -586,7 +731,7 @@ void Matrix3x4_ConcatTranslate (matrix3x4_t *out, float x, float y, float z)
 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);
 }
@@ -595,7 +740,7 @@ void Matrix3x4_ConcatRotate (matrix3x4_t *out, float angle, float x, float y, fl
 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);
 }
@@ -604,7 +749,16 @@ void Matrix3x4_ConcatScale (matrix3x4_t *out, float x)
 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]);
+}
+