gtkradiant/libs/mathlib/m4x4.c

/*
Copyright (C) 1999-2007 id Software, Inc. and contributors.
For a list of contributors, see the accompanying CONTRIBUTORS file.

This file is part of GtkRadiant.

GtkRadiant 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.

GtkRadiant 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 GtkRadiant; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/

#include "mathlib.h"
#include "memory.h"

void m4x4_identity(m4x4_t matrix)
{
  matrix[1] = matrix[2] = matrix[3] =
  matrix[4] = matrix[6] = matrix[7] =
  matrix[8] = matrix[9] = matrix[11] =
  matrix[12] = matrix[13] = matrix[14] = 0;

  matrix[0] = matrix[5] = matrix[10] = matrix[15] = 1;
}

void m4x4_translation_for_vec3(m4x4_t matrix, const vec3_t translation)
{
  matrix[1] = matrix[2] = matrix[3] =
  matrix[4] = matrix[6] = matrix[7] =
  matrix[8] = matrix[9] = matrix[11] = 0;

  matrix[0] = matrix[5] = matrix[10] = matrix[15] = 1;

  matrix[12] = translation[0];
  matrix[13] = translation[1];
  matrix[14] = translation[2];
}

void m4x4_rotation_for_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order)
{
  double cx, sx, cy, sy, cz, sz;

  cx = cos(DEG2RAD(euler[0]));
  sx = sin(DEG2RAD(euler[0]));
  cy = cos(DEG2RAD(euler[1]));
  sy = sin(DEG2RAD(euler[1]));
  cz = cos(DEG2RAD(euler[2]));
  sz = sin(DEG2RAD(euler[2]));

  switch(order)
  {
  case eXYZ:

#if 1

    {
      matrix[0]  = (vec_t)(cy*cz);
      matrix[1]  = (vec_t)(cy*sz);
      matrix[2]  = (vec_t)-sy;
      matrix[4]  = (vec_t)(sx*sy*cz + cx*-sz);
      matrix[5]  = (vec_t)(sx*sy*sz + cx*cz);
      matrix[6]  = (vec_t)(sx*cy);
      matrix[8]  = (vec_t)(cx*sy*cz + sx*sz);
      matrix[9]  = (vec_t)(cx*sy*sz + -sx*cz);
      matrix[10] = (vec_t)(cx*cy);
    }

    matrix[12]  =  matrix[13] = matrix[14] = matrix[3] = matrix[7] = matrix[11] = 0;
    matrix[15] =  1;

#else

    m4x4_identity(matrix);
    matrix[5] =(vec_t) cx; matrix[6] =(vec_t) sx;
    matrix[9] =(vec_t)-sx; matrix[10]=(vec_t) cx;

    {
      m4x4_t temp;
      m4x4_identity(temp);
      temp[0] =(vec_t) cy; temp[2] =(vec_t)-sy;
      temp[8] =(vec_t) sy; temp[10]=(vec_t) cy;
      m4x4_premultiply_by_m4x4(matrix, temp);
      m4x4_identity(temp);
      temp[0] =(vec_t) cz; temp[1] =(vec_t) sz;
      temp[4] =(vec_t)-sz; temp[5] =(vec_t) cz;
      m4x4_premultiply_by_m4x4(matrix, temp);
    }
#endif

    break;

  case eYZX:
    m4x4_identity(matrix);
    matrix[0] =(vec_t) cy; matrix[2] =(vec_t)-sy;
    matrix[8] =(vec_t) sy; matrix[10]=(vec_t) cy;

    {
      m4x4_t temp;
      m4x4_identity(temp);
      temp[5] =(vec_t) cx; temp[6] =(vec_t) sx;
      temp[9] =(vec_t)-sx; temp[10]=(vec_t) cx;
      m4x4_premultiply_by_m4x4(matrix, temp);
      m4x4_identity(temp);
      temp[0] =(vec_t) cz; temp[1] =(vec_t) sz;
      temp[4] =(vec_t)-sz; temp[5] =(vec_t) cz;
      m4x4_premultiply_by_m4x4(matrix, temp);
    }
    break;

  case eZXY:
    m4x4_identity(matrix);
    matrix[0] =(vec_t) cz; matrix[1] =(vec_t) sz;
    matrix[4] =(vec_t)-sz; matrix[5] =(vec_t) cz;

    {
      m4x4_t temp;
      m4x4_identity(temp);
      temp[5] =(vec_t) cx; temp[6] =(vec_t) sx;
      temp[9] =(vec_t)-sx; temp[10]=(vec_t) cx;
      m4x4_premultiply_by_m4x4(matrix, temp);
      m4x4_identity(temp);
      temp[0] =(vec_t) cy; temp[2] =(vec_t)-sy;
      temp[8] =(vec_t) sy; temp[10]=(vec_t) cy;
      m4x4_premultiply_by_m4x4(matrix, temp);
    }
    break;

  case eXZY:
    m4x4_identity(matrix);
    matrix[5] =(vec_t) cx; matrix[6] =(vec_t) sx;
    matrix[9] =(vec_t)-sx; matrix[10]=(vec_t) cx;

    {
      m4x4_t temp;
      m4x4_identity(temp);
      temp[0] =(vec_t) cz; temp[1] =(vec_t) sz;
      temp[4] =(vec_t)-sz; temp[5] =(vec_t) cz;
      m4x4_premultiply_by_m4x4(matrix, temp);
      m4x4_identity(temp);
      temp[0] =(vec_t) cy; temp[2] =(vec_t)-sy;
      temp[8] =(vec_t) sy; temp[10]=(vec_t) cy;
      m4x4_premultiply_by_m4x4(matrix, temp);
    }
    break;

  case eYXZ:

/* transposed
|  cy.cz + sx.sy.-sz + -cx.sy.0   0.cz + cx.-sz + sx.0   sy.cz + -sx.cy.-sz + cx.cy.0 |
|  cy.sz + sx.sy.cz + -cx.sy.0    0.sz + cx.cz + sx.0    sy.sz + -sx.cy.cz + cx.cy.0  |
|  cy.0 + sx.sy.0 + -cx.sy.1      0.0 + cx.0 + sx.1      sy.0 + -sx.cy.0 + cx.cy.1    |
*/

#if 1

  {
    matrix[0]  = (vec_t)(cy*cz + sx*sy*-sz);
    matrix[1]  = (vec_t)(cy*sz + sx*sy*cz);
    matrix[2]  = (vec_t)(-cx*sy);
    matrix[4]  = (vec_t)(cx*-sz);
    matrix[5]  = (vec_t)(cx*cz);
    matrix[6]  = (vec_t)(sx);
    matrix[8]  = (vec_t)(sy*cz + -sx*cy*-sz);
    matrix[9]  = (vec_t)(sy*sz + -sx*cy*cz);
    matrix[10] = (vec_t)(cx*cy);
  }

  matrix[12]  =  matrix[13] = matrix[14] = matrix[3] = matrix[7] = matrix[11] = 0;
  matrix[15] =  1;

#else

  m4x4_identity(matrix);
  matrix[0] =(vec_t) cy; matrix[2] =(vec_t)-sy;
  matrix[8] =(vec_t) sy; matrix[10]=(vec_t) cy;

  {
    m4x4_t temp;
    m4x4_identity(temp);
    temp[5] =(vec_t) cx; temp[6] =(vec_t) sx;
    temp[9] =(vec_t)-sx; temp[10]=(vec_t) cx;
    m4x4_premultiply_by_m4x4(matrix, temp);
    m4x4_identity(temp);
    temp[0] =(vec_t) cz; temp[1] =(vec_t) sz;
    temp[4] =(vec_t)-sz; temp[5] =(vec_t) cz;
    m4x4_premultiply_by_m4x4(matrix, temp);
  }
#endif
  break;

  case eZYX:
#if 1

  {
    matrix[0]  = (vec_t)(cy*cz);
    matrix[4]  = (vec_t)(cy*-sz);
    matrix[8]  = (vec_t)sy;
    matrix[1]  = (vec_t)(sx*sy*cz + cx*sz);
    matrix[5]  = (vec_t)(sx*sy*-sz + cx*cz);
    matrix[9]  = (vec_t)(-sx*cy);
    matrix[2]  = (vec_t)(cx*-sy*cz + sx*sz);
    matrix[6]  = (vec_t)(cx*-sy*-sz + sx*cz);
    matrix[10] = (vec_t)(cx*cy);
  }

  matrix[12]  =  matrix[13] = matrix[14] = matrix[3] = matrix[7] = matrix[11] = 0;
  matrix[15] =  1;

#else

  m4x4_identity(matrix);
  matrix[0] =(vec_t) cz; matrix[1] =(vec_t) sz;
  matrix[4] =(vec_t)-sz; matrix[5] =(vec_t) cz;
  {
    m4x4_t temp;
    m4x4_identity(temp);
    temp[0] =(vec_t) cy; temp[2] =(vec_t)-sy;
    temp[8] =(vec_t) sy; temp[10]=(vec_t) cy;
    m4x4_premultiply_by_m4x4(matrix, temp);
    m4x4_identity(temp);
    temp[5] =(vec_t) cx; temp[6] =(vec_t) sx;
    temp[9] =(vec_t)-sx; temp[10]=(vec_t) cx;
    m4x4_premultiply_by_m4x4(matrix, temp);
  }

#endif
  break;

  }

}

void m4x4_scale_for_vec3(m4x4_t matrix, const vec3_t scale)
{
  matrix[1] = matrix[2] = matrix[3] =
  matrix[4] = matrix[6] = matrix[7] =
  matrix[8] = matrix[9] = matrix[11] =
  matrix[12] = matrix[13] = matrix[14] = 0;

  matrix[15] = 1;

  matrix[0] = scale[0];
  matrix[5] = scale[1];
  matrix[10] = scale[2];
}

void m4x4_rotation_for_quat(m4x4_t matrix, const vec4_t rotation)
{
  float xx,xy,xz,xw,yy,yz,yw,zz,zw;

  xx      = rotation[0] * rotation[0];
  xy      = rotation[0] * rotation[1];
  xz      = rotation[0] * rotation[2];
  xw      = rotation[0] * rotation[3];

  yy      = rotation[1] * rotation[1];
  yz      = rotation[1] * rotation[2];
  yw      = rotation[1] * rotation[3];

  zz      = rotation[2] * rotation[2];
  zw      = rotation[2] * rotation[3];

  matrix[0]  = 1 - 2 * ( yy + zz );
  matrix[4]  =     2 * ( xy - zw );
  matrix[8]  =     2 * ( xz + yw );

  matrix[1]  =     2 * ( xy + zw );
  matrix[5]  = 1 - 2 * ( xx + zz );
  matrix[9]  =     2 * ( yz - xw );

  matrix[2]  =     2 * ( xz - yw );
  matrix[6]  =     2 * ( yz + xw );
  matrix[10] = 1 - 2 * ( xx + yy );

  matrix[3]  = matrix[7] = matrix[11] = matrix[12] = matrix[13] = matrix[14] = 0;
  matrix[15] = 1;
}

void m4x4_rotation_for_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle)
{
  vec4_t rotation;
  angle *= 0.5;

  rotation[3] = (float)sin((float)(angle));

  rotation[0]    = axis[0] * rotation[3];
  rotation[1]    = axis[1] * rotation[3];
  rotation[2]    = axis[2] * rotation[3];
  rotation[3]    = (float)cos((float)(angle));

  m4x4_rotation_for_quat(matrix, rotation);
}

void m4x4_translate_by_vec3(m4x4_t matrix, const vec3_t translation)
{
  m4x4_t temp;
  m4x4_translation_for_vec3(temp, translation);
  m4x4_multiply_by_m4x4(matrix, temp);
}

void m4x4_rotate_by_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order)
{
  m4x4_t temp;
  m4x4_rotation_for_vec3(temp, euler, order);
  m4x4_multiply_by_m4x4(matrix, temp);
}

void m4x4_scale_by_vec3(m4x4_t matrix, const vec3_t scale)
{
  m4x4_t temp;
  m4x4_scale_for_vec3(temp, scale);
  m4x4_multiply_by_m4x4(matrix, temp);
}

void m4x4_rotate_by_quat(m4x4_t matrix, const vec4_t rotation)
{
  m4x4_t temp;
  m4x4_rotation_for_quat(temp, rotation);
  m4x4_multiply_by_m4x4(matrix, temp);
}

void m4x4_rotate_by_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle)
{
  m4x4_t temp;
  m4x4_rotation_for_axisangle(temp, axis, angle);
  m4x4_multiply_by_m4x4(matrix, temp);
}

void m4x4_transform_by_vec3(m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale)
{
  m4x4_translate_by_vec3(matrix, translation);
  m4x4_rotate_by_vec3(matrix, euler, order);
  m4x4_scale_by_vec3(matrix, scale);
}

void m4x4_pivoted_rotate_by_vec3(m4x4_t matrix, const vec3_t euler, eulerOrder_t order, const vec3_t pivotpoint)
{
  vec3_t vec3_temp;
  VectorNegative(pivotpoint, vec3_temp);

  m4x4_translate_by_vec3(matrix, pivotpoint);
  m4x4_rotate_by_vec3(matrix, euler, order);
  m4x4_translate_by_vec3(matrix, vec3_temp);
}

void m4x4_pivoted_scale_by_vec3(m4x4_t matrix, const vec3_t scale, const vec3_t pivotpoint)
{
  vec3_t vec3_temp;
  VectorNegative(pivotpoint, vec3_temp);

  m4x4_translate_by_vec3(matrix, pivotpoint);
  m4x4_scale_by_vec3(matrix, scale);
  m4x4_translate_by_vec3(matrix, vec3_temp);
}

void m4x4_pivoted_transform_by_vec3(m4x4_t matrix, const vec3_t translation, const vec3_t euler, eulerOrder_t order, const vec3_t scale, const vec3_t pivotpoint)
{
  vec3_t vec3_temp;

  VectorAdd(pivotpoint, translation, vec3_temp);
  m4x4_translate_by_vec3(matrix, vec3_temp);
  m4x4_rotate_by_vec3(matrix, euler, order);
  m4x4_scale_by_vec3(matrix, scale);
  VectorNegative(pivotpoint, vec3_temp);
  m4x4_translate_by_vec3(matrix, vec3_temp);
}

void m4x4_pivoted_rotate_by_quat(m4x4_t matrix, const vec4_t rotation, const vec3_t pivotpoint)
{
  vec3_t vec3_temp;
  VectorNegative(pivotpoint, vec3_temp);

  m4x4_translate_by_vec3(matrix, pivotpoint);
  m4x4_rotate_by_quat(matrix, rotation);
  m4x4_translate_by_vec3(matrix, vec3_temp);
}

void m4x4_pivoted_rotate_by_axisangle(m4x4_t matrix, const vec3_t axis, vec_t angle, const vec3_t pivotpoint)
{
  vec3_t vec3_temp;
  VectorNegative(pivotpoint, vec3_temp);

  m4x4_translate_by_vec3(matrix, pivotpoint);
  m4x4_rotate_by_axisangle(matrix, axis, angle);
  m4x4_translate_by_vec3(matrix, vec3_temp);
}


/*
A = A.B

A0 = B0 * A0 + B1 * A4 + B2 * A8 + B3 * A12
A4 = B4 * A0 + B5 * A4 + B6 * A8 + B7 * A12
A8 = B8 * A0 + B9 * A4 + B10* A8 + B11* A12
A12= B12* A0 + B13* A4 + B14* A8 + B15* A12

A1 = B0 * A1 + B1 * A5 + B2 * A9 + B3 * A13
A5 = B4 * A1 + B5 * A5 + B6 * A9 + B7 * A13
A9 = B8 * A1 + B9 * A5 + B10* A9 + B11* A13
A13= B12* A1 + B13* A5 + B14* A9 + B15* A13

A2 = B0 * A2 + B1 * A6 + B2 * A10+ B3 * A14
A6 = B4 * A2 + B5 * A6 + B6 * A10+ B7 * A14
A10= B8 * A2 + B9 * A6 + B10* A10+ B11* A14
A14= B12* A2 + B13* A6 + B14* A10+ B15* A14

A3 = B0 * A3 + B1 * A7 + B2 * A11+ B3 * A15
A7 = B4 * A3 + B5 * A7 + B6 * A11+ B7 * A15
A11= B8 * A3 + B9 * A7 + B10* A11+ B11* A15
A15= B12* A3 + B13* A7 + B14* A11+ B15* A15
*/

void m4x4_multiply_by_m4x4(m4x4_t dst, const m4x4_t src)
{
	vec_t dst0, dst1, dst2, dst3;

#if 1

  dst0 = src[0] * dst[0] + src[1] * dst[4] + src[2] * dst[8] + src[3] * dst[12];
  dst1 = src[4] * dst[0] + src[5] * dst[4] + src[6] * dst[8] + src[7] * dst[12];
  dst2 = src[8] * dst[0] + src[9] * dst[4] + src[10]* dst[8] + src[11]* dst[12];
  dst3 = src[12]* dst[0] + src[13]* dst[4] + src[14]* dst[8] + src[15]* dst[12];
  dst[0] = dst0; dst[4] = dst1; dst[8] = dst2; dst[12]= dst3;

  dst0 = src[0] * dst[1] + src[1] * dst[5] + src[2] * dst[9] + src[3] * dst[13];
  dst1 = src[4] * dst[1] + src[5] * dst[5] + src[6] * dst[9] + src[7] * dst[13];
  dst2 = src[8] * dst[1] + src[9] * dst[5] + src[10]* dst[9] + src[11]* dst[13];
  dst3 = src[12]* dst[1] + src[13]* dst[5] + src[14]* dst[9] + src[15]* dst[13];
  dst[1] = dst0; dst[5] = dst1; dst[9] = dst2; dst[13]= dst3;

  dst0 = src[0] * dst[2] + src[1] * dst[6] + src[2] * dst[10]+ src[3] * dst[14];
  dst1 = src[4] * dst[2] + src[5] * dst[6] + src[6] * dst[10]+ src[7] * dst[14];
  dst2 = src[8] * dst[2] + src[9] * dst[6] + src[10]* dst[10]+ src[11]* dst[14];
  dst3 = src[12]* dst[2] + src[13]* dst[6] + src[14]* dst[10]+ src[15]* dst[14];
  dst[2] = dst0; dst[6] = dst1; dst[10]= dst2; dst[14]= dst3;

  dst0 = src[0] * dst[3] + src[1] * dst[7] + src[2] * dst[11]+ src[3] * dst[15];
  dst1 = src[4] * dst[3] + src[5] * dst[7] + src[6] * dst[11]+ src[7] * dst[15];
  dst2 = src[8] * dst[3] + src[9] * dst[7] + src[10]* dst[11]+ src[11]* dst[15];
  dst3 = src[12]* dst[3] + src[13]* dst[7] + src[14]* dst[11]+ src[15]* dst[15];
  dst[3] = dst0; dst[7] = dst1; dst[11]= dst2; dst[15]= dst3;

#else

  vec_t * p = dst;
	for(int i=0;i<4;i++)
	{
		dst1 =  src[0]  * p[0];
		dst1 += src[1]  * p[4];
		dst1 += src[2]  * p[8];
		dst1 += src[3]  * p[12];
		dst2 =  src[4]  * p[0];
		dst2 += src[5]  * p[4];
		dst2 += src[6]  * p[8];
		dst2 += src[7]  * p[12];
		dst3 =  src[8]  * p[0];
		dst3 += src[9]  * p[4];
		dst3 += src[10] * p[8];
		dst3 += src[11] * p[12];
		dst4 =  src[12] * p[0];
		dst4 += src[13] * p[4];
		dst4 += src[14] * p[8];
		dst4 += src[15] * p[12];

		p[0] = dst1;
		p[4] = dst2;
		p[8] = dst3;
		p[12] = dst4;
    p++;
	}

#endif
}

/*
A = B.A

A0 = A0 * B0 + A1 * B4 + A2 * B8 + A3 * B12
A1 = A0 * B1 + A1 * B5 + A2 * B9 + A3 * B13
A2 = A0 * B2 + A1 * B6 + A2 * B10+ A3 * B14
A3 = A0 * B3 + A1 * B7 + A2 * B11+ A3 * B15

A4 = A4 * B0 + A5 * B4 + A6 * B8 + A7 * B12
A5 = A4 * B1 + A5 * B5 + A6 * B9 + A7 * B13
A6 = A4 * B2 + A5 * B6 + A6 * B10+ A7 * B14
A7 = A4 * B3 + A5 * B7 + A6 * B11+ A7 * B15

A8 = A8 * B0 + A9 * B4 + A10* B8 + A11* B12
A9 = A8 * B1 + A9 * B5 + A10* B9 + A11* B13
A10= A8 * B2 + A9 * B6 + A10* B10+ A11* B14
A11= A8 * B3 + A9 * B7 + A10* B11+ A11* B15

A12= A12* B0 + A13* B4 + A14* B8 + A15* B12
A13= A12* B1 + A13* B5 + A14* B9 + A15* B13
A14= A12* B2 + A13* B6 + A14* B10+ A15* B14
A15= A12* B3 + A13* B7 + A14* B11+ A15* B15
*/

void m4x4_premultiply_by_m4x4(m4x4_t dst, const m4x4_t src)
{
	vec_t dst0, dst1, dst2, dst3;

#if 1

  dst0 = dst[0] * src[0] + dst[1] * src[4] + dst[2] * src[8] + dst[3] * src[12];
  dst1 = dst[0] * src[1] + dst[1] * src[5] + dst[2] * src[9] + dst[3] * src[13];
  dst2 = dst[0] * src[2] + dst[1] * src[6] + dst[2] * src[10]+ dst[3] * src[14];
  dst3 = dst[0] * src[3] + dst[1] * src[7] + dst[2] * src[11]+ dst[3] * src[15];
  dst[0] = dst0; dst[1] = dst1; dst[2] = dst2; dst[3]= dst3;

  dst0 = dst[4] * src[0] + dst[5] * src[4] + dst[6] * src[8] + dst[7] * src[12];
  dst1 = dst[4] * src[1] + dst[5] * src[5] + dst[6] * src[9] + dst[7] * src[13];
  dst2 = dst[4] * src[2] + dst[5] * src[6] + dst[6] * src[10]+ dst[7] * src[14];
  dst3 = dst[4] * src[3] + dst[5] * src[7] + dst[6] * src[11]+ dst[7] * src[15];
  dst[4] = dst0; dst[5] = dst1; dst[6] = dst2; dst[7]= dst3;

  dst0 = dst[8] * src[0] + dst[9] * src[4] + dst[10]* src[8] + dst[11]* src[12];
  dst1 = dst[8] * src[1] + dst[9] * src[5] + dst[10]* src[9] + dst[11]* src[13];
  dst2 = dst[8] * src[2] + dst[9] * src[6] + dst[10]* src[10]+ dst[11]* src[14];
  dst3 = dst[8] * src[3] + dst[9] * src[7] + dst[10]* src[11]+ dst[11]* src[15];
  dst[8] = dst0; dst[9] = dst1; dst[10] = dst2; dst[11]= dst3;

  dst0 = dst[12]* src[0] + dst[13]* src[4] + dst[14]* src[8] + dst[15]* src[12];
  dst1 = dst[12]* src[1] + dst[13]* src[5] + dst[14]* src[9] + dst[15]* src[13];
  dst2 = dst[12]* src[2] + dst[13]* src[6] + dst[14]* src[10]+ dst[15]* src[14];
  dst3 = dst[12]* src[3] + dst[13]* src[7] + dst[14]* src[11]+ dst[15]* src[15];
  dst[12] = dst0; dst[13] = dst1; dst[14] = dst2; dst[15]= dst3;

#else

  vec_t* p = dst;
	for(int i=0;i<4;i++)
	{
		dst1 =  src[0]  * p[0];
		dst2 =  src[1]  * p[0];
		dst3 =  src[2]  * p[0];
		dst4 =  src[3]  * p[0];
		dst1 += src[4]  * p[1];
		dst2 += src[5]  * p[1];
		dst3 += src[6]  * p[1];
		dst4 += src[7]  * p[1];
		dst1 += src[8]  * p[2];
		dst2 += src[9]  * p[2];
		dst4 += src[11] * p[2];
		dst3 += src[10] * p[2];
		dst1 += src[12] * p[3];
		dst2 += src[13] * p[3];
		dst3 += src[14] * p[3];
		dst4 += src[15] * p[3];

		*p++ = dst1;
		*p++ = dst2;
		*p++ = dst3;
		*p++ = dst4;
	}

#endif
}

void m4x4_transform_point(const m4x4_t matrix, vec3_t point)
{
  float out1, out2, out3;

	out1 =  matrix[0]  * point[0];
	out2 =  matrix[1]  * point[0];
	out3 =  matrix[2]  * point[0];
	out1 += matrix[4]  * point[1];
	out2 += matrix[5]  * point[1];
	out3 += matrix[6]  * point[1];
	out1 += matrix[8]  * point[2];
	out2 += matrix[9]  * point[2];
	out3 += matrix[10] * point[2];
  out1 += matrix[12];
  out2 += matrix[13];
  out3 += matrix[14];

	point[0] = out1;
	point[1] = out2;
	point[2] = out3;
}

void m4x4_transform_normal(const m4x4_t matrix, vec3_t normal)
{
  float out1, out2, out3;

	out1 =  matrix[0]  * normal[0];
	out2 =  matrix[1]  * normal[0];
	out3 =  matrix[2]  * normal[0];
	out1 += matrix[4]  * normal[1];
	out2 += matrix[5]  * normal[1];
	out3 += matrix[6]  * normal[1];
	out1 += matrix[8]  * normal[2];
	out2 += matrix[9]  * normal[2];
	out3 += matrix[10] * normal[2];

	normal[0] = out1;
	normal[1] = out2;
	normal[2] = out3;
}

void m4x4_transform_vec4(const m4x4_t matrix, vec4_t vector)
{
  float out1, out2, out3, out4;

	out1 =  matrix[0]  * vector[0];
	out2 =  matrix[1]  * vector[0];
	out3 =  matrix[2]  * vector[0];
	out4 =  matrix[3]  * vector[0];
	out1 += matrix[4]  * vector[1];
	out2 += matrix[5]  * vector[1];
	out3 += matrix[6]  * vector[1];
	out4 += matrix[7]  * vector[1];
	out1 += matrix[8]  * vector[2];
	out2 += matrix[9]  * vector[2];
	out3 += matrix[10] * vector[2];
	out4 += matrix[11] * vector[2];
  out1 += matrix[12] * vector[3];
  out2 += matrix[13] * vector[3];
  out3 += matrix[14] * vector[3];
  out4 += matrix[15] * vector[3];

	vector[0] = out1;
	vector[1] = out2;
	vector[2] = out3;
  vector[3] = out4;
}

void m4x4_transpose(m4x4_t matrix)
{
	int i, j;
	float temp, *p1, *p2;

  for (i=1; i<4; i++) {
    for (j=0; j<i; j++) {
      p1 = matrix+(j*4+i);
      p2 = matrix+(i*4+j);
      temp = *p1;
      *p1=*p2;
      *p2=temp;
    }
  }
}

void m4x4_orthogonal_invert(m4x4_t matrix)
{
  float temp;

  temp = -matrix[3];
  matrix[3] = matrix[12];
  matrix[12] = temp;

  temp = -matrix[7];
  matrix[7] = matrix[13];
  matrix[13] = temp;

  temp = -matrix[11];
  matrix[11] = matrix[14];
  matrix[14] = temp;

  /*
  temp = matrix[1];
  matrix[1] = matrix[4];
  matrix[4] = temp;

  temp = matrix[2];
  matrix[2] = matrix[8];
  matrix[8] = temp;

  temp = matrix[6];
  matrix[6] = matrix[9];
  matrix[9] = temp;

  matrix[3] = -matrix[3];
  matrix[7] = -matrix[7];
  matrix[11] = -matrix[11];
  */
}

float m3_det( m3x3_t mat )
{
  float det;

  det = mat[0] * ( mat[4]*mat[8] - mat[7]*mat[5] )
    - mat[1] * ( mat[3]*mat[8] - mat[6]*mat[5] )
    + mat[2] * ( mat[3]*mat[7] - mat[6]*mat[4] );

  return( det );
}

/*
void m3_inverse( m3x3_t mr, m3x3_t ma )
{
  float det = m3_det( ma );

  if ( fabs( det ) < 0.0005 )
  {
    m3_identity( ma );
    return;
  }

  mr[0] =    ma[4]*ma[8] - ma[5]*ma[7]   / det;
  mr[1] = -( ma[1]*ma[8] - ma[7]*ma[2] ) / det;
  mr[2] =    ma[1]*ma[5] - ma[4]*ma[2]   / det;

  mr[3] = -( ma[3]*ma[8] - ma[5]*ma[6] ) / det;
  mr[4] =    ma[0]*ma[8] - ma[6]*ma[2]   / det;
  mr[5] = -( ma[0]*ma[5] - ma[3]*ma[2] ) / det;

  mr[6] =    ma[3]*ma[7] - ma[6]*ma[4]   / det;
  mr[7] = -( ma[0]*ma[7] - ma[6]*ma[1] ) / det;
  mr[8] =    ma[0]*ma[4] - ma[1]*ma[3]   / det;
}
*/

void m4_submat( m4x4_t mr, m3x3_t mb, int i, int j )
{
  int ti, tj, idst, jdst;

	idst = 0;
  for ( ti = 0; ti < 4; ti++ )
  {
    if ( ti < i )
      idst = ti;
    else
      if ( ti > i )
        idst = ti-1;

      for ( tj = 0; tj < 4; tj++ )
      {
        if ( tj < j )
          jdst = tj;
        else
          if ( tj > j )
            jdst = tj-1;

          if ( ti != i && tj != j )
            mb[idst*3 + jdst] = mr[ti*4 + tj ];
      }
  }
}

float m4_det( m4x4_t mr )
{
  float  det, result = 0, i = 1;
  m3x3_t msub3;
  int     n;

  for ( n = 0; n < 4; n++, i *= -1 )
  {
    m4_submat( mr, msub3, 0, n );

    det     = m3_det( msub3 );
    result += mr[n] * det * i;
  }

  return result;
}

int m4x4_invert(m4x4_t matrix)
{
  float  mdet = m4_det( matrix );
  m3x3_t mtemp;
  int     i, j, sign;
  m4x4_t m4x4_temp;

  if ( fabs( mdet ) < 0.0000000001 )	//% 0.0005
    return 1;

  memcpy(m4x4_temp, matrix, sizeof(m4x4_t));

  for ( i = 0; i < 4; i++ )
    for ( j = 0; j < 4; j++ )
    {
      sign = 1 - ( (i +j) % 2 ) * 2;

      m4_submat( m4x4_temp, mtemp, i, j );

      matrix[i+j*4] = ( m3_det( mtemp ) * sign ) / mdet;
    }

  return 0;
}