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matrixlib.c
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#include "video.h"
#include "mathlib.h"
#include "matrixlib.h"
#include <math.h>
#define MATRIX4x4_OPENGLORIENTATION
#ifdef _MSC_VER
#pragma warning(disable : 4244) // LordHavoc: MSVC++ 4 x86, double/float
#pragma warning(disable : 4305) // LordHavoc: MSVC++ 6 x86, double/float
#endif
const matrix4x4_t identitymatrix =
{
{
{1, 0, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, 0},
{0, 0, 0, 1}
}
};
void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in)
{
*out = *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];
out->m[0][2] = in->m[0][2];
out->m[0][3] = 0.0f;
out->m[1][0] = in->m[1][0];
out->m[1][1] = in->m[1][1];
out->m[1][2] = in->m[1][2];
out->m[1][3] = 0.0f;
out->m[2][0] = in->m[2][0];
out->m[2][1] = in->m[2][1];
out->m[2][2] = in->m[2][2];
out->m[2][3] = 0.0f;
out->m[3][0] = 0.0f;
out->m[3][1] = 0.0f;
out->m[3][2] = 0.0f;
out->m[3][3] = 1.0f;
}
void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
out->m[0][0] = 1.0f;
out->m[1][0] = 0.0f;
out->m[2][0] = 0.0f;
out->m[3][0] = in->m[0][3];
out->m[0][1] = 0.0f;
out->m[1][1] = 1.0f;
out->m[2][1] = 0.0f;
out->m[3][1] = in->m[1][3];
out->m[0][2] = 0.0f;
out->m[1][2] = 0.0f;
out->m[2][2] = 1.0f;
out->m[3][2] = in->m[2][3];
out->m[0][3] = 0.0f;
out->m[1][3] = 0.0f;
out->m[2][3] = 0.0f;
out->m[3][3] = 1.0f;
#else
out->m[0][0] = 1.0f;
out->m[0][1] = 0.0f;
out->m[0][2] = 0.0f;
out->m[0][3] = in->m[0][3];
out->m[1][0] = 0.0f;
out->m[1][1] = 1.0f;
out->m[1][2] = 0.0f;
out->m[1][3] = in->m[1][3];
out->m[2][0] = 0.0f;
out->m[2][1] = 0.0f;
out->m[2][2] = 1.0f;
out->m[2][3] = in->m[2][3];
out->m[3][0] = 0.0f;
out->m[3][1] = 0.0f;
out->m[3][2] = 0.0f;
out->m[3][3] = 1.0f;
#endif
}
void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
out->m[0][0] = in1->m[0][0] * in2->m[0][0] + in1->m[1][0] * in2->m[0][1] + in1->m[2][0] * in2->m[0][2] + in1->m[3][0] * in2->m[0][3];
out->m[1][0] = in1->m[0][0] * in2->m[1][0] + in1->m[1][0] * in2->m[1][1] + in1->m[2][0] * in2->m[1][2] + in1->m[3][0] * in2->m[1][3];
out->m[2][0] = in1->m[0][0] * in2->m[2][0] + in1->m[1][0] * in2->m[2][1] + in1->m[2][0] * in2->m[2][2] + in1->m[3][0] * in2->m[2][3];
out->m[3][0] = in1->m[0][0] * in2->m[3][0] + in1->m[1][0] * in2->m[3][1] + in1->m[2][0] * in2->m[3][2] + in1->m[3][0] * in2->m[3][3];
out->m[0][1] = in1->m[0][1] * in2->m[0][0] + in1->m[1][1] * in2->m[0][1] + in1->m[2][1] * in2->m[0][2] + in1->m[3][1] * in2->m[0][3];
out->m[1][1] = in1->m[0][1] * in2->m[1][0] + in1->m[1][1] * in2->m[1][1] + in1->m[2][1] * in2->m[1][2] + in1->m[3][1] * in2->m[1][3];
out->m[2][1] = in1->m[0][1] * in2->m[2][0] + in1->m[1][1] * in2->m[2][1] + in1->m[2][1] * in2->m[2][2] + in1->m[3][1] * in2->m[2][3];
out->m[3][1] = in1->m[0][1] * in2->m[3][0] + in1->m[1][1] * in2->m[3][1] + in1->m[2][1] * in2->m[3][2] + in1->m[3][1] * in2->m[3][3];
out->m[0][2] = in1->m[0][2] * in2->m[0][0] + in1->m[1][2] * in2->m[0][1] + in1->m[2][2] * in2->m[0][2] + in1->m[3][2] * in2->m[0][3];
out->m[1][2] = in1->m[0][2] * in2->m[1][0] + in1->m[1][2] * in2->m[1][1] + in1->m[2][2] * in2->m[1][2] + in1->m[3][2] * in2->m[1][3];
out->m[2][2] = in1->m[0][2] * in2->m[2][0] + in1->m[1][2] * in2->m[2][1] + in1->m[2][2] * in2->m[2][2] + in1->m[3][2] * in2->m[2][3];
out->m[3][2] = in1->m[0][2] * in2->m[3][0] + in1->m[1][2] * in2->m[3][1] + in1->m[2][2] * in2->m[3][2] + in1->m[3][2] * in2->m[3][3];
out->m[0][3] = in1->m[0][3] * in2->m[0][0] + in1->m[1][3] * in2->m[0][1] + in1->m[2][3] * in2->m[0][2] + in1->m[3][3] * in2->m[0][3];
out->m[1][3] = in1->m[0][3] * in2->m[1][0] + in1->m[1][3] * in2->m[1][1] + in1->m[2][3] * in2->m[1][2] + in1->m[3][3] * in2->m[1][3];
out->m[2][3] = in1->m[0][3] * in2->m[2][0] + in1->m[1][3] * in2->m[2][1] + in1->m[2][3] * in2->m[2][2] + in1->m[3][3] * in2->m[2][3];
out->m[3][3] = in1->m[0][3] * in2->m[3][0] + in1->m[1][3] * in2->m[3][1] + in1->m[2][3] * in2->m[3][2] + in1->m[3][3] * in2->m[3][3];
#else
out->m[0][0] = in1->m[0][0] * in2->m[0][0] + in1->m[0][1] * in2->m[1][0] + in1->m[0][2] * in2->m[2][0] + in1->m[0][3] * in2->m[3][0];
out->m[0][1] = in1->m[0][0] * in2->m[0][1] + in1->m[0][1] * in2->m[1][1] + in1->m[0][2] * in2->m[2][1] + in1->m[0][3] * in2->m[3][1];
out->m[0][2] = in1->m[0][0] * in2->m[0][2] + in1->m[0][1] * in2->m[1][2] + in1->m[0][2] * in2->m[2][2] + in1->m[0][3] * in2->m[3][2];
out->m[0][3] = in1->m[0][0] * in2->m[0][3] + in1->m[0][1] * in2->m[1][3] + in1->m[0][2] * in2->m[2][3] + in1->m[0][3] * in2->m[3][3];
out->m[1][0] = in1->m[1][0] * in2->m[0][0] + in1->m[1][1] * in2->m[1][0] + in1->m[1][2] * in2->m[2][0] + in1->m[1][3] * in2->m[3][0];
out->m[1][1] = in1->m[1][0] * in2->m[0][1] + in1->m[1][1] * in2->m[1][1] + in1->m[1][2] * in2->m[2][1] + in1->m[1][3] * in2->m[3][1];
out->m[1][2] = in1->m[1][0] * in2->m[0][2] + in1->m[1][1] * in2->m[1][2] + in1->m[1][2] * in2->m[2][2] + in1->m[1][3] * in2->m[3][2];
out->m[1][3] = in1->m[1][0] * in2->m[0][3] + in1->m[1][1] * in2->m[1][3] + in1->m[1][2] * in2->m[2][3] + in1->m[1][3] * in2->m[3][3];
out->m[2][0] = in1->m[2][0] * in2->m[0][0] + in1->m[2][1] * in2->m[1][0] + in1->m[2][2] * in2->m[2][0] + in1->m[2][3] * in2->m[3][0];
out->m[2][1] = in1->m[2][0] * in2->m[0][1] + in1->m[2][1] * in2->m[1][1] + in1->m[2][2] * in2->m[2][1] + in1->m[2][3] * in2->m[3][1];
out->m[2][2] = in1->m[2][0] * in2->m[0][2] + in1->m[2][1] * in2->m[1][2] + in1->m[2][2] * in2->m[2][2] + in1->m[2][3] * in2->m[3][2];
out->m[2][3] = in1->m[2][0] * in2->m[0][3] + in1->m[2][1] * in2->m[1][3] + in1->m[2][2] * in2->m[2][3] + in1->m[2][3] * in2->m[3][3];
out->m[3][0] = in1->m[3][0] * in2->m[0][0] + in1->m[3][1] * in2->m[1][0] + in1->m[3][2] * in2->m[2][0] + in1->m[3][3] * in2->m[3][0];
out->m[3][1] = in1->m[3][0] * in2->m[0][1] + in1->m[3][1] * in2->m[1][1] + in1->m[3][2] * in2->m[2][1] + in1->m[3][3] * in2->m[3][1];
out->m[3][2] = in1->m[3][0] * in2->m[0][2] + in1->m[3][1] * in2->m[1][2] + in1->m[3][2] * in2->m[2][2] + in1->m[3][3] * in2->m[3][2];
out->m[3][3] = in1->m[3][0] * in2->m[0][3] + in1->m[3][1] * in2->m[1][3] + in1->m[3][2] * in2->m[2][3] + in1->m[3][3] * in2->m[3][3];
#endif
}
void Matrix4x4_Transpose (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[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];
}
#if 1
// Adapted from code contributed to Mesa by David Moore (Mesa 7.6 under SGI Free License B - which is MIT/X11-type)
// 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;
}
#elif 1
// Adapted from code contributed to Mesa by David Moore (Mesa 7.6 under SGI Free License B - which is MIT/X11-type)
int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
{
matrix4x4_t temp;
double det;
int i, j;
#ifdef MATRIX4x4_OPENGLORIENTATION
temp.m[0][0] = in1->m[1][1]*in1->m[2][2]*in1->m[3][3] - in1->m[1][1]*in1->m[2][3]*in1->m[3][2] - in1->m[2][1]*in1->m[1][2]*in1->m[3][3] + in1->m[2][1]*in1->m[1][3]*in1->m[3][2] + in1->m[3][1]*in1->m[1][2]*in1->m[2][3] - in1->m[3][1]*in1->m[1][3]*in1->m[2][2];
temp.m[1][0] = -in1->m[1][0]*in1->m[2][2]*in1->m[3][3] + in1->m[1][0]*in1->m[2][3]*in1->m[3][2] + in1->m[2][0]*in1->m[1][2]*in1->m[3][3] - in1->m[2][0]*in1->m[1][3]*in1->m[3][2] - in1->m[3][0]*in1->m[1][2]*in1->m[2][3] + in1->m[3][0]*in1->m[1][3]*in1->m[2][2];
temp.m[2][0] = in1->m[1][0]*in1->m[2][1]*in1->m[3][3] - in1->m[1][0]*in1->m[2][3]*in1->m[3][1] - in1->m[2][0]*in1->m[1][1]*in1->m[3][3] + in1->m[2][0]*in1->m[1][3]*in1->m[3][1] + in1->m[3][0]*in1->m[1][1]*in1->m[2][3] - in1->m[3][0]*in1->m[1][3]*in1->m[2][1];
temp.m[3][0] = -in1->m[1][0]*in1->m[2][1]*in1->m[3][2] + in1->m[1][0]*in1->m[2][2]*in1->m[3][1] + in1->m[2][0]*in1->m[1][1]*in1->m[3][2] - in1->m[2][0]*in1->m[1][2]*in1->m[3][1] - in1->m[3][0]*in1->m[1][1]*in1->m[2][2] + in1->m[3][0]*in1->m[1][2]*in1->m[2][1];
temp.m[0][1] = -in1->m[0][1]*in1->m[2][2]*in1->m[3][3] + in1->m[0][1]*in1->m[2][3]*in1->m[3][2] + in1->m[2][1]*in1->m[0][2]*in1->m[3][3] - in1->m[2][1]*in1->m[0][3]*in1->m[3][2] - in1->m[3][1]*in1->m[0][2]*in1->m[2][3] + in1->m[3][1]*in1->m[0][3]*in1->m[2][2];
temp.m[1][1] = in1->m[0][0]*in1->m[2][2]*in1->m[3][3] - in1->m[0][0]*in1->m[2][3]*in1->m[3][2] - in1->m[2][0]*in1->m[0][2]*in1->m[3][3] + in1->m[2][0]*in1->m[0][3]*in1->m[3][2] + in1->m[3][0]*in1->m[0][2]*in1->m[2][3] - in1->m[3][0]*in1->m[0][3]*in1->m[2][2];
temp.m[2][1] = -in1->m[0][0]*in1->m[2][1]*in1->m[3][3] + in1->m[0][0]*in1->m[2][3]*in1->m[3][1] + in1->m[2][0]*in1->m[0][1]*in1->m[3][3] - in1->m[2][0]*in1->m[0][3]*in1->m[3][1] - in1->m[3][0]*in1->m[0][1]*in1->m[2][3] + in1->m[3][0]*in1->m[0][3]*in1->m[2][1];
temp.m[3][1] = in1->m[0][0]*in1->m[2][1]*in1->m[3][2] - in1->m[0][0]*in1->m[2][2]*in1->m[3][1] - in1->m[2][0]*in1->m[0][1]*in1->m[3][2] + in1->m[2][0]*in1->m[0][2]*in1->m[3][1] + in1->m[3][0]*in1->m[0][1]*in1->m[2][2] - in1->m[3][0]*in1->m[0][2]*in1->m[2][1];
temp.m[0][2] = in1->m[0][1]*in1->m[1][2]*in1->m[3][3] - in1->m[0][1]*in1->m[1][3]*in1->m[3][2] - in1->m[1][1]*in1->m[0][2]*in1->m[3][3] + in1->m[1][1]*in1->m[0][3]*in1->m[3][2] + in1->m[3][1]*in1->m[0][2]*in1->m[1][3] - in1->m[3][1]*in1->m[0][3]*in1->m[1][2];
temp.m[1][2] = -in1->m[0][0]*in1->m[1][2]*in1->m[3][3] + in1->m[0][0]*in1->m[1][3]*in1->m[3][2] + in1->m[1][0]*in1->m[0][2]*in1->m[3][3] - in1->m[1][0]*in1->m[0][3]*in1->m[3][2] - in1->m[3][0]*in1->m[0][2]*in1->m[1][3] + in1->m[3][0]*in1->m[0][3]*in1->m[1][2];
temp.m[2][2] = in1->m[0][0]*in1->m[1][1]*in1->m[3][3] - in1->m[0][0]*in1->m[1][3]*in1->m[3][1] - in1->m[1][0]*in1->m[0][1]*in1->m[3][3] + in1->m[1][0]*in1->m[0][3]*in1->m[3][1] + in1->m[3][0]*in1->m[0][1]*in1->m[1][3] - in1->m[3][0]*in1->m[0][3]*in1->m[1][1];
temp.m[3][2] = -in1->m[0][0]*in1->m[1][1]*in1->m[3][2] + in1->m[0][0]*in1->m[1][2]*in1->m[3][1] + in1->m[1][0]*in1->m[0][1]*in1->m[3][2] - in1->m[1][0]*in1->m[0][2]*in1->m[3][1] - in1->m[3][0]*in1->m[0][1]*in1->m[1][2] + in1->m[3][0]*in1->m[0][2]*in1->m[1][1];
temp.m[0][3] = -in1->m[0][1]*in1->m[1][2]*in1->m[2][3] + in1->m[0][1]*in1->m[1][3]*in1->m[2][2] + in1->m[1][1]*in1->m[0][2]*in1->m[2][3] - in1->m[1][1]*in1->m[0][3]*in1->m[2][2] - in1->m[2][1]*in1->m[0][2]*in1->m[1][3] + in1->m[2][1]*in1->m[0][3]*in1->m[1][2];
temp.m[1][3] = in1->m[0][0]*in1->m[1][2]*in1->m[2][3] - in1->m[0][0]*in1->m[1][3]*in1->m[2][2] - in1->m[1][0]*in1->m[0][2]*in1->m[2][3] + in1->m[1][0]*in1->m[0][3]*in1->m[2][2] + in1->m[2][0]*in1->m[0][2]*in1->m[1][3] - in1->m[2][0]*in1->m[0][3]*in1->m[1][2];
temp.m[2][3] = -in1->m[0][0]*in1->m[1][1]*in1->m[2][3] + in1->m[0][0]*in1->m[1][3]*in1->m[2][1] + in1->m[1][0]*in1->m[0][1]*in1->m[2][3] - in1->m[1][0]*in1->m[0][3]*in1->m[2][1] - in1->m[2][0]*in1->m[0][1]*in1->m[1][3] + in1->m[2][0]*in1->m[0][3]*in1->m[1][1];
temp.m[3][3] = in1->m[0][0]*in1->m[1][1]*in1->m[2][2] - in1->m[0][0]*in1->m[1][2]*in1->m[2][1] - in1->m[1][0]*in1->m[0][1]*in1->m[2][2] + in1->m[1][0]*in1->m[0][2]*in1->m[2][1] + in1->m[2][0]*in1->m[0][1]*in1->m[1][2] - in1->m[2][0]*in1->m[0][2]*in1->m[1][1];
#else
temp.m[0][0] = in1->m[1][1]*in1->m[2][2]*in1->m[3][3] - in1->m[1][1]*in1->m[3][2]*in1->m[2][3] - in1->m[1][2]*in1->m[2][1]*in1->m[3][3] + in1->m[1][2]*in1->m[3][1]*in1->m[2][3] + in1->m[1][3]*in1->m[2][1]*in1->m[3][2] - in1->m[1][3]*in1->m[3][1]*in1->m[2][2];
temp.m[0][1] = -in1->m[0][1]*in1->m[2][2]*in1->m[3][3] + in1->m[0][1]*in1->m[3][2]*in1->m[2][3] + in1->m[0][2]*in1->m[2][1]*in1->m[3][3] - in1->m[0][2]*in1->m[3][1]*in1->m[2][3] - in1->m[0][3]*in1->m[2][1]*in1->m[3][2] + in1->m[0][3]*in1->m[3][1]*in1->m[2][2];
temp.m[0][2] = in1->m[0][1]*in1->m[1][2]*in1->m[3][3] - in1->m[0][1]*in1->m[3][2]*in1->m[1][3] - in1->m[0][2]*in1->m[1][1]*in1->m[3][3] + in1->m[0][2]*in1->m[3][1]*in1->m[1][3] + in1->m[0][3]*in1->m[1][1]*in1->m[3][2] - in1->m[0][3]*in1->m[3][1]*in1->m[1][2];
temp.m[0][3] = -in1->m[0][1]*in1->m[1][2]*in1->m[2][3] + in1->m[0][1]*in1->m[2][2]*in1->m[1][3] + in1->m[0][2]*in1->m[1][1]*in1->m[2][3] - in1->m[0][2]*in1->m[2][1]*in1->m[1][3] - in1->m[0][3]*in1->m[1][1]*in1->m[2][2] + in1->m[0][3]*in1->m[2][1]*in1->m[1][2];
temp.m[1][0] = -in1->m[1][0]*in1->m[2][2]*in1->m[3][3] + in1->m[1][0]*in1->m[3][2]*in1->m[2][3] + in1->m[1][2]*in1->m[2][0]*in1->m[3][3] - in1->m[1][2]*in1->m[3][0]*in1->m[2][3] - in1->m[1][3]*in1->m[2][0]*in1->m[3][2] + in1->m[1][3]*in1->m[3][0]*in1->m[2][2];
temp.m[1][1] = in1->m[0][0]*in1->m[2][2]*in1->m[3][3] - in1->m[0][0]*in1->m[3][2]*in1->m[2][3] - in1->m[0][2]*in1->m[2][0]*in1->m[3][3] + in1->m[0][2]*in1->m[3][0]*in1->m[2][3] + in1->m[0][3]*in1->m[2][0]*in1->m[3][2] - in1->m[0][3]*in1->m[3][0]*in1->m[2][2];
temp.m[1][2] = -in1->m[0][0]*in1->m[1][2]*in1->m[3][3] + in1->m[0][0]*in1->m[3][2]*in1->m[1][3] + in1->m[0][2]*in1->m[1][0]*in1->m[3][3] - in1->m[0][2]*in1->m[3][0]*in1->m[1][3] - in1->m[0][3]*in1->m[1][0]*in1->m[3][2] + in1->m[0][3]*in1->m[3][0]*in1->m[1][2];
temp.m[1][3] = in1->m[0][0]*in1->m[1][2]*in1->m[2][3] - in1->m[0][0]*in1->m[2][2]*in1->m[1][3] - in1->m[0][2]*in1->m[1][0]*in1->m[2][3] + in1->m[0][2]*in1->m[2][0]*in1->m[1][3] + in1->m[0][3]*in1->m[1][0]*in1->m[2][2] - in1->m[0][3]*in1->m[2][0]*in1->m[1][2];
temp.m[2][0] = in1->m[1][0]*in1->m[2][1]*in1->m[3][3] - in1->m[1][0]*in1->m[3][1]*in1->m[2][3] - in1->m[1][1]*in1->m[2][0]*in1->m[3][3] + in1->m[1][1]*in1->m[3][0]*in1->m[2][3] + in1->m[1][3]*in1->m[2][0]*in1->m[3][1] - in1->m[1][3]*in1->m[3][0]*in1->m[2][1];
temp.m[2][1] = -in1->m[0][0]*in1->m[2][1]*in1->m[3][3] + in1->m[0][0]*in1->m[3][1]*in1->m[2][3] + in1->m[0][1]*in1->m[2][0]*in1->m[3][3] - in1->m[0][1]*in1->m[3][0]*in1->m[2][3] - in1->m[0][3]*in1->m[2][0]*in1->m[3][1] + in1->m[0][3]*in1->m[3][0]*in1->m[2][1];
temp.m[2][2] = in1->m[0][0]*in1->m[1][1]*in1->m[3][3] - in1->m[0][0]*in1->m[3][1]*in1->m[1][3] - in1->m[0][1]*in1->m[1][0]*in1->m[3][3] + in1->m[0][1]*in1->m[3][0]*in1->m[1][3] + in1->m[0][3]*in1->m[1][0]*in1->m[3][1] - in1->m[0][3]*in1->m[3][0]*in1->m[1][1];
temp.m[2][3] = -in1->m[0][0]*in1->m[1][1]*in1->m[2][3] + in1->m[0][0]*in1->m[2][1]*in1->m[1][3] + in1->m[0][1]*in1->m[1][0]*in1->m[2][3] - in1->m[0][1]*in1->m[2][0]*in1->m[1][3] - in1->m[0][3]*in1->m[1][0]*in1->m[2][1] + in1->m[0][3]*in1->m[2][0]*in1->m[1][1];
temp.m[3][0] = -in1->m[1][0]*in1->m[2][1]*in1->m[3][2] + in1->m[1][0]*in1->m[3][1]*in1->m[2][2] + in1->m[1][1]*in1->m[2][0]*in1->m[3][2] - in1->m[1][1]*in1->m[3][0]*in1->m[2][2] - in1->m[1][2]*in1->m[2][0]*in1->m[3][1] + in1->m[1][2]*in1->m[3][0]*in1->m[2][1];
temp.m[3][1] = in1->m[0][0]*in1->m[2][1]*in1->m[3][2] - in1->m[0][0]*in1->m[3][1]*in1->m[2][2] - in1->m[0][1]*in1->m[2][0]*in1->m[3][2] + in1->m[0][1]*in1->m[3][0]*in1->m[2][2] + in1->m[0][2]*in1->m[2][0]*in1->m[3][1] - in1->m[0][2]*in1->m[3][0]*in1->m[2][1];
temp.m[3][2] = -in1->m[0][0]*in1->m[1][1]*in1->m[3][2] + in1->m[0][0]*in1->m[3][1]*in1->m[1][2] + in1->m[0][1]*in1->m[1][0]*in1->m[3][2] - in1->m[0][1]*in1->m[3][0]*in1->m[1][2] - in1->m[0][2]*in1->m[1][0]*in1->m[3][1] + in1->m[0][2]*in1->m[3][0]*in1->m[1][1];
temp.m[3][3] = in1->m[0][0]*in1->m[1][1]*in1->m[2][2] - in1->m[0][0]*in1->m[2][1]*in1->m[1][2] - in1->m[0][1]*in1->m[1][0]*in1->m[2][2] + in1->m[0][1]*in1->m[2][0]*in1->m[1][2] + in1->m[0][2]*in1->m[1][0]*in1->m[2][1] - in1->m[0][2]*in1->m[2][0]*in1->m[1][1];
#endif
det = in1->m[0][0]*temp.m[0][0] + in1->m[1][0]*temp.m[0][1] + in1->m[2][0]*temp.m[0][2] + in1->m[3][0]*temp.m[0][3];
if (det == 0.0f)
return 0;
det = 1.0f / det;
for (i = 0;i < 4;i++)
for (j = 0;j < 4;j++)
out->m[i][j] = temp.m[i][j] * det;
return 1;
}
#else
int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
{
double *temp;
double *r[4];
double rtemp[4][8];
double m[4];
double s;
r[0] = rtemp[0];
r[1] = rtemp[1];
r[2] = rtemp[2];
r[3] = rtemp[3];
#ifdef MATRIX4x4_OPENGLORIENTATION
r[0][0] = in1->m[0][0]; r[0][1] = in1->m[1][0]; r[0][2] = in1->m[2][0]; r[0][3] = in1->m[3][0];
r[0][4] = 1.0; r[0][5] = r[0][6] = r[0][7] = 0.0;
r[1][0] = in1->m[0][1]; r[1][1] = in1->m[1][1]; r[1][2] = in1->m[2][1]; r[1][3] = in1->m[3][1];
r[1][5] = 1.0; r[1][4] = r[1][6] = r[1][7] = 0.0;
r[2][0] = in1->m[0][2]; r[2][1] = in1->m[1][2]; r[2][2] = in1->m[2][2]; r[2][3] = in1->m[3][2];
r[2][6] = 1.0; r[2][4] = r[2][5] = r[2][7] = 0.0;
r[3][0] = in1->m[0][3]; r[3][1] = in1->m[1][3]; r[3][2] = in1->m[2][3]; r[3][3] = in1->m[3][3];
r[3][7] = 1.0; r[3][4] = r[3][5] = r[3][6] = 0.0;
#else
r[0][0] = in1->m[0][0]; r[0][1] = in1->m[0][1]; r[0][2] = in1->m[0][2]; r[0][3] = in1->m[0][3];
r[0][4] = 1.0; r[0][5] = r[0][6] = r[0][7] = 0.0;
r[1][0] = in1->m[1][0]; r[1][1] = in1->m[1][1]; r[1][2] = in1->m[1][2]; r[1][3] = in1->m[1][3];
r[1][5] = 1.0; r[1][4] = r[1][6] = r[1][7] = 0.0;
r[2][0] = in1->m[2][0]; r[2][1] = in1->m[2][1]; r[2][2] = in1->m[2][2]; r[2][3] = in1->m[2][3];
r[2][6] = 1.0; r[2][4] = r[2][5] = r[2][7] = 0.0;
r[3][0] = in1->m[3][0]; r[3][1] = in1->m[3][1]; r[3][2] = in1->m[3][2]; r[3][3] = in1->m[3][3];
r[3][7] = 1.0; r[3][4] = r[3][5] = r[3][6] = 0.0;
#endif
if (fabs (r[3][0]) > fabs (r[2][0])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
if (fabs (r[2][0]) > fabs (r[1][0])) { temp = r[2]; r[2] = r[1]; r[1] = temp; }
if (fabs (r[1][0]) > fabs (r[0][0])) { temp = r[1]; r[1] = r[0]; r[0] = temp; }
if (r[0][0])
{
m[1] = r[1][0] / r[0][0];
m[2] = r[2][0] / r[0][0];
m[3] = r[3][0] / r[0][0];
s = r[0][1]; r[1][1] -= m[1] * s; r[2][1] -= m[2] * s; r[3][1] -= m[3] * s;
s = r[0][2]; r[1][2] -= m[1] * s; r[2][2] -= m[2] * s; r[3][2] -= m[3] * s;
s = r[0][3]; r[1][3] -= m[1] * s; r[2][3] -= m[2] * s; r[3][3] -= m[3] * s;
s = r[0][4]; if (s) { r[1][4] -= m[1] * s; r[2][4] -= m[2] * s; r[3][4] -= m[3] * s; }
s = r[0][5]; if (s) { r[1][5] -= m[1] * s; r[2][5] -= m[2] * s; r[3][5] -= m[3] * s; }
s = r[0][6]; if (s) { r[1][6] -= m[1] * s; r[2][6] -= m[2] * s; r[3][6] -= m[3] * s; }
s = r[0][7]; if (s) { r[1][7] -= m[1] * s; r[2][7] -= m[2] * s; r[3][7] -= m[3] * s; }
if (fabs (r[3][1]) > fabs (r[2][1])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
if (fabs (r[2][1]) > fabs (r[1][1])) { temp = r[2]; r[2] = r[1]; r[1] = temp; }
if (r[1][1])
{
m[2] = r[2][1] / r[1][1];
m[3] = r[3][1] / r[1][1];
r[2][2] -= m[2] * r[1][2];
r[3][2] -= m[3] * r[1][2];
r[2][3] -= m[2] * r[1][3];
r[3][3] -= m[3] * r[1][3];
s = r[1][4]; if (s) { r[2][4] -= m[2] * s; r[3][4] -= m[3] * s; }
s = r[1][5]; if (s) { r[2][5] -= m[2] * s; r[3][5] -= m[3] * s; }
s = r[1][6]; if (s) { r[2][6] -= m[2] * s; r[3][6] -= m[3] * s; }
s = r[1][7]; if (s) { r[2][7] -= m[2] * s; r[3][7] -= m[3] * s; }
if (fabs (r[3][2]) > fabs (r[2][2])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
if (r[2][2])
{
m[3] = r[3][2] / r[2][2];
r[3][3] -= m[3] * r[2][3];
r[3][4] -= m[3] * r[2][4];
r[3][5] -= m[3] * r[2][5];
r[3][6] -= m[3] * r[2][6];
r[3][7] -= m[3] * r[2][7];
if (r[3][3])
{
s = 1.0 / r[3][3];
r[3][4] *= s;
r[3][5] *= s;
r[3][6] *= s;
r[3][7] *= s;
m[2] = r[2][3];
s = 1.0 / r[2][2];
r[2][4] = s * (r[2][4] - r[3][4] * m[2]);
r[2][5] = s * (r[2][5] - r[3][5] * m[2]);
r[2][6] = s * (r[2][6] - r[3][6] * m[2]);
r[2][7] = s * (r[2][7] - r[3][7] * m[2]);
m[1] = r[1][3];
r[1][4] -= r[3][4] * m[1], r[1][5] -= r[3][5] * m[1];
r[1][6] -= r[3][6] * m[1], r[1][7] -= r[3][7] * m[1];
m[0] = r[0][3];
r[0][4] -= r[3][4] * m[0], r[0][5] -= r[3][5] * m[0];
r[0][6] -= r[3][6] * m[0], r[0][7] -= r[3][7] * m[0];
m[1] = r[1][2];
s = 1.0 / r[1][1];
r[1][4] = s * (r[1][4] - r[2][4] * m[1]), r[1][5] = s * (r[1][5] - r[2][5] * m[1]);
r[1][6] = s * (r[1][6] - r[2][6] * m[1]), r[1][7] = s * (r[1][7] - r[2][7] * m[1]);
m[0] = r[0][2];
r[0][4] -= r[2][4] * m[0], r[0][5] -= r[2][5] * m[0];
r[0][6] -= r[2][6] * m[0], r[0][7] -= r[2][7] * m[0];
m[0] = r[0][1];
s = 1.0 / r[0][0];
r[0][4] = s * (r[0][4] - r[1][4] * m[0]), r[0][5] = s * (r[0][5] - r[1][5] * m[0]);
r[0][6] = s * (r[0][6] - r[1][6] * m[0]), r[0][7] = s * (r[0][7] - r[1][7] * m[0]);
#ifdef MATRIX4x4_OPENGLORIENTATION
out->m[0][0] = r[0][4];
out->m[0][1] = r[1][4];
out->m[0][2] = r[2][4];
out->m[0][3] = r[3][4];
out->m[1][0] = r[0][5];
out->m[1][1] = r[1][5];
out->m[1][2] = r[2][5];
out->m[1][3] = r[3][5];
out->m[2][0] = r[0][6];
out->m[2][1] = r[1][6];
out->m[2][2] = r[2][6];
out->m[2][3] = r[3][6];
out->m[3][0] = r[0][7];
out->m[3][1] = r[1][7];
out->m[3][2] = r[2][7];
out->m[3][3] = r[3][7];
#else
out->m[0][0] = r[0][4];
out->m[0][1] = r[0][5];
out->m[0][2] = r[0][6];
out->m[0][3] = r[0][7];
out->m[1][0] = r[1][4];
out->m[1][1] = r[1][5];
out->m[1][2] = r[1][6];
out->m[1][3] = r[1][7];
out->m[2][0] = r[2][4];
out->m[2][1] = r[2][5];
out->m[2][2] = r[2][6];
out->m[2][3] = r[2][7];
out->m[3][0] = r[3][4];
out->m[3][1] = r[3][5];
out->m[3][2] = r[3][6];
out->m[3][3] = r[3][7];
#endif
return 1;
}
}
}
}
return 0;
}
#endif
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[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[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;
#ifdef MATRIX4x4_OPENGLORIENTATION
// invert the translate
out->m[3][0] = -(in1->m[3][0] * out->m[0][0] + in1->m[3][1] * out->m[1][0] + in1->m[3][2] * out->m[2][0]);
out->m[3][1] = -(in1->m[3][0] * out->m[0][1] + in1->m[3][1] * out->m[1][1] + in1->m[3][2] * out->m[2][1]);
out->m[3][2] = -(in1->m[3][0] * out->m[0][2] + in1->m[3][1] * out->m[1][2] + in1->m[3][2] * out->m[2][2]);
// don't know if there's anything worth doing here
out->m[0][3] = 0;
out->m[1][3] = 0;
out->m[2][3] = 0;
out->m[3][3] = 1;
#else
// 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;
#endif
}
void Matrix4x4_Interpolate (matrix4x4_t *out, matrix4x4_t *in1, matrix4x4_t *in2, double frac)
{
int i, j;
for (i = 0;i < 4;i++)
for (j = 0;j < 4;j++)
out->m[i][j] = in1->m[i][j] + frac * (in2->m[i][j] - in1->m[i][j]);
}
void Matrix4x4_Clear (matrix4x4_t *out)
{
int i, j;
for (i = 0;i < 4;i++)
for (j = 0;j < 4;j++)
out->m[i][j] = 0;
}
void Matrix4x4_Accumulate (matrix4x4_t *out, matrix4x4_t *in, double weight)
{
int i, j;
for (i = 0;i < 4;i++)
for (j = 0;j < 4;j++)
out->m[i][j] += in->m[i][j] * weight;
}
void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1)
{
// scale rotation matrix vectors to a length of 1
// note: this is only designed to undo uniform scaling
double scale = 1.0 / 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]);
*out = *in1;
Matrix4x4_Scale(out, scale, 1);
}
void Matrix4x4_Normalize3 (matrix4x4_t *out, matrix4x4_t *in1)
{
int i;
double scale;
// scale each rotation matrix vector to a length of 1
// intended for use after Matrix4x4_Interpolate or Matrix4x4_Accumulate
*out = *in1;
for (i = 0;i < 3;i++)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
scale = sqrt(in1->m[i][0] * in1->m[i][0] + in1->m[i][1] * in1->m[i][1] + in1->m[i][2] * in1->m[i][2]);
if (scale)
scale = 1.0 / scale;
out->m[i][0] *= scale;
out->m[i][1] *= scale;
out->m[i][2] *= scale;
#else
scale = sqrt(in1->m[0][i] * in1->m[0][i] + in1->m[1][i] * in1->m[1][i] + in1->m[2][i] * in1->m[2][i]);
if (scale)
scale = 1.0 / scale;
out->m[0][i] *= scale;
out->m[1][i] *= scale;
out->m[2][i] *= scale;
#endif
}
}
void Matrix4x4_Reflect (matrix4x4_t *out, double normalx, double normaly, double normalz, double dist, double axisscale)
{
int i;
double d;
double p[4], p2[4];
p[0] = normalx;
p[1] = normaly;
p[2] = normalz;
p[3] = -dist;
p2[0] = p[0] * axisscale;
p2[1] = p[1] * axisscale;
p2[2] = p[2] * axisscale;
p2[3] = 0;
for (i = 0;i < 4;i++)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
d = out->m[i][0] * p[0] + out->m[i][1] * p[1] + out->m[i][2] * p[2] + out->m[i][3] * p[3];
out->m[i][0] += p2[0] * d;
out->m[i][1] += p2[1] * d;
out->m[i][2] += p2[2] * d;
#else
d = out->m[0][i] * p[0] + out->m[1][i] * p[1] + out->m[2][i] * p[2] + out->m[3][i] * p[3];
out->m[0][i] += p2[0] * d;
out->m[1][i] += p2[1] * d;
out->m[2][i] += p2[2] * d;
#endif
}
}
void Matrix4x4_CreateIdentity (matrix4x4_t *out)
{
out->m[0][0]=1.0f;
out->m[0][1]=0.0f;
out->m[0][2]=0.0f;
out->m[0][3]=0.0f;
out->m[1][0]=0.0f;
out->m[1][1]=1.0f;
out->m[1][2]=0.0f;
out->m[1][3]=0.0f;
out->m[2][0]=0.0f;
out->m[2][1]=0.0f;
out->m[2][2]=1.0f;
out->m[2][3]=0.0f;
out->m[3][0]=0.0f;
out->m[3][1]=0.0f;
out->m[3][2]=0.0f;
out->m[3][3]=1.0f;
}
void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
out->m[0][0]=1.0f;
out->m[1][0]=0.0f;
out->m[2][0]=0.0f;
out->m[3][0]=x;
out->m[0][1]=0.0f;
out->m[1][1]=1.0f;
out->m[2][1]=0.0f;
out->m[3][1]=y;
out->m[0][2]=0.0f;
out->m[1][2]=0.0f;
out->m[2][2]=1.0f;
out->m[3][2]=z;
out->m[0][3]=0.0f;
out->m[1][3]=0.0f;
out->m[2][3]=0.0f;
out->m[3][3]=1.0f;
#else
out->m[0][0]=1.0f;
out->m[0][1]=0.0f;
out->m[0][2]=0.0f;
out->m[0][3]=x;
out->m[1][0]=0.0f;
out->m[1][1]=1.0f;
out->m[1][2]=0.0f;
out->m[1][3]=y;
out->m[2][0]=0.0f;
out->m[2][1]=0.0f;
out->m[2][2]=1.0f;
out->m[2][3]=z;
out->m[3][0]=0.0f;
out->m[3][1]=0.0f;
out->m[3][2]=0.0f;
out->m[3][3]=1.0f;
#endif
}
void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z)
{
double len, c, s;
len = x*x+y*y+z*z;
if (len != 0.0f)
len = 1.0f / sqrt(len);
x *= len;
y *= len;
z *= len;
angle *= (-M_PI / 180.0);
c = sin(angle + M_PI * 0.5);
s = sin(angle);
#ifdef MATRIX4x4_OPENGLORIENTATION
out->m[0][0]=x * x + c * (1 - x * x);
out->m[1][0]=x * y * (1 - c) + z * s;
out->m[2][0]=z * x * (1 - c) - y * s;
out->m[3][0]=0.0f;
out->m[0][1]=x * y * (1 - c) - z * s;
out->m[1][1]=y * y + c * (1 - y * y);
out->m[2][1]=y * z * (1 - c) + x * s;
out->m[3][1]=0.0f;
out->m[0][2]=z * x * (1 - c) + y * s;
out->m[1][2]=y * z * (1 - c) - x * s;
out->m[2][2]=z * z + c * (1 - z * z);
out->m[3][2]=0.0f;
out->m[0][3]=0.0f;
out->m[1][3]=0.0f;
out->m[2][3]=0.0f;
out->m[3][3]=1.0f;
#else
out->m[0][0]=x * x + c * (1 - x * x);
out->m[0][1]=x * y * (1 - c) + z * s;
out->m[0][2]=z * x * (1 - c) - y * s;
out->m[0][3]=0.0f;
out->m[1][0]=x * y * (1 - c) - z * s;
out->m[1][1]=y * y + c * (1 - y * y);
out->m[1][2]=y * z * (1 - c) + x * s;
out->m[1][3]=0.0f;
out->m[2][0]=z * x * (1 - c) + y * s;
out->m[2][1]=y * z * (1 - c) - x * s;
out->m[2][2]=z * z + c * (1 - z * z);
out->m[2][3]=0.0f;
out->m[3][0]=0.0f;
out->m[3][1]=0.0f;
out->m[3][2]=0.0f;
out->m[3][3]=1.0f;
#endif
}
void Matrix4x4_CreateScale (matrix4x4_t *out, double x)
{
out->m[0][0]=x;
out->m[0][1]=0.0f;
out->m[0][2]=0.0f;
out->m[0][3]=0.0f;
out->m[1][0]=0.0f;
out->m[1][1]=x;
out->m[1][2]=0.0f;
out->m[1][3]=0.0f;
out->m[2][0]=0.0f;
out->m[2][1]=0.0f;
out->m[2][2]=x;
out->m[2][3]=0.0f;
out->m[3][0]=0.0f;
out->m[3][1]=0.0f;
out->m[3][2]=0.0f;
out->m[3][3]=1.0f;
}
void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z)
{
out->m[0][0]=x;
out->m[0][1]=0.0f;
out->m[0][2]=0.0f;
out->m[0][3]=0.0f;
out->m[1][0]=0.0f;
out->m[1][1]=y;
out->m[1][2]=0.0f;
out->m[1][3]=0.0f;
out->m[2][0]=0.0f;
out->m[2][1]=0.0f;
out->m[2][2]=z;
out->m[2][3]=0.0f;
out->m[3][0]=0.0f;
out->m[3][1]=0.0f;
out->m[3][2]=0.0f;
out->m[3][3]=1.0f;
}
void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale)
{
double angle, sr, sp, sy, cr, cp, cy;
if (roll)
{
angle = yaw * (M_PI*2 / 360);
sy = sin(angle);
cy = sin(angle + M_PI * 0.5);
angle = pitch * (M_PI*2 / 360);
sp = sin(angle);
cp = sin(angle + M_PI * 0.5);
angle = roll * (M_PI*2 / 360);
sr = sin(angle);
cr = sin(angle + M_PI * 0.5);
#ifdef MATRIX4x4_OPENGLORIENTATION
out->m[0][0] = (cp*cy) * scale;
out->m[1][0] = (sr*sp*cy+cr*-sy) * scale;
out->m[2][0] = (cr*sp*cy+-sr*-sy) * scale;
out->m[3][0] = x;
out->m[0][1] = (cp*sy) * scale;
out->m[1][1] = (sr*sp*sy+cr*cy) * scale;
out->m[2][1] = (cr*sp*sy+-sr*cy) * scale;
out->m[3][1] = y;
out->m[0][2] = (-sp) * scale;
out->m[1][2] = (sr*cp) * scale;
out->m[2][2] = (cr*cp) * scale;
out->m[3][2] = z;
out->m[0][3] = 0;
out->m[1][3] = 0;
out->m[2][3] = 0;
out->m[3][3] = 1;
#else
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;
#endif
}
else if (pitch)
{
angle = yaw * (M_PI*2 / 360);
sy = sin(angle);
cy = sin(angle + M_PI * 0.5);
angle = pitch * (M_PI*2 / 360);
sp = sin(angle);
cp = sin(angle + M_PI * 0.5);
#ifdef MATRIX4x4_OPENGLORIENTATION
out->m[0][0] = (cp*cy) * scale;
out->m[1][0] = (-sy) * scale;
out->m[2][0] = (sp*cy) * scale;
out->m[3][0] = x;
out->m[0][1] = (cp*sy) * scale;
out->m[1][1] = (cy) * scale;
out->m[2][1] = (sp*sy) * scale;
out->m[3][1] = y;
out->m[0][2] = (-sp) * scale;
out->m[1][2] = 0;
out->m[2][2] = (cp) * scale;
out->m[3][2] = z;
out->m[0][3] = 0;
out->m[1][3] = 0;
out->m[2][3] = 0;
out->m[3][3] = 1;
#else
out->m[0][0] = (cp*cy) * scale;
out->m[0][1] = (-sy) * scale;
out->m[0][2] = (sp*cy) * scale;
out->m[0][3] = x;
out->m[1][0] = (cp*sy) * scale;
out->m[1][1] = (cy) * scale;
out->m[1][2] = (sp*sy) * scale;
out->m[1][3] = y;
out->m[2][0] = (-sp) * scale;
out->m[2][1] = 0;
out->m[2][2] = (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;
#endif
}
else if (yaw)
{
angle = yaw * (M_PI*2 / 360);
sy = sin(angle);
cy = sin(angle + M_PI * 0.5);
#ifdef MATRIX4x4_OPENGLORIENTATION
out->m[0][0] = (cy) * scale;
out->m[1][0] = (-sy) * scale;
out->m[2][0] = 0;
out->m[3][0] = x;
out->m[0][1] = (sy) * scale;
out->m[1][1] = (cy) * scale;
out->m[2][1] = 0;
out->m[3][1] = y;
out->m[0][2] = 0;
out->m[1][2] = 0;
out->m[2][2] = scale;
out->m[3][2] = z;
out->m[0][3] = 0;
out->m[1][3] = 0;
out->m[2][3] = 0;
out->m[3][3] = 1;
#else
out->m[0][0] = (cy) * scale;
out->m[0][1] = (-sy) * scale;
out->m[0][2] = 0;
out->m[0][3] = x;
out->m[1][0] = (sy) * scale;
out->m[1][1] = (cy) * scale;
out->m[1][2] = 0;
out->m[1][3] = y;
out->m[2][0] = 0;
out->m[2][1] = 0;
out->m[2][2] = 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;
#endif
}
else
{
#ifdef MATRIX4x4_OPENGLORIENTATION
out->m[0][0] = scale;
out->m[1][0] = 0;
out->m[2][0] = 0;
out->m[3][0] = x;
out->m[0][1] = 0;
out->m[1][1] = scale;
out->m[2][1] = 0;
out->m[3][1] = y;
out->m[0][2] = 0;
out->m[1][2] = 0;
out->m[2][2] = scale;
out->m[3][2] = z;
out->m[0][3] = 0;
out->m[1][3] = 0;
out->m[2][3] = 0;
out->m[3][3] = 1;
#else
out->m[0][0] = scale;
out->m[0][1] = 0;
out->m[0][2] = 0;
out->m[0][3] = x;
out->m[1][0] = 0;
out->m[1][1] = scale;
out->m[1][2] = 0;
out->m[1][3] = y;
out->m[2][0] = 0;
out->m[2][1] = 0;
out->m[2][2] = 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;
#endif
}
}
void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
vx[0] = in->m[0][0];
vx[1] = in->m[0][1];
vx[2] = in->m[0][2];
vy[0] = in->m[1][0];
vy[1] = in->m[1][1];
vy[2] = in->m[1][2];
vz[0] = in->m[2][0];
vz[1] = in->m[2][1];
vz[2] = in->m[2][2];
t [0] = in->m[3][0];
t [1] = in->m[3][1];
t [2] = in->m[3][2];
#else
vx[0] = in->m[0][0];
vx[1] = in->m[1][0];
vx[2] = in->m[2][0];
vy[0] = in->m[0][1];
vy[1] = in->m[1][1];
vy[2] = in->m[2][1];
vz[0] = in->m[0][2];
vz[1] = in->m[1][2];
vz[2] = in->m[2][2];
t [0] = in->m[0][3];
t [1] = in->m[1][3];
t [2] = in->m[2][3];
#endif
}
void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
out->m[0][0] = vx[0];
out->m[1][0] = vy[0];
out->m[2][0] = vz[0];
out->m[3][0] = t[0];
out->m[0][1] = vx[1];
out->m[1][1] = vy[1];
out->m[2][1] = vz[1];
out->m[3][1] = t[1];
out->m[0][2] = vx[2];
out->m[1][2] = vy[2];
out->m[2][2] = vz[2];
out->m[3][2] = t[2];
out->m[0][3] = 0.0f;
out->m[1][3] = 0.0f;
out->m[2][3] = 0.0f;
out->m[3][3] = 1.0f;
#else
out->m[0][0] = vx[0];
out->m[0][1] = vy[0];
out->m[0][2] = vz[0];
out->m[0][3] = t[0];
out->m[1][0] = vx[1];
out->m[1][1] = vy[1];
out->m[1][2] = vz[1];
out->m[1][3] = t[1];
out->m[2][0] = vx[2];
out->m[2][1] = vy[2];
out->m[2][2] = vz[2];
out->m[2][3] = t[2];
out->m[3][0] = 0.0f;
out->m[3][1] = 0.0f;
out->m[3][2] = 0.0f;
out->m[3][3] = 1.0f;
#endif
}
void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
out[ 0] = in->m[0][0];
out[ 1] = in->m[0][1];
out[ 2] = in->m[0][2];
out[ 3] = in->m[0][3];
out[ 4] = in->m[1][0];
out[ 5] = in->m[1][1];
out[ 6] = in->m[1][2];
out[ 7] = in->m[1][3];
out[ 8] = in->m[2][0];
out[ 9] = in->m[2][1];
out[10] = in->m[2][2];
out[11] = in->m[2][3];
out[12] = in->m[3][0];
out[13] = in->m[3][1];
out[14] = in->m[3][2];
out[15] = in->m[3][3];
#else
out[ 0] = in->m[0][0];
out[ 1] = in->m[1][0];
out[ 2] = in->m[2][0];
out[ 3] = in->m[3][0];
out[ 4] = in->m[0][1];
out[ 5] = in->m[1][1];
out[ 6] = in->m[2][1];
out[ 7] = in->m[3][1];
out[ 8] = in->m[0][2];
out[ 9] = in->m[1][2];
out[10] = in->m[2][2];
out[11] = in->m[3][2];
out[12] = in->m[0][3];
out[13] = in->m[1][3];
out[14] = in->m[2][3];
out[15] = in->m[3][3];