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matrixlib.c

#include "quakedef.h"

#include <math.h>
#include "matrixlib.h"

#ifdef _MSC_VER
#pragma warning(disable : 4244)     // LordHavoc: MSVC++ 4 x86, double/float
#pragma warning(disable : 4305)         // LordHavoc: MSVC++ 6 x86, double/float
#endif

const matrix4x4_t identitymatrix =
{
      {
            {1, 0, 0, 0},
            {0, 1, 0, 0},
            {0, 0, 1, 0},
            {0, 0, 0, 1}
      }
};

void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in)
{
      *out = *in;
}

void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in)
{
      out->m[0][0] = in->m[0][0];
      out->m[0][1] = in->m[0][1];
      out->m[0][2] = in->m[0][2];
      out->m[0][3] = 0.0f;
      out->m[1][0] = in->m[1][0];
      out->m[1][1] = in->m[1][1];
      out->m[1][2] = in->m[1][2];
      out->m[1][3] = 0.0f;
      out->m[2][0] = in->m[2][0];
      out->m[2][1] = in->m[2][1];
      out->m[2][2] = in->m[2][2];
      out->m[2][3] = 0.0f;
      out->m[3][0] = 0.0f;
      out->m[3][1] = 0.0f;
      out->m[3][2] = 0.0f;
      out->m[3][3] = 1.0f;
}

void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[0][0] = 1.0f;
      out->m[1][0] = 0.0f;
      out->m[2][0] = 0.0f;
      out->m[3][0] = in->m[0][3];
      out->m[0][1] = 0.0f;
      out->m[1][1] = 1.0f;
      out->m[2][1] = 0.0f;
      out->m[3][1] = in->m[1][3];
      out->m[0][2] = 0.0f;
      out->m[1][2] = 0.0f;
      out->m[2][2] = 1.0f;
      out->m[3][2] = in->m[2][3];
      out->m[0][3] = 0.0f;
      out->m[1][3] = 0.0f;
      out->m[2][3] = 0.0f;
      out->m[3][3] = 1.0f;
#else
      out->m[0][0] = 1.0f;
      out->m[0][1] = 0.0f;
      out->m[0][2] = 0.0f;
      out->m[0][3] = in->m[0][3];
      out->m[1][0] = 0.0f;
      out->m[1][1] = 1.0f;
      out->m[1][2] = 0.0f;
      out->m[1][3] = in->m[1][3];
      out->m[2][0] = 0.0f;
      out->m[2][1] = 0.0f;
      out->m[2][2] = 1.0f;
      out->m[2][3] = in->m[2][3];
      out->m[3][0] = 0.0f;
      out->m[3][1] = 0.0f;
      out->m[3][2] = 0.0f;
      out->m[3][3] = 1.0f;
#endif
}

void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[0][0] = in1->m[0][0] * in2->m[0][0] + in1->m[1][0] * in2->m[0][1] + in1->m[2][0] * in2->m[0][2] + in1->m[3][0] * in2->m[0][3];
      out->m[1][0] = in1->m[0][0] * in2->m[1][0] + in1->m[1][0] * in2->m[1][1] + in1->m[2][0] * in2->m[1][2] + in1->m[3][0] * in2->m[1][3];
      out->m[2][0] = in1->m[0][0] * in2->m[2][0] + in1->m[1][0] * in2->m[2][1] + in1->m[2][0] * in2->m[2][2] + in1->m[3][0] * in2->m[2][3];
      out->m[3][0] = in1->m[0][0] * in2->m[3][0] + in1->m[1][0] * in2->m[3][1] + in1->m[2][0] * in2->m[3][2] + in1->m[3][0] * in2->m[3][3];
      out->m[0][1] = in1->m[0][1] * in2->m[0][0] + in1->m[1][1] * in2->m[0][1] + in1->m[2][1] * in2->m[0][2] + in1->m[3][1] * in2->m[0][3];
      out->m[1][1] = in1->m[0][1] * in2->m[1][0] + in1->m[1][1] * in2->m[1][1] + in1->m[2][1] * in2->m[1][2] + in1->m[3][1] * in2->m[1][3];
      out->m[2][1] = in1->m[0][1] * in2->m[2][0] + in1->m[1][1] * in2->m[2][1] + in1->m[2][1] * in2->m[2][2] + in1->m[3][1] * in2->m[2][3];
      out->m[3][1] = in1->m[0][1] * in2->m[3][0] + in1->m[1][1] * in2->m[3][1] + in1->m[2][1] * in2->m[3][2] + in1->m[3][1] * in2->m[3][3];
      out->m[0][2] = in1->m[0][2] * in2->m[0][0] + in1->m[1][2] * in2->m[0][1] + in1->m[2][2] * in2->m[0][2] + in1->m[3][2] * in2->m[0][3];
      out->m[1][2] = in1->m[0][2] * in2->m[1][0] + in1->m[1][2] * in2->m[1][1] + in1->m[2][2] * in2->m[1][2] + in1->m[3][2] * in2->m[1][3];
      out->m[2][2] = in1->m[0][2] * in2->m[2][0] + in1->m[1][2] * in2->m[2][1] + in1->m[2][2] * in2->m[2][2] + in1->m[3][2] * in2->m[2][3];
      out->m[3][2] = in1->m[0][2] * in2->m[3][0] + in1->m[1][2] * in2->m[3][1] + in1->m[2][2] * in2->m[3][2] + in1->m[3][2] * in2->m[3][3];
      out->m[0][3] = in1->m[0][3] * in2->m[0][0] + in1->m[1][3] * in2->m[0][1] + in1->m[2][3] * in2->m[0][2] + in1->m[3][3] * in2->m[0][3];
      out->m[1][3] = in1->m[0][3] * in2->m[1][0] + in1->m[1][3] * in2->m[1][1] + in1->m[2][3] * in2->m[1][2] + in1->m[3][3] * in2->m[1][3];
      out->m[2][3] = in1->m[0][3] * in2->m[2][0] + in1->m[1][3] * in2->m[2][1] + in1->m[2][3] * in2->m[2][2] + in1->m[3][3] * in2->m[2][3];
      out->m[3][3] = in1->m[0][3] * in2->m[3][0] + in1->m[1][3] * in2->m[3][1] + in1->m[2][3] * in2->m[3][2] + in1->m[3][3] * in2->m[3][3];
#else
      out->m[0][0] = in1->m[0][0] * in2->m[0][0] + in1->m[0][1] * in2->m[1][0] + in1->m[0][2] * in2->m[2][0] + in1->m[0][3] * in2->m[3][0];
      out->m[0][1] = in1->m[0][0] * in2->m[0][1] + in1->m[0][1] * in2->m[1][1] + in1->m[0][2] * in2->m[2][1] + in1->m[0][3] * in2->m[3][1];
      out->m[0][2] = in1->m[0][0] * in2->m[0][2] + in1->m[0][1] * in2->m[1][2] + in1->m[0][2] * in2->m[2][2] + in1->m[0][3] * in2->m[3][2];
      out->m[0][3] = in1->m[0][0] * in2->m[0][3] + in1->m[0][1] * in2->m[1][3] + in1->m[0][2] * in2->m[2][3] + in1->m[0][3] * in2->m[3][3];
      out->m[1][0] = in1->m[1][0] * in2->m[0][0] + in1->m[1][1] * in2->m[1][0] + in1->m[1][2] * in2->m[2][0] + in1->m[1][3] * in2->m[3][0];
      out->m[1][1] = in1->m[1][0] * in2->m[0][1] + in1->m[1][1] * in2->m[1][1] + in1->m[1][2] * in2->m[2][1] + in1->m[1][3] * in2->m[3][1];
      out->m[1][2] = in1->m[1][0] * in2->m[0][2] + in1->m[1][1] * in2->m[1][2] + in1->m[1][2] * in2->m[2][2] + in1->m[1][3] * in2->m[3][2];
      out->m[1][3] = in1->m[1][0] * in2->m[0][3] + in1->m[1][1] * in2->m[1][3] + in1->m[1][2] * in2->m[2][3] + in1->m[1][3] * in2->m[3][3];
      out->m[2][0] = in1->m[2][0] * in2->m[0][0] + in1->m[2][1] * in2->m[1][0] + in1->m[2][2] * in2->m[2][0] + in1->m[2][3] * in2->m[3][0];
      out->m[2][1] = in1->m[2][0] * in2->m[0][1] + in1->m[2][1] * in2->m[1][1] + in1->m[2][2] * in2->m[2][1] + in1->m[2][3] * in2->m[3][1];
      out->m[2][2] = in1->m[2][0] * in2->m[0][2] + in1->m[2][1] * in2->m[1][2] + in1->m[2][2] * in2->m[2][2] + in1->m[2][3] * in2->m[3][2];
      out->m[2][3] = in1->m[2][0] * in2->m[0][3] + in1->m[2][1] * in2->m[1][3] + in1->m[2][2] * in2->m[2][3] + in1->m[2][3] * in2->m[3][3];
      out->m[3][0] = in1->m[3][0] * in2->m[0][0] + in1->m[3][1] * in2->m[1][0] + in1->m[3][2] * in2->m[2][0] + in1->m[3][3] * in2->m[3][0];
      out->m[3][1] = in1->m[3][0] * in2->m[0][1] + in1->m[3][1] * in2->m[1][1] + in1->m[3][2] * in2->m[2][1] + in1->m[3][3] * in2->m[3][1];
      out->m[3][2] = in1->m[3][0] * in2->m[0][2] + in1->m[3][1] * in2->m[1][2] + in1->m[3][2] * in2->m[2][2] + in1->m[3][3] * in2->m[3][2];
      out->m[3][3] = in1->m[3][0] * in2->m[0][3] + in1->m[3][1] * in2->m[1][3] + in1->m[3][2] * in2->m[2][3] + in1->m[3][3] * in2->m[3][3];
#endif
}

void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1)
{
      out->m[0][0] = in1->m[0][0];
      out->m[0][1] = in1->m[1][0];
      out->m[0][2] = in1->m[2][0];
      out->m[0][3] = in1->m[3][0];
      out->m[1][0] = in1->m[0][1];
      out->m[1][1] = in1->m[1][1];
      out->m[1][2] = in1->m[2][1];
      out->m[1][3] = in1->m[3][1];
      out->m[2][0] = in1->m[0][2];
      out->m[2][1] = in1->m[1][2];
      out->m[2][2] = in1->m[2][2];
      out->m[2][3] = in1->m[3][2];
      out->m[3][0] = in1->m[0][3];
      out->m[3][1] = in1->m[1][3];
      out->m[3][2] = in1->m[2][3];
      out->m[3][3] = in1->m[3][3];
}

#if 1
// Adapted from code contributed to Mesa by David Moore (Mesa 7.6 under SGI Free License B - which is MIT/X11-type)
// added helper for common subexpression elimination by eihrul, and other optimizations by div0
int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
{
        float det;

        // note: orientation does not matter, as transpose(invert(transpose(m))) == invert(m), proof:
        //   transpose(invert(transpose(m))) * m
        // = transpose(invert(transpose(m))) * transpose(transpose(m))
        // = transpose(transpose(m) * invert(transpose(m)))
        // = transpose(identity)
        // = identity

        // this seems to help gcc's common subexpression elimination, and also makes the code look nicer
        float   m00 = in1->m[0][0], m01 = in1->m[0][1], m02 = in1->m[0][2], m03 = in1->m[0][3],
                m10 = in1->m[1][0], m11 = in1->m[1][1], m12 = in1->m[1][2], m13 = in1->m[1][3],
                m20 = in1->m[2][0], m21 = in1->m[2][1], m22 = in1->m[2][2], m23 = in1->m[2][3],
                m30 = in1->m[3][0], m31 = in1->m[3][1], m32 = in1->m[3][2], m33 = in1->m[3][3];

        // calculate the adjoint
        out->m[0][0] =  (m11*(m22*m33 - m23*m32) - m21*(m12*m33 - m13*m32) + m31*(m12*m23 - m13*m22));
        out->m[0][1] = -(m01*(m22*m33 - m23*m32) - m21*(m02*m33 - m03*m32) + m31*(m02*m23 - m03*m22));
        out->m[0][2] =  (m01*(m12*m33 - m13*m32) - m11*(m02*m33 - m03*m32) + m31*(m02*m13 - m03*m12));
        out->m[0][3] = -(m01*(m12*m23 - m13*m22) - m11*(m02*m23 - m03*m22) + m21*(m02*m13 - m03*m12));
        out->m[1][0] = -(m10*(m22*m33 - m23*m32) - m20*(m12*m33 - m13*m32) + m30*(m12*m23 - m13*m22));
        out->m[1][1] =  (m00*(m22*m33 - m23*m32) - m20*(m02*m33 - m03*m32) + m30*(m02*m23 - m03*m22));
        out->m[1][2] = -(m00*(m12*m33 - m13*m32) - m10*(m02*m33 - m03*m32) + m30*(m02*m13 - m03*m12));
        out->m[1][3] =  (m00*(m12*m23 - m13*m22) - m10*(m02*m23 - m03*m22) + m20*(m02*m13 - m03*m12));
        out->m[2][0] =  (m10*(m21*m33 - m23*m31) - m20*(m11*m33 - m13*m31) + m30*(m11*m23 - m13*m21));
        out->m[2][1] = -(m00*(m21*m33 - m23*m31) - m20*(m01*m33 - m03*m31) + m30*(m01*m23 - m03*m21));
        out->m[2][2] =  (m00*(m11*m33 - m13*m31) - m10*(m01*m33 - m03*m31) + m30*(m01*m13 - m03*m11));
        out->m[2][3] = -(m00*(m11*m23 - m13*m21) - m10*(m01*m23 - m03*m21) + m20*(m01*m13 - m03*m11));
        out->m[3][0] = -(m10*(m21*m32 - m22*m31) - m20*(m11*m32 - m12*m31) + m30*(m11*m22 - m12*m21));
        out->m[3][1] =  (m00*(m21*m32 - m22*m31) - m20*(m01*m32 - m02*m31) + m30*(m01*m22 - m02*m21));
        out->m[3][2] = -(m00*(m11*m32 - m12*m31) - m10*(m01*m32 - m02*m31) + m30*(m01*m12 - m02*m11));
        out->m[3][3] =  (m00*(m11*m22 - m12*m21) - m10*(m01*m22 - m02*m21) + m20*(m01*m12 - m02*m11));

        // calculate the determinant (as inverse == 1/det * adjoint, adjoint * m == identity * det, so this calculates the det)
        det = m00*out->m[0][0] + m10*out->m[0][1] + m20*out->m[0][2] + m30*out->m[0][3];
        if (det == 0.0f)
                return 0;

        // multiplications are faster than divisions, usually
        det = 1.0f / det;

        // manually unrolled loop to multiply all matrix elements by 1/det
        out->m[0][0] *= det; out->m[0][1] *= det; out->m[0][2] *= det; out->m[0][3] *= det;
        out->m[1][0] *= det; out->m[1][1] *= det; out->m[1][2] *= det; out->m[1][3] *= det;
        out->m[2][0] *= det; out->m[2][1] *= det; out->m[2][2] *= det; out->m[2][3] *= det;
        out->m[3][0] *= det; out->m[3][1] *= det; out->m[3][2] *= det; out->m[3][3] *= det;

        return 1;
}
#elif 1
// Adapted from code contributed to Mesa by David Moore (Mesa 7.6 under SGI Free License B - which is MIT/X11-type)
int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
{
      matrix4x4_t temp;
      double det;
      int i, j;

#ifdef MATRIX4x4_OPENGLORIENTATION
      temp.m[0][0] =  in1->m[1][1]*in1->m[2][2]*in1->m[3][3] - in1->m[1][1]*in1->m[2][3]*in1->m[3][2] - in1->m[2][1]*in1->m[1][2]*in1->m[3][3] + in1->m[2][1]*in1->m[1][3]*in1->m[3][2] + in1->m[3][1]*in1->m[1][2]*in1->m[2][3] - in1->m[3][1]*in1->m[1][3]*in1->m[2][2];
      temp.m[1][0] = -in1->m[1][0]*in1->m[2][2]*in1->m[3][3] + in1->m[1][0]*in1->m[2][3]*in1->m[3][2] + in1->m[2][0]*in1->m[1][2]*in1->m[3][3] - in1->m[2][0]*in1->m[1][3]*in1->m[3][2] - in1->m[3][0]*in1->m[1][2]*in1->m[2][3] + in1->m[3][0]*in1->m[1][3]*in1->m[2][2];
      temp.m[2][0] =  in1->m[1][0]*in1->m[2][1]*in1->m[3][3] - in1->m[1][0]*in1->m[2][3]*in1->m[3][1] - in1->m[2][0]*in1->m[1][1]*in1->m[3][3] + in1->m[2][0]*in1->m[1][3]*in1->m[3][1] + in1->m[3][0]*in1->m[1][1]*in1->m[2][3] - in1->m[3][0]*in1->m[1][3]*in1->m[2][1];
      temp.m[3][0] = -in1->m[1][0]*in1->m[2][1]*in1->m[3][2] + in1->m[1][0]*in1->m[2][2]*in1->m[3][1] + in1->m[2][0]*in1->m[1][1]*in1->m[3][2] - in1->m[2][0]*in1->m[1][2]*in1->m[3][1] - in1->m[3][0]*in1->m[1][1]*in1->m[2][2] + in1->m[3][0]*in1->m[1][2]*in1->m[2][1];
      temp.m[0][1] = -in1->m[0][1]*in1->m[2][2]*in1->m[3][3] + in1->m[0][1]*in1->m[2][3]*in1->m[3][2] + in1->m[2][1]*in1->m[0][2]*in1->m[3][3] - in1->m[2][1]*in1->m[0][3]*in1->m[3][2] - in1->m[3][1]*in1->m[0][2]*in1->m[2][3] + in1->m[3][1]*in1->m[0][3]*in1->m[2][2];
      temp.m[1][1] =  in1->m[0][0]*in1->m[2][2]*in1->m[3][3] - in1->m[0][0]*in1->m[2][3]*in1->m[3][2] - in1->m[2][0]*in1->m[0][2]*in1->m[3][3] + in1->m[2][0]*in1->m[0][3]*in1->m[3][2] + in1->m[3][0]*in1->m[0][2]*in1->m[2][3] - in1->m[3][0]*in1->m[0][3]*in1->m[2][2];
      temp.m[2][1] = -in1->m[0][0]*in1->m[2][1]*in1->m[3][3] + in1->m[0][0]*in1->m[2][3]*in1->m[3][1] + in1->m[2][0]*in1->m[0][1]*in1->m[3][3] - in1->m[2][0]*in1->m[0][3]*in1->m[3][1] - in1->m[3][0]*in1->m[0][1]*in1->m[2][3] + in1->m[3][0]*in1->m[0][3]*in1->m[2][1];
      temp.m[3][1] =  in1->m[0][0]*in1->m[2][1]*in1->m[3][2] - in1->m[0][0]*in1->m[2][2]*in1->m[3][1] - in1->m[2][0]*in1->m[0][1]*in1->m[3][2] + in1->m[2][0]*in1->m[0][2]*in1->m[3][1] + in1->m[3][0]*in1->m[0][1]*in1->m[2][2] - in1->m[3][0]*in1->m[0][2]*in1->m[2][1];
      temp.m[0][2] =  in1->m[0][1]*in1->m[1][2]*in1->m[3][3] - in1->m[0][1]*in1->m[1][3]*in1->m[3][2] - in1->m[1][1]*in1->m[0][2]*in1->m[3][3] + in1->m[1][1]*in1->m[0][3]*in1->m[3][2] + in1->m[3][1]*in1->m[0][2]*in1->m[1][3] - in1->m[3][1]*in1->m[0][3]*in1->m[1][2];
      temp.m[1][2] = -in1->m[0][0]*in1->m[1][2]*in1->m[3][3] + in1->m[0][0]*in1->m[1][3]*in1->m[3][2] + in1->m[1][0]*in1->m[0][2]*in1->m[3][3] - in1->m[1][0]*in1->m[0][3]*in1->m[3][2] - in1->m[3][0]*in1->m[0][2]*in1->m[1][3] + in1->m[3][0]*in1->m[0][3]*in1->m[1][2];
      temp.m[2][2] =  in1->m[0][0]*in1->m[1][1]*in1->m[3][3] - in1->m[0][0]*in1->m[1][3]*in1->m[3][1] - in1->m[1][0]*in1->m[0][1]*in1->m[3][3] + in1->m[1][0]*in1->m[0][3]*in1->m[3][1] + in1->m[3][0]*in1->m[0][1]*in1->m[1][3] - in1->m[3][0]*in1->m[0][3]*in1->m[1][1];
      temp.m[3][2] = -in1->m[0][0]*in1->m[1][1]*in1->m[3][2] + in1->m[0][0]*in1->m[1][2]*in1->m[3][1] + in1->m[1][0]*in1->m[0][1]*in1->m[3][2] - in1->m[1][0]*in1->m[0][2]*in1->m[3][1] - in1->m[3][0]*in1->m[0][1]*in1->m[1][2] + in1->m[3][0]*in1->m[0][2]*in1->m[1][1];
      temp.m[0][3] = -in1->m[0][1]*in1->m[1][2]*in1->m[2][3] + in1->m[0][1]*in1->m[1][3]*in1->m[2][2] + in1->m[1][1]*in1->m[0][2]*in1->m[2][3] - in1->m[1][1]*in1->m[0][3]*in1->m[2][2] - in1->m[2][1]*in1->m[0][2]*in1->m[1][3] + in1->m[2][1]*in1->m[0][3]*in1->m[1][2];
      temp.m[1][3] =  in1->m[0][0]*in1->m[1][2]*in1->m[2][3] - in1->m[0][0]*in1->m[1][3]*in1->m[2][2] - in1->m[1][0]*in1->m[0][2]*in1->m[2][3] + in1->m[1][0]*in1->m[0][3]*in1->m[2][2] + in1->m[2][0]*in1->m[0][2]*in1->m[1][3] - in1->m[2][0]*in1->m[0][3]*in1->m[1][2];
      temp.m[2][3] = -in1->m[0][0]*in1->m[1][1]*in1->m[2][3] + in1->m[0][0]*in1->m[1][3]*in1->m[2][1] + in1->m[1][0]*in1->m[0][1]*in1->m[2][3] - in1->m[1][0]*in1->m[0][3]*in1->m[2][1] - in1->m[2][0]*in1->m[0][1]*in1->m[1][3] + in1->m[2][0]*in1->m[0][3]*in1->m[1][1];
      temp.m[3][3] =  in1->m[0][0]*in1->m[1][1]*in1->m[2][2] - in1->m[0][0]*in1->m[1][2]*in1->m[2][1] - in1->m[1][0]*in1->m[0][1]*in1->m[2][2] + in1->m[1][0]*in1->m[0][2]*in1->m[2][1] + in1->m[2][0]*in1->m[0][1]*in1->m[1][2] - in1->m[2][0]*in1->m[0][2]*in1->m[1][1];
#else
      temp.m[0][0] =  in1->m[1][1]*in1->m[2][2]*in1->m[3][3] - in1->m[1][1]*in1->m[3][2]*in1->m[2][3] - in1->m[1][2]*in1->m[2][1]*in1->m[3][3] + in1->m[1][2]*in1->m[3][1]*in1->m[2][3] + in1->m[1][3]*in1->m[2][1]*in1->m[3][2] - in1->m[1][3]*in1->m[3][1]*in1->m[2][2];
      temp.m[0][1] = -in1->m[0][1]*in1->m[2][2]*in1->m[3][3] + in1->m[0][1]*in1->m[3][2]*in1->m[2][3] + in1->m[0][2]*in1->m[2][1]*in1->m[3][3] - in1->m[0][2]*in1->m[3][1]*in1->m[2][3] - in1->m[0][3]*in1->m[2][1]*in1->m[3][2] + in1->m[0][3]*in1->m[3][1]*in1->m[2][2];
      temp.m[0][2] =  in1->m[0][1]*in1->m[1][2]*in1->m[3][3] - in1->m[0][1]*in1->m[3][2]*in1->m[1][3] - in1->m[0][2]*in1->m[1][1]*in1->m[3][3] + in1->m[0][2]*in1->m[3][1]*in1->m[1][3] + in1->m[0][3]*in1->m[1][1]*in1->m[3][2] - in1->m[0][3]*in1->m[3][1]*in1->m[1][2];
      temp.m[0][3] = -in1->m[0][1]*in1->m[1][2]*in1->m[2][3] + in1->m[0][1]*in1->m[2][2]*in1->m[1][3] + in1->m[0][2]*in1->m[1][1]*in1->m[2][3] - in1->m[0][2]*in1->m[2][1]*in1->m[1][3] - in1->m[0][3]*in1->m[1][1]*in1->m[2][2] + in1->m[0][3]*in1->m[2][1]*in1->m[1][2];
      temp.m[1][0] = -in1->m[1][0]*in1->m[2][2]*in1->m[3][3] + in1->m[1][0]*in1->m[3][2]*in1->m[2][3] + in1->m[1][2]*in1->m[2][0]*in1->m[3][3] - in1->m[1][2]*in1->m[3][0]*in1->m[2][3] - in1->m[1][3]*in1->m[2][0]*in1->m[3][2] + in1->m[1][3]*in1->m[3][0]*in1->m[2][2];
      temp.m[1][1] =  in1->m[0][0]*in1->m[2][2]*in1->m[3][3] - in1->m[0][0]*in1->m[3][2]*in1->m[2][3] - in1->m[0][2]*in1->m[2][0]*in1->m[3][3] + in1->m[0][2]*in1->m[3][0]*in1->m[2][3] + in1->m[0][3]*in1->m[2][0]*in1->m[3][2] - in1->m[0][3]*in1->m[3][0]*in1->m[2][2];
      temp.m[1][2] = -in1->m[0][0]*in1->m[1][2]*in1->m[3][3] + in1->m[0][0]*in1->m[3][2]*in1->m[1][3] + in1->m[0][2]*in1->m[1][0]*in1->m[3][3] - in1->m[0][2]*in1->m[3][0]*in1->m[1][3] - in1->m[0][3]*in1->m[1][0]*in1->m[3][2] + in1->m[0][3]*in1->m[3][0]*in1->m[1][2];
      temp.m[1][3] =  in1->m[0][0]*in1->m[1][2]*in1->m[2][3] - in1->m[0][0]*in1->m[2][2]*in1->m[1][3] - in1->m[0][2]*in1->m[1][0]*in1->m[2][3] + in1->m[0][2]*in1->m[2][0]*in1->m[1][3] + in1->m[0][3]*in1->m[1][0]*in1->m[2][2] - in1->m[0][3]*in1->m[2][0]*in1->m[1][2];
      temp.m[2][0] =  in1->m[1][0]*in1->m[2][1]*in1->m[3][3] - in1->m[1][0]*in1->m[3][1]*in1->m[2][3] - in1->m[1][1]*in1->m[2][0]*in1->m[3][3] + in1->m[1][1]*in1->m[3][0]*in1->m[2][3] + in1->m[1][3]*in1->m[2][0]*in1->m[3][1] - in1->m[1][3]*in1->m[3][0]*in1->m[2][1];
      temp.m[2][1] = -in1->m[0][0]*in1->m[2][1]*in1->m[3][3] + in1->m[0][0]*in1->m[3][1]*in1->m[2][3] + in1->m[0][1]*in1->m[2][0]*in1->m[3][3] - in1->m[0][1]*in1->m[3][0]*in1->m[2][3] - in1->m[0][3]*in1->m[2][0]*in1->m[3][1] + in1->m[0][3]*in1->m[3][0]*in1->m[2][1];
      temp.m[2][2] =  in1->m[0][0]*in1->m[1][1]*in1->m[3][3] - in1->m[0][0]*in1->m[3][1]*in1->m[1][3] - in1->m[0][1]*in1->m[1][0]*in1->m[3][3] + in1->m[0][1]*in1->m[3][0]*in1->m[1][3] + in1->m[0][3]*in1->m[1][0]*in1->m[3][1] - in1->m[0][3]*in1->m[3][0]*in1->m[1][1];
      temp.m[2][3] = -in1->m[0][0]*in1->m[1][1]*in1->m[2][3] + in1->m[0][0]*in1->m[2][1]*in1->m[1][3] + in1->m[0][1]*in1->m[1][0]*in1->m[2][3] - in1->m[0][1]*in1->m[2][0]*in1->m[1][3] - in1->m[0][3]*in1->m[1][0]*in1->m[2][1] + in1->m[0][3]*in1->m[2][0]*in1->m[1][1];
      temp.m[3][0] = -in1->m[1][0]*in1->m[2][1]*in1->m[3][2] + in1->m[1][0]*in1->m[3][1]*in1->m[2][2] + in1->m[1][1]*in1->m[2][0]*in1->m[3][2] - in1->m[1][1]*in1->m[3][0]*in1->m[2][2] - in1->m[1][2]*in1->m[2][0]*in1->m[3][1] + in1->m[1][2]*in1->m[3][0]*in1->m[2][1];
      temp.m[3][1] =  in1->m[0][0]*in1->m[2][1]*in1->m[3][2] - in1->m[0][0]*in1->m[3][1]*in1->m[2][2] - in1->m[0][1]*in1->m[2][0]*in1->m[3][2] + in1->m[0][1]*in1->m[3][0]*in1->m[2][2] + in1->m[0][2]*in1->m[2][0]*in1->m[3][1] - in1->m[0][2]*in1->m[3][0]*in1->m[2][1];
      temp.m[3][2] = -in1->m[0][0]*in1->m[1][1]*in1->m[3][2] + in1->m[0][0]*in1->m[3][1]*in1->m[1][2] + in1->m[0][1]*in1->m[1][0]*in1->m[3][2] - in1->m[0][1]*in1->m[3][0]*in1->m[1][2] - in1->m[0][2]*in1->m[1][0]*in1->m[3][1] + in1->m[0][2]*in1->m[3][0]*in1->m[1][1];
      temp.m[3][3] =  in1->m[0][0]*in1->m[1][1]*in1->m[2][2] - in1->m[0][0]*in1->m[2][1]*in1->m[1][2] - in1->m[0][1]*in1->m[1][0]*in1->m[2][2] + in1->m[0][1]*in1->m[2][0]*in1->m[1][2] + in1->m[0][2]*in1->m[1][0]*in1->m[2][1] - in1->m[0][2]*in1->m[2][0]*in1->m[1][1];
#endif

      det = in1->m[0][0]*temp.m[0][0] + in1->m[1][0]*temp.m[0][1] + in1->m[2][0]*temp.m[0][2] + in1->m[3][0]*temp.m[0][3];
      if (det == 0.0f)
            return 0;

      det = 1.0f / det;

      for (i = 0;i < 4;i++)
            for (j = 0;j < 4;j++)
                  out->m[i][j] = temp.m[i][j] * det;

      return 1;
}
#else
int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1)
{
      double      *temp;
      double      *r[4];
      double      rtemp[4][8];
      double      m[4];
      double      s;

      r[0]  = rtemp[0];
      r[1]  = rtemp[1];
      r[2]  = rtemp[2];
      r[3]  = rtemp[3];

#ifdef MATRIX4x4_OPENGLORIENTATION
      r[0][0]     = in1->m[0][0];   r[0][1]     = in1->m[1][0];   r[0][2]     = in1->m[2][0];   r[0][3]     = in1->m[3][0];
      r[0][4]     = 1.0;                  r[0][5]     =                       r[0][6]     =                       r[0][7]     = 0.0;

      r[1][0]     = in1->m[0][1];   r[1][1]     = in1->m[1][1];   r[1][2]     = in1->m[2][1];   r[1][3]     = in1->m[3][1];
      r[1][5]     = 1.0;                  r[1][4]     =                       r[1][6]     =                       r[1][7]     = 0.0;

      r[2][0]     = in1->m[0][2];   r[2][1]     = in1->m[1][2];   r[2][2]     = in1->m[2][2];   r[2][3]     = in1->m[3][2];
      r[2][6]     = 1.0;                  r[2][4]     =                       r[2][5]     =                       r[2][7]     = 0.0;

      r[3][0]     = in1->m[0][3];   r[3][1]     = in1->m[1][3];   r[3][2]     = in1->m[2][3];   r[3][3]     = in1->m[3][3];
      r[3][7]     = 1.0;                  r[3][4]     =                       r[3][5]     =                       r[3][6]     = 0.0;
#else
      r[0][0]     = in1->m[0][0];   r[0][1]     = in1->m[0][1];   r[0][2]     = in1->m[0][2];   r[0][3]     = in1->m[0][3];
      r[0][4]     = 1.0;                  r[0][5]     =                       r[0][6]     =                       r[0][7]     = 0.0;

      r[1][0]     = in1->m[1][0];   r[1][1]     = in1->m[1][1];   r[1][2]     = in1->m[1][2];   r[1][3]     = in1->m[1][3];
      r[1][5]     = 1.0;                  r[1][4]     =                       r[1][6]     =                       r[1][7]     = 0.0;

      r[2][0]     = in1->m[2][0];   r[2][1]     = in1->m[2][1];   r[2][2]     = in1->m[2][2];   r[2][3]     = in1->m[2][3];
      r[2][6]     = 1.0;                  r[2][4]     =                       r[2][5]     =                       r[2][7]     = 0.0;

      r[3][0]     = in1->m[3][0];   r[3][1]     = in1->m[3][1];   r[3][2]     = in1->m[3][2];   r[3][3]     = in1->m[3][3];
      r[3][7]     = 1.0;                  r[3][4]     =                       r[3][5]     =                       r[3][6]     = 0.0;
#endif

      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                 = 1.0 / 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                 = 1.0 / 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                 = 1.0 / 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                 = 1.0 / 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]);

#ifdef MATRIX4x4_OPENGLORIENTATION
                              out->m[0][0]      = r[0][4];
                              out->m[0][1]      = r[1][4];
                              out->m[0][2]      = r[2][4];
                              out->m[0][3]      = r[3][4];
                              out->m[1][0]      = r[0][5];
                              out->m[1][1]      = r[1][5];
                              out->m[1][2]      = r[2][5];
                              out->m[1][3]      = r[3][5];
                              out->m[2][0]      = r[0][6];
                              out->m[2][1]      = r[1][6];
                              out->m[2][2]      = r[2][6];
                              out->m[2][3]      = r[3][6];
                              out->m[3][0]      = r[0][7];
                              out->m[3][1]      = r[1][7];
                              out->m[3][2]      = r[2][7];
                              out->m[3][3]      = r[3][7];
#else
                              out->m[0][0]      = r[0][4];
                              out->m[0][1]      = r[0][5];
                              out->m[0][2]      = r[0][6];
                              out->m[0][3]      = r[0][7];
                              out->m[1][0]      = r[1][4];
                              out->m[1][1]      = r[1][5];
                              out->m[1][2]      = r[1][6];
                              out->m[1][3]      = r[1][7];
                              out->m[2][0]      = r[2][4];
                              out->m[2][1]      = r[2][5];
                              out->m[2][2]      = r[2][6];
                              out->m[2][3]      = r[2][7];
                              out->m[3][0]      = r[3][4];
                              out->m[3][1]      = r[3][5];
                              out->m[3][2]      = r[3][6];
                              out->m[3][3]      = r[3][7];
#endif

                              return 1;
                        }
                  }
            }
      }

      return 0;
}
#endif

void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *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)
#if 1
      double scale = 1.0 / (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]);
#else
      double scale = 3.0 / sqrt
             (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]
            + in1->m[1][0] * in1->m[1][0] + in1->m[1][1] * in1->m[1][1] + in1->m[1][2] * in1->m[1][2]
            + in1->m[2][0] * in1->m[2][0] + in1->m[2][1] * in1->m[2][1] + in1->m[2][2] * in1->m[2][2]);
      scale *= scale;
#endif

      // invert the rotation by transposing and multiplying by the squared
      // recipricol of the input matrix scale as described above
      out->m[0][0] = in1->m[0][0] * scale;
      out->m[0][1] = in1->m[1][0] * scale;
      out->m[0][2] = in1->m[2][0] * scale;
      out->m[1][0] = in1->m[0][1] * scale;
      out->m[1][1] = in1->m[1][1] * scale;
      out->m[1][2] = in1->m[2][1] * scale;
      out->m[2][0] = in1->m[0][2] * scale;
      out->m[2][1] = in1->m[1][2] * scale;
      out->m[2][2] = in1->m[2][2] * scale;

#ifdef MATRIX4x4_OPENGLORIENTATION
      // invert the translate
      out->m[3][0] = -(in1->m[3][0] * out->m[0][0] + in1->m[3][1] * out->m[1][0] + in1->m[3][2] * out->m[2][0]);
      out->m[3][1] = -(in1->m[3][0] * out->m[0][1] + in1->m[3][1] * out->m[1][1] + in1->m[3][2] * out->m[2][1]);
      out->m[3][2] = -(in1->m[3][0] * out->m[0][2] + in1->m[3][1] * out->m[1][2] + in1->m[3][2] * out->m[2][2]);

      // don't know if there's anything worth doing here
      out->m[0][3] = 0;
      out->m[1][3] = 0;
      out->m[2][3] = 0;
      out->m[3][3] = 1;
#else
      // invert the translate
      out->m[0][3] = -(in1->m[0][3] * out->m[0][0] + in1->m[1][3] * out->m[0][1] + in1->m[2][3] * out->m[0][2]);
      out->m[1][3] = -(in1->m[0][3] * out->m[1][0] + in1->m[1][3] * out->m[1][1] + in1->m[2][3] * out->m[1][2]);
      out->m[2][3] = -(in1->m[0][3] * out->m[2][0] + in1->m[1][3] * out->m[2][1] + in1->m[2][3] * out->m[2][2]);

      // don't know if there's anything worth doing here
      out->m[3][0] = 0;
      out->m[3][1] = 0;
      out->m[3][2] = 0;
      out->m[3][3] = 1;
#endif
}

void Matrix4x4_Interpolate (matrix4x4_t *out, matrix4x4_t *in1, matrix4x4_t *in2, double frac)
{
      int i, j;
      for (i = 0;i < 4;i++)
            for (j = 0;j < 4;j++)
                  out->m[i][j] = in1->m[i][j] + frac * (in2->m[i][j] - in1->m[i][j]);
}

void Matrix4x4_Clear (matrix4x4_t *out)
{
      int i, j;
      for (i = 0;i < 4;i++)
            for (j = 0;j < 4;j++)
                  out->m[i][j] = 0;
}

void Matrix4x4_Accumulate (matrix4x4_t *out, matrix4x4_t *in, double weight)
{
      int i, j;
      for (i = 0;i < 4;i++)
            for (j = 0;j < 4;j++)
                  out->m[i][j] += in->m[i][j] * weight;
}

void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1)
{
      // scale rotation matrix vectors to a length of 1
      // note: this is only designed to undo uniform scaling
      double scale = 1.0 / sqrt(in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]);
      *out = *in1;
      Matrix4x4_Scale(out, scale, 1);
}

void Matrix4x4_Normalize3 (matrix4x4_t *out, matrix4x4_t *in1)
{
      int i;
      double scale;
      // scale each rotation matrix vector to a length of 1
      // intended for use after Matrix4x4_Interpolate or Matrix4x4_Accumulate
      *out = *in1;
      for (i = 0;i < 3;i++)
      {
#ifdef MATRIX4x4_OPENGLORIENTATION
            scale = sqrt(in1->m[i][0] * in1->m[i][0] + in1->m[i][1] * in1->m[i][1] + in1->m[i][2] * in1->m[i][2]);
            if (scale)
                  scale = 1.0 / scale;
            out->m[i][0] *= scale;
            out->m[i][1] *= scale;
            out->m[i][2] *= scale;
#else
            scale = sqrt(in1->m[0][i] * in1->m[0][i] + in1->m[1][i] * in1->m[1][i] + in1->m[2][i] * in1->m[2][i]);
            if (scale)
                  scale = 1.0 / scale;
            out->m[0][i] *= scale;
            out->m[1][i] *= scale;
            out->m[2][i] *= scale;
#endif
      }
}

void Matrix4x4_Reflect (matrix4x4_t *out, double normalx, double normaly, double normalz, double dist, double axisscale)
{
      int i;
      double d;
      double p[4], p2[4];
      p[0] = normalx;
      p[1] = normaly;
      p[2] = normalz;
      p[3] = -dist;
      p2[0] = p[0] * axisscale;
      p2[1] = p[1] * axisscale;
      p2[2] = p[2] * axisscale;
      p2[3] = 0;
      for (i = 0;i < 4;i++)
      {
#ifdef MATRIX4x4_OPENGLORIENTATION
            d = out->m[i][0] * p[0] + out->m[i][1] * p[1] + out->m[i][2] * p[2] + out->m[i][3] * p[3];
            out->m[i][0] += p2[0] * d;
            out->m[i][1] += p2[1] * d;
            out->m[i][2] += p2[2] * d;
#else
            d = out->m[0][i] * p[0] + out->m[1][i] * p[1] + out->m[2][i] * p[2] + out->m[3][i] * p[3];
            out->m[0][i] += p2[0] * d;
            out->m[1][i] += p2[1] * d;
            out->m[2][i] += p2[2] * d;
#endif
      }
}

void Matrix4x4_CreateIdentity (matrix4x4_t *out)
{
      out->m[0][0]=1.0f;
      out->m[0][1]=0.0f;
      out->m[0][2]=0.0f;
      out->m[0][3]=0.0f;
      out->m[1][0]=0.0f;
      out->m[1][1]=1.0f;
      out->m[1][2]=0.0f;
      out->m[1][3]=0.0f;
      out->m[2][0]=0.0f;
      out->m[2][1]=0.0f;
      out->m[2][2]=1.0f;
      out->m[2][3]=0.0f;
      out->m[3][0]=0.0f;
      out->m[3][1]=0.0f;
      out->m[3][2]=0.0f;
      out->m[3][3]=1.0f;
}

void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[0][0]=1.0f;
      out->m[1][0]=0.0f;
      out->m[2][0]=0.0f;
      out->m[3][0]=x;
      out->m[0][1]=0.0f;
      out->m[1][1]=1.0f;
      out->m[2][1]=0.0f;
      out->m[3][1]=y;
      out->m[0][2]=0.0f;
      out->m[1][2]=0.0f;
      out->m[2][2]=1.0f;
      out->m[3][2]=z;
      out->m[0][3]=0.0f;
      out->m[1][3]=0.0f;
      out->m[2][3]=0.0f;
      out->m[3][3]=1.0f;
#else
      out->m[0][0]=1.0f;
      out->m[0][1]=0.0f;
      out->m[0][2]=0.0f;
      out->m[0][3]=x;
      out->m[1][0]=0.0f;
      out->m[1][1]=1.0f;
      out->m[1][2]=0.0f;
      out->m[1][3]=y;
      out->m[2][0]=0.0f;
      out->m[2][1]=0.0f;
      out->m[2][2]=1.0f;
      out->m[2][3]=z;
      out->m[3][0]=0.0f;
      out->m[3][1]=0.0f;
      out->m[3][2]=0.0f;
      out->m[3][3]=1.0f;
#endif
}

void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z)
{
      double len, c, s;

      len = x*x+y*y+z*z;
      if (len != 0.0f)
            len = 1.0f / sqrt(len);
      x *= len;
      y *= len;
      z *= len;

      angle *= (-M_PI / 180.0);
      c = cos(angle);
      s = sin(angle);

#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[0][0]=x * x + c * (1 - x * x);
      out->m[1][0]=x * y * (1 - c) + z * s;
      out->m[2][0]=z * x * (1 - c) - y * s;
      out->m[3][0]=0.0f;
      out->m[0][1]=x * y * (1 - c) - z * s;
      out->m[1][1]=y * y + c * (1 - y * y);
      out->m[2][1]=y * z * (1 - c) + x * s;
      out->m[3][1]=0.0f;
      out->m[0][2]=z * x * (1 - c) + y * s;
      out->m[1][2]=y * z * (1 - c) - x * s;
      out->m[2][2]=z * z + c * (1 - z * z);
      out->m[3][2]=0.0f;
      out->m[0][3]=0.0f;
      out->m[1][3]=0.0f;
      out->m[2][3]=0.0f;
      out->m[3][3]=1.0f;
#else
      out->m[0][0]=x * x + c * (1 - x * x);
      out->m[0][1]=x * y * (1 - c) + z * s;
      out->m[0][2]=z * x * (1 - c) - y * s;
      out->m[0][3]=0.0f;
      out->m[1][0]=x * y * (1 - c) - z * s;
      out->m[1][1]=y * y + c * (1 - y * y);
      out->m[1][2]=y * z * (1 - c) + x * s;
      out->m[1][3]=0.0f;
      out->m[2][0]=z * x * (1 - c) + y * s;
      out->m[2][1]=y * z * (1 - c) - x * s;
      out->m[2][2]=z * z + c * (1 - z * z);
      out->m[2][3]=0.0f;
      out->m[3][0]=0.0f;
      out->m[3][1]=0.0f;
      out->m[3][2]=0.0f;
      out->m[3][3]=1.0f;
#endif
}

void Matrix4x4_CreateScale (matrix4x4_t *out, double x)
{
      out->m[0][0]=x;
      out->m[0][1]=0.0f;
      out->m[0][2]=0.0f;
      out->m[0][3]=0.0f;
      out->m[1][0]=0.0f;
      out->m[1][1]=x;
      out->m[1][2]=0.0f;
      out->m[1][3]=0.0f;
      out->m[2][0]=0.0f;
      out->m[2][1]=0.0f;
      out->m[2][2]=x;
      out->m[2][3]=0.0f;
      out->m[3][0]=0.0f;
      out->m[3][1]=0.0f;
      out->m[3][2]=0.0f;
      out->m[3][3]=1.0f;
}

void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z)
{
      out->m[0][0]=x;
      out->m[0][1]=0.0f;
      out->m[0][2]=0.0f;
      out->m[0][3]=0.0f;
      out->m[1][0]=0.0f;
      out->m[1][1]=y;
      out->m[1][2]=0.0f;
      out->m[1][3]=0.0f;
      out->m[2][0]=0.0f;
      out->m[2][1]=0.0f;
      out->m[2][2]=z;
      out->m[2][3]=0.0f;
      out->m[3][0]=0.0f;
      out->m[3][1]=0.0f;
      out->m[3][2]=0.0f;
      out->m[3][3]=1.0f;
}

void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale)
{
      double angle, sr, sp, sy, cr, cp, cy;

      if (roll)
      {
            angle = yaw * (M_PI*2 / 360);
            sy = sin(angle);
            cy = cos(angle);
            angle = pitch * (M_PI*2 / 360);
            sp = sin(angle);
            cp = cos(angle);
            angle = roll * (M_PI*2 / 360);
            sr = sin(angle);
            cr = cos(angle);
#ifdef MATRIX4x4_OPENGLORIENTATION
            out->m[0][0] = (cp*cy) * scale;
            out->m[1][0] = (sr*sp*cy+cr*-sy) * scale;
            out->m[2][0] = (cr*sp*cy+-sr*-sy) * scale;
            out->m[3][0] = x;
            out->m[0][1] = (cp*sy) * scale;
            out->m[1][1] = (sr*sp*sy+cr*cy) * scale;
            out->m[2][1] = (cr*sp*sy+-sr*cy) * scale;
            out->m[3][1] = y;
            out->m[0][2] = (-sp) * scale;
            out->m[1][2] = (sr*cp) * scale;
            out->m[2][2] = (cr*cp) * scale;
            out->m[3][2] = z;
            out->m[0][3] = 0;
            out->m[1][3] = 0;
            out->m[2][3] = 0;
            out->m[3][3] = 1;
#else
            out->m[0][0] = (cp*cy) * scale;
            out->m[0][1] = (sr*sp*cy+cr*-sy) * scale;
            out->m[0][2] = (cr*sp*cy+-sr*-sy) * scale;
            out->m[0][3] = x;
            out->m[1][0] = (cp*sy) * scale;
            out->m[1][1] = (sr*sp*sy+cr*cy) * scale;
            out->m[1][2] = (cr*sp*sy+-sr*cy) * scale;
            out->m[1][3] = y;
            out->m[2][0] = (-sp) * scale;
            out->m[2][1] = (sr*cp) * scale;
            out->m[2][2] = (cr*cp) * scale;
            out->m[2][3] = z;
            out->m[3][0] = 0;
            out->m[3][1] = 0;
            out->m[3][2] = 0;
            out->m[3][3] = 1;
#endif
      }
      else if (pitch)
      {
            angle = yaw * (M_PI*2 / 360);
            sy = sin(angle);
            cy = cos(angle);
            angle = pitch * (M_PI*2 / 360);
            sp = sin(angle);
            cp = cos(angle);
#ifdef MATRIX4x4_OPENGLORIENTATION
            out->m[0][0] = (cp*cy) * scale;
            out->m[1][0] = (-sy) * scale;
            out->m[2][0] = (sp*cy) * scale;
            out->m[3][0] = x;
            out->m[0][1] = (cp*sy) * scale;
            out->m[1][1] = (cy) * scale;
            out->m[2][1] = (sp*sy) * scale;
            out->m[3][1] = y;
            out->m[0][2] = (-sp) * scale;
            out->m[1][2] = 0;
            out->m[2][2] = (cp) * scale;
            out->m[3][2] = z;
            out->m[0][3] = 0;
            out->m[1][3] = 0;
            out->m[2][3] = 0;
            out->m[3][3] = 1;
#else
            out->m[0][0] = (cp*cy) * scale;
            out->m[0][1] = (-sy) * scale;
            out->m[0][2] = (sp*cy) * scale;
            out->m[0][3] = x;
            out->m[1][0] = (cp*sy) * scale;
            out->m[1][1] = (cy) * scale;
            out->m[1][2] = (sp*sy) * scale;
            out->m[1][3] = y;
            out->m[2][0] = (-sp) * scale;
            out->m[2][1] = 0;
            out->m[2][2] = (cp) * scale;
            out->m[2][3] = z;
            out->m[3][0] = 0;
            out->m[3][1] = 0;
            out->m[3][2] = 0;
            out->m[3][3] = 1;
#endif
      }
      else if (yaw)
      {
            angle = yaw * (M_PI*2 / 360);
            sy = sin(angle);
            cy = cos(angle);
#ifdef MATRIX4x4_OPENGLORIENTATION
            out->m[0][0] = (cy) * scale;
            out->m[1][0] = (-sy) * scale;
            out->m[2][0] = 0;
            out->m[3][0] = x;
            out->m[0][1] = (sy) * scale;
            out->m[1][1] = (cy) * scale;
            out->m[2][1] = 0;
            out->m[3][1] = y;
            out->m[0][2] = 0;
            out->m[1][2] = 0;
            out->m[2][2] = scale;
            out->m[3][2] = z;
            out->m[0][3] = 0;
            out->m[1][3] = 0;
            out->m[2][3] = 0;
            out->m[3][3] = 1;
#else
            out->m[0][0] = (cy) * scale;
            out->m[0][1] = (-sy) * scale;
            out->m[0][2] = 0;
            out->m[0][3] = x;
            out->m[1][0] = (sy) * scale;
            out->m[1][1] = (cy) * scale;
            out->m[1][2] = 0;
            out->m[1][3] = y;
            out->m[2][0] = 0;
            out->m[2][1] = 0;
            out->m[2][2] = scale;
            out->m[2][3] = z;
            out->m[3][0] = 0;
            out->m[3][1] = 0;
            out->m[3][2] = 0;
            out->m[3][3] = 1;
#endif
      }
      else
      {
#ifdef MATRIX4x4_OPENGLORIENTATION
            out->m[0][0] = scale;
            out->m[1][0] = 0;
            out->m[2][0] = 0;
            out->m[3][0] = x;
            out->m[0][1] = 0;
            out->m[1][1] = scale;
            out->m[2][1] = 0;
            out->m[3][1] = y;
            out->m[0][2] = 0;
            out->m[1][2] = 0;
            out->m[2][2] = scale;
            out->m[3][2] = z;
            out->m[0][3] = 0;
            out->m[1][3] = 0;
            out->m[2][3] = 0;
            out->m[3][3] = 1;
#else
            out->m[0][0] = scale;
            out->m[0][1] = 0;
            out->m[0][2] = 0;
            out->m[0][3] = x;
            out->m[1][0] = 0;
            out->m[1][1] = scale;
            out->m[1][2] = 0;
            out->m[1][3] = y;
            out->m[2][0] = 0;
            out->m[2][1] = 0;
            out->m[2][2] = scale;
            out->m[2][3] = z;
            out->m[3][0] = 0;
            out->m[3][1] = 0;
            out->m[3][2] = 0;
            out->m[3][3] = 1;
#endif
      }
}

void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      vx[0] = in->m[0][0];
      vx[1] = in->m[0][1];
      vx[2] = in->m[0][2];
      vy[0] = in->m[1][0];
      vy[1] = in->m[1][1];
      vy[2] = in->m[1][2];
      vz[0] = in->m[2][0];
      vz[1] = in->m[2][1];
      vz[2] = in->m[2][2];
      t [0] = in->m[3][0];
      t [1] = in->m[3][1];
      t [2] = in->m[3][2];
#else
      vx[0] = in->m[0][0];
      vx[1] = in->m[1][0];
      vx[2] = in->m[2][0];
      vy[0] = in->m[0][1];
      vy[1] = in->m[1][1];
      vy[2] = in->m[2][1];
      vz[0] = in->m[0][2];
      vz[1] = in->m[1][2];
      vz[2] = in->m[2][2];
      t [0] = in->m[0][3];
      t [1] = in->m[1][3];
      t [2] = in->m[2][3];
#endif
}

void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[0][0] = vx[0];
      out->m[1][0] = vy[0];
      out->m[2][0] = vz[0];
      out->m[3][0] = t[0];
      out->m[0][1] = vx[1];
      out->m[1][1] = vy[1];
      out->m[2][1] = vz[1];
      out->m[3][1] = t[1];
      out->m[0][2] = vx[2];
      out->m[1][2] = vy[2];
      out->m[2][2] = vz[2];
      out->m[3][2] = t[2];
      out->m[0][3] = 0.0f;
      out->m[1][3] = 0.0f;
      out->m[2][3] = 0.0f;
      out->m[3][3] = 1.0f;
#else
      out->m[0][0] = vx[0];
      out->m[0][1] = vy[0];
      out->m[0][2] = vz[0];
      out->m[0][3] = t[0];
      out->m[1][0] = vx[1];
      out->m[1][1] = vy[1];
      out->m[1][2] = vz[1];
      out->m[1][3] = t[1];
      out->m[2][0] = vx[2];
      out->m[2][1] = vy[2];
      out->m[2][2] = vz[2];
      out->m[2][3] = t[2];
      out->m[3][0] = 0.0f;
      out->m[3][1] = 0.0f;
      out->m[3][2] = 0.0f;
      out->m[3][3] = 1.0f;
#endif
}

void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[0][1];
      out[ 2] = in->m[0][2];
      out[ 3] = in->m[0][3];
      out[ 4] = in->m[1][0];
      out[ 5] = in->m[1][1];
      out[ 6] = in->m[1][2];
      out[ 7] = in->m[1][3];
      out[ 8] = in->m[2][0];
      out[ 9] = in->m[2][1];
      out[10] = in->m[2][2];
      out[11] = in->m[2][3];
      out[12] = in->m[3][0];
      out[13] = in->m[3][1];
      out[14] = in->m[3][2];
      out[15] = in->m[3][3];
#else
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[1][0];
      out[ 2] = in->m[2][0];
      out[ 3] = in->m[3][0];
      out[ 4] = in->m[0][1];
      out[ 5] = in->m[1][1];
      out[ 6] = in->m[2][1];
      out[ 7] = in->m[3][1];
      out[ 8] = in->m[0][2];
      out[ 9] = in->m[1][2];
      out[10] = in->m[2][2];
      out[11] = in->m[3][2];
      out[12] = in->m[0][3];
      out[13] = in->m[1][3];
      out[14] = in->m[2][3];
      out[15] = in->m[3][3];
#endif
}

void Matrix4x4_FromArrayDoubleGL (matrix4x4_t *out, const double in[16])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[0][0] = in[0];
      out->m[0][1] = in[1];
      out->m[0][2] = in[2];
      out->m[0][3] = in[3];
      out->m[1][0] = in[4];
      out->m[1][1] = in[5];
      out->m[1][2] = in[6];
      out->m[1][3] = in[7];
      out->m[2][0] = in[8];
      out->m[2][1] = in[9];
      out->m[2][2] = in[10];
      out->m[2][3] = in[11];
      out->m[3][0] = in[12];
      out->m[3][1] = in[13];
      out->m[3][2] = in[14];
      out->m[3][3] = in[15];
#else
      out->m[0][0] = in[0];
      out->m[1][0] = in[1];
      out->m[2][0] = in[2];
      out->m[3][0] = in[3];
      out->m[0][1] = in[4];
      out->m[1][1] = in[5];
      out->m[2][1] = in[6];
      out->m[3][1] = in[7];
      out->m[0][2] = in[8];
      out->m[1][2] = in[9];
      out->m[2][2] = in[10];
      out->m[3][2] = in[11];
      out->m[0][3] = in[12];
      out->m[1][3] = in[13];
      out->m[2][3] = in[14];
      out->m[3][3] = in[15];
#endif
}

void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[1][0];
      out[ 2] = in->m[2][0];
      out[ 3] = in->m[3][0];
      out[ 4] = in->m[0][1];
      out[ 5] = in->m[1][1];
      out[ 6] = in->m[2][1];
      out[ 7] = in->m[3][1];
      out[ 8] = in->m[0][2];
      out[ 9] = in->m[1][2];
      out[10] = in->m[2][2];
      out[11] = in->m[3][2];
      out[12] = in->m[0][3];
      out[13] = in->m[1][3];
      out[14] = in->m[2][3];
      out[15] = in->m[3][3];
#else
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[0][1];
      out[ 2] = in->m[0][2];
      out[ 3] = in->m[0][3];
      out[ 4] = in->m[1][0];
      out[ 5] = in->m[1][1];
      out[ 6] = in->m[1][2];
      out[ 7] = in->m[1][3];
      out[ 8] = in->m[2][0];
      out[ 9] = in->m[2][1];
      out[10] = in->m[2][2];
      out[11] = in->m[2][3];
      out[12] = in->m[3][0];
      out[13] = in->m[3][1];
      out[14] = in->m[3][2];
      out[15] = in->m[3][3];
#endif
}

void Matrix4x4_FromArrayDoubleD3D (matrix4x4_t *out, const double in[16])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[0][0] = in[0];
      out->m[1][0] = in[1];
      out->m[2][0] = in[2];
      out->m[3][0] = in[3];
      out->m[0][1] = in[4];
      out->m[1][1] = in[5];
      out->m[2][1] = in[6];
      out->m[3][1] = in[7];
      out->m[0][2] = in[8];
      out->m[1][2] = in[9];
      out->m[2][2] = in[10];
      out->m[3][2] = in[11];
      out->m[0][3] = in[12];
      out->m[1][3] = in[13];
      out->m[2][3] = in[14];
      out->m[3][3] = in[15];
#else
      out->m[0][0] = in[0];
      out->m[0][1] = in[1];
      out->m[0][2] = in[2];
      out->m[0][3] = in[3];
      out->m[1][0] = in[4];
      out->m[1][1] = in[5];
      out->m[1][2] = in[6];
      out->m[1][3] = in[7];
      out->m[2][0] = in[8];
      out->m[2][1] = in[9];
      out->m[2][2] = in[10];
      out->m[2][3] = in[11];
      out->m[3][0] = in[12];
      out->m[3][1] = in[13];
      out->m[3][2] = in[14];
      out->m[3][3] = in[15];
#endif
}

void Matrix4x4_ToArrayFloatGL(const matrix4x4_t *in, float out[16])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[0][1];
      out[ 2] = in->m[0][2];
      out[ 3] = in->m[0][3];
      out[ 4] = in->m[1][0];
      out[ 5] = in->m[1][1];
      out[ 6] = in->m[1][2];
      out[ 7] = in->m[1][3];
      out[ 8] = in->m[2][0];
      out[ 9] = in->m[2][1];
      out[10] = in->m[2][2];
      out[11] = in->m[2][3];
      out[12] = in->m[3][0];
      out[13] = in->m[3][1];
      out[14] = in->m[3][2];
      out[15] = in->m[3][3];
#else
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[1][0];
      out[ 2] = in->m[2][0];
      out[ 3] = in->m[3][0];
      out[ 4] = in->m[0][1];
      out[ 5] = in->m[1][1];
      out[ 6] = in->m[2][1];
      out[ 7] = in->m[3][1];
      out[ 8] = in->m[0][2];
      out[ 9] = in->m[1][2];
      out[10] = in->m[2][2];
      out[11] = in->m[3][2];
      out[12] = in->m[0][3];
      out[13] = in->m[1][3];
      out[14] = in->m[2][3];
      out[15] = in->m[3][3];
#endif
}

void Matrix4x4_FromArrayFloatGL (matrix4x4_t *out, const float in[16])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[0][0] = in[0];
      out->m[0][1] = in[1];
      out->m[0][2] = in[2];
      out->m[0][3] = in[3];
      out->m[1][0] = in[4];
      out->m[1][1] = in[5];
      out->m[1][2] = in[6];
      out->m[1][3] = in[7];
      out->m[2][0] = in[8];
      out->m[2][1] = in[9];
      out->m[2][2] = in[10];
      out->m[2][3] = in[11];
      out->m[3][0] = in[12];
      out->m[3][1] = in[13];
      out->m[3][2] = in[14];
      out->m[3][3] = in[15];
#else
      out->m[0][0] = in[0];
      out->m[1][0] = in[1];
      out->m[2][0] = in[2];
      out->m[3][0] = in[3];
      out->m[0][1] = in[4];
      out->m[1][1] = in[5];
      out->m[2][1] = in[6];
      out->m[3][1] = in[7];
      out->m[0][2] = in[8];
      out->m[1][2] = in[9];
      out->m[2][2] = in[10];
      out->m[3][2] = in[11];
      out->m[0][3] = in[12];
      out->m[1][3] = in[13];
      out->m[2][3] = in[14];
      out->m[3][3] = in[15];
#endif
}

void Matrix4x4_ToArrayFloatD3D(const matrix4x4_t *in, float out[16])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[1][0];
      out[ 2] = in->m[2][0];
      out[ 3] = in->m[3][0];
      out[ 4] = in->m[0][1];
      out[ 5] = in->m[1][1];
      out[ 6] = in->m[2][1];
      out[ 7] = in->m[3][1];
      out[ 8] = in->m[0][2];
      out[ 9] = in->m[1][2];
      out[10] = in->m[2][2];
      out[11] = in->m[3][2];
      out[12] = in->m[0][3];
      out[13] = in->m[1][3];
      out[14] = in->m[2][3];
      out[15] = in->m[3][3];
#else
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[0][1];
      out[ 2] = in->m[0][2];
      out[ 3] = in->m[0][3];
      out[ 4] = in->m[1][0];
      out[ 5] = in->m[1][1];
      out[ 6] = in->m[1][2];
      out[ 7] = in->m[1][3];
      out[ 8] = in->m[2][0];
      out[ 9] = in->m[2][1];
      out[10] = in->m[2][2];
      out[11] = in->m[2][3];
      out[12] = in->m[3][0];
      out[13] = in->m[3][1];
      out[14] = in->m[3][2];
      out[15] = in->m[3][3];
#endif
}

void Matrix4x4_FromArrayFloatD3D (matrix4x4_t *out, const float in[16])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[0][0] = in[0];
      out->m[1][0] = in[1];
      out->m[2][0] = in[2];
      out->m[3][0] = in[3];
      out->m[0][1] = in[4];
      out->m[1][1] = in[5];
      out->m[2][1] = in[6];
      out->m[3][1] = in[7];
      out->m[0][2] = in[8];
      out->m[1][2] = in[9];
      out->m[2][2] = in[10];
      out->m[3][2] = in[11];
      out->m[0][3] = in[12];
      out->m[1][3] = in[13];
      out->m[2][3] = in[14];
      out->m[3][3] = in[15];
#else
      out->m[0][0] = in[0];
      out->m[0][1] = in[1];
      out->m[0][2] = in[2];
      out->m[0][3] = in[3];
      out->m[1][0] = in[4];
      out->m[1][1] = in[5];
      out->m[1][2] = in[6];
      out->m[1][3] = in[7];
      out->m[2][0] = in[8];
      out->m[2][1] = in[9];
      out->m[2][2] = in[10];
      out->m[2][3] = in[11];
      out->m[3][0] = in[12];
      out->m[3][1] = in[13];
      out->m[3][2] = in[14];
      out->m[3][3] = in[15];
#endif
}

void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[0][1];
      out[ 2] = in->m[0][2];
      out[ 3] = in->m[1][0];
      out[ 4] = in->m[1][1];
      out[ 5] = in->m[1][2];
      out[ 6] = in->m[2][0];
      out[ 7] = in->m[2][1];
      out[ 8] = in->m[2][2];
      out[ 9] = in->m[3][0];
      out[10] = in->m[3][1];
      out[11] = in->m[3][2];
#else
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[1][0];
      out[ 2] = in->m[2][0];
      out[ 3] = in->m[0][1];
      out[ 4] = in->m[1][1];
      out[ 5] = in->m[2][1];
      out[ 6] = in->m[0][2];
      out[ 7] = in->m[1][2];
      out[ 8] = in->m[2][2];
      out[ 9] = in->m[0][3];
      out[10] = in->m[1][3];
      out[11] = in->m[2][3];
#endif
}

void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[0][0] = in[0];
      out->m[0][1] = in[1];
      out->m[0][2] = in[2];
      out->m[0][3] = 0;
      out->m[1][0] = in[3];
      out->m[1][1] = in[4];
      out->m[1][2] = in[5];
      out->m[1][3] = 0;
      out->m[2][0] = in[6];
      out->m[2][1] = in[7];
      out->m[2][2] = in[8];
      out->m[2][3] = 0;
      out->m[3][0] = in[9];
      out->m[3][1] = in[10];
      out->m[3][2] = in[11];
      out->m[3][3] = 1;
#else
      out->m[0][0] = in[0];
      out->m[1][0] = in[1];
      out->m[2][0] = in[2];
      out->m[3][0] = 0;
      out->m[0][1] = in[3];
      out->m[1][1] = in[4];
      out->m[2][1] = in[5];
      out->m[3][1] = 0;
      out->m[0][2] = in[6];
      out->m[1][2] = in[7];
      out->m[2][2] = in[8];
      out->m[3][2] = 0;
      out->m[0][3] = in[9];
      out->m[1][3] = in[10];
      out->m[2][3] = in[11];
      out->m[3][3] = 1;
#endif
}

void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[1][0];
      out[ 2] = in->m[2][0];
      out[ 3] = in->m[3][0];
      out[ 4] = in->m[0][1];
      out[ 5] = in->m[1][1];
      out[ 6] = in->m[2][1];
      out[ 7] = in->m[3][1];
      out[ 8] = in->m[0][2];
      out[ 9] = in->m[1][2];
      out[10] = in->m[2][2];
      out[11] = in->m[3][2];
#else
      out[ 0] = in->m[0][0];
      out[ 1] = in->m[0][1];
      out[ 2] = in->m[0][2];
      out[ 3] = in->m[0][3];
      out[ 4] = in->m[1][0];
      out[ 5] = in->m[1][1];
      out[ 6] = in->m[1][2];
      out[ 7] = in->m[1][3];
      out[ 8] = in->m[2][0];
      out[ 9] = in->m[2][1];
      out[10] = in->m[2][2];
      out[11] = in->m[2][3];
#endif
}

void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[0][0] = in[0];
      out->m[1][0] = in[1];
      out->m[2][0] = in[2];
      out->m[3][0] = in[3];
      out->m[0][1] = in[4];
      out->m[1][1] = in[5];
      out->m[2][1] = in[6];
      out->m[3][1] = in[7];
      out->m[0][2] = in[8];
      out->m[1][2] = in[9];
      out->m[2][2] = in[10];
      out->m[3][2] = in[11];
      out->m[0][3] = 0;
      out->m[1][3] = 0;
      out->m[2][3] = 0;
      out->m[3][3] = 1;
#else
      out->m[0][0] = in[0];
      out->m[0][1] = in[1];
      out->m[0][2] = in[2];
      out->m[0][3] = in[3];
      out->m[1][0] = in[4];
      out->m[1][1] = in[5];
      out->m[1][2] = in[6];
      out->m[1][3] = in[7];
      out->m[2][0] = in[8];
      out->m[2][1] = in[9];
      out->m[2][2] = in[10];
      out->m[2][3] = in[11];
      out->m[3][0] = 0;
      out->m[3][1] = 0;
      out->m[3][2] = 0;
      out->m[3][3] = 1;
#endif
}

void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      m->m[0][0]=1-2*(y*y+z*z);m->m[1][0]=  2*(x*y-z*w);m->m[2][0]=  2*(x*z+y*w);m->m[3][0]=ox;
      m->m[0][1]=  2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[2][1]=  2*(y*z-x*w);m->m[3][1]=oy;
      m->m[0][2]=  2*(x*z-y*w);m->m[1][2]=  2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[3][2]=oz;
      m->m[0][3]=  0          ;m->m[1][3]=  0          ;m->m[2][3]=  0          ;m->m[3][3]=1;
#else
      m->m[0][0]=1-2*(y*y+z*z);m->m[0][1]=  2*(x*y-z*w);m->m[0][2]=  2*(x*z+y*w);m->m[0][3]=ox;
      m->m[1][0]=  2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[1][2]=  2*(y*z-x*w);m->m[1][3]=oy;
      m->m[2][0]=  2*(x*z-y*w);m->m[2][1]=  2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[2][3]=oz;
      m->m[3][0]=  0          ;m->m[3][1]=  0          ;m->m[3][2]=  0          ;m->m[3][3]=1;
#endif
}

// see http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
void Matrix4x4_ToOrigin3Quat4Float(const matrix4x4_t *m, float *origin, float *quat)
{
#if 0
      float s;
      quat[3] = sqrt(1.0f + m->m[0][0] + m->m[1][1] + m->m[2][2]) * 0.5f;
      s = 0.25f / quat[3];
#ifdef MATRIX4x4_OPENGLORIENTATION
      origin[0] = m->m[3][0];
      origin[1] = m->m[3][1];
      origin[2] = m->m[3][2];
      quat[0] = (m->m[1][2] - m->m[2][1]) * s;
      quat[1] = (m->m[2][0] - m->m[0][2]) * s;
      quat[2] = (m->m[0][1] - m->m[1][0]) * s;
#else
      origin[0] = m->m[0][3];
      origin[1] = m->m[1][3];
      origin[2] = m->m[2][3];
      quat[0] = (m->m[2][1] - m->m[1][2]) * s;
      quat[1] = (m->m[0][2] - m->m[2][0]) * s;
      quat[2] = (m->m[1][0] - m->m[0][1]) * s;
#endif

#else

#ifdef MATRIX4x4_OPENGLORIENTATION
      float trace = m->m[0][0] + m->m[1][1] + m->m[2][2];
      origin[0] = m->m[3][0];
      origin[1] = m->m[3][1];
      origin[2] = m->m[3][2];
      if(trace > 0)
      {
            float r = sqrt(1.0f + trace), inv = 0.5f / r;
            quat[0] = (m->m[1][2] - m->m[2][1]) * inv;
            quat[1] = (m->m[2][0] - m->m[0][2]) * inv;
            quat[2] = (m->m[0][1] - m->m[1][0]) * inv;
            quat[3] = 0.5f * r;
      }
      else if(m->m[0][0] > m->m[1][1] && m->m[0][0] > m->m[2][2])
      {
            float r = sqrt(1.0f + m->m[0][0] - m->m[1][1] - m->m[2][2]), inv = 0.5f / r;
            quat[0] = 0.5f * r;
            quat[1] = (m->m[0][1] + m->m[1][0]) * inv;
            quat[2] = (m->m[2][0] + m->m[0][2]) * inv;
            quat[3] = (m->m[1][2] - m->m[2][1]) * inv;
      }
      else if(m->m[1][1] > m->m[2][2])
      {
            float r = sqrt(1.0f + m->m[1][1] - m->m[0][0] - m->m[2][2]), inv = 0.5f / r;
            quat[0] = (m->m[0][1] + m->m[1][0]) * inv;
            quat[1] = 0.5f * r;
            quat[2] = (m->m[1][2] + m->m[2][1]) * inv;
            quat[3] = (m->m[2][0] - m->m[0][2]) * inv;
      }
      else
      {
            float r = sqrt(1.0f + m->m[2][2] - m->m[0][0] - m->m[1][1]), inv = 0.5f / r;
            quat[0] = (m->m[2][0] + m->m[0][2]) * inv;
            quat[1] = (m->m[1][2] + m->m[2][1]) * inv;
            quat[2] = 0.5f * r;
            quat[3] = (m->m[0][1] - m->m[1][0]) * inv;
      }
#else
      float trace = m->m[0][0] + m->m[1][1] + m->m[2][2];
      origin[0] = m->m[0][3];
      origin[1] = m->m[1][3];
      origin[2] = m->m[2][3];
      if(trace > 0)
      {
            float r = sqrt(1.0f + trace), inv = 0.5f / r;
            quat[0] = (m->m[2][1] - m->m[1][2]) * inv;
            quat[1] = (m->m[0][2] - m->m[2][0]) * inv;
            quat[2] = (m->m[1][0] - m->m[0][1]) * inv;
            quat[3] = 0.5f * r;
      }
      else if(m->m[0][0] > m->m[1][1] && m->m[0][0] > m->m[2][2])
      {
            float r = sqrt(1.0f + m->m[0][0] - m->m[1][1] - m->m[2][2]), inv = 0.5f / r;
            quat[0] = 0.5f * r;
            quat[1] = (m->m[1][0] + m->m[0][1]) * inv;
            quat[2] = (m->m[0][2] + m->m[2][0]) * inv;
            quat[3] = (m->m[2][1] - m->m[1][2]) * inv;
      }
      else if(m->m[1][1] > m->m[2][2])
      {
            float r = sqrt(1.0f + m->m[1][1] - m->m[0][0] - m->m[2][2]), inv = 0.5f / r;
            quat[0] = (m->m[1][0] + m->m[0][1]) * inv;
            quat[1] = 0.5f * r;
            quat[2] = (m->m[2][1] + m->m[1][2]) * inv;
            quat[3] = (m->m[0][2] - m->m[2][0]) * inv;
      }
      else
      {
            float r = sqrt(1.0f + m->m[2][2] - m->m[0][0] - m->m[1][1]), inv = 0.5f / r;
            quat[0] = (m->m[0][2] + m->m[2][0]) * inv;
            quat[1] = (m->m[2][1] + m->m[1][2]) * inv;
            quat[2] = 0.5f * r;
            quat[3] = (m->m[1][0] - m->m[0][1]) * inv;
      }
#endif

#endif
}

// LordHavoc: I got this code from:
//http://www.doom3world.org/phpbb2/viewtopic.php?t=2884
void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z)
{
      double w = 1.0f - (x*x+y*y+z*z);
      w = w > 0.0f ? -sqrt(w) : 0.0f;
#ifdef MATRIX4x4_OPENGLORIENTATION
      m->m[0][0]=1-2*(y*y+z*z);m->m[1][0]=  2*(x*y-z*w);m->m[2][0]=  2*(x*z+y*w);m->m[3][0]=ox;
      m->m[0][1]=  2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[2][1]=  2*(y*z-x*w);m->m[3][1]=oy;
      m->m[0][2]=  2*(x*z-y*w);m->m[1][2]=  2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[3][2]=oz;
      m->m[0][3]=  0          ;m->m[1][3]=  0          ;m->m[2][3]=  0          ;m->m[3][3]=1;
#else
      m->m[0][0]=1-2*(y*y+z*z);m->m[0][1]=  2*(x*y-z*w);m->m[0][2]=  2*(x*z+y*w);m->m[0][3]=ox;
      m->m[1][0]=  2*(x*y+z*w);m->m[1][1]=1-2*(x*x+z*z);m->m[1][2]=  2*(y*z-x*w);m->m[1][3]=oy;
      m->m[2][0]=  2*(x*z-y*w);m->m[2][1]=  2*(y*z+x*w);m->m[2][2]=1-2*(x*x+y*y);m->m[2][3]=oz;
      m->m[3][0]=  0          ;m->m[3][1]=  0          ;m->m[3][2]=  0          ;m->m[3][3]=1;
#endif
}

void Matrix4x4_FromBonePose6s(matrix4x4_t *m, float originscale, const short *pose6s)
{
      float origin[3];
      float quat[4];
      origin[0] = pose6s[0] * originscale;
      origin[1] = pose6s[1] * originscale;
      origin[2] = pose6s[2] * originscale;
      quat[0] = pose6s[3] * (1.0f / 32767.0f);
      quat[1] = pose6s[4] * (1.0f / 32767.0f);
      quat[2] = pose6s[5] * (1.0f / 32767.0f);
      quat[3] = 1.0f - (quat[0]*quat[0]+quat[1]*quat[1]+quat[2]*quat[2]);
      quat[3] = quat[3] > 0.0f ? -sqrt(quat[3]) : 0.0f;
      Matrix4x4_FromOriginQuat(m, origin[0], origin[1], origin[2], quat[0], quat[1], quat[2], quat[3]);
}

void Matrix4x4_ToBonePose6s(const matrix4x4_t *m, float origininvscale, short *pose6s)
{
      float origin[3];
      float quat[4];
      float quatscale;
      Matrix4x4_ToOrigin3Quat4Float(m, origin, quat);
      // normalize quaternion so that it is unit length
      quatscale = quat[0]*quat[0]+quat[1]*quat[1]+quat[2]*quat[2]+quat[3]*quat[3];
      if (quatscale)
            quatscale = (quat[3] >= 0 ? -32767.0f : 32767.0f) / sqrt(quatscale);
      // use a negative scale on the quat because the above function produces a
      // positive quat[3] and canonical quaternions have negative quat[3]
      pose6s[0] = origin[0] * origininvscale;
      pose6s[1] = origin[1] * origininvscale;
      pose6s[2] = origin[2] * origininvscale;
      pose6s[3] = quat[0] * quatscale;
      pose6s[4] = quat[1] * quatscale;
      pose6s[5] = quat[2] * quatscale;
}

void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
{
      double iblend = 1 - blend;
      out->m[0][0] = in1->m[0][0] * iblend + in2->m[0][0] * blend;
      out->m[0][1] = in1->m[0][1] * iblend + in2->m[0][1] * blend;
      out->m[0][2] = in1->m[0][2] * iblend + in2->m[0][2] * blend;
      out->m[0][3] = in1->m[0][3] * iblend + in2->m[0][3] * blend;
      out->m[1][0] = in1->m[1][0] * iblend + in2->m[1][0] * blend;
      out->m[1][1] = in1->m[1][1] * iblend + in2->m[1][1] * blend;
      out->m[1][2] = in1->m[1][2] * iblend + in2->m[1][2] * blend;
      out->m[1][3] = in1->m[1][3] * iblend + in2->m[1][3] * blend;
      out->m[2][0] = in1->m[2][0] * iblend + in2->m[2][0] * blend;
      out->m[2][1] = in1->m[2][1] * iblend + in2->m[2][1] * blend;
      out->m[2][2] = in1->m[2][2] * iblend + in2->m[2][2] * blend;
      out->m[2][3] = in1->m[2][3] * iblend + in2->m[2][3] * blend;
      out->m[3][0] = in1->m[3][0] * iblend + in2->m[3][0] * blend;
      out->m[3][1] = in1->m[3][1] * iblend + in2->m[3][1] * blend;
      out->m[3][2] = in1->m[3][2] * iblend + in2->m[3][2] * blend;
      out->m[3][3] = in1->m[3][3] * iblend + in2->m[3][3] * blend;
}


void Matrix4x4_Transform (const matrix4x4_t *in, const float v[3], float out[3])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0] + in->m[3][0];
      out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1] + in->m[3][1];
      out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2] + in->m[3][2];
#else
      out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3];
      out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3];
      out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3];
#endif
}

void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0] + v[3] * in->m[3][0];
      out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1] + v[3] * in->m[3][1];
      out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2] + v[3] * in->m[3][2];
      out[3] = v[0] * in->m[0][3] + v[1] * in->m[1][3] + v[2] * in->m[2][3] + v[3] * in->m[3][3];
#else
      out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + v[3] * in->m[0][3];
      out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + v[3] * in->m[1][3];
      out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + v[3] * in->m[2][3];
      out[3] = v[0] * in->m[3][0] + v[1] * in->m[3][1] + v[2] * in->m[3][2] + v[3] * in->m[3][3];
#endif
}

void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const float v[3], float out[3])
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out[0] = v[0] * in->m[0][0] + v[1] * in->m[1][0] + v[2] * in->m[2][0];
      out[1] = v[0] * in->m[0][1] + v[1] * in->m[1][1] + v[2] * in->m[2][1];
      out[2] = v[0] * in->m[0][2] + v[1] * in->m[1][2] + v[2] * in->m[2][2];
#else
      out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2];
      out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2];
      out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2];
#endif
}

// 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)
{
      float scale = sqrt(in->m[0][0] * in->m[0][0] + in->m[0][1] * in->m[0][1] + in->m[0][2] * in->m[0][2]);
      float iscale = 1.0f / scale;
#ifdef MATRIX4x4_OPENGLORIENTATION
      o[0] = (x * in->m[0][0] + y * in->m[1][0] + z * in->m[2][0]) * iscale;
      o[1] = (x * in->m[0][1] + y * in->m[1][1] + z * in->m[2][1]) * iscale;
      o[2] = (x * in->m[0][2] + y * in->m[1][2] + z * in->m[2][2]) * iscale;
      o[3] = d * scale + (o[0] * in->m[3][0] + o[1] * in->m[3][1] + o[2] * in->m[3][2]);
#else
      o[0] = (x * in->m[0][0] + y * in->m[0][1] + z * in->m[0][2]) * iscale;
      o[1] = (x * in->m[1][0] + y * in->m[1][1] + z * in->m[1][2]) * iscale;
      o[2] = (x * in->m[2][0] + y * in->m[2][1] + z * in->m[2][2]) * iscale;
      o[3] = d * scale + (o[0] * in->m[0][3] + o[1] * in->m[1][3] + o[2] * in->m[2][3]);
#endif
}

// 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)
{
      float scale = sqrt(in->m[0][0] * in->m[0][0] + in->m[0][1] * in->m[0][1] + in->m[0][2] * in->m[0][2]);
      float iscale = 1.0f / scale;
#ifdef MATRIX4x4_OPENGLORIENTATION
      o[0] = (x * in->m[0][0] + y * in->m[1][0] + z * in->m[2][0]) * iscale;
      o[1] = (x * in->m[0][1] + y * in->m[1][1] + z * in->m[2][1]) * iscale;
      o[2] = (x * in->m[0][2] + y * in->m[1][2] + z * in->m[2][2]) * iscale;
      o[3] = d * scale - (o[0] * in->m[3][0] + o[1] * in->m[3][1] + o[2] * in->m[3][2]);
#else
      o[0] = (x * in->m[0][0] + y * in->m[0][1] + z * in->m[0][2]) * iscale;
      o[1] = (x * in->m[1][0] + y * in->m[1][1] + z * in->m[1][2]) * iscale;
      o[2] = (x * in->m[2][0] + y * in->m[2][1] + z * in->m[2][2]) * iscale;
      o[3] = d * scale - (o[0] * in->m[0][3] + o[1] * in->m[1][3] + o[2] * in->m[2][3]);
#endif
}

/*
void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3])
{
      double t[3];
#ifdef MATRIX4x4_OPENGLORIENTATION
      t[0] = v[0] - in->m[3][0];
      t[1] = v[1] - in->m[3][1];
      t[2] = v[2] - in->m[3][2];
      out[0] = t[0] * in->m[0][0] + t[1] * in->m[0][1] + t[2] * in->m[0][2];
      out[1] = t[0] * in->m[1][0] + t[1] * in->m[1][1] + t[2] * in->m[1][2];
      out[2] = t[0] * in->m[2][0] + t[1] * in->m[2][1] + t[2] * in->m[2][2];
#else
      t[0] = v[0] - in->m[0][3];
      t[1] = v[1] - in->m[1][3];
      t[2] = v[2] - in->m[2][3];
      out[0] = t[0] * in->m[0][0] + t[1] * in->m[1][0] + t[2] * in->m[2][0];
      out[1] = t[0] * in->m[0][1] + t[1] * in->m[1][1] + t[2] * in->m[2][1];
      out[2] = t[0] * in->m[0][2] + t[1] * in->m[1][2] + t[2] * in->m[2][2];
#endif
}
*/

// FIXME: optimize
void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z)
{
      matrix4x4_t base, temp;
      base = *out;
      Matrix4x4_CreateTranslate(&temp, x, y, z);
      Matrix4x4_Concat(out, &base, &temp);
}

// FIXME: optimize
void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z)
{
      matrix4x4_t base, temp;
      base = *out;
      Matrix4x4_CreateRotate(&temp, angle, x, y, z);
      Matrix4x4_Concat(out, &base, &temp);
}

// FIXME: optimize
void Matrix4x4_ConcatScale (matrix4x4_t *out, double x)
{
      matrix4x4_t base, temp;
      base = *out;
      Matrix4x4_CreateScale(&temp, x);
      Matrix4x4_Concat(out, &base, &temp);
}

// FIXME: optimize
void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z)
{
      matrix4x4_t base, temp;
      base = *out;
      Matrix4x4_CreateScale3(&temp, x, y, z);
      Matrix4x4_Concat(out, &base, &temp);
}

void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, float *out)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out[0] = in->m[3][0];
      out[1] = in->m[3][1];
      out[2] = in->m[3][2];
#else
      out[0] = in->m[0][3];
      out[1] = in->m[1][3];
      out[2] = in->m[2][3];
#endif
}

double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in)
{
      // we only support uniform scaling, so assume the first row is enough
      return sqrt(in->m[0][0] * in->m[0][0] + in->m[0][1] * in->m[0][1] + in->m[0][2] * in->m[0][2]);
}

void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[3][0] = x;
      out->m[3][1] = y;
      out->m[3][2] = z;
#else
      out->m[0][3] = x;
      out->m[1][3] = y;
      out->m[2][3] = z;
#endif
}

void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z)
{
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[3][0] += x;
      out->m[3][1] += y;
      out->m[3][2] += z;
#else
      out->m[0][3] += x;
      out->m[1][3] += y;
      out->m[2][3] += z;
#endif
}

void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale)
{
      out->m[0][0] *= rotatescale;
      out->m[0][1] *= rotatescale;
      out->m[0][2] *= rotatescale;
      out->m[1][0] *= rotatescale;
      out->m[1][1] *= rotatescale;
      out->m[1][2] *= rotatescale;
      out->m[2][0] *= rotatescale;
      out->m[2][1] *= rotatescale;
      out->m[2][2] *= rotatescale;
#ifdef MATRIX4x4_OPENGLORIENTATION
      out->m[3][0] *= originscale;
      out->m[3][1] *= originscale;
      out->m[3][2] *= originscale;
#else
      out->m[0][3] *= originscale;
      out->m[1][3] *= originscale;
      out->m[2][3] *= originscale;
#endif
}

void Matrix4x4_Abs (matrix4x4_t *out)
{
    out->m[0][0] = fabs(out->m[0][0]);
    out->m[0][1] = fabs(out->m[0][1]);
    out->m[0][2] = fabs(out->m[0][2]);
    out->m[1][0] = fabs(out->m[1][0]);
    out->m[1][1] = fabs(out->m[1][1]);
    out->m[1][2] = fabs(out->m[1][2]);
    out->m[2][0] = fabs(out->m[2][0]);
    out->m[2][1] = fabs(out->m[2][1]);
    out->m[2][2] = fabs(out->m[2][2]);
}


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