/*
-Copyright (C) 1999-2007 id Software, Inc. and contributors.
-For a list of contributors, see the accompanying CONTRIBUTORS file.
+ Copyright (C) 1999-2007 id Software, Inc. and contributors.
+ For a list of contributors, see the accompanying CONTRIBUTORS file.
-This file is part of GtkRadiant.
+ This file is part of GtkRadiant.
-GtkRadiant is free software; you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation; either version 2 of the License, or
-(at your option) any later version.
+ GtkRadiant is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
-GtkRadiant is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
+ GtkRadiant is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
-You should have received a copy of the GNU General Public License
-along with GtkRadiant; if not, write to the Free Software
-Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-*/
+ You should have received a copy of the GNU General Public License
+ along with GtkRadiant; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ */
#include "mathlib.h"
#include "memory.h"
-void m4x4_identity(m4x4_t matrix)
-{
- matrix[1] = matrix[2] = matrix[3] =
- matrix[4] = matrix[6] = matrix[7] =
- matrix[8] = matrix[9] = matrix[11] =
- matrix[12] = matrix[13] = matrix[14] = 0;
+void m4x4_identity( m4x4_t matrix ){
+ matrix[1] = matrix[2] = matrix[3] =
+ matrix[4] = matrix[6] = matrix[7] =
+ matrix[8] = matrix[9] = matrix[11] =
+ matrix[12] = matrix[13] = matrix[14] = 0;
- matrix[0] = matrix[5] = matrix[10] = matrix[15] = 1;
+ matrix[0] = matrix[5] = matrix[10] = matrix[15] = 1;
}
-void m4x4_translation_for_vec3(m4x4_t matrix, const vec3_t translation)
-{
- matrix[1] = matrix[2] = matrix[3] =
- matrix[4] = matrix[6] = matrix[7] =
- matrix[8] = matrix[9] = matrix[11] = 0;
+void m4x4_translation_for_vec3( m4x4_t matrix, const vec3_t translation ){
+ matrix[1] = matrix[2] = matrix[3] =
+ matrix[4] = matrix[6] = matrix[7] =
+ matrix[8] = matrix[9] = matrix[11] = 0;
- matrix[0] = matrix[5] = matrix[10] = matrix[15] = 1;
+ matrix[0] = matrix[5] = matrix[10] = matrix[15] = 1;
- matrix[12] = translation[0];
- matrix[13] = translation[1];
- matrix[14] = translation[2];
+ matrix[12] = translation[0];
+ matrix[13] = translation[1];
+ matrix[14] = translation[2];
}
-void m4x4_rotation_for_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order)
-{
- double cx, sx, cy, sy, cz, sz;
+void m4x4_rotation_for_vec3( m4x4_t matrix, const vec3_t euler, eulerOrder_t order ){
+ double cx, sx, cy, sy, cz, sz;
- cx = cos(DEG2RAD(euler[0]));
- sx = sin(DEG2RAD(euler[0]));
- cy = cos(DEG2RAD(euler[1]));
- sy = sin(DEG2RAD(euler[1]));
- cz = cos(DEG2RAD(euler[2]));
- sz = sin(DEG2RAD(euler[2]));
+ cx = cos( DEG2RAD( euler[0] ) );
+ sx = sin( DEG2RAD( euler[0] ) );
+ cy = cos( DEG2RAD( euler[1] ) );
+ sy = sin( DEG2RAD( euler[1] ) );
+ cz = cos( DEG2RAD( euler[2] ) );
+ sz = sin( DEG2RAD( euler[2] ) );
- switch(order)
- {
- case eXYZ:
+ switch ( order )
+ {
+ case eXYZ:
#if 1
- {
- matrix[0] = (vec_t)(cy*cz);
- matrix[1] = (vec_t)(cy*sz);
- matrix[2] = (vec_t)-sy;
- matrix[4] = (vec_t)(sx*sy*cz + cx*-sz);
- matrix[5] = (vec_t)(sx*sy*sz + cx*cz);
- matrix[6] = (vec_t)(sx*cy);
- matrix[8] = (vec_t)(cx*sy*cz + sx*sz);
- matrix[9] = (vec_t)(cx*sy*sz + -sx*cz);
- matrix[10] = (vec_t)(cx*cy);
- }
-
- matrix[12] = matrix[13] = matrix[14] = matrix[3] = matrix[7] = matrix[11] = 0;
- matrix[15] = 1;
+ {
+ matrix[0] = (vec_t)( cy * cz );
+ matrix[1] = (vec_t)( cy * sz );
+ matrix[2] = (vec_t)-sy;
+ matrix[4] = (vec_t)( sx * sy * cz + cx * -sz );
+ matrix[5] = (vec_t)( sx * sy * sz + cx * cz );
+ matrix[6] = (vec_t)( sx * cy );
+ matrix[8] = (vec_t)( cx * sy * cz + sx * sz );
+ matrix[9] = (vec_t)( cx * sy * sz + -sx * cz );
+ matrix[10] = (vec_t)( cx * cy );
+ }
+
+ matrix[12] = matrix[13] = matrix[14] = matrix[3] = matrix[7] = matrix[11] = 0;
+ matrix[15] = 1;
#else
- m4x4_identity(matrix);
- matrix[5] =(vec_t) cx; matrix[6] =(vec_t) sx;
- matrix[9] =(vec_t)-sx; matrix[10]=(vec_t) cx;
-
- {
- m4x4_t temp;
- m4x4_identity(temp);
- temp[0] =(vec_t) cy; temp[2] =(vec_t)-sy;
- temp[8] =(vec_t) sy; temp[10]=(vec_t) cy;
- m4x4_premultiply_by_m4x4(matrix, temp);
- m4x4_identity(temp);
- temp[0] =(vec_t) cz; temp[1] =(vec_t) sz;
- temp[4] =(vec_t)-sz; temp[5] =(vec_t) cz;
- m4x4_premultiply_by_m4x4(matrix, temp);
- }
+ m4x4_identity( matrix );
+ matrix[5] = (vec_t) cx; matrix[6] = (vec_t) sx;
+ matrix[9] = (vec_t)-sx; matrix[10] = (vec_t) cx;
+
+ {
+ m4x4_t temp;
+ m4x4_identity( temp );
+ temp[0] = (vec_t) cy; temp[2] = (vec_t)-sy;
+ temp[8] = (vec_t) sy; temp[10] = (vec_t) cy;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ m4x4_identity( temp );
+ temp[0] = (vec_t) cz; temp[1] = (vec_t) sz;
+ temp[4] = (vec_t)-sz; temp[5] = (vec_t) cz;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ }
#endif
- break;
-
- case eYZX:
- m4x4_identity(matrix);
- matrix[0] =(vec_t) cy; matrix[2] =(vec_t)-sy;
- matrix[8] =(vec_t) sy; matrix[10]=(vec_t) cy;
-
- {
- m4x4_t temp;
- m4x4_identity(temp);
- temp[5] =(vec_t) cx; temp[6] =(vec_t) sx;
- temp[9] =(vec_t)-sx; temp[10]=(vec_t) cx;
- m4x4_premultiply_by_m4x4(matrix, temp);
- m4x4_identity(temp);
- temp[0] =(vec_t) cz; temp[1] =(vec_t) sz;
- temp[4] =(vec_t)-sz; temp[5] =(vec_t) cz;
- m4x4_premultiply_by_m4x4(matrix, temp);
- }
- break;
-
- case eZXY:
- m4x4_identity(matrix);
- matrix[0] =(vec_t) cz; matrix[1] =(vec_t) sz;
- matrix[4] =(vec_t)-sz; matrix[5] =(vec_t) cz;
-
- {
- m4x4_t temp;
- m4x4_identity(temp);
- temp[5] =(vec_t) cx; temp[6] =(vec_t) sx;
- temp[9] =(vec_t)-sx; temp[10]=(vec_t) cx;
- m4x4_premultiply_by_m4x4(matrix, temp);
- m4x4_identity(temp);
- temp[0] =(vec_t) cy; temp[2] =(vec_t)-sy;
- temp[8] =(vec_t) sy; temp[10]=(vec_t) cy;
- m4x4_premultiply_by_m4x4(matrix, temp);
- }
- break;
-
- case eXZY:
- m4x4_identity(matrix);
- matrix[5] =(vec_t) cx; matrix[6] =(vec_t) sx;
- matrix[9] =(vec_t)-sx; matrix[10]=(vec_t) cx;
-
- {
- m4x4_t temp;
- m4x4_identity(temp);
- temp[0] =(vec_t) cz; temp[1] =(vec_t) sz;
- temp[4] =(vec_t)-sz; temp[5] =(vec_t) cz;
- m4x4_premultiply_by_m4x4(matrix, temp);
- m4x4_identity(temp);
- temp[0] =(vec_t) cy; temp[2] =(vec_t)-sy;
- temp[8] =(vec_t) sy; temp[10]=(vec_t) cy;
- m4x4_premultiply_by_m4x4(matrix, temp);
- }
- break;
-
- case eYXZ:
+ break;
+
+ case eYZX:
+ m4x4_identity( matrix );
+ matrix[0] = (vec_t) cy; matrix[2] = (vec_t)-sy;
+ matrix[8] = (vec_t) sy; matrix[10] = (vec_t) cy;
+
+ {
+ m4x4_t temp;
+ m4x4_identity( temp );
+ temp[5] = (vec_t) cx; temp[6] = (vec_t) sx;
+ temp[9] = (vec_t)-sx; temp[10] = (vec_t) cx;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ m4x4_identity( temp );
+ temp[0] = (vec_t) cz; temp[1] = (vec_t) sz;
+ temp[4] = (vec_t)-sz; temp[5] = (vec_t) cz;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ }
+ break;
+
+ case eZXY:
+ m4x4_identity( matrix );
+ matrix[0] = (vec_t) cz; matrix[1] = (vec_t) sz;
+ matrix[4] = (vec_t)-sz; matrix[5] = (vec_t) cz;
+
+ {
+ m4x4_t temp;
+ m4x4_identity( temp );
+ temp[5] = (vec_t) cx; temp[6] = (vec_t) sx;
+ temp[9] = (vec_t)-sx; temp[10] = (vec_t) cx;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ m4x4_identity( temp );
+ temp[0] = (vec_t) cy; temp[2] = (vec_t)-sy;
+ temp[8] = (vec_t) sy; temp[10] = (vec_t) cy;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ }
+ break;
+
+ case eXZY:
+ m4x4_identity( matrix );
+ matrix[5] = (vec_t) cx; matrix[6] = (vec_t) sx;
+ matrix[9] = (vec_t)-sx; matrix[10] = (vec_t) cx;
+
+ {
+ m4x4_t temp;
+ m4x4_identity( temp );
+ temp[0] = (vec_t) cz; temp[1] = (vec_t) sz;
+ temp[4] = (vec_t)-sz; temp[5] = (vec_t) cz;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ m4x4_identity( temp );
+ temp[0] = (vec_t) cy; temp[2] = (vec_t)-sy;
+ temp[8] = (vec_t) sy; temp[10] = (vec_t) cy;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ }
+ break;
+
+ case eYXZ:
/* transposed
-| cy.cz + sx.sy.-sz + -cx.sy.0 0.cz + cx.-sz + sx.0 sy.cz + -sx.cy.-sz + cx.cy.0 |
-| cy.sz + sx.sy.cz + -cx.sy.0 0.sz + cx.cz + sx.0 sy.sz + -sx.cy.cz + cx.cy.0 |
-| cy.0 + sx.sy.0 + -cx.sy.1 0.0 + cx.0 + sx.1 sy.0 + -sx.cy.0 + cx.cy.1 |
-*/
+ | cy.cz + sx.sy.-sz + -cx.sy.0 0.cz + cx.-sz + sx.0 sy.cz + -sx.cy.-sz + cx.cy.0 |
+ | cy.sz + sx.sy.cz + -cx.sy.0 0.sz + cx.cz + sx.0 sy.sz + -sx.cy.cz + cx.cy.0 |
+ | cy.0 + sx.sy.0 + -cx.sy.1 0.0 + cx.0 + sx.1 sy.0 + -sx.cy.0 + cx.cy.1 |
+ */
#if 1
- {
- matrix[0] = (vec_t)(cy*cz + sx*sy*-sz);
- matrix[1] = (vec_t)(cy*sz + sx*sy*cz);
- matrix[2] = (vec_t)(-cx*sy);
- matrix[4] = (vec_t)(cx*-sz);
- matrix[5] = (vec_t)(cx*cz);
- matrix[6] = (vec_t)(sx);
- matrix[8] = (vec_t)(sy*cz + -sx*cy*-sz);
- matrix[9] = (vec_t)(sy*sz + -sx*cy*cz);
- matrix[10] = (vec_t)(cx*cy);
- }
-
- matrix[12] = matrix[13] = matrix[14] = matrix[3] = matrix[7] = matrix[11] = 0;
- matrix[15] = 1;
+ {
+ matrix[0] = (vec_t)( cy * cz + sx * sy * -sz );
+ matrix[1] = (vec_t)( cy * sz + sx * sy * cz );
+ matrix[2] = (vec_t)( -cx * sy );
+ matrix[4] = (vec_t)( cx * -sz );
+ matrix[5] = (vec_t)( cx * cz );
+ matrix[6] = (vec_t)( sx );
+ matrix[8] = (vec_t)( sy * cz + -sx * cy * -sz );
+ matrix[9] = (vec_t)( sy * sz + -sx * cy * cz );
+ matrix[10] = (vec_t)( cx * cy );
+ }
+
+ matrix[12] = matrix[13] = matrix[14] = matrix[3] = matrix[7] = matrix[11] = 0;
+ matrix[15] = 1;
#else
- m4x4_identity(matrix);
- matrix[0] =(vec_t) cy; matrix[2] =(vec_t)-sy;
- matrix[8] =(vec_t) sy; matrix[10]=(vec_t) cy;
-
- {
- m4x4_t temp;
- m4x4_identity(temp);
- temp[5] =(vec_t) cx; temp[6] =(vec_t) sx;
- temp[9] =(vec_t)-sx; temp[10]=(vec_t) cx;
- m4x4_premultiply_by_m4x4(matrix, temp);
- m4x4_identity(temp);
- temp[0] =(vec_t) cz; temp[1] =(vec_t) sz;
- temp[4] =(vec_t)-sz; temp[5] =(vec_t) cz;
- m4x4_premultiply_by_m4x4(matrix, temp);
- }
+ m4x4_identity( matrix );
+ matrix[0] = (vec_t) cy; matrix[2] = (vec_t)-sy;
+ matrix[8] = (vec_t) sy; matrix[10] = (vec_t) cy;
+
+ {
+ m4x4_t temp;
+ m4x4_identity( temp );
+ temp[5] = (vec_t) cx; temp[6] = (vec_t) sx;
+ temp[9] = (vec_t)-sx; temp[10] = (vec_t) cx;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ m4x4_identity( temp );
+ temp[0] = (vec_t) cz; temp[1] = (vec_t) sz;
+ temp[4] = (vec_t)-sz; temp[5] = (vec_t) cz;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ }
#endif
- break;
+ break;
- case eZYX:
+ case eZYX:
#if 1
- {
- matrix[0] = (vec_t)(cy*cz);
- matrix[4] = (vec_t)(cy*-sz);
- matrix[8] = (vec_t)sy;
- matrix[1] = (vec_t)(sx*sy*cz + cx*sz);
- matrix[5] = (vec_t)(sx*sy*-sz + cx*cz);
- matrix[9] = (vec_t)(-sx*cy);
- matrix[2] = (vec_t)(cx*-sy*cz + sx*sz);
- matrix[6] = (vec_t)(cx*-sy*-sz + sx*cz);
- matrix[10] = (vec_t)(cx*cy);
- }
-
- matrix[12] = matrix[13] = matrix[14] = matrix[3] = matrix[7] = matrix[11] = 0;
- matrix[15] = 1;
+ {
+ matrix[0] = (vec_t)( cy * cz );
+ matrix[4] = (vec_t)( cy * -sz );
+ matrix[8] = (vec_t)sy;
+ matrix[1] = (vec_t)( sx * sy * cz + cx * sz );
+ matrix[5] = (vec_t)( sx * sy * -sz + cx * cz );
+ matrix[9] = (vec_t)( -sx * cy );
+ matrix[2] = (vec_t)( cx * -sy * cz + sx * sz );
+ matrix[6] = (vec_t)( cx * -sy * -sz + sx * cz );
+ matrix[10] = (vec_t)( cx * cy );
+ }
+
+ matrix[12] = matrix[13] = matrix[14] = matrix[3] = matrix[7] = matrix[11] = 0;
+ matrix[15] = 1;
#else
- m4x4_identity(matrix);
- matrix[0] =(vec_t) cz; matrix[1] =(vec_t) sz;
- matrix[4] =(vec_t)-sz; matrix[5] =(vec_t) cz;
- {
- m4x4_t temp;
- m4x4_identity(temp);
- temp[0] =(vec_t) cy; temp[2] =(vec_t)-sy;
- temp[8] =(vec_t) sy; temp[10]=(vec_t) cy;
- m4x4_premultiply_by_m4x4(matrix, temp);
- m4x4_identity(temp);
- temp[5] =(vec_t) cx; temp[6] =(vec_t) sx;
- temp[9] =(vec_t)-sx; temp[10]=(vec_t) cx;
- m4x4_premultiply_by_m4x4(matrix, temp);
- }
+ m4x4_identity( matrix );
+ matrix[0] = (vec_t) cz; matrix[1] = (vec_t) sz;
+ matrix[4] = (vec_t)-sz; matrix[5] = (vec_t) cz;
+ {
+ m4x4_t temp;
+ m4x4_identity( temp );
+ temp[0] = (vec_t) cy; temp[2] = (vec_t)-sy;
+ temp[8] = (vec_t) sy; temp[10] = (vec_t) cy;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ m4x4_identity( temp );
+ temp[5] = (vec_t) cx; temp[6] = (vec_t) sx;
+ temp[9] = (vec_t)-sx; temp[10] = (vec_t) cx;
+ m4x4_premultiply_by_m4x4( matrix, temp );
+ }
#endif
- break;
+ break;
- }
+ }
}
-void m4x4_scale_for_vec3(m4x4_t matrix, const vec3_t scale)
-{
- matrix[1] = matrix[2] = matrix[3] =
- matrix[4] = matrix[6] = matrix[7] =
- matrix[8] = matrix[9] = matrix[11] =
- matrix[12] = matrix[13] = matrix[14] = 0;
+void m4x4_scale_for_vec3( m4x4_t matrix, const vec3_t scale ){
+ matrix[1] = matrix[2] = matrix[3] =
+ matrix[4] = matrix[6] = matrix[7] =
+ matrix[8] = matrix[9] = matrix[11] =
+ matrix[12] = matrix[13] = matrix[14] = 0;
- matrix[15] = 1;
+ matrix[15] = 1;
- matrix[0] = scale[0];
- matrix[5] = scale[1];
- matrix[10] = scale[2];
+ matrix[0] = scale[0];
+ matrix[5] = scale[1];
+ matrix[10] = scale[2];
}
-void m4x4_rotation_for_quat(m4x4_t matrix, const vec4_t rotation)
-{
- float xx,xy,xz,xw,yy,yz,yw,zz,zw;
+void m4x4_rotation_for_quat( m4x4_t matrix, const vec4_t rotation ){
+ float xx,xy,xz,xw,yy,yz,yw,zz,zw;
- xx = rotation[0] * rotation[0];
- xy = rotation[0] * rotation[1];
- xz = rotation[0] * rotation[2];
- xw = rotation[0] * rotation[3];
+ xx = rotation[0] * rotation[0];
+ xy = rotation[0] * rotation[1];
+ xz = rotation[0] * rotation[2];
+ xw = rotation[0] * rotation[3];
- yy = rotation[1] * rotation[1];
- yz = rotation[1] * rotation[2];
- yw = rotation[1] * rotation[3];
+ yy = rotation[1] * rotation[1];
+ yz = rotation[1] * rotation[2];
+ yw = rotation[1] * rotation[3];
- zz = rotation[2] * rotation[2];
- zw = rotation[2] * rotation[3];
+ zz = rotation[2] * rotation[2];
+ zw = rotation[2] * rotation[3];
- matrix[0] = 1 - 2 * ( yy + zz );
- matrix[4] = 2 * ( xy - zw );
- matrix[8] = 2 * ( xz + yw );
+ matrix[0] = 1 - 2 * ( yy + zz );
+ matrix[4] = 2 * ( xy - zw );
+ matrix[8] = 2 * ( xz + yw );
- matrix[1] = 2 * ( xy + zw );
- matrix[5] = 1 - 2 * ( xx + zz );
- matrix[9] = 2 * ( yz - xw );
+ matrix[1] = 2 * ( xy + zw );
+ matrix[5] = 1 - 2 * ( xx + zz );
+ matrix[9] = 2 * ( yz - xw );
- matrix[2] = 2 * ( xz - yw );
- matrix[6] = 2 * ( yz + xw );
- matrix[10] = 1 - 2 * ( xx + yy );
+ matrix[2] = 2 * ( xz - yw );
+ matrix[6] = 2 * ( yz + xw );
+ matrix[10] = 1 - 2 * ( xx + yy );
- matrix[3] = matrix[7] = matrix[11] = matrix[12] = matrix[13] = matrix[14] = 0;
- matrix[15] = 1;
+ matrix[3] = matrix[7] = matrix[11] = matrix[12] = matrix[13] = matrix[14] = 0;
+ matrix[15] = 1;
}
-void m4x4_rotation_for_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle)
-{
- vec4_t rotation;
- angle *= 0.5;
+void m4x4_rotation_for_axisangle( m4x4_t matrix, const vec3_t axis, vec_t angle ){
+ vec4_t rotation;
+ angle *= 0.5;
- rotation[3] = (float)sin((float)(angle));
+ rotation[3] = (float)sin( (float)( angle ) );
- rotation[0] = axis[0] * rotation[3];
- rotation[1] = axis[1] * rotation[3];
- rotation[2] = axis[2] * rotation[3];
- rotation[3] = (float)cos((float)(angle));
+ rotation[0] = axis[0] * rotation[3];
+ rotation[1] = axis[1] * rotation[3];
+ rotation[2] = axis[2] * rotation[3];
+ rotation[3] = (float)cos( (float)( angle ) );
- m4x4_rotation_for_quat(matrix, rotation);
+ m4x4_rotation_for_quat( matrix, rotation );
}
-void m4x4_translate_by_vec3(m4x4_t matrix, const vec3_t translation)
-{
- m4x4_t temp;
- m4x4_translation_for_vec3(temp, translation);
- m4x4_multiply_by_m4x4(matrix, temp);
+void m4x4_translate_by_vec3( m4x4_t matrix, const vec3_t translation ){
+ m4x4_t temp;
+ m4x4_translation_for_vec3( temp, translation );
+ m4x4_multiply_by_m4x4( matrix, temp );
}
-void m4x4_rotate_by_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order)
-{
- m4x4_t temp;
- m4x4_rotation_for_vec3(temp, euler, order);
- m4x4_multiply_by_m4x4(matrix, temp);
+void m4x4_rotate_by_vec3( m4x4_t matrix, const vec3_t euler, eulerOrder_t order ){
+ m4x4_t temp;
+ m4x4_rotation_for_vec3( temp, euler, order );
+ m4x4_multiply_by_m4x4( matrix, temp );
}
-void m4x4_scale_by_vec3(m4x4_t matrix, const vec3_t scale)
-{
- m4x4_t temp;
- m4x4_scale_for_vec3(temp, scale);
- m4x4_multiply_by_m4x4(matrix, temp);
+void m4x4_scale_by_vec3( m4x4_t matrix, const vec3_t scale ){
+ m4x4_t temp;
+ m4x4_scale_for_vec3( temp, scale );
+ m4x4_multiply_by_m4x4( matrix, temp );
}
-void m4x4_rotate_by_quat(m4x4_t matrix, const vec4_t rotation)
-{
- m4x4_t temp;
- m4x4_rotation_for_quat(temp, rotation);
- m4x4_multiply_by_m4x4(matrix, temp);
+void m4x4_rotate_by_quat( m4x4_t matrix, const vec4_t rotation ){
+ m4x4_t temp;
+ m4x4_rotation_for_quat( temp, rotation );
+ m4x4_multiply_by_m4x4( matrix, temp );
}
-void m4x4_rotate_by_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle)
-{
- m4x4_t temp;
- m4x4_rotation_for_axisangle(temp, axis, angle);
- m4x4_multiply_by_m4x4(matrix, temp);
+void m4x4_rotate_by_axisangle( m4x4_t matrix, const vec3_t axis, vec_t angle ){
+ m4x4_t temp;
+ m4x4_rotation_for_axisangle( temp, axis, angle );
+ m4x4_multiply_by_m4x4( matrix, temp );
}
-void m4x4_transform_by_vec3(m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale)
-{
- m4x4_translate_by_vec3(matrix, translation);
- m4x4_rotate_by_vec3(matrix, euler, order);
- m4x4_scale_by_vec3(matrix, scale);
+void m4x4_transform_by_vec3( m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale ){
+ m4x4_translate_by_vec3( matrix, translation );
+ m4x4_rotate_by_vec3( matrix, euler, order );
+ m4x4_scale_by_vec3( matrix, scale );
}
-void m4x4_pivoted_rotate_by_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order, const vec3_t pivotpoint)
-{
- vec3_t vec3_temp;
- VectorNegative(pivotpoint, vec3_temp);
+void m4x4_pivoted_rotate_by_vec3( m4x4_t matrix, const vec3_t euler, eulerOrder_t order, const vec3_t pivotpoint ){
+ vec3_t vec3_temp;
+ VectorNegative( pivotpoint, vec3_temp );
- m4x4_translate_by_vec3(matrix, pivotpoint);
- m4x4_rotate_by_vec3(matrix, euler, order);
- m4x4_translate_by_vec3(matrix, vec3_temp);
+ m4x4_translate_by_vec3( matrix, pivotpoint );
+ m4x4_rotate_by_vec3( matrix, euler, order );
+ m4x4_translate_by_vec3( matrix, vec3_temp );
}
-void m4x4_pivoted_scale_by_vec3(m4x4_t matrix, const vec3_t scale, const vec3_t pivotpoint)
-{
- vec3_t vec3_temp;
- VectorNegative(pivotpoint, vec3_temp);
+void m4x4_pivoted_scale_by_vec3( m4x4_t matrix, const vec3_t scale, const vec3_t pivotpoint ){
+ vec3_t vec3_temp;
+ VectorNegative( pivotpoint, vec3_temp );
- m4x4_translate_by_vec3(matrix, pivotpoint);
- m4x4_scale_by_vec3(matrix, scale);
- m4x4_translate_by_vec3(matrix, vec3_temp);
+ m4x4_translate_by_vec3( matrix, pivotpoint );
+ m4x4_scale_by_vec3( matrix, scale );
+ m4x4_translate_by_vec3( matrix, vec3_temp );
}
-void m4x4_pivoted_transform_by_vec3(m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale, const vec3_t pivotpoint)
-{
- vec3_t vec3_temp;
+void m4x4_pivoted_transform_by_vec3( m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale, const vec3_t pivotpoint ){
+ vec3_t vec3_temp;
- VectorAdd(pivotpoint, translation, vec3_temp);
- m4x4_translate_by_vec3(matrix, vec3_temp);
- m4x4_rotate_by_vec3(matrix, euler, order);
- m4x4_scale_by_vec3(matrix, scale);
- VectorNegative(pivotpoint, vec3_temp);
- m4x4_translate_by_vec3(matrix, vec3_temp);
+ VectorAdd( pivotpoint, translation, vec3_temp );
+ m4x4_translate_by_vec3( matrix, vec3_temp );
+ m4x4_rotate_by_vec3( matrix, euler, order );
+ m4x4_scale_by_vec3( matrix, scale );
+ VectorNegative( pivotpoint, vec3_temp );
+ m4x4_translate_by_vec3( matrix, vec3_temp );
}
-void m4x4_pivoted_rotate_by_quat(m4x4_t matrix, const vec4_t rotation, const vec3_t pivotpoint)
-{
- vec3_t vec3_temp;
- VectorNegative(pivotpoint, vec3_temp);
+void m4x4_pivoted_rotate_by_quat( m4x4_t matrix, const vec4_t rotation, const vec3_t pivotpoint ){
+ vec3_t vec3_temp;
+ VectorNegative( pivotpoint, vec3_temp );
- m4x4_translate_by_vec3(matrix, pivotpoint);
- m4x4_rotate_by_quat(matrix, rotation);
- m4x4_translate_by_vec3(matrix, vec3_temp);
+ m4x4_translate_by_vec3( matrix, pivotpoint );
+ m4x4_rotate_by_quat( matrix, rotation );
+ m4x4_translate_by_vec3( matrix, vec3_temp );
}
-void m4x4_pivoted_rotate_by_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle, const vec3_t pivotpoint)
-{
- vec3_t vec3_temp;
- VectorNegative(pivotpoint, vec3_temp);
+void m4x4_pivoted_rotate_by_axisangle( m4x4_t matrix, const vec3_t axis, vec_t angle, const vec3_t pivotpoint ){
+ vec3_t vec3_temp;
+ VectorNegative( pivotpoint, vec3_temp );
- m4x4_translate_by_vec3(matrix, pivotpoint);
- m4x4_rotate_by_axisangle(matrix, axis, angle);
- m4x4_translate_by_vec3(matrix, vec3_temp);
+ m4x4_translate_by_vec3( matrix, pivotpoint );
+ m4x4_rotate_by_axisangle( matrix, axis, angle );
+ m4x4_translate_by_vec3( matrix, vec3_temp );
}
/*
-A = A.B
-
-A0 = B0 * A0 + B1 * A4 + B2 * A8 + B3 * A12
-A4 = B4 * A0 + B5 * A4 + B6 * A8 + B7 * A12
-A8 = B8 * A0 + B9 * A4 + B10* A8 + B11* A12
-A12= B12* A0 + B13* A4 + B14* A8 + B15* A12
-
-A1 = B0 * A1 + B1 * A5 + B2 * A9 + B3 * A13
-A5 = B4 * A1 + B5 * A5 + B6 * A9 + B7 * A13
-A9 = B8 * A1 + B9 * A5 + B10* A9 + B11* A13
-A13= B12* A1 + B13* A5 + B14* A9 + B15* A13
-
-A2 = B0 * A2 + B1 * A6 + B2 * A10+ B3 * A14
-A6 = B4 * A2 + B5 * A6 + B6 * A10+ B7 * A14
-A10= B8 * A2 + B9 * A6 + B10* A10+ B11* A14
-A14= B12* A2 + B13* A6 + B14* A10+ B15* A14
-
-A3 = B0 * A3 + B1 * A7 + B2 * A11+ B3 * A15
-A7 = B4 * A3 + B5 * A7 + B6 * A11+ B7 * A15
-A11= B8 * A3 + B9 * A7 + B10* A11+ B11* A15
-A15= B12* A3 + B13* A7 + B14* A11+ B15* A15
-*/
-
-void m4x4_multiply_by_m4x4(m4x4_t dst, const m4x4_t src)
-{
+ A = A.B
+
+ A0 = B0 * A0 + B1 * A4 + B2 * A8 + B3 * A12
+ A4 = B4 * A0 + B5 * A4 + B6 * A8 + B7 * A12
+ A8 = B8 * A0 + B9 * A4 + B10* A8 + B11* A12
+ A12= B12* A0 + B13* A4 + B14* A8 + B15* A12
+
+ A1 = B0 * A1 + B1 * A5 + B2 * A9 + B3 * A13
+ A5 = B4 * A1 + B5 * A5 + B6 * A9 + B7 * A13
+ A9 = B8 * A1 + B9 * A5 + B10* A9 + B11* A13
+ A13= B12* A1 + B13* A5 + B14* A9 + B15* A13
+
+ A2 = B0 * A2 + B1 * A6 + B2 * A10+ B3 * A14
+ A6 = B4 * A2 + B5 * A6 + B6 * A10+ B7 * A14
+ A10= B8 * A2 + B9 * A6 + B10* A10+ B11* A14
+ A14= B12* A2 + B13* A6 + B14* A10+ B15* A14
+
+ A3 = B0 * A3 + B1 * A7 + B2 * A11+ B3 * A15
+ A7 = B4 * A3 + B5 * A7 + B6 * A11+ B7 * A15
+ A11= B8 * A3 + B9 * A7 + B10* A11+ B11* A15
+ A15= B12* A3 + B13* A7 + B14* A11+ B15* A15
+ */
+
+void m4x4_multiply_by_m4x4( m4x4_t dst, const m4x4_t src ){
vec_t dst0, dst1, dst2, dst3;
#if 1
- dst0 = src[0] * dst[0] + src[1] * dst[4] + src[2] * dst[8] + src[3] * dst[12];
- dst1 = src[4] * dst[0] + src[5] * dst[4] + src[6] * dst[8] + src[7] * dst[12];
- dst2 = src[8] * dst[0] + src[9] * dst[4] + src[10]* dst[8] + src[11]* dst[12];
- dst3 = src[12]* dst[0] + src[13]* dst[4] + src[14]* dst[8] + src[15]* dst[12];
- dst[0] = dst0; dst[4] = dst1; dst[8] = dst2; dst[12]= dst3;
-
- dst0 = src[0] * dst[1] + src[1] * dst[5] + src[2] * dst[9] + src[3] * dst[13];
- dst1 = src[4] * dst[1] + src[5] * dst[5] + src[6] * dst[9] + src[7] * dst[13];
- dst2 = src[8] * dst[1] + src[9] * dst[5] + src[10]* dst[9] + src[11]* dst[13];
- dst3 = src[12]* dst[1] + src[13]* dst[5] + src[14]* dst[9] + src[15]* dst[13];
- dst[1] = dst0; dst[5] = dst1; dst[9] = dst2; dst[13]= dst3;
-
- dst0 = src[0] * dst[2] + src[1] * dst[6] + src[2] * dst[10]+ src[3] * dst[14];
- dst1 = src[4] * dst[2] + src[5] * dst[6] + src[6] * dst[10]+ src[7] * dst[14];
- dst2 = src[8] * dst[2] + src[9] * dst[6] + src[10]* dst[10]+ src[11]* dst[14];
- dst3 = src[12]* dst[2] + src[13]* dst[6] + src[14]* dst[10]+ src[15]* dst[14];
- dst[2] = dst0; dst[6] = dst1; dst[10]= dst2; dst[14]= dst3;
-
- dst0 = src[0] * dst[3] + src[1] * dst[7] + src[2] * dst[11]+ src[3] * dst[15];
- dst1 = src[4] * dst[3] + src[5] * dst[7] + src[6] * dst[11]+ src[7] * dst[15];
- dst2 = src[8] * dst[3] + src[9] * dst[7] + src[10]* dst[11]+ src[11]* dst[15];
- dst3 = src[12]* dst[3] + src[13]* dst[7] + src[14]* dst[11]+ src[15]* dst[15];
- dst[3] = dst0; dst[7] = dst1; dst[11]= dst2; dst[15]= dst3;
+ dst0 = src[0] * dst[0] + src[1] * dst[4] + src[2] * dst[8] + src[3] * dst[12];
+ dst1 = src[4] * dst[0] + src[5] * dst[4] + src[6] * dst[8] + src[7] * dst[12];
+ dst2 = src[8] * dst[0] + src[9] * dst[4] + src[10] * dst[8] + src[11] * dst[12];
+ dst3 = src[12] * dst[0] + src[13] * dst[4] + src[14] * dst[8] + src[15] * dst[12];
+ dst[0] = dst0; dst[4] = dst1; dst[8] = dst2; dst[12] = dst3;
+
+ dst0 = src[0] * dst[1] + src[1] * dst[5] + src[2] * dst[9] + src[3] * dst[13];
+ dst1 = src[4] * dst[1] + src[5] * dst[5] + src[6] * dst[9] + src[7] * dst[13];
+ dst2 = src[8] * dst[1] + src[9] * dst[5] + src[10] * dst[9] + src[11] * dst[13];
+ dst3 = src[12] * dst[1] + src[13] * dst[5] + src[14] * dst[9] + src[15] * dst[13];
+ dst[1] = dst0; dst[5] = dst1; dst[9] = dst2; dst[13] = dst3;
+
+ dst0 = src[0] * dst[2] + src[1] * dst[6] + src[2] * dst[10] + src[3] * dst[14];
+ dst1 = src[4] * dst[2] + src[5] * dst[6] + src[6] * dst[10] + src[7] * dst[14];
+ dst2 = src[8] * dst[2] + src[9] * dst[6] + src[10] * dst[10] + src[11] * dst[14];
+ dst3 = src[12] * dst[2] + src[13] * dst[6] + src[14] * dst[10] + src[15] * dst[14];
+ dst[2] = dst0; dst[6] = dst1; dst[10] = dst2; dst[14] = dst3;
+
+ dst0 = src[0] * dst[3] + src[1] * dst[7] + src[2] * dst[11] + src[3] * dst[15];
+ dst1 = src[4] * dst[3] + src[5] * dst[7] + src[6] * dst[11] + src[7] * dst[15];
+ dst2 = src[8] * dst[3] + src[9] * dst[7] + src[10] * dst[11] + src[11] * dst[15];
+ dst3 = src[12] * dst[3] + src[13] * dst[7] + src[14] * dst[11] + src[15] * dst[15];
+ dst[3] = dst0; dst[7] = dst1; dst[11] = dst2; dst[15] = dst3;
#else
- vec_t * p = dst;
- for(int i=0;i<4;i++)
+ vec_t * p = dst;
+ for ( int i = 0; i < 4; i++ )
{
dst1 = src[0] * p[0];
dst1 += src[1] * p[4];
p[4] = dst2;
p[8] = dst3;
p[12] = dst4;
- p++;
+ p++;
}
#endif
}
/*
-A = B.A
-
-A0 = A0 * B0 + A1 * B4 + A2 * B8 + A3 * B12
-A1 = A0 * B1 + A1 * B5 + A2 * B9 + A3 * B13
-A2 = A0 * B2 + A1 * B6 + A2 * B10+ A3 * B14
-A3 = A0 * B3 + A1 * B7 + A2 * B11+ A3 * B15
-
-A4 = A4 * B0 + A5 * B4 + A6 * B8 + A7 * B12
-A5 = A4 * B1 + A5 * B5 + A6 * B9 + A7 * B13
-A6 = A4 * B2 + A5 * B6 + A6 * B10+ A7 * B14
-A7 = A4 * B3 + A5 * B7 + A6 * B11+ A7 * B15
-
-A8 = A8 * B0 + A9 * B4 + A10* B8 + A11* B12
-A9 = A8 * B1 + A9 * B5 + A10* B9 + A11* B13
-A10= A8 * B2 + A9 * B6 + A10* B10+ A11* B14
-A11= A8 * B3 + A9 * B7 + A10* B11+ A11* B15
-
-A12= A12* B0 + A13* B4 + A14* B8 + A15* B12
-A13= A12* B1 + A13* B5 + A14* B9 + A15* B13
-A14= A12* B2 + A13* B6 + A14* B10+ A15* B14
-A15= A12* B3 + A13* B7 + A14* B11+ A15* B15
-*/
-
-void m4x4_premultiply_by_m4x4(m4x4_t dst, const m4x4_t src)
-{
+ A = B.A
+
+ A0 = A0 * B0 + A1 * B4 + A2 * B8 + A3 * B12
+ A1 = A0 * B1 + A1 * B5 + A2 * B9 + A3 * B13
+ A2 = A0 * B2 + A1 * B6 + A2 * B10+ A3 * B14
+ A3 = A0 * B3 + A1 * B7 + A2 * B11+ A3 * B15
+
+ A4 = A4 * B0 + A5 * B4 + A6 * B8 + A7 * B12
+ A5 = A4 * B1 + A5 * B5 + A6 * B9 + A7 * B13
+ A6 = A4 * B2 + A5 * B6 + A6 * B10+ A7 * B14
+ A7 = A4 * B3 + A5 * B7 + A6 * B11+ A7 * B15
+
+ A8 = A8 * B0 + A9 * B4 + A10* B8 + A11* B12
+ A9 = A8 * B1 + A9 * B5 + A10* B9 + A11* B13
+ A10= A8 * B2 + A9 * B6 + A10* B10+ A11* B14
+ A11= A8 * B3 + A9 * B7 + A10* B11+ A11* B15
+
+ A12= A12* B0 + A13* B4 + A14* B8 + A15* B12
+ A13= A12* B1 + A13* B5 + A14* B9 + A15* B13
+ A14= A12* B2 + A13* B6 + A14* B10+ A15* B14
+ A15= A12* B3 + A13* B7 + A14* B11+ A15* B15
+ */
+
+void m4x4_premultiply_by_m4x4( m4x4_t dst, const m4x4_t src ){
vec_t dst0, dst1, dst2, dst3;
#if 1
- dst0 = dst[0] * src[0] + dst[1] * src[4] + dst[2] * src[8] + dst[3] * src[12];
- dst1 = dst[0] * src[1] + dst[1] * src[5] + dst[2] * src[9] + dst[3] * src[13];
- dst2 = dst[0] * src[2] + dst[1] * src[6] + dst[2] * src[10]+ dst[3] * src[14];
- dst3 = dst[0] * src[3] + dst[1] * src[7] + dst[2] * src[11]+ dst[3] * src[15];
- dst[0] = dst0; dst[1] = dst1; dst[2] = dst2; dst[3]= dst3;
-
- dst0 = dst[4] * src[0] + dst[5] * src[4] + dst[6] * src[8] + dst[7] * src[12];
- dst1 = dst[4] * src[1] + dst[5] * src[5] + dst[6] * src[9] + dst[7] * src[13];
- dst2 = dst[4] * src[2] + dst[5] * src[6] + dst[6] * src[10]+ dst[7] * src[14];
- dst3 = dst[4] * src[3] + dst[5] * src[7] + dst[6] * src[11]+ dst[7] * src[15];
- dst[4] = dst0; dst[5] = dst1; dst[6] = dst2; dst[7]= dst3;
-
- dst0 = dst[8] * src[0] + dst[9] * src[4] + dst[10]* src[8] + dst[11]* src[12];
- dst1 = dst[8] * src[1] + dst[9] * src[5] + dst[10]* src[9] + dst[11]* src[13];
- dst2 = dst[8] * src[2] + dst[9] * src[6] + dst[10]* src[10]+ dst[11]* src[14];
- dst3 = dst[8] * src[3] + dst[9] * src[7] + dst[10]* src[11]+ dst[11]* src[15];
- dst[8] = dst0; dst[9] = dst1; dst[10] = dst2; dst[11]= dst3;
-
- dst0 = dst[12]* src[0] + dst[13]* src[4] + dst[14]* src[8] + dst[15]* src[12];
- dst1 = dst[12]* src[1] + dst[13]* src[5] + dst[14]* src[9] + dst[15]* src[13];
- dst2 = dst[12]* src[2] + dst[13]* src[6] + dst[14]* src[10]+ dst[15]* src[14];
- dst3 = dst[12]* src[3] + dst[13]* src[7] + dst[14]* src[11]+ dst[15]* src[15];
- dst[12] = dst0; dst[13] = dst1; dst[14] = dst2; dst[15]= dst3;
+ dst0 = dst[0] * src[0] + dst[1] * src[4] + dst[2] * src[8] + dst[3] * src[12];
+ dst1 = dst[0] * src[1] + dst[1] * src[5] + dst[2] * src[9] + dst[3] * src[13];
+ dst2 = dst[0] * src[2] + dst[1] * src[6] + dst[2] * src[10] + dst[3] * src[14];
+ dst3 = dst[0] * src[3] + dst[1] * src[7] + dst[2] * src[11] + dst[3] * src[15];
+ dst[0] = dst0; dst[1] = dst1; dst[2] = dst2; dst[3] = dst3;
+
+ dst0 = dst[4] * src[0] + dst[5] * src[4] + dst[6] * src[8] + dst[7] * src[12];
+ dst1 = dst[4] * src[1] + dst[5] * src[5] + dst[6] * src[9] + dst[7] * src[13];
+ dst2 = dst[4] * src[2] + dst[5] * src[6] + dst[6] * src[10] + dst[7] * src[14];
+ dst3 = dst[4] * src[3] + dst[5] * src[7] + dst[6] * src[11] + dst[7] * src[15];
+ dst[4] = dst0; dst[5] = dst1; dst[6] = dst2; dst[7] = dst3;
+
+ dst0 = dst[8] * src[0] + dst[9] * src[4] + dst[10] * src[8] + dst[11] * src[12];
+ dst1 = dst[8] * src[1] + dst[9] * src[5] + dst[10] * src[9] + dst[11] * src[13];
+ dst2 = dst[8] * src[2] + dst[9] * src[6] + dst[10] * src[10] + dst[11] * src[14];
+ dst3 = dst[8] * src[3] + dst[9] * src[7] + dst[10] * src[11] + dst[11] * src[15];
+ dst[8] = dst0; dst[9] = dst1; dst[10] = dst2; dst[11] = dst3;
+
+ dst0 = dst[12] * src[0] + dst[13] * src[4] + dst[14] * src[8] + dst[15] * src[12];
+ dst1 = dst[12] * src[1] + dst[13] * src[5] + dst[14] * src[9] + dst[15] * src[13];
+ dst2 = dst[12] * src[2] + dst[13] * src[6] + dst[14] * src[10] + dst[15] * src[14];
+ dst3 = dst[12] * src[3] + dst[13] * src[7] + dst[14] * src[11] + dst[15] * src[15];
+ dst[12] = dst0; dst[13] = dst1; dst[14] = dst2; dst[15] = dst3;
#else
- vec_t* p = dst;
- for(int i=0;i<4;i++)
+ vec_t* p = dst;
+ for ( int i = 0; i < 4; i++ )
{
dst1 = src[0] * p[0];
dst2 = src[1] * p[0];
#endif
}
-void m4x4_transform_point(const m4x4_t matrix, vec3_t point)
-{
- float out1, out2, out3;
+void m4x4_transform_point( const m4x4_t matrix, vec3_t point ){
+ float out1, out2, out3;
out1 = matrix[0] * point[0];
out2 = matrix[1] * point[0];
out1 += matrix[8] * point[2];
out2 += matrix[9] * point[2];
out3 += matrix[10] * point[2];
- out1 += matrix[12];
- out2 += matrix[13];
- out3 += matrix[14];
+ out1 += matrix[12];
+ out2 += matrix[13];
+ out3 += matrix[14];
point[0] = out1;
point[1] = out2;
point[2] = out3;
}
-void m4x4_transform_normal(const m4x4_t matrix, vec3_t normal)
-{
- float out1, out2, out3;
+void m4x4_transform_normal( const m4x4_t matrix, vec3_t normal ){
+ float out1, out2, out3;
out1 = matrix[0] * normal[0];
out2 = matrix[1] * normal[0];
normal[2] = out3;
}
-void m4x4_transform_vec4(const m4x4_t matrix, vec4_t vector)
-{
- float out1, out2, out3, out4;
+void m4x4_transform_vec4( const m4x4_t matrix, vec4_t vector ){
+ float out1, out2, out3, out4;
out1 = matrix[0] * vector[0];
out2 = matrix[1] * vector[0];
out2 += matrix[9] * vector[2];
out3 += matrix[10] * vector[2];
out4 += matrix[11] * vector[2];
- out1 += matrix[12] * vector[3];
- out2 += matrix[13] * vector[3];
- out3 += matrix[14] * vector[3];
- out4 += matrix[15] * vector[3];
+ out1 += matrix[12] * vector[3];
+ out2 += matrix[13] * vector[3];
+ out3 += matrix[14] * vector[3];
+ out4 += matrix[15] * vector[3];
vector[0] = out1;
vector[1] = out2;
vector[2] = out3;
- vector[3] = out4;
+ vector[3] = out4;
}
-void m4x4_transpose(m4x4_t matrix)
-{
+void m4x4_transpose( m4x4_t matrix ){
int i, j;
float temp, *p1, *p2;
- for (i=1; i<4; i++) {
- for (j=0; j<i; j++) {
- p1 = matrix+(j*4+i);
- p2 = matrix+(i*4+j);
- temp = *p1;
- *p1=*p2;
- *p2=temp;
- }
- }
+ for ( i = 1; i < 4; i++ ) {
+ for ( j = 0; j < i; j++ ) {
+ p1 = matrix + ( j * 4 + i );
+ p2 = matrix + ( i * 4 + j );
+ temp = *p1;
+ *p1 = *p2;
+ *p2 = temp;
+ }
+ }
}
-void m4x4_orthogonal_invert(m4x4_t matrix)
-{
- float temp;
+void m4x4_orthogonal_invert( m4x4_t matrix ){
+ float temp;
- temp = -matrix[3];
- matrix[3] = matrix[12];
- matrix[12] = temp;
+ temp = -matrix[3];
+ matrix[3] = matrix[12];
+ matrix[12] = temp;
- temp = -matrix[7];
- matrix[7] = matrix[13];
- matrix[13] = temp;
+ temp = -matrix[7];
+ matrix[7] = matrix[13];
+ matrix[13] = temp;
- temp = -matrix[11];
- matrix[11] = matrix[14];
- matrix[14] = temp;
+ temp = -matrix[11];
+ matrix[11] = matrix[14];
+ matrix[14] = temp;
- /*
- temp = matrix[1];
- matrix[1] = matrix[4];
- matrix[4] = temp;
+ /*
+ temp = matrix[1];
+ matrix[1] = matrix[4];
+ matrix[4] = temp;
- temp = matrix[2];
- matrix[2] = matrix[8];
- matrix[8] = temp;
+ temp = matrix[2];
+ matrix[2] = matrix[8];
+ matrix[8] = temp;
- temp = matrix[6];
- matrix[6] = matrix[9];
- matrix[9] = temp;
+ temp = matrix[6];
+ matrix[6] = matrix[9];
+ matrix[9] = temp;
- matrix[3] = -matrix[3];
- matrix[7] = -matrix[7];
- matrix[11] = -matrix[11];
- */
+ matrix[3] = -matrix[3];
+ matrix[7] = -matrix[7];
+ matrix[11] = -matrix[11];
+ */
}
-float m3_det( m3x3_t mat )
-{
- float det;
+float m3_det( m3x3_t mat ){
+ float det;
- det = mat[0] * ( mat[4]*mat[8] - mat[7]*mat[5] )
- - mat[1] * ( mat[3]*mat[8] - mat[6]*mat[5] )
- + mat[2] * ( mat[3]*mat[7] - mat[6]*mat[4] );
+ det = mat[0] * ( mat[4] * mat[8] - mat[7] * mat[5] )
+ - mat[1] * ( mat[3] * mat[8] - mat[6] * mat[5] )
+ + mat[2] * ( mat[3] * mat[7] - mat[6] * mat[4] );
- return( det );
+ return( det );
}
/*
-void m3_inverse( m3x3_t mr, m3x3_t ma )
-{
- float det = m3_det( ma );
+ void m3_inverse( m3x3_t mr, m3x3_t ma )
+ {
+ float det = m3_det( ma );
- if ( fabs( det ) < 0.0005 )
- {
+ if ( fabs( det ) < 0.0005 )
+ {
m3_identity( ma );
return;
- }
+ }
- mr[0] = ma[4]*ma[8] - ma[5]*ma[7] / det;
- mr[1] = -( ma[1]*ma[8] - ma[7]*ma[2] ) / det;
- mr[2] = ma[1]*ma[5] - ma[4]*ma[2] / det;
+ mr[0] = ma[4]*ma[8] - ma[5]*ma[7] / det;
+ mr[1] = -( ma[1]*ma[8] - ma[7]*ma[2] ) / det;
+ mr[2] = ma[1]*ma[5] - ma[4]*ma[2] / det;
- mr[3] = -( ma[3]*ma[8] - ma[5]*ma[6] ) / det;
- mr[4] = ma[0]*ma[8] - ma[6]*ma[2] / det;
- mr[5] = -( ma[0]*ma[5] - ma[3]*ma[2] ) / det;
+ mr[3] = -( ma[3]*ma[8] - ma[5]*ma[6] ) / det;
+ mr[4] = ma[0]*ma[8] - ma[6]*ma[2] / det;
+ mr[5] = -( ma[0]*ma[5] - ma[3]*ma[2] ) / det;
- mr[6] = ma[3]*ma[7] - ma[6]*ma[4] / det;
- mr[7] = -( ma[0]*ma[7] - ma[6]*ma[1] ) / det;
- mr[8] = ma[0]*ma[4] - ma[1]*ma[3] / det;
-}
-*/
+ mr[6] = ma[3]*ma[7] - ma[6]*ma[4] / det;
+ mr[7] = -( ma[0]*ma[7] - ma[6]*ma[1] ) / det;
+ mr[8] = ma[0]*ma[4] - ma[1]*ma[3] / det;
+ }
+ */
-void m4_submat( m4x4_t mr, m3x3_t mb, int i, int j )
-{
- int ti, tj, idst, jdst;
+void m4_submat( m4x4_t mr, m3x3_t mb, int i, int j ){
+ int ti, tj, idst, jdst;
idst = 0;
- for ( ti = 0; ti < 4; ti++ )
- {
- if ( ti < i )
- idst = ti;
- else
- if ( ti > i )
- idst = ti-1;
-
- for ( tj = 0; tj < 4; tj++ )
- {
- if ( tj < j )
- jdst = tj;
- else
- if ( tj > j )
- jdst = tj-1;
-
- if ( ti != i && tj != j )
- mb[idst*3 + jdst] = mr[ti*4 + tj ];
- }
- }
+ for ( ti = 0; ti < 4; ti++ )
+ {
+ if ( ti < i ) {
+ idst = ti;
+ }
+ else
+ if ( ti > i ) {
+ idst = ti - 1;
+ }
+
+ for ( tj = 0; tj < 4; tj++ )
+ {
+ if ( tj < j ) {
+ jdst = tj;
+ }
+ else
+ if ( tj > j ) {
+ jdst = tj - 1;
+ }
+
+ if ( ti != i && tj != j ) {
+ mb[idst * 3 + jdst] = mr[ti * 4 + tj ];
+ }
+ }
+ }
}
-float m4_det( m4x4_t mr )
-{
- float det, result = 0, i = 1;
- m3x3_t msub3;
- int n;
+float m4_det( m4x4_t mr ){
+ float det, result = 0, i = 1;
+ m3x3_t msub3;
+ int n;
- for ( n = 0; n < 4; n++, i *= -1 )
- {
- m4_submat( mr, msub3, 0, n );
+ for ( n = 0; n < 4; n++, i *= -1 )
+ {
+ m4_submat( mr, msub3, 0, n );
- det = m3_det( msub3 );
- result += mr[n] * det * i;
- }
+ det = m3_det( msub3 );
+ result += mr[n] * det * i;
+ }
- return result;
+ return result;
}
-int m4x4_invert(m4x4_t matrix)
-{
- float mdet = m4_det( matrix );
- m3x3_t mtemp;
- int i, j, sign;
- m4x4_t m4x4_temp;
+int m4x4_invert( m4x4_t matrix ){
+ float mdet = m4_det( matrix );
+ m3x3_t mtemp;
+ int i, j, sign;
+ m4x4_t m4x4_temp;
- if ( fabs( mdet ) < 0.0000000001 ) //% 0.0005
- return 1;
+ if ( fabs( mdet ) < 0.0000000001 ) { //% 0.0005
+ return 1;
+ }
- memcpy(m4x4_temp, matrix, sizeof(m4x4_t));
+ memcpy( m4x4_temp, matrix, sizeof( m4x4_t ) );
- for ( i = 0; i < 4; i++ )
- for ( j = 0; j < 4; j++ )
- {
- sign = 1 - ( (i +j) % 2 ) * 2;
+ for ( i = 0; i < 4; i++ )
+ for ( j = 0; j < 4; j++ )
+ {
+ sign = 1 - ( ( i + j ) % 2 ) * 2;
- m4_submat( m4x4_temp, mtemp, i, j );
+ m4_submat( m4x4_temp, mtemp, i, j );
- matrix[i+j*4] = ( m3_det( mtemp ) * sign ) / mdet;
- }
+ matrix[i + j * 4] = ( m3_det( mtemp ) * sign ) / mdet;
+ }
- return 0;
+ return 0;
}
projects / xonotic / netradiant.git / blobdiff