6 #pragma warning(disable : 4244) // LordHavoc: MSVC++ 4 x86, double/float
7 #pragma warning(disable : 4305) // LordHavoc: MSVC++ 6 x86, double/float
10 const matrix4x4_t identitymatrix =
20 void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in)
25 void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in)
27 out->m[0][0] = in->m[0][0];
28 out->m[0][1] = in->m[0][1];
29 out->m[0][2] = in->m[0][2];
31 out->m[1][0] = in->m[1][0];
32 out->m[1][1] = in->m[1][1];
33 out->m[1][2] = in->m[1][2];
35 out->m[2][0] = in->m[2][0];
36 out->m[2][1] = in->m[2][1];
37 out->m[2][2] = in->m[2][2];
45 void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
47 #ifdef MATRIX4x4_OPENGLORIENTATION
51 out->m[3][0] = in->m[0][3];
55 out->m[3][1] = in->m[1][3];
59 out->m[3][2] = in->m[2][3];
68 out->m[0][3] = in->m[0][3];
72 out->m[1][3] = in->m[1][3];
76 out->m[2][3] = in->m[2][3];
84 void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2)
86 #ifdef MATRIX4x4_OPENGLORIENTATION
87 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];
88 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];
89 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];
90 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];
91 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];
92 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];
93 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];
94 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];
95 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];
96 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];
97 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];
98 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];
99 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];
100 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];
101 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];
102 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];
104 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];
105 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];
106 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];
107 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];
108 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];
109 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];
110 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];
111 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];
112 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];
113 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];
114 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];
115 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];
116 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];
117 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];
118 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];
119 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];
123 void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
125 out->m[0][0] = in1->m[0][0];
126 out->m[0][1] = in1->m[1][0];
127 out->m[0][2] = in1->m[2][0];
128 out->m[0][3] = in1->m[3][0];
129 out->m[1][0] = in1->m[0][1];
130 out->m[1][1] = in1->m[1][1];
131 out->m[1][2] = in1->m[2][1];
132 out->m[1][3] = in1->m[3][1];
133 out->m[2][0] = in1->m[0][2];
134 out->m[2][1] = in1->m[1][2];
135 out->m[2][2] = in1->m[2][2];
136 out->m[2][3] = in1->m[3][2];
137 out->m[3][0] = in1->m[0][3];
138 out->m[3][1] = in1->m[1][3];
139 out->m[3][2] = in1->m[2][3];
140 out->m[3][3] = in1->m[3][3];
143 int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
156 #ifdef MATRIX4x4_OPENGLORIENTATION
157 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];
158 r[0][4] = 1.0; r[0][5] = r[0][6] = r[0][7] = 0.0;
160 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];
161 r[1][5] = 1.0; r[1][4] = r[1][6] = r[1][7] = 0.0;
163 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];
164 r[2][6] = 1.0; r[2][4] = r[2][5] = r[2][7] = 0.0;
166 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];
167 r[3][7] = 1.0; r[3][4] = r[3][5] = r[3][6] = 0.0;
169 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];
170 r[0][4] = 1.0; r[0][5] = r[0][6] = r[0][7] = 0.0;
172 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];
173 r[1][5] = 1.0; r[1][4] = r[1][6] = r[1][7] = 0.0;
175 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];
176 r[2][6] = 1.0; r[2][4] = r[2][5] = r[2][7] = 0.0;
178 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];
179 r[3][7] = 1.0; r[3][4] = r[3][5] = r[3][6] = 0.0;
182 if (fabs (r[3][0]) > fabs (r[2][0])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
183 if (fabs (r[2][0]) > fabs (r[1][0])) { temp = r[2]; r[2] = r[1]; r[1] = temp; }
184 if (fabs (r[1][0]) > fabs (r[0][0])) { temp = r[1]; r[1] = r[0]; r[0] = temp; }
188 m[1] = r[1][0] / r[0][0];
189 m[2] = r[2][0] / r[0][0];
190 m[3] = r[3][0] / r[0][0];
192 s = r[0][1]; r[1][1] -= m[1] * s; r[2][1] -= m[2] * s; r[3][1] -= m[3] * s;
193 s = r[0][2]; r[1][2] -= m[1] * s; r[2][2] -= m[2] * s; r[3][2] -= m[3] * s;
194 s = r[0][3]; r[1][3] -= m[1] * s; r[2][3] -= m[2] * s; r[3][3] -= m[3] * s;
196 s = r[0][4]; if (s) { r[1][4] -= m[1] * s; r[2][4] -= m[2] * s; r[3][4] -= m[3] * s; }
197 s = r[0][5]; if (s) { r[1][5] -= m[1] * s; r[2][5] -= m[2] * s; r[3][5] -= m[3] * s; }
198 s = r[0][6]; if (s) { r[1][6] -= m[1] * s; r[2][6] -= m[2] * s; r[3][6] -= m[3] * s; }
199 s = r[0][7]; if (s) { r[1][7] -= m[1] * s; r[2][7] -= m[2] * s; r[3][7] -= m[3] * s; }
201 if (fabs (r[3][1]) > fabs (r[2][1])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
202 if (fabs (r[2][1]) > fabs (r[1][1])) { temp = r[2]; r[2] = r[1]; r[1] = temp; }
206 m[2] = r[2][1] / r[1][1];
207 m[3] = r[3][1] / r[1][1];
208 r[2][2] -= m[2] * r[1][2];
209 r[3][2] -= m[3] * r[1][2];
210 r[2][3] -= m[2] * r[1][3];
211 r[3][3] -= m[3] * r[1][3];
213 s = r[1][4]; if (s) { r[2][4] -= m[2] * s; r[3][4] -= m[3] * s; }
214 s = r[1][5]; if (s) { r[2][5] -= m[2] * s; r[3][5] -= m[3] * s; }
215 s = r[1][6]; if (s) { r[2][6] -= m[2] * s; r[3][6] -= m[3] * s; }
216 s = r[1][7]; if (s) { r[2][7] -= m[2] * s; r[3][7] -= m[3] * s; }
218 if (fabs (r[3][2]) > fabs (r[2][2])) { temp = r[3]; r[3] = r[2]; r[2] = temp; }
222 m[3] = r[3][2] / r[2][2];
223 r[3][3] -= m[3] * r[2][3];
224 r[3][4] -= m[3] * r[2][4];
225 r[3][5] -= m[3] * r[2][5];
226 r[3][6] -= m[3] * r[2][6];
227 r[3][7] -= m[3] * r[2][7];
239 r[2][4] = s * (r[2][4] - r[3][4] * m[2]);
240 r[2][5] = s * (r[2][5] - r[3][5] * m[2]);
241 r[2][6] = s * (r[2][6] - r[3][6] * m[2]);
242 r[2][7] = s * (r[2][7] - r[3][7] * m[2]);
245 r[1][4] -= r[3][4] * m[1], r[1][5] -= r[3][5] * m[1];
246 r[1][6] -= r[3][6] * m[1], r[1][7] -= r[3][7] * m[1];
249 r[0][4] -= r[3][4] * m[0], r[0][5] -= r[3][5] * m[0];
250 r[0][6] -= r[3][6] * m[0], r[0][7] -= r[3][7] * m[0];
254 r[1][4] = s * (r[1][4] - r[2][4] * m[1]), r[1][5] = s * (r[1][5] - r[2][5] * m[1]);
255 r[1][6] = s * (r[1][6] - r[2][6] * m[1]), r[1][7] = s * (r[1][7] - r[2][7] * m[1]);
258 r[0][4] -= r[2][4] * m[0], r[0][5] -= r[2][5] * m[0];
259 r[0][6] -= r[2][6] * m[0], r[0][7] -= r[2][7] * m[0];
263 r[0][4] = s * (r[0][4] - r[1][4] * m[0]), r[0][5] = s * (r[0][5] - r[1][5] * m[0]);
264 r[0][6] = s * (r[0][6] - r[1][6] * m[0]), r[0][7] = s * (r[0][7] - r[1][7] * m[0]);
266 #ifdef MATRIX4x4_OPENGLORIENTATION
267 out->m[0][0] = r[0][4];
268 out->m[0][1] = r[1][4];
269 out->m[0][2] = r[2][4];
270 out->m[0][3] = r[3][4];
271 out->m[1][0] = r[0][5];
272 out->m[1][1] = r[1][5];
273 out->m[1][2] = r[2][5];
274 out->m[1][3] = r[3][5];
275 out->m[2][0] = r[0][6];
276 out->m[2][1] = r[1][6];
277 out->m[2][2] = r[2][6];
278 out->m[2][3] = r[3][6];
279 out->m[3][0] = r[0][7];
280 out->m[3][1] = r[1][7];
281 out->m[3][2] = r[2][7];
282 out->m[3][3] = r[3][7];
284 out->m[0][0] = r[0][4];
285 out->m[0][1] = r[0][5];
286 out->m[0][2] = r[0][6];
287 out->m[0][3] = r[0][7];
288 out->m[1][0] = r[1][4];
289 out->m[1][1] = r[1][5];
290 out->m[1][2] = r[1][6];
291 out->m[1][3] = r[1][7];
292 out->m[2][0] = r[2][4];
293 out->m[2][1] = r[2][5];
294 out->m[2][2] = r[2][6];
295 out->m[2][3] = r[2][7];
296 out->m[3][0] = r[3][4];
297 out->m[3][1] = r[3][5];
298 out->m[3][2] = r[3][6];
299 out->m[3][3] = r[3][7];
311 void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
313 // we only support uniform scaling, so assume the first row is enough
314 // (note the lack of sqrt here, because we're trying to undo the scaling,
315 // this means multiplying by the inverse scale twice - squaring it, which
316 // makes the sqrt a waste of time)
318 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]);
320 double scale = 3.0 / sqrt
321 (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]
322 + in1->m[1][0] * in1->m[1][0] + in1->m[1][1] * in1->m[1][1] + in1->m[1][2] * in1->m[1][2]
323 + in1->m[2][0] * in1->m[2][0] + in1->m[2][1] * in1->m[2][1] + in1->m[2][2] * in1->m[2][2]);
327 // invert the rotation by transposing and multiplying by the squared
328 // recipricol of the input matrix scale as described above
329 out->m[0][0] = in1->m[0][0] * scale;
330 out->m[0][1] = in1->m[1][0] * scale;
331 out->m[0][2] = in1->m[2][0] * scale;
332 out->m[1][0] = in1->m[0][1] * scale;
333 out->m[1][1] = in1->m[1][1] * scale;
334 out->m[1][2] = in1->m[2][1] * scale;
335 out->m[2][0] = in1->m[0][2] * scale;
336 out->m[2][1] = in1->m[1][2] * scale;
337 out->m[2][2] = in1->m[2][2] * scale;
339 #ifdef MATRIX4x4_OPENGLORIENTATION
340 // invert the translate
341 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]);
342 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]);
343 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]);
345 // don't know if there's anything worth doing here
351 // invert the translate
352 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]);
353 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]);
354 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]);
356 // don't know if there's anything worth doing here
364 void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1)
366 // scale rotation matrix vectors to a length of 1
367 // note: this is only designed to undo uniform scaling
368 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]);
370 Matrix4x4_Scale(out, scale, 1);
373 void Matrix4x4_Reflect (matrix4x4_t *out, double normalx, double normaly, double normalz, double dist, double axisscale)
382 p2[0] = p[0] * axisscale;
383 p2[1] = p[1] * axisscale;
384 p2[2] = p[2] * axisscale;
386 for (i = 0;i < 4;i++)
388 #ifdef MATRIX4x4_OPENGLORIENTATION
389 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];
390 out->m[i][0] += p2[0] * d;
391 out->m[i][1] += p2[1] * d;
392 out->m[i][2] += p2[2] * d;
394 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];
395 out->m[0][i] += p2[0] * d;
396 out->m[1][i] += p2[1] * d;
397 out->m[2][i] += p2[2] * d;
402 void Matrix4x4_CreateIdentity (matrix4x4_t *out)
422 void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z)
424 #ifdef MATRIX4x4_OPENGLORIENTATION
461 void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z)
467 len = 1.0f / sqrt(len);
472 angle *= (-M_PI / 180.0);
476 #ifdef MATRIX4x4_OPENGLORIENTATION
477 out->m[0][0]=x * x + c * (1 - x * x);
478 out->m[1][0]=x * y * (1 - c) + z * s;
479 out->m[2][0]=z * x * (1 - c) - y * s;
481 out->m[0][1]=x * y * (1 - c) - z * s;
482 out->m[1][1]=y * y + c * (1 - y * y);
483 out->m[2][1]=y * z * (1 - c) + x * s;
485 out->m[0][2]=z * x * (1 - c) + y * s;
486 out->m[1][2]=y * z * (1 - c) - x * s;
487 out->m[2][2]=z * z + c * (1 - z * z);
494 out->m[0][0]=x * x + c * (1 - x * x);
495 out->m[0][1]=x * y * (1 - c) + z * s;
496 out->m[0][2]=z * x * (1 - c) - y * s;
498 out->m[1][0]=x * y * (1 - c) - z * s;
499 out->m[1][1]=y * y + c * (1 - y * y);
500 out->m[1][2]=y * z * (1 - c) + x * s;
502 out->m[2][0]=z * x * (1 - c) + y * s;
503 out->m[2][1]=y * z * (1 - c) - x * s;
504 out->m[2][2]=z * z + c * (1 - z * z);
513 void Matrix4x4_CreateScale (matrix4x4_t *out, double x)
533 void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z)
553 void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale)
555 double angle, sr, sp, sy, cr, cp, cy;
559 angle = yaw * (M_PI*2 / 360);
562 angle = pitch * (M_PI*2 / 360);
565 angle = roll * (M_PI*2 / 360);
568 #ifdef MATRIX4x4_OPENGLORIENTATION
569 out->m[0][0] = (cp*cy) * scale;
570 out->m[1][0] = (sr*sp*cy+cr*-sy) * scale;
571 out->m[2][0] = (cr*sp*cy+-sr*-sy) * scale;
573 out->m[0][1] = (cp*sy) * scale;
574 out->m[1][1] = (sr*sp*sy+cr*cy) * scale;
575 out->m[2][1] = (cr*sp*sy+-sr*cy) * scale;
577 out->m[0][2] = (-sp) * scale;
578 out->m[1][2] = (sr*cp) * scale;
579 out->m[2][2] = (cr*cp) * scale;
586 out->m[0][0] = (cp*cy) * scale;
587 out->m[0][1] = (sr*sp*cy+cr*-sy) * scale;
588 out->m[0][2] = (cr*sp*cy+-sr*-sy) * scale;
590 out->m[1][0] = (cp*sy) * scale;
591 out->m[1][1] = (sr*sp*sy+cr*cy) * scale;
592 out->m[1][2] = (cr*sp*sy+-sr*cy) * scale;
594 out->m[2][0] = (-sp) * scale;
595 out->m[2][1] = (sr*cp) * scale;
596 out->m[2][2] = (cr*cp) * scale;
606 angle = yaw * (M_PI*2 / 360);
609 angle = pitch * (M_PI*2 / 360);
612 #ifdef MATRIX4x4_OPENGLORIENTATION
613 out->m[0][0] = (cp*cy) * scale;
614 out->m[1][0] = (-sy) * scale;
615 out->m[2][0] = (sp*cy) * scale;
617 out->m[0][1] = (cp*sy) * scale;
618 out->m[1][1] = (cy) * scale;
619 out->m[2][1] = (sp*sy) * scale;
621 out->m[0][2] = (-sp) * scale;
623 out->m[2][2] = (cp) * scale;
630 out->m[0][0] = (cp*cy) * scale;
631 out->m[0][1] = (-sy) * scale;
632 out->m[0][2] = (sp*cy) * scale;
634 out->m[1][0] = (cp*sy) * scale;
635 out->m[1][1] = (cy) * scale;
636 out->m[1][2] = (sp*sy) * scale;
638 out->m[2][0] = (-sp) * scale;
640 out->m[2][2] = (cp) * scale;
650 angle = yaw * (M_PI*2 / 360);
653 #ifdef MATRIX4x4_OPENGLORIENTATION
654 out->m[0][0] = (cy) * scale;
655 out->m[1][0] = (-sy) * scale;
658 out->m[0][1] = (sy) * scale;
659 out->m[1][1] = (cy) * scale;
664 out->m[2][2] = scale;
671 out->m[0][0] = (cy) * scale;
672 out->m[0][1] = (-sy) * scale;
675 out->m[1][0] = (sy) * scale;
676 out->m[1][1] = (cy) * scale;
681 out->m[2][2] = scale;
691 #ifdef MATRIX4x4_OPENGLORIENTATION
692 out->m[0][0] = scale;
697 out->m[1][1] = scale;
702 out->m[2][2] = scale;
709 out->m[0][0] = scale;
714 out->m[1][1] = scale;
719 out->m[2][2] = scale;
729 void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
731 #ifdef MATRIX4x4_OPENGLORIENTATION
760 void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
762 #ifdef MATRIX4x4_OPENGLORIENTATION
763 out->m[0][0] = vx[0];
764 out->m[1][0] = vy[0];
765 out->m[2][0] = vz[0];
767 out->m[0][1] = vx[1];
768 out->m[1][1] = vy[1];
769 out->m[2][1] = vz[1];
771 out->m[0][2] = vx[2];
772 out->m[1][2] = vy[2];
773 out->m[2][2] = vz[2];
780 out->m[0][0] = vx[0];
781 out->m[0][1] = vy[0];
782 out->m[0][2] = vz[0];
784 out->m[1][0] = vx[1];
785 out->m[1][1] = vy[1];
786 out->m[1][2] = vz[1];
788 out->m[2][0] = vx[2];
789 out->m[2][1] = vy[2];
790 out->m[2][2] = vz[2];
799 void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16])
801 #ifdef MATRIX4x4_OPENGLORIENTATION
802 out[ 0] = in->m[0][0];
803 out[ 1] = in->m[0][1];
804 out[ 2] = in->m[0][2];
805 out[ 3] = in->m[0][3];
806 out[ 4] = in->m[1][0];
807 out[ 5] = in->m[1][1];
808 out[ 6] = in->m[1][2];
809 out[ 7] = in->m[1][3];
810 out[ 8] = in->m[2][0];
811 out[ 9] = in->m[2][1];
812 out[10] = in->m[2][2];
813 out[11] = in->m[2][3];
814 out[12] = in->m[3][0];
815 out[13] = in->m[3][1];
816 out[14] = in->m[3][2];
817 out[15] = in->m[3][3];
819 out[ 0] = in->m[0][0];
820 out[ 1] = in->m[1][0];
821 out[ 2] = in->m[2][0];
822 out[ 3] = in->m[3][0];
823 out[ 4] = in->m[0][1];
824 out[ 5] = in->m[1][1];
825 out[ 6] = in->m[2][1];
826 out[ 7] = in->m[3][1];
827 out[ 8] = in->m[0][2];
828 out[ 9] = in->m[1][2];
829 out[10] = in->m[2][2];
830 out[11] = in->m[3][2];
831 out[12] = in->m[0][3];
832 out[13] = in->m[1][3];
833 out[14] = in->m[2][3];
834 out[15] = in->m[3][3];
838 void Matrix4x4_FromArrayDoubleGL (matrix4x4_t *out, const double in[16])
840 #ifdef MATRIX4x4_OPENGLORIENTATION
841 out->m[0][0] = in[0];
842 out->m[0][1] = in[1];
843 out->m[0][2] = in[2];
844 out->m[0][3] = in[3];
845 out->m[1][0] = in[4];
846 out->m[1][1] = in[5];
847 out->m[1][2] = in[6];
848 out->m[1][3] = in[7];
849 out->m[2][0] = in[8];
850 out->m[2][1] = in[9];
851 out->m[2][2] = in[10];
852 out->m[2][3] = in[11];
853 out->m[3][0] = in[12];
854 out->m[3][1] = in[13];
855 out->m[3][2] = in[14];
856 out->m[3][3] = in[15];
858 out->m[0][0] = in[0];
859 out->m[1][0] = in[1];
860 out->m[2][0] = in[2];
861 out->m[3][0] = in[3];
862 out->m[0][1] = in[4];
863 out->m[1][1] = in[5];
864 out->m[2][1] = in[6];
865 out->m[3][1] = in[7];
866 out->m[0][2] = in[8];
867 out->m[1][2] = in[9];
868 out->m[2][2] = in[10];
869 out->m[3][2] = in[11];
870 out->m[0][3] = in[12];
871 out->m[1][3] = in[13];
872 out->m[2][3] = in[14];
873 out->m[3][3] = in[15];
877 void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16])
879 #ifdef MATRIX4x4_OPENGLORIENTATION
880 out[ 0] = in->m[0][0];
881 out[ 1] = in->m[1][0];
882 out[ 2] = in->m[2][0];
883 out[ 3] = in->m[3][0];
884 out[ 4] = in->m[0][1];
885 out[ 5] = in->m[1][1];
886 out[ 6] = in->m[2][1];
887 out[ 7] = in->m[3][1];
888 out[ 8] = in->m[0][2];
889 out[ 9] = in->m[1][2];
890 out[10] = in->m[2][2];
891 out[11] = in->m[3][2];
892 out[12] = in->m[0][3];
893 out[13] = in->m[1][3];
894 out[14] = in->m[2][3];
895 out[15] = in->m[3][3];
897 out[ 0] = in->m[0][0];
898 out[ 1] = in->m[0][1];
899 out[ 2] = in->m[0][2];
900 out[ 3] = in->m[0][3];
901 out[ 4] = in->m[1][0];
902 out[ 5] = in->m[1][1];
903 out[ 6] = in->m[1][2];
904 out[ 7] = in->m[1][3];
905 out[ 8] = in->m[2][0];
906 out[ 9] = in->m[2][1];
907 out[10] = in->m[2][2];
908 out[11] = in->m[2][3];
909 out[12] = in->m[3][0];
910 out[13] = in->m[3][1];
911 out[14] = in->m[3][2];
912 out[15] = in->m[3][3];
916 void Matrix4x4_FromArrayDoubleD3D (matrix4x4_t *out, const double in[16])
918 #ifdef MATRIX4x4_OPENGLORIENTATION
919 out->m[0][0] = in[0];
920 out->m[1][0] = in[1];
921 out->m[2][0] = in[2];
922 out->m[3][0] = in[3];
923 out->m[0][1] = in[4];
924 out->m[1][1] = in[5];
925 out->m[2][1] = in[6];
926 out->m[3][1] = in[7];
927 out->m[0][2] = in[8];
928 out->m[1][2] = in[9];
929 out->m[2][2] = in[10];
930 out->m[3][2] = in[11];
931 out->m[0][3] = in[12];
932 out->m[1][3] = in[13];
933 out->m[2][3] = in[14];
934 out->m[3][3] = in[15];
936 out->m[0][0] = in[0];
937 out->m[0][1] = in[1];
938 out->m[0][2] = in[2];
939 out->m[0][3] = in[3];
940 out->m[1][0] = in[4];
941 out->m[1][1] = in[5];
942 out->m[1][2] = in[6];
943 out->m[1][3] = in[7];
944 out->m[2][0] = in[8];
945 out->m[2][1] = in[9];
946 out->m[2][2] = in[10];
947 out->m[2][3] = in[11];
948 out->m[3][0] = in[12];
949 out->m[3][1] = in[13];
950 out->m[3][2] = in[14];
951 out->m[3][3] = in[15];
955 void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12])
957 #ifdef MATRIX4x4_OPENGLORIENTATION
958 out[ 0] = in->m[0][0];
959 out[ 1] = in->m[0][1];
960 out[ 2] = in->m[0][2];
961 out[ 3] = in->m[1][0];
962 out[ 4] = in->m[1][1];
963 out[ 5] = in->m[1][2];
964 out[ 6] = in->m[2][0];
965 out[ 7] = in->m[2][1];
966 out[ 8] = in->m[2][2];
967 out[ 9] = in->m[3][0];
968 out[10] = in->m[3][1];
969 out[11] = in->m[3][2];
971 out[ 0] = in->m[0][0];
972 out[ 1] = in->m[1][0];
973 out[ 2] = in->m[2][0];
974 out[ 3] = in->m[0][1];
975 out[ 4] = in->m[1][1];
976 out[ 5] = in->m[2][1];
977 out[ 6] = in->m[0][2];
978 out[ 7] = in->m[1][2];
979 out[ 8] = in->m[2][2];
980 out[ 9] = in->m[0][3];
981 out[10] = in->m[1][3];
982 out[11] = in->m[2][3];
986 void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12])
988 #ifdef MATRIX4x4_OPENGLORIENTATION
989 out->m[0][0] = in[0];
990 out->m[0][1] = in[1];
991 out->m[0][2] = in[2];
993 out->m[1][0] = in[3];
994 out->m[1][1] = in[4];
995 out->m[1][2] = in[5];
997 out->m[2][0] = in[6];
998 out->m[2][1] = in[7];
999 out->m[2][2] = in[8];
1001 out->m[3][0] = in[9];
1002 out->m[3][1] = in[10];
1003 out->m[3][2] = in[11];
1006 out->m[0][0] = in[0];
1007 out->m[1][0] = in[1];
1008 out->m[2][0] = in[2];
1010 out->m[0][1] = in[3];
1011 out->m[1][1] = in[4];
1012 out->m[2][1] = in[5];
1014 out->m[0][2] = in[6];
1015 out->m[1][2] = in[7];
1016 out->m[2][2] = in[8];
1018 out->m[0][3] = in[9];
1019 out->m[1][3] = in[10];
1020 out->m[2][3] = in[11];
1025 void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12])
1027 #ifdef MATRIX4x4_OPENGLORIENTATION
1028 out[ 0] = in->m[0][0];
1029 out[ 1] = in->m[1][0];
1030 out[ 2] = in->m[2][0];
1031 out[ 3] = in->m[3][0];
1032 out[ 4] = in->m[0][1];
1033 out[ 5] = in->m[1][1];
1034 out[ 6] = in->m[2][1];
1035 out[ 7] = in->m[3][1];
1036 out[ 8] = in->m[0][2];
1037 out[ 9] = in->m[1][2];
1038 out[10] = in->m[2][2];
1039 out[11] = in->m[3][2];
1041 out[ 0] = in->m[0][0];
1042 out[ 1] = in->m[0][1];
1043 out[ 2] = in->m[0][2];
1044 out[ 3] = in->m[0][3];
1045 out[ 4] = in->m[1][0];
1046 out[ 5] = in->m[1][1];
1047 out[ 6] = in->m[1][2];
1048 out[ 7] = in->m[1][3];
1049 out[ 8] = in->m[2][0];
1050 out[ 9] = in->m[2][1];
1051 out[10] = in->m[2][2];
1052 out[11] = in->m[2][3];
1056 void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12])
1058 #ifdef MATRIX4x4_OPENGLORIENTATION
1059 out->m[0][0] = in[0];
1060 out->m[1][0] = in[1];
1061 out->m[2][0] = in[2];
1062 out->m[3][0] = in[3];
1063 out->m[0][1] = in[4];
1064 out->m[1][1] = in[5];
1065 out->m[2][1] = in[6];
1066 out->m[3][1] = in[7];
1067 out->m[0][2] = in[8];
1068 out->m[1][2] = in[9];
1069 out->m[2][2] = in[10];
1070 out->m[3][2] = in[11];
1076 out->m[0][0] = in[0];
1077 out->m[0][1] = in[1];
1078 out->m[0][2] = in[2];
1079 out->m[0][3] = in[3];
1080 out->m[1][0] = in[4];
1081 out->m[1][1] = in[5];
1082 out->m[1][2] = in[6];
1083 out->m[1][3] = in[7];
1084 out->m[2][0] = in[8];
1085 out->m[2][1] = in[9];
1086 out->m[2][2] = in[10];
1087 out->m[2][3] = in[11];
1095 void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w)
1097 #ifdef MATRIX4x4_OPENGLORIENTATION
1098 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;
1099 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;
1100 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;
1101 m->m[0][3]= 0 ;m->m[1][3]= 0 ;m->m[2][3]= 0 ;m->m[3][3]=1;
1103 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;
1104 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;
1105 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;
1106 m->m[3][0]= 0 ;m->m[3][1]= 0 ;m->m[3][2]= 0 ;m->m[3][3]=1;
1110 // LordHavoc: I got this code from:
1111 //http://www.doom3world.org/phpbb2/viewtopic.php?t=2884
1112 void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z)
1114 double w = 1.0 - (x*x+y*y+z*z);
1115 w = w > 0.0 ? -sqrt(w) : 0.0;
1116 #ifdef MATRIX4x4_OPENGLORIENTATION
1117 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;
1118 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;
1119 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;
1120 m->m[0][3]= 0 ;m->m[1][3]= 0 ;m->m[2][3]= 0 ;m->m[3][3]=1;
1122 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;
1123 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;
1124 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;
1125 m->m[3][0]= 0 ;m->m[3][1]= 0 ;m->m[3][2]= 0 ;m->m[3][3]=1;
1129 void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
1131 double iblend = 1 - blend;
1132 out->m[0][0] = in1->m[0][0] * iblend + in2->m[0][0] * blend;
1133 out->m[0][1] = in1->m[0][1] * iblend + in2->m[0][1] * blend;
1134 out->m[0][2] = in1->m[0][2] * iblend + in2->m[0][2] * blend;
1135 out->m[0][3] = in1->m[0][3] * iblend + in2->m[0][3] * blend;
1136 out->m[1][0] = in1->m[1][0] * iblend + in2->m[1][0] * blend;
1137 out->m[1][1] = in1->m[1][1] * iblend + in2->m[1][1] * blend;
1138 out->m[1][2] = in1->m[1][2] * iblend + in2->m[1][2] * blend;
1139 out->m[1][3] = in1->m[1][3] * iblend + in2->m[1][3] * blend;
1140 out->m[2][0] = in1->m[2][0] * iblend + in2->m[2][0] * blend;
1141 out->m[2][1] = in1->m[2][1] * iblend + in2->m[2][1] * blend;
1142 out->m[2][2] = in1->m[2][2] * iblend + in2->m[2][2] * blend;
1143 out->m[2][3] = in1->m[2][3] * iblend + in2->m[2][3] * blend;
1144 out->m[3][0] = in1->m[3][0] * iblend + in2->m[3][0] * blend;
1145 out->m[3][1] = in1->m[3][1] * iblend + in2->m[3][1] * blend;
1146 out->m[3][2] = in1->m[3][2] * iblend + in2->m[3][2] * blend;
1147 out->m[3][3] = in1->m[3][3] * iblend + in2->m[3][3] * blend;
1151 void Matrix4x4_Transform (const matrix4x4_t *in, const float v[3], float out[3])
1153 #ifdef MATRIX4x4_OPENGLORIENTATION
1154 out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0] + in->m[3][0];
1155 out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1] + in->m[3][1];
1156 out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2] + in->m[3][2];
1158 out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3];
1159 out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3];
1160 out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3];
1164 void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4])
1166 #ifdef MATRIX4x4_OPENGLORIENTATION
1167 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];
1168 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];
1169 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];
1170 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];
1172 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];
1173 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];
1174 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];
1175 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];
1179 void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const float v[3], float out[3])
1181 #ifdef MATRIX4x4_OPENGLORIENTATION
1182 out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0];
1183 out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1];
1184 out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2];
1186 out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2];
1187 out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2];
1188 out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2];
1193 void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
1196 #ifdef MATRIX4x4_OPENGLORIENTATION
1197 t[0] = v[0] - in->m[3][0];
1198 t[1] = v[1] - in->m[3][1];
1199 t[2] = v[2] - in->m[3][2];
1200 out[0] = t[0] * in->m[0][0] + t[1] * in->m[0][1] + t[2] * in->m[0][2];
1201 out[1] = t[0] * in->m[1][0] + t[1] * in->m[1][1] + t[2] * in->m[1][2];
1202 out[2] = t[0] * in->m[2][0] + t[1] * in->m[2][1] + t[2] * in->m[2][2];
1204 t[0] = v[0] - in->m[0][3];
1205 t[1] = v[1] - in->m[1][3];
1206 t[2] = v[2] - in->m[2][3];
1207 out[0] = t[0] * in->m[0][0] + t[1] * in->m[1][0] + t[2] * in->m[2][0];
1208 out[1] = t[0] * in->m[0][1] + t[1] * in->m[1][1] + t[2] * in->m[2][1];
1209 out[2] = t[0] * in->m[0][2] + t[1] * in->m[1][2] + t[2] * in->m[2][2];
1215 void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z)
1217 matrix4x4_t base, temp;
1219 Matrix4x4_CreateTranslate(&temp, x, y, z);
1220 Matrix4x4_Concat(out, &base, &temp);
1224 void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z)
1226 matrix4x4_t base, temp;
1228 Matrix4x4_CreateRotate(&temp, angle, x, y, z);
1229 Matrix4x4_Concat(out, &base, &temp);
1233 void Matrix4x4_ConcatScale (matrix4x4_t *out, double x)
1235 matrix4x4_t base, temp;
1237 Matrix4x4_CreateScale(&temp, x);
1238 Matrix4x4_Concat(out, &base, &temp);
1242 void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z)
1244 matrix4x4_t base, temp;
1246 Matrix4x4_CreateScale3(&temp, x, y, z);
1247 Matrix4x4_Concat(out, &base, &temp);
1250 void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, float *out)
1252 #ifdef MATRIX4x4_OPENGLORIENTATION
1253 out[0] = in->m[3][0];
1254 out[1] = in->m[3][1];
1255 out[2] = in->m[3][2];
1257 out[0] = in->m[0][3];
1258 out[1] = in->m[1][3];
1259 out[2] = in->m[2][3];
1263 double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in)
1265 // we only support uniform scaling, so assume the first row is enough
1266 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]);
1269 void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z)
1271 #ifdef MATRIX4x4_OPENGLORIENTATION
1282 void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z)
1284 #ifdef MATRIX4x4_OPENGLORIENTATION
1295 void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale)
1297 out->m[0][0] *= rotatescale;
1298 out->m[0][1] *= rotatescale;
1299 out->m[0][2] *= rotatescale;
1300 out->m[1][0] *= rotatescale;
1301 out->m[1][1] *= rotatescale;
1302 out->m[1][2] *= rotatescale;
1303 out->m[2][0] *= rotatescale;
1304 out->m[2][1] *= rotatescale;
1305 out->m[2][2] *= rotatescale;
1306 #ifdef MATRIX4x4_OPENGLORIENTATION
1307 out->m[3][0] *= originscale;
1308 out->m[3][1] *= originscale;
1309 out->m[3][2] *= originscale;
1311 out->m[0][3] *= originscale;
1312 out->m[1][3] *= originscale;
1313 out->m[2][3] *= originscale;