6 #define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h
9 //#define MATRIX4x4_OPENGLORIENTATION
11 typedef struct matrix4x4_s
17 extern const matrix4x4_t identitymatrix;
19 // functions for manipulating 4x4 matrices
22 void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in);
23 // copy only the rotation portion of a matrix4x4
24 void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in);
25 // copy only the translate portion of a matrix4x4
26 void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in);
27 // multiply two matrix4x4 together, combining their transformations
28 // (warning: order matters - Concat(a, b, c) != Concat(a, c, b))
29 void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2);
30 // swaps the rows and columns of the matrix
31 // (is this useful for anything?)
32 void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1);
33 // creates a matrix that does the opposite of the matrix provided
34 // this is a full matrix inverter, it should be able to invert any matrix that
35 // is possible to invert
36 // (non-uniform scaling, rotation, shearing, and translation, possibly others)
37 // warning: this function is SLOW
38 int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1);
39 // creates a matrix that does the opposite of the matrix provided
40 // only supports translate, rotate, scale (not scale3) matrices
41 void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1);
42 // blends between two matrices, used primarily for animation interpolation
43 // (note: it is recommended to follow this with Matrix4x4_Normalize, a method
44 // known as nlerp rotation, often better for animation purposes than slerp)
45 void Matrix4x4_Interpolate (matrix4x4_t *out, matrix4x4_t *in1, matrix4x4_t *in2, double frac);
46 // zeros all matrix components, used with Matrix4x4_Accumulate
47 void Matrix4x4_Clear (matrix4x4_t *out);
48 // adds a weighted contribution from the supplied matrix, used to blend 3 or
49 // more matrices with weighting, it is recommended that Matrix4x4_Normalize be
50 // called afterward (a method known as nlerp rotation, often better for
51 // animation purposes than slerp)
52 void Matrix4x4_Accumulate (matrix4x4_t *out, matrix4x4_t *in, double weight);
53 // creates a matrix that does the same rotation and translation as the matrix
54 // provided, but no uniform scaling, does not support scale3 matrices
55 void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1);
56 // creates a matrix with vectors normalized individually (use after
57 // Matrix4x4_Accumulate)
58 void Matrix4x4_Normalize3 (matrix4x4_t *out, matrix4x4_t *in1);
59 // modifies a matrix to have all vectors and origin reflected across the plane
60 // to the opposite side (at least if axisscale is -2)
61 void Matrix4x4_Reflect (matrix4x4_t *out, double normalx, double normaly, double normalz, double dist, double axisscale);
63 // creates an identity matrix
64 // (a matrix which does nothing)
65 void Matrix4x4_CreateIdentity (matrix4x4_t *out);
66 // creates a translate matrix
68 void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z);
69 // creates a rotate matrix
71 void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z);
72 // creates a scaling matrix
73 // (expands or contracts vectors)
74 // (warning: do not apply this kind of matrix to direction vectors)
75 void Matrix4x4_CreateScale (matrix4x4_t *out, double x);
76 // creates a squishing matrix
77 // (expands or contracts vectors differently in different axis)
78 // (warning: this is not reversed by Invert_Simple)
79 // (warning: do not apply this kind of matrix to direction vectors)
80 void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z);
81 // creates a matrix for a quake entity
82 void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale);
84 // converts a matrix4x4 to a set of 3D vectors for the 3 axial directions, and the translate
85 void Matrix4x4_ToVectors(const matrix4x4_t *in, vec_t vx[3], vec_t vy[3], vec_t vz[3], vec_t t[3]);
86 // creates a matrix4x4 from a set of 3D vectors for axial directions, and translate
87 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]);
89 // converts a matrix4x4 to a double[16] array in the OpenGL orientation
90 void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16]);
91 // creates a matrix4x4 from a double[16] array in the OpenGL orientation
92 void Matrix4x4_FromArrayDoubleGL(matrix4x4_t *out, const double in[16]);
93 // converts a matrix4x4 to a double[16] array in the Direct3D orientation
94 void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16]);
95 // creates a matrix4x4 from a double[16] array in the Direct3D orientation
96 void Matrix4x4_FromArrayDoubleD3D(matrix4x4_t *out, const double in[16]);
98 // converts a matrix4x4 to a float[16] array in the OpenGL orientation
99 void Matrix4x4_ToArrayFloatGL(const matrix4x4_t *in, float out[16]);
100 // creates a matrix4x4 from a float[16] array in the OpenGL orientation
101 void Matrix4x4_FromArrayFloatGL(matrix4x4_t *out, const float in[16]);
102 // converts a matrix4x4 to a float[16] array in the Direct3D orientation
103 void Matrix4x4_ToArrayFloatD3D(const matrix4x4_t *in, float out[16]);
104 // creates a matrix4x4 from a float[16] array in the Direct3D orientation
105 void Matrix4x4_FromArrayFloatD3D(matrix4x4_t *out, const float in[16]);
107 // converts a matrix4x4 to a float[12] array in the OpenGL orientation
108 void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12]);
109 // creates a matrix4x4 from a float[12] array in the OpenGL orientation
110 void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12]);
111 // converts a matrix4x4 to a float[12] array in the Direct3D orientation
112 void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12]);
113 // creates a matrix4x4 from a float[12] array in the Direct3D orientation
114 void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12]);
116 // creates a matrix4x4 from an origin and quaternion (used mostly with skeletal model formats such as PSK)
117 void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w);
118 // creates an origin and quaternion from a matrix4x4_t, quat[3] is always positive
119 void Matrix4x4_ToOrigin3Quat4Float(const matrix4x4_t *m, float *origin, float *quat);
120 // creates a matrix4x4 from an origin and canonical unit-length quaternion (used mostly with skeletal model formats such as MD5)
121 void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z);
123 // creates a matrix4x4_t from an origin and canonical unit-length quaternion in short[7] normalized format
124 void Matrix4x4_FromBonePose7s(matrix4x4_t *m, float originscale, const short *pose7s);
125 // creates a short[7] representation from normalized matrix4x4_t
126 void Matrix4x4_ToBonePose7s(const matrix4x4_t *m, float origininvscale, short *pose7s);
128 // blends two matrices together, at a given percentage (blend controls percentage of in2)
129 void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend);
131 // transforms a 3D vector through a matrix4x4
132 void Matrix4x4_Transform (const matrix4x4_t *in, const vec_t v[3], vec_t out[3]);
133 // transforms a 4D vector through a matrix4x4
134 // (warning: if you don't know why you would need this, you don't need it)
135 // (warning: the 4th component of the vector should be 1.0)
136 void Matrix4x4_Transform4 (const matrix4x4_t *in, const vec_t v[4], vec_t out[4]);
137 // reverse transforms a 3D vector through a matrix4x4, at least for *simple*
138 // cases (rotation and translation *ONLY*), this attempts to undo the results
140 //void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const vec_t v[3], vec_t out[3]);
141 // transforms a direction vector through the rotation part of a matrix
142 void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const vec_t v[3], vec_t out[3]);
143 // transforms a positive distance plane (A*x+B*y+C*z-D=0) through a rotation or translation matrix
144 void Matrix4x4_TransformPositivePlane (const matrix4x4_t *in, vec_t x, vec_t y, vec_t z, vec_t d, vec_t *o);
145 // transforms a standard plane (A*x+B*y+C*z+D=0) through a rotation or translation matrix
146 void Matrix4x4_TransformStandardPlane (const matrix4x4_t *in, vec_t x, vec_t y, vec_t z, vec_t d, vec_t *o);
148 // ease of use functions
149 // immediately applies a Translate to the matrix
150 void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z);
151 // immediately applies a Rotate to the matrix
152 void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z);
153 // immediately applies a Scale to the matrix
154 void Matrix4x4_ConcatScale (matrix4x4_t *out, double x);
155 // immediately applies a Scale3 to the matrix
156 void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z);
158 // extracts origin vector (translate) from matrix
159 void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, vec_t *out);
160 // extracts scaling factor from matrix (only works for uniform scaling)
161 double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in);
163 // replaces origin vector (translate) in matrix
164 void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z);
165 // moves origin vector (translate) in matrix by a simple translate
166 void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z);
167 // scales vectors of a matrix in place and allows you to scale origin as well
168 void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale);
169 // ensures each element of the 3x3 rotation matrix is facing in the + direction
170 void Matrix4x4_Abs (matrix4x4_t *out);