added vector/matrix typedefs and 3x3 matrix inversion

code/qcommon/q_shared.c

@@ -685,6 +685,12 @@ const char* QDECL va( PRINTF_FORMAT_STRING const char* format, ... )
 }
 
 
+const char* v2tos( const vec2_t v )
+{
+	return va( "%g, %g", v[0], v[1] );
+}
+
+
 const char* v3tos( const vec3_t v )
 {
 	return va( "%g, %g, %g", v[0], v[1], v[2] );

code/qcommon/q_shared.h

@@ -262,10 +262,17 @@ MATHLIB
 */
 
 
+typedef int32_t ivec2_t[2];
+typedef int32_t ivec3_t[3];
+typedef int32_t ivec4_t[4];
+typedef uint32_t uvec2_t[2];
+typedef uint32_t uvec3_t[3];
+typedef uint32_t uvec4_t[4];
 typedef float vec_t;
 typedef vec_t vec2_t[2];
 typedef vec_t vec3_t[3];
 typedef vec_t vec4_t[4];
+typedef vec_t matrix3x3_t[9];
 typedef vec_t matrix4x4_t[16];
 extern const vec3_t vec2_zero;
 extern const vec3_t vec2_one;
@@ -550,6 +557,7 @@ typedef enum {
 } extErrorLevel_t;
 
 const char* QDECL va( PRINTF_FORMAT_STRING const char* format, ... );
+const char* v2tos( const vec3_t v );
 const char* v3tos( const vec3_t v );
 const char* v4tos( const vec4_t v );
 

code/renderer/tr_local.h

@@ -1646,13 +1646,14 @@ void RE_TakeVideoFrame( int width, int height,
 
 void R_EndScene( const viewParms_t* viewParms );
 
-void R_MultMatrix( const float *a, const float *b, float *out );
+void R_MultMatrix( const matrix4x4_t a, const matrix4x4_t b, matrix4x4_t out );
-void R_InvMatrix( const float* in, float* out );
+void R_InvMatrix( const matrix4x4_t in, matrix4x4_t out );
-void R_TransposeMatrix( const float* in, float* out );
+void R_InvMatrix3x3( const matrix3x3_t in, matrix3x3_t out );
-void R_CameraPositionFromMatrix( const float* modelView, vec3_t cameraPos );
+void R_TransposeMatrix( const matrix4x4_t in, matrix4x4_t out );
-void R_CameraAxisVectorsFromMatrix( const float* modelView, vec3_t axisX, vec3_t axisY, vec3_t axisZ );
+void R_CameraPositionFromMatrix( const matrix4x4_t modelView, vec3_t cameraPos );
-void R_MakeIdentityMatrix( float* m );
+void R_CameraAxisVectorsFromMatrix( const matrix4x4_t modelView, vec3_t axisX, vec3_t axisY, vec3_t axisZ );
-void R_MakeOrthoProjectionMatrix( float* m, float w, float h );
+void R_MakeIdentityMatrix( matrix4x4_t m );
+void R_MakeOrthoProjectionMatrix( matrix4x4_t m, float w, float h );
 
 // LinearDepth(depthZW, A, B) -> B / (depthZW - A)
 void R_LinearDepthConstantsFromProjectionMatrix( const float* projMatrix, float* A, float* B );

code/renderer/tr_main.cpp

@@ -202,7 +202,7 @@ void R_TransformClipToWindow( const vec4_t clip, const viewParms_t *view, vec4_t
 }
 
 
-void R_MultMatrix( const float *a, const float *b, float *out )
+void R_MultMatrix( const matrix4x4_t a, const matrix4x4_t b, matrix4x4_t out )
 {
 	for ( int i = 0 ; i < 4 ; i++ ) {
 		for ( int j = 0 ; j < 4 ; j++ ) {
@@ -216,7 +216,7 @@ void R_MultMatrix( const float *a, const float *b, float *out )
 }
 
 
-void R_InvMatrix( const float* m, float* invOut )
+void R_InvMatrix( const matrix4x4_t m, matrix4x4_t invOut )
 {
 	float inv[16];
 
@@ -344,7 +344,26 @@ void R_InvMatrix( const float* m, float* invOut )
 }
 
 
-void R_TransposeMatrix( const float* in, float* out )
+void R_InvMatrix3x3( const matrix3x3_t in, matrix3x3_t out )
+{
+	const float det =
+		in[0] * (in[4] * in[8] - in[7] * in[5]) -
+		in[1] * (in[3] * in[8] - in[5] * in[6]) +
+		in[2] * (in[3] * in[7] - in[4] * in[6]);
+	const float invDet = det == 0.0f ? 1.0f : (1.0f / det);
+	out[0] = (in[4] * in[8] - in[7] * in[5]) * invDet;
+	out[1] = (in[2] * in[7] - in[1] * in[8]) * invDet;
+	out[2] = (in[1] * in[5] - in[2] * in[4]) * invDet;
+	out[3] = (in[5] * in[6] - in[3] * in[8]) * invDet;
+	out[4] = (in[0] * in[8] - in[2] * in[6]) * invDet;
+	out[5] = (in[3] * in[2] - in[0] * in[5]) * invDet;
+	out[6] = (in[3] * in[7] - in[6] * in[4]) * invDet;
+	out[7] = (in[6] * in[1] - in[0] * in[7]) * invDet;
+	out[8] = (in[0] * in[4] - in[3] * in[1]) * invDet;
+}
+
+
+void R_TransposeMatrix( const matrix4x4_t in, matrix4x4_t out )
 {
 	out[ 0] = in[ 0];
 	out[ 4] = in[ 1];
@@ -368,7 +387,7 @@ void R_TransposeMatrix( const float* in, float* out )
 }
 
 
-void R_CameraPositionFromMatrix( const float* modelView, vec3_t cameraPos )
+void R_CameraPositionFromMatrix( const matrix4x4_t modelView, vec3_t cameraPos )
 {
 	float modelViewT[16];
 	R_TransposeMatrix( modelView, modelViewT );
@@ -400,7 +419,7 @@ void R_CameraPositionFromMatrix( const float* modelView, vec3_t cameraPos )
 }
 
 
-void R_CameraAxisVectorsFromMatrix( const float* modelView, vec3_t axisX, vec3_t axisY, vec3_t axisZ )
+void R_CameraAxisVectorsFromMatrix( const matrix4x4_t modelView, vec3_t axisX, vec3_t axisY, vec3_t axisZ )
 {
 	axisX[0] = modelView[ 0];
 	axisX[1] = modelView[ 4];
@@ -416,7 +435,7 @@ void R_CameraAxisVectorsFromMatrix( const float* modelView, vec3_t axisX, vec3_t
 }
 
 
-void R_MakeIdentityMatrix( float* m )
+void R_MakeIdentityMatrix( matrix4x4_t m )
 {
 	m[ 0] = 1.0f;
 	m[ 1] = 0.0f;
@@ -437,7 +456,7 @@ void R_MakeIdentityMatrix( float* m )
 }
 
 
-void R_MakeOrthoProjectionMatrix( float* m, float w, float h )
+void R_MakeOrthoProjectionMatrix( matrix4x4_t m, float w, float h )
 {
 	// 2/(r-l)      0            0           0
 	// 0            2/(t-b)      0           0