X-Git-Url: http://git.xonotic.org/?a=blobdiff_plain;f=matrixlib.c;h=78c859cfed39673b9e6f7f6628ca8dae90c91e50;hb=fa561c1a0e1f754cab309168853a0e3b253081c8;hp=89c131144dd7e9e71df20dbdbca81b1ad0c20696;hpb=636c2207a7feebbc93dacfbe1e4626df48c0269b;p=xonotic%2Fdarkplaces.git

diff --git a/matrixlib.c b/matrixlib.c
index 89c13114..78c859cf 100644
--- a/matrixlib.c
+++ b/matrixlib.c
@@ -146,54 +146,54 @@ void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
 // added helper for common subexpression elimination by eihrul, and other optimizations by div0
 int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
 {
-        float det;
-
-        // note: orientation does not matter, as transpose(invert(transpose(m))) == invert(m), proof:
-        //   transpose(invert(transpose(m))) * m
-        // = transpose(invert(transpose(m))) * transpose(transpose(m))
-        // = transpose(transpose(m) * invert(transpose(m)))
-        // = transpose(identity)
-        // = identity
-
-        // this seems to help gcc's common subexpression elimination, and also makes the code look nicer
-        float   m00 = in1->m[0][0], m01 = in1->m[0][1], m02 = in1->m[0][2], m03 = in1->m[0][3],
-                m10 = in1->m[1][0], m11 = in1->m[1][1], m12 = in1->m[1][2], m13 = in1->m[1][3],
-                m20 = in1->m[2][0], m21 = in1->m[2][1], m22 = in1->m[2][2], m23 = in1->m[2][3],
-                m30 = in1->m[3][0], m31 = in1->m[3][1], m32 = in1->m[3][2], m33 = in1->m[3][3];
-
-        // calculate the adjoint
-        out->m[0][0] =  (m11*(m22*m33 - m23*m32) - m21*(m12*m33 - m13*m32) + m31*(m12*m23 - m13*m22));
-        out->m[0][1] = -(m01*(m22*m33 - m23*m32) - m21*(m02*m33 - m03*m32) + m31*(m02*m23 - m03*m22));
-        out->m[0][2] =  (m01*(m12*m33 - m13*m32) - m11*(m02*m33 - m03*m32) + m31*(m02*m13 - m03*m12));
-        out->m[0][3] = -(m01*(m12*m23 - m13*m22) - m11*(m02*m23 - m03*m22) + m21*(m02*m13 - m03*m12));
-        out->m[1][0] = -(m10*(m22*m33 - m23*m32) - m20*(m12*m33 - m13*m32) + m30*(m12*m23 - m13*m22));
-        out->m[1][1] =  (m00*(m22*m33 - m23*m32) - m20*(m02*m33 - m03*m32) + m30*(m02*m23 - m03*m22));
-        out->m[1][2] = -(m00*(m12*m33 - m13*m32) - m10*(m02*m33 - m03*m32) + m30*(m02*m13 - m03*m12));
-        out->m[1][3] =  (m00*(m12*m23 - m13*m22) - m10*(m02*m23 - m03*m22) + m20*(m02*m13 - m03*m12));
-        out->m[2][0] =  (m10*(m21*m33 - m23*m31) - m20*(m11*m33 - m13*m31) + m30*(m11*m23 - m13*m21));
-        out->m[2][1] = -(m00*(m21*m33 - m23*m31) - m20*(m01*m33 - m03*m31) + m30*(m01*m23 - m03*m21));
-        out->m[2][2] =  (m00*(m11*m33 - m13*m31) - m10*(m01*m33 - m03*m31) + m30*(m01*m13 - m03*m11));
-        out->m[2][3] = -(m00*(m11*m23 - m13*m21) - m10*(m01*m23 - m03*m21) + m20*(m01*m13 - m03*m11));
-        out->m[3][0] = -(m10*(m21*m32 - m22*m31) - m20*(m11*m32 - m12*m31) + m30*(m11*m22 - m12*m21));
-        out->m[3][1] =  (m00*(m21*m32 - m22*m31) - m20*(m01*m32 - m02*m31) + m30*(m01*m22 - m02*m21));
-        out->m[3][2] = -(m00*(m11*m32 - m12*m31) - m10*(m01*m32 - m02*m31) + m30*(m01*m12 - m02*m11));
-        out->m[3][3] =  (m00*(m11*m22 - m12*m21) - m10*(m01*m22 - m02*m21) + m20*(m01*m12 - m02*m11));
-
-        // calculate the determinant (as inverse == 1/det * adjoint, adjoint * m == identity * det, so this calculates the det)
-        det = m00*out->m[0][0] + m10*out->m[0][1] + m20*out->m[0][2] + m30*out->m[0][3];
-        if (det == 0.0f)
-                return 0;
-
-        // multiplications are faster than divisions, usually
-        det = 1.0f / det;
-
-        // manually unrolled loop to multiply all matrix elements by 1/det
-        out->m[0][0] *= det; out->m[0][1] *= det; out->m[0][2] *= det; out->m[0][3] *= det;
-        out->m[1][0] *= det; out->m[1][1] *= det; out->m[1][2] *= det; out->m[1][3] *= det;
-        out->m[2][0] *= det; out->m[2][1] *= det; out->m[2][2] *= det; out->m[2][3] *= det;
-        out->m[3][0] *= det; out->m[3][1] *= det; out->m[3][2] *= det; out->m[3][3] *= det;
-
-        return 1;
+		float det;
+
+		// note: orientation does not matter, as transpose(invert(transpose(m))) == invert(m), proof:
+		//   transpose(invert(transpose(m))) * m
+		// = transpose(invert(transpose(m))) * transpose(transpose(m))
+		// = transpose(transpose(m) * invert(transpose(m)))
+		// = transpose(identity)
+		// = identity
+
+		// this seems to help gcc's common subexpression elimination, and also makes the code look nicer
+		float   m00 = in1->m[0][0], m01 = in1->m[0][1], m02 = in1->m[0][2], m03 = in1->m[0][3],
+				m10 = in1->m[1][0], m11 = in1->m[1][1], m12 = in1->m[1][2], m13 = in1->m[1][3],
+				m20 = in1->m[2][0], m21 = in1->m[2][1], m22 = in1->m[2][2], m23 = in1->m[2][3],
+				m30 = in1->m[3][0], m31 = in1->m[3][1], m32 = in1->m[3][2], m33 = in1->m[3][3];
+
+		// calculate the adjoint
+		out->m[0][0] =  (m11*(m22*m33 - m23*m32) - m21*(m12*m33 - m13*m32) + m31*(m12*m23 - m13*m22));
+		out->m[0][1] = -(m01*(m22*m33 - m23*m32) - m21*(m02*m33 - m03*m32) + m31*(m02*m23 - m03*m22));
+		out->m[0][2] =  (m01*(m12*m33 - m13*m32) - m11*(m02*m33 - m03*m32) + m31*(m02*m13 - m03*m12));
+		out->m[0][3] = -(m01*(m12*m23 - m13*m22) - m11*(m02*m23 - m03*m22) + m21*(m02*m13 - m03*m12));
+		out->m[1][0] = -(m10*(m22*m33 - m23*m32) - m20*(m12*m33 - m13*m32) + m30*(m12*m23 - m13*m22));
+		out->m[1][1] =  (m00*(m22*m33 - m23*m32) - m20*(m02*m33 - m03*m32) + m30*(m02*m23 - m03*m22));
+		out->m[1][2] = -(m00*(m12*m33 - m13*m32) - m10*(m02*m33 - m03*m32) + m30*(m02*m13 - m03*m12));
+		out->m[1][3] =  (m00*(m12*m23 - m13*m22) - m10*(m02*m23 - m03*m22) + m20*(m02*m13 - m03*m12));
+		out->m[2][0] =  (m10*(m21*m33 - m23*m31) - m20*(m11*m33 - m13*m31) + m30*(m11*m23 - m13*m21));
+		out->m[2][1] = -(m00*(m21*m33 - m23*m31) - m20*(m01*m33 - m03*m31) + m30*(m01*m23 - m03*m21));
+		out->m[2][2] =  (m00*(m11*m33 - m13*m31) - m10*(m01*m33 - m03*m31) + m30*(m01*m13 - m03*m11));
+		out->m[2][3] = -(m00*(m11*m23 - m13*m21) - m10*(m01*m23 - m03*m21) + m20*(m01*m13 - m03*m11));
+		out->m[3][0] = -(m10*(m21*m32 - m22*m31) - m20*(m11*m32 - m12*m31) + m30*(m11*m22 - m12*m21));
+		out->m[3][1] =  (m00*(m21*m32 - m22*m31) - m20*(m01*m32 - m02*m31) + m30*(m01*m22 - m02*m21));
+		out->m[3][2] = -(m00*(m11*m32 - m12*m31) - m10*(m01*m32 - m02*m31) + m30*(m01*m12 - m02*m11));
+		out->m[3][3] =  (m00*(m11*m22 - m12*m21) - m10*(m01*m22 - m02*m21) + m20*(m01*m12 - m02*m11));
+
+		// calculate the determinant (as inverse == 1/det * adjoint, adjoint * m == identity * det, so this calculates the det)
+		det = m00*out->m[0][0] + m10*out->m[0][1] + m20*out->m[0][2] + m30*out->m[0][3];
+		if (det == 0.0f)
+				return 0;
+
+		// multiplications are faster than divisions, usually
+		det = 1.0f / det;
+
+		// manually unrolled loop to multiply all matrix elements by 1/det
+		out->m[0][0] *= det; out->m[0][1] *= det; out->m[0][2] *= det; out->m[0][3] *= det;
+		out->m[1][0] *= det; out->m[1][1] *= det; out->m[1][2] *= det; out->m[1][3] *= det;
+		out->m[2][0] *= det; out->m[2][1] *= det; out->m[2][2] *= det; out->m[2][3] *= det;
+		out->m[3][0] *= det; out->m[3][1] *= det; out->m[3][2] *= det; out->m[3][3] *= det;
+
+		return 1;
 }
 #elif 1
 // Adapted from code contributed to Mesa by David Moore (Mesa 7.6 under SGI Free License B - which is MIT/X11-type)
@@ -1430,6 +1430,7 @@ void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, d
 // see http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
 void Matrix4x4_ToOrigin3Quat4Float(const matrix4x4_t *m, float *origin, float *quat)
 {
+#if 0
 	float s;
 	quat[3] = sqrt(1.0f + m->m[0][0] + m->m[1][1] + m->m[2][2]) * 0.5f;
 	s = 0.25f / quat[3];
@@ -1448,6 +1449,86 @@ void Matrix4x4_ToOrigin3Quat4Float(const matrix4x4_t *m, float *origin, float *q
 	quat[1] = (m->m[0][2] - m->m[2][0]) * s;
 	quat[2] = (m->m[1][0] - m->m[0][1]) * s;
 #endif
+
+#else
+
+#ifdef MATRIX4x4_OPENGLORIENTATION
+	float trace = m->m[0][0] + m->m[1][1] + m->m[2][2];
+	origin[0] = m->m[3][0];
+	origin[1] = m->m[3][1];
+	origin[2] = m->m[3][2];
+	if(trace > 0)
+	{
+		float r = sqrt(1.0f + trace), inv = 0.5f / r;
+		quat[0] = (m->m[1][2] - m->m[2][1]) * inv;
+		quat[1] = (m->m[2][0] - m->m[0][2]) * inv;
+		quat[2] = (m->m[0][1] - m->m[1][0]) * inv;
+		quat[3] = 0.5f * r;
+	}
+	else if(m->m[0][0] > m->m[1][1] && m->m[0][0] > m->m[2][2])
+	{
+		float r = sqrt(1.0f + m->m[0][0] - m->m[1][1] - m->m[2][2]), inv = 0.5f / r;
+		quat[0] = 0.5f * r;
+		quat[1] = (m->m[0][1] + m->m[1][0]) * inv;
+		quat[2] = (m->m[2][0] + m->m[0][2]) * inv;
+		quat[3] = (m->m[1][2] - m->m[2][1]) * inv;
+	}
+	else if(m->m[1][1] > m->m[2][2])
+	{
+		float r = sqrt(1.0f + m->m[1][1] - m->m[0][0] - m->m[2][2]), inv = 0.5f / r;
+		quat[0] = (m->m[0][1] + m->m[1][0]) * inv;
+		quat[1] = 0.5f * r;
+		quat[2] = (m->m[1][2] + m->m[2][1]) * inv;
+		quat[3] = (m->m[2][0] - m->m[0][2]) * inv;
+	}
+	else
+	{
+		float r = sqrt(1.0f + m->m[2][2] - m->m[0][0] - m->m[1][1]), inv = 0.5f / r;
+		quat[0] = (m->m[2][0] + m->m[0][2]) * inv;
+		quat[1] = (m->m[1][2] + m->m[2][1]) * inv;
+		quat[2] = 0.5f * r;
+		quat[3] = (m->m[0][1] - m->m[1][0]) * inv;
+	}
+#else
+	float trace = m->m[0][0] + m->m[1][1] + m->m[2][2];
+	origin[0] = m->m[0][3];
+	origin[1] = m->m[1][3];
+	origin[2] = m->m[2][3];
+	if(trace > 0)
+	{
+		float r = sqrt(1.0f + trace), inv = 0.5f / r;
+		quat[0] = (m->m[2][1] - m->m[1][2]) * inv;
+		quat[1] = (m->m[0][2] - m->m[2][0]) * inv;
+		quat[2] = (m->m[1][0] - m->m[0][1]) * inv;
+		quat[3] = 0.5f * r;
+	}
+	else if(m->m[0][0] > m->m[1][1] && m->m[0][0] > m->m[2][2])
+	{
+		float r = sqrt(1.0f + m->m[0][0] - m->m[1][1] - m->m[2][2]), inv = 0.5f / r;
+		quat[0] = 0.5f * r;
+		quat[1] = (m->m[1][0] + m->m[0][1]) * inv;
+		quat[2] = (m->m[0][2] + m->m[2][0]) * inv;
+		quat[3] = (m->m[2][1] - m->m[1][2]) * inv;
+	}
+	else if(m->m[1][1] > m->m[2][2])
+	{
+		float r = sqrt(1.0f + m->m[1][1] - m->m[0][0] - m->m[2][2]), inv = 0.5f / r;
+		quat[0] = (m->m[1][0] + m->m[0][1]) * inv;
+		quat[1] = 0.5f * r;
+		quat[2] = (m->m[2][1] + m->m[1][2]) * inv;
+		quat[3] = (m->m[0][2] - m->m[2][0]) * inv;
+	}
+	else
+	{
+		float r = sqrt(1.0f + m->m[2][2] - m->m[0][0] - m->m[1][1]), inv = 0.5f / r;
+		quat[0] = (m->m[0][2] + m->m[2][0]) * inv;
+		quat[1] = (m->m[2][1] + m->m[1][2]) * inv;
+		quat[2] = 0.5f * r;
+		quat[3] = (m->m[1][0] - m->m[0][1]) * inv;
+	}
+#endif
+
+#endif
 }
 
 // LordHavoc: I got this code from:
@@ -1469,45 +1550,40 @@ void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, d
 #endif
 }
 
-void Matrix4x4_FromBonePose6s(matrix4x4_t *m, float originscale, const short *pose6s)
+void Matrix4x4_FromBonePose7s(matrix4x4_t *m, float originscale, const short *pose7s)
 {
 	float origin[3];
 	float quat[4];
-	origin[0] = pose6s[0] * originscale;
-	origin[1] = pose6s[1] * originscale;
-	origin[2] = pose6s[2] * originscale;
-	quat[0] = pose6s[3] * (1.0f / 32767.0f);
-	quat[1] = pose6s[4] * (1.0f / 32767.0f);
-	quat[2] = pose6s[5] * (1.0f / 32767.0f);
-	quat[3] = 1.0f - (quat[0]*quat[0]+quat[1]*quat[1]+quat[2]*quat[2]);
-	quat[3] = quat[3] > 0.0f ? -sqrt(quat[3]) : 0.0f;
+	float quatscale = pose7s[6] > 0 ? -1.0f / 32767.0f : 1.0f / 32767.0f;
+	origin[0] = pose7s[0] * originscale;
+	origin[1] = pose7s[1] * originscale;
+	origin[2] = pose7s[2] * originscale;
+	quat[0] = pose7s[3] * quatscale;
+	quat[1] = pose7s[4] * quatscale;
+	quat[2] = pose7s[5] * quatscale;
+	quat[3] = pose7s[6] * quatscale;
 	Matrix4x4_FromOriginQuat(m, origin[0], origin[1], origin[2], quat[0], quat[1], quat[2], quat[3]);
 }
 
-void Matrix4x4_ToBonePose6s(const matrix4x4_t *m, float origininvscale, short *pose6s)
+void Matrix4x4_ToBonePose7s(const matrix4x4_t *m, float origininvscale, short *pose7s)
 {
 	float origin[3];
 	float quat[4];
-	float s;
+	float quatscale;
 	Matrix4x4_ToOrigin3Quat4Float(m, origin, quat);
 	// normalize quaternion so that it is unit length
-	s = quat[0]*quat[0]+quat[1]*quat[1]+quat[2]*quat[2]+quat[3]*quat[3];
-	if (s)
-	{
-		s = 1.0f / sqrt(s);
-		quat[0] *= s;
-		quat[1] *= s;
-		quat[2] *= s;
-		quat[3] *= s;
-	}
+	quatscale = quat[0]*quat[0]+quat[1]*quat[1]+quat[2]*quat[2]+quat[3]*quat[3];
+	if (quatscale)
+		quatscale = (quat[3] >= 0 ? -32767.0f : 32767.0f) / sqrt(quatscale);
 	// use a negative scale on the quat because the above function produces a
 	// positive quat[3] and canonical quaternions have negative quat[3]
-	pose6s[0] = origin[0] * origininvscale;
-	pose6s[1] = origin[1] * origininvscale;
-	pose6s[2] = origin[2] * origininvscale;
-	pose6s[3] = quat[0] * -32767.0f;
-	pose6s[4] = quat[1] * -32767.0f;
-	pose6s[5] = quat[2] * -32767.0f;
+	pose7s[0] = origin[0] * origininvscale;
+	pose7s[1] = origin[1] * origininvscale;
+	pose7s[2] = origin[2] * origininvscale;
+	pose7s[3] = quat[0] * quatscale;
+	pose7s[4] = quat[1] * quatscale;
+	pose7s[5] = quat[2] * quatscale;
+	pose7s[6] = quat[3] * quatscale;
 }
 
 void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
@@ -1573,6 +1649,7 @@ void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const float v[3], float out[
 #endif
 }
 
+// transforms a positive distance plane (A*x+B*y+C*z-D=0) through a rotation or translation matrix
 void Matrix4x4_TransformPositivePlane(const matrix4x4_t *in, float x, float y, float z, float d, float *o)
 {
 	float scale = 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]);
@@ -1590,6 +1667,7 @@ void Matrix4x4_TransformPositivePlane(const matrix4x4_t *in, float x, float y, f
 #endif
 }
 
+// transforms a standard plane (A*x+B*y+C*z+D=0) through a rotation or translation matrix
 void Matrix4x4_TransformStandardPlane(const matrix4x4_t *in, float x, float y, float z, float d, float *o)
 {
 	float scale = 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]);
@@ -1734,14 +1812,14 @@ void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale)
 
 void Matrix4x4_Abs (matrix4x4_t *out)
 {
-    out->m[0][0] = fabs(out->m[0][0]);
-    out->m[0][1] = fabs(out->m[0][1]);
-    out->m[0][2] = fabs(out->m[0][2]);
-    out->m[1][0] = fabs(out->m[1][0]);
-    out->m[1][1] = fabs(out->m[1][1]);
-    out->m[1][2] = fabs(out->m[1][2]);
-    out->m[2][0] = fabs(out->m[2][0]);
-    out->m[2][1] = fabs(out->m[2][1]);
-    out->m[2][2] = fabs(out->m[2][2]);
+	out->m[0][0] = fabs(out->m[0][0]);
+	out->m[0][1] = fabs(out->m[0][1]);
+	out->m[0][2] = fabs(out->m[0][2]);
+	out->m[1][0] = fabs(out->m[1][0]);
+	out->m[1][1] = fabs(out->m[1][1]);
+	out->m[1][2] = fabs(out->m[1][2]);
+	out->m[2][0] = fabs(out->m[2][0]);
+	out->m[2][1] = fabs(out->m[2][1]);
+	out->m[2][2] = fabs(out->m[2][2]);
 }