#ifndef MATRIXLIB_H #define MATRIXLIB_H #ifndef M_PI #define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h #endif typedef struct matrix4x4_s { float m[4][4]; } matrix4x4_t; extern const matrix4x4_t identitymatrix; // functions for manipulating 4x4 matrices // copy a matrix4x4 void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in); // copy only the rotation portion of a matrix4x4 void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in); // copy only the translate portion of a matrix4x4 void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in); // multiply two matrix4x4 together, combining their transformations // (warning: order matters - Concat(a, b, c) != Concat(a, c, b)) void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2); // swaps the rows and columns of the matrix // (is this useful for anything?) void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1); // swaps the rows and columns of the rotation matrix // (inverting the rotation, but leaving everything else the same) void Matrix4x4_Transpose3x3 (matrix4x4_t *out, const matrix4x4_t *in1); // creates a matrix that does the opposite of the matrix provided // only supports translate, rotate, scale (not scale3) matrices void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1); // creates a matrix that does the same rotation and translation as the matrix // provided, but no uniform scaling, does not support scale3 matrices void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1); // creates an identity matrix // (a matrix which does nothing) void Matrix4x4_CreateIdentity (matrix4x4_t *out); // creates a translate matrix // (moves vectors) void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z); // creates a rotate matrix // (rotates vectors) void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z); // creates a scaling matrix // (expands or contracts vectors) // (warning: do not apply this kind of matrix to direction vectors) void Matrix4x4_CreateScale (matrix4x4_t *out, double x); // creates a squishing matrix // (expands or contracts vectors differently in different axis) // (warning: this is not reversed by Invert_Simple) // (warning: do not apply this kind of matrix to direction vectors) void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z); // creates a matrix for a quake entity void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale); // converts a matrix4x4 to a set of 3D vectors for the 3 axial directions, and the translate void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3]); // creates a matrix4x4 from a set of 3D vectors for axial directions, and translate void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]); // creates a matrix4x4 from a float[16] array in the OpenGL orientation void Matrix4x4_FromArrayDoubleGL(matrix4x4_t *out, const double in[16]); // creates a matrix4x4 from a float[16] array in the Direct3D orientation void Matrix4x4_FromArrayDoubleD3D(matrix4x4_t *out, const double in[16]); // converts a matrix4x4 to a float[12] array in the OpenGL orientation void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12]); // creates a matrix4x4 from a float[12] array in the OpenGL orientation void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12]); // converts a matrix4x4 to a float[12] array in the Direct3D orientation void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12]); // creates a matrix4x4 from a float[12] array in the Direct3D orientation void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12]); // creates a matrix4x4 from an origin and quaternion (used mostly with skeletal model formats such as PSK) void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w); // creates a matrix4x4 from an origin and canonical unit-length quaternion (used mostly with skeletal model formats such as MD5) void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z); // blends two matrices together, at a given percentage (blend controls percentage of in2) void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend); // transforms a 3D vector through a matrix4x4 void Matrix4x4_Transform (const matrix4x4_t *in, const float v[3], float out[3]); // transforms a 4D vector through a matrix4x4 // (warning: if you don't know why you would need this, you don't need it) // (warning: the 4th component of the vector should be 1.0) void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4]); // reverse transforms a 3D vector through a matrix4x4, at least for *simple* // cases (rotation and translation *ONLY*), this attempts to undo the results // of Transform //void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3]); // transforms a direction vector through the rotation part of a matrix void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const float v[3], float out[3]); // ease of use functions // immediately applies a Translate to the matrix void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z); // immediately applies a Rotate to the matrix void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z); // immediately applies a Scale to the matrix void Matrix4x4_ConcatScale (matrix4x4_t *out, double x); // immediately applies a Scale3 to the matrix void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z); // extracts origin vector (translate) from matrix void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, float *out); // extracts scaling factor from matrix (only works for uniform scaling) double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in); // replaces origin vector (translate) in matrix void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z); // moves origin vector (translate) in matrix by a simple translate void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z); #endif