X-Git-Url: https://git.xonotic.org/?a=blobdiff_plain;f=matrixlib.c;h=f84e922d506dce80ac34ed6e69f081b59d1b56eb;hb=7b26a1146198a553b373ac59406be611e34c50d6;hp=89c131144dd7e9e71df20dbdbca81b1ad0c20696;hpb=636c2207a7feebbc93dacfbe1e4626df48c0269b;p=xonotic%2Fdarkplaces.git

diff --git a/matrixlib.c b/matrixlib.c
index 89c13114..f84e922d 100644
--- a/matrixlib.c
+++ b/matrixlib.c
@@ -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:
@@ -1488,26 +1569,20 @@ void Matrix4x4_ToBonePose6s(const matrix4x4_t *m, float origininvscale, short *p
 {
 	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;
+	pose6s[3] = quat[0] * quatscale;
+	pose6s[4] = quat[1] * quatscale;
+	pose6s[5] = quat[2] * quatscale;
 }
 
 void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
@@ -1573,6 +1648,7 @@ 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 +1666,7 @@ 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]);