1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
|
#ifndef MATRIXLIB_H
#define MATRIXLIB_H
#ifndef M_PI
#define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h
#endif
//#define MATRIX4x4_OPENGLORIENTATION
typedef struct matrix4x4_s
{
vec_t 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);
// creates a matrix that does the opposite of the matrix provided
// this is a full matrix inverter, it should be able to invert any matrix that
// is possible to invert
// (non-uniform scaling, rotation, shearing, and translation, possibly others)
// warning: this function is SLOW
int Matrix4x4_Invert_Full (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);
// blends between two matrices, used primarily for animation interpolation
// (note: it is recommended to follow this with Matrix4x4_Normalize, a method
// known as nlerp rotation, often better for animation purposes than slerp)
void Matrix4x4_Interpolate (matrix4x4_t *out, matrix4x4_t *in1, matrix4x4_t *in2, double frac);
// zeros all matrix components, used with Matrix4x4_Accumulate
void Matrix4x4_Clear (matrix4x4_t *out);
// adds a weighted contribution from the supplied matrix, used to blend 3 or
// more matrices with weighting, it is recommended that Matrix4x4_Normalize be
// called afterward (a method known as nlerp rotation, often better for
// animation purposes than slerp)
void Matrix4x4_Accumulate (matrix4x4_t *out, matrix4x4_t *in, double weight);
// 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 a matrix with vectors normalized individually (use after
// Matrix4x4_Accumulate)
void Matrix4x4_Normalize3 (matrix4x4_t *out, matrix4x4_t *in1);
// modifies a matrix to have all vectors and origin reflected across the plane
// to the opposite side (at least if axisscale is -2)
void Matrix4x4_Reflect (matrix4x4_t *out, double normalx, double normaly, double normalz, double dist, double axisscale);
// 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);
// creates a duke3d view matrix for a quake view matrix ;)
void Matrix4x4_QuakeToDuke3D(const matrix4x4_t *in, matrix4x4_t *out, double maxShearAngle);
// converts a matrix4x4 to a set of 3D vectors for the 3 axial directions, and the translate
void Matrix4x4_ToVectors(const matrix4x4_t *in, vec_t vx[3], vec_t vy[3], vec_t vz[3], vec_t t[3]);
// creates a matrix4x4 from a set of 3D vectors for axial directions, and translate
void Matrix4x4_FromVectors(matrix4x4_t *out, const vec_t vx[3], const vec_t vy[3], const vec_t vz[3], const vec_t t[3]);
// converts a matrix4x4 to a double[16] array in the OpenGL orientation
void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16]);
// creates a matrix4x4 from a double[16] array in the OpenGL orientation
void Matrix4x4_FromArrayDoubleGL(matrix4x4_t *out, const double in[16]);
// converts a matrix4x4 to a double[16] array in the Direct3D orientation
void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16]);
// creates a matrix4x4 from a double[16] array in the Direct3D orientation
void Matrix4x4_FromArrayDoubleD3D(matrix4x4_t *out, const double in[16]);
// converts a matrix4x4 to a float[16] array in the OpenGL orientation
void Matrix4x4_ToArrayFloatGL(const matrix4x4_t *in, float out[16]);
// creates a matrix4x4 from a float[16] array in the OpenGL orientation
void Matrix4x4_FromArrayFloatGL(matrix4x4_t *out, const float in[16]);
// converts a matrix4x4 to a float[16] array in the Direct3D orientation
void Matrix4x4_ToArrayFloatD3D(const matrix4x4_t *in, float out[16]);
// creates a matrix4x4 from a float[16] array in the Direct3D orientation
void Matrix4x4_FromArrayFloatD3D(matrix4x4_t *out, const float 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 an origin and quaternion from a matrix4x4_t, quat[3] is always positive
void Matrix4x4_ToOrigin3Quat4Float(const matrix4x4_t *m, float *origin, float *quat);
// 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);
// creates a matrix4x4_t from an origin and canonical unit-length quaternion in short[7] normalized format
void Matrix4x4_FromBonePose7s(matrix4x4_t *m, float originscale, const short *pose7s);
// creates a short[7] representation from normalized matrix4x4_t
void Matrix4x4_ToBonePose7s(const matrix4x4_t *m, float origininvscale, short *pose7s);
// 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 vec_t v[3], vec_t 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 vec_t v[4], vec_t 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 vec_t v[3], vec_t out[3]);
// transforms a direction vector through the rotation part of a matrix
void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const vec_t v[3], vec_t out[3]);
// 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, vec_t x, vec_t y, vec_t z, vec_t d, vec_t *o);
// 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, vec_t x, vec_t y, vec_t z, vec_t d, vec_t *o);
// 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, vec_t *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);
// scales vectors of a matrix in place and allows you to scale origin as well
void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale);
// ensures each element of the 3x3 rotation matrix is facing in the + direction
void Matrix4x4_Abs (matrix4x4_t *out);
#endif
|
