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xash3d-fwgs/public/matrixlib.c

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Pure engine source code(LF line endings, UTF8 encoded)
7 years ago
/*
matrixlib.c - internal matrixlib
Copyright (C) 2010 Uncle Mike
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
*/
Reduce engine dependencies. crtlib/mathlib/matrixlib now can be built standalone
6 years ago
#include "port.h"
#include "xash3d_types.h"
#include "const.h"
#include "com_model.h"
public: rename mathlib to xash3d_mathlib.
5 years ago
#include "xash3d_mathlib.h"
Pure engine source code(LF line endings, UTF8 encoded)
7 years ago
engine: initial psvita build support
2 years ago
const matrix3x4 m_matrix3x4_identity =
Pure engine source code(LF line endings, UTF8 encoded)
7 years ago
{
{ 1, 0, 0, 0 }, // PITCH [forward], org[0]
{ 0, 1, 0, 0 }, // YAW [right] , org[1]
{ 0, 0, 1, 0 }, // ROLL [up] , org[2]
};
/*
========================================================================
Matrix3x4 operations
========================================================================
*/
void Matrix3x4_VectorTransform( const matrix3x4 in, const float v[3], float out[3] )
{
out[0] = v[0] * in[0][0] + v[1] * in[0][1] + v[2] * in[0][2] + in[0][3];
out[1] = v[0] * in[1][0] + v[1] * in[1][1] + v[2] * in[1][2] + in[1][3];
out[2] = v[0] * in[2][0] + v[1] * in[2][1] + v[2] * in[2][2] + in[2][3];
}
void Matrix3x4_VectorITransform( const matrix3x4 in, const float v[3], float out[3] )
{
vec3_t dir;
dir[0] = v[0] - in[0][3];
dir[1] = v[1] - in[1][3];
dir[2] = v[2] - in[2][3];
out[0] = dir[0] * in[0][0] + dir[1] * in[1][0] + dir[2] * in[2][0];
out[1] = dir[0] * in[0][1] + dir[1] * in[1][1] + dir[2] * in[2][1];
out[2] = dir[0] * in[0][2] + dir[1] * in[1][2] + dir[2] * in[2][2];
}
void Matrix3x4_VectorRotate( const matrix3x4 in, const float v[3], float out[3] )
{
out[0] = v[0] * in[0][0] + v[1] * in[0][1] + v[2] * in[0][2];
out[1] = v[0] * in[1][0] + v[1] * in[1][1] + v[2] * in[1][2];
out[2] = v[0] * in[2][0] + v[1] * in[2][1] + v[2] * in[2][2];
}
void Matrix3x4_VectorIRotate( const matrix3x4 in, const float v[3], float out[3] )
{
out[0] = v[0] * in[0][0] + v[1] * in[1][0] + v[2] * in[2][0];
out[1] = v[0] * in[0][1] + v[1] * in[1][1] + v[2] * in[2][1];
out[2] = v[0] * in[0][2] + v[1] * in[1][2] + v[2] * in[2][2];
}
void Matrix3x4_ConcatTransforms( matrix3x4 out, const matrix3x4 in1, const matrix3x4 in2 )
{
out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + in1[0][2] * in2[2][0];
out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + in1[0][2] * in2[2][1];
out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + in1[0][2] * in2[2][2];
out[0][3] = in1[0][0] * in2[0][3] + in1[0][1] * in2[1][3] + in1[0][2] * in2[2][3] + in1[0][3];
out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + in1[1][2] * in2[2][0];
out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + in1[1][2] * in2[2][1];
out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + in1[1][2] * in2[2][2];
out[1][3] = in1[1][0] * in2[0][3] + in1[1][1] * in2[1][3] + in1[1][2] * in2[2][3] + in1[1][3];
out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + in1[2][2] * in2[2][0];
out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + in1[2][2] * in2[2][1];
out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + in1[2][2] * in2[2][2];
out[2][3] = in1[2][0] * in2[0][3] + in1[2][1] * in2[1][3] + in1[2][2] * in2[2][3] + in1[2][3];
}
void Matrix3x4_SetOrigin( matrix3x4 out, float x, float y, float z )
{
out[0][3] = x;
out[1][3] = y;
out[2][3] = z;
}
void Matrix3x4_OriginFromMatrix( const matrix3x4 in, float *out )
{
out[0] = in[0][3];
out[1] = in[1][3];
out[2] = in[2][3];
}
void Matrix3x4_AnglesFromMatrix( const matrix3x4 in, vec3_t out )
{
float xyDist = sqrt( in[0][0] * in[0][0] + in[1][0] * in[1][0] );
if( xyDist > 0.001f )
{
// enough here to get angles?
out[0] = RAD2DEG( atan2( -in[2][0], xyDist ));
out[1] = RAD2DEG( atan2( in[1][0], in[0][0] ));
out[2] = RAD2DEG( atan2( in[2][1], in[2][2] ));
}
else
{
// forward is mostly Z, gimbal lock
out[0] = RAD2DEG( atan2( -in[2][0], xyDist ));
out[1] = RAD2DEG( atan2( -in[0][1], in[1][1] ));
out[2] = 0.0f;
}
}
void Matrix3x4_FromOriginQuat( matrix3x4 out, const vec4_t quaternion, const vec3_t origin )
{
out[0][0] = 1.0f - 2.0f * quaternion[1] * quaternion[1] - 2.0f * quaternion[2] * quaternion[2];
out[1][0] = 2.0f * quaternion[0] * quaternion[1] + 2.0f * quaternion[3] * quaternion[2];
out[2][0] = 2.0f * quaternion[0] * quaternion[2] - 2.0f * quaternion[3] * quaternion[1];
out[0][1] = 2.0f * quaternion[0] * quaternion[1] - 2.0f * quaternion[3] * quaternion[2];
out[1][1] = 1.0f - 2.0f * quaternion[0] * quaternion[0] - 2.0f * quaternion[2] * quaternion[2];
out[2][1] = 2.0f * quaternion[1] * quaternion[2] + 2.0f * quaternion[3] * quaternion[0];
out[0][2] = 2.0f * quaternion[0] * quaternion[2] + 2.0f * quaternion[3] * quaternion[1];
out[1][2] = 2.0f * quaternion[1] * quaternion[2] - 2.0f * quaternion[3] * quaternion[0];
out[2][2] = 1.0f - 2.0f * quaternion[0] * quaternion[0] - 2.0f * quaternion[1] * quaternion[1];
out[0][3] = origin[0];
out[1][3] = origin[1];
out[2][3] = origin[2];
}
void Matrix3x4_CreateFromEntity( matrix3x4 out, const vec3_t angles, const vec3_t origin, float scale )
{
float angle, sr, sp, sy, cr, cp, cy;
if( angles[ROLL] )
{
angle = angles[YAW] * (M_PI2 / 360.0f);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI2 / 360.0f);
SinCos( angle, &sp, &cp );
angle = angles[ROLL] * (M_PI2 / 360.0f);
SinCos( angle, &sr, &cr );
out[0][0] = (cp*cy) * scale;
out[0][1] = (sr*sp*cy+cr*-sy) * scale;
out[0][2] = (cr*sp*cy+-sr*-sy) * scale;
out[0][3] = origin[0];
out[1][0] = (cp*sy) * scale;
out[1][1] = (sr*sp*sy+cr*cy) * scale;
out[1][2] = (cr*sp*sy+-sr*cy) * scale;
out[1][3] = origin[1];
out[2][0] = (-sp) * scale;
out[2][1] = (sr*cp) * scale;
out[2][2] = (cr*cp) * scale;
out[2][3] = origin[2];
}
else if( angles[PITCH] )
{
angle = angles[YAW] * (M_PI2 / 360.0f);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI2 / 360.0f);
SinCos( angle, &sp, &cp );
out[0][0] = (cp*cy) * scale;
out[0][1] = (-sy) * scale;
out[0][2] = (sp*cy) * scale;
out[0][3] = origin[0];
out[1][0] = (cp*sy) * scale;
out[1][1] = (cy) * scale;
out[1][2] = (sp*sy) * scale;
out[1][3] = origin[1];
out[2][0] = (-sp) * scale;
out[2][1] = 0.0f;
out[2][2] = (cp) * scale;
out[2][3] = origin[2];
}
else if( angles[YAW] )
{
angle = angles[YAW] * (M_PI2 / 360.0f);
SinCos( angle, &sy, &cy );
out[0][0] = (cy) * scale;
out[0][1] = (-sy) * scale;
out[0][2] = 0.0f;
out[0][3] = origin[0];
out[1][0] = (sy) * scale;
out[1][1] = (cy) * scale;
out[1][2] = 0.0f;
out[1][3] = origin[1];
out[2][0] = 0.0f;
out[2][1] = 0.0f;
out[2][2] = scale;
out[2][3] = origin[2];
}
else
{
out[0][0] = scale;
out[0][1] = 0.0f;
out[0][2] = 0.0f;
out[0][3] = origin[0];
out[1][0] = 0.0f;
out[1][1] = scale;
out[1][2] = 0.0f;
out[1][3] = origin[1];
out[2][0] = 0.0f;
out[2][1] = 0.0f;
out[2][2] = scale;
out[2][3] = origin[2];
}
}
Apply 4253 update
6 years ago
/*
==================
Matrix3x4_TransformAABB
==================
*/
void Matrix3x4_TransformAABB( const matrix3x4 world, const vec3_t mins, const vec3_t maxs, vec3_t absmin, vec3_t absmax )
{
vec3_t localCenter, localExtents;
vec3_t worldCenter, worldExtents;
VectorAverage( mins, maxs, localCenter );
VectorSubtract( maxs, localCenter, localExtents );
Matrix3x4_VectorTransform( world, localCenter, worldCenter );
worldExtents[0] = DotProductAbs( localExtents, world[0] ); // auto-transposed!
worldExtents[1] = DotProductAbs( localExtents, world[1] );
worldExtents[2] = DotProductAbs( localExtents, world[2] );
VectorSubtract( worldCenter, worldExtents, absmin );
VectorAdd( worldCenter, worldExtents, absmax );
}
engine: initial psvita build support
2 years ago
const matrix4x4 m_matrix4x4_identity =
Pure engine source code(LF line endings, UTF8 encoded)
7 years ago
{
{ 1, 0, 0, 0 }, // PITCH
{ 0, 1, 0, 0 }, // YAW
{ 0, 0, 1, 0 }, // ROLL
{ 0, 0, 0, 1 }, // ORIGIN
};
/*
========================================================================
Matrix4x4 operations
========================================================================
*/
void Matrix4x4_VectorTransform( const matrix4x4 in, const float v[3], float out[3] )
{
out[0] = v[0] * in[0][0] + v[1] * in[0][1] + v[2] * in[0][2] + in[0][3];
out[1] = v[0] * in[1][0] + v[1] * in[1][1] + v[2] * in[1][2] + in[1][3];
out[2] = v[0] * in[2][0] + v[1] * in[2][1] + v[2] * in[2][2] + in[2][3];
}
void Matrix4x4_VectorITransform( const matrix4x4 in, const float v[3], float out[3] )
{
vec3_t dir;
dir[0] = v[0] - in[0][3];
dir[1] = v[1] - in[1][3];
dir[2] = v[2] - in[2][3];
out[0] = dir[0] * in[0][0] + dir[1] * in[1][0] + dir[2] * in[2][0];
out[1] = dir[0] * in[0][1] + dir[1] * in[1][1] + dir[2] * in[2][1];
out[2] = dir[0] * in[0][2] + dir[1] * in[1][2] + dir[2] * in[2][2];
}
void Matrix4x4_VectorRotate( const matrix4x4 in, const float v[3], float out[3] )
{
out[0] = v[0] * in[0][0] + v[1] * in[0][1] + v[2] * in[0][2];
out[1] = v[0] * in[1][0] + v[1] * in[1][1] + v[2] * in[1][2];
out[2] = v[0] * in[2][0] + v[1] * in[2][1] + v[2] * in[2][2];
}
void Matrix4x4_VectorIRotate( const matrix4x4 in, const float v[3], float out[3] )
{
out[0] = v[0] * in[0][0] + v[1] * in[1][0] + v[2] * in[2][0];
out[1] = v[0] * in[0][1] + v[1] * in[1][1] + v[2] * in[2][1];
out[2] = v[0] * in[0][2] + v[1] * in[1][2] + v[2] * in[2][2];
}
void Matrix4x4_ConcatTransforms( matrix4x4 out, const matrix4x4 in1, const matrix4x4 in2 )
{
out[0][0] = in1[0][0] * in2[0][0] + in1[0][1] * in2[1][0] + in1[0][2] * in2[2][0];
out[0][1] = in1[0][0] * in2[0][1] + in1[0][1] * in2[1][1] + in1[0][2] * in2[2][1];
out[0][2] = in1[0][0] * in2[0][2] + in1[0][1] * in2[1][2] + in1[0][2] * in2[2][2];
out[0][3] = in1[0][0] * in2[0][3] + in1[0][1] * in2[1][3] + in1[0][2] * in2[2][3] + in1[0][3];
out[1][0] = in1[1][0] * in2[0][0] + in1[1][1] * in2[1][0] + in1[1][2] * in2[2][0];
out[1][1] = in1[1][0] * in2[0][1] + in1[1][1] * in2[1][1] + in1[1][2] * in2[2][1];
out[1][2] = in1[1][0] * in2[0][2] + in1[1][1] * in2[1][2] + in1[1][2] * in2[2][2];
out[1][3] = in1[1][0] * in2[0][3] + in1[1][1] * in2[1][3] + in1[1][2] * in2[2][3] + in1[1][3];
out[2][0] = in1[2][0] * in2[0][0] + in1[2][1] * in2[1][0] + in1[2][2] * in2[2][0];
out[2][1] = in1[2][0] * in2[0][1] + in1[2][1] * in2[1][1] + in1[2][2] * in2[2][1];
out[2][2] = in1[2][0] * in2[0][2] + in1[2][1] * in2[1][2] + in1[2][2] * in2[2][2];
out[2][3] = in1[2][0] * in2[0][3] + in1[2][1] * in2[1][3] + in1[2][2] * in2[2][3] + in1[2][3];
}
void Matrix4x4_CreateFromEntity( matrix4x4 out, const vec3_t angles, const vec3_t origin, float scale )
{
float angle, sr, sp, sy, cr, cp, cy;
if( angles[ROLL] )
{
angle = angles[YAW] * (M_PI2 / 360.0f);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI2 / 360.0f);
SinCos( angle, &sp, &cp );
angle = angles[ROLL] * (M_PI2 / 360.0f);
SinCos( angle, &sr, &cr );
out[0][0] = (cp*cy) * scale;
out[0][1] = (sr*sp*cy+cr*-sy) * scale;
out[0][2] = (cr*sp*cy+-sr*-sy) * scale;
out[0][3] = origin[0];
out[1][0] = (cp*sy) * scale;
out[1][1] = (sr*sp*sy+cr*cy) * scale;
out[1][2] = (cr*sp*sy+-sr*cy) * scale;
out[1][3] = origin[1];
out[2][0] = (-sp) * scale;
out[2][1] = (sr*cp) * scale;
out[2][2] = (cr*cp) * scale;
out[2][3] = origin[2];
out[3][0] = 0.0f;
out[3][1] = 0.0f;
out[3][2] = 0.0f;
out[3][3] = 1.0f;
}
else if( angles[PITCH] )
{
angle = angles[YAW] * (M_PI2 / 360.0f);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI2 / 360.0f);
SinCos( angle, &sp, &cp );
out[0][0] = (cp*cy) * scale;
out[0][1] = (-sy) * scale;
out[0][2] = (sp*cy) * scale;
out[0][3] = origin[0];
out[1][0] = (cp*sy) * scale;
out[1][1] = (cy) * scale;
out[1][2] = (sp*sy) * scale;
out[1][3] = origin[1];
out[2][0] = (-sp) * scale;
out[2][1] = 0.0f;
out[2][2] = (cp) * scale;
out[2][3] = origin[2];
out[3][0] = 0.0f;
out[3][1] = 0.0f;
out[3][2] = 0.0f;
out[3][3] = 1.0f;
}
else if( angles[YAW] )
{
angle = angles[YAW] * (M_PI2 / 360.0f);
SinCos( angle, &sy, &cy );
out[0][0] = (cy) * scale;
out[0][1] = (-sy) * scale;
out[0][2] = 0.0f;
out[0][3] = origin[0];
out[1][0] = (sy) * scale;
out[1][1] = (cy) * scale;
out[1][2] = 0.0f;
out[1][3] = origin[1];
out[2][0] = 0.0f;
out[2][1] = 0.0f;
out[2][2] = scale;
out[2][3] = origin[2];
out[3][0] = 0.0f;
out[3][1] = 0.0f;
out[3][2] = 0.0f;
out[3][3] = 1.0f;
}
else
{
out[0][0] = scale;
out[0][1] = 0.0f;
out[0][2] = 0.0f;
out[0][3] = origin[0];
out[1][0] = 0.0f;
out[1][1] = scale;
out[1][2] = 0.0f;
out[1][3] = origin[1];
out[2][0] = 0.0f;
out[2][1] = 0.0f;
out[2][2] = scale;
out[2][3] = origin[2];
out[3][0] = 0.0f;
out[3][1] = 0.0f;
out[3][2] = 0.0f;
out[3][3] = 1.0f;
}
}
void Matrix4x4_ConvertToEntity( const matrix4x4 in, vec3_t angles, vec3_t origin )
{
float xyDist = sqrt( in[0][0] * in[0][0] + in[1][0] * in[1][0] );
// enough here to get angles?
if( xyDist > 0.001f )
{
angles[0] = RAD2DEG( atan2( -in[2][0], xyDist ));
angles[1] = RAD2DEG( atan2( in[1][0], in[0][0] ));
angles[2] = RAD2DEG( atan2( in[2][1], in[2][2] ));
}
else // forward is mostly Z, gimbal lock
{
angles[0] = RAD2DEG( atan2( -in[2][0], xyDist ));
angles[1] = RAD2DEG( atan2( -in[0][1], in[1][1] ));
angles[2] = 0.0f;
}
origin[0] = in[0][3];
origin[1] = in[1][3];
origin[2] = in[2][3];
}
void Matrix4x4_TransformPositivePlane( const matrix4x4 in, const vec3_t normal, float d, vec3_t out, float *dist )
{
float scale = sqrt( in[0][0] * in[0][0] + in[0][1] * in[0][1] + in[0][2] * in[0][2] );
float iscale = 1.0f / scale;
out[0] = (normal[0] * in[0][0] + normal[1] * in[0][1] + normal[2] * in[0][2]) * iscale;
out[1] = (normal[0] * in[1][0] + normal[1] * in[1][1] + normal[2] * in[1][2]) * iscale;
out[2] = (normal[0] * in[2][0] + normal[1] * in[2][1] + normal[2] * in[2][2]) * iscale;
*dist = d * scale + ( out[0] * in[0][3] + out[1] * in[1][3] + out[2] * in[2][3] );
}
void Matrix4x4_Invert_Simple( matrix4x4 out, const matrix4x4 in1 )
{
// we only support uniform scaling, so assume the first row is enough
// (note the lack of sqrt here, because we're trying to undo the scaling,
// this means multiplying by the inverse scale twice - squaring it, which
// makes the sqrt a waste of time)
float scale = 1.0f / (in1[0][0] * in1[0][0] + in1[0][1] * in1[0][1] + in1[0][2] * in1[0][2]);
// invert the rotation by transposing and multiplying by the squared
// recipricol of the input matrix scale as described above
out[0][0] = in1[0][0] * scale;
out[0][1] = in1[1][0] * scale;
out[0][2] = in1[2][0] * scale;
out[1][0] = in1[0][1] * scale;
out[1][1] = in1[1][1] * scale;
out[1][2] = in1[2][1] * scale;
out[2][0] = in1[0][2] * scale;
out[2][1] = in1[1][2] * scale;
out[2][2] = in1[2][2] * scale;
// invert the translate
out[0][3] = -(in1[0][3] * out[0][0] + in1[1][3] * out[0][1] + in1[2][3] * out[0][2]);
out[1][3] = -(in1[0][3] * out[1][0] + in1[1][3] * out[1][1] + in1[2][3] * out[1][2]);
out[2][3] = -(in1[0][3] * out[2][0] + in1[1][3] * out[2][1] + in1[2][3] * out[2][2]);
// don't know if there's anything worth doing here
out[3][0] = 0.0f;
out[3][1] = 0.0f;
out[3][2] = 0.0f;
out[3][3] = 1.0f;
}
qboolean Matrix4x4_Invert_Full( matrix4x4 out, const matrix4x4 in1 )
{
float *temp;
float *r[4];
float rtemp[4][8];
float m[4];
float s;
r[0] = rtemp[0];
r[1] = rtemp[1];
r[2] = rtemp[2];
r[3] = rtemp[3];
r[0][0] = in1[0][0];
r[0][1] = in1[0][1];
r[0][2] = in1[0][2];
r[0][3] = in1[0][3];
r[0][4] = 1.0f;
r[0][5] = 0.0f;
r[0][6] = 0.0f;
r[0][7] = 0.0f;
r[1][0] = in1[1][0];
r[1][1] = in1[1][1];
r[1][2] = in1[1][2];
r[1][3] = in1[1][3];
r[1][5] = 1.0f;
r[1][4] = 0.0f;
r[1][6] = 0.0f;
r[1][7] = 0.0f;
r[2][0] = in1[2][0];
r[2][1] = in1[2][1];
r[2][2] = in1[2][2];
r[2][3] = in1[2][3];
r[2][6] = 1.0f;
r[2][4] = 0.0f;
r[2][5] = 0.0f;
r[2][7] = 0.0f;
r[3][0] = in1[3][0];
r[3][1] = in1[3][1];
r[3][2] = in1[3][2];
r[3][3] = in1[3][3];
r[3][4] = 0.0f;
r[3][5] = 0.0f;
r[3][6] = 0.0f;
Trim all trailing whitespace The `.editorconfig` file in this repo is configured to trim all trailing whitespace regardless of whether the line is modified. Trims all trailing whitespace in the repository to make the codebase easier to work with in editors that respect `.editorconfig`. `git blame` becomes less useful on these lines but it already isn't very useful. Commands: ``` find . -type f -name '*.h' -exec sed --in-place 's/[[:space:]]\+$//' {} \+ find . -type f -name '*.c' -exec sed --in-place 's/[[:space:]]\+$//' {} \+ ```
4 years ago
r[3][7] = 1.0f;
Pure engine source code(LF line endings, UTF8 encoded)
7 years ago
if( fabs( r[3][0] ) > fabs( r[2][0] ))
{
temp = r[3];
r[3] = r[2];
r[2] = temp;
}
if( fabs( r[2][0] ) > fabs( r[1][0] ))
{
temp = r[2];
r[2] = r[1];
r[1] = temp;
}
if( fabs( r[1][0] ) > fabs( r[0][0] ))
{
temp = r[1];
r[1] = r[0];
r[0] = temp;
}
if( r[0][0] )
{
m[1] = r[1][0] / r[0][0];
m[2] = r[2][0] / r[0][0];
m[3] = r[3][0] / r[0][0];
s = r[0][1];
r[1][1] -= m[1] * s;
r[2][1] -= m[2] * s;
r[3][1] -= m[3] * s;
s = r[0][2];
r[1][2] -= m[1] * s;
r[2][2] -= m[2] * s;
r[3][2] -= m[3] * s;
s = r[0][3];
r[1][3] -= m[1] * s;
r[2][3] -= m[2] * s;
r[3][3] -= m[3] * s;
s = r[0][4];
if( s )
{
r[1][4] -= m[1] * s;
r[2][4] -= m[2] * s;
r[3][4] -= m[3] * s;
}
s = r[0][5];
if( s )
{
r[1][5] -= m[1] * s;
r[2][5] -= m[2] * s;
r[3][5] -= m[3] * s;
}
s = r[0][6];
if( s )
{
r[1][6] -= m[1] * s;
r[2][6] -= m[2] * s;
r[3][6] -= m[3] * s;
}
s = r[0][7];
if( s )
{
r[1][7] -= m[1] * s;
r[2][7] -= m[2] * s;
r[3][7] -= m[3] * s;
}
if( fabs( r[3][1] ) > fabs( r[2][1] ))
{
temp = r[3];
r[3] = r[2];
r[2] = temp;
}
if( fabs( r[2][1] ) > fabs( r[1][1] ))
{
temp = r[2];
r[2] = r[1];
r[1] = temp;
}
if( r[1][1] )
{
m[2] = r[2][1] / r[1][1];
m[3] = r[3][1] / r[1][1];
r[2][2] -= m[2] * r[1][2];
r[3][2] -= m[3] * r[1][2];
r[2][3] -= m[2] * r[1][3];
r[3][3] -= m[3] * r[1][3];
s = r[1][4];
if( s )
{
r[2][4] -= m[2] * s;
r[3][4] -= m[3] * s;
}
s = r[1][5];
if( s )
{
r[2][5] -= m[2] * s;
r[3][5] -= m[3] * s;
}
s = r[1][6];
if( s )
{
r[2][6] -= m[2] * s;
r[3][6] -= m[3] * s;
}
s = r[1][7];
if( s )
{
r[2][7] -= m[2] * s;
r[3][7] -= m[3] * s;
}
if( fabs( r[3][2] ) > fabs( r[2][2] ))
{
temp = r[3];
r[3] = r[2];
r[2] = temp;
}
if( r[2][2] )
{
m[3] = r[3][2] / r[2][2];
r[3][3] -= m[3] * r[2][3];
r[3][4] -= m[3] * r[2][4];
r[3][5] -= m[3] * r[2][5];
r[3][6] -= m[3] * r[2][6];
r[3][7] -= m[3] * r[2][7];
if( r[3][3] )
{
s = 1.0f / r[3][3];
r[3][4] *= s;
r[3][5] *= s;
r[3][6] *= s;
r[3][7] *= s;
m[2] = r[2][3];
s = 1.0f / r[2][2];
r[2][4] = s * (r[2][4] - r[3][4] * m[2]);
r[2][5] = s * (r[2][5] - r[3][5] * m[2]);
r[2][6] = s * (r[2][6] - r[3][6] * m[2]);
r[2][7] = s * (r[2][7] - r[3][7] * m[2]);
m[1] = r[1][3];
r[1][4] -= r[3][4] * m[1];
r[1][5] -= r[3][5] * m[1];
r[1][6] -= r[3][6] * m[1];
r[1][7] -= r[3][7] * m[1];
m[0] = r[0][3];
r[0][4] -= r[3][4] * m[0];
r[0][5] -= r[3][5] * m[0];
r[0][6] -= r[3][6] * m[0];
r[0][7] -= r[3][7] * m[0];
m[1] = r[1][2];
s = 1.0f / r[1][1];
r[1][4] = s * (r[1][4] - r[2][4] * m[1]);
r[1][5] = s * (r[1][5] - r[2][5] * m[1]);
r[1][6] = s * (r[1][6] - r[2][6] * m[1]);
r[1][7] = s * (r[1][7] - r[2][7] * m[1]);
m[0] = r[0][2];
r[0][4] -= r[2][4] * m[0];
r[0][5] -= r[2][5] * m[0];
r[0][6] -= r[2][6] * m[0];
r[0][7] -= r[2][7] * m[0];
m[0] = r[0][1];
s = 1.0f / r[0][0];
r[0][4] = s * (r[0][4] - r[1][4] * m[0]);
r[0][5] = s * (r[0][5] - r[1][5] * m[0]);
r[0][6] = s * (r[0][6] - r[1][6] * m[0]);
r[0][7] = s * (r[0][7] - r[1][7] * m[0]);
out[0][0] = r[0][4];
out[0][1] = r[0][5];
out[0][2] = r[0][6];
out[0][3] = r[0][7];
out[1][0] = r[1][4];
out[1][1] = r[1][5];
out[1][2] = r[1][6];
out[1][3] = r[1][7];
out[2][0] = r[2][4];
out[2][1] = r[2][5];
out[2][2] = r[2][6];
out[2][3] = r[2][7];
out[3][0] = r[3][4];
out[3][1] = r[3][5];
out[3][2] = r[3][6];
out[3][3] = r[3][7];
return true;
}
}
}
}
return false;
Reduce engine dependencies. crtlib/mathlib/matrixlib now can be built standalone
6 years ago
}