5 const matrix4x4_t identitymatrix =
15 void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in)
20 void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in)
22 out->m[0][0] = in->m[0][0];
23 out->m[0][1] = in->m[0][1];
24 out->m[0][2] = in->m[0][2];
26 out->m[1][0] = in->m[1][0];
27 out->m[1][1] = in->m[1][1];
28 out->m[1][2] = in->m[1][2];
30 out->m[2][0] = in->m[2][0];
31 out->m[2][1] = in->m[2][1];
32 out->m[2][2] = in->m[2][2];
40 void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
45 out->m[0][3] = in->m[0][3];
49 out->m[1][3] = in->m[1][3];
53 out->m[2][3] = in->m[2][3];
60 void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2)
62 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];
63 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];
64 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];
65 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];
66 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];
67 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];
68 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];
69 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];
70 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];
71 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];
72 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];
73 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];
74 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];
75 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];
76 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];
77 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];
80 void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
82 out->m[0][0] = in1->m[0][0];
83 out->m[0][1] = in1->m[1][0];
84 out->m[0][2] = in1->m[2][0];
85 out->m[0][3] = in1->m[3][0];
86 out->m[1][0] = in1->m[0][1];
87 out->m[1][1] = in1->m[1][1];
88 out->m[1][2] = in1->m[2][1];
89 out->m[1][3] = in1->m[3][1];
90 out->m[2][0] = in1->m[0][2];
91 out->m[2][1] = in1->m[1][2];
92 out->m[2][2] = in1->m[2][2];
93 out->m[2][3] = in1->m[3][2];
94 out->m[3][0] = in1->m[0][3];
95 out->m[3][1] = in1->m[1][3];
96 out->m[3][2] = in1->m[2][3];
97 out->m[3][3] = in1->m[3][3];
100 void Matrix4x4_Transpose3x3 (matrix4x4_t *out, const matrix4x4_t *in1)
102 out->m[0][0] = in1->m[0][0];
103 out->m[0][1] = in1->m[1][0];
104 out->m[0][2] = in1->m[2][0];
105 out->m[1][0] = in1->m[0][1];
106 out->m[1][1] = in1->m[1][1];
107 out->m[1][2] = in1->m[2][1];
108 out->m[2][0] = in1->m[0][2];
109 out->m[2][1] = in1->m[1][2];
110 out->m[2][2] = in1->m[2][2];
112 out->m[0][3] = in1->m[0][3];
113 out->m[1][3] = in1->m[1][3];
114 out->m[2][3] = in1->m[2][3];
115 out->m[3][0] = in1->m[0][3];
116 out->m[3][1] = in1->m[1][3];
117 out->m[3][2] = in1->m[2][3];
118 out->m[3][3] = in1->m[3][3];
121 void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1)
123 // we only support uniform scaling, so assume the first row is enough
124 // (note the lack of sqrt here, because we're trying to undo the scaling,
125 // this means multiplying by the inverse scale twice - squaring it, which
126 // makes the sqrt a waste of time)
128 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]);
130 double scale = 3.0 / sqrt
131 (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]
132 + in1->m[1][0] * in1->m[1][0] + in1->m[1][1] * in1->m[1][1] + in1->m[1][2] * in1->m[1][2]
133 + in1->m[2][0] * in1->m[2][0] + in1->m[2][1] * in1->m[2][1] + in1->m[2][2] * in1->m[2][2]);
137 // invert the rotation by transposing and multiplying by the squared
138 // recipricol of the input matrix scale as described above
139 out->m[0][0] = (float)(in1->m[0][0] * scale);
140 out->m[0][1] = (float)(in1->m[1][0] * scale);
141 out->m[0][2] = (float)(in1->m[2][0] * scale);
142 out->m[1][0] = (float)(in1->m[0][1] * scale);
143 out->m[1][1] = (float)(in1->m[1][1] * scale);
144 out->m[1][2] = (float)(in1->m[2][1] * scale);
145 out->m[2][0] = (float)(in1->m[0][2] * scale);
146 out->m[2][1] = (float)(in1->m[1][2] * scale);
147 out->m[2][2] = (float)(in1->m[2][2] * scale);
149 // invert the translate
150 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]);
151 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]);
152 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]);
154 // don't know if there's anything worth doing here
161 void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1)
163 // scale rotation matrix vectors to a length of 1
164 // note: this is only designed to undo uniform scaling
165 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]);
166 out->m[0][0] = (float)(in1->m[0][0] * scale);
167 out->m[0][1] = (float)(in1->m[0][1] * scale);
168 out->m[0][2] = (float)(in1->m[0][2] * scale);
169 out->m[0][3] = (float)(in1->m[0][3]);
170 out->m[1][0] = (float)(in1->m[1][0] * scale);
171 out->m[1][1] = (float)(in1->m[1][1] * scale);
172 out->m[1][2] = (float)(in1->m[1][2] * scale);
173 out->m[1][3] = (float)(in1->m[1][3]);
174 out->m[2][0] = (float)(in1->m[2][0] * scale);
175 out->m[2][1] = (float)(in1->m[2][1] * scale);
176 out->m[2][2] = (float)(in1->m[2][2] * scale);
177 out->m[2][3] = (float)(in1->m[2][3]);
184 void Matrix4x4_CreateIdentity (matrix4x4_t *out)
204 void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z)
224 void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z)
230 len = 1.0f / (float)sqrt(len);
235 angle *= (float)(-M_PI / 180.0);
236 c = (float)cos(angle);
237 s = (float)sin(angle);
239 out->m[0][0]=x * x + c * (1 - x * x);
240 out->m[0][1]=x * y * (1 - c) + z * s;
241 out->m[0][2]=z * x * (1 - c) - y * s;
243 out->m[1][0]=x * y * (1 - c) - z * s;
244 out->m[1][1]=y * y + c * (1 - y * y);
245 out->m[1][2]=y * z * (1 - c) + x * s;
247 out->m[2][0]=z * x * (1 - c) + y * s;
248 out->m[2][1]=y * z * (1 - c) - x * s;
249 out->m[2][2]=z * z + c * (1 - z * z);
257 void Matrix4x4_CreateScale (matrix4x4_t *out, double x)
277 void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z)
297 void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale)
299 double angle, sr, sp, sy, cr, cp, cy;
303 angle = yaw * (M_PI*2 / 360);
306 angle = pitch * (M_PI*2 / 360);
309 angle = roll * (M_PI*2 / 360);
312 out->m[0][0] = (float)((cp*cy) * scale);
313 out->m[0][1] = (float)((sr*sp*cy+cr*-sy) * scale);
314 out->m[0][2] = (float)((cr*sp*cy+-sr*-sy) * scale);
316 out->m[1][0] = (float)((cp*sy) * scale);
317 out->m[1][1] = (float)((sr*sp*sy+cr*cy) * scale);
318 out->m[1][2] = (float)((cr*sp*sy+-sr*cy) * scale);
320 out->m[2][0] = (float)((-sp) * scale);
321 out->m[2][1] = (float)((sr*cp) * scale);
322 out->m[2][2] = (float)((cr*cp) * scale);
331 angle = yaw * (M_PI*2 / 360);
334 angle = pitch * (M_PI*2 / 360);
337 out->m[0][0] = (float)((cp*cy) * scale);
338 out->m[0][1] = (float)((-sy) * scale);
339 out->m[0][2] = (float)((sp*cy) * scale);
341 out->m[1][0] = (float)((cp*sy) * scale);
342 out->m[1][1] = (float)((cy) * scale);
343 out->m[1][2] = (float)((sp*sy) * scale);
345 out->m[2][0] = (float)((-sp) * scale);
347 out->m[2][2] = (float)((cp) * scale);
356 angle = yaw * (M_PI*2 / 360);
359 out->m[0][0] = (float)((cy) * scale);
360 out->m[0][1] = (float)((-sy) * scale);
363 out->m[1][0] = (float)((sy) * scale);
364 out->m[1][1] = (float)((cy) * scale);
369 out->m[2][2] = scale;
378 out->m[0][0] = scale;
383 out->m[1][1] = scale;
388 out->m[2][2] = scale;
397 void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
413 void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
415 out->m[0][0] = vx[0];
416 out->m[0][1] = vy[0];
417 out->m[0][2] = vz[0];
419 out->m[1][0] = vx[1];
420 out->m[1][1] = vy[1];
421 out->m[1][2] = vz[1];
423 out->m[2][0] = vx[2];
424 out->m[2][1] = vy[2];
425 out->m[2][2] = vz[2];
433 void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16])
435 out[ 0] = in->m[0][0];
436 out[ 1] = in->m[1][0];
437 out[ 2] = in->m[2][0];
438 out[ 3] = in->m[3][0];
439 out[ 4] = in->m[0][1];
440 out[ 5] = in->m[1][1];
441 out[ 6] = in->m[2][1];
442 out[ 7] = in->m[3][1];
443 out[ 8] = in->m[0][2];
444 out[ 9] = in->m[1][2];
445 out[10] = in->m[2][2];
446 out[11] = in->m[3][2];
447 out[12] = in->m[0][3];
448 out[13] = in->m[1][3];
449 out[14] = in->m[2][3];
450 out[15] = in->m[3][3];
453 void Matrix4x4_FromArrayDoubleGL (matrix4x4_t *out, const double in[16])
455 out->m[0][0] = in[0];
456 out->m[1][0] = in[1];
457 out->m[2][0] = in[2];
458 out->m[3][0] = in[3];
459 out->m[0][1] = in[4];
460 out->m[1][1] = in[5];
461 out->m[2][1] = in[6];
462 out->m[3][1] = in[7];
463 out->m[0][2] = in[8];
464 out->m[1][2] = in[9];
465 out->m[2][2] = in[10];
466 out->m[3][2] = in[11];
467 out->m[0][3] = in[12];
468 out->m[1][3] = in[13];
469 out->m[2][3] = in[14];
470 out->m[3][3] = in[15];
473 void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16])
475 out[ 0] = in->m[0][0];
476 out[ 1] = in->m[0][1];
477 out[ 2] = in->m[0][2];
478 out[ 3] = in->m[0][3];
479 out[ 4] = in->m[1][0];
480 out[ 5] = in->m[1][1];
481 out[ 6] = in->m[1][2];
482 out[ 7] = in->m[1][3];
483 out[ 8] = in->m[2][0];
484 out[ 9] = in->m[2][1];
485 out[10] = in->m[2][2];
486 out[11] = in->m[2][3];
487 out[12] = in->m[3][0];
488 out[13] = in->m[3][1];
489 out[14] = in->m[3][2];
490 out[15] = in->m[3][3];
493 void Matrix4x4_FromArrayDoubleD3D (matrix4x4_t *out, const double in[16])
495 out->m[0][0] = in[0];
496 out->m[0][1] = in[1];
497 out->m[0][2] = in[2];
498 out->m[0][3] = in[3];
499 out->m[1][0] = in[4];
500 out->m[1][1] = in[5];
501 out->m[1][2] = in[6];
502 out->m[1][3] = in[7];
503 out->m[2][0] = in[8];
504 out->m[2][1] = in[9];
505 out->m[2][2] = in[10];
506 out->m[2][3] = in[11];
507 out->m[3][0] = in[12];
508 out->m[3][1] = in[13];
509 out->m[3][2] = in[14];
510 out->m[3][3] = in[15];
513 void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12])
515 out[ 0] = in->m[0][0];
516 out[ 1] = in->m[1][0];
517 out[ 2] = in->m[2][0];
518 out[ 3] = in->m[0][1];
519 out[ 4] = in->m[1][1];
520 out[ 5] = in->m[2][1];
521 out[ 6] = in->m[0][2];
522 out[ 7] = in->m[1][2];
523 out[ 8] = in->m[2][2];
524 out[ 9] = in->m[0][3];
525 out[10] = in->m[1][3];
526 out[11] = in->m[2][3];
529 void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12])
531 out->m[0][0] = in[0];
532 out->m[1][0] = in[1];
533 out->m[2][0] = in[2];
535 out->m[0][1] = in[3];
536 out->m[1][1] = in[4];
537 out->m[2][1] = in[5];
539 out->m[0][2] = in[6];
540 out->m[1][2] = in[7];
541 out->m[2][2] = in[8];
543 out->m[0][3] = in[9];
544 out->m[1][3] = in[10];
545 out->m[2][3] = in[11];
549 void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12])
551 out[ 0] = in->m[0][0];
552 out[ 1] = in->m[0][1];
553 out[ 2] = in->m[0][2];
554 out[ 3] = in->m[0][3];
555 out[ 4] = in->m[1][0];
556 out[ 5] = in->m[1][1];
557 out[ 6] = in->m[1][2];
558 out[ 7] = in->m[1][3];
559 out[ 8] = in->m[2][0];
560 out[ 9] = in->m[2][1];
561 out[10] = in->m[2][2];
562 out[11] = in->m[2][3];
565 void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12])
567 out->m[0][0] = in[0];
568 out->m[0][1] = in[1];
569 out->m[0][2] = in[2];
570 out->m[0][3] = in[3];
571 out->m[1][0] = in[4];
572 out->m[1][1] = in[5];
573 out->m[1][2] = in[6];
574 out->m[1][3] = in[7];
575 out->m[2][0] = in[8];
576 out->m[2][1] = in[9];
577 out->m[2][2] = in[10];
578 out->m[2][3] = in[11];
585 void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w)
587 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;
588 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;
589 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;
590 m->m[3][0]= 0 ;m->m[3][1]= 0 ;m->m[3][2]= 0 ;m->m[3][3]=1;
593 // LordHavoc: I got this code from:
594 //http://www.doom3world.org/phpbb2/viewtopic.php?t=2884
595 void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z)
597 double w = 1.0 - (x*x+y*y+z*z);
598 w = w > 0.0 ? -sqrt(w) : 0.0;
599 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;
600 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;
601 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;
602 m->m[3][0]= 0 ;m->m[3][1]= 0 ;m->m[3][2]= 0 ;m->m[3][3]=1;
605 void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
607 double iblend = 1 - blend;
608 out->m[0][0] = in1->m[0][0] * iblend + in2->m[0][0] * blend;
609 out->m[0][1] = in1->m[0][1] * iblend + in2->m[0][1] * blend;
610 out->m[0][2] = in1->m[0][2] * iblend + in2->m[0][2] * blend;
611 out->m[0][3] = in1->m[0][3] * iblend + in2->m[0][3] * blend;
612 out->m[1][0] = in1->m[1][0] * iblend + in2->m[1][0] * blend;
613 out->m[1][1] = in1->m[1][1] * iblend + in2->m[1][1] * blend;
614 out->m[1][2] = in1->m[1][2] * iblend + in2->m[1][2] * blend;
615 out->m[1][3] = in1->m[1][3] * iblend + in2->m[1][3] * blend;
616 out->m[2][0] = in1->m[2][0] * iblend + in2->m[2][0] * blend;
617 out->m[2][1] = in1->m[2][1] * iblend + in2->m[2][1] * blend;
618 out->m[2][2] = in1->m[2][2] * iblend + in2->m[2][2] * blend;
619 out->m[2][3] = in1->m[2][3] * iblend + in2->m[2][3] * blend;
620 out->m[3][0] = in1->m[3][0] * iblend + in2->m[3][0] * blend;
621 out->m[3][1] = in1->m[3][1] * iblend + in2->m[3][1] * blend;
622 out->m[3][2] = in1->m[3][2] * iblend + in2->m[3][2] * blend;
623 out->m[3][3] = in1->m[3][3] * iblend + in2->m[3][3] * blend;
627 void Matrix4x4_Transform (const matrix4x4_t *in, const float v[3], float out[3])
629 out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3];
630 out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3];
631 out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3];
634 void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4])
636 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];
637 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];
638 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];
639 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];
642 void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const float v[3], float out[3])
644 out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2];
645 out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2];
646 out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2];
650 void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
653 t[0] = v[0] - in->m[0][3];
654 t[1] = v[1] - in->m[1][3];
655 t[2] = v[2] - in->m[2][3];
656 out[0] = t[0] * in->m[0][0] + t[1] * in->m[1][0] + t[2] * in->m[2][0];
657 out[1] = t[0] * in->m[0][1] + t[1] * in->m[1][1] + t[2] * in->m[2][1];
658 out[2] = t[0] * in->m[0][2] + t[1] * in->m[1][2] + t[2] * in->m[2][2];
663 void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z)
665 matrix4x4_t base, temp;
667 Matrix4x4_CreateTranslate(&temp, x, y, z);
668 Matrix4x4_Concat(out, &base, &temp);
672 void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z)
674 matrix4x4_t base, temp;
676 Matrix4x4_CreateRotate(&temp, angle, x, y, z);
677 Matrix4x4_Concat(out, &base, &temp);
681 void Matrix4x4_ConcatScale (matrix4x4_t *out, double x)
683 matrix4x4_t base, temp;
685 Matrix4x4_CreateScale(&temp, x);
686 Matrix4x4_Concat(out, &base, &temp);
690 void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z)
692 matrix4x4_t base, temp;
694 Matrix4x4_CreateScale3(&temp, x, y, z);
695 Matrix4x4_Concat(out, &base, &temp);
698 void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, float *out)
700 out[0] = in->m[0][3];
701 out[1] = in->m[1][3];
702 out[2] = in->m[2][3];
705 double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in)
707 // we only support uniform scaling, so assume the first row is enough
708 return (float)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]);
711 void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z)
718 void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z)
725 void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale)
727 out->m[0][0] *= rotatescale;
728 out->m[0][1] *= rotatescale;
729 out->m[0][2] *= rotatescale;
730 out->m[0][3] *= originscale;
731 out->m[1][0] *= rotatescale;
732 out->m[1][1] *= rotatescale;
733 out->m[1][2] *= rotatescale;
734 out->m[1][3] *= originscale;
735 out->m[2][0] *= rotatescale;
736 out->m[2][1] *= rotatescale;
737 out->m[2][2] *= rotatescale;
738 out->m[2][3] *= originscale;