7 #pragma warning(disable : 4244) // LordHavoc: MSVC++ 4 x86, double/float
8 #pragma warning(disable : 4305) // LordHavoc: MSVC++ 6 x86, double/float
11 const matrix4x4_t identitymatrix =
21 void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in)
26 void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in)
28 out->m[0][0] = in->m[0][0];
29 out->m[0][1] = in->m[0][1];
30 out->m[0][2] = in->m[0][2];
32 out->m[1][0] = in->m[1][0];
33 out->m[1][1] = in->m[1][1];
34 out->m[1][2] = in->m[1][2];
36 out->m[2][0] = in->m[2][0];
37 out->m[2][1] = in->m[2][1];
38 out->m[2][2] = in->m[2][2];
46 void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
48 #ifdef MATRIX4x4_OPENGLORIENTATION
52 out->m[3][0] = in->m[0][3];
56 out->m[3][1] = in->m[1][3];
60 out->m[3][2] = in->m[2][3];
69 out->m[0][3] = in->m[0][3];
73 out->m[1][3] = in->m[1][3];
77 out->m[2][3] = in->m[2][3];
85 void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2)
87 #ifdef MATRIX4x4_OPENGLORIENTATION
88 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];
89 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];
90 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];
91 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];
92 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];
93 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];
94 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];
95 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];
96 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];
97 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];
98 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];
99 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];
100 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];
101 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];
102 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];
103 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];
105 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];
106 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];
107 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];
108 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];
109 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];
110 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];
111 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];
112 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];
113 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];
114 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];
115 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];
116 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];
117 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];
118 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];
119 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];
120 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];
124 void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
126 out->m[0][0] = in1->m[0][0];
127 out->m[0][1] = in1->m[1][0];
128 out->m[0][2] = in1->m[2][0];
129 out->m[0][3] = in1->m[3][0];
130 out->m[1][0] = in1->m[0][1];
131 out->m[1][1] = in1->m[1][1];
132 out->m[1][2] = in1->m[2][1];
133 out->m[1][3] = in1->m[3][1];
134 out->m[2][0] = in1->m[0][2];
135 out->m[2][1] = in1->m[1][2];
136 out->m[2][2] = in1->m[2][2];
137 out->m[2][3] = in1->m[3][2];
138 out->m[3][0] = in1->m[0][3];
139 out->m[3][1] = in1->m[1][3];
140 out->m[3][2] = in1->m[2][3];
141 out->m[3][3] = in1->m[3][3];
144 int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
157 #ifdef MATRIX4x4_OPENGLORIENTATION
158 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];
159 r[0][4] = 1.0; r[0][5] = r[0][6] = r[0][7] = 0.0;
161 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];
162 r[1][5] = 1.0; r[1][4] = r[1][6] = r[1][7] = 0.0;
164 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];
165 r[2][6] = 1.0; r[2][4] = r[2][5] = r[2][7] = 0.0;
167 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];
168 r[3][7] = 1.0; r[3][4] = r[3][5] = r[3][6] = 0.0;
170 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];
171 r[0][4] = 1.0; r[0][5] = r[0][6] = r[0][7] = 0.0;
173 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];
174 r[1][5] = 1.0; r[1][4] = r[1][6] = r[1][7] = 0.0;
176 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];
177 r[2][6] = 1.0; r[2][4] = r[2][5] = r[2][7] = 0.0;
179 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];
180 r[3][7] = 1.0; r[3][4] = r[3][5] = r[3][6] = 0.0;
183 if (fabs (r[3][0]) > fabs (r[2][0])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
184 if (fabs (r[2][0]) > fabs (r[1][0])) { temp = r[2]; r[2] = r[1]; r[1] = temp; }
185 if (fabs (r[1][0]) > fabs (r[0][0])) { temp = r[1]; r[1] = r[0]; r[0] = temp; }
189 m[1] = r[1][0] / r[0][0];
190 m[2] = r[2][0] / r[0][0];
191 m[3] = r[3][0] / r[0][0];
193 s = r[0][1]; r[1][1] -= m[1] * s; r[2][1] -= m[2] * s; r[3][1] -= m[3] * s;
194 s = r[0][2]; r[1][2] -= m[1] * s; r[2][2] -= m[2] * s; r[3][2] -= m[3] * s;
195 s = r[0][3]; r[1][3] -= m[1] * s; r[2][3] -= m[2] * s; r[3][3] -= m[3] * s;
197 s = r[0][4]; if (s) { r[1][4] -= m[1] * s; r[2][4] -= m[2] * s; r[3][4] -= m[3] * s; }
198 s = r[0][5]; if (s) { r[1][5] -= m[1] * s; r[2][5] -= m[2] * s; r[3][5] -= m[3] * s; }
199 s = r[0][6]; if (s) { r[1][6] -= m[1] * s; r[2][6] -= m[2] * s; r[3][6] -= m[3] * s; }
200 s = r[0][7]; if (s) { r[1][7] -= m[1] * s; r[2][7] -= m[2] * s; r[3][7] -= m[3] * s; }
202 if (fabs (r[3][1]) > fabs (r[2][1])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
203 if (fabs (r[2][1]) > fabs (r[1][1])) { temp = r[2]; r[2] = r[1]; r[1] = temp; }
207 m[2] = r[2][1] / r[1][1];
208 m[3] = r[3][1] / r[1][1];
209 r[2][2] -= m[2] * r[1][2];
210 r[3][2] -= m[3] * r[1][2];
211 r[2][3] -= m[2] * r[1][3];
212 r[3][3] -= m[3] * r[1][3];
214 s = r[1][4]; if (s) { r[2][4] -= m[2] * s; r[3][4] -= m[3] * s; }
215 s = r[1][5]; if (s) { r[2][5] -= m[2] * s; r[3][5] -= m[3] * s; }
216 s = r[1][6]; if (s) { r[2][6] -= m[2] * s; r[3][6] -= m[3] * s; }
217 s = r[1][7]; if (s) { r[2][7] -= m[2] * s; r[3][7] -= m[3] * s; }
219 if (fabs (r[3][2]) > fabs (r[2][2])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
223 m[3] = r[3][2] / r[2][2];
224 r[3][3] -= m[3] * r[2][3];
225 r[3][4] -= m[3] * r[2][4];
226 r[3][5] -= m[3] * r[2][5];
227 r[3][6] -= m[3] * r[2][6];
228 r[3][7] -= m[3] * r[2][7];
240 r[2][4] = s * (r[2][4] - r[3][4] * m[2]);
241 r[2][5] = s * (r[2][5] - r[3][5] * m[2]);
242 r[2][6] = s * (r[2][6] - r[3][6] * m[2]);
243 r[2][7] = s * (r[2][7] - r[3][7] * m[2]);
246 r[1][4] -= r[3][4] * m[1], r[1][5] -= r[3][5] * m[1];
247 r[1][6] -= r[3][6] * m[1], r[1][7] -= r[3][7] * m[1];
250 r[0][4] -= r[3][4] * m[0], r[0][5] -= r[3][5] * m[0];
251 r[0][6] -= r[3][6] * m[0], r[0][7] -= r[3][7] * m[0];
255 r[1][4] = s * (r[1][4] - r[2][4] * m[1]), r[1][5] = s * (r[1][5] - r[2][5] * m[1]);
256 r[1][6] = s * (r[1][6] - r[2][6] * m[1]), r[1][7] = s * (r[1][7] - r[2][7] * m[1]);
259 r[0][4] -= r[2][4] * m[0], r[0][5] -= r[2][5] * m[0];
260 r[0][6] -= r[2][6] * m[0], r[0][7] -= r[2][7] * m[0];
264 r[0][4] = s * (r[0][4] - r[1][4] * m[0]), r[0][5] = s * (r[0][5] - r[1][5] * m[0]);
265 r[0][6] = s * (r[0][6] - r[1][6] * m[0]), r[0][7] = s * (r[0][7] - r[1][7] * m[0]);
267 #ifdef MATRIX4x4_OPENGLORIENTATION
268 out->m[0][0] = r[0][4];
269 out->m[0][1] = r[1][4];
270 out->m[0][2] = r[2][4];
271 out->m[0][3] = r[3][4];
272 out->m[1][0] = r[0][5];
273 out->m[1][1] = r[1][5];
274 out->m[1][2] = r[2][5];
275 out->m[1][3] = r[3][5];
276 out->m[2][0] = r[0][6];
277 out->m[2][1] = r[1][6];
278 out->m[2][2] = r[2][6];
279 out->m[2][3] = r[3][6];
280 out->m[3][0] = r[0][7];
281 out->m[3][1] = r[1][7];
282 out->m[3][2] = r[2][7];
283 out->m[3][3] = r[3][7];
285 out->m[0][0] = r[0][4];
286 out->m[0][1] = r[0][5];
287 out->m[0][2] = r[0][6];
288 out->m[0][3] = r[0][7];
289 out->m[1][0] = r[1][4];
290 out->m[1][1] = r[1][5];
291 out->m[1][2] = r[1][6];
292 out->m[1][3] = r[1][7];
293 out->m[2][0] = r[2][4];
294 out->m[2][1] = r[2][5];
295 out->m[2][2] = r[2][6];
296 out->m[2][3] = r[2][7];
297 out->m[3][0] = r[3][4];
298 out->m[3][1] = r[3][5];
299 out->m[3][2] = r[3][6];
300 out->m[3][3] = r[3][7];
312 void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
314 // we only support uniform scaling, so assume the first row is enough
315 // (note the lack of sqrt here, because we're trying to undo the scaling,
316 // this means multiplying by the inverse scale twice - squaring it, which
317 // makes the sqrt a waste of time)
319 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]);
321 double scale = 3.0 / sqrt
322 (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]
323 + in1->m[1][0] * in1->m[1][0] + in1->m[1][1] * in1->m[1][1] + in1->m[1][2] * in1->m[1][2]
324 + in1->m[2][0] * in1->m[2][0] + in1->m[2][1] * in1->m[2][1] + in1->m[2][2] * in1->m[2][2]);
328 // invert the rotation by transposing and multiplying by the squared
329 // recipricol of the input matrix scale as described above
330 out->m[0][0] = in1->m[0][0] * scale;
331 out->m[0][1] = in1->m[1][0] * scale;
332 out->m[0][2] = in1->m[2][0] * scale;
333 out->m[1][0] = in1->m[0][1] * scale;
334 out->m[1][1] = in1->m[1][1] * scale;
335 out->m[1][2] = in1->m[2][1] * scale;
336 out->m[2][0] = in1->m[0][2] * scale;
337 out->m[2][1] = in1->m[1][2] * scale;
338 out->m[2][2] = in1->m[2][2] * scale;
340 #ifdef MATRIX4x4_OPENGLORIENTATION
341 // invert the translate
342 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]);
343 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]);
344 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]);
346 // don't know if there's anything worth doing here
352 // invert the translate
353 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]);
354 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]);
355 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]);
357 // don't know if there's anything worth doing here
365 void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1)
367 // scale rotation matrix vectors to a length of 1
368 // note: this is only designed to undo uniform scaling
369 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]);
371 Matrix4x4_Scale(out, scale, 1);
374 void Matrix4x4_Reflect (matrix4x4_t *out, double normalx, double normaly, double normalz, double dist, double axisscale)
383 p2[0] = p[0] * axisscale;
384 p2[1] = p[1] * axisscale;
385 p2[2] = p[2] * axisscale;
387 for (i = 0;i < 4;i++)
389 #ifdef MATRIX4x4_OPENGLORIENTATION
390 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];
391 out->m[i][0] += p2[0] * d;
392 out->m[i][1] += p2[1] * d;
393 out->m[i][2] += p2[2] * d;
395 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];
396 out->m[0][i] += p2[0] * d;
397 out->m[1][i] += p2[1] * d;
398 out->m[2][i] += p2[2] * d;
403 void Matrix4x4_CreateIdentity (matrix4x4_t *out)
423 void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z)
425 #ifdef MATRIX4x4_OPENGLORIENTATION
462 void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z)
468 len = 1.0f / sqrt(len);
473 angle *= (-M_PI / 180.0);
477 #ifdef MATRIX4x4_OPENGLORIENTATION
478 out->m[0][0]=x * x + c * (1 - x * x);
479 out->m[1][0]=x * y * (1 - c) + z * s;
480 out->m[2][0]=z * x * (1 - c) - y * s;
482 out->m[0][1]=x * y * (1 - c) - z * s;
483 out->m[1][1]=y * y + c * (1 - y * y);
484 out->m[2][1]=y * z * (1 - c) + x * s;
486 out->m[0][2]=z * x * (1 - c) + y * s;
487 out->m[1][2]=y * z * (1 - c) - x * s;
488 out->m[2][2]=z * z + c * (1 - z * z);
495 out->m[0][0]=x * x + c * (1 - x * x);
496 out->m[0][1]=x * y * (1 - c) + z * s;
497 out->m[0][2]=z * x * (1 - c) - y * s;
499 out->m[1][0]=x * y * (1 - c) - z * s;
500 out->m[1][1]=y * y + c * (1 - y * y);
501 out->m[1][2]=y * z * (1 - c) + x * s;
503 out->m[2][0]=z * x * (1 - c) + y * s;
504 out->m[2][1]=y * z * (1 - c) - x * s;
505 out->m[2][2]=z * z + c * (1 - z * z);
514 void Matrix4x4_CreateScale (matrix4x4_t *out, double x)
534 void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z)
554 void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale)
556 double angle, sr, sp, sy, cr, cp, cy;
560 angle = yaw * (M_PI*2 / 360);
563 angle = pitch * (M_PI*2 / 360);
566 angle = roll * (M_PI*2 / 360);
569 #ifdef MATRIX4x4_OPENGLORIENTATION
570 out->m[0][0] = (cp*cy) * scale;
571 out->m[1][0] = (sr*sp*cy+cr*-sy) * scale;
572 out->m[2][0] = (cr*sp*cy+-sr*-sy) * scale;
574 out->m[0][1] = (cp*sy) * scale;
575 out->m[1][1] = (sr*sp*sy+cr*cy) * scale;
576 out->m[2][1] = (cr*sp*sy+-sr*cy) * scale;
578 out->m[0][2] = (-sp) * scale;
579 out->m[1][2] = (sr*cp) * scale;
580 out->m[2][2] = (cr*cp) * scale;
587 out->m[0][0] = (cp*cy) * scale;
588 out->m[0][1] = (sr*sp*cy+cr*-sy) * scale;
589 out->m[0][2] = (cr*sp*cy+-sr*-sy) * scale;
591 out->m[1][0] = (cp*sy) * scale;
592 out->m[1][1] = (sr*sp*sy+cr*cy) * scale;
593 out->m[1][2] = (cr*sp*sy+-sr*cy) * scale;
595 out->m[2][0] = (-sp) * scale;
596 out->m[2][1] = (sr*cp) * scale;
597 out->m[2][2] = (cr*cp) * scale;
607 angle = yaw * (M_PI*2 / 360);
610 angle = pitch * (M_PI*2 / 360);
613 #ifdef MATRIX4x4_OPENGLORIENTATION
614 out->m[0][0] = (cp*cy) * scale;
615 out->m[1][0] = (-sy) * scale;
616 out->m[2][0] = (sp*cy) * scale;
618 out->m[0][1] = (cp*sy) * scale;
619 out->m[1][1] = (cy) * scale;
620 out->m[2][1] = (sp*sy) * scale;
622 out->m[0][2] = (-sp) * scale;
624 out->m[2][2] = (cp) * scale;
631 out->m[0][0] = (cp*cy) * scale;
632 out->m[0][1] = (-sy) * scale;
633 out->m[0][2] = (sp*cy) * scale;
635 out->m[1][0] = (cp*sy) * scale;
636 out->m[1][1] = (cy) * scale;
637 out->m[1][2] = (sp*sy) * scale;
639 out->m[2][0] = (-sp) * scale;
641 out->m[2][2] = (cp) * scale;
651 angle = yaw * (M_PI*2 / 360);
654 #ifdef MATRIX4x4_OPENGLORIENTATION
655 out->m[0][0] = (cy) * scale;
656 out->m[1][0] = (-sy) * scale;
659 out->m[0][1] = (sy) * scale;
660 out->m[1][1] = (cy) * scale;
665 out->m[2][2] = scale;
672 out->m[0][0] = (cy) * scale;
673 out->m[0][1] = (-sy) * scale;
676 out->m[1][0] = (sy) * scale;
677 out->m[1][1] = (cy) * scale;
682 out->m[2][2] = scale;
692 #ifdef MATRIX4x4_OPENGLORIENTATION
693 out->m[0][0] = scale;
698 out->m[1][1] = scale;
703 out->m[2][2] = scale;
710 out->m[0][0] = scale;
715 out->m[1][1] = scale;
720 out->m[2][2] = scale;
730 void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
732 #ifdef MATRIX4x4_OPENGLORIENTATION
761 void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
763 #ifdef MATRIX4x4_OPENGLORIENTATION
764 out->m[0][0] = vx[0];
765 out->m[1][0] = vy[0];
766 out->m[2][0] = vz[0];
768 out->m[0][1] = vx[1];
769 out->m[1][1] = vy[1];
770 out->m[2][1] = vz[1];
772 out->m[0][2] = vx[2];
773 out->m[1][2] = vy[2];
774 out->m[2][2] = vz[2];
781 out->m[0][0] = vx[0];
782 out->m[0][1] = vy[0];
783 out->m[0][2] = vz[0];
785 out->m[1][0] = vx[1];
786 out->m[1][1] = vy[1];
787 out->m[1][2] = vz[1];
789 out->m[2][0] = vx[2];
790 out->m[2][1] = vy[2];
791 out->m[2][2] = vz[2];
800 void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16])
802 #ifdef MATRIX4x4_OPENGLORIENTATION
803 out[ 0] = in->m[0][0];
804 out[ 1] = in->m[0][1];
805 out[ 2] = in->m[0][2];
806 out[ 3] = in->m[0][3];
807 out[ 4] = in->m[1][0];
808 out[ 5] = in->m[1][1];
809 out[ 6] = in->m[1][2];
810 out[ 7] = in->m[1][3];
811 out[ 8] = in->m[2][0];
812 out[ 9] = in->m[2][1];
813 out[10] = in->m[2][2];
814 out[11] = in->m[2][3];
815 out[12] = in->m[3][0];
816 out[13] = in->m[3][1];
817 out[14] = in->m[3][2];
818 out[15] = in->m[3][3];
820 out[ 0] = in->m[0][0];
821 out[ 1] = in->m[1][0];
822 out[ 2] = in->m[2][0];
823 out[ 3] = in->m[3][0];
824 out[ 4] = in->m[0][1];
825 out[ 5] = in->m[1][1];
826 out[ 6] = in->m[2][1];
827 out[ 7] = in->m[3][1];
828 out[ 8] = in->m[0][2];
829 out[ 9] = in->m[1][2];
830 out[10] = in->m[2][2];
831 out[11] = in->m[3][2];
832 out[12] = in->m[0][3];
833 out[13] = in->m[1][3];
834 out[14] = in->m[2][3];
835 out[15] = in->m[3][3];
839 void Matrix4x4_FromArrayDoubleGL (matrix4x4_t *out, const double in[16])
841 #ifdef MATRIX4x4_OPENGLORIENTATION
842 out->m[0][0] = in[0];
843 out->m[0][1] = in[1];
844 out->m[0][2] = in[2];
845 out->m[0][3] = in[3];
846 out->m[1][0] = in[4];
847 out->m[1][1] = in[5];
848 out->m[1][2] = in[6];
849 out->m[1][3] = in[7];
850 out->m[2][0] = in[8];
851 out->m[2][1] = in[9];
852 out->m[2][2] = in[10];
853 out->m[2][3] = in[11];
854 out->m[3][0] = in[12];
855 out->m[3][1] = in[13];
856 out->m[3][2] = in[14];
857 out->m[3][3] = in[15];
859 out->m[0][0] = in[0];
860 out->m[1][0] = in[1];
861 out->m[2][0] = in[2];
862 out->m[3][0] = in[3];
863 out->m[0][1] = in[4];
864 out->m[1][1] = in[5];
865 out->m[2][1] = in[6];
866 out->m[3][1] = in[7];
867 out->m[0][2] = in[8];
868 out->m[1][2] = in[9];
869 out->m[2][2] = in[10];
870 out->m[3][2] = in[11];
871 out->m[0][3] = in[12];
872 out->m[1][3] = in[13];
873 out->m[2][3] = in[14];
874 out->m[3][3] = in[15];
878 void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16])
880 #ifdef MATRIX4x4_OPENGLORIENTATION
881 out[ 0] = in->m[0][0];
882 out[ 1] = in->m[1][0];
883 out[ 2] = in->m[2][0];
884 out[ 3] = in->m[3][0];
885 out[ 4] = in->m[0][1];
886 out[ 5] = in->m[1][1];
887 out[ 6] = in->m[2][1];
888 out[ 7] = in->m[3][1];
889 out[ 8] = in->m[0][2];
890 out[ 9] = in->m[1][2];
891 out[10] = in->m[2][2];
892 out[11] = in->m[3][2];
893 out[12] = in->m[0][3];
894 out[13] = in->m[1][3];
895 out[14] = in->m[2][3];
896 out[15] = in->m[3][3];
898 out[ 0] = in->m[0][0];
899 out[ 1] = in->m[0][1];
900 out[ 2] = in->m[0][2];
901 out[ 3] = in->m[0][3];
902 out[ 4] = in->m[1][0];
903 out[ 5] = in->m[1][1];
904 out[ 6] = in->m[1][2];
905 out[ 7] = in->m[1][3];
906 out[ 8] = in->m[2][0];
907 out[ 9] = in->m[2][1];
908 out[10] = in->m[2][2];
909 out[11] = in->m[2][3];
910 out[12] = in->m[3][0];
911 out[13] = in->m[3][1];
912 out[14] = in->m[3][2];
913 out[15] = in->m[3][3];
917 void Matrix4x4_FromArrayDoubleD3D (matrix4x4_t *out, const double in[16])
919 #ifdef MATRIX4x4_OPENGLORIENTATION
920 out->m[0][0] = in[0];
921 out->m[1][0] = in[1];
922 out->m[2][0] = in[2];
923 out->m[3][0] = in[3];
924 out->m[0][1] = in[4];
925 out->m[1][1] = in[5];
926 out->m[2][1] = in[6];
927 out->m[3][1] = in[7];
928 out->m[0][2] = in[8];
929 out->m[1][2] = in[9];
930 out->m[2][2] = in[10];
931 out->m[3][2] = in[11];
932 out->m[0][3] = in[12];
933 out->m[1][3] = in[13];
934 out->m[2][3] = in[14];
935 out->m[3][3] = in[15];
937 out->m[0][0] = in[0];
938 out->m[0][1] = in[1];
939 out->m[0][2] = in[2];
940 out->m[0][3] = in[3];
941 out->m[1][0] = in[4];
942 out->m[1][1] = in[5];
943 out->m[1][2] = in[6];
944 out->m[1][3] = in[7];
945 out->m[2][0] = in[8];
946 out->m[2][1] = in[9];
947 out->m[2][2] = in[10];
948 out->m[2][3] = in[11];
949 out->m[3][0] = in[12];
950 out->m[3][1] = in[13];
951 out->m[3][2] = in[14];
952 out->m[3][3] = in[15];
956 void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12])
958 #ifdef MATRIX4x4_OPENGLORIENTATION
959 out[ 0] = in->m[0][0];
960 out[ 1] = in->m[0][1];
961 out[ 2] = in->m[0][2];
962 out[ 3] = in->m[1][0];
963 out[ 4] = in->m[1][1];
964 out[ 5] = in->m[1][2];
965 out[ 6] = in->m[2][0];
966 out[ 7] = in->m[2][1];
967 out[ 8] = in->m[2][2];
968 out[ 9] = in->m[3][0];
969 out[10] = in->m[3][1];
970 out[11] = in->m[3][2];
972 out[ 0] = in->m[0][0];
973 out[ 1] = in->m[1][0];
974 out[ 2] = in->m[2][0];
975 out[ 3] = in->m[0][1];
976 out[ 4] = in->m[1][1];
977 out[ 5] = in->m[2][1];
978 out[ 6] = in->m[0][2];
979 out[ 7] = in->m[1][2];
980 out[ 8] = in->m[2][2];
981 out[ 9] = in->m[0][3];
982 out[10] = in->m[1][3];
983 out[11] = in->m[2][3];
987 void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12])
989 #ifdef MATRIX4x4_OPENGLORIENTATION
990 out->m[0][0] = in[0];
991 out->m[0][1] = in[1];
992 out->m[0][2] = in[2];
994 out->m[1][0] = in[3];
995 out->m[1][1] = in[4];
996 out->m[1][2] = in[5];
998 out->m[2][0] = in[6];
999 out->m[2][1] = in[7];
1000 out->m[2][2] = in[8];
1002 out->m[3][0] = in[9];
1003 out->m[3][1] = in[10];
1004 out->m[3][2] = in[11];
1007 out->m[0][0] = in[0];
1008 out->m[1][0] = in[1];
1009 out->m[2][0] = in[2];
1011 out->m[0][1] = in[3];
1012 out->m[1][1] = in[4];
1013 out->m[2][1] = in[5];
1015 out->m[0][2] = in[6];
1016 out->m[1][2] = in[7];
1017 out->m[2][2] = in[8];
1019 out->m[0][3] = in[9];
1020 out->m[1][3] = in[10];
1021 out->m[2][3] = in[11];
1026 void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12])
1028 #ifdef MATRIX4x4_OPENGLORIENTATION
1029 out[ 0] = in->m[0][0];
1030 out[ 1] = in->m[1][0];
1031 out[ 2] = in->m[2][0];
1032 out[ 3] = in->m[3][0];
1033 out[ 4] = in->m[0][1];
1034 out[ 5] = in->m[1][1];
1035 out[ 6] = in->m[2][1];
1036 out[ 7] = in->m[3][1];
1037 out[ 8] = in->m[0][2];
1038 out[ 9] = in->m[1][2];
1039 out[10] = in->m[2][2];
1040 out[11] = in->m[3][2];
1042 out[ 0] = in->m[0][0];
1043 out[ 1] = in->m[0][1];
1044 out[ 2] = in->m[0][2];
1045 out[ 3] = in->m[0][3];
1046 out[ 4] = in->m[1][0];
1047 out[ 5] = in->m[1][1];
1048 out[ 6] = in->m[1][2];
1049 out[ 7] = in->m[1][3];
1050 out[ 8] = in->m[2][0];
1051 out[ 9] = in->m[2][1];
1052 out[10] = in->m[2][2];
1053 out[11] = in->m[2][3];
1057 void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12])
1059 #ifdef MATRIX4x4_OPENGLORIENTATION
1060 out->m[0][0] = in[0];
1061 out->m[1][0] = in[1];
1062 out->m[2][0] = in[2];
1063 out->m[3][0] = in[3];
1064 out->m[0][1] = in[4];
1065 out->m[1][1] = in[5];
1066 out->m[2][1] = in[6];
1067 out->m[3][1] = in[7];
1068 out->m[0][2] = in[8];
1069 out->m[1][2] = in[9];
1070 out->m[2][2] = in[10];
1071 out->m[3][2] = in[11];
1077 out->m[0][0] = in[0];
1078 out->m[0][1] = in[1];
1079 out->m[0][2] = in[2];
1080 out->m[0][3] = in[3];
1081 out->m[1][0] = in[4];
1082 out->m[1][1] = in[5];
1083 out->m[1][2] = in[6];
1084 out->m[1][3] = in[7];
1085 out->m[2][0] = in[8];
1086 out->m[2][1] = in[9];
1087 out->m[2][2] = in[10];
1088 out->m[2][3] = in[11];
1096 void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w)
1098 #ifdef MATRIX4x4_OPENGLORIENTATION
1099 m->m[0][0]=1-2*(y*y+z*z);m->m[1][0]= 2*(x*y-z*w);m->m[2][0]= 2*(x*z+y*w);m->m[3][0]=ox;
1100 m->m[0][1]= 2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[2][1]= 2*(y*z-x*w);m->m[3][1]=oy;
1101 m->m[0][2]= 2*(x*z-y*w);m->m[1][2]= 2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[3][2]=oz;
1102 m->m[0][3]= 0 ;m->m[1][3]= 0 ;m->m[2][3]= 0 ;m->m[3][3]=1;
1104 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;
1105 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;
1106 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;
1107 m->m[3][0]= 0 ;m->m[3][1]= 0 ;m->m[3][2]= 0 ;m->m[3][3]=1;
1111 // LordHavoc: I got this code from:
1112 //http://www.doom3world.org/phpbb2/viewtopic.php?t=2884
1113 void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z)
1115 double w = 1.0 - (x*x+y*y+z*z);
1116 w = w > 0.0 ? -sqrt(w) : 0.0;
1117 #ifdef MATRIX4x4_OPENGLORIENTATION
1118 m->m[0][0]=1-2*(y*y+z*z);m->m[1][0]= 2*(x*y-z*w);m->m[2][0]= 2*(x*z+y*w);m->m[3][0]=ox;
1119 m->m[0][1]= 2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[2][1]= 2*(y*z-x*w);m->m[3][1]=oy;
1120 m->m[0][2]= 2*(x*z-y*w);m->m[1][2]= 2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[3][2]=oz;
1121 m->m[0][3]= 0 ;m->m[1][3]= 0 ;m->m[2][3]= 0 ;m->m[3][3]=1;
1123 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;
1124 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;
1125 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;
1126 m->m[3][0]= 0 ;m->m[3][1]= 0 ;m->m[3][2]= 0 ;m->m[3][3]=1;
1130 void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
1132 double iblend = 1 - blend;
1133 out->m[0][0] = in1->m[0][0] * iblend + in2->m[0][0] * blend;
1134 out->m[0][1] = in1->m[0][1] * iblend + in2->m[0][1] * blend;
1135 out->m[0][2] = in1->m[0][2] * iblend + in2->m[0][2] * blend;
1136 out->m[0][3] = in1->m[0][3] * iblend + in2->m[0][3] * blend;
1137 out->m[1][0] = in1->m[1][0] * iblend + in2->m[1][0] * blend;
1138 out->m[1][1] = in1->m[1][1] * iblend + in2->m[1][1] * blend;
1139 out->m[1][2] = in1->m[1][2] * iblend + in2->m[1][2] * blend;
1140 out->m[1][3] = in1->m[1][3] * iblend + in2->m[1][3] * blend;
1141 out->m[2][0] = in1->m[2][0] * iblend + in2->m[2][0] * blend;
1142 out->m[2][1] = in1->m[2][1] * iblend + in2->m[2][1] * blend;
1143 out->m[2][2] = in1->m[2][2] * iblend + in2->m[2][2] * blend;
1144 out->m[2][3] = in1->m[2][3] * iblend + in2->m[2][3] * blend;
1145 out->m[3][0] = in1->m[3][0] * iblend + in2->m[3][0] * blend;
1146 out->m[3][1] = in1->m[3][1] * iblend + in2->m[3][1] * blend;
1147 out->m[3][2] = in1->m[3][2] * iblend + in2->m[3][2] * blend;
1148 out->m[3][3] = in1->m[3][3] * iblend + in2->m[3][3] * blend;
1152 void Matrix4x4_Transform (const matrix4x4_t *in, const float v[3], float out[3])
1154 #ifdef MATRIX4x4_OPENGLORIENTATION
1155 out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0] + in->m[3][0];
1156 out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1] + in->m[3][1];
1157 out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2] + in->m[3][2];
1159 out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3];
1160 out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3];
1161 out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3];
1165 void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4])
1167 #ifdef MATRIX4x4_OPENGLORIENTATION
1168 out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0] + v[3] * in->m[3][0];
1169 out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1] + v[3] * in->m[3][1];
1170 out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2] + v[3] * in->m[3][2];
1171 out[3] = v[0] * in->m[0][3] + v[1] * in->m[1][3] + v[2] * in->m[2][3] + v[3] * in->m[3][3];
1173 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];
1174 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];
1175 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];
1176 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];
1180 void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const float v[3], float out[3])
1182 #ifdef MATRIX4x4_OPENGLORIENTATION
1183 out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0];
1184 out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1];
1185 out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2];
1187 out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2];
1188 out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2];
1189 out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2];
1194 void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
1197 #ifdef MATRIX4x4_OPENGLORIENTATION
1198 t[0] = v[0] - in->m[3][0];
1199 t[1] = v[1] - in->m[3][1];
1200 t[2] = v[2] - in->m[3][2];
1201 out[0] = t[0] * in->m[0][0] + t[1] * in->m[0][1] + t[2] * in->m[0][2];
1202 out[1] = t[0] * in->m[1][0] + t[1] * in->m[1][1] + t[2] * in->m[1][2];
1203 out[2] = t[0] * in->m[2][0] + t[1] * in->m[2][1] + t[2] * in->m[2][2];
1205 t[0] = v[0] - in->m[0][3];
1206 t[1] = v[1] - in->m[1][3];
1207 t[2] = v[2] - in->m[2][3];
1208 out[0] = t[0] * in->m[0][0] + t[1] * in->m[1][0] + t[2] * in->m[2][0];
1209 out[1] = t[0] * in->m[0][1] + t[1] * in->m[1][1] + t[2] * in->m[2][1];
1210 out[2] = t[0] * in->m[0][2] + t[1] * in->m[1][2] + t[2] * in->m[2][2];
1216 void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z)
1218 matrix4x4_t base, temp;
1220 Matrix4x4_CreateTranslate(&temp, x, y, z);
1221 Matrix4x4_Concat(out, &base, &temp);
1225 void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z)
1227 matrix4x4_t base, temp;
1229 Matrix4x4_CreateRotate(&temp, angle, x, y, z);
1230 Matrix4x4_Concat(out, &base, &temp);
1234 void Matrix4x4_ConcatScale (matrix4x4_t *out, double x)
1236 matrix4x4_t base, temp;
1238 Matrix4x4_CreateScale(&temp, x);
1239 Matrix4x4_Concat(out, &base, &temp);
1243 void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z)
1245 matrix4x4_t base, temp;
1247 Matrix4x4_CreateScale3(&temp, x, y, z);
1248 Matrix4x4_Concat(out, &base, &temp);
1251 void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, float *out)
1253 #ifdef MATRIX4x4_OPENGLORIENTATION
1254 out[0] = in->m[3][0];
1255 out[1] = in->m[3][1];
1256 out[2] = in->m[3][2];
1258 out[0] = in->m[0][3];
1259 out[1] = in->m[1][3];
1260 out[2] = in->m[2][3];
1264 double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in)
1266 // we only support uniform scaling, so assume the first row is enough
1267 return 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]);
1270 void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z)
1272 #ifdef MATRIX4x4_OPENGLORIENTATION
1283 void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z)
1285 #ifdef MATRIX4x4_OPENGLORIENTATION
1296 void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale)
1298 out->m[0][0] *= rotatescale;
1299 out->m[0][1] *= rotatescale;
1300 out->m[0][2] *= rotatescale;
1301 out->m[1][0] *= rotatescale;
1302 out->m[1][1] *= rotatescale;
1303 out->m[1][2] *= rotatescale;
1304 out->m[2][0] *= rotatescale;
1305 out->m[2][1] *= rotatescale;
1306 out->m[2][2] *= rotatescale;
1307 #ifdef MATRIX4x4_OPENGLORIENTATION
1308 out->m[3][0] *= originscale;
1309 out->m[3][1] *= originscale;
1310 out->m[3][2] *= originscale;
1312 out->m[0][3] *= originscale;
1313 out->m[1][3] *= originscale;
1314 out->m[2][3] *= originscale;