r_matrix.h

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/*
 * Copyright(c) 2010 DarkPlaces.
 * Copyright(c) 2010 Quake2World.
 *
 * 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 2
 * 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.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 */

#ifndef __MATRIXLIB_H__
#define __MATRIXLIB_H__

/*#define MATRIX4x4_OPENGLORIENTATION */

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);
/* 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);

/* 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]);

/* 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[6] normalized format */
void Matrix4x4_FromBonePose6s (matrix4x4_t *m, float originscale, const short *pose6s);
/* creates a short[6] representation from normalized matrix4x4_t */
void Matrix4x4_ToBonePose6s (const matrix4x4_t *m, float origininvscale, short *pose6s);

/* 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]);
/* 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);
/* 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);

/* 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);
/* 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 /* __MATRIX_H__ */