5 void Matrix3x4_Copy (matrix3x4_t *out, matrix3x4_t *in)
10 void Matrix3x4_Concat (matrix3x4_t *out, const matrix3x4_t *in1, const matrix3x4_t *in2)
12 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];
13 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];
14 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];
15 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];
16 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];
17 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];
18 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];
19 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];
20 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];
21 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];
22 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];
23 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];
26 void Matrix3x4_Transpose3x3 (matrix3x4_t *out, const matrix3x4_t *in1)
28 out->m[0][0] = in1->m[0][0];
29 out->m[0][1] = in1->m[1][0];
30 out->m[0][2] = in1->m[2][0];
32 out->m[1][0] = in1->m[0][1];
33 out->m[1][1] = in1->m[1][1];
34 out->m[1][2] = in1->m[2][1];
36 out->m[2][0] = in1->m[0][2];
37 out->m[2][1] = in1->m[1][2];
38 out->m[2][2] = in1->m[2][2];
42 void Matrix3x4_CreateIdentity (matrix3x4_t *out)
58 void Matrix3x4_CreateTranslate (matrix3x4_t *out, float x, float y, float z)
74 void Matrix3x4_CreateRotate (matrix3x4_t *out, float angle, float x, float y, float z)
80 len = 1.0f / sqrt(len);
85 angle *= M_PI / 180.0;
89 out->m[0][0]=x * x + c * (1 - x * x);
90 out->m[0][1]=x * y * (1 - c) + z * s;
91 out->m[0][2]=z * x * (1 - c) - y * s;
93 out->m[1][0]=x * y * (1 - c) - z * s;
94 out->m[1][1]=y * y + c * (1 - y * y);
95 out->m[1][2]=y * z * (1 - c) + x * s;
97 out->m[2][0]=z * x * (1 - c) + y * s;
98 out->m[2][1]=y * z * (1 - c) - x * s;
99 out->m[2][2]=z * z + c * (1 - z * z);
103 void Matrix3x4_CreateScale (matrix3x4_t *out, float x)
119 void Matrix3x4_CreateScale3 (matrix3x4_t *out, float x, float y, float z)
135 void Matrix3x4_ToVectors(const matrix3x4_t *in, vec3_t vx, vec3_t vy, vec3_t vz, vec3_t t)
151 void Matrix3x4_FromVectors(matrix3x4_t *out, const vec3_t vx, const vec3_t vy, const vec3_t vz, const vec3_t t)
153 out->m[0][0] = vx[0];
154 out->m[0][1] = vy[0];
155 out->m[0][2] = vz[0];
157 out->m[1][0] = vx[1];
158 out->m[1][1] = vy[1];
159 out->m[1][2] = vz[1];
161 out->m[2][0] = vx[2];
162 out->m[2][1] = vy[2];
163 out->m[2][2] = vz[2];
167 void Matrix3x4_Transform (const matrix3x4_t *in, const vec3_t v, vec3_t out)
169 out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3];
170 out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3];
171 out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3];
174 void Matrix3x4_Untransform (const matrix3x4_t *in, const vec3_t v, vec3_t out)
177 t[0] = v[0] - in->m[0][3];
178 t[1] = v[1] - in->m[1][3];
179 t[2] = v[2] - in->m[2][3];
180 out[0] = t[0] * in->m[0][0] + t[1] * in->m[1][0] + t[2] * in->m[2][0];
181 out[1] = t[0] * in->m[0][1] + t[1] * in->m[1][1] + t[2] * in->m[2][1];
182 out[2] = t[0] * in->m[0][2] + t[1] * in->m[1][2] + t[2] * in->m[2][2];
186 void Matrix3x4_ConcatTranslate (matrix3x4_t *out, float x, float y, float z)
188 matrix3x4_t base, temp;
189 Matrix3x4_Copy(out, &base);
190 Matrix3x4_CreateTranslate(&temp, x, y, z);
191 Matrix3x4_Concat(out, &base, &temp);
195 void Matrix3x4_ConcatRotate (matrix3x4_t *out, float angle, float x, float y, float z)
197 matrix3x4_t base, temp;
198 Matrix3x4_Copy(out, &base);
199 Matrix3x4_CreateRotate(&temp, angle, x, y, z);
200 Matrix3x4_Concat(out, &base, &temp);
204 void Matrix3x4_ConcatScale (matrix3x4_t *out, float x)
206 matrix3x4_t base, temp;
207 Matrix3x4_Copy(out, &base);
208 Matrix3x4_CreateScale(&temp, x);
209 Matrix3x4_Concat(out, &base, &temp);
213 void Matrix3x4_ConcatScale3 (matrix3x4_t *out, float x, float y, float z)
215 matrix3x4_t base, temp;
216 Matrix3x4_Copy(out, &base);
217 Matrix3x4_CreateScale3(&temp, x, y, z);
218 Matrix3x4_Concat(out, &base, &temp);