convert pose6s data to pose7s data to resolve quaternion W coordinate precision issues
authoreihrul <eihrul@d7cf8633-e32d-0410-b094-e92efae38249>
Sat, 4 Feb 2012 19:42:46 +0000 (19:42 +0000)
committereihrul <eihrul@d7cf8633-e32d-0410-b094-e92efae38249>
Sat, 4 Feb 2012 19:42:46 +0000 (19:42 +0000)
git-svn-id: svn://svn.icculus.org/twilight/trunk/darkplaces@11667 d7cf8633-e32d-0410-b094-e92efae38249

clvm_cmds.c
matrixlib.c
matrixlib.h
mod_skeletal_animatevertices_generic.c
mod_skeletal_animatevertices_sse.c
model_alias.c
model_shared.c
model_shared.h
protocol.c
protocol.h
svvm_cmds.c

index dc69e29..a9c2814 100644 (file)
@@ -3852,7 +3852,7 @@ static void VM_CL_skel_build(prvm_prog_t *prog)
                Matrix4x4_Accumulate(&blendedmatrix, &skeleton->relativetransforms[bonenum], retainfrac);
                for (blendindex = 0;blendindex < numblends;blendindex++)
                {
-                       Matrix4x4_FromBonePose6s(&matrix, model->num_posescale, model->data_poses6s + 6 * (frameblend[blendindex].subframe * model->num_bones + bonenum));
+                       Matrix4x4_FromBonePose7s(&matrix, model->num_posescale, model->data_poses7s + 7 * (frameblend[blendindex].subframe * model->num_bones + bonenum));
                        Matrix4x4_Accumulate(&blendedmatrix, &matrix, frameblend[blendindex].lerp);
                }
                skeleton->relativetransforms[bonenum] = blendedmatrix;
index 7d33463..1d1a9a0 100644 (file)
@@ -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)
@@ -1550,22 +1550,22 @@ void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, d
 #endif
 }
 
-void Matrix4x4_FromBonePose6s(matrix4x4_t *m, float originscale, const short *pose6s)
+void Matrix4x4_FromBonePose7s(matrix4x4_t *m, float originscale, const short *pose7s)
 {
        float origin[3];
        float quat[4];
-       origin[0] = pose6s[0] * originscale;
-       origin[1] = pose6s[1] * originscale;
-       origin[2] = pose6s[2] * originscale;
-       quat[0] = pose6s[3] * (1.0f / 32767.0f);
-       quat[1] = pose6s[4] * (1.0f / 32767.0f);
-       quat[2] = pose6s[5] * (1.0f / 32767.0f);
-       quat[3] = 1.0f - (quat[0]*quat[0]+quat[1]*quat[1]+quat[2]*quat[2]);
-       quat[3] = quat[3] > 0.0f ? -sqrt(quat[3]) : 0.0f;
+       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_ToBonePose6s(const matrix4x4_t *m, float origininvscale, short *pose6s)
+void Matrix4x4_ToBonePose7s(const matrix4x4_t *m, float origininvscale, short *pose7s)
 {
        float origin[3];
        float quat[4];
@@ -1577,12 +1577,13 @@ void Matrix4x4_ToBonePose6s(const matrix4x4_t *m, float origininvscale, short *p
                quatscale = (quat[3] >= 0 ? -32767.0f : 32767.0f) / sqrt(quatscale);
        // use a negative scale on the quat because the above function produces a
        // positive quat[3] and canonical quaternions have negative quat[3]
-       pose6s[0] = origin[0] * origininvscale;
-       pose6s[1] = origin[1] * origininvscale;
-       pose6s[2] = origin[2] * origininvscale;
-       pose6s[3] = quat[0] * quatscale;
-       pose6s[4] = quat[1] * quatscale;
-       pose6s[5] = quat[2] * quatscale;
+       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)
@@ -1824,14 +1825,14 @@ void Matrix4x4_OriginScale3 (matrix4x4_t *out, double x, double y, double z)
 
 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]);
+       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]);
 }
 
index 1b2b579..d7929b0 100644 (file)
@@ -120,10 +120,10 @@ void Matrix4x4_ToOrigin3Quat4Float(const matrix4x4_t *m, float *origin, float *q
 // 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[6] normalized format
-void Matrix4x4_FromBonePose6s(matrix4x4_t *m, float originscale, const short *pose6s);
-// creates a short[6] representation from normalized matrix4x4_t
-void Matrix4x4_ToBonePose6s(const matrix4x4_t *m, float origininvscale, short *pose6s);
+// 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);
index 00ab435..fcaf4ed 100644 (file)
@@ -43,32 +43,31 @@ void Mod_Skeletal_AnimateVertices_Generic(const dp_model_t * RESTRICT model, con
        {
                float originscale = model->num_posescale;
                float x,y,z,w,lerp;
-               const short * RESTRICT pose6s;
+               const short * RESTRICT pose7s;
 
                for (i = 0;i < model->num_bones;i++)
                {
                        memset(m, 0, sizeof(m));
                        for (blends = 0;blends < MAX_FRAMEBLENDS && frameblend[blends].lerp > 0;blends++)
                        {
-                               pose6s = model->data_poses6s + 6 * (frameblend[blends].subframe * model->num_bones + i);
+                               pose7s = model->data_poses7s + 7 * (frameblend[blends].subframe * model->num_bones + i);
                                lerp = frameblend[blends].lerp;
-                               x = pose6s[3] * (1.0f / 32767.0f);
-                               y = pose6s[4] * (1.0f / 32767.0f);
-                               z = pose6s[5] * (1.0f / 32767.0f);
-                               w = 1.0f - (x*x+y*y+z*z);
-                               w = w > 0.0f ? -sqrt(w) : 0.0f;
+                               x = pose7s[3] * (1.0f / 32767.0f);
+                               y = pose7s[4] * (1.0f / 32767.0f);
+                               z = pose7s[5] * (1.0f / 32767.0f);
+                               w = pose7s[6] * (1.0f / 32767.0f);
                                m[ 0] += (1-2*(y*y+z*z)) * lerp;
                                m[ 1] += (  2*(x*y-z*w)) * lerp;
                                m[ 2] += (  2*(x*z+y*w)) * lerp;
-                               m[ 3] += (pose6s[0] * originscale) * lerp;
+                               m[ 3] += (pose7s[0] * originscale) * lerp;
                                m[ 4] += (  2*(x*y+z*w)) * lerp;
                                m[ 5] += (1-2*(x*x+z*z)) * lerp;
                                m[ 6] += (  2*(y*z-x*w)) * lerp;
-                               m[ 7] += (pose6s[1] * originscale) * lerp;
+                               m[ 7] += (pose7s[1] * originscale) * lerp;
                                m[ 8] += (  2*(x*z-y*w)) * lerp;
                                m[ 9] += (  2*(y*z+x*w)) * lerp;
                                m[10] += (1-2*(x*x+y*y)) * lerp;
-                               m[11] += (pose6s[2] * originscale) * lerp;
+                               m[11] += (pose7s[2] * originscale) * lerp;
                        }
                        VectorNormalize(m       );
                        VectorNormalize(m + 4);
index f575d24..e5db8d8 100644 (file)
@@ -52,32 +52,31 @@ void Mod_Skeletal_AnimateVertices_SSE(const dp_model_t * RESTRICT model, const f
        {
                float originscale = model->num_posescale;
                float x,y,z,w,lerp;
-               const short * RESTRICT pose6s;
+               const short * RESTRICT pose7s;
 
                for (i = 0;i < model->num_bones;i++)
                {
                        memset(m, 0, sizeof(m));
                        for (blends = 0;blends < MAX_FRAMEBLENDS && frameblend[blends].lerp > 0;blends++)
                        {
-                               pose6s = model->data_poses6s + 6 * (frameblend[blends].subframe * model->num_bones + i);
+                               pose7s = model->data_poses7s + 7 * (frameblend[blends].subframe * model->num_bones + i);
                                lerp = frameblend[blends].lerp;
-                               x = pose6s[3] * (1.0f / 32767.0f);
-                               y = pose6s[4] * (1.0f / 32767.0f);
-                               z = pose6s[5] * (1.0f / 32767.0f);
-                               w = 1.0f - (x*x+y*y+z*z);
-                               w = w > 0.0f ? -sqrt(w) : 0.0f;
+                               x = pose7s[3] * (1.0f / 32767.0f);
+                               y = pose7s[4] * (1.0f / 32767.0f);
+                               z = pose7s[5] * (1.0f / 32767.0f);
+                               w = pose7s[6] * (1.0f / 32767.0f);
                                m[ 0] += (1-2*(y*y+z*z)) * lerp;
                                m[ 1] += (  2*(x*y-z*w)) * lerp;
                                m[ 2] += (  2*(x*z+y*w)) * lerp;
-                               m[ 3] += (pose6s[0] * originscale) * lerp;
+                               m[ 3] += (pose7s[0] * originscale) * lerp;
                                m[ 4] += (  2*(x*y+z*w)) * lerp;
                                m[ 5] += (1-2*(x*x+z*z)) * lerp;
                                m[ 6] += (  2*(y*z-x*w)) * lerp;
-                               m[ 7] += (pose6s[1] * originscale) * lerp;
+                               m[ 7] += (pose7s[1] * originscale) * lerp;
                                m[ 8] += (  2*(x*z-y*w)) * lerp;
                                m[ 9] += (  2*(y*z+x*w)) * lerp;
                                m[10] += (1-2*(x*x+y*y)) * lerp;
-                               m[11] += (pose6s[2] * originscale) * lerp;
+                               m[11] += (pose7s[2] * originscale) * lerp;
                        }
                        VectorNormalize(m       );
                        VectorNormalize(m + 4);
index e471cfa..f2b9897 100644 (file)
@@ -391,11 +391,11 @@ int Mod_Alias_GetTagMatrix(const dp_model_t *model, const frameblend_t *frameble
                for (blendindex = 0;blendindex < MAX_FRAMEBLENDS && frameblend[blendindex].lerp > 0;blendindex++)
                {
                        lerp = frameblend[blendindex].lerp;
-                       Matrix4x4_FromBonePose6s(&bonematrix, model->num_posescale, model->data_poses6s + 6 * (frameblend[blendindex].subframe * model->num_bones + tagindex));
+                       Matrix4x4_FromBonePose7s(&bonematrix, model->num_posescale, model->data_poses7s + 7 * (frameblend[blendindex].subframe * model->num_bones + tagindex));
                        parenttagindex = tagindex;
                        while ((parenttagindex = model->data_bones[parenttagindex].parent) >= 0)
                        {
-                               Matrix4x4_FromBonePose6s(&parentbonematrix, model->num_posescale, model->data_poses6s + 6 * (frameblend[blendindex].subframe * model->num_bones + parenttagindex));
+                               Matrix4x4_FromBonePose7s(&parentbonematrix, model->num_posescale, model->data_poses7s + 7 * (frameblend[blendindex].subframe * model->num_bones + parenttagindex));
                                tempbonematrix = bonematrix;
                                Matrix4x4_Concat(&bonematrix, &parentbonematrix, &tempbonematrix);
                        }
@@ -454,7 +454,7 @@ int Mod_Alias_GetExtendedTagInfoForIndex(const dp_model_t *model, unsigned int s
                for (blendindex = 0;blendindex < MAX_FRAMEBLENDS && frameblend[blendindex].lerp > 0;blendindex++)
                {
                        lerp = frameblend[blendindex].lerp;
-                       Matrix4x4_FromBonePose6s(&bonematrix, model->num_posescale, model->data_poses6s + 6 * (frameblend[blendindex].subframe * model->num_bones + tagindex));
+                       Matrix4x4_FromBonePose7s(&bonematrix, model->num_posescale, model->data_poses7s + 7 * (frameblend[blendindex].subframe * model->num_bones + tagindex));
                        Matrix4x4_Accumulate(&blendmatrix, &bonematrix, lerp);
                }
                *tag_localmatrix = blendmatrix;
@@ -510,7 +510,7 @@ static void Mod_BuildBaseBonePoses(void)
        basebonepose = (matrix4x4_t *)Mem_Alloc(tempmempool, loadmodel->num_bones * sizeof(matrix4x4_t));
        for (boneindex = 0;boneindex < loadmodel->num_bones;boneindex++)
        {
-               Matrix4x4_FromBonePose6s(&bonematrix, loadmodel->num_posescale, loadmodel->data_poses6s + 6 * boneindex);
+               Matrix4x4_FromBonePose7s(&bonematrix, loadmodel->num_posescale, loadmodel->data_poses7s + 7 * boneindex);
                if (loadmodel->data_bones[boneindex].parent >= 0)
                {
                        tempbonematrix = bonematrix;
@@ -1880,7 +1880,7 @@ void Mod_ZYMOTICMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
        loadmodel->nummodelsurfaces = loadmodel->num_surfaces;
        loadmodel->num_textures = loadmodel->num_surfaces * loadmodel->numskins;
        loadmodel->num_texturesperskin = loadmodel->num_surfaces;
-       data = (unsigned char *)Mem_Alloc(loadmodel->mempool, loadmodel->num_surfaces * sizeof(msurface_t) + loadmodel->num_surfaces * sizeof(int) + loadmodel->num_surfaces * loadmodel->numskins * sizeof(texture_t) + meshtriangles * sizeof(int[3]) + (r_enableshadowvolumes.integer ? meshtriangles * sizeof(int[3]) : 0) + (meshvertices <= 65536 ? meshtriangles * sizeof(unsigned short[3]) : 0) + meshvertices * sizeof(float[14]) + meshvertices * sizeof(unsigned short) + loadmodel->num_poses * loadmodel->num_bones * sizeof(short[6]) + loadmodel->num_bones * sizeof(float[12]));
+       data = (unsigned char *)Mem_Alloc(loadmodel->mempool, loadmodel->num_surfaces * sizeof(msurface_t) + loadmodel->num_surfaces * sizeof(int) + loadmodel->num_surfaces * loadmodel->numskins * sizeof(texture_t) + meshtriangles * sizeof(int[3]) + (r_enableshadowvolumes.integer ? meshtriangles * sizeof(int[3]) : 0) + (meshvertices <= 65536 ? meshtriangles * sizeof(unsigned short[3]) : 0) + meshvertices * sizeof(float[14]) + meshvertices * sizeof(unsigned short) + loadmodel->num_poses * loadmodel->num_bones * sizeof(short[7]) + loadmodel->num_bones * sizeof(float[12]));
        loadmodel->data_surfaces = (msurface_t *)data;data += loadmodel->num_surfaces * sizeof(msurface_t);
        loadmodel->sortedmodelsurfaces = (int *)data;data += loadmodel->num_surfaces * sizeof(int);
        loadmodel->data_textures = (texture_t *)data;data += loadmodel->num_surfaces * loadmodel->numskins * sizeof(texture_t);
@@ -1903,7 +1903,7 @@ void Mod_ZYMOTICMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
        {
                loadmodel->surfmesh.data_element3s = (unsigned short *)data;data += loadmodel->surfmesh.num_triangles * sizeof(unsigned short[3]);
        }
-       loadmodel->data_poses6s = (short *)data;data += loadmodel->num_poses * loadmodel->num_bones * sizeof(short[6]);
+       loadmodel->data_poses7s = (short *)data;data += loadmodel->num_poses * loadmodel->num_bones * sizeof(short[7]);
        loadmodel->surfmesh.data_blendweights = NULL;
 
        //zymlump_t lump_poses; // float pose[numposes][numbones][3][4]; // animation data
@@ -1944,7 +1944,7 @@ void Mod_ZYMOTICMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
                        VectorNormalize(pose + 4);
                        VectorNormalize(pose + 8);
                        Matrix4x4_FromArray12FloatD3D(&posematrix, pose);
-                       Matrix4x4_ToBonePose6s(&posematrix, loadmodel->num_poseinvscale, loadmodel->data_poses6s + 6*(i*loadmodel->num_bones+j));
+                       Matrix4x4_ToBonePose7s(&posematrix, loadmodel->num_poseinvscale, loadmodel->data_poses7s + 7*(i*loadmodel->num_bones+j));
                }
        }
 
@@ -2199,7 +2199,7 @@ void Mod_DARKPLACESMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
        loadmodel->surfmesh.isanimated = loadmodel->num_bones > 1 || loadmodel->numframes > 1 || (loadmodel->animscenes && loadmodel->animscenes[0].framecount > 1);
        loadmodel->AnimateVertices = loadmodel->surfmesh.isanimated ? Mod_Skeletal_AnimateVertices : NULL;
        // do most allocations as one merged chunk
-       data = (unsigned char *)Mem_Alloc(loadmodel->mempool, loadmodel->num_surfaces * sizeof(msurface_t) + loadmodel->num_surfaces * sizeof(int) + loadmodel->num_surfaces * loadmodel->numskins * sizeof(texture_t) + meshtriangles * sizeof(int[3]) + (meshvertices <= 65536 ? meshtriangles * sizeof(unsigned short[3]) : 0) + (r_enableshadowvolumes.integer ? meshtriangles * sizeof(int[3]) : 0) + meshvertices * (sizeof(float[14]) + sizeof(unsigned short)) + loadmodel->num_poses * loadmodel->num_bones * sizeof(short[6]) + loadmodel->num_bones * sizeof(float[12]) + loadmodel->numskins * sizeof(animscene_t) + loadmodel->num_bones * sizeof(aliasbone_t) + loadmodel->numframes * sizeof(animscene_t));
+       data = (unsigned char *)Mem_Alloc(loadmodel->mempool, loadmodel->num_surfaces * sizeof(msurface_t) + loadmodel->num_surfaces * sizeof(int) + loadmodel->num_surfaces * loadmodel->numskins * sizeof(texture_t) + meshtriangles * sizeof(int[3]) + (meshvertices <= 65536 ? meshtriangles * sizeof(unsigned short[3]) : 0) + (r_enableshadowvolumes.integer ? meshtriangles * sizeof(int[3]) : 0) + meshvertices * (sizeof(float[14]) + sizeof(unsigned short)) + loadmodel->num_poses * loadmodel->num_bones * sizeof(short[7]) + loadmodel->num_bones * sizeof(float[12]) + loadmodel->numskins * sizeof(animscene_t) + loadmodel->num_bones * sizeof(aliasbone_t) + loadmodel->numframes * sizeof(animscene_t));
        loadmodel->data_surfaces = (msurface_t *)data;data += loadmodel->num_surfaces * sizeof(msurface_t);
        loadmodel->sortedmodelsurfaces = (int *)data;data += loadmodel->num_surfaces * sizeof(int);
        loadmodel->data_textures = (texture_t *)data;data += loadmodel->num_surfaces * loadmodel->numskins * sizeof(texture_t);
@@ -2225,7 +2225,7 @@ void Mod_DARKPLACESMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
        {
                loadmodel->surfmesh.data_element3s = (unsigned short *)data;data += meshtriangles * sizeof(unsigned short[3]);
        }
-       loadmodel->data_poses6s = (short *)data;data += loadmodel->num_poses * loadmodel->num_bones * sizeof(short[6]);
+       loadmodel->data_poses7s = (short *)data;data += loadmodel->num_poses * loadmodel->num_bones * sizeof(short[7]);
        loadmodel->surfmesh.data_blendweights = (blendweights_t *)Mem_Alloc(loadmodel->mempool, meshvertices * sizeof(blendweights_t));
 
        for (i = 0;i < loadmodel->numskins;i++)
@@ -2295,7 +2295,7 @@ void Mod_DARKPLACESMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
                        VectorNormalize(pose + 4);
                        VectorNormalize(pose + 8);
                        Matrix4x4_FromArray12FloatD3D(&posematrix, pose);
-                       Matrix4x4_ToBonePose6s(&posematrix, loadmodel->num_poseinvscale, loadmodel->data_poses6s + 6*(i*loadmodel->num_bones+j));
+                       Matrix4x4_ToBonePose7s(&posematrix, loadmodel->num_poseinvscale, loadmodel->data_poses7s + 7*(i*loadmodel->num_bones+j));
                }
        }
 
@@ -2854,7 +2854,7 @@ void Mod_PSKMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
        loadmodel->surfmesh.isanimated = loadmodel->num_bones > 1 || loadmodel->numframes > 1 || (loadmodel->animscenes && loadmodel->animscenes[0].framecount > 1);
        loadmodel->AnimateVertices = loadmodel->surfmesh.isanimated ? Mod_Skeletal_AnimateVertices : NULL;
        // do most allocations as one merged chunk
-       size = loadmodel->num_surfaces * sizeof(msurface_t) + loadmodel->num_surfaces * sizeof(int) + loadmodel->num_surfaces * loadmodel->numskins * sizeof(texture_t) + loadmodel->surfmesh.num_triangles * sizeof(int[3]) + (r_enableshadowvolumes.integer ? loadmodel->surfmesh.num_triangles * sizeof(int[3]) : 0)  + loadmodel->surfmesh.num_vertices * sizeof(float[3]) + loadmodel->surfmesh.num_vertices * sizeof(float[3]) + loadmodel->surfmesh.num_vertices * sizeof(float[3]) + loadmodel->surfmesh.num_vertices * sizeof(float[3]) + loadmodel->surfmesh.num_vertices * sizeof(float[2]) + loadmodel->surfmesh.num_vertices * sizeof(unsigned short) + loadmodel->num_poses * loadmodel->num_bones * sizeof(short[6]) + loadmodel->num_bones * sizeof(float[12]) + loadmodel->numskins * sizeof(animscene_t) + loadmodel->num_bones * sizeof(aliasbone_t) + loadmodel->numframes * sizeof(animscene_t) + ((loadmodel->surfmesh.num_vertices <= 65536) ? (loadmodel->surfmesh.num_triangles * sizeof(unsigned short[3])) : 0);
+       size = loadmodel->num_surfaces * sizeof(msurface_t) + loadmodel->num_surfaces * sizeof(int) + loadmodel->num_surfaces * loadmodel->numskins * sizeof(texture_t) + loadmodel->surfmesh.num_triangles * sizeof(int[3]) + (r_enableshadowvolumes.integer ? loadmodel->surfmesh.num_triangles * sizeof(int[3]) : 0)  + loadmodel->surfmesh.num_vertices * sizeof(float[3]) + loadmodel->surfmesh.num_vertices * sizeof(float[3]) + loadmodel->surfmesh.num_vertices * sizeof(float[3]) + loadmodel->surfmesh.num_vertices * sizeof(float[3]) + loadmodel->surfmesh.num_vertices * sizeof(float[2]) + loadmodel->surfmesh.num_vertices * sizeof(unsigned short) + loadmodel->num_poses * loadmodel->num_bones * sizeof(short[7]) + loadmodel->num_bones * sizeof(float[12]) + loadmodel->numskins * sizeof(animscene_t) + loadmodel->num_bones * sizeof(aliasbone_t) + loadmodel->numframes * sizeof(animscene_t) + ((loadmodel->surfmesh.num_vertices <= 65536) ? (loadmodel->surfmesh.num_triangles * sizeof(unsigned short[3])) : 0);
        data = (unsigned char *)Mem_Alloc(loadmodel->mempool, size);
        loadmodel->data_surfaces = (msurface_t *)data;data += loadmodel->num_surfaces * sizeof(msurface_t);
        loadmodel->sortedmodelsurfaces = (int *)data;data += loadmodel->num_surfaces * sizeof(int);
@@ -2879,7 +2879,7 @@ void Mod_PSKMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
        {
                loadmodel->surfmesh.data_element3s = (unsigned short *)data;data += loadmodel->surfmesh.num_triangles * sizeof(unsigned short[3]);
        }
-       loadmodel->data_poses6s = (short *)data;data += loadmodel->num_poses * loadmodel->num_bones * sizeof(short[6]);
+       loadmodel->data_poses7s = (short *)data;data += loadmodel->num_poses * loadmodel->num_bones * sizeof(short[7]);
        loadmodel->surfmesh.data_blendweights = (blendweights_t *)Mem_Alloc(loadmodel->mempool, loadmodel->surfmesh.num_vertices * sizeof(blendweights_t));
 
        for (i = 0;i < loadmodel->numskins;i++)
@@ -3033,13 +3033,14 @@ void Mod_PSKMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
                        if (quat[3] > 0)
                                Vector4Negate(quat, quat);
                        Vector4Normalize2(quat, quat);
-                       // compress poses to the short[6] format for longterm storage
-                       loadmodel->data_poses6s[index*6+0] = k->origin[0] * loadmodel->num_poseinvscale;
-                       loadmodel->data_poses6s[index*6+1] = k->origin[1] * loadmodel->num_poseinvscale;
-                       loadmodel->data_poses6s[index*6+2] = k->origin[2] * loadmodel->num_poseinvscale;
-                       loadmodel->data_poses6s[index*6+3] = quat[0] * 32767.0f;
-                       loadmodel->data_poses6s[index*6+4] = quat[1] * 32767.0f;
-                       loadmodel->data_poses6s[index*6+5] = quat[2] * 32767.0f;
+                       // compress poses to the short[7] format for longterm storage
+                       loadmodel->data_poses7s[index*7+0] = k->origin[0] * loadmodel->num_poseinvscale;
+                       loadmodel->data_poses7s[index*7+1] = k->origin[1] * loadmodel->num_poseinvscale;
+                       loadmodel->data_poses7s[index*7+2] = k->origin[2] * loadmodel->num_poseinvscale;
+                       loadmodel->data_poses7s[index*7+3] = quat[0] * 32767.0f;
+                       loadmodel->data_poses7s[index*7+4] = quat[1] * 32767.0f;
+                       loadmodel->data_poses7s[index*7+5] = quat[2] * 32767.0f;
+                       loadmodel->data_poses7s[index*7+6] = quat[3] * 32767.0f;
                }
        }
        else
@@ -3071,13 +3072,14 @@ void Mod_PSKMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
                        if (quat[3] > 0)
                                Vector4Negate(quat, quat);
                        Vector4Normalize2(quat, quat);
-                       // compress poses to the short[6] format for longterm storage
-                       loadmodel->data_poses6s[index*6+0] = p->basepose.origin[0] * loadmodel->num_poseinvscale;
-                       loadmodel->data_poses6s[index*6+1] = p->basepose.origin[1] * loadmodel->num_poseinvscale;
-                       loadmodel->data_poses6s[index*6+2] = p->basepose.origin[2] * loadmodel->num_poseinvscale;
-                       loadmodel->data_poses6s[index*6+3] = quat[0] * 32767.0f;
-                       loadmodel->data_poses6s[index*6+4] = quat[1] * 32767.0f;
-                       loadmodel->data_poses6s[index*6+5] = quat[2] * 32767.0f;
+                       // compress poses to the short[7] format for longterm storage
+                       loadmodel->data_poses7s[index*7+0] = p->basepose.origin[0] * loadmodel->num_poseinvscale;
+                       loadmodel->data_poses7s[index*7+1] = p->basepose.origin[1] * loadmodel->num_poseinvscale;
+                       loadmodel->data_poses7s[index*7+2] = p->basepose.origin[2] * loadmodel->num_poseinvscale;
+                       loadmodel->data_poses7s[index*7+3] = quat[0] * 32767.0f;
+                       loadmodel->data_poses7s[index*7+4] = quat[1] * 32767.0f;
+                       loadmodel->data_poses7s[index*7+5] = quat[2] * 32767.0f;
+                       loadmodel->data_poses7s[index*7+6] = quat[3] * 32767.0f;
                }
        }
 
@@ -3336,7 +3338,7 @@ void Mod_INTERQUAKEMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
        meshtriangles = header.num_triangles;
 
        // do most allocations as one merged chunk
-       data = (unsigned char *)Mem_Alloc(loadmodel->mempool, loadmodel->num_surfaces * sizeof(msurface_t) + loadmodel->num_surfaces * sizeof(int) + loadmodel->num_surfaces * loadmodel->numskins * sizeof(texture_t) + meshtriangles * sizeof(int[3]) + (meshvertices <= 65536 ? meshtriangles * sizeof(unsigned short[3]) : 0) + (r_enableshadowvolumes.integer ? meshtriangles * sizeof(int[3]) : 0) + meshvertices * (sizeof(float[14]) + (vcolor4f || vcolor4ub ? sizeof(float[4]) : 0)) + (vblendindexes && vblendweights ? meshvertices * sizeof(unsigned short) : 0) + loadmodel->num_poses * loadmodel->num_bones * sizeof(short[6]) + loadmodel->num_bones * sizeof(float[12]) + loadmodel->numskins * sizeof(animscene_t) + loadmodel->num_bones * sizeof(aliasbone_t) + loadmodel->numframes * sizeof(animscene_t));
+       data = (unsigned char *)Mem_Alloc(loadmodel->mempool, loadmodel->num_surfaces * sizeof(msurface_t) + loadmodel->num_surfaces * sizeof(int) + loadmodel->num_surfaces * loadmodel->numskins * sizeof(texture_t) + meshtriangles * sizeof(int[3]) + (meshvertices <= 65536 ? meshtriangles * sizeof(unsigned short[3]) : 0) + (r_enableshadowvolumes.integer ? meshtriangles * sizeof(int[3]) : 0) + meshvertices * (sizeof(float[14]) + (vcolor4f || vcolor4ub ? sizeof(float[4]) : 0)) + (vblendindexes && vblendweights ? meshvertices * sizeof(unsigned short) : 0) + loadmodel->num_poses * loadmodel->num_bones * sizeof(short[7]) + loadmodel->num_bones * sizeof(float[12]) + loadmodel->numskins * sizeof(animscene_t) + loadmodel->num_bones * sizeof(aliasbone_t) + loadmodel->numframes * sizeof(animscene_t));
        loadmodel->data_surfaces = (msurface_t *)data;data += loadmodel->num_surfaces * sizeof(msurface_t);
        loadmodel->sortedmodelsurfaces = (int *)data;data += loadmodel->num_surfaces * sizeof(int);
        loadmodel->data_textures = (texture_t *)data;data += loadmodel->num_surfaces * loadmodel->numskins * sizeof(texture_t);
@@ -3369,7 +3371,7 @@ void Mod_INTERQUAKEMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
        {
                loadmodel->surfmesh.data_element3s = (unsigned short *)data;data += meshtriangles * sizeof(unsigned short[3]);
        }
-       loadmodel->data_poses6s = (short *)data;data += loadmodel->num_poses * loadmodel->num_bones * sizeof(short[6]);
+       loadmodel->data_poses7s = (short *)data;data += loadmodel->num_poses * loadmodel->num_bones * sizeof(short[7]);
        if (vblendindexes && vblendweights)
                loadmodel->surfmesh.data_blendweights = (blendweights_t *)Mem_Alloc(loadmodel->mempool, meshvertices * sizeof(blendweights_t));
 
@@ -3555,12 +3557,19 @@ void Mod_INTERQUAKEMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
                {
                        for (j = 0;j < (int)header.num_poses;j++, k++)
                        {
-                               loadmodel->data_poses6s[k*6 + 0] = loadmodel->num_poseinvscale * (pose1[j].channeloffset[0] + (pose1[j].channelmask&1 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[0] : 0));
-                               loadmodel->data_poses6s[k*6 + 1] = loadmodel->num_poseinvscale * (pose1[j].channeloffset[1] + (pose1[j].channelmask&2 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[1] : 0));
-                               loadmodel->data_poses6s[k*6 + 2] = loadmodel->num_poseinvscale * (pose1[j].channeloffset[2] + (pose1[j].channelmask&4 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[2] : 0));
-                               loadmodel->data_poses6s[k*6 + 3] = 32767.0f * (pose1[j].channeloffset[3] + (pose1[j].channelmask&8 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[3] : 0));
-                               loadmodel->data_poses6s[k*6 + 4] = 32767.0f * (pose1[j].channeloffset[4] + (pose1[j].channelmask&16 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[4] : 0));
-                               loadmodel->data_poses6s[k*6 + 5] = 32767.0f * (pose1[j].channeloffset[5] + (pose1[j].channelmask&32 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[5] : 0));
+                               float qx, qy, qz, qw;
+                               loadmodel->data_poses7s[k*7 + 0] = loadmodel->num_poseinvscale * (pose1[j].channeloffset[0] + (pose1[j].channelmask&1 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[0] : 0));
+                               loadmodel->data_poses7s[k*7 + 1] = loadmodel->num_poseinvscale * (pose1[j].channeloffset[1] + (pose1[j].channelmask&2 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[1] : 0));
+                               loadmodel->data_poses7s[k*7 + 2] = loadmodel->num_poseinvscale * (pose1[j].channeloffset[2] + (pose1[j].channelmask&4 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[2] : 0));
+                               qx = pose1[j].channeloffset[3] + (pose1[j].channelmask&8 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[3] : 0);
+                               qy = pose1[j].channeloffset[4] + (pose1[j].channelmask&16 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[4] : 0);
+                               qz = pose1[j].channeloffset[5] + (pose1[j].channelmask&32 ? (unsigned short)LittleShort(*framedata++) * pose1[j].channelscale[5] : 0);
+                               qw = 1.0f - (qx*qx + qy*qy + qz*qz);
+                               qw = qw > 0.0f ? -sqrt(qw) : 0.0f;
+                               loadmodel->data_poses7s[k*7 + 3] = 32767.0f * qx;
+                               loadmodel->data_poses7s[k*7 + 4] = 32767.0f * qy;
+                               loadmodel->data_poses7s[k*7 + 5] = 32767.0f * qz;
+                               loadmodel->data_poses7s[k*7 + 6] = 32767.0f * qw;
                                // skip scale data for now
                                if(pose1[j].channelmask&64) framedata++;
                                if(pose1[j].channelmask&128) framedata++;
@@ -3571,12 +3580,19 @@ void Mod_INTERQUAKEMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
                {
                        for (i = 0;i < loadmodel->num_bones;i++)
                        {
-                               loadmodel->data_poses6s[i*6 + 0] = loadmodel->num_poseinvscale * joint1[i].origin[0];
-                               loadmodel->data_poses6s[i*6 + 1] = loadmodel->num_poseinvscale * joint1[i].origin[1];
-                               loadmodel->data_poses6s[i*6 + 2] = loadmodel->num_poseinvscale * joint1[i].origin[2];
-                               loadmodel->data_poses6s[i*6 + 3] = 32767.0f * joint1[i].rotation[0];
-                               loadmodel->data_poses6s[i*6 + 4] = 32767.0f * joint1[i].rotation[1];
-                               loadmodel->data_poses6s[i*6 + 5] = 32767.0f * joint1[i].rotation[2];
+                               float qx, qy, qz, qw;
+                               loadmodel->data_poses7s[i*7 + 0] = loadmodel->num_poseinvscale * joint1[i].origin[0];
+                               loadmodel->data_poses7s[i*7 + 1] = loadmodel->num_poseinvscale * joint1[i].origin[1];
+                               loadmodel->data_poses7s[i*7 + 2] = loadmodel->num_poseinvscale * joint1[i].origin[2];
+                               qx = joint1[i].rotation[0];
+                               qy = joint1[i].rotation[1];
+                               qz = joint1[i].rotation[2];
+                               qw = 1.0f - (qx*qx + qy*qy + qz*qz);
+                               qw = qw > 0.0f ? -sqrt(qw) : 0.0f;
+                               loadmodel->data_poses7s[i*7 + 3] = 32767.0f * qx;
+                               loadmodel->data_poses7s[i*7 + 4] = 32767.0f * qy;
+                               loadmodel->data_poses7s[i*7 + 5] = 32767.0f * qz;
+                               loadmodel->data_poses7s[i*7 + 6] = 32767.0f * qw;
                        }
                }
        }
@@ -3587,9 +3603,9 @@ void Mod_INTERQUAKEMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
                        for (j = 0;j < (int)header.num_poses;j++, k++)
                        {
                                float rot[4];
-                               loadmodel->data_poses6s[k*6 + 0] = loadmodel->num_poseinvscale * (pose[j].channeloffset[0] + (pose[j].channelmask&1 ? (unsigned short)LittleShort(*framedata++) * pose[j].channelscale[0] : 0));
-                               loadmodel->data_poses6s[k*6 + 1] = loadmodel->num_poseinvscale * (pose[j].channeloffset[1] + (pose[j].channelmask&2 ? (unsigned short)LittleShort(*framedata++) * pose[j].channelscale[1] : 0));
-                               loadmodel->data_poses6s[k*6 + 2] = loadmodel->num_poseinvscale * (pose[j].channeloffset[2] + (pose[j].channelmask&4 ? (unsigned short)LittleShort(*framedata++) * pose[j].channelscale[2] : 0));
+                               loadmodel->data_poses7s[k*7 + 0] = loadmodel->num_poseinvscale * (pose[j].channeloffset[0] + (pose[j].channelmask&1 ? (unsigned short)LittleShort(*framedata++) * pose[j].channelscale[0] : 0));
+                               loadmodel->data_poses7s[k*7 + 1] = loadmodel->num_poseinvscale * (pose[j].channeloffset[1] + (pose[j].channelmask&2 ? (unsigned short)LittleShort(*framedata++) * pose[j].channelscale[1] : 0));
+                               loadmodel->data_poses7s[k*7 + 2] = loadmodel->num_poseinvscale * (pose[j].channeloffset[2] + (pose[j].channelmask&4 ? (unsigned short)LittleShort(*framedata++) * pose[j].channelscale[2] : 0));
                                rot[0] = pose[j].channeloffset[3] + (pose[j].channelmask&8 ? (unsigned short)LittleShort(*framedata++) * pose[j].channelscale[3] : 0);
                                rot[1] = pose[j].channeloffset[4] + (pose[j].channelmask&16 ? (unsigned short)LittleShort(*framedata++) * pose[j].channelscale[4] : 0);
                                rot[2] = pose[j].channeloffset[5] + (pose[j].channelmask&32 ? (unsigned short)LittleShort(*framedata++) * pose[j].channelscale[5] : 0);
@@ -3597,9 +3613,10 @@ void Mod_INTERQUAKEMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
                                if (rot[3] > 0)
                                        Vector4Negate(rot, rot);
                                Vector4Normalize2(rot, rot);
-                               loadmodel->data_poses6s[k*6 + 3] = 32767.0f * rot[0];
-                               loadmodel->data_poses6s[k*6 + 4] = 32767.0f * rot[1];
-                               loadmodel->data_poses6s[k*6 + 5] = 32767.0f * rot[2];
+                               loadmodel->data_poses7s[k*7 + 3] = 32767.0f * rot[0];
+                               loadmodel->data_poses7s[k*7 + 4] = 32767.0f * rot[1];
+                               loadmodel->data_poses7s[k*7 + 5] = 32767.0f * rot[2];
+                               loadmodel->data_poses7s[k*7 + 6] = 32767.0f * rot[3];
                                // skip scale data for now
                                if(pose[j].channelmask&128) framedata++;
                                if(pose[j].channelmask&256) framedata++;
@@ -3610,12 +3627,13 @@ void Mod_INTERQUAKEMODEL_Load(dp_model_t *mod, void *buffer, void *bufferend)
                {
                        for (i = 0;i < loadmodel->num_bones;i++)
                        {
-                               loadmodel->data_poses6s[i*6 + 0] = loadmodel->num_poseinvscale * joint[i].origin[0];
-                               loadmodel->data_poses6s[i*6 + 1] = loadmodel->num_poseinvscale * joint[i].origin[1];
-                               loadmodel->data_poses6s[i*6 + 2] = loadmodel->num_poseinvscale * joint[i].origin[2];
-                               loadmodel->data_poses6s[i*6 + 3] = 32767.0f * joint[i].rotation[0];
-                               loadmodel->data_poses6s[i*6 + 4] = 32767.0f * joint[i].rotation[1];
-                               loadmodel->data_poses6s[i*6 + 5] = 32767.0f * joint[i].rotation[2];
+                               loadmodel->data_poses7s[i*7 + 0] = loadmodel->num_poseinvscale * joint[i].origin[0];
+                               loadmodel->data_poses7s[i*7 + 1] = loadmodel->num_poseinvscale * joint[i].origin[1];
+                               loadmodel->data_poses7s[i*7 + 2] = loadmodel->num_poseinvscale * joint[i].origin[2];
+                               loadmodel->data_poses7s[i*7 + 3] = 32767.0f * joint[i].rotation[0];
+                               loadmodel->data_poses7s[i*7 + 4] = 32767.0f * joint[i].rotation[1];
+                               loadmodel->data_poses7s[i*7 + 5] = 32767.0f * joint[i].rotation[2];
+                               loadmodel->data_poses7s[i*7 + 6] = 32767.0f * joint[i].rotation[3];
                        }
                }
        }
index 3bd0813..ea41b8a 100644 (file)
@@ -3224,7 +3224,7 @@ static void Mod_Decompile_SMD(dp_model_t *model, const char *filename, int first
 
                        // strangely the smd angles are for a transposed matrix, so we
                        // have to generate a transposed matrix, then convert that...
-                       Matrix4x4_FromBonePose6s(&posematrix, model->num_posescale, model->data_poses6s + 6*(model->num_bones * poseindex + transformindex));
+                       Matrix4x4_FromBonePose7s(&posematrix, model->num_posescale, model->data_poses7s + 7*(model->num_bones * poseindex + transformindex));
                        Matrix4x4_ToArray12FloatGL(&posematrix, mtest[0]);
                        AnglesFromVectors(angles, mtest[0], mtest[2], false);
                        if (angles[0] >= 180) angles[0] -= 360;
index e1969ee..ff098bb 100644 (file)
@@ -979,10 +979,10 @@ typedef struct model_s
        // for skeletal models
        int                             num_bones;
        aliasbone_t             *data_bones;
-       float                   num_posescale; // scaling factor from origin in poses6s format (includes divide by 32767)
-       float                   num_poseinvscale; // scaling factor to origin in poses6s format (includes multiply by 32767)
+       float                   num_posescale; // scaling factor from origin in poses7s format (includes divide by 32767)
+       float                   num_poseinvscale; // scaling factor to origin in poses7s format (includes multiply by 32767)
        int                             num_poses;
-       short                   *data_poses6s; // origin xyz, quat xyz, w implied negative, unit length, values normalized to +/-32767 range
+       short                   *data_poses7s; // origin xyz, quat xyzw, unit length, values normalized to +/-32767 range
        float                   *data_baseboneposeinverse;
        // textures of this model
        int                             num_textures;
index 740434c..2999930 100644 (file)
@@ -2241,19 +2241,20 @@ void EntityState5_WriteUpdate(int number, const entity_state_t *s, int changedbi
                        {
                                int numbones = s->skeletonobject.model->num_bones;
                                int bonenum;
-                               short pose6s[6];
+                               short pose7s[7];
                                MSG_WriteByte(msg, 4);
                                MSG_WriteShort(msg, s->modelindex);
                                MSG_WriteByte(msg, numbones);
                                for (bonenum = 0;bonenum < numbones;bonenum++)
                                {
-                                       Matrix4x4_ToBonePose6s(s->skeletonobject.relativetransforms + bonenum, 64, pose6s);
-                                       MSG_WriteShort(msg, pose6s[0]);
-                                       MSG_WriteShort(msg, pose6s[1]);
-                                       MSG_WriteShort(msg, pose6s[2]);
-                                       MSG_WriteShort(msg, pose6s[3]);
-                                       MSG_WriteShort(msg, pose6s[4]);
-                                       MSG_WriteShort(msg, pose6s[5]);
+                                       Matrix4x4_ToBonePose7s(s->skeletonobject.relativetransforms + bonenum, 64, pose7s);
+                                       MSG_WriteShort(msg, pose7s[0]);
+                                       MSG_WriteShort(msg, pose7s[1]);
+                                       MSG_WriteShort(msg, pose7s[2]);
+                                       MSG_WriteShort(msg, pose7s[3]);
+                                       MSG_WriteShort(msg, pose7s[4]);
+                                       MSG_WriteShort(msg, pose7s[5]);
+                                       MSG_WriteShort(msg, pose7s[6]);
                                }
                        }
                        else
@@ -2436,7 +2437,7 @@ static void EntityState5_ReadUpdate(entity_state_t *s, int number)
                int type;
                int bonenum;
                int numbones;
-               short pose6s[6];
+               short pose7s[7];
                type = MSG_ReadByte(&cl_message);
                switch(type)
                {
@@ -2514,13 +2515,14 @@ static void EntityState5_ReadUpdate(entity_state_t *s, int number)
                        }
                        for (bonenum = 0;bonenum < numbones;bonenum++)
                        {
-                               pose6s[0] = (short)MSG_ReadShort(&cl_message);
-                               pose6s[1] = (short)MSG_ReadShort(&cl_message);
-                               pose6s[2] = (short)MSG_ReadShort(&cl_message);
-                               pose6s[3] = (short)MSG_ReadShort(&cl_message);
-                               pose6s[4] = (short)MSG_ReadShort(&cl_message);
-                               pose6s[5] = (short)MSG_ReadShort(&cl_message);
-                               Matrix4x4_FromBonePose6s(skeleton->relativetransforms + bonenum, 1.0f / 64.0f, pose6s);
+                               pose7s[0] = (short)MSG_ReadShort(&cl_message);
+                               pose7s[1] = (short)MSG_ReadShort(&cl_message);
+                               pose7s[2] = (short)MSG_ReadShort(&cl_message);
+                               pose7s[3] = (short)MSG_ReadShort(&cl_message);
+                               pose7s[4] = (short)MSG_ReadShort(&cl_message);
+                               pose7s[5] = (short)MSG_ReadShort(&cl_message);
+                               pose7s[6] = (short)MSG_ReadShort(&cl_message);
+                               Matrix4x4_FromBonePose7s(skeleton->relativetransforms + bonenum, 1.0f / 64.0f, pose7s);
                        }
                        s->skeletonobject = *skeleton;
                        break;
index 18ca256..3c0c6ce 100644 (file)
@@ -747,7 +747,7 @@ void EntityFrame4_CL_ReadFrame(void);
 // byte type=1 short frames[2] short times[2] byte lerps[2]
 // byte type=2 short frames[3] short times[3] byte lerps[3]
 // byte type=3 short frames[4] short times[4] byte lerps[4]
-// byte type=4 short modelindex byte numbones {short pose6s[6]}
+// byte type=4 short modelindex byte numbones {short pose7s[7]}
 // see also RENDER_COMPLEXANIMATION
 #define E5_COMPLEXANIMATION (1<<25)
 // ushort traileffectnum
index 30139d3..71c1c30 100644 (file)
@@ -2912,7 +2912,7 @@ static void VM_SV_skel_build(prvm_prog_t *prog)
                Matrix4x4_Accumulate(&blendedmatrix, &skeleton->relativetransforms[bonenum], retainfrac);
                for (blendindex = 0;blendindex < numblends;blendindex++)
                {
-                       Matrix4x4_FromBonePose6s(&matrix, model->num_posescale, model->data_poses6s + 6 * (frameblend[blendindex].subframe * model->num_bones + bonenum));
+                       Matrix4x4_FromBonePose7s(&matrix, model->num_posescale, model->data_poses7s + 7 * (frameblend[blendindex].subframe * model->num_bones + bonenum));
                        Matrix4x4_Accumulate(&blendedmatrix, &matrix, frameblend[blendindex].lerp);
                }
                skeleton->relativetransforms[bonenum] = blendedmatrix;