X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=matrixlib.h;h=1ab8262d07a4d6047616b064424be43f1d7ce044;hp=62b8a3e1ff36c2942c235351dda9b36aa5c9e9d0;hb=2995daa9758c545c8727fa8f19a6cd7440b6464c;hpb=5715fdeb47caa02252ab9b6c0895310e43bea716

diff --git a/matrixlib.h b/matrixlib.h
index 62b8a3e1..1ab8262d 100644
--- a/matrixlib.h
+++ b/matrixlib.h
@@ -2,17 +2,19 @@
 #ifndef MATRIXLIB_H
 #define MATRIXLIB_H
 
+#ifndef M_PI
+#define M_PI		3.14159265358979323846	// matches value in gcc v2 math.h
+#endif
+
+//#define MATRIX4x4_OPENGLORIENTATION
+
 typedef struct matrix4x4_s
 {
-	float m[4][4];
+	vec_t m[4][4];
 }
 matrix4x4_t;
 
-typedef struct matrix3x4_s
-{
-	float m[3][4];
-}
-matrix3x4_t;
+extern const matrix4x4_t identitymatrix;
 
 // functions for manipulating 4x4 matrices
 
@@ -22,131 +24,151 @@ void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in);
 void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in);
 // copy only the translate portion of a matrix4x4
 void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in);
-// make a matrix4x4 from a matrix3x4
-void Matrix4x4_FromMatrix3x4 (matrix4x4_t *out, const matrix3x4_t *in);
 // multiply two matrix4x4 together, combining their transformations
 // (warning: order matters - Concat(a, b, c) != Concat(a, c, b))
 void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2);
 // swaps the rows and columns of the matrix
 // (is this useful for anything?)
 void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1);
-// swaps the rows and columns of the rotation matrix
-// (inverting the rotation, but leaving everything else the same)
-void Matrix4x4_Transpose3x3 (matrix4x4_t *out, const matrix4x4_t *in1);
+// creates a matrix that does the opposite of the matrix provided
+// this is a full matrix inverter, it should be able to invert any matrix that
+// is possible to invert
+// (non-uniform scaling, rotation, shearing, and translation, possibly others)
+// warning: this function is SLOW
+int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1);
 // creates a matrix that does the opposite of the matrix provided
 // only supports translate, rotate, scale (not scale3) matrices
 void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1);
+// blends between two matrices, used primarily for animation interpolation
+// (note: it is recommended to follow this with Matrix4x4_Normalize, a method
+//  known as nlerp rotation, often better for animation purposes than slerp)
+void Matrix4x4_Interpolate (matrix4x4_t *out, matrix4x4_t *in1, matrix4x4_t *in2, double frac);
+// zeros all matrix components, used with Matrix4x4_Accumulate
+void Matrix4x4_Clear (matrix4x4_t *out);
+// adds a weighted contribution from the supplied matrix, used to blend 3 or
+// more matrices with weighting, it is recommended that Matrix4x4_Normalize be
+// called afterward (a method known as nlerp rotation, often better for
+// animation purposes than slerp)
+void Matrix4x4_Accumulate (matrix4x4_t *out, matrix4x4_t *in, double weight);
+// creates a matrix that does the same rotation and translation as the matrix
+// provided, but no uniform scaling, does not support scale3 matrices
+void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1);
+// creates a matrix with vectors normalized individually (use after
+// Matrix4x4_Accumulate)
+void Matrix4x4_Normalize3 (matrix4x4_t *out, matrix4x4_t *in1);
+// modifies a matrix to have all vectors and origin reflected across the plane
+// to the opposite side (at least if axisscale is -2)
+void Matrix4x4_Reflect (matrix4x4_t *out, double normalx, double normaly, double normalz, double dist, double axisscale);
 
 // creates an identity matrix
 // (a matrix which does nothing)
 void Matrix4x4_CreateIdentity (matrix4x4_t *out);
 // creates a translate matrix
 // (moves vectors)
-void Matrix4x4_CreateTranslate (matrix4x4_t *out, float x, float y, float z);
+void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z);
 // creates a rotate matrix
 // (rotates vectors)
-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);
 // creates a scaling matrix
 // (expands or contracts vectors)
 // (warning: do not apply this kind of matrix to direction vectors)
-void Matrix4x4_CreateScale (matrix4x4_t *out, float x);
+void Matrix4x4_CreateScale (matrix4x4_t *out, double x);
 // creates a squishing matrix
 // (expands or contracts vectors differently in different axis)
 // (warning: this is not reversed by Invert_Simple)
 // (warning: do not apply this kind of matrix to direction vectors)
-void Matrix4x4_CreateScale3 (matrix4x4_t *out, float x, float y, float z);
+void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z);
 // creates a matrix for a quake entity
-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);
+// creates a duke3d view matrix for a quake view matrix ;)
+void Matrix4x4_QuakeToDuke3D(const matrix4x4_t *in, matrix4x4_t *out, double maxShearAngle);
 
 // converts a matrix4x4 to a set of 3D vectors for the 3 axial directions, and the translate
-void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3]);
+void Matrix4x4_ToVectors(const matrix4x4_t *in, vec_t vx[3], vec_t vy[3], vec_t vz[3], vec_t t[3]);
 // creates a matrix4x4 from a set of 3D vectors for axial directions, and translate
-void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]);
+void Matrix4x4_FromVectors(matrix4x4_t *out, const vec_t vx[3], const vec_t vy[3], const vec_t vz[3], const vec_t t[3]);
+
+// converts a matrix4x4 to a double[16] array in the OpenGL orientation
+void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16]);
+// creates a matrix4x4 from a double[16] array in the OpenGL orientation
+void Matrix4x4_FromArrayDoubleGL(matrix4x4_t *out, const double in[16]);
+// converts a matrix4x4 to a double[16] array in the Direct3D orientation
+void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16]);
+// creates a matrix4x4 from a double[16] array in the Direct3D orientation
+void Matrix4x4_FromArrayDoubleD3D(matrix4x4_t *out, const double in[16]);
+
+// converts a matrix4x4 to a float[16] array in the OpenGL orientation
+void Matrix4x4_ToArrayFloatGL(const matrix4x4_t *in, float out[16]);
+// creates a matrix4x4 from a float[16] array in the OpenGL orientation
+void Matrix4x4_FromArrayFloatGL(matrix4x4_t *out, const float in[16]);
+// converts a matrix4x4 to a float[16] array in the Direct3D orientation
+void Matrix4x4_ToArrayFloatD3D(const matrix4x4_t *in, float out[16]);
+// creates a matrix4x4 from a float[16] array in the Direct3D orientation
+void Matrix4x4_FromArrayFloatD3D(matrix4x4_t *out, const float in[16]);
+
+// converts a matrix4x4 to a float[12] array in the OpenGL orientation
+void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12]);
+// creates a matrix4x4 from a float[12] array in the OpenGL orientation
+void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12]);
+// converts a matrix4x4 to a float[12] array in the Direct3D orientation
+void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12]);
+// creates a matrix4x4 from a float[12] array in the Direct3D orientation
+void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12]);
+
+// creates a matrix4x4 from an origin and quaternion (used mostly with skeletal model formats such as PSK)
+void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w);
+// creates an origin and quaternion from a matrix4x4_t, quat[3] is always positive
+void Matrix4x4_ToOrigin3Quat4Float(const matrix4x4_t *m, float *origin, float *quat);
+// creates a matrix4x4 from an origin and canonical unit-length quaternion (used mostly with skeletal model formats such as MD5)
+void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z);
+
+// creates a matrix4x4_t from an origin and canonical unit-length quaternion in short[7] normalized format
+void Matrix4x4_FromBonePose7s(matrix4x4_t *m, float originscale, const short *pose7s);
+// creates a short[7] representation from normalized matrix4x4_t
+void Matrix4x4_ToBonePose7s(const matrix4x4_t *m, float origininvscale, short *pose7s);
+
+// blends two matrices together, at a given percentage (blend controls percentage of in2)
+void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend);
 
 // transforms a 3D vector through a matrix4x4
-void Matrix4x4_Transform (const matrix4x4_t *in, const float v[3], float out[3]);
+void Matrix4x4_Transform (const matrix4x4_t *in, const vec_t v[3], vec_t out[3]);
 // transforms a 4D vector through a matrix4x4
 // (warning: if you don't know why you would need this, you don't need it)
 // (warning: the 4th component of the vector should be 1.0)
-void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4]);
+void Matrix4x4_Transform4 (const matrix4x4_t *in, const vec_t v[4], vec_t out[4]);
 // reverse transforms a 3D vector through a matrix4x4, at least for *simple*
 // cases (rotation and translation *ONLY*), this attempts to undo the results
 // of Transform
-//void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3]);
-
-// ease of use functions
-// immediately applies a Translate to the matrix
-void Matrix4x4_ConcatTranslate (matrix4x4_t *out, float x, float y, float z);
-// immediately applies a Rotate to the matrix
-void Matrix4x4_ConcatRotate (matrix4x4_t *out, float angle, float x, float y, float z);
-// immediately applies a Scale to the matrix
-void Matrix4x4_ConcatScale (matrix4x4_t *out, float x);
-// immediately applies a Scale3 to the matrix
-void Matrix4x4_ConcatScale3 (matrix4x4_t *out, float x, float y, float z);
-
-
-
-// functions for manipulating 3x4 matrices
-
-// copy a matrix3x4
-void Matrix3x4_Copy (matrix3x4_t *out, const matrix3x4_t *in);
-// copy only the rotation portion of a matrix3x4
-void Matrix3x4_CopyRotateOnly (matrix3x4_t *out, const matrix3x4_t *in);
-// copy only the translate portion of a matrix3x4
-void Matrix3x4_CopyTranslateOnly (matrix3x4_t *out, const matrix3x4_t *in);
-// make a matrix3x4 from a matrix4x4
-void Matrix3x4_FromMatrix4x4 (matrix3x4_t *out, const matrix4x4_t *in);
-// multiply two matrix3x4 together, combining their transformations
-// (warning: order matters - Concat(a, b, c) != Concat(a, c, b))
-void Matrix3x4_Concat (matrix3x4_t *out, const matrix3x4_t *in1, const matrix3x4_t *in2);
-// swaps the rows and columns of the rotation matrix
-// (inverting the rotation, but leaving everything else the same)
-void Matrix3x4_Transpose3x3 (matrix3x4_t *out, const matrix3x4_t *in1);
-// creates a matrix that does the opposite of the matrix provided
-// only supports translate, rotate, scale (not scale3) matrices
-void Matrix3x4_Invert_Simple (matrix3x4_t *out, const matrix3x4_t *in1);
-
-// creates an identity matrix
-// (a matrix which does nothing)
-void Matrix3x4_CreateIdentity (matrix3x4_t *out);
-// creates a translate matrix
-// (moves vectors)
-void Matrix3x4_CreateTranslate (matrix3x4_t *out, float x, float y, float z);
-// creates a rotate matrix
-// (rotates vectors)
-void Matrix3x4_CreateRotate (matrix3x4_t *out, float angle, float x, float y, float z);
-// creates a scaling matrix
-// (expands or contracts vectors)
-// (warning: do not apply this kind of matrix to direction vectors)
-void Matrix3x4_CreateScale (matrix3x4_t *out, float x);
-// creates a squishing matrix
-// (expands or contracts vectors differently in different axis)
-// (warning: this is not reversed by Invert_Simple)
-// (warning: do not apply this kind of matrix to direction vectors)
-void Matrix3x4_CreateScale3 (matrix3x4_t *out, float x, float y, float z);
-// creates a matrix for a quake entity
-void Matrix3x4_CreateFromQuakeEntity(matrix3x4_t *out, float x, float y, float z, float pitch, float yaw, float roll, float scale);
-
-// converts a matrix3x4 to a set of 3D vectors for the 3 axial directions, and the translate
-void Matrix3x4_ToVectors(const matrix3x4_t *in, float vx[3], float vy[3], float vz[3], float t[3]);
-// creates a matrix3x4 from a set of 3D vectors for axial directions, and translate
-void Matrix3x4_FromVectors(matrix3x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]);
-
-// transforms a 3D vector through a matrix3x4
-void Matrix3x4_Transform (const matrix3x4_t *in, const float v[3], float out[3]);
-// reverse transforms a 3D vector through a matrix3x4, at least for *simple*
-// cases (rotation and translation *ONLY*), this attempts to undo the results
-// of Transform
-void Matrix3x4_SimpleUntransform (const matrix3x4_t *in, const float v[3], float out[3]);
+//void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const vec_t v[3], vec_t out[3]);
+// transforms a direction vector through the rotation part of a matrix
+void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const vec_t v[3], vec_t out[3]);
+// 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, vec_t x, vec_t y, vec_t z, vec_t d, vec_t *o);
+// 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, vec_t x, vec_t y, vec_t z, vec_t d, vec_t *o);
 
 // ease of use functions
 // immediately applies a Translate to the matrix
-void Matrix3x4_ConcatTranslate (matrix3x4_t *out, float x, float y, float z);
+void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z);
 // immediately applies a Rotate to the matrix
-void Matrix3x4_ConcatRotate (matrix3x4_t *out, float angle, float x, float y, float z);
+void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z);
 // immediately applies a Scale to the matrix
-void Matrix3x4_ConcatScale (matrix3x4_t *out, float x);
+void Matrix4x4_ConcatScale (matrix4x4_t *out, double x);
 // immediately applies a Scale3 to the matrix
-void Matrix3x4_ConcatScale3 (matrix3x4_t *out, float x, float y, float z);
+void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z);
+
+// extracts origin vector (translate) from matrix
+void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, vec_t *out);
+// extracts scaling factor from matrix (only works for uniform scaling)
+double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in);
+
+// replaces origin vector (translate) in matrix
+void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z);
+// moves origin vector (translate) in matrix by a simple translate
+void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z);
+// scales vectors of a matrix in place and allows you to scale origin as well
+void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale);
+// ensures each element of the 3x3 rotation matrix is facing in the + direction
+void Matrix4x4_Abs (matrix4x4_t *out);
 
 #endif