5 const matrix4x4_t identitymatrix =
15 void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in)
20 void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in)
22 out->m[0][0] = in->m[0][0];
23 out->m[0][1] = in->m[0][1];
24 out->m[0][2] = in->m[0][2];
26 out->m[1][0] = in->m[1][0];
27 out->m[1][1] = in->m[1][1];
28 out->m[1][2] = in->m[1][2];
30 out->m[2][0] = in->m[2][0];
31 out->m[2][1] = in->m[2][1];
32 out->m[2][2] = in->m[2][2];
40 void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
45 out->m[0][3] = in->m[0][3];
49 out->m[1][3] = in->m[1][3];
53 out->m[2][3] = in->m[2][3];
60 void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2)
62 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];
63 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];
64 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];
65 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];
66 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];
67 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];
68 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];
69 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];
70 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];
71 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];
72 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];
73 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];
74 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];
75 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];
76 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];
77 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];
80 void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
82 out->m[0][0] = in1->m[0][0];
83 out->m[0][1] = in1->m[1][0];
84 out->m[0][2] = in1->m[2][0];
85 out->m[0][3] = in1->m[3][0];
86 out->m[1][0] = in1->m[0][1];
87 out->m[1][1] = in1->m[1][1];
88 out->m[1][2] = in1->m[2][1];
89 out->m[1][3] = in1->m[3][1];
90 out->m[2][0] = in1->m[0][2];
91 out->m[2][1] = in1->m[1][2];
92 out->m[2][2] = in1->m[2][2];
93 out->m[2][3] = in1->m[3][2];
94 out->m[3][0] = in1->m[0][3];
95 out->m[3][1] = in1->m[1][3];
96 out->m[3][2] = in1->m[2][3];
97 out->m[3][3] = in1->m[3][3];
100 void Matrix4x4_Transpose3x3 (matrix4x4_t *out, const matrix4x4_t *in1)
102 out->m[0][0] = in1->m[0][0];
103 out->m[0][1] = in1->m[1][0];
104 out->m[0][2] = in1->m[2][0];
105 out->m[1][0] = in1->m[0][1];
106 out->m[1][1] = in1->m[1][1];
107 out->m[1][2] = in1->m[2][1];
108 out->m[2][0] = in1->m[0][2];
109 out->m[2][1] = in1->m[1][2];
110 out->m[2][2] = in1->m[2][2];
112 out->m[0][3] = in1->m[0][3];
113 out->m[1][3] = in1->m[1][3];
114 out->m[2][3] = in1->m[2][3];
115 out->m[3][0] = in1->m[0][3];
116 out->m[3][1] = in1->m[1][3];
117 out->m[3][2] = in1->m[2][3];
118 out->m[3][3] = in1->m[3][3];
121 void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
123 // we only support uniform scaling, so assume the first row is enough
124 // (note the lack of sqrt here, because we're trying to undo the scaling,
125 // this means multiplying by the inverse scale twice - squaring it, which
126 // makes the sqrt a waste of time)
128 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]);
130 double scale = 3.0 / sqrt
131 (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]
132 + in1->m[1][0] * in1->m[1][0] + in1->m[1][1] * in1->m[1][1] + in1->m[1][2] * in1->m[1][2]
133 + in1->m[2][0] * in1->m[2][0] + in1->m[2][1] * in1->m[2][1] + in1->m[2][2] * in1->m[2][2]);
137 // invert the rotation by transposing and multiplying by the squared
138 // recipricol of the input matrix scale as described above
139 out->m[0][0] = (float)(in1->m[0][0] * scale);
140 out->m[0][1] = (float)(in1->m[1][0] * scale);
141 out->m[0][2] = (float)(in1->m[2][0] * scale);
142 out->m[1][0] = (float)(in1->m[0][1] * scale);
143 out->m[1][1] = (float)(in1->m[1][1] * scale);
144 out->m[1][2] = (float)(in1->m[2][1] * scale);
145 out->m[2][0] = (float)(in1->m[0][2] * scale);
146 out->m[2][1] = (float)(in1->m[1][2] * scale);
147 out->m[2][2] = (float)(in1->m[2][2] * scale);
149 // invert the translate
150 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]);
151 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]);
152 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]);
154 // don't know if there's anything worth doing here
161 void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1)
163 // scale rotation matrix vectors to a length of 1
164 // note: this is only designed to undo uniform scaling
165 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]);
166 out->m[0][0] = (float)(in1->m[0][0] * scale);
167 out->m[0][1] = (float)(in1->m[0][1] * scale);
168 out->m[0][2] = (float)(in1->m[0][2] * scale);
169 out->m[0][3] = (float)(in1->m[0][3]);
170 out->m[1][0] = (float)(in1->m[1][0] * scale);
171 out->m[1][1] = (float)(in1->m[1][1] * scale);
172 out->m[1][2] = (float)(in1->m[1][2] * scale);
173 out->m[1][3] = (float)(in1->m[1][3]);
174 out->m[2][0] = (float)(in1->m[2][0] * scale);
175 out->m[2][1] = (float)(in1->m[2][1] * scale);
176 out->m[2][2] = (float)(in1->m[2][2] * scale);
177 out->m[2][3] = (float)(in1->m[2][3]);
184 void Matrix4x4_CreateIdentity (matrix4x4_t *out)
204 void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z)
224 void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z)
230 len = 1.0f / (float)sqrt(len);
235 angle *= (float)(-M_PI / 180.0);
236 c = (float)cos(angle);
237 s = (float)sin(angle);
239 out->m[0][0]=x * x + c * (1 - x * x);
240 out->m[0][1]=x * y * (1 - c) + z * s;
241 out->m[0][2]=z * x * (1 - c) - y * s;
243 out->m[1][0]=x * y * (1 - c) - z * s;
244 out->m[1][1]=y * y + c * (1 - y * y);
245 out->m[1][2]=y * z * (1 - c) + x * s;
247 out->m[2][0]=z * x * (1 - c) + y * s;
248 out->m[2][1]=y * z * (1 - c) - x * s;
249 out->m[2][2]=z * z + c * (1 - z * z);
257 void Matrix4x4_CreateScale (matrix4x4_t *out, double x)
277 void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z)
297 void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale)
299 double angle, sr, sp, sy, cr, cp, cy;
303 angle = yaw * (M_PI*2 / 360);
306 angle = pitch * (M_PI*2 / 360);
309 angle = roll * (M_PI*2 / 360);
312 out->m[0][0] = (float)((cp*cy) * scale);
313 out->m[0][1] = (float)((sr*sp*cy+cr*-sy) * scale);
314 out->m[0][2] = (float)((cr*sp*cy+-sr*-sy) * scale);
316 out->m[1][0] = (float)((cp*sy) * scale);
317 out->m[1][1] = (float)((sr*sp*sy+cr*cy) * scale);
318 out->m[1][2] = (float)((cr*sp*sy+-sr*cy) * scale);
320 out->m[2][0] = (float)((-sp) * scale);
321 out->m[2][1] = (float)((sr*cp) * scale);
322 out->m[2][2] = (float)((cr*cp) * scale);
331 angle = yaw * (M_PI*2 / 360);
334 angle = pitch * (M_PI*2 / 360);
337 out->m[0][0] = (float)((cp*cy) * scale);
338 out->m[0][1] = (float)((-sy) * scale);
339 out->m[0][2] = (float)((sp*cy) * scale);
341 out->m[1][0] = (float)((cp*sy) * scale);
342 out->m[1][1] = (float)((cy) * scale);
343 out->m[1][2] = (float)((sp*sy) * scale);
345 out->m[2][0] = (float)((-sp) * scale);
347 out->m[2][2] = (float)((cp) * scale);
356 angle = yaw * (M_PI*2 / 360);
359 out->m[0][0] = (float)((cy) * scale);
360 out->m[0][1] = (float)((-sy) * scale);
363 out->m[1][0] = (float)((sy) * scale);
364 out->m[1][1] = (float)((cy) * scale);
369 out->m[2][2] = scale;
378 out->m[0][0] = scale;
383 out->m[1][1] = scale;
388 out->m[2][2] = scale;
397 void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
413 void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
415 out->m[0][0] = vx[0];
416 out->m[0][1] = vy[0];
417 out->m[0][2] = vz[0];
419 out->m[1][0] = vx[1];
420 out->m[1][1] = vy[1];
421 out->m[1][2] = vz[1];
423 out->m[2][0] = vx[2];
424 out->m[2][1] = vy[2];
425 out->m[2][2] = vz[2];
433 void Matrix4x4_FromArrayDoubleGL (matrix4x4_t *out, const double in[16])
435 out->m[0][0] = in[0];
436 out->m[1][0] = in[1];
437 out->m[2][0] = in[2];
438 out->m[3][0] = in[3];
439 out->m[0][1] = in[4];
440 out->m[1][1] = in[5];
441 out->m[2][1] = in[6];
442 out->m[3][1] = in[7];
443 out->m[0][2] = in[8];
444 out->m[1][2] = in[9];
445 out->m[2][2] = in[10];
446 out->m[3][2] = in[11];
447 out->m[0][3] = in[12];
448 out->m[1][3] = in[13];
449 out->m[2][3] = in[14];
450 out->m[3][3] = in[15];
453 void Matrix4x4_FromArrayDoubleD3D (matrix4x4_t *out, const double in[16])
455 out->m[0][0] = in[0];
456 out->m[0][1] = in[1];
457 out->m[0][2] = in[2];
458 out->m[0][3] = in[3];
459 out->m[1][0] = in[4];
460 out->m[1][1] = in[5];
461 out->m[1][2] = in[6];
462 out->m[1][3] = in[7];
463 out->m[2][0] = in[8];
464 out->m[2][1] = in[9];
465 out->m[2][2] = in[10];
466 out->m[2][3] = in[11];
467 out->m[3][0] = in[12];
468 out->m[3][1] = in[13];
469 out->m[3][2] = in[14];
470 out->m[3][3] = in[15];
473 void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12])
475 out[ 0] = in->m[0][0];
476 out[ 1] = in->m[1][0];
477 out[ 2] = in->m[2][0];
478 out[ 3] = in->m[0][1];
479 out[ 4] = in->m[1][1];
480 out[ 5] = in->m[2][1];
481 out[ 6] = in->m[0][2];
482 out[ 7] = in->m[1][2];
483 out[ 8] = in->m[2][2];
484 out[ 9] = in->m[0][3];
485 out[10] = in->m[1][3];
486 out[11] = in->m[2][3];
489 void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12])
491 out->m[0][0] = in[0];
492 out->m[1][0] = in[1];
493 out->m[2][0] = in[2];
495 out->m[0][1] = in[3];
496 out->m[1][1] = in[4];
497 out->m[2][1] = in[5];
499 out->m[0][2] = in[6];
500 out->m[1][2] = in[7];
501 out->m[2][2] = in[8];
503 out->m[0][3] = in[9];
504 out->m[1][3] = in[10];
505 out->m[2][3] = in[11];
509 void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12])
511 out[ 0] = in->m[0][0];
512 out[ 1] = in->m[0][1];
513 out[ 2] = in->m[0][2];
514 out[ 3] = in->m[0][3];
515 out[ 4] = in->m[1][0];
516 out[ 5] = in->m[1][1];
517 out[ 6] = in->m[1][2];
518 out[ 7] = in->m[1][3];
519 out[ 8] = in->m[2][0];
520 out[ 9] = in->m[2][1];
521 out[10] = in->m[2][2];
522 out[11] = in->m[2][3];
525 void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12])
527 out->m[0][0] = in[0];
528 out->m[0][1] = in[1];
529 out->m[0][2] = in[2];
530 out->m[0][3] = in[3];
531 out->m[1][0] = in[4];
532 out->m[1][1] = in[5];
533 out->m[1][2] = in[6];
534 out->m[1][3] = in[7];
535 out->m[2][0] = in[8];
536 out->m[2][1] = in[9];
537 out->m[2][2] = in[10];
538 out->m[2][3] = in[11];
545 void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w)
547 m->m[0][0]=1-2*(y*y+z*z);m->m[0][1]= 2*(x*y-z*w);m->m[0][2]= 2*(x*z+y*w);m->m[0][3]=ox;
548 m->m[1][0]= 2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[1][2]= 2*(y*z-x*w);m->m[1][3]=oy;
549 m->m[2][0]= 2*(x*z-y*w);m->m[2][1]= 2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[2][3]=oz;
550 m->m[3][0]= 0 ;m->m[3][1]= 0 ;m->m[3][2]= 0 ;m->m[3][3]=1;
553 // LordHavoc: I got this code from:
554 //http://www.doom3world.org/phpbb2/viewtopic.php?t=2884
555 void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z)
557 double w = 1.0 - (x*x+y*y+z*z);
558 w = w > 0.0 ? -sqrt(w) : 0.0;
559 m->m[0][0]=1-2*(y*y+z*z);m->m[0][1]= 2*(x*y-z*w);m->m[0][2]= 2*(x*z+y*w);m->m[0][3]=ox;
560 m->m[1][0]= 2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[1][2]= 2*(y*z-x*w);m->m[1][3]=oy;
561 m->m[2][0]= 2*(x*z-y*w);m->m[2][1]= 2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[2][3]=oz;
562 m->m[3][0]= 0 ;m->m[3][1]= 0 ;m->m[3][2]= 0 ;m->m[3][3]=1;
565 void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
567 double iblend = 1 - blend;
568 out->m[0][0] = in1->m[0][0] * iblend + in2->m[0][0] * blend;
569 out->m[0][1] = in1->m[0][1] * iblend + in2->m[0][1] * blend;
570 out->m[0][2] = in1->m[0][2] * iblend + in2->m[0][2] * blend;
571 out->m[0][3] = in1->m[0][3] * iblend + in2->m[0][3] * blend;
572 out->m[1][0] = in1->m[1][0] * iblend + in2->m[1][0] * blend;
573 out->m[1][1] = in1->m[1][1] * iblend + in2->m[1][1] * blend;
574 out->m[1][2] = in1->m[1][2] * iblend + in2->m[1][2] * blend;
575 out->m[1][3] = in1->m[1][3] * iblend + in2->m[1][3] * blend;
576 out->m[2][0] = in1->m[2][0] * iblend + in2->m[2][0] * blend;
577 out->m[2][1] = in1->m[2][1] * iblend + in2->m[2][1] * blend;
578 out->m[2][2] = in1->m[2][2] * iblend + in2->m[2][2] * blend;
579 out->m[2][3] = in1->m[2][3] * iblend + in2->m[2][3] * blend;
580 out->m[3][0] = in1->m[3][0] * iblend + in2->m[3][0] * blend;
581 out->m[3][1] = in1->m[3][1] * iblend + in2->m[3][1] * blend;
582 out->m[3][2] = in1->m[3][2] * iblend + in2->m[3][2] * blend;
583 out->m[3][3] = in1->m[3][3] * iblend + in2->m[3][3] * blend;
587 void Matrix4x4_Transform (const matrix4x4_t *in, const float v[3], float out[3])
589 out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3];
590 out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3];
591 out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3];
594 void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4])
596 out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + v[3] * in->m[0][3];
597 out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + v[3] * in->m[1][3];
598 out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + v[3] * in->m[2][3];
599 out[3] = v[0] * in->m[3][0] + v[1] * in->m[3][1] + v[2] * in->m[3][2] + v[3] * in->m[3][3];
602 void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const float v[3], float out[3])
604 out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2];
605 out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2];
606 out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2];
610 void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
613 t[0] = v[0] - in->m[0][3];
614 t[1] = v[1] - in->m[1][3];
615 t[2] = v[2] - in->m[2][3];
616 out[0] = t[0] * in->m[0][0] + t[1] * in->m[1][0] + t[2] * in->m[2][0];
617 out[1] = t[0] * in->m[0][1] + t[1] * in->m[1][1] + t[2] * in->m[2][1];
618 out[2] = t[0] * in->m[0][2] + t[1] * in->m[1][2] + t[2] * in->m[2][2];
623 void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z)
625 matrix4x4_t base, temp;
627 Matrix4x4_CreateTranslate(&temp, x, y, z);
628 Matrix4x4_Concat(out, &base, &temp);
632 void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z)
634 matrix4x4_t base, temp;
636 Matrix4x4_CreateRotate(&temp, angle, x, y, z);
637 Matrix4x4_Concat(out, &base, &temp);
641 void Matrix4x4_ConcatScale (matrix4x4_t *out, double x)
643 matrix4x4_t base, temp;
645 Matrix4x4_CreateScale(&temp, x);
646 Matrix4x4_Concat(out, &base, &temp);
650 void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z)
652 matrix4x4_t base, temp;
654 Matrix4x4_CreateScale3(&temp, x, y, z);
655 Matrix4x4_Concat(out, &base, &temp);
658 void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, float *out)
660 out[0] = in->m[0][3];
661 out[1] = in->m[1][3];
662 out[2] = in->m[2][3];
665 double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in)
667 // we only support uniform scaling, so assume the first row is enough
668 return (float)sqrt(in->m[0][0] * in->m[0][0] + in->m[0][1] * in->m[0][1] + in->m[0][2] * in->m[0][2]);
671 void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z)
678 void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z)