HTML code for sharing Macros of matrix/vector/point/quaternion math source code

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<div class="highlight" style="background: #f8f8f8"><pre style="line-height: 125%"><div id="lc1"><span style="color: #408080; font-style: italic">/*</span>
</div><div id="lc2">
</div><div id="lc3"><span style="color: #408080; font-style: italic">Macros of matrix/vector/point/quaternion math.</span>
</div><div id="lc4">
</div><div id="lc5"><span style="color: #408080; font-style: italic">This code was written by Konstantin Evdokimenko a.k.a Qew[erty].</span>
</div><div id="lc6"><span style="color: #408080; font-style: italic">No copyright is claimed. This code is in the public domain.</span>
</div><div id="lc7"><span style="color: #408080; font-style: italic">Do with it what you wish.</span>
</div><div id="lc8">
</div><div id="lc9"><span style="color: #408080; font-style: italic">*/</span>
</div><div id="lc10">
</div><div id="lc11"><span style="color: #BC7A00">#ifndef XFORM_H</span>
</div><div id="lc12"><span style="color: #BC7A00">#define XFORM_H</span>
</div><div id="lc13">
</div><div id="lc14"><span style="color: #BC7A00">#include &lt;math.h&gt;</span>
</div><div id="lc15">
</div><div id="lc16"><span style="color: #BC7A00">#define MICRO 0.000001</span>
</div><div id="lc17">
</div><div id="lc18"><span style="color: #408080; font-style: italic">/*</span>
</div><div id="lc19">
</div><div id="lc20"><span style="color: #408080; font-style: italic">Column order like in OpenGL, vectors are columns.</span>
</div><div id="lc21">
</div><div id="lc22"><span style="color: #408080; font-style: italic">*** math_row.math_column(C array index)</span>
</div><div id="lc23">
</div><div id="lc24"><span style="color: #408080; font-style: italic">4x4</span>
</div><div id="lc25">
</div><div id="lc26"><span style="color: #408080; font-style: italic">1.1(0)  1.2(4)  1.3(8)   1.4(12)</span>
</div><div id="lc27"><span style="color: #408080; font-style: italic">2.1(1)  2.2(5)  2.3(9)   2.4(13)</span>
</div><div id="lc28"><span style="color: #408080; font-style: italic">3.1(2)  3.2(6)  3.3(10)  3.4(14)</span>
</div><div id="lc29"><span style="color: #408080; font-style: italic">4.1(3)  4.2(7)  4.3(11)  4.4(15)</span>
</div><div id="lc30">
</div><div id="lc31"><span style="color: #408080; font-style: italic">3x3</span>
</div><div id="lc32">
</div><div id="lc33"><span style="color: #408080; font-style: italic">1.1(0)  1.2(3)  1.3(6)</span>
</div><div id="lc34"><span style="color: #408080; font-style: italic">2.1(1)  2.2(4)  2.3(7)</span>
</div><div id="lc35"><span style="color: #408080; font-style: italic">3.1(2)  3.2(5)  3.3(8)</span>
</div><div id="lc36">
</div><div id="lc37"><span style="color: #408080; font-style: italic">Example of translation point (0, 1, 5) by (1, 2, 3):</span>
</div><div id="lc38">
</div><div id="lc39"><span style="color: #408080; font-style: italic">1 0 0 1     0</span>
</div><div id="lc40"><span style="color: #408080; font-style: italic">0 1 0 2  *  1</span>
</div><div id="lc41"><span style="color: #408080; font-style: italic">0 0 1 3     5</span>
</div><div id="lc42"><span style="color: #408080; font-style: italic">0 0 0 1     1</span>
</div><div id="lc43">
</div><div id="lc44"><span style="color: #408080; font-style: italic">This is not like in RenderMan where row-major order is used and</span>
</div><div id="lc45"><span style="color: #408080; font-style: italic">vectors are rows.</span>
</div><div id="lc46">
</div><div id="lc47"><span style="color: #408080; font-style: italic">            1 0 0 0</span>
</div><div id="lc48"><span style="color: #408080; font-style: italic">0 1 5 1  *  0 1 0 0</span>
</div><div id="lc49"><span style="color: #408080; font-style: italic">            0 0 1 0</span>
</div><div id="lc50"><span style="color: #408080; font-style: italic">            1 2 3 1</span>
</div><div id="lc51">
</div><div id="lc52"><span style="color: #408080; font-style: italic">But the cause is that in RenderMan matricies are assumed to be transposed</span>
</div><div id="lc53"><span style="color: #408080; font-style: italic">to OpenGL (and math) ones not row/column order difference.</span>
</div><div id="lc54">
</div><div id="lc55"><span style="color: #408080; font-style: italic">*/</span>
</div><div id="lc56">
</div><div id="lc57"><span style="color: #BC7A00">/* matrix*_zero */</span>
</div><div id="lc58">
</div><div id="lc59"><span style="color: #BC7A00">#define matrix44_zero(m)\</span>
</div><div id="lc60"><span style="color: #BC7A00">    (m)[0]  = 0; (m)[1]  = 0; (m)[2]  = 0; (m)[3]  = 0;\</span>
</div><div id="lc61"><span style="color: #BC7A00">    (m)[4]  = 0; (m)[5]  = 0; (m)[6]  = 0; (m)[7]  = 0;\</span>
</div><div id="lc62"><span style="color: #BC7A00">    (m)[8]  = 0; (m)[9]  = 0; (m)[10] = 0; (m)[11] = 0;\</span>
</div><div id="lc63"><span style="color: #BC7A00">    (m)[12] = 0; (m)[13] = 0; (m)[14] = 0; (m)[15] = 0</span>
</div><div id="lc64">
</div><div id="lc65"><span style="color: #BC7A00">#define matrix33_zero(m)\</span>
</div><div id="lc66"><span style="color: #BC7A00">    (m)[0] = 0; (m)[1] = 0; (m)[2] = 0;\</span>
</div><div id="lc67"><span style="color: #BC7A00">    (m)[3] = 0; (m)[4] = 0; (m)[5] = 0;\</span>
</div><div id="lc68"><span style="color: #BC7A00">    (m)[6] = 0; (m)[7] = 0; (m)[8] = 0</span>
</div><div id="lc69">
</div><div id="lc70"><span style="color: #BC7A00">/* matrix*_identity */</span>
</div><div id="lc71">
</div><div id="lc72"><span style="color: #BC7A00">#define matrix44_identity(m)\</span>
</div><div id="lc73"><span style="color: #BC7A00">    (m)[0]  = 1; (m)[1]  = 0; (m)[2] = 0;  (m)[3]  = 0;\</span>
</div><div id="lc74"><span style="color: #BC7A00">    (m)[4]  = 0; (m)[5]  = 1; (m)[6] = 0;  (m)[7]  = 0;\</span>
</div><div id="lc75"><span style="color: #BC7A00">    (m)[8]  = 0; (m)[9]  = 0; (m)[10] = 1; (m)[11] = 0;\</span>
</div><div id="lc76"><span style="color: #BC7A00">    (m)[12] = 0; (m)[13] = 0; (m)[14] = 0; (m)[15] = 1</span>
</div><div id="lc77">
</div><div id="lc78"><span style="color: #BC7A00">#define matrix33_identity(m)\</span>
</div><div id="lc79"><span style="color: #BC7A00">    (m)[0] = 1; (m)[1] = 0; (m)[2] = 0;\</span>
</div><div id="lc80"><span style="color: #BC7A00">    (m)[3] = 0; (m)[4] = 1; (m)[5] = 0;\</span>
</div><div id="lc81"><span style="color: #BC7A00">    (m)[6] = 0; (m)[7] = 0; (m)[8] = 1</span>
</div><div id="lc82">
</div><div id="lc83"><span style="color: #BC7A00">/* matrix*_copy */</span>
</div><div id="lc84">
</div><div id="lc85"><span style="color: #BC7A00">#define matrix44_copy(m, m2)\</span>
</div><div id="lc86"><span style="color: #BC7A00">    (m)[0]  = (m2)[0];  (m)[1]  = (m2)[1];  (m)[2]  = (m2)[2];  (m)[3]  = (m2)[3];\</span>
</div><div id="lc87"><span style="color: #BC7A00">    (m)[4]  = (m2)[4];  (m)[5]  = (m2)[5];  (m)[6]  = (m2)[6];  (m)[7]  = (m2)[7];\</span>
</div><div id="lc88"><span style="color: #BC7A00">    (m)[8]  = (m2)[8];  (m)[9]  = (m2)[9];  (m)[10] = (m2)[10]; (m)[11] = (m2)[11];\</span>
</div><div id="lc89"><span style="color: #BC7A00">    (m)[12] = (m2)[12]; (m)[13] = (m2)[13]; (m)[14] = (m2)[14]; (m)[15] = (m2)[15]</span>
</div><div id="lc90">
</div><div id="lc91"><span style="color: #BC7A00">#define matrix33_copy(m, m2)\</span>
</div><div id="lc92"><span style="color: #BC7A00">    (m)[0] = (m2)[0]; (m)[1] = (m2)[1]; (m)[2] = (m2)[2];\</span>
</div><div id="lc93"><span style="color: #BC7A00">    (m)[3] = (m2)[3]; (m)[4] = (m2)[4]; (m)[5] = (m2)[5];\</span>
</div><div id="lc94"><span style="color: #BC7A00">    (m)[6] = (m2)[6]; (m)[7] = (m2)[7]; (m)[8] = (m2)[8]</span>
</div><div id="lc95">
</div><div id="lc96"><span style="color: #BC7A00">/* matrix*_equal* */</span>
</div><div id="lc97">
</div><div id="lc98"><span style="color: #BC7A00">#define matrix44_equal(m, m2)\</span>
</div><div id="lc99"><span style="color: #BC7A00">    ((m)[0]  == (m2)[0] &amp;&amp;\</span>
</div><div id="lc100"><span style="color: #BC7A00">     (m)[1]  == (m2)[1] &amp;&amp;\</span>
</div><div id="lc101"><span style="color: #BC7A00">     (m)[2]  == (m2)[2] &amp;&amp;\</span>
</div><div id="lc102"><span style="color: #BC7A00">     (m)[3]  == (m2)[3] &amp;&amp;\</span>
</div><div id="lc103"><span style="color: #BC7A00">     (m)[4]  == (m2)[4] &amp;&amp;\</span>
</div><div id="lc104"><span style="color: #BC7A00">     (m)[5]  == (m2)[5] &amp;&amp;\</span>
</div><div id="lc105"><span style="color: #BC7A00">     (m)[6]  == (m2)[6] &amp;&amp;\</span>
</div><div id="lc106"><span style="color: #BC7A00">     (m)[7]  == (m2)[7] &amp;&amp;\</span>
</div><div id="lc107"><span style="color: #BC7A00">     (m)[8]  == (m2)[8] &amp;&amp;\</span>
</div><div id="lc108"><span style="color: #BC7A00">     (m)[9]  == (m2)[9] &amp;&amp;\</span>
</div><div id="lc109"><span style="color: #BC7A00">     (m)[10] == (m2)[10] &amp;&amp;\</span>
</div><div id="lc110"><span style="color: #BC7A00">     (m)[11] == (m2)[11] &amp;&amp;\</span>
</div><div id="lc111"><span style="color: #BC7A00">     (m)[12] == (m2)[12] &amp;&amp;\</span>
</div><div id="lc112"><span style="color: #BC7A00">     (m)[13] == (m2)[13] &amp;&amp;\</span>
</div><div id="lc113"><span style="color: #BC7A00">     (m)[14] == (m2)[14] &amp;&amp;\</span>
</div><div id="lc114"><span style="color: #BC7A00">     (m)[15] == (m2)[15])</span>
</div><div id="lc115">
</div><div id="lc116"><span style="color: #BC7A00">#define matrix44_equal_dif(m, m2, dif)\</span>
</div><div id="lc117"><span style="color: #BC7A00">    (fabs((m)[0]  - (m2)[0])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc118"><span style="color: #BC7A00">     fabs((m)[1]  - (m2)[1])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc119"><span style="color: #BC7A00">     fabs((m)[2]  - (m2)[2])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc120"><span style="color: #BC7A00">     fabs((m)[3]  - (m2)[3])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc121"><span style="color: #BC7A00">     fabs((m)[4]  - (m2)[4])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc122"><span style="color: #BC7A00">     fabs((m)[5]  - (m2)[5])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc123"><span style="color: #BC7A00">     fabs((m)[6]  - (m2)[6])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc124"><span style="color: #BC7A00">     fabs((m)[7]  - (m2)[7])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc125"><span style="color: #BC7A00">     fabs((m)[8]  - (m2)[8])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc126"><span style="color: #BC7A00">     fabs((m)[9]  - (m2)[9])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc127"><span style="color: #BC7A00">     fabs((m)[10] - (m2)[10]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc128"><span style="color: #BC7A00">     fabs((m)[11] - (m2)[11]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc129"><span style="color: #BC7A00">     fabs((m)[12] - (m2)[12]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc130"><span style="color: #BC7A00">     fabs((m)[13] - (m2)[13]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc131"><span style="color: #BC7A00">     fabs((m)[14] - (m2)[14]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc132"><span style="color: #BC7A00">     fabs((m)[15] - (m2)[15]) &lt; (dif))</span>
</div><div id="lc133">
</div><div id="lc134"><span style="color: #BC7A00">#define matrix33_equal(m, m2)\</span>
</div><div id="lc135"><span style="color: #BC7A00">    ((m)[0] == (m2)[0] &amp;&amp;\</span>
</div><div id="lc136"><span style="color: #BC7A00">     (m)[1] == (m2)[1] &amp;&amp;\</span>
</div><div id="lc137"><span style="color: #BC7A00">     (m)[2] == (m2)[2] &amp;&amp;\</span>
</div><div id="lc138"><span style="color: #BC7A00">     (m)[3] == (m2)[3] &amp;&amp;\</span>
</div><div id="lc139"><span style="color: #BC7A00">     (m)[4] == (m2)[4] &amp;&amp;\</span>
</div><div id="lc140"><span style="color: #BC7A00">     (m)[5] == (m2)[5] &amp;&amp;\</span>
</div><div id="lc141"><span style="color: #BC7A00">     (m)[6] == (m2)[6] &amp;&amp;\</span>
</div><div id="lc142"><span style="color: #BC7A00">     (m)[7] == (m2)[7] &amp;&amp;\</span>
</div><div id="lc143"><span style="color: #BC7A00">     (m)[8] == (m2)[8])</span>
</div><div id="lc144">
</div><div id="lc145"><span style="color: #BC7A00">#define matrix33_equal_dif(m, m2, dif)\</span>
</div><div id="lc146"><span style="color: #BC7A00">    (fabs((m)[0] - (m2)[0]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc147"><span style="color: #BC7A00">     fabs((m)[1] - (m2)[1]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc148"><span style="color: #BC7A00">     fabs((m)[2] - (m2)[2]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc149"><span style="color: #BC7A00">     fabs((m)[3] - (m2)[3]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc150"><span style="color: #BC7A00">     fabs((m)[4] - (m2)[4]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc151"><span style="color: #BC7A00">     fabs((m)[5] - (m2)[5]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc152"><span style="color: #BC7A00">     fabs((m)[6] - (m2)[6]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc153"><span style="color: #BC7A00">     fabs((m)[7] - (m2)[7]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc154"><span style="color: #BC7A00">     fabs((m)[8] - (m2)[8]) &lt; (dif))</span>
</div><div id="lc155">
</div><div id="lc156"><span style="color: #BC7A00">/* matrix*_sum */</span>
</div><div id="lc157">
</div><div id="lc158"><span style="color: #BC7A00">#define matrix44_sum(r, m, m2)\</span>
</div><div id="lc159"><span style="color: #BC7A00">    (r)[0]  = (m)[0]  + (m2)[0];\</span>
</div><div id="lc160"><span style="color: #BC7A00">    (r)[1]  = (m)[1]  + (m2)[1];\</span>
</div><div id="lc161"><span style="color: #BC7A00">    (r)[2]  = (m)[2]  + (m2)[2];\</span>
</div><div id="lc162"><span style="color: #BC7A00">    (r)[3]  = (m)[3]  + (m2)[3];\</span>
</div><div id="lc163"><span style="color: #BC7A00">    (r)[4]  = (m)[4]  + (m2)[4];\</span>
</div><div id="lc164"><span style="color: #BC7A00">    (r)[5]  = (m)[5]  + (m2)[5];\</span>
</div><div id="lc165"><span style="color: #BC7A00">    (r)[6]  = (m)[6]  + (m2)[6];\</span>
</div><div id="lc166"><span style="color: #BC7A00">    (r)[7]  = (m)[7]  + (m2)[7];\</span>
</div><div id="lc167"><span style="color: #BC7A00">    (r)[8]  = (m)[8]  + (m2)[8];\</span>
</div><div id="lc168"><span style="color: #BC7A00">    (r)[9]  = (m)[9]  + (m2)[9];\</span>
</div><div id="lc169"><span style="color: #BC7A00">    (r)[10] = (m)[10] + (m2)[10];\</span>
</div><div id="lc170"><span style="color: #BC7A00">    (r)[11] = (m)[11] + (m2)[11];\</span>
</div><div id="lc171"><span style="color: #BC7A00">    (r)[12] = (m)[12] + (m2)[12];\</span>
</div><div id="lc172"><span style="color: #BC7A00">    (r)[13] = (m)[13] + (m2)[13];\</span>
</div><div id="lc173"><span style="color: #BC7A00">    (r)[14] = (m)[14] + (m2)[14];\</span>
</div><div id="lc174"><span style="color: #BC7A00">    (r)[15] = (m)[15] + (m2)[15]</span>
</div><div id="lc175">
</div><div id="lc176"><span style="color: #BC7A00">#define matrix33_sum(r, m, m2)\</span>
</div><div id="lc177"><span style="color: #BC7A00">    (r)[0] = (m)[0] + (m2)[0];\</span>
</div><div id="lc178"><span style="color: #BC7A00">    (r)[1] = (m)[1] + (m2)[1];\</span>
</div><div id="lc179"><span style="color: #BC7A00">    (r)[2] = (m)[2] + (m2)[2];\</span>
</div><div id="lc180"><span style="color: #BC7A00">    (r)[3] = (m)[3] + (m2)[3];\</span>
</div><div id="lc181"><span style="color: #BC7A00">    (r)[4] = (m)[4] + (m2)[4];\</span>
</div><div id="lc182"><span style="color: #BC7A00">    (r)[5] = (m)[5] + (m2)[5];\</span>
</div><div id="lc183"><span style="color: #BC7A00">    (r)[6] = (m)[6] + (m2)[6];\</span>
</div><div id="lc184"><span style="color: #BC7A00">    (r)[7] = (m)[7] + (m2)[7];\</span>
</div><div id="lc185"><span style="color: #BC7A00">    (r)[8] = (m)[8] + (m2)[8]</span>
</div><div id="lc186">
</div><div id="lc187"><span style="color: #BC7A00">/* matrix*_add */</span>
</div><div id="lc188">
</div><div id="lc189"><span style="color: #BC7A00">#define matrix44_add(m, m2) matrix44_sum(m, m, m2)</span>
</div><div id="lc190"><span style="color: #BC7A00">#define matrix33_add(m, m2) matrix33_sum(m, m, m2)</span>
</div><div id="lc191">
</div><div id="lc192"><span style="color: #BC7A00">/* matrix*_dif */</span>
</div><div id="lc193">
</div><div id="lc194"><span style="color: #BC7A00">#define matrix44_dif(r, m, m2)\</span>
</div><div id="lc195"><span style="color: #BC7A00">    (r)[0]  = (m)[0]  - (m2)[0];\</span>
</div><div id="lc196"><span style="color: #BC7A00">    (r)[1]  = (m)[1]  - (m2)[1];\</span>
</div><div id="lc197"><span style="color: #BC7A00">    (r)[2]  = (m)[2]  - (m2)[2];\</span>
</div><div id="lc198"><span style="color: #BC7A00">    (r)[3]  = (m)[3]  - (m2)[3];\</span>
</div><div id="lc199"><span style="color: #BC7A00">    (r)[4]  = (m)[4]  - (m2)[4];\</span>
</div><div id="lc200"><span style="color: #BC7A00">    (r)[5]  = (m)[5]  - (m2)[5];\</span>
</div><div id="lc201"><span style="color: #BC7A00">    (r)[6]  = (m)[6]  - (m2)[6];\</span>
</div><div id="lc202"><span style="color: #BC7A00">    (r)[7]  = (m)[7]  - (m2)[7];\</span>
</div><div id="lc203"><span style="color: #BC7A00">    (r)[8]  = (m)[8]  - (m2)[8];\</span>
</div><div id="lc204"><span style="color: #BC7A00">    (r)[9]  = (m)[9]  - (m2)[9];\</span>
</div><div id="lc205"><span style="color: #BC7A00">    (r)[10] = (m)[10] - (m2)[10];\</span>
</div><div id="lc206"><span style="color: #BC7A00">    (r)[11] = (m)[11] - (m2)[11];\</span>
</div><div id="lc207"><span style="color: #BC7A00">    (r)[12] = (m)[12] - (m2)[12];\</span>
</div><div id="lc208"><span style="color: #BC7A00">    (r)[13] = (m)[13] - (m2)[13];\</span>
</div><div id="lc209"><span style="color: #BC7A00">    (r)[14] = (m)[14] - (m2)[14];\</span>
</div><div id="lc210"><span style="color: #BC7A00">    (r)[15] = (m)[15] - (m2)[15]</span>
</div><div id="lc211">
</div><div id="lc212"><span style="color: #BC7A00">#define matrix33_dif(r, m, m2)\</span>
</div><div id="lc213"><span style="color: #BC7A00">    (r)[0] = (m)[0] - (m2)[0];\</span>
</div><div id="lc214"><span style="color: #BC7A00">    (r)[1] = (m)[1] - (m2)[1];\</span>
</div><div id="lc215"><span style="color: #BC7A00">    (r)[2] = (m)[2] - (m2)[2];\</span>
</div><div id="lc216"><span style="color: #BC7A00">    (r)[3] = (m)[3] - (m2)[3];\</span>
</div><div id="lc217"><span style="color: #BC7A00">    (r)[4] = (m)[4] - (m2)[4];\</span>
</div><div id="lc218"><span style="color: #BC7A00">    (r)[5] = (m)[5] - (m2)[5];\</span>
</div><div id="lc219"><span style="color: #BC7A00">    (r)[6] = (m)[6] - (m2)[6];\</span>
</div><div id="lc220"><span style="color: #BC7A00">    (r)[7] = (m)[7] - (m2)[7];\</span>
</div><div id="lc221"><span style="color: #BC7A00">    (r)[8] = (m)[8] - (m2)[8]</span>
</div><div id="lc222">
</div><div id="lc223"><span style="color: #BC7A00">/* matrix*_sub */</span>
</div><div id="lc224">
</div><div id="lc225"><span style="color: #BC7A00">#define matrix44_sub(m, m2) matrix44_dif(m, m, m2)</span>
</div><div id="lc226"><span style="color: #BC7A00">#define matrix33_sub(m, m2) matrix33_dif(m, m, m2)</span>
</div><div id="lc227">
</div><div id="lc228"><span style="color: #BC7A00">/* matrix*_translate* */</span>
</div><div id="lc229">
</div><div id="lc230"><span style="color: #BC7A00">#define matrix44_translate(m, x, y, z)\</span>
</div><div id="lc231"><span style="color: #BC7A00">    (m)[0]  = 1;    (m)[1]  = 0;   (m)[2]  = 0;   (m)[3]  = 0;\</span>
</div><div id="lc232"><span style="color: #BC7A00">    (m)[4]  = 0;    (m)[5]  = 1;   (m)[6]  = 0;   (m)[7]  = 0;\</span>
</div><div id="lc233"><span style="color: #BC7A00">    (m)[8]  = 0;    (m)[9]  = 0;   (m)[10] = 1;   (m)[11] = 0;\</span>
</div><div id="lc234"><span style="color: #BC7A00">    (m)[12] = (x);  (m)[13] = (y); (m)[14] = (z); (m)[15] = 1</span>
</div><div id="lc235">
</div><div id="lc236"><span style="color: #BC7A00">#define matrix44_translate_lazy(m, x, y, z)\</span>
</div><div id="lc237"><span style="color: #BC7A00">    (m)[12] = (x);  (m)[13] = (y); (m)[14] = (z)</span>
</div><div id="lc238">
</div><div id="lc239"><span style="color: #BC7A00">#define matrix33_translate(m, x, y)\</span>
</div><div id="lc240"><span style="color: #BC7A00">    (m)[0] = 1;   (m)[1] = 0;   (m)[2] = 0;\</span>
</div><div id="lc241"><span style="color: #BC7A00">    (m)[3] = 0;   (m)[4] = 1;   (m)[5] = 0;\</span>
</div><div id="lc242"><span style="color: #BC7A00">    (m)[6] = (x); (m)[7] = (y); (m)[8] = 1</span>
</div><div id="lc243">
</div><div id="lc244"><span style="color: #BC7A00">#define matrix33_translate_lazy(m, x, y)\</span>
</div><div id="lc245"><span style="color: #BC7A00">    (m)[6] = (x);  (m)[7] = (y)</span>
</div><div id="lc246">
</div><div id="lc247"><span style="color: #BC7A00">/* matrix*_scale* */</span>
</div><div id="lc248">
</div><div id="lc249"><span style="color: #BC7A00">#define matrix44_scale(m, x, y, z)\</span>
</div><div id="lc250"><span style="color: #BC7A00">    (m)[0]  = (x);  (m)[1]  = 0;   (m)[2]  = 0;   (m)[3]  = 0;\</span>
</div><div id="lc251"><span style="color: #BC7A00">    (m)[4]  = 0;    (m)[5]  = (y); (m)[6]  = 0;   (m)[7]  = 0;\</span>
</div><div id="lc252"><span style="color: #BC7A00">    (m)[8]  = 0;    (m)[9]  = 0;   (m)[10] = (z); (m)[11] = 0;\</span>
</div><div id="lc253"><span style="color: #BC7A00">    (m)[12] = 0;    (m)[13] = 0;   (m)[14] = 0;   (m)[15] = 1</span>
</div><div id="lc254">
</div><div id="lc255"><span style="color: #BC7A00">#define matrix44_scale_lazy(m, x, y, z)\</span>
</div><div id="lc256"><span style="color: #BC7A00">    (m)[0] = (x);  (m)[5] = (y); (m)[10] = (z)</span>
</div><div id="lc257">
</div><div id="lc258"><span style="color: #BC7A00">#define matrix33_scale(m, x, y)\</span>
</div><div id="lc259"><span style="color: #BC7A00">    (m)[0] = (x); (m)[1] = 0;   (m)[2] = 0;\</span>
</div><div id="lc260"><span style="color: #BC7A00">    (m)[3] = 0;   (m)[4] = (y); (m)[5] = 0;\</span>
</div><div id="lc261"><span style="color: #BC7A00">    (m)[6] = 0;   (m)[7] = 0;   (m)[8] = 1</span>
</div><div id="lc262">
</div><div id="lc263"><span style="color: #BC7A00">#define matrix33_scale_lazy(m, x, y, z)\</span>
</div><div id="lc264"><span style="color: #BC7A00">    (m)[0] = (x);  (m)[4] = (y);</span>
</div><div id="lc265">
</div><div id="lc266"><span style="color: #BC7A00">/* matrix*_rotate* */</span>
</div><div id="lc267">
</div><div id="lc268"><span style="color: #BC7A00">#define matrix44_rotate_x(m, a)\</span>
</div><div id="lc269"><span style="color: #BC7A00">    (m)[0]  = 1;  (m)[1]  = 0;       (m)[2]  = 0;      (m)[3]  = 0;\</span>
</div><div id="lc270"><span style="color: #BC7A00">    (m)[4]  = 0;  (m)[5]  = cos(a);  (m)[6]  = sin(a); (m)[7]  = 0;\</span>
</div><div id="lc271"><span style="color: #BC7A00">    (m)[8]  = 0;  (m)[9]  = -(m)[6]; (m)[10] = (m)[5]; (m)[11] = 0;\</span>
</div><div id="lc272"><span style="color: #BC7A00">    (m)[12] = 0;  (m)[13] = 0;       (m)[14] = 0;      (m)[15] = 1</span>
</div><div id="lc273">
</div><div id="lc274"><span style="color: #BC7A00">#define matrix44_rotate_y(m, a)\</span>
</div><div id="lc275"><span style="color: #BC7A00">    (m)[0]  = cos(a);  (m)[1]  = 0; (m)[2]  = -sin(a); (m)[3]  = 0;\</span>
</div><div id="lc276"><span style="color: #BC7A00">    (m)[4]  = 0;       (m)[5]  = 1; (m)[6]  = 0;       (m)[7]  = 0;\</span>
</div><div id="lc277"><span style="color: #BC7A00">    (m)[8]  = -(m)[2]; (m)[9]  = 0; (m)[10] = (m)[0];  (m)[11] = 0;\</span>
</div><div id="lc278"><span style="color: #BC7A00">    (m)[12] = 0;       (m)[13] = 0; (m)[14] = 0;       (m)[15] = 1</span>
</div><div id="lc279">
</div><div id="lc280"><span style="color: #BC7A00">#define matrix44_rotate_z(m, a)\</span>
</div><div id="lc281"><span style="color: #BC7A00">    (m)[0]  = cos(a);  (m)[1]  = sin(a); (m)[2]  = 0; (m)[3]  = 0;\</span>
</div><div id="lc282"><span style="color: #BC7A00">    (m)[4]  = -(m)[1]; (m)[5]  = (m)[0]; (m)[6]  = 0; (m)[7]  = 0;\</span>
</div><div id="lc283"><span style="color: #BC7A00">    (m)[8]  = 0;       (m)[9]  = 0;      (m)[10] = 1; (m)[11] = 0;\</span>
</div><div id="lc284"><span style="color: #BC7A00">    (m)[12] = 0;       (m)[13] = 0;      (m)[14] = 0; (m)[15] = 1</span>
</div><div id="lc285">
</div><div id="lc286"><span style="color: #BC7A00">#define matrix33_rotate(m, a)\</span>
</div><div id="lc287"><span style="color: #BC7A00">    (m)[0] = cos(a);  (m)[1] = sin(a); (m)[2] = 0;\</span>
</div><div id="lc288"><span style="color: #BC7A00">    (m)[3] = -(m)[1]; (m)[4] = (m)[0]; (m)[5] = 0;\</span>
</div><div id="lc289"><span style="color: #BC7A00">    (m)[6] = 0;       (m)[7] = 0;      (m)[8] = 1</span>
</div><div id="lc290">
</div><div id="lc291"><span style="color: #BC7A00">#define matrix44_rotate_from_axis(m, a, x, y, z)\</span>
</div><div id="lc292"><span style="color: #BC7A00">    (m)[0]  = (1-cos(a))*(x)*(x) + cos(a);\</span>
</div><div id="lc293"><span style="color: #BC7A00">    (m)[1]  = (1-cos(a))*(x)*(y) + sin(a)*(z);\</span>
</div><div id="lc294"><span style="color: #BC7A00">    (m)[2]  = ((1-cos(a))*(x)*(z) - sin(a)*(y)); \</span>
</div><div id="lc295"><span style="color: #BC7A00">    (m)[3]  = 0;\</span>
</div><div id="lc296"><span style="color: #BC7A00">    (m)[4]  = (1-cos(a))*(x)*(y) - sin(a)*(z);\</span>
</div><div id="lc297"><span style="color: #BC7A00">    (m)[5]  = (1-cos(a))*(y)*(y) + cos(a);\</span>
</div><div id="lc298"><span style="color: #BC7A00">    (m)[6]  = (1-cos(a))*(y)*(z) + sin(a)*(x);\</span>
</div><div id="lc299"><span style="color: #BC7A00">    (m)[7]  = 0;\</span>
</div><div id="lc300"><span style="color: #BC7A00">    (m)[8]  = (1-cos(a))*(x)*(z) + sin(a)*(y);\</span>
</div><div id="lc301"><span style="color: #BC7A00">    (m)[9]  = (1-cos(a))*(y)*(z) - sin(a)*(x);\</span>
</div><div id="lc302"><span style="color: #BC7A00">    (m)[10] = (1-cos(a))*(z)*(z) + cos(a);\</span>
</div><div id="lc303"><span style="color: #BC7A00">    (m)[11] = 0;\</span>
</div><div id="lc304"><span style="color: #BC7A00">    (m)[12] = 0;\</span>
</div><div id="lc305"><span style="color: #BC7A00">    (m)[13] = 0;\</span>
</div><div id="lc306"><span style="color: #BC7A00">    (m)[14] = 0;\</span>
</div><div id="lc307"><span style="color: #BC7A00">    (m)[15] = 1</span>
</div><div id="lc308">
</div><div id="lc309"><span style="color: #BC7A00">#define matrix44_rotate_from_axis_sincos(m, s, c, x, y, z)\</span>
</div><div id="lc310"><span style="color: #BC7A00">    (m)[0]  = (1-(c))*(x)*(x) + (c);\</span>
</div><div id="lc311"><span style="color: #BC7A00">    (m)[1]  = (1-(c))*(x)*(y) + (s)*(z);\</span>
</div><div id="lc312"><span style="color: #BC7A00">    (m)[2]  = (1-(c))*(x)*(z) - (s)*(y);\</span>
</div><div id="lc313"><span style="color: #BC7A00">    (m)[3]  = 0;\</span>
</div><div id="lc314"><span style="color: #BC7A00">    (m)[4]  = (1-(c))*(x)*(y) - (s)*(z);\</span>
</div><div id="lc315"><span style="color: #BC7A00">    (m)[5]  = (1-(c))*(y)*(y) + (c);\</span>
</div><div id="lc316"><span style="color: #BC7A00">    (m)[6]  = (1-(c))*(y)*(z) + (s)*(x);\</span>
</div><div id="lc317"><span style="color: #BC7A00">    (m)[7]  = 0;\</span>
</div><div id="lc318"><span style="color: #BC7A00">    (m)[8]  = (1-(c))*(x)*(z) + (s)*(y);\</span>
</div><div id="lc319"><span style="color: #BC7A00">    (m)[9]  = (1-(c))*(y)*(z) - (s)*(x);\</span>
</div><div id="lc320"><span style="color: #BC7A00">    (m)[10] = (1-(c))*(z)*(z) + (c);\</span>
</div><div id="lc321"><span style="color: #BC7A00">    (m)[11] = 0;\</span>
</div><div id="lc322"><span style="color: #BC7A00">    (m)[12] = 0;\</span>
</div><div id="lc323"><span style="color: #BC7A00">    (m)[13] = 0;\</span>
</div><div id="lc324"><span style="color: #BC7A00">    (m)[14] = 0;\</span>
</div><div id="lc325"><span style="color: #BC7A00">    (m)[15] = 1</span>
</div><div id="lc326">
</div><div id="lc327"><span style="color: #BC7A00">#define matrix44_rotate_from_quaternion(m, q)\</span>
</div><div id="lc328"><span style="color: #BC7A00">    (m)[0]  = 1 - 2*(q)[1]*(q)[1] - 2*(q)[2]*(q)[2];\</span>
</div><div id="lc329"><span style="color: #BC7A00">    (m)[1]  = 2*(q)[0]*(q)[1] + 2*(q)[3]*(q)[2];\</span>
</div><div id="lc330"><span style="color: #BC7A00">    (m)[2]  = 2*(q)[0]*(q)[2] - 2*(q)[3]*(q)[1];\</span>
</div><div id="lc331"><span style="color: #BC7A00">    (m)[3]  = 0;\</span>
</div><div id="lc332"><span style="color: #BC7A00">    (m)[4]  = 2*(q)[0]*(q)[1] - 2*(q)[3]*(q)[2];\</span>
</div><div id="lc333"><span style="color: #BC7A00">    (m)[5]  = 1 - 2*(q)[0]*(q)[0] - 2*(q)[2]*(q)[2];\</span>
</div><div id="lc334"><span style="color: #BC7A00">    (m)[6]  = 2*(q)[1]*(q)[2] + 2*(q)[3]*(q)[0];\</span>
</div><div id="lc335"><span style="color: #BC7A00">    (m)[7]  = 0;\</span>
</div><div id="lc336"><span style="color: #BC7A00">    (m)[8]  = 2*(q)[0]*(q)[2] + 2*(q)[3]*(q)[1];\</span>
</div><div id="lc337"><span style="color: #BC7A00">    (m)[9]  = 2*(q)[1]*(q)[2] - 2*(q)[3]*(q)[0];\</span>
</div><div id="lc338"><span style="color: #BC7A00">    (m)[10] = 1 - 2*(q)[0]*(q)[0] - 2*(q)[1]*(q)[1];\</span>
</div><div id="lc339"><span style="color: #BC7A00">    (m)[11] = 0;\</span>
</div><div id="lc340"><span style="color: #BC7A00">    (m)[12] = 0;\</span>
</div><div id="lc341"><span style="color: #BC7A00">    (m)[13] = 0;\</span>
</div><div id="lc342"><span style="color: #BC7A00">    (m)[14] = 0;\</span>
</div><div id="lc343"><span style="color: #BC7A00">    (m)[15] = 1</span>
</div><div id="lc344">
</div><div id="lc345"><span style="color: #BC7A00">/* matrix44_perspective */</span>
</div><div id="lc346">
</div><div id="lc347"><span style="color: #BC7A00">#define matrix44_perspective(m, fovy, aspect, z_near, z_far)\</span>
</div><div id="lc348"><span style="color: #BC7A00">    (m)[1]  = 0;\</span>
</div><div id="lc349"><span style="color: #BC7A00">    (m)[2]  = 0;\</span>
</div><div id="lc350"><span style="color: #BC7A00">    (m)[3]  = 0;\</span>
</div><div id="lc351"><span style="color: #BC7A00">    (m)[4]  = 0;\</span>
</div><div id="lc352"><span style="color: #BC7A00">    (m)[5]  = (1/tan(fovy/2));\</span>
</div><div id="lc353"><span style="color: #BC7A00">    (m)[0]  = (m)[5]/(aspect);\</span>
</div><div id="lc354"><span style="color: #BC7A00">    (m)[6]  = 0;\</span>
</div><div id="lc355"><span style="color: #BC7A00">    (m)[7]  = 0;\</span>
</div><div id="lc356"><span style="color: #BC7A00">    (m)[8]  = 0;\</span>
</div><div id="lc357"><span style="color: #BC7A00">    (m)[9]  = 0;\</span>
</div><div id="lc358"><span style="color: #BC7A00">    (m)[10] = (z_far+z_near)/(z_near-z_far);\</span>
</div><div id="lc359"><span style="color: #BC7A00">    (m)[11] = -1;\</span>
</div><div id="lc360"><span style="color: #BC7A00">    (m)[12] = 0;\</span>
</div><div id="lc361"><span style="color: #BC7A00">    (m)[13] = 0;\</span>
</div><div id="lc362"><span style="color: #BC7A00">    (m)[14] = (2*z_far*z_near)/(z_near-z_far);\</span>
</div><div id="lc363"><span style="color: #BC7A00">    (m)[15] = 0</span>
</div><div id="lc364">
</div><div id="lc365"><span style="color: #BC7A00">/* matrix44_ortho2D */</span>
</div><div id="lc366">
</div><div id="lc367"><span style="color: #BC7A00">#define matrix44_ortho2D(m, l, r, b, t, n, f) \</span>
</div><div id="lc368"><span style="color: #BC7A00">    (m)[0]  = 2.0/(r - l);\</span>
</div><div id="lc369"><span style="color: #BC7A00">    (m)[1]  = 0;\</span>
</div><div id="lc370"><span style="color: #BC7A00">    (m)[2]  = 0;\</span>
</div><div id="lc371"><span style="color: #BC7A00">    (m)[3]  = 0;\</span>
</div><div id="lc372"><span style="color: #BC7A00">    (m)[4]  = 0;\</span>
</div><div id="lc373"><span style="color: #BC7A00">    (m)[5]  = 2.0/(t - b);\</span>
</div><div id="lc374"><span style="color: #BC7A00">    (m)[6]  = 0;\</span>
</div><div id="lc375"><span style="color: #BC7A00">    (m)[7]  = 0;\</span>
</div><div id="lc376"><span style="color: #BC7A00">    (m)[8]  = 0;\</span>
</div><div id="lc377"><span style="color: #BC7A00">    (m)[9]  = 0;\</span>
</div><div id="lc378"><span style="color: #BC7A00">    (m)[10] = -2.0/(f - n);\</span>
</div><div id="lc379"><span style="color: #BC7A00">    (m)[11] = 0;\</span>
</div><div id="lc380"><span style="color: #BC7A00">    (m)[12] = -(r + l)/(r - l);\</span>
</div><div id="lc381"><span style="color: #BC7A00">    (m)[13] = -(t + b)/(t - b);\</span>
</div><div id="lc382"><span style="color: #BC7A00">    (m)[14] = -(f + n)/(f - n);\</span>
</div><div id="lc383"><span style="color: #BC7A00">    (m)[15] = 1;\</span>
</div><div id="lc384">
</div><div id="lc385"><span style="color: #BC7A00">/* matrix*_transpose */</span>
</div><div id="lc386">
</div><div id="lc387"><span style="color: #BC7A00">#define matrix44_transpose(r, m)\</span>
</div><div id="lc388"><span style="color: #BC7A00">    (r)[0]  = (m)[0];\</span>
</div><div id="lc389"><span style="color: #BC7A00">    (r)[1]  = (m)[4];\</span>
</div><div id="lc390"><span style="color: #BC7A00">    (r)[2]  = (m)[8];\</span>
</div><div id="lc391"><span style="color: #BC7A00">    (r)[3]  = (m)[12];\</span>
</div><div id="lc392"><span style="color: #BC7A00">    (r)[4]  = (m)[1];\</span>
</div><div id="lc393"><span style="color: #BC7A00">    (r)[5]  = (m)[5];\</span>
</div><div id="lc394"><span style="color: #BC7A00">    (r)[6]  = (m)[9];\</span>
</div><div id="lc395"><span style="color: #BC7A00">    (r)[7]  = (m)[13];\</span>
</div><div id="lc396"><span style="color: #BC7A00">    (r)[8]  = (m)[2];\</span>
</div><div id="lc397"><span style="color: #BC7A00">    (r)[9]  = (m)[6];\</span>
</div><div id="lc398"><span style="color: #BC7A00">    (r)[10] = (m)[10];\</span>
</div><div id="lc399"><span style="color: #BC7A00">    (r)[11] = (m)[14];\</span>
</div><div id="lc400"><span style="color: #BC7A00">    (r)[12] = (m)[3];\</span>
</div><div id="lc401"><span style="color: #BC7A00">    (r)[13] = (m)[7];\</span>
</div><div id="lc402"><span style="color: #BC7A00">    (r)[14] = (m)[11];\</span>
</div><div id="lc403"><span style="color: #BC7A00">    (r)[15] = (m)[15]</span>
</div><div id="lc404">
</div><div id="lc405"><span style="color: #BC7A00">#define matrix33_transpose(r, m)\</span>
</div><div id="lc406"><span style="color: #BC7A00">    (r)[0]  = (m)[0];\</span>
</div><div id="lc407"><span style="color: #BC7A00">    (r)[1]  = (m)[3];\</span>
</div><div id="lc408"><span style="color: #BC7A00">    (r)[2]  = (m)[6];\</span>
</div><div id="lc409"><span style="color: #BC7A00">    (r)[3]  = (m)[1];\</span>
</div><div id="lc410"><span style="color: #BC7A00">    (r)[4]  = (m)[4];\</span>
</div><div id="lc411"><span style="color: #BC7A00">    (r)[5]  = (m)[7];\</span>
</div><div id="lc412"><span style="color: #BC7A00">    (r)[6]  = (m)[2];\</span>
</div><div id="lc413"><span style="color: #BC7A00">    (r)[7]  = (m)[5];\</span>
</div><div id="lc414"><span style="color: #BC7A00">    (r)[8]  = (m)[8]</span>
</div><div id="lc415">
</div><div id="lc416"><span style="color: #BC7A00">/* matrix*_mult | m*m2 */</span>
</div><div id="lc417">
</div><div id="lc418"><span style="color: #BC7A00">#define matrix44_mult(r, m, m2)\</span>
</div><div id="lc419"><span style="color: #BC7A00">    (r)[0]  = (m)[0]*(m2)[0]  + (m)[4]*(m2)[1]  + (m)[8]*(m2)[2]   + (m)[12]*(m2)[3];\</span>
</div><div id="lc420"><span style="color: #BC7A00">    (r)[1]  = (m)[1]*(m2)[0]  + (m)[5]*(m2)[1]  + (m)[9]*(m2)[2]   + (m)[13]*(m2)[3];\</span>
</div><div id="lc421"><span style="color: #BC7A00">    (r)[2]  = (m)[2]*(m2)[0]  + (m)[6]*(m2)[1]  + (m)[10]*(m2)[2]  + (m)[14]*(m2)[3];\</span>
</div><div id="lc422"><span style="color: #BC7A00">    (r)[3]  = (m)[3]*(m2)[0]  + (m)[7]*(m2)[1]  + (m)[11]*(m2)[2]  + (m)[15]*(m2)[3];\</span>
</div><div id="lc423"><span style="color: #BC7A00">    (r)[4]  = (m)[0]*(m2)[4]  + (m)[4]*(m2)[5]  + (m)[8]*(m2)[6]   + (m)[12]*(m2)[7];\</span>
</div><div id="lc424"><span style="color: #BC7A00">    (r)[5]  = (m)[1]*(m2)[4]  + (m)[5]*(m2)[5]  + (m)[9]*(m2)[6]   + (m)[13]*(m2)[7];\</span>
</div><div id="lc425"><span style="color: #BC7A00">    (r)[6]  = (m)[2]*(m2)[4]  + (m)[6]*(m2)[5]  + (m)[10]*(m2)[6]  + (m)[14]*(m2)[7];\</span>
</div><div id="lc426"><span style="color: #BC7A00">    (r)[7]  = (m)[3]*(m2)[4]  + (m)[7]*(m2)[5]  + (m)[11]*(m2)[6]  + (m)[15]*(m2)[7];\</span>
</div><div id="lc427"><span style="color: #BC7A00">    (r)[8]  = (m)[0]*(m2)[8]  + (m)[4]*(m2)[9]  + (m)[8]*(m2)[10]  + (m)[12]*(m2)[11];\</span>
</div><div id="lc428"><span style="color: #BC7A00">    (r)[9]  = (m)[1]*(m2)[8]  + (m)[5]*(m2)[9]  + (m)[9]*(m2)[10]  + (m)[13]*(m2)[11];\</span>
</div><div id="lc429"><span style="color: #BC7A00">    (r)[10] = (m)[2]*(m2)[8]  + (m)[6]*(m2)[9]  + (m)[10]*(m2)[10] + (m)[14]*(m2)[11];\</span>
</div><div id="lc430"><span style="color: #BC7A00">    (r)[11] = (m)[3]*(m2)[8]  + (m)[7]*(m2)[9]  + (m)[11]*(m2)[10] + (m)[15]*(m2)[11];\</span>
</div><div id="lc431"><span style="color: #BC7A00">    (r)[12] = (m)[0]*(m2)[12] + (m)[4]*(m2)[13] + (m)[8]*(m2)[14]  + (m)[12]*(m2)[15];\</span>
</div><div id="lc432"><span style="color: #BC7A00">    (r)[13] = (m)[1]*(m2)[12] + (m)[5]*(m2)[13] + (m)[9]*(m2)[14]  + (m)[13]*(m2)[15];\</span>
</div><div id="lc433"><span style="color: #BC7A00">    (r)[14] = (m)[2]*(m2)[12] + (m)[6]*(m2)[13] + (m)[10]*(m2)[14] + (m)[14]*(m2)[15];\</span>
</div><div id="lc434"><span style="color: #BC7A00">    (r)[15] = (m)[3]*(m2)[12] + (m)[7]*(m2)[13] + (m)[11]*(m2)[14] + (m)[15]*(m2)[15]</span>
</div><div id="lc435">
</div><div id="lc436"><span style="color: #BC7A00">#define matrix33_mult(r, m, m2)\</span>
</div><div id="lc437"><span style="color: #BC7A00">    (r)[0] = (m)[0]*(m2)[0] + (m)[3]*(m2)[1] + (m)[6]*(m2)[2];\</span>
</div><div id="lc438"><span style="color: #BC7A00">    (r)[1] = (m)[1]*(m2)[0] + (m)[4]*(m2)[1] + (m)[7]*(m2)[2];\</span>
</div><div id="lc439"><span style="color: #BC7A00">    (r)[2] = (m)[2]*(m2)[0] + (m)[5]*(m2)[1] + (m)[8]*(m2)[2];\</span>
</div><div id="lc440"><span style="color: #BC7A00">    (r)[3] = (m)[0]*(m2)[3] + (m)[3]*(m2)[4] + (m)[6]*(m2)[5];\</span>
</div><div id="lc441"><span style="color: #BC7A00">    (r)[4] = (m)[1]*(m2)[3] + (m)[4]*(m2)[4] + (m)[7]*(m2)[5];\</span>
</div><div id="lc442"><span style="color: #BC7A00">    (r)[5] = (m)[2]*(m2)[3] + (m)[5]*(m2)[4] + (m)[8]*(m2)[5];\</span>
</div><div id="lc443"><span style="color: #BC7A00">    (r)[6] = (m)[0]*(m2)[6] + (m)[3]*(m2)[7] + (m)[6]*(m2)[8];\</span>
</div><div id="lc444"><span style="color: #BC7A00">    (r)[7] = (m)[1]*(m2)[6] + (m)[4]*(m2)[7] + (m)[7]*(m2)[8];\</span>
</div><div id="lc445"><span style="color: #BC7A00">    (r)[8] = (m)[2]*(m2)[6] + (m)[5]*(m2)[7] + (m)[8]*(m2)[8]</span>
</div><div id="lc446">
</div><div id="lc447"><span style="color: #BC7A00">/* matrix*_det */</span>
</div><div id="lc448">
</div><div id="lc449"><span style="color: #BC7A00">#define matrix44_det(m)\</span>
</div><div id="lc450"><span style="color: #BC7A00">    ((m)[0]*((m)[5]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[6]*(m)[15] -\</span>
</div><div id="lc451"><span style="color: #BC7A00">        (m)[14]*(m)[7]) + (m)[13]*((m)[6]*(m)[11] - (m)[10]*(m)[7])) -\</span>
</div><div id="lc452"><span style="color: #BC7A00">     (m)[4]*-((m)[1]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[2]*(m)[15] -\</span>
</div><div id="lc453"><span style="color: #BC7A00">        (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[11] - (m)[10]*(m)[3])) +\</span>
</div><div id="lc454"><span style="color: #BC7A00">     (m)[8]*((m)[1]*((m)[6]*(m)[15] - (m)[14]*(m)[7]) - (m)[5]*((m)[2]*(m)[15] -\</span>
</div><div id="lc455"><span style="color: #BC7A00">        (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[7] - (m)[6]*(m)[3])) -\</span>
</div><div id="lc456"><span style="color: #BC7A00">     (m)[12]*-((m)[1]*((m)[6]*(m)[11] - (m)[10]*(m)[7]) - (m)[5]*((m)[2]*(m)[11] -\</span>
</div><div id="lc457"><span style="color: #BC7A00">        (m)[10]*(m)[3]) + (m)[9]*((m)[2]*(m)[7] - (m)[6]*(m)[3])))</span>
</div><div id="lc458">
</div><div id="lc459"><span style="color: #BC7A00">#define matrix33_det(m)\</span>
</div><div id="lc460"><span style="color: #BC7A00">    ((m)[0]*((m)[4]*(m)[8] - (m)[7]*(m)[5]) -\</span>
</div><div id="lc461"><span style="color: #BC7A00">     (m)[3]*((m)[1]*(m)[8] - (m)[7]*(m)[2]) +\</span>
</div><div id="lc462"><span style="color: #BC7A00">     (m)[6]*((m)[1]*(m)[5] - (m)[4]*(m)[2]))</span>
</div><div id="lc463">
</div><div id="lc464"><span style="color: #BC7A00">/* matrix*_inverse */</span>
</div><div id="lc465">
</div><div id="lc466"><span style="color: #BC7A00">#define matrix44_inverse(r, m, ambuf, detbuf)\</span>
</div><div id="lc467"><span style="color: #BC7A00">    (ambuf)[0]   =  ((m)[5]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[6]*(m)[15] - (m)[14]*(m)[7]) + (m)[13]*((m)[6]*(m)[11] - (m)[10]*(m)[7]));\</span>
</div><div id="lc468"><span style="color: #BC7A00">    (ambuf)[1]   = -((m)[4]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[8]*((m)[6]*(m)[15] - (m)[14]*(m)[7]) + (m)[12]*((m)[6]*(m)[11] - (m)[10]*(m)[7]));\</span>
</div><div id="lc469"><span style="color: #BC7A00">    (ambuf)[2]   =  ((m)[4]*((m)[9]*(m)[15]  - (m)[13]*(m)[11]) - (m)[8]*((m)[5]*(m)[15] - (m)[13]*(m)[7]) + (m)[12]*((m)[5]*(m)[11] - (m)[9]*(m)[7]));\</span>
</div><div id="lc470"><span style="color: #BC7A00">    (ambuf)[3]   = -((m)[4]*((m)[9]*(m)[14]  - (m)[13]*(m)[10]) - (m)[8]*((m)[5]*(m)[14] - (m)[13]*(m)[6]) + (m)[12]*((m)[5]*(m)[10] - (m)[9]*(m)[6]));\</span>
</div><div id="lc471"><span style="color: #BC7A00">    (ambuf)[4]   = -((m)[1]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[11] - (m)[10]*(m)[3]));\</span>
</div><div id="lc472"><span style="color: #BC7A00">    (ambuf)[5]   =  ((m)[0]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[8]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[12]*((m)[2]*(m)[11] - (m)[10]*(m)[3]));\</span>
</div><div id="lc473"><span style="color: #BC7A00">    (ambuf)[6]   = -((m)[0]*((m)[9]*(m)[15]  - (m)[13]*(m)[11]) - (m)[8]*((m)[1]*(m)[15] - (m)[13]*(m)[3]) + (m)[12]*((m)[1]*(m)[11] - (m)[9]*(m)[3]));\</span>
</div><div id="lc474"><span style="color: #BC7A00">    (ambuf)[7]   =  ((m)[0]*((m)[9]*(m)[14]  - (m)[13]*(m)[10]) - (m)[8]*((m)[1]*(m)[14] - (m)[13]*(m)[2]) + (m)[12]*((m)[1]*(m)[10] - (m)[9]*(m)[2]));\</span>
</div><div id="lc475"><span style="color: #BC7A00">    (ambuf)[8]   =  ((m)[1]*((m)[6]*(m)[15]  - (m)[14]*(m)[7])  - (m)[5]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[7]  - (m)[6]*(m)[3]));\</span>
</div><div id="lc476"><span style="color: #BC7A00">    (ambuf)[9]   = -((m)[0]*((m)[6]*(m)[15]  - (m)[14]*(m)[7])  - (m)[4]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[12]*((m)[2]*(m)[7]  - (m)[6]*(m)[3]));\</span>
</div><div id="lc477"><span style="color: #BC7A00">    (ambuf)[10]  =  ((m)[0]*((m)[5]*(m)[15]  - (m)[13]*(m)[7])  - (m)[4]*((m)[1]*(m)[15] - (m)[13]*(m)[3]) + (m)[12]*((m)[1]*(m)[7]  - (m)[5]*(m)[3]));\</span>
</div><div id="lc478"><span style="color: #BC7A00">    (ambuf)[11]  = -((m)[0]*((m)[5]*(m)[14]  - (m)[13]*(m)[6])  - (m)[4]*((m)[1]*(m)[14] - (m)[13]*(m)[2]) + (m)[12]*((m)[1]*(m)[6]  - (m)[5]*(m)[2]));\</span>
</div><div id="lc479"><span style="color: #BC7A00">    (ambuf)[12]  = -((m)[1]*((m)[6]*(m)[11]  - (m)[10]*(m)[7])  - (m)[5]*((m)[2]*(m)[11] - (m)[10]*(m)[3]) + (m)[9]*((m)[2]*(m)[7]   - (m)[6]*(m)[3]));\</span>
</div><div id="lc480"><span style="color: #BC7A00">    (ambuf)[13]  =  ((m)[0]*((m)[6]*(m)[11]  - (m)[10]*(m)[7])  - (m)[4]*((m)[2]*(m)[11] - (m)[10]*(m)[3]) + (m)[8]*((m)[2]*(m)[7]   - (m)[6]*(m)[3]));\</span>
</div><div id="lc481"><span style="color: #BC7A00">    (ambuf)[14]  = -((m)[0]*((m)[5]*(m)[11]  - (m)[9]*(m)[7])   - (m)[4]*((m)[1]*(m)[11] - (m)[9]*(m)[3])  + (m)[8]*((m)[1]*(m)[7]   - (m)[5]*(m)[3]));\</span>
</div><div id="lc482"><span style="color: #BC7A00">    (ambuf)[15]  =  ((m)[0]*((m)[5]*(m)[10]  - (m)[9]*(m)[6])   - (m)[4]*((m)[1]*(m)[10] - (m)[9]*(m)[2])  + (m)[8]*((m)[1]*(m)[6]   - (m)[5]*(m)[2]));\</span>
</div><div id="lc483"><span style="color: #BC7A00">    (detbuf) = (ambuf)[0]*(m)[0]+(ambuf)[4]*(m)[4]+(ambuf)[8]*(m)[8]+(ambuf)[12]*(m)[12];\</span>
</div><div id="lc484"><span style="color: #BC7A00">    if(detbuf)\</span>
</div><div id="lc485"><span style="color: #BC7A00">    {\</span>
</div><div id="lc486"><span style="color: #BC7A00">        (r)[0]  = (ambuf)[0]  / (detbuf);\</span>
</div><div id="lc487"><span style="color: #BC7A00">        (r)[1]  = (ambuf)[4]  / (detbuf);\</span>
</div><div id="lc488"><span style="color: #BC7A00">        (r)[2]  = (ambuf)[8]  / (detbuf);\</span>
</div><div id="lc489"><span style="color: #BC7A00">        (r)[3]  = (ambuf)[12] / (detbuf);\</span>
</div><div id="lc490"><span style="color: #BC7A00">        (r)[4]  = (ambuf)[1]  / (detbuf);\</span>
</div><div id="lc491"><span style="color: #BC7A00">        (r)[5]  = (ambuf)[5]  / (detbuf);\</span>
</div><div id="lc492"><span style="color: #BC7A00">        (r)[6]  = (ambuf)[9]  / (detbuf);\</span>
</div><div id="lc493"><span style="color: #BC7A00">        (r)[7]  = (ambuf)[13] / (detbuf);\</span>
</div><div id="lc494"><span style="color: #BC7A00">        (r)[8]  = (ambuf)[2]  / (detbuf);\</span>
</div><div id="lc495"><span style="color: #BC7A00">        (r)[9]  = (ambuf)[6]  / (detbuf);\</span>
</div><div id="lc496"><span style="color: #BC7A00">        (r)[10] = (ambuf)[10] / (detbuf);\</span>
</div><div id="lc497"><span style="color: #BC7A00">        (r)[11] = (ambuf)[14] / (detbuf);\</span>
</div><div id="lc498"><span style="color: #BC7A00">        (r)[12] = (ambuf)[3]  / (detbuf);\</span>
</div><div id="lc499"><span style="color: #BC7A00">        (r)[13] = (ambuf)[7]  / (detbuf);\</span>
</div><div id="lc500"><span style="color: #BC7A00">        (r)[14] = (ambuf)[11] / (detbuf);\</span>
</div><div id="lc501"><span style="color: #BC7A00">        (r)[15] = (ambuf)[15] / (detbuf);\</span>
</div><div id="lc502"><span style="color: #BC7A00">    }</span>
</div><div id="lc503">
</div><div id="lc504"><span style="color: #BC7A00">#define matrix44_inverse2(r, m, ambuf, detbuf, cache) </span><span style="color: #408080; font-style: italic">/* cache requires array of 17 elements | Ex: float cache[17]; */</span><span style="color: #BC7A00">\</span>
</div><div id="lc505"><span style="color: #BC7A00">    (ambuf)[0]   =  ((m)[5]*(cache[0] = ((m)[10]*(m)[15] - (m)[14]*(m)[11])) - (m)[9]*(cache[1] = ((m)[6]*(m)[15] - (m)[14]*(m)[7])) + (m)[13]*(cache[2] = ((m)[6]*(m)[11] - (m)[10]*(m)[7])));\</span>
</div><div id="lc506"><span style="color: #BC7A00">    (ambuf)[1]   = -((m)[4]*(cache[0]) - (m)[8]*(cache[1]) + (m)[12]*(cache[2]));\</span>
</div><div id="lc507"><span style="color: #BC7A00">    (ambuf)[2]   =  ((m)[4]*(cache[3] = ((m)[9]*(m)[15] - (m)[13]*(m)[11])) - (m)[8]*(cache[4] = ((m)[5]*(m)[15] - (m)[13]*(m)[7])) + (m)[12]*(cache[5] = ((m)[5]*(m)[11] - (m)[9]*(m)[7])));\</span>
</div><div id="lc508"><span style="color: #BC7A00">    (ambuf)[3]   = -((m)[4]*(cache[6] = ((m)[9]*(m)[14] - (m)[13]*(m)[10])) - (m)[8]*(cache[7] = ((m)[5]*(m)[14] - (m)[13]*(m)[6])) + (m)[12]*(cache[8] = ((m)[5]*(m)[10] - (m)[9]*(m)[6])));\</span>
</div><div id="lc509"><span style="color: #BC7A00">    (ambuf)[4]   = -((m)[1]*(cache[0]) - (m)[9]*(cache[9] = ((m)[2]*(m)[15] - (m)[14]*(m)[3])) + (m)[13]*(cache[10] = ((m)[2]*(m)[11] - (m)[10]*(m)[3])));\</span>
</div><div id="lc510"><span style="color: #BC7A00">    (ambuf)[5]   =  ((m)[0]*(cache[0]) - (m)[8]*(cache[9]) + (m)[12]*(cache[10]));\</span>
</div><div id="lc511"><span style="color: #BC7A00">    (ambuf)[6]   = -((m)[0]*(cache[3]) - (m)[8]*(cache[11] = ((m)[1]*(m)[15] - (m)[13]*(m)[3])) + (m)[12]*(cache[12] = ((m)[1]*(m)[11] - (m)[9]*(m)[3])));\</span>
</div><div id="lc512"><span style="color: #BC7A00">    (ambuf)[7]   =  ((m)[0]*(cache[6]) - (m)[8]*(cache[13] = ((m)[1]*(m)[14] - (m)[13]*(m)[2])) + (m)[12]*(cache[14] = ((m)[1]*(m)[10] - (m)[9]*(m)[2])));\</span>
</div><div id="lc513"><span style="color: #BC7A00">    (ambuf)[8]   =  ((m)[1]*(cache[1]) - (m)[5]*(cache[9]) + (m)[13]*(cache[15] = ((m)[2]*(m)[7] - (m)[6]*(m)[3])));\</span>
</div><div id="lc514"><span style="color: #BC7A00">    (ambuf)[9]   = -((m)[0]*(cache[1]) - (m)[4]*(cache[9]) + (m)[12]*(cache[15]));\</span>
</div><div id="lc515"><span style="color: #BC7A00">    (ambuf)[10]  =  ((m)[0]*(cache[4]) - (m)[4]*(cache[11]) + (m)[12]*((m)[1]*(m)[7] - (m)[5]*(m)[3]));\</span>
</div><div id="lc516"><span style="color: #BC7A00">    (ambuf)[11]  = -((m)[0]*(cache[7]) - (m)[4]*(cache[13]) + (m)[12]*((m)[1]*(m)[6] - (m)[5]*(m)[2]));\</span>
</div><div id="lc517"><span style="color: #BC7A00">    (ambuf)[12]  = -((m)[1]*(cache[2]) - (m)[5]*(cache[10]) + (m)[9]*(cache[16] = ((m)[2]*(m)[7]  - (m)[6]*(m)[3])));\</span>
</div><div id="lc518"><span style="color: #BC7A00">    (ambuf)[13]  =  ((m)[0]*(cache[2]) - (m)[4]*(cache[10]) + (m)[8]*(cache[16]));\</span>
</div><div id="lc519"><span style="color: #BC7A00">    (ambuf)[14]  = -((m)[0]*(cache[5]) - (m)[4]*(cache[12])  + (m)[8]*((m)[1]*(m)[7]  - (m)[5]*(m)[3]));\</span>
</div><div id="lc520"><span style="color: #BC7A00">    (ambuf)[15]  =  ((m)[0]*(cache[8]) - (m)[4]*(cache[14])  + (m)[8]*((m)[1]*(m)[6]  - (m)[5]*(m)[2]));\</span>
</div><div id="lc521"><span style="color: #BC7A00">    (detbuf) = (ambuf)[0]*(m)[0]+(ambuf)[4]*(m)[4]+(ambuf)[8]*(m)[8]+(ambuf)[12]*(m)[12];\</span>
</div><div id="lc522"><span style="color: #BC7A00">    if(detbuf)\</span>
</div><div id="lc523"><span style="color: #BC7A00">    {\</span>
</div><div id="lc524"><span style="color: #BC7A00">        (r)[0]  = (ambuf)[0]  / (detbuf);\</span>
</div><div id="lc525"><span style="color: #BC7A00">        (r)[1]  = (ambuf)[4]  / (detbuf);\</span>
</div><div id="lc526"><span style="color: #BC7A00">        (r)[2]  = (ambuf)[8]  / (detbuf);\</span>
</div><div id="lc527"><span style="color: #BC7A00">        (r)[3]  = (ambuf)[12] / (detbuf);\</span>
</div><div id="lc528"><span style="color: #BC7A00">        (r)[4]  = (ambuf)[1]  / (detbuf);\</span>
</div><div id="lc529"><span style="color: #BC7A00">        (r)[5]  = (ambuf)[5]  / (detbuf);\</span>
</div><div id="lc530"><span style="color: #BC7A00">        (r)[6]  = (ambuf)[9]  / (detbuf);\</span>
</div><div id="lc531"><span style="color: #BC7A00">        (r)[7]  = (ambuf)[13] / (detbuf);\</span>
</div><div id="lc532"><span style="color: #BC7A00">        (r)[8]  = (ambuf)[2]  / (detbuf);\</span>
</div><div id="lc533"><span style="color: #BC7A00">        (r)[9]  = (ambuf)[6]  / (detbuf);\</span>
</div><div id="lc534"><span style="color: #BC7A00">        (r)[10] = (ambuf)[10] / (detbuf);\</span>
</div><div id="lc535"><span style="color: #BC7A00">        (r)[11] = (ambuf)[14] / (detbuf);\</span>
</div><div id="lc536"><span style="color: #BC7A00">        (r)[12] = (ambuf)[3]  / (detbuf);\</span>
</div><div id="lc537"><span style="color: #BC7A00">        (r)[13] = (ambuf)[7]  / (detbuf);\</span>
</div><div id="lc538"><span style="color: #BC7A00">        (r)[14] = (ambuf)[11] / (detbuf);\</span>
</div><div id="lc539"><span style="color: #BC7A00">        (r)[15] = (ambuf)[15] / (detbuf);\</span>
</div><div id="lc540"><span style="color: #BC7A00">    }</span>
</div><div id="lc541">
</div><div id="lc542"><span style="color: #BC7A00">#define matrix33_inverse(r, m, ambuf, detbuf)\</span>
</div><div id="lc543"><span style="color: #BC7A00">    (ambuf)[0] =  ((m)[4]*(m)[8]-(m)[7]*(m)[5]);\</span>
</div><div id="lc544"><span style="color: #BC7A00">    (ambuf)[1] = -((m)[3]*(m)[8]-(m)[6]*(m)[5]);\</span>
</div><div id="lc545"><span style="color: #BC7A00">    (ambuf)[2] =  ((m)[3]*(m)[7]-(m)[6]*(m)[4]);\</span>
</div><div id="lc546"><span style="color: #BC7A00">    (ambuf)[3] = -((m)[1]*(m)[8]-(m)[7]*(m)[2]);\</span>
</div><div id="lc547"><span style="color: #BC7A00">    (ambuf)[4] =  ((m)[0]*(m)[8]-(m)[6]*(m)[2]);\</span>
</div><div id="lc548"><span style="color: #BC7A00">    (ambuf)[5] = -((m)[0]*(m)[7]-(m)[6]*(m)[1]);\</span>
</div><div id="lc549"><span style="color: #BC7A00">    (ambuf)[6] =  ((m)[1]*(m)[5]-(m)[4]*(m)[2]);\</span>
</div><div id="lc550"><span style="color: #BC7A00">    (ambuf)[7] = -((m)[0]*(m)[5]-(m)[3]*(m)[2]);\</span>
</div><div id="lc551"><span style="color: #BC7A00">    (ambuf)[8] =  ((m)[0]*(m)[4]-(m)[3]*(m)[1]);\</span>
</div><div id="lc552"><span style="color: #BC7A00">    (detbuf) = (ambuf)[0]*(m)[0]+(ambuf)[3]*(m)[3]+(ambuf)[6]*(m)[6];\</span>
</div><div id="lc553"><span style="color: #BC7A00">    if(detbuf)\</span>
</div><div id="lc554"><span style="color: #BC7A00">    {\</span>
</div><div id="lc555"><span style="color: #BC7A00">        (r)[0] = (ambuf)[0] / (detbuf);\</span>
</div><div id="lc556"><span style="color: #BC7A00">        (r)[1] = (ambuf)[3] / (detbuf);\</span>
</div><div id="lc557"><span style="color: #BC7A00">        (r)[2] = (ambuf)[6] / (detbuf);\</span>
</div><div id="lc558"><span style="color: #BC7A00">        (r)[3] = (ambuf)[1] / (detbuf);\</span>
</div><div id="lc559"><span style="color: #BC7A00">        (r)[4] = (ambuf)[4] / (detbuf);\</span>
</div><div id="lc560"><span style="color: #BC7A00">        (r)[5] = (ambuf)[7] / (detbuf);\</span>
</div><div id="lc561"><span style="color: #BC7A00">        (r)[6] = (ambuf)[2] / (detbuf);\</span>
</div><div id="lc562"><span style="color: #BC7A00">        (r)[7] = (ambuf)[5] / (detbuf);\</span>
</div><div id="lc563"><span style="color: #BC7A00">        (r)[8] = (ambuf)[8] / (detbuf);\</span>
</div><div id="lc564"><span style="color: #BC7A00">    }</span>
</div><div id="lc565">
</div><div id="lc566"><span style="color: #BC7A00">/* vector*_zero */</span>
</div><div id="lc567">
</div><div id="lc568"><span style="color: #BC7A00">#define vector3_zero(v) (v)[0] = 0; (v)[1] = 0; (v)[2] = 0</span>
</div><div id="lc569"><span style="color: #BC7A00">#define vector2_zero(v) (v)[0] = 0; (v)[1] = 0</span>
</div><div id="lc570">
</div><div id="lc571"><span style="color: #BC7A00">/* vector*_copy */</span>
</div><div id="lc572">
</div><div id="lc573"><span style="color: #BC7A00">#define vector3_copy(v, v2)\</span>
</div><div id="lc574"><span style="color: #BC7A00">    (v)[0] = (v2)[0]; (v)[1] = (v2)[1]; (v)[2] = (v2)[2]</span>
</div><div id="lc575">
</div><div id="lc576"><span style="color: #BC7A00">#define vector2_copy(v, v2)\</span>
</div><div id="lc577"><span style="color: #BC7A00">    (v)[0] = (v2)[0]; (v)[1] = (v2)[1]</span>
</div><div id="lc578">
</div><div id="lc579"><span style="color: #BC7A00">/* vector*_set */</span>
</div><div id="lc580">
</div><div id="lc581"><span style="color: #BC7A00">#define vector3_set(v, x, y, z)\</span>
</div><div id="lc582"><span style="color: #BC7A00">    (v)[0] = (x); (v)[1] = (y); (v)[2] = (z)</span>
</div><div id="lc583">
</div><div id="lc584"><span style="color: #BC7A00">#define vector2_set(v, x, y)\</span>
</div><div id="lc585"><span style="color: #BC7A00">    (v)[0] = (x); (v)[1] = (y)</span>
</div><div id="lc586">
</div><div id="lc587"><span style="color: #BC7A00">/* vector*_equal */</span>
</div><div id="lc588">
</div><div id="lc589"><span style="color: #BC7A00">#define vector4_equal(v, v2)\</span>
</div><div id="lc590"><span style="color: #BC7A00">    ((v)[0] == (v2)[0] &amp;&amp;\</span>
</div><div id="lc591"><span style="color: #BC7A00">     (v)[1] == (v2)[1] &amp;&amp;\</span>
</div><div id="lc592"><span style="color: #BC7A00">     (v)[2] == (v2)[2] &amp;&amp;\</span>
</div><div id="lc593"><span style="color: #BC7A00">     (v)[3] == (v2)[3])</span>
</div><div id="lc594">
</div><div id="lc595"><span style="color: #BC7A00">#define vector4_equal_dif(v, v2, dif)\</span>
</div><div id="lc596"><span style="color: #BC7A00">    (fabs((v)[0] - (v2)[0]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc597"><span style="color: #BC7A00">     fabs((v)[1] - (v2)[1]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc598"><span style="color: #BC7A00">     fabs((v)[2] - (v2)[2]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc599"><span style="color: #BC7A00">     fabs((v)[3] - (v2)[3]) &lt; (dif))</span>
</div><div id="lc600">
</div><div id="lc601"><span style="color: #BC7A00">#define vector3_equal(v, v2)\</span>
</div><div id="lc602"><span style="color: #BC7A00">    ((v)[0] == (v2)[0] &amp;&amp;\</span>
</div><div id="lc603"><span style="color: #BC7A00">     (v)[1] == (v2)[1] &amp;&amp;\</span>
</div><div id="lc604"><span style="color: #BC7A00">     (v)[2] == (v2)[2])</span>
</div><div id="lc605">
</div><div id="lc606"><span style="color: #BC7A00">#define vector3_equal_dif(v, v2, dif)\</span>
</div><div id="lc607"><span style="color: #BC7A00">    (fabs((v)[0] - (v2)[0]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc608"><span style="color: #BC7A00">     fabs((v)[1] - (v2)[1]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc609"><span style="color: #BC7A00">     fabs((v)[2] - (v2)[2]) &lt; (dif))</span>
</div><div id="lc610">
</div><div id="lc611"><span style="color: #BC7A00">#define vector2_equal(v, v2)\</span>
</div><div id="lc612"><span style="color: #BC7A00">    ((v)[0] == (v2)[0] &amp;&amp;\</span>
</div><div id="lc613"><span style="color: #BC7A00">     (v)[1] == (v2)[1])</span>
</div><div id="lc614">
</div><div id="lc615"><span style="color: #BC7A00">#define vector2_equal_dif(v, v2, dif)\</span>
</div><div id="lc616"><span style="color: #BC7A00">    (fabs((v)[0] - (v2)[0]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc617"><span style="color: #BC7A00">     fabs((v)[1] - (v2)[1]) &lt; (dif))</span>
</div><div id="lc618">
</div><div id="lc619"><span style="color: #BC7A00">/* vector*_sum */</span>
</div><div id="lc620">
</div><div id="lc621"><span style="color: #BC7A00">#define vector4_sum(r, v, v2)\</span>
</div><div id="lc622"><span style="color: #BC7A00">    (r)[0] = (v)[0] + (v2)[0];\</span>
</div><div id="lc623"><span style="color: #BC7A00">    (r)[1] = (v)[1] + (v2)[1];\</span>
</div><div id="lc624"><span style="color: #BC7A00">    (r)[2] = (v)[2] + (v2)[2];\</span>
</div><div id="lc625"><span style="color: #BC7A00">    (r)[3] = (v)[3] + (v2)[3]</span>
</div><div id="lc626">
</div><div id="lc627"><span style="color: #BC7A00">#define vector3_sum(r, v, v2)\</span>
</div><div id="lc628"><span style="color: #BC7A00">    (r)[0] = (v)[0] + (v2)[0];\</span>
</div><div id="lc629"><span style="color: #BC7A00">    (r)[1] = (v)[1] + (v2)[1];\</span>
</div><div id="lc630"><span style="color: #BC7A00">    (r)[2] = (v)[2] + (v2)[2]</span>
</div><div id="lc631">
</div><div id="lc632"><span style="color: #BC7A00">#define vector2_sum(r, v, v2)\</span>
</div><div id="lc633"><span style="color: #BC7A00">    (r)[0] = (v)[0] + (v2)[0];\</span>
</div><div id="lc634"><span style="color: #BC7A00">    (r)[1] = (v)[1] + (v2)[1]</span>
</div><div id="lc635">
</div><div id="lc636"><span style="color: #BC7A00">/* vector*_add */</span>
</div><div id="lc637">
</div><div id="lc638"><span style="color: #BC7A00">#define vector4_add(v, v2) vector4_sum(v, v, v2)</span>
</div><div id="lc639"><span style="color: #BC7A00">#define vector3_add(v, v2) vector3_sum(v, v, v2)</span>
</div><div id="lc640"><span style="color: #BC7A00">#define vector2_add(v, v2) vector2_sum(v, v, v2)</span>
</div><div id="lc641">
</div><div id="lc642"><span style="color: #BC7A00">/* vector*_dif */</span>
</div><div id="lc643">
</div><div id="lc644"><span style="color: #BC7A00">#define vector4_dif(r, v, v2)\</span>
</div><div id="lc645"><span style="color: #BC7A00">    (r)[0] = (v)[0] - (v2)[0];\</span>
</div><div id="lc646"><span style="color: #BC7A00">    (r)[1] = (v)[1] - (v2)[1];\</span>
</div><div id="lc647"><span style="color: #BC7A00">    (r)[2] = (v)[2] - (v2)[2];\</span>
</div><div id="lc648"><span style="color: #BC7A00">    (r)[3] = (v)[3] - (v2)[3]</span>
</div><div id="lc649">
</div><div id="lc650"><span style="color: #BC7A00">#define vector3_dif(r, v, v2)\</span>
</div><div id="lc651"><span style="color: #BC7A00">    (r)[0] = (v)[0] - (v2)[0];\</span>
</div><div id="lc652"><span style="color: #BC7A00">    (r)[1] = (v)[1] - (v2)[1];\</span>
</div><div id="lc653"><span style="color: #BC7A00">    (r)[2] = (v)[2] - (v2)[2]</span>
</div><div id="lc654">
</div><div id="lc655"><span style="color: #BC7A00">#define vector2_dif(r, v, v2)\</span>
</div><div id="lc656"><span style="color: #BC7A00">    (r)[0] = (v)[0] - (v2)[0];\</span>
</div><div id="lc657"><span style="color: #BC7A00">    (r)[1] = (v)[1] - (v2)[1]</span>
</div><div id="lc658">
</div><div id="lc659"><span style="color: #BC7A00">/* vector*_sub */</span>
</div><div id="lc660">
</div><div id="lc661"><span style="color: #BC7A00">#define vector4_sub(v, v2) vector4_dif(v, v, v2)</span>
</div><div id="lc662"><span style="color: #BC7A00">#define vector3_sub(v, v2) vector3_dif(v, v, v2)</span>
</div><div id="lc663"><span style="color: #BC7A00">#define vector2_sub(v, v2) vector2_dif(v, v, v2)</span>
</div><div id="lc664">
</div><div id="lc665"><span style="color: #BC7A00">/* vector*_mult */</span>
</div><div id="lc666">
</div><div id="lc667"><span style="color: #BC7A00">#define vector3_mult(r, v, s)\</span>
</div><div id="lc668"><span style="color: #BC7A00">    (r)[0] = (v)[0]*(s); (r)[1] = (v)[1]*(s); (r)[2] = (v)[2]*(s)</span>
</div><div id="lc669">
</div><div id="lc670"><span style="color: #BC7A00">#define vector2_mult(r, v, s)\</span>
</div><div id="lc671"><span style="color: #BC7A00">    (r)[0] = (v)[0]*(s); (r)[1] = (v)[1]*(s)</span>
</div><div id="lc672">
</div><div id="lc673"><span style="color: #BC7A00">/* vector*_dot */</span>
</div><div id="lc674">
</div><div id="lc675"><span style="color: #BC7A00">#define vector4_dot(v, v2)\</span>
</div><div id="lc676"><span style="color: #BC7A00">    ((v)[0]*(v2)[0]+(v)[1]*(v2)[1]+(v)[2]*(v2)[2]+(v)[3]*(v2)[3])</span>
</div><div id="lc677">
</div><div id="lc678"><span style="color: #BC7A00">#define vector3_dot(v, v2)\</span>
</div><div id="lc679"><span style="color: #BC7A00">    ((v)[0]*(v2)[0]+(v)[1]*(v2)[1]+(v)[2]*(v2)[2])</span>
</div><div id="lc680">
</div><div id="lc681"><span style="color: #BC7A00">#define vector2_dot(v, v2)\</span>
</div><div id="lc682"><span style="color: #BC7A00">    ((v)[0]*(v2)[0]+(v)[1]*(v2)[1])</span>
</div><div id="lc683">
</div><div id="lc684"><span style="color: #BC7A00">/* vector3_cross */</span>
</div><div id="lc685">
</div><div id="lc686"><span style="color: #BC7A00">#define vector3_cross(c, a, b)\</span>
</div><div id="lc687"><span style="color: #BC7A00">    (c)[0] = (a)[1]*(b)[2] - (a)[2]*(b)[1];\</span>
</div><div id="lc688"><span style="color: #BC7A00">    (c)[1] = (a)[2]*(b)[0] - (a)[0]*(b)[2];\</span>
</div><div id="lc689"><span style="color: #BC7A00">    (c)[2] = (a)[0]*(b)[1] - (a)[1]*(b)[0]</span>
</div><div id="lc690">
</div><div id="lc691"><span style="color: #BC7A00">/* vector*_length */</span>
</div><div id="lc692">
</div><div id="lc693"><span style="color: #BC7A00">#define vector4_length(v) sqrt(vector4_dot((v), (v)))</span>
</div><div id="lc694"><span style="color: #BC7A00">#define vector3_length(v) sqrt(vector3_dot((v), (v)))</span>
</div><div id="lc695"><span style="color: #BC7A00">#define vector2_length(v) sqrt(vector2_dot((v), (v)))</span>
</div><div id="lc696">
</div><div id="lc697"><span style="color: #BC7A00">/* vector*_normalize */</span>
</div><div id="lc698">
</div><div id="lc699"><span style="color: #BC7A00">#define vector4_normalize(v, lenbuf)\</span>
</div><div id="lc700"><span style="color: #BC7A00">    (lenbuf) = vector4_length(v);\</span>
</div><div id="lc701"><span style="color: #BC7A00">    (v)[0] /= (lenbuf);\</span>
</div><div id="lc702"><span style="color: #BC7A00">    (v)[1] /= (lenbuf);\</span>
</div><div id="lc703"><span style="color: #BC7A00">    (v)[2] /= (lenbuf);\</span>
</div><div id="lc704"><span style="color: #BC7A00">    (v)[3] /= (lenbuf)</span>
</div><div id="lc705">
</div><div id="lc706"><span style="color: #BC7A00">#define vector3_normalize(v, lenbuf)\</span>
</div><div id="lc707"><span style="color: #BC7A00">    (lenbuf) = vector3_length(v);\</span>
</div><div id="lc708"><span style="color: #BC7A00">    (v)[0] /= (lenbuf);\</span>
</div><div id="lc709"><span style="color: #BC7A00">    (v)[1] /= (lenbuf);\</span>
</div><div id="lc710"><span style="color: #BC7A00">    (v)[2] /= (lenbuf)</span>
</div><div id="lc711">
</div><div id="lc712"><span style="color: #BC7A00">#define vector2_normalize(v, lenbuf)\</span>
</div><div id="lc713"><span style="color: #BC7A00">    (lenbuf) = vector2_length(v);\</span>
</div><div id="lc714"><span style="color: #BC7A00">    (v)[0] /= (lenbuf);\</span>
</div><div id="lc715"><span style="color: #BC7A00">    (v)[1] /= (lenbuf)</span>
</div><div id="lc716">
</div><div id="lc717"><span style="color: #BC7A00">/* [hvector|hpoint]*compute */</span>
</div><div id="lc718">
</div><div id="lc719"><span style="color: #BC7A00">#define hvector4_compute(hv)\</span>
</div><div id="lc720"><span style="color: #BC7A00">    if((hv)[3]){\</span>
</div><div id="lc721"><span style="color: #BC7A00">    (hv)[0] /= (hv)[3];\</span>
</div><div id="lc722"><span style="color: #BC7A00">    (hv)[1] /= (hv)[3];\</span>
</div><div id="lc723"><span style="color: #BC7A00">    (hv)[2] /= (hv)[3];\</span>
</div><div id="lc724"><span style="color: #BC7A00">    (hv)[3] = 0;}</span>
</div><div id="lc725">
</div><div id="lc726"><span style="color: #BC7A00">#define hvector3_compute(hv)\</span>
</div><div id="lc727"><span style="color: #BC7A00">    if((hv)[2]){\</span>
</div><div id="lc728"><span style="color: #BC7A00">    (hv)[0] /= (hv)[2];\</span>
</div><div id="lc729"><span style="color: #BC7A00">    (hv)[1] /= (hv)[2];\</span>
</div><div id="lc730"><span style="color: #BC7A00">    (hv)[2] = 0;}</span>
</div><div id="lc731">
</div><div id="lc732"><span style="color: #BC7A00">#define hpoint4_compute(hp)\</span>
</div><div id="lc733"><span style="color: #BC7A00">    if((hp)[3] != 1){\</span>
</div><div id="lc734"><span style="color: #BC7A00">    (hp)[0] /= (hp)[3];\</span>
</div><div id="lc735"><span style="color: #BC7A00">    (hp)[1] /= (hp)[3];\</span>
</div><div id="lc736"><span style="color: #BC7A00">    (hp)[2] /= (hp)[3];\</span>
</div><div id="lc737"><span style="color: #BC7A00">    (hp)[3] = 1;}</span>
</div><div id="lc738">
</div><div id="lc739"><span style="color: #BC7A00">#define hpoint3_compute(hp)\</span>
</div><div id="lc740"><span style="color: #BC7A00">    if((hp)[2] != 1){\</span>
</div><div id="lc741"><span style="color: #BC7A00">    (hp)[0] /= (hp)[2];\</span>
</div><div id="lc742"><span style="color: #BC7A00">    (hp)[1] /= (hp)[2];\</span>
</div><div id="lc743"><span style="color: #BC7A00">    (hp)[2] = 1;}</span>
</div><div id="lc744">
</div><div id="lc745"><span style="color: #BC7A00">/* *[vector|point|normal]*_transform | m*v */</span>
</div><div id="lc746">
</div><div id="lc747"><span style="color: #BC7A00">#define vector3_transform(r, m, v)\</span>
</div><div id="lc748"><span style="color: #BC7A00">    (r)[0] = (m)[0]*(v)[0] + (m)[4]*(v)[1] + (m)[8]*(v)[2];\</span>
</div><div id="lc749"><span style="color: #BC7A00">    (r)[1] = (m)[1]*(v)[0] + (m)[5]*(v)[1] + (m)[9]*(v)[2];\</span>
</div><div id="lc750"><span style="color: #BC7A00">    (r)[2] = (m)[2]*(v)[0] + (m)[6]*(v)[1] + (m)[10]*(v)[2]</span>
</div><div id="lc751">
</div><div id="lc752"><span style="color: #BC7A00">#define vector2_transform(r, m, v)\</span>
</div><div id="lc753"><span style="color: #BC7A00">    (r)[0] = (m)[0]*(v)[0] + (m)[3]*(v)[1];\</span>
</div><div id="lc754"><span style="color: #BC7A00">    (r)[1] = (m)[1]*(v)[0] + (m)[4]*(v)[1]</span>
</div><div id="lc755">
</div><div id="lc756"><span style="color: #BC7A00">#define point3_transform(r, m, v)\</span>
</div><div id="lc757"><span style="color: #BC7A00">    (r)[0] = (m)[0]*(v)[0] + (m)[4]*(v)[1] + (m)[8]*(v)[2]  + (m)[12];\</span>
</div><div id="lc758"><span style="color: #BC7A00">    (r)[1] = (m)[1]*(v)[0] + (m)[5]*(v)[1] + (m)[9]*(v)[2]  + (m)[13];\</span>
</div><div id="lc759"><span style="color: #BC7A00">    (r)[2] = (m)[2]*(v)[0] + (m)[6]*(v)[1] + (m)[10]*(v)[2] + (m)[14]</span>
</div><div id="lc760">
</div><div id="lc761"><span style="color: #BC7A00">#define point2_transform(r, m, v)\</span>
</div><div id="lc762"><span style="color: #BC7A00">    (r)[0] = (m)[0]*(v)[0] + (m)[3]*(v)[1] + (m)[6];\</span>
</div><div id="lc763"><span style="color: #BC7A00">    (r)[1] = (m)[1]*(v)[0] + (m)[4]*(v)[1] + (m)[7]</span>
</div><div id="lc764">
</div><div id="lc765"><span style="color: #BC7A00">#define normal3_transform(r, m, v, transbuf, revbuf)\</span>
</div><div id="lc766"><span style="color: #BC7A00">    matrix44_inverse(revbuf, m, transbuf</span><span style="color: #408080; font-style: italic">/* ambuf */</span><span style="color: #BC7A00">, (r)[0]</span><span style="color: #408080; font-style: italic">/* detbuf */</span><span style="color: #BC7A00">);\</span>
</div><div id="lc767"><span style="color: #BC7A00">    matrix44_transpose(transbuf, revbuf);\</span>
</div><div id="lc768"><span style="color: #BC7A00">    (r)[0] = (transbuf)[0]*(v)[0] + (transbuf)[4]*(v)[1] + (transbuf)[8]*(v)[2];\</span>
</div><div id="lc769"><span style="color: #BC7A00">    (r)[1] = (transbuf)[1]*(v)[0] + (transbuf)[5]*(v)[1] + (transbuf)[9]*(v)[2];\</span>
</div><div id="lc770"><span style="color: #BC7A00">    (r)[2] = (transbuf)[2]*(v)[0] + (transbuf)[6]*(v)[1] + (transbuf)[10]*(v)[2]</span>
</div><div id="lc771">
</div><div id="lc772"><span style="color: #BC7A00">/* quat_* */</span>
</div><div id="lc773">
</div><div id="lc774"><span style="color: #BC7A00">#define quat_identity(q)\</span>
</div><div id="lc775"><span style="color: #BC7A00">    (q)[0] = 0;\</span>
</div><div id="lc776"><span style="color: #BC7A00">    (q)[1] = 0;\</span>
</div><div id="lc777"><span style="color: #BC7A00">    (q)[2] = 0;\</span>
</div><div id="lc778"><span style="color: #BC7A00">    (q)[3] = 1</span>
</div><div id="lc779">
</div><div id="lc780"><span style="color: #BC7A00">#define quat_sum(r, q, q2) vector4_sum(r, q, q2)</span>
</div><div id="lc781"><span style="color: #BC7A00">#define quat_dif(r, q, q2) vector4_dif(r, q, q2)</span>
</div><div id="lc782"><span style="color: #BC7A00">#define quat_add(q, q2) vector4_add(q, q2)</span>
</div><div id="lc783"><span style="color: #BC7A00">#define quat_sub(q, q2) vector4_sub(q, q2)</span>
</div><div id="lc784">
</div><div id="lc785"><span style="color: #BC7A00">#define quat_equal(q, q2) vector4_equal(q, q2)</span>
</div><div id="lc786"><span style="color: #BC7A00">#define quat_equal_dif(q, q2, dif) vector4_equal_dif(q, q2, dif)</span>
</div><div id="lc787">
</div><div id="lc788"><span style="color: #BC7A00">#define quat_normalize(q, lenbuf) vector4_normalize(q, lenbuf)</span>
</div><div id="lc789">
</div><div id="lc790"><span style="color: #BC7A00">#define quat_mult(r, q, q2, crossbuf)\</span>
</div><div id="lc791"><span style="color: #BC7A00">    vector3_cross(crossbuf, q, q2);\</span>
</div><div id="lc792"><span style="color: #BC7A00">    (r)[0] = (q)[3]*(q2)[0] + (q2)[3]*(q)[0] + (crossbuf)[0];\</span>
</div><div id="lc793"><span style="color: #BC7A00">    (r)[1] = (q)[3]*(q2)[1] + (q2)[3]*(q)[1] + (crossbuf)[1];\</span>
</div><div id="lc794"><span style="color: #BC7A00">    (r)[2] = (q)[3]*(q2)[2] + (q2)[3]*(q)[2] + (crossbuf)[2];\</span>
</div><div id="lc795"><span style="color: #BC7A00">    (r)[3] = (q)[3]*(q2)[3] - vector3_dot(q, q2)</span>
</div><div id="lc796">
</div><div id="lc797"><span style="color: #BC7A00">#define quat_inverse(r, q, dotbuf)\</span>
</div><div id="lc798"><span style="color: #BC7A00">    (dotbuf) = vector4_dot(q, q);\</span>
</div><div id="lc799"><span style="color: #BC7A00">    (r)[0] = -(q)[0] / (dotbuf);\</span>
</div><div id="lc800"><span style="color: #BC7A00">    (r)[1] = -(q)[1] / (dotbuf);\</span>
</div><div id="lc801"><span style="color: #BC7A00">    (r)[2] = -(q)[2] / (dotbuf);\</span>
</div><div id="lc802"><span style="color: #BC7A00">    (r)[3] =  (q)[3] / (dotbuf)</span>
</div><div id="lc803">
</div><div id="lc804"><span style="color: #BC7A00">/* quat_from* */</span>
</div><div id="lc805">
</div><div id="lc806"><span style="color: #BC7A00">#define quat_from_axis(q, a, x, y, z)\</span>
</div><div id="lc807"><span style="color: #BC7A00">    (q)[0] = sin(a/2)*x;\</span>
</div><div id="lc808"><span style="color: #BC7A00">    (q)[1] = sin(a/2)*y;\</span>
</div><div id="lc809"><span style="color: #BC7A00">    (q)[2] = sin(a/2)*z;\</span>
</div><div id="lc810"><span style="color: #BC7A00">    (q)[3] = cos(a/2)</span>
</div><div id="lc811">
</div><div id="lc812"><span style="color: #BC7A00">#define quat_form_matrix(q, m)\</span>
</div><div id="lc813"><span style="color: #BC7A00">    (q)[3] = sqrt((m)[0]+(m)[5]+(n)[10]+1)/2;\</span>
</div><div id="lc814"><span style="color: #BC7A00">    (q)[0] = sqrt((m[0]+1-2*(q)[3]*(q)[3])/2);\</span>
</div><div id="lc815"><span style="color: #BC7A00">    (q)[1] = sqrt((m[5]+1-2*(q)[3]*(q)[3])/2);\</span>
</div><div id="lc816"><span style="color: #BC7A00">    (q)[2] = sqrt((m[10]+1-2*(q)[3]*(q)[3])/2)</span>
</div><div id="lc817">
</div><div id="lc818"><span style="color: #BC7A00">/*  quat_from_euler* */</span>
</div><div id="lc819">
</div><div id="lc820"><span style="color: #BC7A00">#define quat_from_euler_xyz(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc821"><span style="color: #BC7A00">    (buf)[0] = sin(x/2);\</span>
</div><div id="lc822"><span style="color: #BC7A00">    (buf)[1] = 0;\</span>
</div><div id="lc823"><span style="color: #BC7A00">    (buf)[2] = 0;\</span>
</div><div id="lc824"><span style="color: #BC7A00">    (buf)[3] = cos(x/2);\</span>
</div><div id="lc825"><span style="color: #BC7A00">    (q)[0] = 0;\</span>
</div><div id="lc826"><span style="color: #BC7A00">    (q)[1] = sin(y/2);\</span>
</div><div id="lc827"><span style="color: #BC7A00">    (q)[2] = 0;\</span>
</div><div id="lc828"><span style="color: #BC7A00">    (q)[3] = cos(y/2);\</span>
</div><div id="lc829"><span style="color: #BC7A00">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc830"><span style="color: #BC7A00">    (buf)[0] = 0;\</span>
</div><div id="lc831"><span style="color: #BC7A00">    (buf)[1] = 0;\</span>
</div><div id="lc832"><span style="color: #BC7A00">    (buf)[2] = sin(z/2);\</span>
</div><div id="lc833"><span style="color: #BC7A00">    (buf)[3] = cos(z/2);\</span>
</div><div id="lc834"><span style="color: #BC7A00">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc835">
</div><div id="lc836"><span style="color: #BC7A00">#define quat_from_euler_xzy(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc837"><span style="color: #BC7A00">    (buf)[0] = sin(x/2);\</span>
</div><div id="lc838"><span style="color: #BC7A00">    (buf)[1] = 0;\</span>
</div><div id="lc839"><span style="color: #BC7A00">    (buf)[2] = 0;\</span>
</div><div id="lc840"><span style="color: #BC7A00">    (buf)[3] = cos(x/2);\</span>
</div><div id="lc841"><span style="color: #BC7A00">    (q)[0] = 0;\</span>
</div><div id="lc842"><span style="color: #BC7A00">    (q)[1] = 0;\</span>
</div><div id="lc843"><span style="color: #BC7A00">    (q)[2] = sin(z/2);\</span>
</div><div id="lc844"><span style="color: #BC7A00">    (q)[3] = cos(z/2);\</span>
</div><div id="lc845"><span style="color: #BC7A00">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc846"><span style="color: #BC7A00">    (buf)[0] = 0;\</span>
</div><div id="lc847"><span style="color: #BC7A00">    (buf)[1] = sin(y/2);\</span>
</div><div id="lc848"><span style="color: #BC7A00">    (buf)[2] = 0;\</span>
</div><div id="lc849"><span style="color: #BC7A00">    (buf)[3] = cos(y/2);\</span>
</div><div id="lc850"><span style="color: #BC7A00">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc851">
</div><div id="lc852"><span style="color: #BC7A00">#define quat_from_euler_yxz(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc853"><span style="color: #BC7A00">    (buf)[0] = 0;\</span>
</div><div id="lc854"><span style="color: #BC7A00">    (buf)[1] = sin(y/2);\</span>
</div><div id="lc855"><span style="color: #BC7A00">    (buf)[2] = 0;\</span>
</div><div id="lc856"><span style="color: #BC7A00">    (buf)[3] = cos(y/2);\</span>
</div><div id="lc857"><span style="color: #BC7A00">    (q)[0] = sin(x/2);\</span>
</div><div id="lc858"><span style="color: #BC7A00">    (q)[1] = 0;\</span>
</div><div id="lc859"><span style="color: #BC7A00">    (q)[2] = 0;\</span>
</div><div id="lc860"><span style="color: #BC7A00">    (q)[3] = cos(x/2);\</span>
</div><div id="lc861"><span style="color: #BC7A00">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc862"><span style="color: #BC7A00">    (buf)[0] = 0;\</span>
</div><div id="lc863"><span style="color: #BC7A00">    (buf)[1] = 0;\</span>
</div><div id="lc864"><span style="color: #BC7A00">    (buf)[2] = sin(z/2);\</span>
</div><div id="lc865"><span style="color: #BC7A00">    (buf)[3] = cos(z/2);\</span>
</div><div id="lc866"><span style="color: #BC7A00">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc867">
</div><div id="lc868"><span style="color: #BC7A00">#define quat_from_euler_yzx(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc869"><span style="color: #BC7A00">    (buf)[0] = 0;\</span>
</div><div id="lc870"><span style="color: #BC7A00">    (buf)[1] = sin(y/2);\</span>
</div><div id="lc871"><span style="color: #BC7A00">    (buf)[2] = 0;\</span>
</div><div id="lc872"><span style="color: #BC7A00">    (buf)[3] = cos(y/2);\</span>
</div><div id="lc873"><span style="color: #BC7A00">    (q)[0] = 0;\</span>
</div><div id="lc874"><span style="color: #BC7A00">    (q)[1] = 0;\</span>
</div><div id="lc875"><span style="color: #BC7A00">    (q)[2] = sin(z/2);\</span>
</div><div id="lc876"><span style="color: #BC7A00">    (q)[3] = cos(z/2);\</span>
</div><div id="lc877"><span style="color: #BC7A00">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc878"><span style="color: #BC7A00">    (buf)[0] = sin(x/2);\</span>
</div><div id="lc879"><span style="color: #BC7A00">    (buf)[1] = 0;\</span>
</div><div id="lc880"><span style="color: #BC7A00">    (buf)[2] = 0;\</span>
</div><div id="lc881"><span style="color: #BC7A00">    (buf)[3] = cos(x/2);\</span>
</div><div id="lc882"><span style="color: #BC7A00">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc883">
</div><div id="lc884"><span style="color: #BC7A00">#define quat_from_euler_zxy(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc885"><span style="color: #BC7A00">    (buf)[0] = 0;\</span>
</div><div id="lc886"><span style="color: #BC7A00">    (buf)[1] = 0;\</span>
</div><div id="lc887"><span style="color: #BC7A00">    (buf)[2] = sin(z/2);\</span>
</div><div id="lc888"><span style="color: #BC7A00">    (buf)[3] = cos(z/2);\</span>
</div><div id="lc889"><span style="color: #BC7A00">    (q)[0] = sin(x/2);\</span>
</div><div id="lc890"><span style="color: #BC7A00">    (q)[1] = 0;\</span>
</div><div id="lc891"><span style="color: #BC7A00">    (q)[2] = 0;\</span>
</div><div id="lc892"><span style="color: #BC7A00">    (q)[3] = cos(x/2);\</span>
</div><div id="lc893"><span style="color: #BC7A00">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc894"><span style="color: #BC7A00">    (buf)[0] = 0;\</span>
</div><div id="lc895"><span style="color: #BC7A00">    (buf)[1] = sin(y/2);\</span>
</div><div id="lc896"><span style="color: #BC7A00">    (buf)[2] = 0;\</span>
</div><div id="lc897"><span style="color: #BC7A00">    (buf)[3] = cos(y/2);\</span>
</div><div id="lc898"><span style="color: #BC7A00">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc899">
</div><div id="lc900"><span style="color: #BC7A00">#define quat_from_euler_zyx(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc901"><span style="color: #BC7A00">    (buf)[0] = 0;\</span>
</div><div id="lc902"><span style="color: #BC7A00">    (buf)[1] = 0;\</span>
</div><div id="lc903"><span style="color: #BC7A00">    (buf)[2] = sin(z/2);\</span>
</div><div id="lc904"><span style="color: #BC7A00">    (buf)[3] = cos(z/2);\</span>
</div><div id="lc905"><span style="color: #BC7A00">    (q)[0] = 0;\</span>
</div><div id="lc906"><span style="color: #BC7A00">    (q)[1] = sin(y/2);\</span>
</div><div id="lc907"><span style="color: #BC7A00">    (q)[2] = 0;\</span>
</div><div id="lc908"><span style="color: #BC7A00">    (q)[3] = cos(y/2);\</span>
</div><div id="lc909"><span style="color: #BC7A00">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc910"><span style="color: #BC7A00">    (buf)[0] = sin(x/2);\</span>
</div><div id="lc911"><span style="color: #BC7A00">    (buf)[1] = 0;\</span>
</div><div id="lc912"><span style="color: #BC7A00">    (buf)[2] = 0;\</span>
</div><div id="lc913"><span style="color: #BC7A00">    (buf)[3] = cos(x/2);\</span>
</div><div id="lc914"><span style="color: #BC7A00">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc915">
</div><div id="lc916"><span style="color: #BC7A00">/* hvector4_transform_by_quat */</span>
</div><div id="lc917">
</div><div id="lc918"><span style="color: #BC7A00">#define hvector4_transform_by_quat(r, v, q, tmp, invbuf, crossbuf, dotbuf)\</span>
</div><div id="lc919"><span style="color: #BC7A00">    quat_inverse(invbuf, q, dotbuf);\</span>
</div><div id="lc920"><span style="color: #BC7A00">    quat_mult(tmp, q, v, crossbuf);\</span>
</div><div id="lc921"><span style="color: #BC7A00">    quat_mult(r, tmp, invbuf, crossbuf)</span>
</div><div id="lc922">
</div><div id="lc923"><span style="color: #BC7A00">/* *_from_matrix* */</span>
</div><div id="lc924">
</div><div id="lc925"><span style="color: #BC7A00">#define translate_from_matrix44(r, m)\</span>
</div><div id="lc926"><span style="color: #BC7A00">    (r)[0] = (m)[12];\</span>
</div><div id="lc927"><span style="color: #BC7A00">    (r)[1] = (m)[13];\</span>
</div><div id="lc928"><span style="color: #BC7A00">    (r)[2] = (m)[14]</span>
</div><div id="lc929">
</div><div id="lc930"><span style="color: #408080; font-style: italic">/* Argument &#39;r&#39; must be an array of 3 values and angle (in radians) will be written into &#39;r[0]&#39;</span>
</div><div id="lc931"><span style="color: #408080; font-style: italic"> * Matrix &#39;m&#39; must not contain scale. */</span>
</div><div id="lc932"><span style="color: #BC7A00">#define rotate_x_from_matrix44(r, m, tmpvec)\</span>
</div><div id="lc933"><span style="color: #BC7A00">    vector3_set((r), 0.0, 1.0, 0.0);\</span>
</div><div id="lc934"><span style="color: #BC7A00">    vector3_transform((tmpvec), (m), (r));\</span>
</div><div id="lc935"><span style="color: #BC7A00">    (r)[0] = acos((tmpvec)[2])</span>
</div><div id="lc936">
</div><div id="lc937"><span style="color: #BC7A00">#define rotate_y_from_matrix44(r, m, tmpvec)\</span>
</div><div id="lc938"><span style="color: #BC7A00">    vector3_set((r), 0.0, 0.0, 1.0);\</span>
</div><div id="lc939"><span style="color: #BC7A00">    vector3_transform((tmpvec), (m), (r));\</span>
</div><div id="lc940"><span style="color: #BC7A00">    (r)[0] = acos((tmpvec)[0])</span>
</div><div id="lc941">
</div><div id="lc942"><span style="color: #BC7A00">#define rotate_z_from_matrix44(r, m, tmpvec)\</span>
</div><div id="lc943"><span style="color: #BC7A00">    vector3_set((r), 1.0, 0.0, 0.0);\</span>
</div><div id="lc944"><span style="color: #BC7A00">    vector3_transform((tmpvec), (m), (r));\</span>
</div><div id="lc945"><span style="color: #BC7A00">    (r)[0] = acos((tmpvec)[1])</span>
</div><div id="lc946">
</div><div id="lc947"><span style="color: #BC7A00">#define euler_xyz_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc948"><span style="color: #BC7A00">    (r)[1] = asin((m)[8]);\</span>
</div><div id="lc949"><span style="color: #BC7A00">    (cosbuf) = cos((r)[1]);\</span>
</div><div id="lc950"><span style="color: #BC7A00">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc951"><span style="color: #BC7A00">    {\</span>
</div><div id="lc952"><span style="color: #BC7A00">        (r)[0] = atan2(-(m)[9] / (cosbuf), (m)[10] / (cosbuf));\</span>
</div><div id="lc953"><span style="color: #BC7A00">        (r)[2] = atan2(-(m)[4] / (cosbuf), (m)[0] / (cosbuf));\</span>
</div><div id="lc954"><span style="color: #BC7A00">    }\</span>
</div><div id="lc955"><span style="color: #BC7A00">    else </span><span style="color: #408080; font-style: italic">/* gimbal lock */</span><span style="color: #BC7A00"> \</span>
</div><div id="lc956"><span style="color: #BC7A00">    {\</span>
</div><div id="lc957"><span style="color: #BC7A00">        (r)[0] = 0;\</span>
</div><div id="lc958"><span style="color: #BC7A00">        (r)[2] = atan2((m)[1], (m)[5]);\</span>
</div><div id="lc959"><span style="color: #BC7A00">    }</span>
</div><div id="lc960">
</div><div id="lc961"><span style="color: #BC7A00">#define euler_xzy_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc962"><span style="color: #BC7A00">    (r)[2] = asin(-(m)[4]);\</span>
</div><div id="lc963"><span style="color: #BC7A00">    (cosbuf) = cos((r)[2]);\</span>
</div><div id="lc964"><span style="color: #BC7A00">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc965"><span style="color: #BC7A00">    {\</span>
</div><div id="lc966"><span style="color: #BC7A00">        (r)[0] = atan2((m)[6] / (cosbuf), (m)[5] / (cosbuf));\</span>
</div><div id="lc967"><span style="color: #BC7A00">        (r)[1] = atan2((m)[8] / (cosbuf), (m)[0] / (cosbuf));\</span>
</div><div id="lc968"><span style="color: #BC7A00">    }\</span>
</div><div id="lc969"><span style="color: #BC7A00">    else </span><span style="color: #408080; font-style: italic">/* gimbal lock */</span><span style="color: #BC7A00"> \</span>
</div><div id="lc970"><span style="color: #BC7A00">    {\</span>
</div><div id="lc971"><span style="color: #BC7A00">        (r)[0] = 0;\</span>
</div><div id="lc972"><span style="color: #BC7A00">        (r)[1] = atan2(-(m)[2], (m)[10]);\</span>
</div><div id="lc973"><span style="color: #BC7A00">    }</span>
</div><div id="lc974">
</div><div id="lc975"><span style="color: #BC7A00">#define euler_yxz_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc976"><span style="color: #BC7A00">    (r)[0] = asin(-(m)[9]);\</span>
</div><div id="lc977"><span style="color: #BC7A00">    (cosbuf) = cos((r)[0]);\</span>
</div><div id="lc978"><span style="color: #BC7A00">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc979"><span style="color: #BC7A00">    {\</span>
</div><div id="lc980"><span style="color: #BC7A00">        (r)[1] = atan2((m)[8] / (cosbuf), (m)[10] / (cosbuf));\</span>
</div><div id="lc981"><span style="color: #BC7A00">        (r)[2] = atan2((m)[1] / (cosbuf), (m)[5] / (cosbuf));\</span>
</div><div id="lc982"><span style="color: #BC7A00">    }\</span>
</div><div id="lc983"><span style="color: #BC7A00">    else </span><span style="color: #408080; font-style: italic">/* gimbal lock */</span><span style="color: #BC7A00"> \</span>
</div><div id="lc984"><span style="color: #BC7A00">    {\</span>
</div><div id="lc985"><span style="color: #BC7A00">        (r)[1] = 0;\</span>
</div><div id="lc986"><span style="color: #BC7A00">        (r)[2] = atan2(-(m)[4], (m)[0]);\</span>
</div><div id="lc987"><span style="color: #BC7A00">    }</span>
</div><div id="lc988">
</div><div id="lc989"><span style="color: #BC7A00">#define euler_yzx_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc990"><span style="color: #BC7A00">    (r)[2] = asin((m)[1]);\</span>
</div><div id="lc991"><span style="color: #BC7A00">    (cosbuf) = cos((r)[2]);\</span>
</div><div id="lc992"><span style="color: #BC7A00">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc993"><span style="color: #BC7A00">    {\</span>
</div><div id="lc994"><span style="color: #BC7A00">        (r)[0] = atan2(-(m)[9] / (cosbuf), (m)[5] / (cosbuf));\</span>
</div><div id="lc995"><span style="color: #BC7A00">        (r)[1] = atan2(-(m)[2] / (cosbuf), (m)[0] / (cosbuf));\</span>
</div><div id="lc996"><span style="color: #BC7A00">    }\</span>
</div><div id="lc997"><span style="color: #BC7A00">    else </span><span style="color: #408080; font-style: italic">/* gimbal lock */</span><span style="color: #BC7A00"> \</span>
</div><div id="lc998"><span style="color: #BC7A00">    {\</span>
</div><div id="lc999"><span style="color: #BC7A00">        (r)[0] = atan2((m)[6], (m)[10]);\</span>
</div><div id="lc1000"><span style="color: #BC7A00">        (r)[1] = 0;\</span>
</div><div id="lc1001"><span style="color: #BC7A00">    }</span>
</div><div id="lc1002">
</div><div id="lc1003"><span style="color: #BC7A00">#define euler_zxy_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc1004"><span style="color: #BC7A00">    (r)[0] = asin((m)[6]);\</span>
</div><div id="lc1005"><span style="color: #BC7A00">    (cosbuf) = cos((r)[0]);\</span>
</div><div id="lc1006"><span style="color: #BC7A00">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc1007"><span style="color: #BC7A00">    {\</span>
</div><div id="lc1008"><span style="color: #BC7A00">        (r)[1] = atan2(-(m)[2] / (cosbuf), (m)[10] / (cosbuf));\</span>
</div><div id="lc1009"><span style="color: #BC7A00">        (r)[2] = atan2(-(m)[4] / (cosbuf), (m)[5] / (cosbuf));\</span>
</div><div id="lc1010"><span style="color: #BC7A00">    }\</span>
</div><div id="lc1011"><span style="color: #BC7A00">    else </span><span style="color: #408080; font-style: italic">/* gimbal lock */</span><span style="color: #BC7A00"> \</span>
</div><div id="lc1012"><span style="color: #BC7A00">    {\</span>
</div><div id="lc1013"><span style="color: #BC7A00">        (r)[1] = 0;\</span>
</div><div id="lc1014"><span style="color: #BC7A00">        (r)[2] = atan2((m)[1], (m)[0]);\</span>
</div><div id="lc1015"><span style="color: #BC7A00">    }</span>
</div><div id="lc1016">
</div><div id="lc1017"><span style="color: #BC7A00">#define euler_zyx_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc1018"><span style="color: #BC7A00">    (r)[1] = asin(-(m)[2]);\</span>
</div><div id="lc1019"><span style="color: #BC7A00">    (cosbuf) = cos((r)[1]);\</span>
</div><div id="lc1020"><span style="color: #BC7A00">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc1021"><span style="color: #BC7A00">    {\</span>
</div><div id="lc1022"><span style="color: #BC7A00">        (r)[0] = atan2((m)[6] / (cosbuf), (m)[10] / (cosbuf));\</span>
</div><div id="lc1023"><span style="color: #BC7A00">        (r)[2] = atan2((m)[1] / (cosbuf), (m)[0] / (cosbuf));\</span>
</div><div id="lc1024"><span style="color: #BC7A00">    }\</span>
</div><div id="lc1025"><span style="color: #BC7A00">    else </span><span style="color: #408080; font-style: italic">/* gimbal lock */</span><span style="color: #BC7A00"> \</span>
</div><div id="lc1026"><span style="color: #BC7A00">    {\</span>
</div><div id="lc1027"><span style="color: #BC7A00">        (r)[0] = 0;\</span>
</div><div id="lc1028"><span style="color: #BC7A00">        (r)[2] = atan2(-(m)[2], (m)[10]);\</span>
</div><div id="lc1029"><span style="color: #BC7A00">    }</span>
</div><div id="lc1030">
</div><div id="lc1031"><span style="color: #BC7A00">/* misc */</span>
</div><div id="lc1032">
</div><div id="lc1033"><span style="color: #BC7A00">#define point3_move(p, v, val)\</span>
</div><div id="lc1034"><span style="color: #BC7A00">    (p)[0] += (v)[0]*val;\</span>
</div><div id="lc1035"><span style="color: #BC7A00">    (p)[1] += (v)[1]*val;\</span>
</div><div id="lc1036"><span style="color: #BC7A00">    (p)[2] += (v)[2]*val</span>
</div><div id="lc1037">
</div><div id="lc1038"><span style="color: #BC7A00">#define matrix44_camera_inverse(m, eye, u, v, n)\</span>
</div><div id="lc1039"><span style="color: #BC7A00">    (m)[0] = (u)[0]; (m)[4] = (u)[1]; (m)[8]  = (u)[2]; (m)[12] = -vector3_dot(eye, u);\</span>
</div><div id="lc1040"><span style="color: #BC7A00">    (m)[1] = (v)[0]; (m)[5] = (v)[1]; (m)[9]  = (v)[2]; (m)[13] = -vector3_dot(eye, v);\</span>
</div><div id="lc1041"><span style="color: #BC7A00">    (m)[2] = (n)[0]; (m)[6] = (n)[1]; (m)[10] = (n)[2]; (m)[14] = -vector3_dot(eye, n);\</span>
</div><div id="lc1042"><span style="color: #BC7A00">    (m)[3] = 0;      (m)[7] = 0;      (m)[11] = 0;      (m)[15] = 1</span>
</div><div id="lc1043">
</div><div id="lc1044"><span style="color: #BC7A00">#endif </span><span style="color: #408080; font-style: italic">/* XFORM_H */</span><span style="color: #BC7A00"></span>
</div></pre></div>
<p style="padding: 0; margin: 2em 0 1em 0; font-size: 0.8em; color: #666;"><span style="padding: 0 1em; background-color: #f5f5f5;"> Colored with <a style="color: #333" href="http://dumpz.org">dumpz.org</a></span></p>

BBCODE Copy To Clipboarddone!

[color=#408080][i]/*

Macros of matrix/vector/point/quaternion math.

This code was written by Konstantin Evdokimenko a.k.a Qew[erty].
No copyright is claimed. This code is in the public domain.
Do with it what you wish.

*/[/i][/color]
[color=#BC7A00]
#ifndef XFORM_H
#define XFORM_H

#include <math.h>

#define MICRO 0.000001
[/color]
[color=#408080][i]/*

Column order like in OpenGL, vectors are columns.

*** math_row.math_column(C array index)

4x4

1.1(0)  1.2(4)  1.3(8)   1.4(12)
2.1(1)  2.2(5)  2.3(9)   2.4(13)
3.1(2)  3.2(6)  3.3(10)  3.4(14)
4.1(3)  4.2(7)  4.3(11)  4.4(15)

3x3

1.1(0)  1.2(3)  1.3(6)
2.1(1)  2.2(4)  2.3(7)
3.1(2)  3.2(5)  3.3(8)

Example of translation point (0, 1, 5) by (1, 2, 3):

1 0 0 1     0
0 1 0 2  *  1
0 0 1 3     5
0 0 0 1     1

This is not like in RenderMan where row-major order is used and
vectors are rows.

1 0 0 0
0 1 5 1  *  0 1 0 0
            0 0 1 0
            1 2 3 1

But the cause is that in RenderMan matricies are assumed to be transposed
to OpenGL (and math) ones not row/column order difference.

*/[/i][/color]
[color=#BC7A00]
/* matrix*_zero */

#define matrix44_zero(m)\
    (m)[0]  = 0; (m)[1]  = 0; (m)[2]  = 0; (m)[3]  = 0;\
    (m)[4]  = 0; (m)[5]  = 0; (m)[6]  = 0; (m)[7]  = 0;\
    (m)[8]  = 0; (m)[9]  = 0; (m)[10] = 0; (m)[11] = 0;\
    (m)[12] = 0; (m)[13] = 0; (m)[14] = 0; (m)[15] = 0

#define matrix33_zero(m)\
    (m)[0] = 0; (m)[1] = 0; (m)[2] = 0;\
    (m)[3] = 0; (m)[4] = 0; (m)[5] = 0;\
    (m)[6] = 0; (m)[7] = 0; (m)[8] = 0

/* matrix*_identity */

#define matrix44_identity(m)\
    (m)[0]  = 1; (m)[1]  = 0; (m)[2] = 0;  (m)[3]  = 0;\
    (m)[4]  = 0; (m)[5]  = 1; (m)[6] = 0;  (m)[7]  = 0;\
    (m)[8]  = 0; (m)[9]  = 0; (m)[10] = 1; (m)[11] = 0;\
    (m)[12] = 0; (m)[13] = 0; (m)[14] = 0; (m)[15] = 1

#define matrix33_identity(m)\
    (m)[0] = 1; (m)[1] = 0; (m)[2] = 0;\
    (m)[3] = 0; (m)[4] = 1; (m)[5] = 0;\
    (m)[6] = 0; (m)[7] = 0; (m)[8] = 1

/* matrix*_copy */

#define matrix44_copy(m, m2)\
    (m)[0]  = (m2)[0];  (m)[1]  = (m2)[1];  (m)[2]  = (m2)[2];  (m)[3]  = (m2)[3];\
    (m)[4]  = (m2)[4];  (m)[5]  = (m2)[5];  (m)[6]  = (m2)[6];  (m)[7]  = (m2)[7];\
    (m)[8]  = (m2)[8];  (m)[9]  = (m2)[9];  (m)[10] = (m2)[10]; (m)[11] = (m2)[11];\
    (m)[12] = (m2)[12]; (m)[13] = (m2)[13]; (m)[14] = (m2)[14]; (m)[15] = (m2)[15]

#define matrix33_copy(m, m2)\
    (m)[0] = (m2)[0]; (m)[1] = (m2)[1]; (m)[2] = (m2)[2];\
    (m)[3] = (m2)[3]; (m)[4] = (m2)[4]; (m)[5] = (m2)[5];\
    (m)[6] = (m2)[6]; (m)[7] = (m2)[7]; (m)[8] = (m2)[8]

/* matrix*_equal* */

#define matrix44_equal(m, m2)\
    ((m)[0]  == (m2)[0] &&\
     (m)[1]  == (m2)[1] &&\
     (m)[2]  == (m2)[2] &&\
     (m)[3]  == (m2)[3] &&\
     (m)[4]  == (m2)[4] &&\
     (m)[5]  == (m2)[5] &&\
     (m)[6]  == (m2)[6] &&\
     (m)[7]  == (m2)[7] &&\
     (m)[8]  == (m2)[8] &&\
     (m)[9]  == (m2)[9] &&\
     (m)[10] == (m2)[10] &&\
     (m)[11] == (m2)[11] &&\
     (m)[12] == (m2)[12] &&\
     (m)[13] == (m2)[13] &&\
     (m)[14] == (m2)[14] &&\
     (m)[15] == (m2)[15])

#define matrix44_equal_dif(m, m2, dif)\
    (fabs((m)[0]  - (m2)[0])  < (dif) &&\
     fabs((m)[1]  - (m2)[1])  < (dif) &&\
     fabs((m)[2]  - (m2)[2])  < (dif) &&\
     fabs((m)[3]  - (m2)[3])  < (dif) &&\
     fabs((m)[4]  - (m2)[4])  < (dif) &&\
     fabs((m)[5]  - (m2)[5])  < (dif) &&\
     fabs((m)[6]  - (m2)[6])  < (dif) &&\
     fabs((m)[7]  - (m2)[7])  < (dif) &&\
     fabs((m)[8]  - (m2)[8])  < (dif) &&\
     fabs((m)[9]  - (m2)[9])  < (dif) &&\
     fabs((m)[10] - (m2)[10]) < (dif) &&\
     fabs((m)[11] - (m2)[11]) < (dif) &&\
     fabs((m)[12] - (m2)[12]) < (dif) &&\
     fabs((m)[13] - (m2)[13]) < (dif) &&\
     fabs((m)[14] - (m2)[14]) < (dif) &&\
     fabs((m)[15] - (m2)[15]) < (dif))

#define matrix33_equal(m, m2)\
    ((m)[0] == (m2)[0] &&\
     (m)[1] == (m2)[1] &&\
     (m)[2] == (m2)[2] &&\
     (m)[3] == (m2)[3] &&\
     (m)[4] == (m2)[4] &&\
     (m)[5] == (m2)[5] &&\
     (m)[6] == (m2)[6] &&\
     (m)[7] == (m2)[7] &&\
     (m)[8] == (m2)[8])

#define matrix33_equal_dif(m, m2, dif)\
    (fabs((m)[0] - (m2)[0]) < (dif) &&\
     fabs((m)[1] - (m2)[1]) < (dif) &&\
     fabs((m)[2] - (m2)[2]) < (dif) &&\
     fabs((m)[3] - (m2)[3]) < (dif) &&\
     fabs((m)[4] - (m2)[4]) < (dif) &&\
     fabs((m)[5] - (m2)[5]) < (dif) &&\
     fabs((m)[6] - (m2)[6]) < (dif) &&\
     fabs((m)[7] - (m2)[7]) < (dif) &&\
     fabs((m)[8] - (m2)[8]) < (dif))

/* matrix*_sum */

#define matrix44_sum(r, m, m2)\
    (r)[0]  = (m)[0]  + (m2)[0];\
    (r)[1]  = (m)[1]  + (m2)[1];\
    (r)[2]  = (m)[2]  + (m2)[2];\
    (r)[3]  = (m)[3]  + (m2)[3];\
    (r)[4]  = (m)[4]  + (m2)[4];\
    (r)[5]  = (m)[5]  + (m2)[5];\
    (r)[6]  = (m)[6]  + (m2)[6];\
    (r)[7]  = (m)[7]  + (m2)[7];\
    (r)[8]  = (m)[8]  + (m2)[8];\
    (r)[9]  = (m)[9]  + (m2)[9];\
    (r)[10] = (m)[10] + (m2)[10];\
    (r)[11] = (m)[11] + (m2)[11];\
    (r)[12] = (m)[12] + (m2)[12];\
    (r)[13] = (m)[13] + (m2)[13];\
    (r)[14] = (m)[14] + (m2)[14];\
    (r)[15] = (m)[15] + (m2)[15]

#define matrix33_sum(r, m, m2)\
    (r)[0] = (m)[0] + (m2)[0];\
    (r)[1] = (m)[1] + (m2)[1];\
    (r)[2] = (m)[2] + (m2)[2];\
    (r)[3] = (m)[3] + (m2)[3];\
    (r)[4] = (m)[4] + (m2)[4];\
    (r)[5] = (m)[5] + (m2)[5];\
    (r)[6] = (m)[6] + (m2)[6];\
    (r)[7] = (m)[7] + (m2)[7];\
    (r)[8] = (m)[8] + (m2)[8]

/* matrix*_add */

#define matrix44_add(m, m2) matrix44_sum(m, m, m2)
#define matrix33_add(m, m2) matrix33_sum(m, m, m2)

/* matrix*_dif */

#define matrix44_dif(r, m, m2)\
    (r)[0]  = (m)[0]  - (m2)[0];\
    (r)[1]  = (m)[1]  - (m2)[1];\
    (r)[2]  = (m)[2]  - (m2)[2];\
    (r)[3]  = (m)[3]  - (m2)[3];\
    (r)[4]  = (m)[4]  - (m2)[4];\
    (r)[5]  = (m)[5]  - (m2)[5];\
    (r)[6]  = (m)[6]  - (m2)[6];\
    (r)[7]  = (m)[7]  - (m2)[7];\
    (r)[8]  = (m)[8]  - (m2)[8];\
    (r)[9]  = (m)[9]  - (m2)[9];\
    (r)[10] = (m)[10] - (m2)[10];\
    (r)[11] = (m)[11] - (m2)[11];\
    (r)[12] = (m)[12] - (m2)[12];\
    (r)[13] = (m)[13] - (m2)[13];\
    (r)[14] = (m)[14] - (m2)[14];\
    (r)[15] = (m)[15] - (m2)[15]

#define matrix33_dif(r, m, m2)\
    (r)[0] = (m)[0] - (m2)[0];\
    (r)[1] = (m)[1] - (m2)[1];\
    (r)[2] = (m)[2] - (m2)[2];\
    (r)[3] = (m)[3] - (m2)[3];\
    (r)[4] = (m)[4] - (m2)[4];\
    (r)[5] = (m)[5] - (m2)[5];\
    (r)[6] = (m)[6] - (m2)[6];\
    (r)[7] = (m)[7] - (m2)[7];\
    (r)[8] = (m)[8] - (m2)[8]

/* matrix*_sub */

#define matrix44_sub(m, m2) matrix44_dif(m, m, m2)
#define matrix33_sub(m, m2) matrix33_dif(m, m, m2)

/* matrix*_translate* */

#define matrix44_translate(m, x, y, z)\
    (m)[0]  = 1;    (m)[1]  = 0;   (m)[2]  = 0;   (m)[3]  = 0;\
    (m)[4]  = 0;    (m)[5]  = 1;   (m)[6]  = 0;   (m)[7]  = 0;\
    (m)[8]  = 0;    (m)[9]  = 0;   (m)[10] = 1;   (m)[11] = 0;\
    (m)[12] = (x);  (m)[13] = (y); (m)[14] = (z); (m)[15] = 1

#define matrix44_translate_lazy(m, x, y, z)\
    (m)[12] = (x);  (m)[13] = (y); (m)[14] = (z)

#define matrix33_translate(m, x, y)\
    (m)[0] = 1;   (m)[1] = 0;   (m)[2] = 0;\
    (m)[3] = 0;   (m)[4] = 1;   (m)[5] = 0;\
    (m)[6] = (x); (m)[7] = (y); (m)[8] = 1

#define matrix33_translate_lazy(m, x, y)\
    (m)[6] = (x);  (m)[7] = (y)

/* matrix*_scale* */

#define matrix44_scale(m, x, y, z)\
    (m)[0]  = (x);  (m)[1]  = 0;   (m)[2]  = 0;   (m)[3]  = 0;\
    (m)[4]  = 0;    (m)[5]  = (y); (m)[6]  = 0;   (m)[7]  = 0;\
    (m)[8]  = 0;    (m)[9]  = 0;   (m)[10] = (z); (m)[11] = 0;\
    (m)[12] = 0;    (m)[13] = 0;   (m)[14] = 0;   (m)[15] = 1

#define matrix44_scale_lazy(m, x, y, z)\
    (m)[0] = (x);  (m)[5] = (y); (m)[10] = (z)

#define matrix33_scale(m, x, y)\
    (m)[0] = (x); (m)[1] = 0;   (m)[2] = 0;\
    (m)[3] = 0;   (m)[4] = (y); (m)[5] = 0;\
    (m)[6] = 0;   (m)[7] = 0;   (m)[8] = 1

#define matrix33_scale_lazy(m, x, y, z)\
    (m)[0] = (x);  (m)[4] = (y);

/* matrix*_rotate* */

#define matrix44_rotate_x(m, a)\
    (m)[0]  = 1;  (m)[1]  = 0;       (m)[2]  = 0;      (m)[3]  = 0;\
    (m)[4]  = 0;  (m)[5]  = cos(a);  (m)[6]  = sin(a); (m)[7]  = 0;\
    (m)[8]  = 0;  (m)[9]  = -(m)[6]; (m)[10] = (m)[5]; (m)[11] = 0;\
    (m)[12] = 0;  (m)[13] = 0;       (m)[14] = 0;      (m)[15] = 1

#define matrix44_rotate_y(m, a)\
    (m)[0]  = cos(a);  (m)[1]  = 0; (m)[2]  = -sin(a); (m)[3]  = 0;\
    (m)[4]  = 0;       (m)[5]  = 1; (m)[6]  = 0;       (m)[7]  = 0;\
    (m)[8]  = -(m)[2]; (m)[9]  = 0; (m)[10] = (m)[0];  (m)[11] = 0;\
    (m)[12] = 0;       (m)[13] = 0; (m)[14] = 0;       (m)[15] = 1

#define matrix44_rotate_z(m, a)\
    (m)[0]  = cos(a);  (m)[1]  = sin(a); (m)[2]  = 0; (m)[3]  = 0;\
    (m)[4]  = -(m)[1]; (m)[5]  = (m)[0]; (m)[6]  = 0; (m)[7]  = 0;\
    (m)[8]  = 0;       (m)[9]  = 0;      (m)[10] = 1; (m)[11] = 0;\
    (m)[12] = 0;       (m)[13] = 0;      (m)[14] = 0; (m)[15] = 1

#define matrix33_rotate(m, a)\
    (m)[0] = cos(a);  (m)[1] = sin(a); (m)[2] = 0;\
    (m)[3] = -(m)[1]; (m)[4] = (m)[0]; (m)[5] = 0;\
    (m)[6] = 0;       (m)[7] = 0;      (m)[8] = 1

#define matrix44_rotate_from_axis(m, a, x, y, z)\
    (m)[0]  = (1-cos(a))*(x)*(x) + cos(a);\
    (m)[1]  = (1-cos(a))*(x)*(y) + sin(a)*(z);\
    (m)[2]  = ((1-cos(a))*(x)*(z) - sin(a)*(y)); \
    (m)[3]  = 0;\
    (m)[4]  = (1-cos(a))*(x)*(y) - sin(a)*(z);\
    (m)[5]  = (1-cos(a))*(y)*(y) + cos(a);\
    (m)[6]  = (1-cos(a))*(y)*(z) + sin(a)*(x);\
    (m)[7]  = 0;\
    (m)[8]  = (1-cos(a))*(x)*(z) + sin(a)*(y);\
    (m)[9]  = (1-cos(a))*(y)*(z) - sin(a)*(x);\
    (m)[10] = (1-cos(a))*(z)*(z) + cos(a);\
    (m)[11] = 0;\
    (m)[12] = 0;\
    (m)[13] = 0;\
    (m)[14] = 0;\
    (m)[15] = 1

#define matrix44_rotate_from_axis_sincos(m, s, c, x, y, z)\
    (m)[0]  = (1-(c))*(x)*(x) + (c);\
    (m)[1]  = (1-(c))*(x)*(y) + (s)*(z);\
    (m)[2]  = (1-(c))*(x)*(z) - (s)*(y);\
    (m)[3]  = 0;\
    (m)[4]  = (1-(c))*(x)*(y) - (s)*(z);\
    (m)[5]  = (1-(c))*(y)*(y) + (c);\
    (m)[6]  = (1-(c))*(y)*(z) + (s)*(x);\
    (m)[7]  = 0;\
    (m)[8]  = (1-(c))*(x)*(z) + (s)*(y);\
    (m)[9]  = (1-(c))*(y)*(z) - (s)*(x);\
    (m)[10] = (1-(c))*(z)*(z) + (c);\
    (m)[11] = 0;\
    (m)[12] = 0;\
    (m)[13] = 0;\
    (m)[14] = 0;\
    (m)[15] = 1

#define matrix44_rotate_from_quaternion(m, q)\
    (m)[0]  = 1 - 2*(q)[1]*(q)[1] - 2*(q)[2]*(q)[2];\
    (m)[1]  = 2*(q)[0]*(q)[1] + 2*(q)[3]*(q)[2];\
    (m)[2]  = 2*(q)[0]*(q)[2] - 2*(q)[3]*(q)[1];\
    (m)[3]  = 0;\
    (m)[4]  = 2*(q)[0]*(q)[1] - 2*(q)[3]*(q)[2];\
    (m)[5]  = 1 - 2*(q)[0]*(q)[0] - 2*(q)[2]*(q)[2];\
    (m)[6]  = 2*(q)[1]*(q)[2] + 2*(q)[3]*(q)[0];\
    (m)[7]  = 0;\
    (m)[8]  = 2*(q)[0]*(q)[2] + 2*(q)[3]*(q)[1];\
    (m)[9]  = 2*(q)[1]*(q)[2] - 2*(q)[3]*(q)[0];\
    (m)[10] = 1 - 2*(q)[0]*(q)[0] - 2*(q)[1]*(q)[1];\
    (m)[11] = 0;\
    (m)[12] = 0;\
    (m)[13] = 0;\
    (m)[14] = 0;\
    (m)[15] = 1

/* matrix44_perspective */

#define matrix44_perspective(m, fovy, aspect, z_near, z_far)\
    (m)[1]  = 0;\
    (m)[2]  = 0;\
    (m)[3]  = 0;\
    (m)[4]  = 0;\
    (m)[5]  = (1/tan(fovy/2));\
    (m)[0]  = (m)[5]/(aspect);\
    (m)[6]  = 0;\
    (m)[7]  = 0;\
    (m)[8]  = 0;\
    (m)[9]  = 0;\
    (m)[10] = (z_far+z_near)/(z_near-z_far);\
    (m)[11] = -1;\
    (m)[12] = 0;\
    (m)[13] = 0;\
    (m)[14] = (2*z_far*z_near)/(z_near-z_far);\
    (m)[15] = 0

/* matrix44_ortho2D */

#define matrix44_ortho2D(m, l, r, b, t, n, f) \
    (m)[0]  = 2.0/(r - l);\
    (m)[1]  = 0;\
    (m)[2]  = 0;\
    (m)[3]  = 0;\
    (m)[4]  = 0;\
    (m)[5]  = 2.0/(t - b);\
    (m)[6]  = 0;\
    (m)[7]  = 0;\
    (m)[8]  = 0;\
    (m)[9]  = 0;\
    (m)[10] = -2.0/(f - n);\
    (m)[11] = 0;\
    (m)[12] = -(r + l)/(r - l);\
    (m)[13] = -(t + b)/(t - b);\
    (m)[14] = -(f + n)/(f - n);\
    (m)[15] = 1;\

/* matrix*_transpose */

#define matrix44_transpose(r, m)\
    (r)[0]  = (m)[0];\
    (r)[1]  = (m)[4];\
    (r)[2]  = (m)[8];\
    (r)[3]  = (m)[12];\
    (r)[4]  = (m)[1];\
    (r)[5]  = (m)[5];\
    (r)[6]  = (m)[9];\
    (r)[7]  = (m)[13];\
    (r)[8]  = (m)[2];\
    (r)[9]  = (m)[6];\
    (r)[10] = (m)[10];\
    (r)[11] = (m)[14];\
    (r)[12] = (m)[3];\
    (r)[13] = (m)[7];\
    (r)[14] = (m)[11];\
    (r)[15] = (m)[15]

#define matrix33_transpose(r, m)\
    (r)[0]  = (m)[0];\
    (r)[1]  = (m)[3];\
    (r)[2]  = (m)[6];\
    (r)[3]  = (m)[1];\
    (r)[4]  = (m)[4];\
    (r)[5]  = (m)[7];\
    (r)[6]  = (m)[2];\
    (r)[7]  = (m)[5];\
    (r)[8]  = (m)[8]

/* matrix*_mult | m*m2 */

#define matrix44_mult(r, m, m2)\
    (r)[0]  = (m)[0]*(m2)[0]  + (m)[4]*(m2)[1]  + (m)[8]*(m2)[2]   + (m)[12]*(m2)[3];\
    (r)[1]  = (m)[1]*(m2)[0]  + (m)[5]*(m2)[1]  + (m)[9]*(m2)[2]   + (m)[13]*(m2)[3];\
    (r)[2]  = (m)[2]*(m2)[0]  + (m)[6]*(m2)[1]  + (m)[10]*(m2)[2]  + (m)[14]*(m2)[3];\
    (r)[3]  = (m)[3]*(m2)[0]  + (m)[7]*(m2)[1]  + (m)[11]*(m2)[2]  + (m)[15]*(m2)[3];\
    (r)[4]  = (m)[0]*(m2)[4]  + (m)[4]*(m2)[5]  + (m)[8]*(m2)[6]   + (m)[12]*(m2)[7];\
    (r)[5]  = (m)[1]*(m2)[4]  + (m)[5]*(m2)[5]  + (m)[9]*(m2)[6]   + (m)[13]*(m2)[7];\
    (r)[6]  = (m)[2]*(m2)[4]  + (m)[6]*(m2)[5]  + (m)[10]*(m2)[6]  + (m)[14]*(m2)[7];\
    (r)[7]  = (m)[3]*(m2)[4]  + (m)[7]*(m2)[5]  + (m)[11]*(m2)[6]  + (m)[15]*(m2)[7];\
    (r)[8]  = (m)[0]*(m2)[8]  + (m)[4]*(m2)[9]  + (m)[8]*(m2)[10]  + (m)[12]*(m2)[11];\
    (r)[9]  = (m)[1]*(m2)[8]  + (m)[5]*(m2)[9]  + (m)[9]*(m2)[10]  + (m)[13]*(m2)[11];\
    (r)[10] = (m)[2]*(m2)[8]  + (m)[6]*(m2)[9]  + (m)[10]*(m2)[10] + (m)[14]*(m2)[11];\
    (r)[11] = (m)[3]*(m2)[8]  + (m)[7]*(m2)[9]  + (m)[11]*(m2)[10] + (m)[15]*(m2)[11];\
    (r)[12] = (m)[0]*(m2)[12] + (m)[4]*(m2)[13] + (m)[8]*(m2)[14]  + (m)[12]*(m2)[15];\
    (r)[13] = (m)[1]*(m2)[12] + (m)[5]*(m2)[13] + (m)[9]*(m2)[14]  + (m)[13]*(m2)[15];\
    (r)[14] = (m)[2]*(m2)[12] + (m)[6]*(m2)[13] + (m)[10]*(m2)[14] + (m)[14]*(m2)[15];\
    (r)[15] = (m)[3]*(m2)[12] + (m)[7]*(m2)[13] + (m)[11]*(m2)[14] + (m)[15]*(m2)[15]

#define matrix33_mult(r, m, m2)\
    (r)[0] = (m)[0]*(m2)[0] + (m)[3]*(m2)[1] + (m)[6]*(m2)[2];\
    (r)[1] = (m)[1]*(m2)[0] + (m)[4]*(m2)[1] + (m)[7]*(m2)[2];\
    (r)[2] = (m)[2]*(m2)[0] + (m)[5]*(m2)[1] + (m)[8]*(m2)[2];\
    (r)[3] = (m)[0]*(m2)[3] + (m)[3]*(m2)[4] + (m)[6]*(m2)[5];\
    (r)[4] = (m)[1]*(m2)[3] + (m)[4]*(m2)[4] + (m)[7]*(m2)[5];\
    (r)[5] = (m)[2]*(m2)[3] + (m)[5]*(m2)[4] + (m)[8]*(m2)[5];\
    (r)[6] = (m)[0]*(m2)[6] + (m)[3]*(m2)[7] + (m)[6]*(m2)[8];\
    (r)[7] = (m)[1]*(m2)[6] + (m)[4]*(m2)[7] + (m)[7]*(m2)[8];\
    (r)[8] = (m)[2]*(m2)[6] + (m)[5]*(m2)[7] + (m)[8]*(m2)[8]

/* matrix*_det */

#define matrix44_det(m)\
    ((m)[0]*((m)[5]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[6]*(m)[15] -\
        (m)[14]*(m)[7]) + (m)[13]*((m)[6]*(m)[11] - (m)[10]*(m)[7])) -\
     (m)[4]*-((m)[1]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[2]*(m)[15] -\
        (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[11] - (m)[10]*(m)[3])) +\
     (m)[8]*((m)[1]*((m)[6]*(m)[15] - (m)[14]*(m)[7]) - (m)[5]*((m)[2]*(m)[15] -\
        (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[7] - (m)[6]*(m)[3])) -\
     (m)[12]*-((m)[1]*((m)[6]*(m)[11] - (m)[10]*(m)[7]) - (m)[5]*((m)[2]*(m)[11] -\
        (m)[10]*(m)[3]) + (m)[9]*((m)[2]*(m)[7] - (m)[6]*(m)[3])))

#define matrix33_det(m)\
    ((m)[0]*((m)[4]*(m)[8] - (m)[7]*(m)[5]) -\
     (m)[3]*((m)[1]*(m)[8] - (m)[7]*(m)[2]) +\
     (m)[6]*((m)[1]*(m)[5] - (m)[4]*(m)[2]))

/* matrix*_inverse */

#define matrix44_inverse(r, m, ambuf, detbuf)\
    (ambuf)[0]   =  ((m)[5]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[6]*(m)[15] - (m)[14]*(m)[7]) + (m)[13]*((m)[6]*(m)[11] - (m)[10]*(m)[7]));\
    (ambuf)[1]   = -((m)[4]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[8]*((m)[6]*(m)[15] - (m)[14]*(m)[7]) + (m)[12]*((m)[6]*(m)[11] - (m)[10]*(m)[7]));\
    (ambuf)[2]   =  ((m)[4]*((m)[9]*(m)[15]  - (m)[13]*(m)[11]) - (m)[8]*((m)[5]*(m)[15] - (m)[13]*(m)[7]) + (m)[12]*((m)[5]*(m)[11] - (m)[9]*(m)[7]));\
    (ambuf)[3]   = -((m)[4]*((m)[9]*(m)[14]  - (m)[13]*(m)[10]) - (m)[8]*((m)[5]*(m)[14] - (m)[13]*(m)[6]) + (m)[12]*((m)[5]*(m)[10] - (m)[9]*(m)[6]));\
    (ambuf)[4]   = -((m)[1]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[11] - (m)[10]*(m)[3]));\
    (ambuf)[5]   =  ((m)[0]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[8]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[12]*((m)[2]*(m)[11] - (m)[10]*(m)[3]));\
    (ambuf)[6]   = -((m)[0]*((m)[9]*(m)[15]  - (m)[13]*(m)[11]) - (m)[8]*((m)[1]*(m)[15] - (m)[13]*(m)[3]) + (m)[12]*((m)[1]*(m)[11] - (m)[9]*(m)[3]));\
    (ambuf)[7]   =  ((m)[0]*((m)[9]*(m)[14]  - (m)[13]*(m)[10]) - (m)[8]*((m)[1]*(m)[14] - (m)[13]*(m)[2]) + (m)[12]*((m)[1]*(m)[10] - (m)[9]*(m)[2]));\
    (ambuf)[8]   =  ((m)[1]*((m)[6]*(m)[15]  - (m)[14]*(m)[7])  - (m)[5]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[7]  - (m)[6]*(m)[3]));\
    (ambuf)[9]   = -((m)[0]*((m)[6]*(m)[15]  - (m)[14]*(m)[7])  - (m)[4]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[12]*((m)[2]*(m)[7]  - (m)[6]*(m)[3]));\
    (ambuf)[10]  =  ((m)[0]*((m)[5]*(m)[15]  - (m)[13]*(m)[7])  - (m)[4]*((m)[1]*(m)[15] - (m)[13]*(m)[3]) + (m)[12]*((m)[1]*(m)[7]  - (m)[5]*(m)[3]));\
    (ambuf)[11]  = -((m)[0]*((m)[5]*(m)[14]  - (m)[13]*(m)[6])  - (m)[4]*((m)[1]*(m)[14] - (m)[13]*(m)[2]) + (m)[12]*((m)[1]*(m)[6]  - (m)[5]*(m)[2]));\
    (ambuf)[12]  = -((m)[1]*((m)[6]*(m)[11]  - (m)[10]*(m)[7])  - (m)[5]*((m)[2]*(m)[11] - (m)[10]*(m)[3]) + (m)[9]*((m)[2]*(m)[7]   - (m)[6]*(m)[3]));\
    (ambuf)[13]  =  ((m)[0]*((m)[6]*(m)[11]  - (m)[10]*(m)[7])  - (m)[4]*((m)[2]*(m)[11] - (m)[10]*(m)[3]) + (m)[8]*((m)[2]*(m)[7]   - (m)[6]*(m)[3]));\
    (ambuf)[14]  = -((m)[0]*((m)[5]*(m)[11]  - (m)[9]*(m)[7])   - (m)[4]*((m)[1]*(m)[11] - (m)[9]*(m)[3])  + (m)[8]*((m)[1]*(m)[7]   - (m)[5]*(m)[3]));\
    (ambuf)[15]  =  ((m)[0]*((m)[5]*(m)[10]  - (m)[9]*(m)[6])   - (m)[4]*((m)[1]*(m)[10] - (m)[9]*(m)[2])  + (m)[8]*((m)[1]*(m)[6]   - (m)[5]*(m)[2]));\
    (detbuf) = (ambuf)[0]*(m)[0]+(ambuf)[4]*(m)[4]+(ambuf)[8]*(m)[8]+(ambuf)[12]*(m)[12];\
    if(detbuf)\
    {\
        (r)[0]  = (ambuf)[0]  / (detbuf);\
        (r)[1]  = (ambuf)[4]  / (detbuf);\
        (r)[2]  = (ambuf)[8]  / (detbuf);\
        (r)[3]  = (ambuf)[12] / (detbuf);\
        (r)[4]  = (ambuf)[1]  / (detbuf);\
        (r)[5]  = (ambuf)[5]  / (detbuf);\
        (r)[6]  = (ambuf)[9]  / (detbuf);\
        (r)[7]  = (ambuf)[13] / (detbuf);\
        (r)[8]  = (ambuf)[2]  / (detbuf);\
        (r)[9]  = (ambuf)[6]  / (detbuf);\
        (r)[10] = (ambuf)[10] / (detbuf);\
        (r)[11] = (ambuf)[14] / (detbuf);\
        (r)[12] = (ambuf)[3]  / (detbuf);\
        (r)[13] = (ambuf)[7]  / (detbuf);\
        (r)[14] = (ambuf)[11] / (detbuf);\
        (r)[15] = (ambuf)[15] / (detbuf);\
    }

#define matrix44_inverse2(r, m, ambuf, detbuf, cache) [/color][color=#408080][i]/* cache requires array of 17 elements | Ex: float cache[17]; */[/i][/color][color=#BC7A00]\
    (ambuf)[0]   =  ((m)[5]*(cache[0] = ((m)[10]*(m)[15] - (m)[14]*(m)[11])) - (m)[9]*(cache[1] = ((m)[6]*(m)[15] - (m)[14]*(m)[7])) + (m)[13]*(cache[2] = ((m)[6]*(m)[11] - (m)[10]*(m)[7])));\
    (ambuf)[1]   = -((m)[4]*(cache[0]) - (m)[8]*(cache[1]) + (m)[12]*(cache[2]));\
    (ambuf)[2]   =  ((m)[4]*(cache[3] = ((m)[9]*(m)[15] - (m)[13]*(m)[11])) - (m)[8]*(cache[4] = ((m)[5]*(m)[15] - (m)[13]*(m)[7])) + (m)[12]*(cache[5] = ((m)[5]*(m)[11] - (m)[9]*(m)[7])));\
    (ambuf)[3]   = -((m)[4]*(cache[6] = ((m)[9]*(m)[14] - (m)[13]*(m)[10])) - (m)[8]*(cache[7] = ((m)[5]*(m)[14] - (m)[13]*(m)[6])) + (m)[12]*(cache[8] = ((m)[5]*(m)[10] - (m)[9]*(m)[6])));\
    (ambuf)[4]   = -((m)[1]*(cache[0]) - (m)[9]*(cache[9] = ((m)[2]*(m)[15] - (m)[14]*(m)[3])) + (m)[13]*(cache[10] = ((m)[2]*(m)[11] - (m)[10]*(m)[3])));\
    (ambuf)[5]   =  ((m)[0]*(cache[0]) - (m)[8]*(cache[9]) + (m)[12]*(cache[10]));\
    (ambuf)[6]   = -((m)[0]*(cache[3]) - (m)[8]*(cache[11] = ((m)[1]*(m)[15] - (m)[13]*(m)[3])) + (m)[12]*(cache[12] = ((m)[1]*(m)[11] - (m)[9]*(m)[3])));\
    (ambuf)[7]   =  ((m)[0]*(cache[6]) - (m)[8]*(cache[13] = ((m)[1]*(m)[14] - (m)[13]*(m)[2])) + (m)[12]*(cache[14] = ((m)[1]*(m)[10] - (m)[9]*(m)[2])));\
    (ambuf)[8]   =  ((m)[1]*(cache[1]) - (m)[5]*(cache[9]) + (m)[13]*(cache[15] = ((m)[2]*(m)[7] - (m)[6]*(m)[3])));\
    (ambuf)[9]   = -((m)[0]*(cache[1]) - (m)[4]*(cache[9]) + (m)[12]*(cache[15]));\
    (ambuf)[10]  =  ((m)[0]*(cache[4]) - (m)[4]*(cache[11]) + (m)[12]*((m)[1]*(m)[7] - (m)[5]*(m)[3]));\
    (ambuf)[11]  = -((m)[0]*(cache[7]) - (m)[4]*(cache[13]) + (m)[12]*((m)[1]*(m)[6] - (m)[5]*(m)[2]));\
    (ambuf)[12]  = -((m)[1]*(cache[2]) - (m)[5]*(cache[10]) + (m)[9]*(cache[16] = ((m)[2]*(m)[7]  - (m)[6]*(m)[3])));\
    (ambuf)[13]  =  ((m)[0]*(cache[2]) - (m)[4]*(cache[10]) + (m)[8]*(cache[16]));\
    (ambuf)[14]  = -((m)[0]*(cache[5]) - (m)[4]*(cache[12])  + (m)[8]*((m)[1]*(m)[7]  - (m)[5]*(m)[3]));\
    (ambuf)[15]  =  ((m)[0]*(cache[8]) - (m)[4]*(cache[14])  + (m)[8]*((m)[1]*(m)[6]  - (m)[5]*(m)[2]));\
    (detbuf) = (ambuf)[0]*(m)[0]+(ambuf)[4]*(m)[4]+(ambuf)[8]*(m)[8]+(ambuf)[12]*(m)[12];\
    if(detbuf)\
    {\
        (r)[0]  = (ambuf)[0]  / (detbuf);\
        (r)[1]  = (ambuf)[4]  / (detbuf);\
        (r)[2]  = (ambuf)[8]  / (detbuf);\
        (r)[3]  = (ambuf)[12] / (detbuf);\
        (r)[4]  = (ambuf)[1]  / (detbuf);\
        (r)[5]  = (ambuf)[5]  / (detbuf);\
        (r)[6]  = (ambuf)[9]  / (detbuf);\
        (r)[7]  = (ambuf)[13] / (detbuf);\
        (r)[8]  = (ambuf)[2]  / (detbuf);\
        (r)[9]  = (ambuf)[6]  / (detbuf);\
        (r)[10] = (ambuf)[10] / (detbuf);\
        (r)[11] = (ambuf)[14] / (detbuf);\
        (r)[12] = (ambuf)[3]  / (detbuf);\
        (r)[13] = (ambuf)[7]  / (detbuf);\
        (r)[14] = (ambuf)[11] / (detbuf);\
        (r)[15] = (ambuf)[15] / (detbuf);\
    }

#define matrix33_inverse(r, m, ambuf, detbuf)\
    (ambuf)[0] =  ((m)[4]*(m)[8]-(m)[7]*(m)[5]);\
    (ambuf)[1] = -((m)[3]*(m)[8]-(m)[6]*(m)[5]);\
    (ambuf)[2] =  ((m)[3]*(m)[7]-(m)[6]*(m)[4]);\
    (ambuf)[3] = -((m)[1]*(m)[8]-(m)[7]*(m)[2]);\
    (ambuf)[4] =  ((m)[0]*(m)[8]-(m)[6]*(m)[2]);\
    (ambuf)[5] = -((m)[0]*(m)[7]-(m)[6]*(m)[1]);\
    (ambuf)[6] =  ((m)[1]*(m)[5]-(m)[4]*(m)[2]);\
    (ambuf)[7] = -((m)[0]*(m)[5]-(m)[3]*(m)[2]);\
    (ambuf)[8] =  ((m)[0]*(m)[4]-(m)[3]*(m)[1]);\
    (detbuf) = (ambuf)[0]*(m)[0]+(ambuf)[3]*(m)[3]+(ambuf)[6]*(m)[6];\
    if(detbuf)\
    {\
        (r)[0] = (ambuf)[0] / (detbuf);\
        (r)[1] = (ambuf)[3] / (detbuf);\
        (r)[2] = (ambuf)[6] / (detbuf);\
        (r)[3] = (ambuf)[1] / (detbuf);\
        (r)[4] = (ambuf)[4] / (detbuf);\
        (r)[5] = (ambuf)[7] / (detbuf);\
        (r)[6] = (ambuf)[2] / (detbuf);\
        (r)[7] = (ambuf)[5] / (detbuf);\
        (r)[8] = (ambuf)[8] / (detbuf);\
    }

/* vector*_zero */

#define vector3_zero(v) (v)[0] = 0; (v)[1] = 0; (v)[2] = 0
#define vector2_zero(v) (v)[0] = 0; (v)[1] = 0

/* vector*_copy */

#define vector3_copy(v, v2)\
    (v)[0] = (v2)[0]; (v)[1] = (v2)[1]; (v)[2] = (v2)[2]

#define vector2_copy(v, v2)\
    (v)[0] = (v2)[0]; (v)[1] = (v2)[1]

/* vector*_set */

#define vector3_set(v, x, y, z)\
    (v)[0] = (x); (v)[1] = (y); (v)[2] = (z)

#define vector2_set(v, x, y)\
    (v)[0] = (x); (v)[1] = (y)

/* vector*_equal */

#define vector4_equal(v, v2)\
    ((v)[0] == (v2)[0] &&\
     (v)[1] == (v2)[1] &&\
     (v)[2] == (v2)[2] &&\
     (v)[3] == (v2)[3])

#define vector4_equal_dif(v, v2, dif)\
    (fabs((v)[0] - (v2)[0]) < (dif) &&\
     fabs((v)[1] - (v2)[1]) < (dif) &&\
     fabs((v)[2] - (v2)[2]) < (dif) &&\
     fabs((v)[3] - (v2)[3]) < (dif))

#define vector3_equal(v, v2)\
    ((v)[0] == (v2)[0] &&\
     (v)[1] == (v2)[1] &&\
     (v)[2] == (v2)[2])

#define vector3_equal_dif(v, v2, dif)\
    (fabs((v)[0] - (v2)[0]) < (dif) &&\
     fabs((v)[1] - (v2)[1]) < (dif) &&\
     fabs((v)[2] - (v2)[2]) < (dif))

#define vector2_equal(v, v2)\
    ((v)[0] == (v2)[0] &&\
     (v)[1] == (v2)[1])

#define vector2_equal_dif(v, v2, dif)\
    (fabs((v)[0] - (v2)[0]) < (dif) &&\
     fabs((v)[1] - (v2)[1]) < (dif))

/* vector*_sum */

#define vector4_sum(r, v, v2)\
    (r)[0] = (v)[0] + (v2)[0];\
    (r)[1] = (v)[1] + (v2)[1];\
    (r)[2] = (v)[2] + (v2)[2];\
    (r)[3] = (v)[3] + (v2)[3]

#define vector3_sum(r, v, v2)\
    (r)[0] = (v)[0] + (v2)[0];\
    (r)[1] = (v)[1] + (v2)[1];\
    (r)[2] = (v)[2] + (v2)[2]

#define vector2_sum(r, v, v2)\
    (r)[0] = (v)[0] + (v2)[0];\
    (r)[1] = (v)[1] + (v2)[1]

/* vector*_add */

#define vector4_add(v, v2) vector4_sum(v, v, v2)
#define vector3_add(v, v2) vector3_sum(v, v, v2)
#define vector2_add(v, v2) vector2_sum(v, v, v2)

/* vector*_dif */

#define vector4_dif(r, v, v2)\
    (r)[0] = (v)[0] - (v2)[0];\
    (r)[1] = (v)[1] - (v2)[1];\
    (r)[2] = (v)[2] - (v2)[2];\
    (r)[3] = (v)[3] - (v2)[3]

#define vector3_dif(r, v, v2)\
    (r)[0] = (v)[0] - (v2)[0];\
    (r)[1] = (v)[1] - (v2)[1];\
    (r)[2] = (v)[2] - (v2)[2]

#define vector2_dif(r, v, v2)\
    (r)[0] = (v)[0] - (v2)[0];\
    (r)[1] = (v)[1] - (v2)[1]

/* vector*_sub */

#define vector4_sub(v, v2) vector4_dif(v, v, v2)
#define vector3_sub(v, v2) vector3_dif(v, v, v2)
#define vector2_sub(v, v2) vector2_dif(v, v, v2)

/* vector*_mult */

#define vector3_mult(r, v, s)\
    (r)[0] = (v)[0]*(s); (r)[1] = (v)[1]*(s); (r)[2] = (v)[2]*(s)

#define vector2_mult(r, v, s)\
    (r)[0] = (v)[0]*(s); (r)[1] = (v)[1]*(s)

/* vector*_dot */

#define vector4_dot(v, v2)\
    ((v)[0]*(v2)[0]+(v)[1]*(v2)[1]+(v)[2]*(v2)[2]+(v)[3]*(v2)[3])

#define vector3_dot(v, v2)\
    ((v)[0]*(v2)[0]+(v)[1]*(v2)[1]+(v)[2]*(v2)[2])

#define vector2_dot(v, v2)\
    ((v)[0]*(v2)[0]+(v)[1]*(v2)[1])

/* vector3_cross */

#define vector3_cross(c, a, b)\
    (c)[0] = (a)[1]*(b)[2] - (a)[2]*(b)[1];\
    (c)[1] = (a)[2]*(b)[0] - (a)[0]*(b)[2];\
    (c)[2] = (a)[0]*(b)[1] - (a)[1]*(b)[0]

/* vector*_length */

#define vector4_length(v) sqrt(vector4_dot((v), (v)))
#define vector3_length(v) sqrt(vector3_dot((v), (v)))
#define vector2_length(v) sqrt(vector2_dot((v), (v)))

/* vector*_normalize */

#define vector4_normalize(v, lenbuf)\
    (lenbuf) = vector4_length(v);\
    (v)[0] /= (lenbuf);\
    (v)[1] /= (lenbuf);\
    (v)[2] /= (lenbuf);\
    (v)[3] /= (lenbuf)

#define vector3_normalize(v, lenbuf)\
    (lenbuf) = vector3_length(v);\
    (v)[0] /= (lenbuf);\
    (v)[1] /= (lenbuf);\
    (v)[2] /= (lenbuf)

#define vector2_normalize(v, lenbuf)\
    (lenbuf) = vector2_length(v);\
    (v)[0] /= (lenbuf);\
    (v)[1] /= (lenbuf)

/* [hvector|hpoint]*compute */

#define hvector4_compute(hv)\
    if((hv)[3]){\
    (hv)[0] /= (hv)[3];\
    (hv)[1] /= (hv)[3];\
    (hv)[2] /= (hv)[3];\
    (hv)[3] = 0;}

#define hvector3_compute(hv)\
    if((hv)[2]){\
    (hv)[0] /= (hv)[2];\
    (hv)[1] /= (hv)[2];\
    (hv)[2] = 0;}

#define hpoint4_compute(hp)\
    if((hp)[3] != 1){\
    (hp)[0] /= (hp)[3];\
    (hp)[1] /= (hp)[3];\
    (hp)[2] /= (hp)[3];\
    (hp)[3] = 1;}

#define hpoint3_compute(hp)\
    if((hp)[2] != 1){\
    (hp)[0] /= (hp)[2];\
    (hp)[1] /= (hp)[2];\
    (hp)[2] = 1;}

/* *[vector|point|normal]*_transform | m*v */

#define vector3_transform(r, m, v)\
    (r)[0] = (m)[0]*(v)[0] + (m)[4]*(v)[1] + (m)[8]*(v)[2];\
    (r)[1] = (m)[1]*(v)[0] + (m)[5]*(v)[1] + (m)[9]*(v)[2];\
    (r)[2] = (m)[2]*(v)[0] + (m)[6]*(v)[1] + (m)[10]*(v)[2]

#define vector2_transform(r, m, v)\
    (r)[0] = (m)[0]*(v)[0] + (m)[3]*(v)[1];\
    (r)[1] = (m)[1]*(v)[0] + (m)[4]*(v)[1]

#define point3_transform(r, m, v)\
    (r)[0] = (m)[0]*(v)[0] + (m)[4]*(v)[1] + (m)[8]*(v)[2]  + (m)[12];\
    (r)[1] = (m)[1]*(v)[0] + (m)[5]*(v)[1] + (m)[9]*(v)[2]  + (m)[13];\
    (r)[2] = (m)[2]*(v)[0] + (m)[6]*(v)[1] + (m)[10]*(v)[2] + (m)[14]

#define point2_transform(r, m, v)\
    (r)[0] = (m)[0]*(v)[0] + (m)[3]*(v)[1] + (m)[6];\
    (r)[1] = (m)[1]*(v)[0] + (m)[4]*(v)[1] + (m)[7]

#define normal3_transform(r, m, v, transbuf, revbuf)\
    matrix44_inverse(revbuf, m, transbuf[/color][color=#408080][i]/* ambuf */[/i][/color][color=#BC7A00], (r)[0][/color][color=#408080][i]/* detbuf */[/i][/color][color=#BC7A00]);\
    matrix44_transpose(transbuf, revbuf);\
    (r)[0] = (transbuf)[0]*(v)[0] + (transbuf)[4]*(v)[1] + (transbuf)[8]*(v)[2];\
    (r)[1] = (transbuf)[1]*(v)[0] + (transbuf)[5]*(v)[1] + (transbuf)[9]*(v)[2];\
    (r)[2] = (transbuf)[2]*(v)[0] + (transbuf)[6]*(v)[1] + (transbuf)[10]*(v)[2]

/* quat_* */

#define quat_identity(q)\
    (q)[0] = 0;\
    (q)[1] = 0;\
    (q)[2] = 0;\
    (q)[3] = 1

#define quat_sum(r, q, q2) vector4_sum(r, q, q2)
#define quat_dif(r, q, q2) vector4_dif(r, q, q2)
#define quat_add(q, q2) vector4_add(q, q2)
#define quat_sub(q, q2) vector4_sub(q, q2)

#define quat_equal(q, q2) vector4_equal(q, q2)
#define quat_equal_dif(q, q2, dif) vector4_equal_dif(q, q2, dif)

#define quat_normalize(q, lenbuf) vector4_normalize(q, lenbuf)

#define quat_mult(r, q, q2, crossbuf)\
    vector3_cross(crossbuf, q, q2);\
    (r)[0] = (q)[3]*(q2)[0] + (q2)[3]*(q)[0] + (crossbuf)[0];\
    (r)[1] = (q)[3]*(q2)[1] + (q2)[3]*(q)[1] + (crossbuf)[1];\
    (r)[2] = (q)[3]*(q2)[2] + (q2)[3]*(q)[2] + (crossbuf)[2];\
    (r)[3] = (q)[3]*(q2)[3] - vector3_dot(q, q2)

#define quat_inverse(r, q, dotbuf)\
    (dotbuf) = vector4_dot(q, q);\
    (r)[0] = -(q)[0] / (dotbuf);\
    (r)[1] = -(q)[1] / (dotbuf);\
    (r)[2] = -(q)[2] / (dotbuf);\
    (r)[3] =  (q)[3] / (dotbuf)

/* quat_from* */

#define quat_from_axis(q, a, x, y, z)\
    (q)[0] = sin(a/2)*x;\
    (q)[1] = sin(a/2)*y;\
    (q)[2] = sin(a/2)*z;\
    (q)[3] = cos(a/2)

#define quat_form_matrix(q, m)\
    (q)[3] = sqrt((m)[0]+(m)[5]+(n)[10]+1)/2;\
    (q)[0] = sqrt((m[0]+1-2*(q)[3]*(q)[3])/2);\
    (q)[1] = sqrt((m[5]+1-2*(q)[3]*(q)[3])/2);\
    (q)[2] = sqrt((m[10]+1-2*(q)[3]*(q)[3])/2)

/*  quat_from_euler* */

#define quat_from_euler_xyz(q, x, y, z, buf, buf2, crossbuf)\
    (buf)[0] = sin(x/2);\
    (buf)[1] = 0;\
    (buf)[2] = 0;\
    (buf)[3] = cos(x/2);\
    (q)[0] = 0;\
    (q)[1] = sin(y/2);\
    (q)[2] = 0;\
    (q)[3] = cos(y/2);\
    quat_mult(buf2, buf, q, crossbuf);\
    (buf)[0] = 0;\
    (buf)[1] = 0;\
    (buf)[2] = sin(z/2);\
    (buf)[3] = cos(z/2);\
    quat_mult(q, buf2, buf, crossbuf)

#define quat_from_euler_xzy(q, x, y, z, buf, buf2, crossbuf)\
    (buf)[0] = sin(x/2);\
    (buf)[1] = 0;\
    (buf)[2] = 0;\
    (buf)[3] = cos(x/2);\
    (q)[0] = 0;\
    (q)[1] = 0;\
    (q)[2] = sin(z/2);\
    (q)[3] = cos(z/2);\
    quat_mult(buf2, buf, q, crossbuf);\
    (buf)[0] = 0;\
    (buf)[1] = sin(y/2);\
    (buf)[2] = 0;\
    (buf)[3] = cos(y/2);\
    quat_mult(q, buf2, buf, crossbuf)

#define quat_from_euler_yxz(q, x, y, z, buf, buf2, crossbuf)\
    (buf)[0] = 0;\
    (buf)[1] = sin(y/2);\
    (buf)[2] = 0;\
    (buf)[3] = cos(y/2);\
    (q)[0] = sin(x/2);\
    (q)[1] = 0;\
    (q)[2] = 0;\
    (q)[3] = cos(x/2);\
    quat_mult(buf2, buf, q, crossbuf);\
    (buf)[0] = 0;\
    (buf)[1] = 0;\
    (buf)[2] = sin(z/2);\
    (buf)[3] = cos(z/2);\
    quat_mult(q, buf2, buf, crossbuf)

#define quat_from_euler_yzx(q, x, y, z, buf, buf2, crossbuf)\
    (buf)[0] = 0;\
    (buf)[1] = sin(y/2);\
    (buf)[2] = 0;\
    (buf)[3] = cos(y/2);\
    (q)[0] = 0;\
    (q)[1] = 0;\
    (q)[2] = sin(z/2);\
    (q)[3] = cos(z/2);\
    quat_mult(buf2, buf, q, crossbuf);\
    (buf)[0] = sin(x/2);\
    (buf)[1] = 0;\
    (buf)[2] = 0;\
    (buf)[3] = cos(x/2);\
    quat_mult(q, buf2, buf, crossbuf)

#define quat_from_euler_zxy(q, x, y, z, buf, buf2, crossbuf)\
    (buf)[0] = 0;\
    (buf)[1] = 0;\
    (buf)[2] = sin(z/2);\
    (buf)[3] = cos(z/2);\
    (q)[0] = sin(x/2);\
    (q)[1] = 0;\
    (q)[2] = 0;\
    (q)[3] = cos(x/2);\
    quat_mult(buf2, buf, q, crossbuf);\
    (buf)[0] = 0;\
    (buf)[1] = sin(y/2);\
    (buf)[2] = 0;\
    (buf)[3] = cos(y/2);\
    quat_mult(q, buf2, buf, crossbuf)

#define quat_from_euler_zyx(q, x, y, z, buf, buf2, crossbuf)\
    (buf)[0] = 0;\
    (buf)[1] = 0;\
    (buf)[2] = sin(z/2);\
    (buf)[3] = cos(z/2);\
    (q)[0] = 0;\
    (q)[1] = sin(y/2);\
    (q)[2] = 0;\
    (q)[3] = cos(y/2);\
    quat_mult(buf2, buf, q, crossbuf);\
    (buf)[0] = sin(x/2);\
    (buf)[1] = 0;\
    (buf)[2] = 0;\
    (buf)[3] = cos(x/2);\
    quat_mult(q, buf2, buf, crossbuf)

/* hvector4_transform_by_quat */

#define hvector4_transform_by_quat(r, v, q, tmp, invbuf, crossbuf, dotbuf)\
    quat_inverse(invbuf, q, dotbuf);\
    quat_mult(tmp, q, v, crossbuf);\
    quat_mult(r, tmp, invbuf, crossbuf)

/* *_from_matrix* */

#define translate_from_matrix44(r, m)\
    (r)[0] = (m)[12];\
    (r)[1] = (m)[13];\
    (r)[2] = (m)[14]
[/color]
[color=#408080][i]/* Argument 'r' must be an array of 3 values and angle (in radians) will be written into 'r[0]'
 * Matrix 'm' must not contain scale. */[/i][/color]
[color=#BC7A00]#define rotate_x_from_matrix44(r, m, tmpvec)\
    vector3_set((r), 0.0, 1.0, 0.0);\
    vector3_transform((tmpvec), (m), (r));\
    (r)[0] = acos((tmpvec)[2])

#define rotate_y_from_matrix44(r, m, tmpvec)\
    vector3_set((r), 0.0, 0.0, 1.0);\
    vector3_transform((tmpvec), (m), (r));\
    (r)[0] = acos((tmpvec)[0])

#define rotate_z_from_matrix44(r, m, tmpvec)\
    vector3_set((r), 1.0, 0.0, 0.0);\
    vector3_transform((tmpvec), (m), (r));\
    (r)[0] = acos((tmpvec)[1])

#define euler_xyz_from_matrix44(r, m, cosbuf)\
    (r)[1] = asin((m)[8]);\
    (cosbuf) = cos((r)[1]);\
    if(fabs(cosbuf) > MICRO)\
    {\
        (r)[0] = atan2(-(m)[9] / (cosbuf), (m)[10] / (cosbuf));\
        (r)[2] = atan2(-(m)[4] / (cosbuf), (m)[0] / (cosbuf));\
    }\
    else [/color][color=#408080][i]/* gimbal lock */[/i][/color][color=#BC7A00] \
    {\
        (r)[0] = 0;\
        (r)[2] = atan2((m)[1], (m)[5]);\
    }

#define euler_xzy_from_matrix44(r, m, cosbuf)\
    (r)[2] = asin(-(m)[4]);\
    (cosbuf) = cos((r)[2]);\
    if(fabs(cosbuf) > MICRO)\
    {\
        (r)[0] = atan2((m)[6] / (cosbuf), (m)[5] / (cosbuf));\
        (r)[1] = atan2((m)[8] / (cosbuf), (m)[0] / (cosbuf));\
    }\
    else [/color][color=#408080][i]/* gimbal lock */[/i][/color][color=#BC7A00] \
    {\
        (r)[0] = 0;\
        (r)[1] = atan2(-(m)[2], (m)[10]);\
    }

#define euler_yxz_from_matrix44(r, m, cosbuf)\
    (r)[0] = asin(-(m)[9]);\
    (cosbuf) = cos((r)[0]);\
    if(fabs(cosbuf) > MICRO)\
    {\
        (r)[1] = atan2((m)[8] / (cosbuf), (m)[10] / (cosbuf));\
        (r)[2] = atan2((m)[1] / (cosbuf), (m)[5] / (cosbuf));\
    }\
    else [/color][color=#408080][i]/* gimbal lock */[/i][/color][color=#BC7A00] \
    {\
        (r)[1] = 0;\
        (r)[2] = atan2(-(m)[4], (m)[0]);\
    }

#define euler_yzx_from_matrix44(r, m, cosbuf)\
    (r)[2] = asin((m)[1]);\
    (cosbuf) = cos((r)[2]);\
    if(fabs(cosbuf) > MICRO)\
    {\
        (r)[0] = atan2(-(m)[9] / (cosbuf), (m)[5] / (cosbuf));\
        (r)[1] = atan2(-(m)[2] / (cosbuf), (m)[0] / (cosbuf));\
    }\
    else [/color][color=#408080][i]/* gimbal lock */[/i][/color][color=#BC7A00] \
    {\
        (r)[0] = atan2((m)[6], (m)[10]);\
        (r)[1] = 0;\
    }

#define euler_zxy_from_matrix44(r, m, cosbuf)\
    (r)[0] = asin((m)[6]);\
    (cosbuf) = cos((r)[0]);\
    if(fabs(cosbuf) > MICRO)\
    {\
        (r)[1] = atan2(-(m)[2] / (cosbuf), (m)[10] / (cosbuf));\
        (r)[2] = atan2(-(m)[4] / (cosbuf), (m)[5] / (cosbuf));\
    }\
    else [/color][color=#408080][i]/* gimbal lock */[/i][/color][color=#BC7A00] \
    {\
        (r)[1] = 0;\
        (r)[2] = atan2((m)[1], (m)[0]);\
    }

#define euler_zyx_from_matrix44(r, m, cosbuf)\
    (r)[1] = asin(-(m)[2]);\
    (cosbuf) = cos((r)[1]);\
    if(fabs(cosbuf) > MICRO)\
    {\
        (r)[0] = atan2((m)[6] / (cosbuf), (m)[10] / (cosbuf));\
        (r)[2] = atan2((m)[1] / (cosbuf), (m)[0] / (cosbuf));\
    }\
    else [/color][color=#408080][i]/* gimbal lock */[/i][/color][color=#BC7A00] \
    {\
        (r)[0] = 0;\
        (r)[2] = atan2(-(m)[2], (m)[10]);\
    }

/* misc */

#define point3_move(p, v, val)\
    (p)[0] += (v)[0]*val;\
    (p)[1] += (v)[1]*val;\
    (p)[2] += (v)[2]*val

#define matrix44_camera_inverse(m, eye, u, v, n)\
    (m)[0] = (u)[0]; (m)[4] = (u)[1]; (m)[8]  = (u)[2]; (m)[12] = -vector3_dot(eye, u);\
    (m)[1] = (v)[0]; (m)[5] = (v)[1]; (m)[9]  = (v)[2]; (m)[13] = -vector3_dot(eye, v);\
    (m)[2] = (n)[0]; (m)[6] = (n)[1]; (m)[10] = (n)[2]; (m)[14] = -vector3_dot(eye, n);\
    (m)[3] = 0;      (m)[7] = 0;      (m)[11] = 0;      (m)[15] = 1

#endif [/color][color=#408080][i]/* XFORM_H */[/i][/color][color=#BC7A00]
[/color]

--------------------------------------
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<div class="highlight"><pre><div id="lc1"><span class="cm">/*</span>
</div><div id="lc2">
</div><div id="lc3"><span class="cm">Macros of matrix/vector/point/quaternion math.</span>
</div><div id="lc4">
</div><div id="lc5"><span class="cm">This code was written by Konstantin Evdokimenko a.k.a Qew[erty].</span>
</div><div id="lc6"><span class="cm">No copyright is claimed. This code is in the public domain.</span>
</div><div id="lc7"><span class="cm">Do with it what you wish.</span>
</div><div id="lc8">
</div><div id="lc9"><span class="cm">*/</span>
</div><div id="lc10">
</div><div id="lc11"><span class="cp">#ifndef XFORM_H</span>
</div><div id="lc12"><span class="cp">#define XFORM_H</span>
</div><div id="lc13">
</div><div id="lc14"><span class="cp">#include &lt;math.h&gt;</span>
</div><div id="lc15">
</div><div id="lc16"><span class="cp">#define MICRO 0.000001</span>
</div><div id="lc17">
</div><div id="lc18"><span class="cm">/*</span>
</div><div id="lc19">
</div><div id="lc20"><span class="cm">Column order like in OpenGL, vectors are columns.</span>
</div><div id="lc21">
</div><div id="lc22"><span class="cm">*** math_row.math_column(C array index)</span>
</div><div id="lc23">
</div><div id="lc24"><span class="cm">4x4</span>
</div><div id="lc25">
</div><div id="lc26"><span class="cm">1.1(0)  1.2(4)  1.3(8)   1.4(12)</span>
</div><div id="lc27"><span class="cm">2.1(1)  2.2(5)  2.3(9)   2.4(13)</span>
</div><div id="lc28"><span class="cm">3.1(2)  3.2(6)  3.3(10)  3.4(14)</span>
</div><div id="lc29"><span class="cm">4.1(3)  4.2(7)  4.3(11)  4.4(15)</span>
</div><div id="lc30">
</div><div id="lc31"><span class="cm">3x3</span>
</div><div id="lc32">
</div><div id="lc33"><span class="cm">1.1(0)  1.2(3)  1.3(6)</span>
</div><div id="lc34"><span class="cm">2.1(1)  2.2(4)  2.3(7)</span>
</div><div id="lc35"><span class="cm">3.1(2)  3.2(5)  3.3(8)</span>
</div><div id="lc36">
</div><div id="lc37"><span class="cm">Example of translation point (0, 1, 5) by (1, 2, 3):</span>
</div><div id="lc38">
</div><div id="lc39"><span class="cm">1 0 0 1     0</span>
</div><div id="lc40"><span class="cm">0 1 0 2  *  1</span>
</div><div id="lc41"><span class="cm">0 0 1 3     5</span>
</div><div id="lc42"><span class="cm">0 0 0 1     1</span>
</div><div id="lc43">
</div><div id="lc44"><span class="cm">This is not like in RenderMan where row-major order is used and</span>
</div><div id="lc45"><span class="cm">vectors are rows.</span>
</div><div id="lc46">
</div><div id="lc47"><span class="cm">            1 0 0 0</span>
</div><div id="lc48"><span class="cm">0 1 5 1  *  0 1 0 0</span>
</div><div id="lc49"><span class="cm">            0 0 1 0</span>
</div><div id="lc50"><span class="cm">            1 2 3 1</span>
</div><div id="lc51">
</div><div id="lc52"><span class="cm">But the cause is that in RenderMan matricies are assumed to be transposed</span>
</div><div id="lc53"><span class="cm">to OpenGL (and math) ones not row/column order difference.</span>
</div><div id="lc54">
</div><div id="lc55"><span class="cm">*/</span>
</div><div id="lc56">
</div><div id="lc57"><span class="cp">/* matrix*_zero */</span>
</div><div id="lc58">
</div><div id="lc59"><span class="cp">#define matrix44_zero(m)\</span>
</div><div id="lc60"><span class="cp">    (m)[0]  = 0; (m)[1]  = 0; (m)[2]  = 0; (m)[3]  = 0;\</span>
</div><div id="lc61"><span class="cp">    (m)[4]  = 0; (m)[5]  = 0; (m)[6]  = 0; (m)[7]  = 0;\</span>
</div><div id="lc62"><span class="cp">    (m)[8]  = 0; (m)[9]  = 0; (m)[10] = 0; (m)[11] = 0;\</span>
</div><div id="lc63"><span class="cp">    (m)[12] = 0; (m)[13] = 0; (m)[14] = 0; (m)[15] = 0</span>
</div><div id="lc64">
</div><div id="lc65"><span class="cp">#define matrix33_zero(m)\</span>
</div><div id="lc66"><span class="cp">    (m)[0] = 0; (m)[1] = 0; (m)[2] = 0;\</span>
</div><div id="lc67"><span class="cp">    (m)[3] = 0; (m)[4] = 0; (m)[5] = 0;\</span>
</div><div id="lc68"><span class="cp">    (m)[6] = 0; (m)[7] = 0; (m)[8] = 0</span>
</div><div id="lc69">
</div><div id="lc70"><span class="cp">/* matrix*_identity */</span>
</div><div id="lc71">
</div><div id="lc72"><span class="cp">#define matrix44_identity(m)\</span>
</div><div id="lc73"><span class="cp">    (m)[0]  = 1; (m)[1]  = 0; (m)[2] = 0;  (m)[3]  = 0;\</span>
</div><div id="lc74"><span class="cp">    (m)[4]  = 0; (m)[5]  = 1; (m)[6] = 0;  (m)[7]  = 0;\</span>
</div><div id="lc75"><span class="cp">    (m)[8]  = 0; (m)[9]  = 0; (m)[10] = 1; (m)[11] = 0;\</span>
</div><div id="lc76"><span class="cp">    (m)[12] = 0; (m)[13] = 0; (m)[14] = 0; (m)[15] = 1</span>
</div><div id="lc77">
</div><div id="lc78"><span class="cp">#define matrix33_identity(m)\</span>
</div><div id="lc79"><span class="cp">    (m)[0] = 1; (m)[1] = 0; (m)[2] = 0;\</span>
</div><div id="lc80"><span class="cp">    (m)[3] = 0; (m)[4] = 1; (m)[5] = 0;\</span>
</div><div id="lc81"><span class="cp">    (m)[6] = 0; (m)[7] = 0; (m)[8] = 1</span>
</div><div id="lc82">
</div><div id="lc83"><span class="cp">/* matrix*_copy */</span>
</div><div id="lc84">
</div><div id="lc85"><span class="cp">#define matrix44_copy(m, m2)\</span>
</div><div id="lc86"><span class="cp">    (m)[0]  = (m2)[0];  (m)[1]  = (m2)[1];  (m)[2]  = (m2)[2];  (m)[3]  = (m2)[3];\</span>
</div><div id="lc87"><span class="cp">    (m)[4]  = (m2)[4];  (m)[5]  = (m2)[5];  (m)[6]  = (m2)[6];  (m)[7]  = (m2)[7];\</span>
</div><div id="lc88"><span class="cp">    (m)[8]  = (m2)[8];  (m)[9]  = (m2)[9];  (m)[10] = (m2)[10]; (m)[11] = (m2)[11];\</span>
</div><div id="lc89"><span class="cp">    (m)[12] = (m2)[12]; (m)[13] = (m2)[13]; (m)[14] = (m2)[14]; (m)[15] = (m2)[15]</span>
</div><div id="lc90">
</div><div id="lc91"><span class="cp">#define matrix33_copy(m, m2)\</span>
</div><div id="lc92"><span class="cp">    (m)[0] = (m2)[0]; (m)[1] = (m2)[1]; (m)[2] = (m2)[2];\</span>
</div><div id="lc93"><span class="cp">    (m)[3] = (m2)[3]; (m)[4] = (m2)[4]; (m)[5] = (m2)[5];\</span>
</div><div id="lc94"><span class="cp">    (m)[6] = (m2)[6]; (m)[7] = (m2)[7]; (m)[8] = (m2)[8]</span>
</div><div id="lc95">
</div><div id="lc96"><span class="cp">/* matrix*_equal* */</span>
</div><div id="lc97">
</div><div id="lc98"><span class="cp">#define matrix44_equal(m, m2)\</span>
</div><div id="lc99"><span class="cp">    ((m)[0]  == (m2)[0] &amp;&amp;\</span>
</div><div id="lc100"><span class="cp">     (m)[1]  == (m2)[1] &amp;&amp;\</span>
</div><div id="lc101"><span class="cp">     (m)[2]  == (m2)[2] &amp;&amp;\</span>
</div><div id="lc102"><span class="cp">     (m)[3]  == (m2)[3] &amp;&amp;\</span>
</div><div id="lc103"><span class="cp">     (m)[4]  == (m2)[4] &amp;&amp;\</span>
</div><div id="lc104"><span class="cp">     (m)[5]  == (m2)[5] &amp;&amp;\</span>
</div><div id="lc105"><span class="cp">     (m)[6]  == (m2)[6] &amp;&amp;\</span>
</div><div id="lc106"><span class="cp">     (m)[7]  == (m2)[7] &amp;&amp;\</span>
</div><div id="lc107"><span class="cp">     (m)[8]  == (m2)[8] &amp;&amp;\</span>
</div><div id="lc108"><span class="cp">     (m)[9]  == (m2)[9] &amp;&amp;\</span>
</div><div id="lc109"><span class="cp">     (m)[10] == (m2)[10] &amp;&amp;\</span>
</div><div id="lc110"><span class="cp">     (m)[11] == (m2)[11] &amp;&amp;\</span>
</div><div id="lc111"><span class="cp">     (m)[12] == (m2)[12] &amp;&amp;\</span>
</div><div id="lc112"><span class="cp">     (m)[13] == (m2)[13] &amp;&amp;\</span>
</div><div id="lc113"><span class="cp">     (m)[14] == (m2)[14] &amp;&amp;\</span>
</div><div id="lc114"><span class="cp">     (m)[15] == (m2)[15])</span>
</div><div id="lc115">
</div><div id="lc116"><span class="cp">#define matrix44_equal_dif(m, m2, dif)\</span>
</div><div id="lc117"><span class="cp">    (fabs((m)[0]  - (m2)[0])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc118"><span class="cp">     fabs((m)[1]  - (m2)[1])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc119"><span class="cp">     fabs((m)[2]  - (m2)[2])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc120"><span class="cp">     fabs((m)[3]  - (m2)[3])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc121"><span class="cp">     fabs((m)[4]  - (m2)[4])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc122"><span class="cp">     fabs((m)[5]  - (m2)[5])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc123"><span class="cp">     fabs((m)[6]  - (m2)[6])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc124"><span class="cp">     fabs((m)[7]  - (m2)[7])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc125"><span class="cp">     fabs((m)[8]  - (m2)[8])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc126"><span class="cp">     fabs((m)[9]  - (m2)[9])  &lt; (dif) &amp;&amp;\</span>
</div><div id="lc127"><span class="cp">     fabs((m)[10] - (m2)[10]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc128"><span class="cp">     fabs((m)[11] - (m2)[11]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc129"><span class="cp">     fabs((m)[12] - (m2)[12]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc130"><span class="cp">     fabs((m)[13] - (m2)[13]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc131"><span class="cp">     fabs((m)[14] - (m2)[14]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc132"><span class="cp">     fabs((m)[15] - (m2)[15]) &lt; (dif))</span>
</div><div id="lc133">
</div><div id="lc134"><span class="cp">#define matrix33_equal(m, m2)\</span>
</div><div id="lc135"><span class="cp">    ((m)[0] == (m2)[0] &amp;&amp;\</span>
</div><div id="lc136"><span class="cp">     (m)[1] == (m2)[1] &amp;&amp;\</span>
</div><div id="lc137"><span class="cp">     (m)[2] == (m2)[2] &amp;&amp;\</span>
</div><div id="lc138"><span class="cp">     (m)[3] == (m2)[3] &amp;&amp;\</span>
</div><div id="lc139"><span class="cp">     (m)[4] == (m2)[4] &amp;&amp;\</span>
</div><div id="lc140"><span class="cp">     (m)[5] == (m2)[5] &amp;&amp;\</span>
</div><div id="lc141"><span class="cp">     (m)[6] == (m2)[6] &amp;&amp;\</span>
</div><div id="lc142"><span class="cp">     (m)[7] == (m2)[7] &amp;&amp;\</span>
</div><div id="lc143"><span class="cp">     (m)[8] == (m2)[8])</span>
</div><div id="lc144">
</div><div id="lc145"><span class="cp">#define matrix33_equal_dif(m, m2, dif)\</span>
</div><div id="lc146"><span class="cp">    (fabs((m)[0] - (m2)[0]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc147"><span class="cp">     fabs((m)[1] - (m2)[1]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc148"><span class="cp">     fabs((m)[2] - (m2)[2]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc149"><span class="cp">     fabs((m)[3] - (m2)[3]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc150"><span class="cp">     fabs((m)[4] - (m2)[4]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc151"><span class="cp">     fabs((m)[5] - (m2)[5]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc152"><span class="cp">     fabs((m)[6] - (m2)[6]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc153"><span class="cp">     fabs((m)[7] - (m2)[7]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc154"><span class="cp">     fabs((m)[8] - (m2)[8]) &lt; (dif))</span>
</div><div id="lc155">
</div><div id="lc156"><span class="cp">/* matrix*_sum */</span>
</div><div id="lc157">
</div><div id="lc158"><span class="cp">#define matrix44_sum(r, m, m2)\</span>
</div><div id="lc159"><span class="cp">    (r)[0]  = (m)[0]  + (m2)[0];\</span>
</div><div id="lc160"><span class="cp">    (r)[1]  = (m)[1]  + (m2)[1];\</span>
</div><div id="lc161"><span class="cp">    (r)[2]  = (m)[2]  + (m2)[2];\</span>
</div><div id="lc162"><span class="cp">    (r)[3]  = (m)[3]  + (m2)[3];\</span>
</div><div id="lc163"><span class="cp">    (r)[4]  = (m)[4]  + (m2)[4];\</span>
</div><div id="lc164"><span class="cp">    (r)[5]  = (m)[5]  + (m2)[5];\</span>
</div><div id="lc165"><span class="cp">    (r)[6]  = (m)[6]  + (m2)[6];\</span>
</div><div id="lc166"><span class="cp">    (r)[7]  = (m)[7]  + (m2)[7];\</span>
</div><div id="lc167"><span class="cp">    (r)[8]  = (m)[8]  + (m2)[8];\</span>
</div><div id="lc168"><span class="cp">    (r)[9]  = (m)[9]  + (m2)[9];\</span>
</div><div id="lc169"><span class="cp">    (r)[10] = (m)[10] + (m2)[10];\</span>
</div><div id="lc170"><span class="cp">    (r)[11] = (m)[11] + (m2)[11];\</span>
</div><div id="lc171"><span class="cp">    (r)[12] = (m)[12] + (m2)[12];\</span>
</div><div id="lc172"><span class="cp">    (r)[13] = (m)[13] + (m2)[13];\</span>
</div><div id="lc173"><span class="cp">    (r)[14] = (m)[14] + (m2)[14];\</span>
</div><div id="lc174"><span class="cp">    (r)[15] = (m)[15] + (m2)[15]</span>
</div><div id="lc175">
</div><div id="lc176"><span class="cp">#define matrix33_sum(r, m, m2)\</span>
</div><div id="lc177"><span class="cp">    (r)[0] = (m)[0] + (m2)[0];\</span>
</div><div id="lc178"><span class="cp">    (r)[1] = (m)[1] + (m2)[1];\</span>
</div><div id="lc179"><span class="cp">    (r)[2] = (m)[2] + (m2)[2];\</span>
</div><div id="lc180"><span class="cp">    (r)[3] = (m)[3] + (m2)[3];\</span>
</div><div id="lc181"><span class="cp">    (r)[4] = (m)[4] + (m2)[4];\</span>
</div><div id="lc182"><span class="cp">    (r)[5] = (m)[5] + (m2)[5];\</span>
</div><div id="lc183"><span class="cp">    (r)[6] = (m)[6] + (m2)[6];\</span>
</div><div id="lc184"><span class="cp">    (r)[7] = (m)[7] + (m2)[7];\</span>
</div><div id="lc185"><span class="cp">    (r)[8] = (m)[8] + (m2)[8]</span>
</div><div id="lc186">
</div><div id="lc187"><span class="cp">/* matrix*_add */</span>
</div><div id="lc188">
</div><div id="lc189"><span class="cp">#define matrix44_add(m, m2) matrix44_sum(m, m, m2)</span>
</div><div id="lc190"><span class="cp">#define matrix33_add(m, m2) matrix33_sum(m, m, m2)</span>
</div><div id="lc191">
</div><div id="lc192"><span class="cp">/* matrix*_dif */</span>
</div><div id="lc193">
</div><div id="lc194"><span class="cp">#define matrix44_dif(r, m, m2)\</span>
</div><div id="lc195"><span class="cp">    (r)[0]  = (m)[0]  - (m2)[0];\</span>
</div><div id="lc196"><span class="cp">    (r)[1]  = (m)[1]  - (m2)[1];\</span>
</div><div id="lc197"><span class="cp">    (r)[2]  = (m)[2]  - (m2)[2];\</span>
</div><div id="lc198"><span class="cp">    (r)[3]  = (m)[3]  - (m2)[3];\</span>
</div><div id="lc199"><span class="cp">    (r)[4]  = (m)[4]  - (m2)[4];\</span>
</div><div id="lc200"><span class="cp">    (r)[5]  = (m)[5]  - (m2)[5];\</span>
</div><div id="lc201"><span class="cp">    (r)[6]  = (m)[6]  - (m2)[6];\</span>
</div><div id="lc202"><span class="cp">    (r)[7]  = (m)[7]  - (m2)[7];\</span>
</div><div id="lc203"><span class="cp">    (r)[8]  = (m)[8]  - (m2)[8];\</span>
</div><div id="lc204"><span class="cp">    (r)[9]  = (m)[9]  - (m2)[9];\</span>
</div><div id="lc205"><span class="cp">    (r)[10] = (m)[10] - (m2)[10];\</span>
</div><div id="lc206"><span class="cp">    (r)[11] = (m)[11] - (m2)[11];\</span>
</div><div id="lc207"><span class="cp">    (r)[12] = (m)[12] - (m2)[12];\</span>
</div><div id="lc208"><span class="cp">    (r)[13] = (m)[13] - (m2)[13];\</span>
</div><div id="lc209"><span class="cp">    (r)[14] = (m)[14] - (m2)[14];\</span>
</div><div id="lc210"><span class="cp">    (r)[15] = (m)[15] - (m2)[15]</span>
</div><div id="lc211">
</div><div id="lc212"><span class="cp">#define matrix33_dif(r, m, m2)\</span>
</div><div id="lc213"><span class="cp">    (r)[0] = (m)[0] - (m2)[0];\</span>
</div><div id="lc214"><span class="cp">    (r)[1] = (m)[1] - (m2)[1];\</span>
</div><div id="lc215"><span class="cp">    (r)[2] = (m)[2] - (m2)[2];\</span>
</div><div id="lc216"><span class="cp">    (r)[3] = (m)[3] - (m2)[3];\</span>
</div><div id="lc217"><span class="cp">    (r)[4] = (m)[4] - (m2)[4];\</span>
</div><div id="lc218"><span class="cp">    (r)[5] = (m)[5] - (m2)[5];\</span>
</div><div id="lc219"><span class="cp">    (r)[6] = (m)[6] - (m2)[6];\</span>
</div><div id="lc220"><span class="cp">    (r)[7] = (m)[7] - (m2)[7];\</span>
</div><div id="lc221"><span class="cp">    (r)[8] = (m)[8] - (m2)[8]</span>
</div><div id="lc222">
</div><div id="lc223"><span class="cp">/* matrix*_sub */</span>
</div><div id="lc224">
</div><div id="lc225"><span class="cp">#define matrix44_sub(m, m2) matrix44_dif(m, m, m2)</span>
</div><div id="lc226"><span class="cp">#define matrix33_sub(m, m2) matrix33_dif(m, m, m2)</span>
</div><div id="lc227">
</div><div id="lc228"><span class="cp">/* matrix*_translate* */</span>
</div><div id="lc229">
</div><div id="lc230"><span class="cp">#define matrix44_translate(m, x, y, z)\</span>
</div><div id="lc231"><span class="cp">    (m)[0]  = 1;    (m)[1]  = 0;   (m)[2]  = 0;   (m)[3]  = 0;\</span>
</div><div id="lc232"><span class="cp">    (m)[4]  = 0;    (m)[5]  = 1;   (m)[6]  = 0;   (m)[7]  = 0;\</span>
</div><div id="lc233"><span class="cp">    (m)[8]  = 0;    (m)[9]  = 0;   (m)[10] = 1;   (m)[11] = 0;\</span>
</div><div id="lc234"><span class="cp">    (m)[12] = (x);  (m)[13] = (y); (m)[14] = (z); (m)[15] = 1</span>
</div><div id="lc235">
</div><div id="lc236"><span class="cp">#define matrix44_translate_lazy(m, x, y, z)\</span>
</div><div id="lc237"><span class="cp">    (m)[12] = (x);  (m)[13] = (y); (m)[14] = (z)</span>
</div><div id="lc238">
</div><div id="lc239"><span class="cp">#define matrix33_translate(m, x, y)\</span>
</div><div id="lc240"><span class="cp">    (m)[0] = 1;   (m)[1] = 0;   (m)[2] = 0;\</span>
</div><div id="lc241"><span class="cp">    (m)[3] = 0;   (m)[4] = 1;   (m)[5] = 0;\</span>
</div><div id="lc242"><span class="cp">    (m)[6] = (x); (m)[7] = (y); (m)[8] = 1</span>
</div><div id="lc243">
</div><div id="lc244"><span class="cp">#define matrix33_translate_lazy(m, x, y)\</span>
</div><div id="lc245"><span class="cp">    (m)[6] = (x);  (m)[7] = (y)</span>
</div><div id="lc246">
</div><div id="lc247"><span class="cp">/* matrix*_scale* */</span>
</div><div id="lc248">
</div><div id="lc249"><span class="cp">#define matrix44_scale(m, x, y, z)\</span>
</div><div id="lc250"><span class="cp">    (m)[0]  = (x);  (m)[1]  = 0;   (m)[2]  = 0;   (m)[3]  = 0;\</span>
</div><div id="lc251"><span class="cp">    (m)[4]  = 0;    (m)[5]  = (y); (m)[6]  = 0;   (m)[7]  = 0;\</span>
</div><div id="lc252"><span class="cp">    (m)[8]  = 0;    (m)[9]  = 0;   (m)[10] = (z); (m)[11] = 0;\</span>
</div><div id="lc253"><span class="cp">    (m)[12] = 0;    (m)[13] = 0;   (m)[14] = 0;   (m)[15] = 1</span>
</div><div id="lc254">
</div><div id="lc255"><span class="cp">#define matrix44_scale_lazy(m, x, y, z)\</span>
</div><div id="lc256"><span class="cp">    (m)[0] = (x);  (m)[5] = (y); (m)[10] = (z)</span>
</div><div id="lc257">
</div><div id="lc258"><span class="cp">#define matrix33_scale(m, x, y)\</span>
</div><div id="lc259"><span class="cp">    (m)[0] = (x); (m)[1] = 0;   (m)[2] = 0;\</span>
</div><div id="lc260"><span class="cp">    (m)[3] = 0;   (m)[4] = (y); (m)[5] = 0;\</span>
</div><div id="lc261"><span class="cp">    (m)[6] = 0;   (m)[7] = 0;   (m)[8] = 1</span>
</div><div id="lc262">
</div><div id="lc263"><span class="cp">#define matrix33_scale_lazy(m, x, y, z)\</span>
</div><div id="lc264"><span class="cp">    (m)[0] = (x);  (m)[4] = (y);</span>
</div><div id="lc265">
</div><div id="lc266"><span class="cp">/* matrix*_rotate* */</span>
</div><div id="lc267">
</div><div id="lc268"><span class="cp">#define matrix44_rotate_x(m, a)\</span>
</div><div id="lc269"><span class="cp">    (m)[0]  = 1;  (m)[1]  = 0;       (m)[2]  = 0;      (m)[3]  = 0;\</span>
</div><div id="lc270"><span class="cp">    (m)[4]  = 0;  (m)[5]  = cos(a);  (m)[6]  = sin(a); (m)[7]  = 0;\</span>
</div><div id="lc271"><span class="cp">    (m)[8]  = 0;  (m)[9]  = -(m)[6]; (m)[10] = (m)[5]; (m)[11] = 0;\</span>
</div><div id="lc272"><span class="cp">    (m)[12] = 0;  (m)[13] = 0;       (m)[14] = 0;      (m)[15] = 1</span>
</div><div id="lc273">
</div><div id="lc274"><span class="cp">#define matrix44_rotate_y(m, a)\</span>
</div><div id="lc275"><span class="cp">    (m)[0]  = cos(a);  (m)[1]  = 0; (m)[2]  = -sin(a); (m)[3]  = 0;\</span>
</div><div id="lc276"><span class="cp">    (m)[4]  = 0;       (m)[5]  = 1; (m)[6]  = 0;       (m)[7]  = 0;\</span>
</div><div id="lc277"><span class="cp">    (m)[8]  = -(m)[2]; (m)[9]  = 0; (m)[10] = (m)[0];  (m)[11] = 0;\</span>
</div><div id="lc278"><span class="cp">    (m)[12] = 0;       (m)[13] = 0; (m)[14] = 0;       (m)[15] = 1</span>
</div><div id="lc279">
</div><div id="lc280"><span class="cp">#define matrix44_rotate_z(m, a)\</span>
</div><div id="lc281"><span class="cp">    (m)[0]  = cos(a);  (m)[1]  = sin(a); (m)[2]  = 0; (m)[3]  = 0;\</span>
</div><div id="lc282"><span class="cp">    (m)[4]  = -(m)[1]; (m)[5]  = (m)[0]; (m)[6]  = 0; (m)[7]  = 0;\</span>
</div><div id="lc283"><span class="cp">    (m)[8]  = 0;       (m)[9]  = 0;      (m)[10] = 1; (m)[11] = 0;\</span>
</div><div id="lc284"><span class="cp">    (m)[12] = 0;       (m)[13] = 0;      (m)[14] = 0; (m)[15] = 1</span>
</div><div id="lc285">
</div><div id="lc286"><span class="cp">#define matrix33_rotate(m, a)\</span>
</div><div id="lc287"><span class="cp">    (m)[0] = cos(a);  (m)[1] = sin(a); (m)[2] = 0;\</span>
</div><div id="lc288"><span class="cp">    (m)[3] = -(m)[1]; (m)[4] = (m)[0]; (m)[5] = 0;\</span>
</div><div id="lc289"><span class="cp">    (m)[6] = 0;       (m)[7] = 0;      (m)[8] = 1</span>
</div><div id="lc290">
</div><div id="lc291"><span class="cp">#define matrix44_rotate_from_axis(m, a, x, y, z)\</span>
</div><div id="lc292"><span class="cp">    (m)[0]  = (1-cos(a))*(x)*(x) + cos(a);\</span>
</div><div id="lc293"><span class="cp">    (m)[1]  = (1-cos(a))*(x)*(y) + sin(a)*(z);\</span>
</div><div id="lc294"><span class="cp">    (m)[2]  = ((1-cos(a))*(x)*(z) - sin(a)*(y)); \</span>
</div><div id="lc295"><span class="cp">    (m)[3]  = 0;\</span>
</div><div id="lc296"><span class="cp">    (m)[4]  = (1-cos(a))*(x)*(y) - sin(a)*(z);\</span>
</div><div id="lc297"><span class="cp">    (m)[5]  = (1-cos(a))*(y)*(y) + cos(a);\</span>
</div><div id="lc298"><span class="cp">    (m)[6]  = (1-cos(a))*(y)*(z) + sin(a)*(x);\</span>
</div><div id="lc299"><span class="cp">    (m)[7]  = 0;\</span>
</div><div id="lc300"><span class="cp">    (m)[8]  = (1-cos(a))*(x)*(z) + sin(a)*(y);\</span>
</div><div id="lc301"><span class="cp">    (m)[9]  = (1-cos(a))*(y)*(z) - sin(a)*(x);\</span>
</div><div id="lc302"><span class="cp">    (m)[10] = (1-cos(a))*(z)*(z) + cos(a);\</span>
</div><div id="lc303"><span class="cp">    (m)[11] = 0;\</span>
</div><div id="lc304"><span class="cp">    (m)[12] = 0;\</span>
</div><div id="lc305"><span class="cp">    (m)[13] = 0;\</span>
</div><div id="lc306"><span class="cp">    (m)[14] = 0;\</span>
</div><div id="lc307"><span class="cp">    (m)[15] = 1</span>
</div><div id="lc308">
</div><div id="lc309"><span class="cp">#define matrix44_rotate_from_axis_sincos(m, s, c, x, y, z)\</span>
</div><div id="lc310"><span class="cp">    (m)[0]  = (1-(c))*(x)*(x) + (c);\</span>
</div><div id="lc311"><span class="cp">    (m)[1]  = (1-(c))*(x)*(y) + (s)*(z);\</span>
</div><div id="lc312"><span class="cp">    (m)[2]  = (1-(c))*(x)*(z) - (s)*(y);\</span>
</div><div id="lc313"><span class="cp">    (m)[3]  = 0;\</span>
</div><div id="lc314"><span class="cp">    (m)[4]  = (1-(c))*(x)*(y) - (s)*(z);\</span>
</div><div id="lc315"><span class="cp">    (m)[5]  = (1-(c))*(y)*(y) + (c);\</span>
</div><div id="lc316"><span class="cp">    (m)[6]  = (1-(c))*(y)*(z) + (s)*(x);\</span>
</div><div id="lc317"><span class="cp">    (m)[7]  = 0;\</span>
</div><div id="lc318"><span class="cp">    (m)[8]  = (1-(c))*(x)*(z) + (s)*(y);\</span>
</div><div id="lc319"><span class="cp">    (m)[9]  = (1-(c))*(y)*(z) - (s)*(x);\</span>
</div><div id="lc320"><span class="cp">    (m)[10] = (1-(c))*(z)*(z) + (c);\</span>
</div><div id="lc321"><span class="cp">    (m)[11] = 0;\</span>
</div><div id="lc322"><span class="cp">    (m)[12] = 0;\</span>
</div><div id="lc323"><span class="cp">    (m)[13] = 0;\</span>
</div><div id="lc324"><span class="cp">    (m)[14] = 0;\</span>
</div><div id="lc325"><span class="cp">    (m)[15] = 1</span>
</div><div id="lc326">
</div><div id="lc327"><span class="cp">#define matrix44_rotate_from_quaternion(m, q)\</span>
</div><div id="lc328"><span class="cp">    (m)[0]  = 1 - 2*(q)[1]*(q)[1] - 2*(q)[2]*(q)[2];\</span>
</div><div id="lc329"><span class="cp">    (m)[1]  = 2*(q)[0]*(q)[1] + 2*(q)[3]*(q)[2];\</span>
</div><div id="lc330"><span class="cp">    (m)[2]  = 2*(q)[0]*(q)[2] - 2*(q)[3]*(q)[1];\</span>
</div><div id="lc331"><span class="cp">    (m)[3]  = 0;\</span>
</div><div id="lc332"><span class="cp">    (m)[4]  = 2*(q)[0]*(q)[1] - 2*(q)[3]*(q)[2];\</span>
</div><div id="lc333"><span class="cp">    (m)[5]  = 1 - 2*(q)[0]*(q)[0] - 2*(q)[2]*(q)[2];\</span>
</div><div id="lc334"><span class="cp">    (m)[6]  = 2*(q)[1]*(q)[2] + 2*(q)[3]*(q)[0];\</span>
</div><div id="lc335"><span class="cp">    (m)[7]  = 0;\</span>
</div><div id="lc336"><span class="cp">    (m)[8]  = 2*(q)[0]*(q)[2] + 2*(q)[3]*(q)[1];\</span>
</div><div id="lc337"><span class="cp">    (m)[9]  = 2*(q)[1]*(q)[2] - 2*(q)[3]*(q)[0];\</span>
</div><div id="lc338"><span class="cp">    (m)[10] = 1 - 2*(q)[0]*(q)[0] - 2*(q)[1]*(q)[1];\</span>
</div><div id="lc339"><span class="cp">    (m)[11] = 0;\</span>
</div><div id="lc340"><span class="cp">    (m)[12] = 0;\</span>
</div><div id="lc341"><span class="cp">    (m)[13] = 0;\</span>
</div><div id="lc342"><span class="cp">    (m)[14] = 0;\</span>
</div><div id="lc343"><span class="cp">    (m)[15] = 1</span>
</div><div id="lc344">
</div><div id="lc345"><span class="cp">/* matrix44_perspective */</span>
</div><div id="lc346">
</div><div id="lc347"><span class="cp">#define matrix44_perspective(m, fovy, aspect, z_near, z_far)\</span>
</div><div id="lc348"><span class="cp">    (m)[1]  = 0;\</span>
</div><div id="lc349"><span class="cp">    (m)[2]  = 0;\</span>
</div><div id="lc350"><span class="cp">    (m)[3]  = 0;\</span>
</div><div id="lc351"><span class="cp">    (m)[4]  = 0;\</span>
</div><div id="lc352"><span class="cp">    (m)[5]  = (1/tan(fovy/2));\</span>
</div><div id="lc353"><span class="cp">    (m)[0]  = (m)[5]/(aspect);\</span>
</div><div id="lc354"><span class="cp">    (m)[6]  = 0;\</span>
</div><div id="lc355"><span class="cp">    (m)[7]  = 0;\</span>
</div><div id="lc356"><span class="cp">    (m)[8]  = 0;\</span>
</div><div id="lc357"><span class="cp">    (m)[9]  = 0;\</span>
</div><div id="lc358"><span class="cp">    (m)[10] = (z_far+z_near)/(z_near-z_far);\</span>
</div><div id="lc359"><span class="cp">    (m)[11] = -1;\</span>
</div><div id="lc360"><span class="cp">    (m)[12] = 0;\</span>
</div><div id="lc361"><span class="cp">    (m)[13] = 0;\</span>
</div><div id="lc362"><span class="cp">    (m)[14] = (2*z_far*z_near)/(z_near-z_far);\</span>
</div><div id="lc363"><span class="cp">    (m)[15] = 0</span>
</div><div id="lc364">
</div><div id="lc365"><span class="cp">/* matrix44_ortho2D */</span>
</div><div id="lc366">
</div><div id="lc367"><span class="cp">#define matrix44_ortho2D(m, l, r, b, t, n, f) \</span>
</div><div id="lc368"><span class="cp">    (m)[0]  = 2.0/(r - l);\</span>
</div><div id="lc369"><span class="cp">    (m)[1]  = 0;\</span>
</div><div id="lc370"><span class="cp">    (m)[2]  = 0;\</span>
</div><div id="lc371"><span class="cp">    (m)[3]  = 0;\</span>
</div><div id="lc372"><span class="cp">    (m)[4]  = 0;\</span>
</div><div id="lc373"><span class="cp">    (m)[5]  = 2.0/(t - b);\</span>
</div><div id="lc374"><span class="cp">    (m)[6]  = 0;\</span>
</div><div id="lc375"><span class="cp">    (m)[7]  = 0;\</span>
</div><div id="lc376"><span class="cp">    (m)[8]  = 0;\</span>
</div><div id="lc377"><span class="cp">    (m)[9]  = 0;\</span>
</div><div id="lc378"><span class="cp">    (m)[10] = -2.0/(f - n);\</span>
</div><div id="lc379"><span class="cp">    (m)[11] = 0;\</span>
</div><div id="lc380"><span class="cp">    (m)[12] = -(r + l)/(r - l);\</span>
</div><div id="lc381"><span class="cp">    (m)[13] = -(t + b)/(t - b);\</span>
</div><div id="lc382"><span class="cp">    (m)[14] = -(f + n)/(f - n);\</span>
</div><div id="lc383"><span class="cp">    (m)[15] = 1;\</span>
</div><div id="lc384">
</div><div id="lc385"><span class="cp">/* matrix*_transpose */</span>
</div><div id="lc386">
</div><div id="lc387"><span class="cp">#define matrix44_transpose(r, m)\</span>
</div><div id="lc388"><span class="cp">    (r)[0]  = (m)[0];\</span>
</div><div id="lc389"><span class="cp">    (r)[1]  = (m)[4];\</span>
</div><div id="lc390"><span class="cp">    (r)[2]  = (m)[8];\</span>
</div><div id="lc391"><span class="cp">    (r)[3]  = (m)[12];\</span>
</div><div id="lc392"><span class="cp">    (r)[4]  = (m)[1];\</span>
</div><div id="lc393"><span class="cp">    (r)[5]  = (m)[5];\</span>
</div><div id="lc394"><span class="cp">    (r)[6]  = (m)[9];\</span>
</div><div id="lc395"><span class="cp">    (r)[7]  = (m)[13];\</span>
</div><div id="lc396"><span class="cp">    (r)[8]  = (m)[2];\</span>
</div><div id="lc397"><span class="cp">    (r)[9]  = (m)[6];\</span>
</div><div id="lc398"><span class="cp">    (r)[10] = (m)[10];\</span>
</div><div id="lc399"><span class="cp">    (r)[11] = (m)[14];\</span>
</div><div id="lc400"><span class="cp">    (r)[12] = (m)[3];\</span>
</div><div id="lc401"><span class="cp">    (r)[13] = (m)[7];\</span>
</div><div id="lc402"><span class="cp">    (r)[14] = (m)[11];\</span>
</div><div id="lc403"><span class="cp">    (r)[15] = (m)[15]</span>
</div><div id="lc404">
</div><div id="lc405"><span class="cp">#define matrix33_transpose(r, m)\</span>
</div><div id="lc406"><span class="cp">    (r)[0]  = (m)[0];\</span>
</div><div id="lc407"><span class="cp">    (r)[1]  = (m)[3];\</span>
</div><div id="lc408"><span class="cp">    (r)[2]  = (m)[6];\</span>
</div><div id="lc409"><span class="cp">    (r)[3]  = (m)[1];\</span>
</div><div id="lc410"><span class="cp">    (r)[4]  = (m)[4];\</span>
</div><div id="lc411"><span class="cp">    (r)[5]  = (m)[7];\</span>
</div><div id="lc412"><span class="cp">    (r)[6]  = (m)[2];\</span>
</div><div id="lc413"><span class="cp">    (r)[7]  = (m)[5];\</span>
</div><div id="lc414"><span class="cp">    (r)[8]  = (m)[8]</span>
</div><div id="lc415">
</div><div id="lc416"><span class="cp">/* matrix*_mult | m*m2 */</span>
</div><div id="lc417">
</div><div id="lc418"><span class="cp">#define matrix44_mult(r, m, m2)\</span>
</div><div id="lc419"><span class="cp">    (r)[0]  = (m)[0]*(m2)[0]  + (m)[4]*(m2)[1]  + (m)[8]*(m2)[2]   + (m)[12]*(m2)[3];\</span>
</div><div id="lc420"><span class="cp">    (r)[1]  = (m)[1]*(m2)[0]  + (m)[5]*(m2)[1]  + (m)[9]*(m2)[2]   + (m)[13]*(m2)[3];\</span>
</div><div id="lc421"><span class="cp">    (r)[2]  = (m)[2]*(m2)[0]  + (m)[6]*(m2)[1]  + (m)[10]*(m2)[2]  + (m)[14]*(m2)[3];\</span>
</div><div id="lc422"><span class="cp">    (r)[3]  = (m)[3]*(m2)[0]  + (m)[7]*(m2)[1]  + (m)[11]*(m2)[2]  + (m)[15]*(m2)[3];\</span>
</div><div id="lc423"><span class="cp">    (r)[4]  = (m)[0]*(m2)[4]  + (m)[4]*(m2)[5]  + (m)[8]*(m2)[6]   + (m)[12]*(m2)[7];\</span>
</div><div id="lc424"><span class="cp">    (r)[5]  = (m)[1]*(m2)[4]  + (m)[5]*(m2)[5]  + (m)[9]*(m2)[6]   + (m)[13]*(m2)[7];\</span>
</div><div id="lc425"><span class="cp">    (r)[6]  = (m)[2]*(m2)[4]  + (m)[6]*(m2)[5]  + (m)[10]*(m2)[6]  + (m)[14]*(m2)[7];\</span>
</div><div id="lc426"><span class="cp">    (r)[7]  = (m)[3]*(m2)[4]  + (m)[7]*(m2)[5]  + (m)[11]*(m2)[6]  + (m)[15]*(m2)[7];\</span>
</div><div id="lc427"><span class="cp">    (r)[8]  = (m)[0]*(m2)[8]  + (m)[4]*(m2)[9]  + (m)[8]*(m2)[10]  + (m)[12]*(m2)[11];\</span>
</div><div id="lc428"><span class="cp">    (r)[9]  = (m)[1]*(m2)[8]  + (m)[5]*(m2)[9]  + (m)[9]*(m2)[10]  + (m)[13]*(m2)[11];\</span>
</div><div id="lc429"><span class="cp">    (r)[10] = (m)[2]*(m2)[8]  + (m)[6]*(m2)[9]  + (m)[10]*(m2)[10] + (m)[14]*(m2)[11];\</span>
</div><div id="lc430"><span class="cp">    (r)[11] = (m)[3]*(m2)[8]  + (m)[7]*(m2)[9]  + (m)[11]*(m2)[10] + (m)[15]*(m2)[11];\</span>
</div><div id="lc431"><span class="cp">    (r)[12] = (m)[0]*(m2)[12] + (m)[4]*(m2)[13] + (m)[8]*(m2)[14]  + (m)[12]*(m2)[15];\</span>
</div><div id="lc432"><span class="cp">    (r)[13] = (m)[1]*(m2)[12] + (m)[5]*(m2)[13] + (m)[9]*(m2)[14]  + (m)[13]*(m2)[15];\</span>
</div><div id="lc433"><span class="cp">    (r)[14] = (m)[2]*(m2)[12] + (m)[6]*(m2)[13] + (m)[10]*(m2)[14] + (m)[14]*(m2)[15];\</span>
</div><div id="lc434"><span class="cp">    (r)[15] = (m)[3]*(m2)[12] + (m)[7]*(m2)[13] + (m)[11]*(m2)[14] + (m)[15]*(m2)[15]</span>
</div><div id="lc435">
</div><div id="lc436"><span class="cp">#define matrix33_mult(r, m, m2)\</span>
</div><div id="lc437"><span class="cp">    (r)[0] = (m)[0]*(m2)[0] + (m)[3]*(m2)[1] + (m)[6]*(m2)[2];\</span>
</div><div id="lc438"><span class="cp">    (r)[1] = (m)[1]*(m2)[0] + (m)[4]*(m2)[1] + (m)[7]*(m2)[2];\</span>
</div><div id="lc439"><span class="cp">    (r)[2] = (m)[2]*(m2)[0] + (m)[5]*(m2)[1] + (m)[8]*(m2)[2];\</span>
</div><div id="lc440"><span class="cp">    (r)[3] = (m)[0]*(m2)[3] + (m)[3]*(m2)[4] + (m)[6]*(m2)[5];\</span>
</div><div id="lc441"><span class="cp">    (r)[4] = (m)[1]*(m2)[3] + (m)[4]*(m2)[4] + (m)[7]*(m2)[5];\</span>
</div><div id="lc442"><span class="cp">    (r)[5] = (m)[2]*(m2)[3] + (m)[5]*(m2)[4] + (m)[8]*(m2)[5];\</span>
</div><div id="lc443"><span class="cp">    (r)[6] = (m)[0]*(m2)[6] + (m)[3]*(m2)[7] + (m)[6]*(m2)[8];\</span>
</div><div id="lc444"><span class="cp">    (r)[7] = (m)[1]*(m2)[6] + (m)[4]*(m2)[7] + (m)[7]*(m2)[8];\</span>
</div><div id="lc445"><span class="cp">    (r)[8] = (m)[2]*(m2)[6] + (m)[5]*(m2)[7] + (m)[8]*(m2)[8]</span>
</div><div id="lc446">
</div><div id="lc447"><span class="cp">/* matrix*_det */</span>
</div><div id="lc448">
</div><div id="lc449"><span class="cp">#define matrix44_det(m)\</span>
</div><div id="lc450"><span class="cp">    ((m)[0]*((m)[5]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[6]*(m)[15] -\</span>
</div><div id="lc451"><span class="cp">        (m)[14]*(m)[7]) + (m)[13]*((m)[6]*(m)[11] - (m)[10]*(m)[7])) -\</span>
</div><div id="lc452"><span class="cp">     (m)[4]*-((m)[1]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[2]*(m)[15] -\</span>
</div><div id="lc453"><span class="cp">        (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[11] - (m)[10]*(m)[3])) +\</span>
</div><div id="lc454"><span class="cp">     (m)[8]*((m)[1]*((m)[6]*(m)[15] - (m)[14]*(m)[7]) - (m)[5]*((m)[2]*(m)[15] -\</span>
</div><div id="lc455"><span class="cp">        (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[7] - (m)[6]*(m)[3])) -\</span>
</div><div id="lc456"><span class="cp">     (m)[12]*-((m)[1]*((m)[6]*(m)[11] - (m)[10]*(m)[7]) - (m)[5]*((m)[2]*(m)[11] -\</span>
</div><div id="lc457"><span class="cp">        (m)[10]*(m)[3]) + (m)[9]*((m)[2]*(m)[7] - (m)[6]*(m)[3])))</span>
</div><div id="lc458">
</div><div id="lc459"><span class="cp">#define matrix33_det(m)\</span>
</div><div id="lc460"><span class="cp">    ((m)[0]*((m)[4]*(m)[8] - (m)[7]*(m)[5]) -\</span>
</div><div id="lc461"><span class="cp">     (m)[3]*((m)[1]*(m)[8] - (m)[7]*(m)[2]) +\</span>
</div><div id="lc462"><span class="cp">     (m)[6]*((m)[1]*(m)[5] - (m)[4]*(m)[2]))</span>
</div><div id="lc463">
</div><div id="lc464"><span class="cp">/* matrix*_inverse */</span>
</div><div id="lc465">
</div><div id="lc466"><span class="cp">#define matrix44_inverse(r, m, ambuf, detbuf)\</span>
</div><div id="lc467"><span class="cp">    (ambuf)[0]   =  ((m)[5]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[6]*(m)[15] - (m)[14]*(m)[7]) + (m)[13]*((m)[6]*(m)[11] - (m)[10]*(m)[7]));\</span>
</div><div id="lc468"><span class="cp">    (ambuf)[1]   = -((m)[4]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[8]*((m)[6]*(m)[15] - (m)[14]*(m)[7]) + (m)[12]*((m)[6]*(m)[11] - (m)[10]*(m)[7]));\</span>
</div><div id="lc469"><span class="cp">    (ambuf)[2]   =  ((m)[4]*((m)[9]*(m)[15]  - (m)[13]*(m)[11]) - (m)[8]*((m)[5]*(m)[15] - (m)[13]*(m)[7]) + (m)[12]*((m)[5]*(m)[11] - (m)[9]*(m)[7]));\</span>
</div><div id="lc470"><span class="cp">    (ambuf)[3]   = -((m)[4]*((m)[9]*(m)[14]  - (m)[13]*(m)[10]) - (m)[8]*((m)[5]*(m)[14] - (m)[13]*(m)[6]) + (m)[12]*((m)[5]*(m)[10] - (m)[9]*(m)[6]));\</span>
</div><div id="lc471"><span class="cp">    (ambuf)[4]   = -((m)[1]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[9]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[11] - (m)[10]*(m)[3]));\</span>
</div><div id="lc472"><span class="cp">    (ambuf)[5]   =  ((m)[0]*((m)[10]*(m)[15] - (m)[14]*(m)[11]) - (m)[8]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[12]*((m)[2]*(m)[11] - (m)[10]*(m)[3]));\</span>
</div><div id="lc473"><span class="cp">    (ambuf)[6]   = -((m)[0]*((m)[9]*(m)[15]  - (m)[13]*(m)[11]) - (m)[8]*((m)[1]*(m)[15] - (m)[13]*(m)[3]) + (m)[12]*((m)[1]*(m)[11] - (m)[9]*(m)[3]));\</span>
</div><div id="lc474"><span class="cp">    (ambuf)[7]   =  ((m)[0]*((m)[9]*(m)[14]  - (m)[13]*(m)[10]) - (m)[8]*((m)[1]*(m)[14] - (m)[13]*(m)[2]) + (m)[12]*((m)[1]*(m)[10] - (m)[9]*(m)[2]));\</span>
</div><div id="lc475"><span class="cp">    (ambuf)[8]   =  ((m)[1]*((m)[6]*(m)[15]  - (m)[14]*(m)[7])  - (m)[5]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[13]*((m)[2]*(m)[7]  - (m)[6]*(m)[3]));\</span>
</div><div id="lc476"><span class="cp">    (ambuf)[9]   = -((m)[0]*((m)[6]*(m)[15]  - (m)[14]*(m)[7])  - (m)[4]*((m)[2]*(m)[15] - (m)[14]*(m)[3]) + (m)[12]*((m)[2]*(m)[7]  - (m)[6]*(m)[3]));\</span>
</div><div id="lc477"><span class="cp">    (ambuf)[10]  =  ((m)[0]*((m)[5]*(m)[15]  - (m)[13]*(m)[7])  - (m)[4]*((m)[1]*(m)[15] - (m)[13]*(m)[3]) + (m)[12]*((m)[1]*(m)[7]  - (m)[5]*(m)[3]));\</span>
</div><div id="lc478"><span class="cp">    (ambuf)[11]  = -((m)[0]*((m)[5]*(m)[14]  - (m)[13]*(m)[6])  - (m)[4]*((m)[1]*(m)[14] - (m)[13]*(m)[2]) + (m)[12]*((m)[1]*(m)[6]  - (m)[5]*(m)[2]));\</span>
</div><div id="lc479"><span class="cp">    (ambuf)[12]  = -((m)[1]*((m)[6]*(m)[11]  - (m)[10]*(m)[7])  - (m)[5]*((m)[2]*(m)[11] - (m)[10]*(m)[3]) + (m)[9]*((m)[2]*(m)[7]   - (m)[6]*(m)[3]));\</span>
</div><div id="lc480"><span class="cp">    (ambuf)[13]  =  ((m)[0]*((m)[6]*(m)[11]  - (m)[10]*(m)[7])  - (m)[4]*((m)[2]*(m)[11] - (m)[10]*(m)[3]) + (m)[8]*((m)[2]*(m)[7]   - (m)[6]*(m)[3]));\</span>
</div><div id="lc481"><span class="cp">    (ambuf)[14]  = -((m)[0]*((m)[5]*(m)[11]  - (m)[9]*(m)[7])   - (m)[4]*((m)[1]*(m)[11] - (m)[9]*(m)[3])  + (m)[8]*((m)[1]*(m)[7]   - (m)[5]*(m)[3]));\</span>
</div><div id="lc482"><span class="cp">    (ambuf)[15]  =  ((m)[0]*((m)[5]*(m)[10]  - (m)[9]*(m)[6])   - (m)[4]*((m)[1]*(m)[10] - (m)[9]*(m)[2])  + (m)[8]*((m)[1]*(m)[6]   - (m)[5]*(m)[2]));\</span>
</div><div id="lc483"><span class="cp">    (detbuf) = (ambuf)[0]*(m)[0]+(ambuf)[4]*(m)[4]+(ambuf)[8]*(m)[8]+(ambuf)[12]*(m)[12];\</span>
</div><div id="lc484"><span class="cp">    if(detbuf)\</span>
</div><div id="lc485"><span class="cp">    {\</span>
</div><div id="lc486"><span class="cp">        (r)[0]  = (ambuf)[0]  / (detbuf);\</span>
</div><div id="lc487"><span class="cp">        (r)[1]  = (ambuf)[4]  / (detbuf);\</span>
</div><div id="lc488"><span class="cp">        (r)[2]  = (ambuf)[8]  / (detbuf);\</span>
</div><div id="lc489"><span class="cp">        (r)[3]  = (ambuf)[12] / (detbuf);\</span>
</div><div id="lc490"><span class="cp">        (r)[4]  = (ambuf)[1]  / (detbuf);\</span>
</div><div id="lc491"><span class="cp">        (r)[5]  = (ambuf)[5]  / (detbuf);\</span>
</div><div id="lc492"><span class="cp">        (r)[6]  = (ambuf)[9]  / (detbuf);\</span>
</div><div id="lc493"><span class="cp">        (r)[7]  = (ambuf)[13] / (detbuf);\</span>
</div><div id="lc494"><span class="cp">        (r)[8]  = (ambuf)[2]  / (detbuf);\</span>
</div><div id="lc495"><span class="cp">        (r)[9]  = (ambuf)[6]  / (detbuf);\</span>
</div><div id="lc496"><span class="cp">        (r)[10] = (ambuf)[10] / (detbuf);\</span>
</div><div id="lc497"><span class="cp">        (r)[11] = (ambuf)[14] / (detbuf);\</span>
</div><div id="lc498"><span class="cp">        (r)[12] = (ambuf)[3]  / (detbuf);\</span>
</div><div id="lc499"><span class="cp">        (r)[13] = (ambuf)[7]  / (detbuf);\</span>
</div><div id="lc500"><span class="cp">        (r)[14] = (ambuf)[11] / (detbuf);\</span>
</div><div id="lc501"><span class="cp">        (r)[15] = (ambuf)[15] / (detbuf);\</span>
</div><div id="lc502"><span class="cp">    }</span>
</div><div id="lc503">
</div><div id="lc504"><span class="cp">#define matrix44_inverse2(r, m, ambuf, detbuf, cache) </span><span class="cm">/* cache requires array of 17 elements | Ex: float cache[17]; */</span><span class="cp">\</span>
</div><div id="lc505"><span class="cp">    (ambuf)[0]   =  ((m)[5]*(cache[0] = ((m)[10]*(m)[15] - (m)[14]*(m)[11])) - (m)[9]*(cache[1] = ((m)[6]*(m)[15] - (m)[14]*(m)[7])) + (m)[13]*(cache[2] = ((m)[6]*(m)[11] - (m)[10]*(m)[7])));\</span>
</div><div id="lc506"><span class="cp">    (ambuf)[1]   = -((m)[4]*(cache[0]) - (m)[8]*(cache[1]) + (m)[12]*(cache[2]));\</span>
</div><div id="lc507"><span class="cp">    (ambuf)[2]   =  ((m)[4]*(cache[3] = ((m)[9]*(m)[15] - (m)[13]*(m)[11])) - (m)[8]*(cache[4] = ((m)[5]*(m)[15] - (m)[13]*(m)[7])) + (m)[12]*(cache[5] = ((m)[5]*(m)[11] - (m)[9]*(m)[7])));\</span>
</div><div id="lc508"><span class="cp">    (ambuf)[3]   = -((m)[4]*(cache[6] = ((m)[9]*(m)[14] - (m)[13]*(m)[10])) - (m)[8]*(cache[7] = ((m)[5]*(m)[14] - (m)[13]*(m)[6])) + (m)[12]*(cache[8] = ((m)[5]*(m)[10] - (m)[9]*(m)[6])));\</span>
</div><div id="lc509"><span class="cp">    (ambuf)[4]   = -((m)[1]*(cache[0]) - (m)[9]*(cache[9] = ((m)[2]*(m)[15] - (m)[14]*(m)[3])) + (m)[13]*(cache[10] = ((m)[2]*(m)[11] - (m)[10]*(m)[3])));\</span>
</div><div id="lc510"><span class="cp">    (ambuf)[5]   =  ((m)[0]*(cache[0]) - (m)[8]*(cache[9]) + (m)[12]*(cache[10]));\</span>
</div><div id="lc511"><span class="cp">    (ambuf)[6]   = -((m)[0]*(cache[3]) - (m)[8]*(cache[11] = ((m)[1]*(m)[15] - (m)[13]*(m)[3])) + (m)[12]*(cache[12] = ((m)[1]*(m)[11] - (m)[9]*(m)[3])));\</span>
</div><div id="lc512"><span class="cp">    (ambuf)[7]   =  ((m)[0]*(cache[6]) - (m)[8]*(cache[13] = ((m)[1]*(m)[14] - (m)[13]*(m)[2])) + (m)[12]*(cache[14] = ((m)[1]*(m)[10] - (m)[9]*(m)[2])));\</span>
</div><div id="lc513"><span class="cp">    (ambuf)[8]   =  ((m)[1]*(cache[1]) - (m)[5]*(cache[9]) + (m)[13]*(cache[15] = ((m)[2]*(m)[7] - (m)[6]*(m)[3])));\</span>
</div><div id="lc514"><span class="cp">    (ambuf)[9]   = -((m)[0]*(cache[1]) - (m)[4]*(cache[9]) + (m)[12]*(cache[15]));\</span>
</div><div id="lc515"><span class="cp">    (ambuf)[10]  =  ((m)[0]*(cache[4]) - (m)[4]*(cache[11]) + (m)[12]*((m)[1]*(m)[7] - (m)[5]*(m)[3]));\</span>
</div><div id="lc516"><span class="cp">    (ambuf)[11]  = -((m)[0]*(cache[7]) - (m)[4]*(cache[13]) + (m)[12]*((m)[1]*(m)[6] - (m)[5]*(m)[2]));\</span>
</div><div id="lc517"><span class="cp">    (ambuf)[12]  = -((m)[1]*(cache[2]) - (m)[5]*(cache[10]) + (m)[9]*(cache[16] = ((m)[2]*(m)[7]  - (m)[6]*(m)[3])));\</span>
</div><div id="lc518"><span class="cp">    (ambuf)[13]  =  ((m)[0]*(cache[2]) - (m)[4]*(cache[10]) + (m)[8]*(cache[16]));\</span>
</div><div id="lc519"><span class="cp">    (ambuf)[14]  = -((m)[0]*(cache[5]) - (m)[4]*(cache[12])  + (m)[8]*((m)[1]*(m)[7]  - (m)[5]*(m)[3]));\</span>
</div><div id="lc520"><span class="cp">    (ambuf)[15]  =  ((m)[0]*(cache[8]) - (m)[4]*(cache[14])  + (m)[8]*((m)[1]*(m)[6]  - (m)[5]*(m)[2]));\</span>
</div><div id="lc521"><span class="cp">    (detbuf) = (ambuf)[0]*(m)[0]+(ambuf)[4]*(m)[4]+(ambuf)[8]*(m)[8]+(ambuf)[12]*(m)[12];\</span>
</div><div id="lc522"><span class="cp">    if(detbuf)\</span>
</div><div id="lc523"><span class="cp">    {\</span>
</div><div id="lc524"><span class="cp">        (r)[0]  = (ambuf)[0]  / (detbuf);\</span>
</div><div id="lc525"><span class="cp">        (r)[1]  = (ambuf)[4]  / (detbuf);\</span>
</div><div id="lc526"><span class="cp">        (r)[2]  = (ambuf)[8]  / (detbuf);\</span>
</div><div id="lc527"><span class="cp">        (r)[3]  = (ambuf)[12] / (detbuf);\</span>
</div><div id="lc528"><span class="cp">        (r)[4]  = (ambuf)[1]  / (detbuf);\</span>
</div><div id="lc529"><span class="cp">        (r)[5]  = (ambuf)[5]  / (detbuf);\</span>
</div><div id="lc530"><span class="cp">        (r)[6]  = (ambuf)[9]  / (detbuf);\</span>
</div><div id="lc531"><span class="cp">        (r)[7]  = (ambuf)[13] / (detbuf);\</span>
</div><div id="lc532"><span class="cp">        (r)[8]  = (ambuf)[2]  / (detbuf);\</span>
</div><div id="lc533"><span class="cp">        (r)[9]  = (ambuf)[6]  / (detbuf);\</span>
</div><div id="lc534"><span class="cp">        (r)[10] = (ambuf)[10] / (detbuf);\</span>
</div><div id="lc535"><span class="cp">        (r)[11] = (ambuf)[14] / (detbuf);\</span>
</div><div id="lc536"><span class="cp">        (r)[12] = (ambuf)[3]  / (detbuf);\</span>
</div><div id="lc537"><span class="cp">        (r)[13] = (ambuf)[7]  / (detbuf);\</span>
</div><div id="lc538"><span class="cp">        (r)[14] = (ambuf)[11] / (detbuf);\</span>
</div><div id="lc539"><span class="cp">        (r)[15] = (ambuf)[15] / (detbuf);\</span>
</div><div id="lc540"><span class="cp">    }</span>
</div><div id="lc541">
</div><div id="lc542"><span class="cp">#define matrix33_inverse(r, m, ambuf, detbuf)\</span>
</div><div id="lc543"><span class="cp">    (ambuf)[0] =  ((m)[4]*(m)[8]-(m)[7]*(m)[5]);\</span>
</div><div id="lc544"><span class="cp">    (ambuf)[1] = -((m)[3]*(m)[8]-(m)[6]*(m)[5]);\</span>
</div><div id="lc545"><span class="cp">    (ambuf)[2] =  ((m)[3]*(m)[7]-(m)[6]*(m)[4]);\</span>
</div><div id="lc546"><span class="cp">    (ambuf)[3] = -((m)[1]*(m)[8]-(m)[7]*(m)[2]);\</span>
</div><div id="lc547"><span class="cp">    (ambuf)[4] =  ((m)[0]*(m)[8]-(m)[6]*(m)[2]);\</span>
</div><div id="lc548"><span class="cp">    (ambuf)[5] = -((m)[0]*(m)[7]-(m)[6]*(m)[1]);\</span>
</div><div id="lc549"><span class="cp">    (ambuf)[6] =  ((m)[1]*(m)[5]-(m)[4]*(m)[2]);\</span>
</div><div id="lc550"><span class="cp">    (ambuf)[7] = -((m)[0]*(m)[5]-(m)[3]*(m)[2]);\</span>
</div><div id="lc551"><span class="cp">    (ambuf)[8] =  ((m)[0]*(m)[4]-(m)[3]*(m)[1]);\</span>
</div><div id="lc552"><span class="cp">    (detbuf) = (ambuf)[0]*(m)[0]+(ambuf)[3]*(m)[3]+(ambuf)[6]*(m)[6];\</span>
</div><div id="lc553"><span class="cp">    if(detbuf)\</span>
</div><div id="lc554"><span class="cp">    {\</span>
</div><div id="lc555"><span class="cp">        (r)[0] = (ambuf)[0] / (detbuf);\</span>
</div><div id="lc556"><span class="cp">        (r)[1] = (ambuf)[3] / (detbuf);\</span>
</div><div id="lc557"><span class="cp">        (r)[2] = (ambuf)[6] / (detbuf);\</span>
</div><div id="lc558"><span class="cp">        (r)[3] = (ambuf)[1] / (detbuf);\</span>
</div><div id="lc559"><span class="cp">        (r)[4] = (ambuf)[4] / (detbuf);\</span>
</div><div id="lc560"><span class="cp">        (r)[5] = (ambuf)[7] / (detbuf);\</span>
</div><div id="lc561"><span class="cp">        (r)[6] = (ambuf)[2] / (detbuf);\</span>
</div><div id="lc562"><span class="cp">        (r)[7] = (ambuf)[5] / (detbuf);\</span>
</div><div id="lc563"><span class="cp">        (r)[8] = (ambuf)[8] / (detbuf);\</span>
</div><div id="lc564"><span class="cp">    }</span>
</div><div id="lc565">
</div><div id="lc566"><span class="cp">/* vector*_zero */</span>
</div><div id="lc567">
</div><div id="lc568"><span class="cp">#define vector3_zero(v) (v)[0] = 0; (v)[1] = 0; (v)[2] = 0</span>
</div><div id="lc569"><span class="cp">#define vector2_zero(v) (v)[0] = 0; (v)[1] = 0</span>
</div><div id="lc570">
</div><div id="lc571"><span class="cp">/* vector*_copy */</span>
</div><div id="lc572">
</div><div id="lc573"><span class="cp">#define vector3_copy(v, v2)\</span>
</div><div id="lc574"><span class="cp">    (v)[0] = (v2)[0]; (v)[1] = (v2)[1]; (v)[2] = (v2)[2]</span>
</div><div id="lc575">
</div><div id="lc576"><span class="cp">#define vector2_copy(v, v2)\</span>
</div><div id="lc577"><span class="cp">    (v)[0] = (v2)[0]; (v)[1] = (v2)[1]</span>
</div><div id="lc578">
</div><div id="lc579"><span class="cp">/* vector*_set */</span>
</div><div id="lc580">
</div><div id="lc581"><span class="cp">#define vector3_set(v, x, y, z)\</span>
</div><div id="lc582"><span class="cp">    (v)[0] = (x); (v)[1] = (y); (v)[2] = (z)</span>
</div><div id="lc583">
</div><div id="lc584"><span class="cp">#define vector2_set(v, x, y)\</span>
</div><div id="lc585"><span class="cp">    (v)[0] = (x); (v)[1] = (y)</span>
</div><div id="lc586">
</div><div id="lc587"><span class="cp">/* vector*_equal */</span>
</div><div id="lc588">
</div><div id="lc589"><span class="cp">#define vector4_equal(v, v2)\</span>
</div><div id="lc590"><span class="cp">    ((v)[0] == (v2)[0] &amp;&amp;\</span>
</div><div id="lc591"><span class="cp">     (v)[1] == (v2)[1] &amp;&amp;\</span>
</div><div id="lc592"><span class="cp">     (v)[2] == (v2)[2] &amp;&amp;\</span>
</div><div id="lc593"><span class="cp">     (v)[3] == (v2)[3])</span>
</div><div id="lc594">
</div><div id="lc595"><span class="cp">#define vector4_equal_dif(v, v2, dif)\</span>
</div><div id="lc596"><span class="cp">    (fabs((v)[0] - (v2)[0]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc597"><span class="cp">     fabs((v)[1] - (v2)[1]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc598"><span class="cp">     fabs((v)[2] - (v2)[2]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc599"><span class="cp">     fabs((v)[3] - (v2)[3]) &lt; (dif))</span>
</div><div id="lc600">
</div><div id="lc601"><span class="cp">#define vector3_equal(v, v2)\</span>
</div><div id="lc602"><span class="cp">    ((v)[0] == (v2)[0] &amp;&amp;\</span>
</div><div id="lc603"><span class="cp">     (v)[1] == (v2)[1] &amp;&amp;\</span>
</div><div id="lc604"><span class="cp">     (v)[2] == (v2)[2])</span>
</div><div id="lc605">
</div><div id="lc606"><span class="cp">#define vector3_equal_dif(v, v2, dif)\</span>
</div><div id="lc607"><span class="cp">    (fabs((v)[0] - (v2)[0]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc608"><span class="cp">     fabs((v)[1] - (v2)[1]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc609"><span class="cp">     fabs((v)[2] - (v2)[2]) &lt; (dif))</span>
</div><div id="lc610">
</div><div id="lc611"><span class="cp">#define vector2_equal(v, v2)\</span>
</div><div id="lc612"><span class="cp">    ((v)[0] == (v2)[0] &amp;&amp;\</span>
</div><div id="lc613"><span class="cp">     (v)[1] == (v2)[1])</span>
</div><div id="lc614">
</div><div id="lc615"><span class="cp">#define vector2_equal_dif(v, v2, dif)\</span>
</div><div id="lc616"><span class="cp">    (fabs((v)[0] - (v2)[0]) &lt; (dif) &amp;&amp;\</span>
</div><div id="lc617"><span class="cp">     fabs((v)[1] - (v2)[1]) &lt; (dif))</span>
</div><div id="lc618">
</div><div id="lc619"><span class="cp">/* vector*_sum */</span>
</div><div id="lc620">
</div><div id="lc621"><span class="cp">#define vector4_sum(r, v, v2)\</span>
</div><div id="lc622"><span class="cp">    (r)[0] = (v)[0] + (v2)[0];\</span>
</div><div id="lc623"><span class="cp">    (r)[1] = (v)[1] + (v2)[1];\</span>
</div><div id="lc624"><span class="cp">    (r)[2] = (v)[2] + (v2)[2];\</span>
</div><div id="lc625"><span class="cp">    (r)[3] = (v)[3] + (v2)[3]</span>
</div><div id="lc626">
</div><div id="lc627"><span class="cp">#define vector3_sum(r, v, v2)\</span>
</div><div id="lc628"><span class="cp">    (r)[0] = (v)[0] + (v2)[0];\</span>
</div><div id="lc629"><span class="cp">    (r)[1] = (v)[1] + (v2)[1];\</span>
</div><div id="lc630"><span class="cp">    (r)[2] = (v)[2] + (v2)[2]</span>
</div><div id="lc631">
</div><div id="lc632"><span class="cp">#define vector2_sum(r, v, v2)\</span>
</div><div id="lc633"><span class="cp">    (r)[0] = (v)[0] + (v2)[0];\</span>
</div><div id="lc634"><span class="cp">    (r)[1] = (v)[1] + (v2)[1]</span>
</div><div id="lc635">
</div><div id="lc636"><span class="cp">/* vector*_add */</span>
</div><div id="lc637">
</div><div id="lc638"><span class="cp">#define vector4_add(v, v2) vector4_sum(v, v, v2)</span>
</div><div id="lc639"><span class="cp">#define vector3_add(v, v2) vector3_sum(v, v, v2)</span>
</div><div id="lc640"><span class="cp">#define vector2_add(v, v2) vector2_sum(v, v, v2)</span>
</div><div id="lc641">
</div><div id="lc642"><span class="cp">/* vector*_dif */</span>
</div><div id="lc643">
</div><div id="lc644"><span class="cp">#define vector4_dif(r, v, v2)\</span>
</div><div id="lc645"><span class="cp">    (r)[0] = (v)[0] - (v2)[0];\</span>
</div><div id="lc646"><span class="cp">    (r)[1] = (v)[1] - (v2)[1];\</span>
</div><div id="lc647"><span class="cp">    (r)[2] = (v)[2] - (v2)[2];\</span>
</div><div id="lc648"><span class="cp">    (r)[3] = (v)[3] - (v2)[3]</span>
</div><div id="lc649">
</div><div id="lc650"><span class="cp">#define vector3_dif(r, v, v2)\</span>
</div><div id="lc651"><span class="cp">    (r)[0] = (v)[0] - (v2)[0];\</span>
</div><div id="lc652"><span class="cp">    (r)[1] = (v)[1] - (v2)[1];\</span>
</div><div id="lc653"><span class="cp">    (r)[2] = (v)[2] - (v2)[2]</span>
</div><div id="lc654">
</div><div id="lc655"><span class="cp">#define vector2_dif(r, v, v2)\</span>
</div><div id="lc656"><span class="cp">    (r)[0] = (v)[0] - (v2)[0];\</span>
</div><div id="lc657"><span class="cp">    (r)[1] = (v)[1] - (v2)[1]</span>
</div><div id="lc658">
</div><div id="lc659"><span class="cp">/* vector*_sub */</span>
</div><div id="lc660">
</div><div id="lc661"><span class="cp">#define vector4_sub(v, v2) vector4_dif(v, v, v2)</span>
</div><div id="lc662"><span class="cp">#define vector3_sub(v, v2) vector3_dif(v, v, v2)</span>
</div><div id="lc663"><span class="cp">#define vector2_sub(v, v2) vector2_dif(v, v, v2)</span>
</div><div id="lc664">
</div><div id="lc665"><span class="cp">/* vector*_mult */</span>
</div><div id="lc666">
</div><div id="lc667"><span class="cp">#define vector3_mult(r, v, s)\</span>
</div><div id="lc668"><span class="cp">    (r)[0] = (v)[0]*(s); (r)[1] = (v)[1]*(s); (r)[2] = (v)[2]*(s)</span>
</div><div id="lc669">
</div><div id="lc670"><span class="cp">#define vector2_mult(r, v, s)\</span>
</div><div id="lc671"><span class="cp">    (r)[0] = (v)[0]*(s); (r)[1] = (v)[1]*(s)</span>
</div><div id="lc672">
</div><div id="lc673"><span class="cp">/* vector*_dot */</span>
</div><div id="lc674">
</div><div id="lc675"><span class="cp">#define vector4_dot(v, v2)\</span>
</div><div id="lc676"><span class="cp">    ((v)[0]*(v2)[0]+(v)[1]*(v2)[1]+(v)[2]*(v2)[2]+(v)[3]*(v2)[3])</span>
</div><div id="lc677">
</div><div id="lc678"><span class="cp">#define vector3_dot(v, v2)\</span>
</div><div id="lc679"><span class="cp">    ((v)[0]*(v2)[0]+(v)[1]*(v2)[1]+(v)[2]*(v2)[2])</span>
</div><div id="lc680">
</div><div id="lc681"><span class="cp">#define vector2_dot(v, v2)\</span>
</div><div id="lc682"><span class="cp">    ((v)[0]*(v2)[0]+(v)[1]*(v2)[1])</span>
</div><div id="lc683">
</div><div id="lc684"><span class="cp">/* vector3_cross */</span>
</div><div id="lc685">
</div><div id="lc686"><span class="cp">#define vector3_cross(c, a, b)\</span>
</div><div id="lc687"><span class="cp">    (c)[0] = (a)[1]*(b)[2] - (a)[2]*(b)[1];\</span>
</div><div id="lc688"><span class="cp">    (c)[1] = (a)[2]*(b)[0] - (a)[0]*(b)[2];\</span>
</div><div id="lc689"><span class="cp">    (c)[2] = (a)[0]*(b)[1] - (a)[1]*(b)[0]</span>
</div><div id="lc690">
</div><div id="lc691"><span class="cp">/* vector*_length */</span>
</div><div id="lc692">
</div><div id="lc693"><span class="cp">#define vector4_length(v) sqrt(vector4_dot((v), (v)))</span>
</div><div id="lc694"><span class="cp">#define vector3_length(v) sqrt(vector3_dot((v), (v)))</span>
</div><div id="lc695"><span class="cp">#define vector2_length(v) sqrt(vector2_dot((v), (v)))</span>
</div><div id="lc696">
</div><div id="lc697"><span class="cp">/* vector*_normalize */</span>
</div><div id="lc698">
</div><div id="lc699"><span class="cp">#define vector4_normalize(v, lenbuf)\</span>
</div><div id="lc700"><span class="cp">    (lenbuf) = vector4_length(v);\</span>
</div><div id="lc701"><span class="cp">    (v)[0] /= (lenbuf);\</span>
</div><div id="lc702"><span class="cp">    (v)[1] /= (lenbuf);\</span>
</div><div id="lc703"><span class="cp">    (v)[2] /= (lenbuf);\</span>
</div><div id="lc704"><span class="cp">    (v)[3] /= (lenbuf)</span>
</div><div id="lc705">
</div><div id="lc706"><span class="cp">#define vector3_normalize(v, lenbuf)\</span>
</div><div id="lc707"><span class="cp">    (lenbuf) = vector3_length(v);\</span>
</div><div id="lc708"><span class="cp">    (v)[0] /= (lenbuf);\</span>
</div><div id="lc709"><span class="cp">    (v)[1] /= (lenbuf);\</span>
</div><div id="lc710"><span class="cp">    (v)[2] /= (lenbuf)</span>
</div><div id="lc711">
</div><div id="lc712"><span class="cp">#define vector2_normalize(v, lenbuf)\</span>
</div><div id="lc713"><span class="cp">    (lenbuf) = vector2_length(v);\</span>
</div><div id="lc714"><span class="cp">    (v)[0] /= (lenbuf);\</span>
</div><div id="lc715"><span class="cp">    (v)[1] /= (lenbuf)</span>
</div><div id="lc716">
</div><div id="lc717"><span class="cp">/* [hvector|hpoint]*compute */</span>
</div><div id="lc718">
</div><div id="lc719"><span class="cp">#define hvector4_compute(hv)\</span>
</div><div id="lc720"><span class="cp">    if((hv)[3]){\</span>
</div><div id="lc721"><span class="cp">    (hv)[0] /= (hv)[3];\</span>
</div><div id="lc722"><span class="cp">    (hv)[1] /= (hv)[3];\</span>
</div><div id="lc723"><span class="cp">    (hv)[2] /= (hv)[3];\</span>
</div><div id="lc724"><span class="cp">    (hv)[3] = 0;}</span>
</div><div id="lc725">
</div><div id="lc726"><span class="cp">#define hvector3_compute(hv)\</span>
</div><div id="lc727"><span class="cp">    if((hv)[2]){\</span>
</div><div id="lc728"><span class="cp">    (hv)[0] /= (hv)[2];\</span>
</div><div id="lc729"><span class="cp">    (hv)[1] /= (hv)[2];\</span>
</div><div id="lc730"><span class="cp">    (hv)[2] = 0;}</span>
</div><div id="lc731">
</div><div id="lc732"><span class="cp">#define hpoint4_compute(hp)\</span>
</div><div id="lc733"><span class="cp">    if((hp)[3] != 1){\</span>
</div><div id="lc734"><span class="cp">    (hp)[0] /= (hp)[3];\</span>
</div><div id="lc735"><span class="cp">    (hp)[1] /= (hp)[3];\</span>
</div><div id="lc736"><span class="cp">    (hp)[2] /= (hp)[3];\</span>
</div><div id="lc737"><span class="cp">    (hp)[3] = 1;}</span>
</div><div id="lc738">
</div><div id="lc739"><span class="cp">#define hpoint3_compute(hp)\</span>
</div><div id="lc740"><span class="cp">    if((hp)[2] != 1){\</span>
</div><div id="lc741"><span class="cp">    (hp)[0] /= (hp)[2];\</span>
</div><div id="lc742"><span class="cp">    (hp)[1] /= (hp)[2];\</span>
</div><div id="lc743"><span class="cp">    (hp)[2] = 1;}</span>
</div><div id="lc744">
</div><div id="lc745"><span class="cp">/* *[vector|point|normal]*_transform | m*v */</span>
</div><div id="lc746">
</div><div id="lc747"><span class="cp">#define vector3_transform(r, m, v)\</span>
</div><div id="lc748"><span class="cp">    (r)[0] = (m)[0]*(v)[0] + (m)[4]*(v)[1] + (m)[8]*(v)[2];\</span>
</div><div id="lc749"><span class="cp">    (r)[1] = (m)[1]*(v)[0] + (m)[5]*(v)[1] + (m)[9]*(v)[2];\</span>
</div><div id="lc750"><span class="cp">    (r)[2] = (m)[2]*(v)[0] + (m)[6]*(v)[1] + (m)[10]*(v)[2]</span>
</div><div id="lc751">
</div><div id="lc752"><span class="cp">#define vector2_transform(r, m, v)\</span>
</div><div id="lc753"><span class="cp">    (r)[0] = (m)[0]*(v)[0] + (m)[3]*(v)[1];\</span>
</div><div id="lc754"><span class="cp">    (r)[1] = (m)[1]*(v)[0] + (m)[4]*(v)[1]</span>
</div><div id="lc755">
</div><div id="lc756"><span class="cp">#define point3_transform(r, m, v)\</span>
</div><div id="lc757"><span class="cp">    (r)[0] = (m)[0]*(v)[0] + (m)[4]*(v)[1] + (m)[8]*(v)[2]  + (m)[12];\</span>
</div><div id="lc758"><span class="cp">    (r)[1] = (m)[1]*(v)[0] + (m)[5]*(v)[1] + (m)[9]*(v)[2]  + (m)[13];\</span>
</div><div id="lc759"><span class="cp">    (r)[2] = (m)[2]*(v)[0] + (m)[6]*(v)[1] + (m)[10]*(v)[2] + (m)[14]</span>
</div><div id="lc760">
</div><div id="lc761"><span class="cp">#define point2_transform(r, m, v)\</span>
</div><div id="lc762"><span class="cp">    (r)[0] = (m)[0]*(v)[0] + (m)[3]*(v)[1] + (m)[6];\</span>
</div><div id="lc763"><span class="cp">    (r)[1] = (m)[1]*(v)[0] + (m)[4]*(v)[1] + (m)[7]</span>
</div><div id="lc764">
</div><div id="lc765"><span class="cp">#define normal3_transform(r, m, v, transbuf, revbuf)\</span>
</div><div id="lc766"><span class="cp">    matrix44_inverse(revbuf, m, transbuf</span><span class="cm">/* ambuf */</span><span class="cp">, (r)[0]</span><span class="cm">/* detbuf */</span><span class="cp">);\</span>
</div><div id="lc767"><span class="cp">    matrix44_transpose(transbuf, revbuf);\</span>
</div><div id="lc768"><span class="cp">    (r)[0] = (transbuf)[0]*(v)[0] + (transbuf)[4]*(v)[1] + (transbuf)[8]*(v)[2];\</span>
</div><div id="lc769"><span class="cp">    (r)[1] = (transbuf)[1]*(v)[0] + (transbuf)[5]*(v)[1] + (transbuf)[9]*(v)[2];\</span>
</div><div id="lc770"><span class="cp">    (r)[2] = (transbuf)[2]*(v)[0] + (transbuf)[6]*(v)[1] + (transbuf)[10]*(v)[2]</span>
</div><div id="lc771">
</div><div id="lc772"><span class="cp">/* quat_* */</span>
</div><div id="lc773">
</div><div id="lc774"><span class="cp">#define quat_identity(q)\</span>
</div><div id="lc775"><span class="cp">    (q)[0] = 0;\</span>
</div><div id="lc776"><span class="cp">    (q)[1] = 0;\</span>
</div><div id="lc777"><span class="cp">    (q)[2] = 0;\</span>
</div><div id="lc778"><span class="cp">    (q)[3] = 1</span>
</div><div id="lc779">
</div><div id="lc780"><span class="cp">#define quat_sum(r, q, q2) vector4_sum(r, q, q2)</span>
</div><div id="lc781"><span class="cp">#define quat_dif(r, q, q2) vector4_dif(r, q, q2)</span>
</div><div id="lc782"><span class="cp">#define quat_add(q, q2) vector4_add(q, q2)</span>
</div><div id="lc783"><span class="cp">#define quat_sub(q, q2) vector4_sub(q, q2)</span>
</div><div id="lc784">
</div><div id="lc785"><span class="cp">#define quat_equal(q, q2) vector4_equal(q, q2)</span>
</div><div id="lc786"><span class="cp">#define quat_equal_dif(q, q2, dif) vector4_equal_dif(q, q2, dif)</span>
</div><div id="lc787">
</div><div id="lc788"><span class="cp">#define quat_normalize(q, lenbuf) vector4_normalize(q, lenbuf)</span>
</div><div id="lc789">
</div><div id="lc790"><span class="cp">#define quat_mult(r, q, q2, crossbuf)\</span>
</div><div id="lc791"><span class="cp">    vector3_cross(crossbuf, q, q2);\</span>
</div><div id="lc792"><span class="cp">    (r)[0] = (q)[3]*(q2)[0] + (q2)[3]*(q)[0] + (crossbuf)[0];\</span>
</div><div id="lc793"><span class="cp">    (r)[1] = (q)[3]*(q2)[1] + (q2)[3]*(q)[1] + (crossbuf)[1];\</span>
</div><div id="lc794"><span class="cp">    (r)[2] = (q)[3]*(q2)[2] + (q2)[3]*(q)[2] + (crossbuf)[2];\</span>
</div><div id="lc795"><span class="cp">    (r)[3] = (q)[3]*(q2)[3] - vector3_dot(q, q2)</span>
</div><div id="lc796">
</div><div id="lc797"><span class="cp">#define quat_inverse(r, q, dotbuf)\</span>
</div><div id="lc798"><span class="cp">    (dotbuf) = vector4_dot(q, q);\</span>
</div><div id="lc799"><span class="cp">    (r)[0] = -(q)[0] / (dotbuf);\</span>
</div><div id="lc800"><span class="cp">    (r)[1] = -(q)[1] / (dotbuf);\</span>
</div><div id="lc801"><span class="cp">    (r)[2] = -(q)[2] / (dotbuf);\</span>
</div><div id="lc802"><span class="cp">    (r)[3] =  (q)[3] / (dotbuf)</span>
</div><div id="lc803">
</div><div id="lc804"><span class="cp">/* quat_from* */</span>
</div><div id="lc805">
</div><div id="lc806"><span class="cp">#define quat_from_axis(q, a, x, y, z)\</span>
</div><div id="lc807"><span class="cp">    (q)[0] = sin(a/2)*x;\</span>
</div><div id="lc808"><span class="cp">    (q)[1] = sin(a/2)*y;\</span>
</div><div id="lc809"><span class="cp">    (q)[2] = sin(a/2)*z;\</span>
</div><div id="lc810"><span class="cp">    (q)[3] = cos(a/2)</span>
</div><div id="lc811">
</div><div id="lc812"><span class="cp">#define quat_form_matrix(q, m)\</span>
</div><div id="lc813"><span class="cp">    (q)[3] = sqrt((m)[0]+(m)[5]+(n)[10]+1)/2;\</span>
</div><div id="lc814"><span class="cp">    (q)[0] = sqrt((m[0]+1-2*(q)[3]*(q)[3])/2);\</span>
</div><div id="lc815"><span class="cp">    (q)[1] = sqrt((m[5]+1-2*(q)[3]*(q)[3])/2);\</span>
</div><div id="lc816"><span class="cp">    (q)[2] = sqrt((m[10]+1-2*(q)[3]*(q)[3])/2)</span>
</div><div id="lc817">
</div><div id="lc818"><span class="cp">/*  quat_from_euler* */</span>
</div><div id="lc819">
</div><div id="lc820"><span class="cp">#define quat_from_euler_xyz(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc821"><span class="cp">    (buf)[0] = sin(x/2);\</span>
</div><div id="lc822"><span class="cp">    (buf)[1] = 0;\</span>
</div><div id="lc823"><span class="cp">    (buf)[2] = 0;\</span>
</div><div id="lc824"><span class="cp">    (buf)[3] = cos(x/2);\</span>
</div><div id="lc825"><span class="cp">    (q)[0] = 0;\</span>
</div><div id="lc826"><span class="cp">    (q)[1] = sin(y/2);\</span>
</div><div id="lc827"><span class="cp">    (q)[2] = 0;\</span>
</div><div id="lc828"><span class="cp">    (q)[3] = cos(y/2);\</span>
</div><div id="lc829"><span class="cp">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc830"><span class="cp">    (buf)[0] = 0;\</span>
</div><div id="lc831"><span class="cp">    (buf)[1] = 0;\</span>
</div><div id="lc832"><span class="cp">    (buf)[2] = sin(z/2);\</span>
</div><div id="lc833"><span class="cp">    (buf)[3] = cos(z/2);\</span>
</div><div id="lc834"><span class="cp">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc835">
</div><div id="lc836"><span class="cp">#define quat_from_euler_xzy(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc837"><span class="cp">    (buf)[0] = sin(x/2);\</span>
</div><div id="lc838"><span class="cp">    (buf)[1] = 0;\</span>
</div><div id="lc839"><span class="cp">    (buf)[2] = 0;\</span>
</div><div id="lc840"><span class="cp">    (buf)[3] = cos(x/2);\</span>
</div><div id="lc841"><span class="cp">    (q)[0] = 0;\</span>
</div><div id="lc842"><span class="cp">    (q)[1] = 0;\</span>
</div><div id="lc843"><span class="cp">    (q)[2] = sin(z/2);\</span>
</div><div id="lc844"><span class="cp">    (q)[3] = cos(z/2);\</span>
</div><div id="lc845"><span class="cp">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc846"><span class="cp">    (buf)[0] = 0;\</span>
</div><div id="lc847"><span class="cp">    (buf)[1] = sin(y/2);\</span>
</div><div id="lc848"><span class="cp">    (buf)[2] = 0;\</span>
</div><div id="lc849"><span class="cp">    (buf)[3] = cos(y/2);\</span>
</div><div id="lc850"><span class="cp">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc851">
</div><div id="lc852"><span class="cp">#define quat_from_euler_yxz(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc853"><span class="cp">    (buf)[0] = 0;\</span>
</div><div id="lc854"><span class="cp">    (buf)[1] = sin(y/2);\</span>
</div><div id="lc855"><span class="cp">    (buf)[2] = 0;\</span>
</div><div id="lc856"><span class="cp">    (buf)[3] = cos(y/2);\</span>
</div><div id="lc857"><span class="cp">    (q)[0] = sin(x/2);\</span>
</div><div id="lc858"><span class="cp">    (q)[1] = 0;\</span>
</div><div id="lc859"><span class="cp">    (q)[2] = 0;\</span>
</div><div id="lc860"><span class="cp">    (q)[3] = cos(x/2);\</span>
</div><div id="lc861"><span class="cp">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc862"><span class="cp">    (buf)[0] = 0;\</span>
</div><div id="lc863"><span class="cp">    (buf)[1] = 0;\</span>
</div><div id="lc864"><span class="cp">    (buf)[2] = sin(z/2);\</span>
</div><div id="lc865"><span class="cp">    (buf)[3] = cos(z/2);\</span>
</div><div id="lc866"><span class="cp">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc867">
</div><div id="lc868"><span class="cp">#define quat_from_euler_yzx(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc869"><span class="cp">    (buf)[0] = 0;\</span>
</div><div id="lc870"><span class="cp">    (buf)[1] = sin(y/2);\</span>
</div><div id="lc871"><span class="cp">    (buf)[2] = 0;\</span>
</div><div id="lc872"><span class="cp">    (buf)[3] = cos(y/2);\</span>
</div><div id="lc873"><span class="cp">    (q)[0] = 0;\</span>
</div><div id="lc874"><span class="cp">    (q)[1] = 0;\</span>
</div><div id="lc875"><span class="cp">    (q)[2] = sin(z/2);\</span>
</div><div id="lc876"><span class="cp">    (q)[3] = cos(z/2);\</span>
</div><div id="lc877"><span class="cp">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc878"><span class="cp">    (buf)[0] = sin(x/2);\</span>
</div><div id="lc879"><span class="cp">    (buf)[1] = 0;\</span>
</div><div id="lc880"><span class="cp">    (buf)[2] = 0;\</span>
</div><div id="lc881"><span class="cp">    (buf)[3] = cos(x/2);\</span>
</div><div id="lc882"><span class="cp">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc883">
</div><div id="lc884"><span class="cp">#define quat_from_euler_zxy(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc885"><span class="cp">    (buf)[0] = 0;\</span>
</div><div id="lc886"><span class="cp">    (buf)[1] = 0;\</span>
</div><div id="lc887"><span class="cp">    (buf)[2] = sin(z/2);\</span>
</div><div id="lc888"><span class="cp">    (buf)[3] = cos(z/2);\</span>
</div><div id="lc889"><span class="cp">    (q)[0] = sin(x/2);\</span>
</div><div id="lc890"><span class="cp">    (q)[1] = 0;\</span>
</div><div id="lc891"><span class="cp">    (q)[2] = 0;\</span>
</div><div id="lc892"><span class="cp">    (q)[3] = cos(x/2);\</span>
</div><div id="lc893"><span class="cp">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc894"><span class="cp">    (buf)[0] = 0;\</span>
</div><div id="lc895"><span class="cp">    (buf)[1] = sin(y/2);\</span>
</div><div id="lc896"><span class="cp">    (buf)[2] = 0;\</span>
</div><div id="lc897"><span class="cp">    (buf)[3] = cos(y/2);\</span>
</div><div id="lc898"><span class="cp">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc899">
</div><div id="lc900"><span class="cp">#define quat_from_euler_zyx(q, x, y, z, buf, buf2, crossbuf)\</span>
</div><div id="lc901"><span class="cp">    (buf)[0] = 0;\</span>
</div><div id="lc902"><span class="cp">    (buf)[1] = 0;\</span>
</div><div id="lc903"><span class="cp">    (buf)[2] = sin(z/2);\</span>
</div><div id="lc904"><span class="cp">    (buf)[3] = cos(z/2);\</span>
</div><div id="lc905"><span class="cp">    (q)[0] = 0;\</span>
</div><div id="lc906"><span class="cp">    (q)[1] = sin(y/2);\</span>
</div><div id="lc907"><span class="cp">    (q)[2] = 0;\</span>
</div><div id="lc908"><span class="cp">    (q)[3] = cos(y/2);\</span>
</div><div id="lc909"><span class="cp">    quat_mult(buf2, buf, q, crossbuf);\</span>
</div><div id="lc910"><span class="cp">    (buf)[0] = sin(x/2);\</span>
</div><div id="lc911"><span class="cp">    (buf)[1] = 0;\</span>
</div><div id="lc912"><span class="cp">    (buf)[2] = 0;\</span>
</div><div id="lc913"><span class="cp">    (buf)[3] = cos(x/2);\</span>
</div><div id="lc914"><span class="cp">    quat_mult(q, buf2, buf, crossbuf)</span>
</div><div id="lc915">
</div><div id="lc916"><span class="cp">/* hvector4_transform_by_quat */</span>
</div><div id="lc917">
</div><div id="lc918"><span class="cp">#define hvector4_transform_by_quat(r, v, q, tmp, invbuf, crossbuf, dotbuf)\</span>
</div><div id="lc919"><span class="cp">    quat_inverse(invbuf, q, dotbuf);\</span>
</div><div id="lc920"><span class="cp">    quat_mult(tmp, q, v, crossbuf);\</span>
</div><div id="lc921"><span class="cp">    quat_mult(r, tmp, invbuf, crossbuf)</span>
</div><div id="lc922">
</div><div id="lc923"><span class="cp">/* *_from_matrix* */</span>
</div><div id="lc924">
</div><div id="lc925"><span class="cp">#define translate_from_matrix44(r, m)\</span>
</div><div id="lc926"><span class="cp">    (r)[0] = (m)[12];\</span>
</div><div id="lc927"><span class="cp">    (r)[1] = (m)[13];\</span>
</div><div id="lc928"><span class="cp">    (r)[2] = (m)[14]</span>
</div><div id="lc929">
</div><div id="lc930"><span class="cm">/* Argument &#39;r&#39; must be an array of 3 values and angle (in radians) will be written into &#39;r[0]&#39;</span>
</div><div id="lc931"><span class="cm"> * Matrix &#39;m&#39; must not contain scale. */</span>
</div><div id="lc932"><span class="cp">#define rotate_x_from_matrix44(r, m, tmpvec)\</span>
</div><div id="lc933"><span class="cp">    vector3_set((r), 0.0, 1.0, 0.0);\</span>
</div><div id="lc934"><span class="cp">    vector3_transform((tmpvec), (m), (r));\</span>
</div><div id="lc935"><span class="cp">    (r)[0] = acos((tmpvec)[2])</span>
</div><div id="lc936">
</div><div id="lc937"><span class="cp">#define rotate_y_from_matrix44(r, m, tmpvec)\</span>
</div><div id="lc938"><span class="cp">    vector3_set((r), 0.0, 0.0, 1.0);\</span>
</div><div id="lc939"><span class="cp">    vector3_transform((tmpvec), (m), (r));\</span>
</div><div id="lc940"><span class="cp">    (r)[0] = acos((tmpvec)[0])</span>
</div><div id="lc941">
</div><div id="lc942"><span class="cp">#define rotate_z_from_matrix44(r, m, tmpvec)\</span>
</div><div id="lc943"><span class="cp">    vector3_set((r), 1.0, 0.0, 0.0);\</span>
</div><div id="lc944"><span class="cp">    vector3_transform((tmpvec), (m), (r));\</span>
</div><div id="lc945"><span class="cp">    (r)[0] = acos((tmpvec)[1])</span>
</div><div id="lc946">
</div><div id="lc947"><span class="cp">#define euler_xyz_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc948"><span class="cp">    (r)[1] = asin((m)[8]);\</span>
</div><div id="lc949"><span class="cp">    (cosbuf) = cos((r)[1]);\</span>
</div><div id="lc950"><span class="cp">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc951"><span class="cp">    {\</span>
</div><div id="lc952"><span class="cp">        (r)[0] = atan2(-(m)[9] / (cosbuf), (m)[10] / (cosbuf));\</span>
</div><div id="lc953"><span class="cp">        (r)[2] = atan2(-(m)[4] / (cosbuf), (m)[0] / (cosbuf));\</span>
</div><div id="lc954"><span class="cp">    }\</span>
</div><div id="lc955"><span class="cp">    else </span><span class="cm">/* gimbal lock */</span><span class="cp"> \</span>
</div><div id="lc956"><span class="cp">    {\</span>
</div><div id="lc957"><span class="cp">        (r)[0] = 0;\</span>
</div><div id="lc958"><span class="cp">        (r)[2] = atan2((m)[1], (m)[5]);\</span>
</div><div id="lc959"><span class="cp">    }</span>
</div><div id="lc960">
</div><div id="lc961"><span class="cp">#define euler_xzy_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc962"><span class="cp">    (r)[2] = asin(-(m)[4]);\</span>
</div><div id="lc963"><span class="cp">    (cosbuf) = cos((r)[2]);\</span>
</div><div id="lc964"><span class="cp">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc965"><span class="cp">    {\</span>
</div><div id="lc966"><span class="cp">        (r)[0] = atan2((m)[6] / (cosbuf), (m)[5] / (cosbuf));\</span>
</div><div id="lc967"><span class="cp">        (r)[1] = atan2((m)[8] / (cosbuf), (m)[0] / (cosbuf));\</span>
</div><div id="lc968"><span class="cp">    }\</span>
</div><div id="lc969"><span class="cp">    else </span><span class="cm">/* gimbal lock */</span><span class="cp"> \</span>
</div><div id="lc970"><span class="cp">    {\</span>
</div><div id="lc971"><span class="cp">        (r)[0] = 0;\</span>
</div><div id="lc972"><span class="cp">        (r)[1] = atan2(-(m)[2], (m)[10]);\</span>
</div><div id="lc973"><span class="cp">    }</span>
</div><div id="lc974">
</div><div id="lc975"><span class="cp">#define euler_yxz_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc976"><span class="cp">    (r)[0] = asin(-(m)[9]);\</span>
</div><div id="lc977"><span class="cp">    (cosbuf) = cos((r)[0]);\</span>
</div><div id="lc978"><span class="cp">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc979"><span class="cp">    {\</span>
</div><div id="lc980"><span class="cp">        (r)[1] = atan2((m)[8] / (cosbuf), (m)[10] / (cosbuf));\</span>
</div><div id="lc981"><span class="cp">        (r)[2] = atan2((m)[1] / (cosbuf), (m)[5] / (cosbuf));\</span>
</div><div id="lc982"><span class="cp">    }\</span>
</div><div id="lc983"><span class="cp">    else </span><span class="cm">/* gimbal lock */</span><span class="cp"> \</span>
</div><div id="lc984"><span class="cp">    {\</span>
</div><div id="lc985"><span class="cp">        (r)[1] = 0;\</span>
</div><div id="lc986"><span class="cp">        (r)[2] = atan2(-(m)[4], (m)[0]);\</span>
</div><div id="lc987"><span class="cp">    }</span>
</div><div id="lc988">
</div><div id="lc989"><span class="cp">#define euler_yzx_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc990"><span class="cp">    (r)[2] = asin((m)[1]);\</span>
</div><div id="lc991"><span class="cp">    (cosbuf) = cos((r)[2]);\</span>
</div><div id="lc992"><span class="cp">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc993"><span class="cp">    {\</span>
</div><div id="lc994"><span class="cp">        (r)[0] = atan2(-(m)[9] / (cosbuf), (m)[5] / (cosbuf));\</span>
</div><div id="lc995"><span class="cp">        (r)[1] = atan2(-(m)[2] / (cosbuf), (m)[0] / (cosbuf));\</span>
</div><div id="lc996"><span class="cp">    }\</span>
</div><div id="lc997"><span class="cp">    else </span><span class="cm">/* gimbal lock */</span><span class="cp"> \</span>
</div><div id="lc998"><span class="cp">    {\</span>
</div><div id="lc999"><span class="cp">        (r)[0] = atan2((m)[6], (m)[10]);\</span>
</div><div id="lc1000"><span class="cp">        (r)[1] = 0;\</span>
</div><div id="lc1001"><span class="cp">    }</span>
</div><div id="lc1002">
</div><div id="lc1003"><span class="cp">#define euler_zxy_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc1004"><span class="cp">    (r)[0] = asin((m)[6]);\</span>
</div><div id="lc1005"><span class="cp">    (cosbuf) = cos((r)[0]);\</span>
</div><div id="lc1006"><span class="cp">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc1007"><span class="cp">    {\</span>
</div><div id="lc1008"><span class="cp">        (r)[1] = atan2(-(m)[2] / (cosbuf), (m)[10] / (cosbuf));\</span>
</div><div id="lc1009"><span class="cp">        (r)[2] = atan2(-(m)[4] / (cosbuf), (m)[5] / (cosbuf));\</span>
</div><div id="lc1010"><span class="cp">    }\</span>
</div><div id="lc1011"><span class="cp">    else </span><span class="cm">/* gimbal lock */</span><span class="cp"> \</span>
</div><div id="lc1012"><span class="cp">    {\</span>
</div><div id="lc1013"><span class="cp">        (r)[1] = 0;\</span>
</div><div id="lc1014"><span class="cp">        (r)[2] = atan2((m)[1], (m)[0]);\</span>
</div><div id="lc1015"><span class="cp">    }</span>
</div><div id="lc1016">
</div><div id="lc1017"><span class="cp">#define euler_zyx_from_matrix44(r, m, cosbuf)\</span>
</div><div id="lc1018"><span class="cp">    (r)[1] = asin(-(m)[2]);\</span>
</div><div id="lc1019"><span class="cp">    (cosbuf) = cos((r)[1]);\</span>
</div><div id="lc1020"><span class="cp">    if(fabs(cosbuf) &gt; MICRO)\</span>
</div><div id="lc1021"><span class="cp">    {\</span>
</div><div id="lc1022"><span class="cp">        (r)[0] = atan2((m)[6] / (cosbuf), (m)[10] / (cosbuf));\</span>
</div><div id="lc1023"><span class="cp">        (r)[2] = atan2((m)[1] / (cosbuf), (m)[0] / (cosbuf));\</span>
</div><div id="lc1024"><span class="cp">    }\</span>
</div><div id="lc1025"><span class="cp">    else </span><span class="cm">/* gimbal lock */</span><span class="cp"> \</span>
</div><div id="lc1026"><span class="cp">    {\</span>
</div><div id="lc1027"><span class="cp">        (r)[0] = 0;\</span>
</div><div id="lc1028"><span class="cp">        (r)[2] = atan2(-(m)[2], (m)[10]);\</span>
</div><div id="lc1029"><span class="cp">    }</span>
</div><div id="lc1030">
</div><div id="lc1031"><span class="cp">/* misc */</span>
</div><div id="lc1032">
</div><div id="lc1033"><span class="cp">#define point3_move(p, v, val)\</span>
</div><div id="lc1034"><span class="cp">    (p)[0] += (v)[0]*val;\</span>
</div><div id="lc1035"><span class="cp">    (p)[1] += (v)[1]*val;\</span>
</div><div id="lc1036"><span class="cp">    (p)[2] += (v)[2]*val</span>
</div><div id="lc1037">
</div><div id="lc1038"><span class="cp">#define matrix44_camera_inverse(m, eye, u, v, n)\</span>
</div><div id="lc1039"><span class="cp">    (m)[0] = (u)[0]; (m)[4] = (u)[1]; (m)[8]  = (u)[2]; (m)[12] = -vector3_dot(eye, u);\</span>
</div><div id="lc1040"><span class="cp">    (m)[1] = (v)[0]; (m)[5] = (v)[1]; (m)[9]  = (v)[2]; (m)[13] = -vector3_dot(eye, v);\</span>
</div><div id="lc1041"><span class="cp">    (m)[2] = (n)[0]; (m)[6] = (n)[1]; (m)[10] = (n)[2]; (m)[14] = -vector3_dot(eye, n);\</span>
</div><div id="lc1042"><span class="cp">    (m)[3] = 0;      (m)[7] = 0;      (m)[11] = 0;      (m)[15] = 1</span>
</div><div id="lc1043">
</div><div id="lc1044"><span class="cp">#endif </span><span class="cm">/* XFORM_H */</span><span class="cp"></span>
</div></pre></div>
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<blockquote><code><font color="#408080"><em>/*

Macros&nbsp;of&nbsp;matrix/vector/point/quaternion&nbsp;math.

This&nbsp;code&nbsp;was&nbsp;written&nbsp;by&nbsp;Konstantin&nbsp;Evdokimenko&nbsp;a.k.a&nbsp;Qew[erty].
No&nbsp;copyright&nbsp;is&nbsp;claimed.&nbsp;This&nbsp;code&nbsp;is&nbsp;in&nbsp;the&nbsp;public&nbsp;domain.
Do&nbsp;with&nbsp;it&nbsp;what&nbsp;you&nbsp;wish.

*/</em></font>
<font color="#BC7A00">
#ifndef&nbsp;XFORM_H
#define&nbsp;XFORM_H

#include&nbsp;&lt;math.h&gt;

#define&nbsp;MICRO&nbsp;0.000001
</font>
<font color="#408080"><em>/*

Column&nbsp;order&nbsp;like&nbsp;in&nbsp;OpenGL,&nbsp;vectors&nbsp;are&nbsp;columns.

***&nbsp;math_row.math_column(C&nbsp;array&nbsp;index)

4x4

1.1(0)&nbsp;&nbsp;1.2(4)&nbsp;&nbsp;1.3(8)&nbsp;&nbsp;&nbsp;1.4(12)
2.1(1)&nbsp;&nbsp;2.2(5)&nbsp;&nbsp;2.3(9)&nbsp;&nbsp;&nbsp;2.4(13)
3.1(2)&nbsp;&nbsp;3.2(6)&nbsp;&nbsp;3.3(10)&nbsp;&nbsp;3.4(14)
4.1(3)&nbsp;&nbsp;4.2(7)&nbsp;&nbsp;4.3(11)&nbsp;&nbsp;4.4(15)

3x3

1.1(0)&nbsp;&nbsp;1.2(3)&nbsp;&nbsp;1.3(6)
2.1(1)&nbsp;&nbsp;2.2(4)&nbsp;&nbsp;2.3(7)
3.1(2)&nbsp;&nbsp;3.2(5)&nbsp;&nbsp;3.3(8)

Example&nbsp;of&nbsp;translation&nbsp;point&nbsp;(0,&nbsp;1,&nbsp;5)&nbsp;by&nbsp;(1,&nbsp;2,&nbsp;3):

1&nbsp;0&nbsp;0&nbsp;1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;0
0&nbsp;1&nbsp;0&nbsp;2&nbsp;&nbsp;*&nbsp;&nbsp;1
0&nbsp;0&nbsp;1&nbsp;3&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;5
0&nbsp;0&nbsp;0&nbsp;1&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;1

This&nbsp;is&nbsp;not&nbsp;like&nbsp;in&nbsp;RenderMan&nbsp;where&nbsp;row-major&nbsp;order&nbsp;is&nbsp;used&nbsp;and
vectors&nbsp;are&nbsp;rows.

&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;1&nbsp;0&nbsp;0&nbsp;0
0&nbsp;1&nbsp;5&nbsp;1&nbsp;&nbsp;*&nbsp;&nbsp;0&nbsp;1&nbsp;0&nbsp;0
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;0&nbsp;0&nbsp;1&nbsp;0
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;1&nbsp;2&nbsp;3&nbsp;1

But&nbsp;the&nbsp;cause&nbsp;is&nbsp;that&nbsp;in&nbsp;RenderMan&nbsp;matricies&nbsp;are&nbsp;assumed&nbsp;to&nbsp;be&nbsp;transposed
to&nbsp;OpenGL&nbsp;(and&nbsp;math)&nbsp;ones&nbsp;not&nbsp;row/column&nbsp;order&nbsp;difference.

*/</em></font>
<font color="#BC7A00">
/*&nbsp;matrix*_zero&nbsp;*/

#define&nbsp;matrix44_zero(m)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[10]&nbsp;=&nbsp;0;&nbsp;(m)[11]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;0;&nbsp;(m)[13]&nbsp;=&nbsp;0;&nbsp;(m)[14]&nbsp;=&nbsp;0;&nbsp;(m)[15]&nbsp;=&nbsp;0

#define&nbsp;matrix33_zero(m)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;=&nbsp;0;&nbsp;(m)[1]&nbsp;=&nbsp;0;&nbsp;(m)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;=&nbsp;0;&nbsp;(m)[4]&nbsp;=&nbsp;0;&nbsp;(m)[5]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;=&nbsp;0;&nbsp;(m)[7]&nbsp;=&nbsp;0;&nbsp;(m)[8]&nbsp;=&nbsp;0

/*&nbsp;matrix*_identity&nbsp;*/

#define&nbsp;matrix44_identity(m)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;1;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[2]&nbsp;=&nbsp;0;&nbsp;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;1;&nbsp;(m)[6]&nbsp;=&nbsp;0;&nbsp;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[10]&nbsp;=&nbsp;1;&nbsp;(m)[11]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;0;&nbsp;(m)[13]&nbsp;=&nbsp;0;&nbsp;(m)[14]&nbsp;=&nbsp;0;&nbsp;(m)[15]&nbsp;=&nbsp;1

#define&nbsp;matrix33_identity(m)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;=&nbsp;1;&nbsp;(m)[1]&nbsp;=&nbsp;0;&nbsp;(m)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;=&nbsp;0;&nbsp;(m)[4]&nbsp;=&nbsp;1;&nbsp;(m)[5]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;=&nbsp;0;&nbsp;(m)[7]&nbsp;=&nbsp;0;&nbsp;(m)[8]&nbsp;=&nbsp;1

/*&nbsp;matrix*_copy&nbsp;*/

#define&nbsp;matrix44_copy(m,&nbsp;m2)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;(m2)[0];&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;(m2)[1];&nbsp;&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;(m2)[2];&nbsp;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;(m2)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;(m2)[4];&nbsp;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;(m2)[5];&nbsp;&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;(m2)[6];&nbsp;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;(m2)[7];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;(m2)[8];&nbsp;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;(m2)[9];&nbsp;&nbsp;(m)[10]&nbsp;=&nbsp;(m2)[10];&nbsp;(m)[11]&nbsp;=&nbsp;(m2)[11];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;(m2)[12];&nbsp;(m)[13]&nbsp;=&nbsp;(m2)[13];&nbsp;(m)[14]&nbsp;=&nbsp;(m2)[14];&nbsp;(m)[15]&nbsp;=&nbsp;(m2)[15]

#define&nbsp;matrix33_copy(m,&nbsp;m2)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;=&nbsp;(m2)[0];&nbsp;(m)[1]&nbsp;=&nbsp;(m2)[1];&nbsp;(m)[2]&nbsp;=&nbsp;(m2)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;=&nbsp;(m2)[3];&nbsp;(m)[4]&nbsp;=&nbsp;(m2)[4];&nbsp;(m)[5]&nbsp;=&nbsp;(m2)[5];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;=&nbsp;(m2)[6];&nbsp;(m)[7]&nbsp;=&nbsp;(m2)[7];&nbsp;(m)[8]&nbsp;=&nbsp;(m2)[8]

/*&nbsp;matrix*_equal*&nbsp;*/

#define&nbsp;matrix44_equal(m,&nbsp;m2)\
&nbsp;&nbsp;&nbsp;&nbsp;((m)[0]&nbsp;&nbsp;==&nbsp;(m2)[0]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;==&nbsp;(m2)[1]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;&nbsp;==&nbsp;(m2)[2]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;&nbsp;==&nbsp;(m2)[3]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;==&nbsp;(m2)[4]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[5]&nbsp;&nbsp;==&nbsp;(m2)[5]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;&nbsp;==&nbsp;(m2)[6]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;&nbsp;==&nbsp;(m2)[7]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;==&nbsp;(m2)[8]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[9]&nbsp;&nbsp;==&nbsp;(m2)[9]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[10]&nbsp;==&nbsp;(m2)[10]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[11]&nbsp;==&nbsp;(m2)[11]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;==&nbsp;(m2)[12]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[13]&nbsp;==&nbsp;(m2)[13]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[14]&nbsp;==&nbsp;(m2)[14]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[15]&nbsp;==&nbsp;(m2)[15])

#define&nbsp;matrix44_equal_dif(m,&nbsp;m2,&nbsp;dif)\
&nbsp;&nbsp;&nbsp;&nbsp;(fabs((m)[0]&nbsp;&nbsp;-&nbsp;(m2)[0])&nbsp;&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[1]&nbsp;&nbsp;-&nbsp;(m2)[1])&nbsp;&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[2]&nbsp;&nbsp;-&nbsp;(m2)[2])&nbsp;&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[3]&nbsp;&nbsp;-&nbsp;(m2)[3])&nbsp;&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[4]&nbsp;&nbsp;-&nbsp;(m2)[4])&nbsp;&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[5]&nbsp;&nbsp;-&nbsp;(m2)[5])&nbsp;&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[6]&nbsp;&nbsp;-&nbsp;(m2)[6])&nbsp;&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[7]&nbsp;&nbsp;-&nbsp;(m2)[7])&nbsp;&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[8]&nbsp;&nbsp;-&nbsp;(m2)[8])&nbsp;&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[9]&nbsp;&nbsp;-&nbsp;(m2)[9])&nbsp;&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[10]&nbsp;-&nbsp;(m2)[10])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[11]&nbsp;-&nbsp;(m2)[11])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[12]&nbsp;-&nbsp;(m2)[12])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[13]&nbsp;-&nbsp;(m2)[13])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[14]&nbsp;-&nbsp;(m2)[14])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[15]&nbsp;-&nbsp;(m2)[15])&nbsp;&lt;&nbsp;(dif))

#define&nbsp;matrix33_equal(m,&nbsp;m2)\
&nbsp;&nbsp;&nbsp;&nbsp;((m)[0]&nbsp;==&nbsp;(m2)[0]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[1]&nbsp;==&nbsp;(m2)[1]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;==&nbsp;(m2)[2]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;==&nbsp;(m2)[3]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;==&nbsp;(m2)[4]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[5]&nbsp;==&nbsp;(m2)[5]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;==&nbsp;(m2)[6]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;==&nbsp;(m2)[7]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;==&nbsp;(m2)[8])

#define&nbsp;matrix33_equal_dif(m,&nbsp;m2,&nbsp;dif)\
&nbsp;&nbsp;&nbsp;&nbsp;(fabs((m)[0]&nbsp;-&nbsp;(m2)[0])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[1]&nbsp;-&nbsp;(m2)[1])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[2]&nbsp;-&nbsp;(m2)[2])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[3]&nbsp;-&nbsp;(m2)[3])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[4]&nbsp;-&nbsp;(m2)[4])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[5]&nbsp;-&nbsp;(m2)[5])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[6]&nbsp;-&nbsp;(m2)[6])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[7]&nbsp;-&nbsp;(m2)[7])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((m)[8]&nbsp;-&nbsp;(m2)[8])&nbsp;&lt;&nbsp;(dif))

/*&nbsp;matrix*_sum&nbsp;*/

#define&nbsp;matrix44_sum(r,&nbsp;m,&nbsp;m2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;&nbsp;=&nbsp;(m)[0]&nbsp;&nbsp;+&nbsp;(m2)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;&nbsp;=&nbsp;(m)[1]&nbsp;&nbsp;+&nbsp;(m2)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;&nbsp;=&nbsp;(m)[2]&nbsp;&nbsp;+&nbsp;(m2)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;&nbsp;=&nbsp;(m)[3]&nbsp;&nbsp;+&nbsp;(m2)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[4]&nbsp;&nbsp;=&nbsp;(m)[4]&nbsp;&nbsp;+&nbsp;(m2)[4];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[5]&nbsp;&nbsp;=&nbsp;(m)[5]&nbsp;&nbsp;+&nbsp;(m2)[5];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[6]&nbsp;&nbsp;=&nbsp;(m)[6]&nbsp;&nbsp;+&nbsp;(m2)[6];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[7]&nbsp;&nbsp;=&nbsp;(m)[7]&nbsp;&nbsp;+&nbsp;(m2)[7];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[8]&nbsp;&nbsp;=&nbsp;(m)[8]&nbsp;&nbsp;+&nbsp;(m2)[8];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[9]&nbsp;&nbsp;=&nbsp;(m)[9]&nbsp;&nbsp;+&nbsp;(m2)[9];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[10]&nbsp;=&nbsp;(m)[10]&nbsp;+&nbsp;(m2)[10];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[11]&nbsp;=&nbsp;(m)[11]&nbsp;+&nbsp;(m2)[11];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[12]&nbsp;=&nbsp;(m)[12]&nbsp;+&nbsp;(m2)[12];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[13]&nbsp;=&nbsp;(m)[13]&nbsp;+&nbsp;(m2)[13];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[14]&nbsp;=&nbsp;(m)[14]&nbsp;+&nbsp;(m2)[14];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[15]&nbsp;=&nbsp;(m)[15]&nbsp;+&nbsp;(m2)[15]

#define&nbsp;matrix33_sum(r,&nbsp;m,&nbsp;m2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(m)[0]&nbsp;+&nbsp;(m2)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(m)[1]&nbsp;+&nbsp;(m2)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(m)[2]&nbsp;+&nbsp;(m2)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;=&nbsp;(m)[3]&nbsp;+&nbsp;(m2)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[4]&nbsp;=&nbsp;(m)[4]&nbsp;+&nbsp;(m2)[4];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[5]&nbsp;=&nbsp;(m)[5]&nbsp;+&nbsp;(m2)[5];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[6]&nbsp;=&nbsp;(m)[6]&nbsp;+&nbsp;(m2)[6];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[7]&nbsp;=&nbsp;(m)[7]&nbsp;+&nbsp;(m2)[7];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[8]&nbsp;=&nbsp;(m)[8]&nbsp;+&nbsp;(m2)[8]

/*&nbsp;matrix*_add&nbsp;*/

#define&nbsp;matrix44_add(m,&nbsp;m2)&nbsp;matrix44_sum(m,&nbsp;m,&nbsp;m2)
#define&nbsp;matrix33_add(m,&nbsp;m2)&nbsp;matrix33_sum(m,&nbsp;m,&nbsp;m2)

/*&nbsp;matrix*_dif&nbsp;*/

#define&nbsp;matrix44_dif(r,&nbsp;m,&nbsp;m2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;&nbsp;=&nbsp;(m)[0]&nbsp;&nbsp;-&nbsp;(m2)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;&nbsp;=&nbsp;(m)[1]&nbsp;&nbsp;-&nbsp;(m2)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;&nbsp;=&nbsp;(m)[2]&nbsp;&nbsp;-&nbsp;(m2)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;&nbsp;=&nbsp;(m)[3]&nbsp;&nbsp;-&nbsp;(m2)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[4]&nbsp;&nbsp;=&nbsp;(m)[4]&nbsp;&nbsp;-&nbsp;(m2)[4];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[5]&nbsp;&nbsp;=&nbsp;(m)[5]&nbsp;&nbsp;-&nbsp;(m2)[5];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[6]&nbsp;&nbsp;=&nbsp;(m)[6]&nbsp;&nbsp;-&nbsp;(m2)[6];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[7]&nbsp;&nbsp;=&nbsp;(m)[7]&nbsp;&nbsp;-&nbsp;(m2)[7];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[8]&nbsp;&nbsp;=&nbsp;(m)[8]&nbsp;&nbsp;-&nbsp;(m2)[8];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[9]&nbsp;&nbsp;=&nbsp;(m)[9]&nbsp;&nbsp;-&nbsp;(m2)[9];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[10]&nbsp;=&nbsp;(m)[10]&nbsp;-&nbsp;(m2)[10];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[11]&nbsp;=&nbsp;(m)[11]&nbsp;-&nbsp;(m2)[11];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[12]&nbsp;=&nbsp;(m)[12]&nbsp;-&nbsp;(m2)[12];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[13]&nbsp;=&nbsp;(m)[13]&nbsp;-&nbsp;(m2)[13];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[14]&nbsp;=&nbsp;(m)[14]&nbsp;-&nbsp;(m2)[14];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[15]&nbsp;=&nbsp;(m)[15]&nbsp;-&nbsp;(m2)[15]

#define&nbsp;matrix33_dif(r,&nbsp;m,&nbsp;m2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(m)[0]&nbsp;-&nbsp;(m2)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(m)[1]&nbsp;-&nbsp;(m2)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(m)[2]&nbsp;-&nbsp;(m2)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;=&nbsp;(m)[3]&nbsp;-&nbsp;(m2)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[4]&nbsp;=&nbsp;(m)[4]&nbsp;-&nbsp;(m2)[4];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[5]&nbsp;=&nbsp;(m)[5]&nbsp;-&nbsp;(m2)[5];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[6]&nbsp;=&nbsp;(m)[6]&nbsp;-&nbsp;(m2)[6];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[7]&nbsp;=&nbsp;(m)[7]&nbsp;-&nbsp;(m2)[7];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[8]&nbsp;=&nbsp;(m)[8]&nbsp;-&nbsp;(m2)[8]

/*&nbsp;matrix*_sub&nbsp;*/

#define&nbsp;matrix44_sub(m,&nbsp;m2)&nbsp;matrix44_dif(m,&nbsp;m,&nbsp;m2)
#define&nbsp;matrix33_sub(m,&nbsp;m2)&nbsp;matrix33_dif(m,&nbsp;m,&nbsp;m2)

/*&nbsp;matrix*_translate*&nbsp;*/

#define&nbsp;matrix44_translate(m,&nbsp;x,&nbsp;y,&nbsp;z)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;1;&nbsp;&nbsp;&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;1;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[10]&nbsp;=&nbsp;1;&nbsp;&nbsp;&nbsp;(m)[11]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;(x);&nbsp;&nbsp;(m)[13]&nbsp;=&nbsp;(y);&nbsp;(m)[14]&nbsp;=&nbsp;(z);&nbsp;(m)[15]&nbsp;=&nbsp;1

#define&nbsp;matrix44_translate_lazy(m,&nbsp;x,&nbsp;y,&nbsp;z)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;(x);&nbsp;&nbsp;(m)[13]&nbsp;=&nbsp;(y);&nbsp;(m)[14]&nbsp;=&nbsp;(z)

#define&nbsp;matrix33_translate(m,&nbsp;x,&nbsp;y)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;=&nbsp;1;&nbsp;&nbsp;&nbsp;(m)[1]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;=&nbsp;1;&nbsp;&nbsp;&nbsp;(m)[5]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;=&nbsp;(x);&nbsp;(m)[7]&nbsp;=&nbsp;(y);&nbsp;(m)[8]&nbsp;=&nbsp;1

#define&nbsp;matrix33_translate_lazy(m,&nbsp;x,&nbsp;y)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;=&nbsp;(x);&nbsp;&nbsp;(m)[7]&nbsp;=&nbsp;(y)

/*&nbsp;matrix*_scale*&nbsp;*/

#define&nbsp;matrix44_scale(m,&nbsp;x,&nbsp;y,&nbsp;z)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;(x);&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;(y);&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[10]&nbsp;=&nbsp;(z);&nbsp;(m)[11]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;(m)[13]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[14]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[15]&nbsp;=&nbsp;1

#define&nbsp;matrix44_scale_lazy(m,&nbsp;x,&nbsp;y,&nbsp;z)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;=&nbsp;(x);&nbsp;&nbsp;(m)[5]&nbsp;=&nbsp;(y);&nbsp;(m)[10]&nbsp;=&nbsp;(z)

#define&nbsp;matrix33_scale(m,&nbsp;x,&nbsp;y)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;=&nbsp;(x);&nbsp;(m)[1]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;=&nbsp;(y);&nbsp;(m)[5]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;=&nbsp;1

#define&nbsp;matrix33_scale_lazy(m,&nbsp;x,&nbsp;y,&nbsp;z)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;=&nbsp;(x);&nbsp;&nbsp;(m)[4]&nbsp;=&nbsp;(y);

/*&nbsp;matrix*_rotate*&nbsp;*/

#define&nbsp;matrix44_rotate_x(m,&nbsp;a)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;1;&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;cos(a);&nbsp;&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;sin(a);&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;-(m)[6];&nbsp;(m)[10]&nbsp;=&nbsp;(m)[5];&nbsp;(m)[11]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;0;&nbsp;&nbsp;(m)[13]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[14]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[15]&nbsp;=&nbsp;1

#define&nbsp;matrix44_rotate_y(m,&nbsp;a)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;cos(a);&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;-sin(a);&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;1;&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;-(m)[2];&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[10]&nbsp;=&nbsp;(m)[0];&nbsp;&nbsp;(m)[11]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[13]&nbsp;=&nbsp;0;&nbsp;(m)[14]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[15]&nbsp;=&nbsp;1

#define&nbsp;matrix44_rotate_z(m,&nbsp;a)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;cos(a);&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;sin(a);&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;-(m)[1];&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;(m)[0];&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;0;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[10]&nbsp;=&nbsp;1;&nbsp;(m)[11]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[13]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[14]&nbsp;=&nbsp;0;&nbsp;(m)[15]&nbsp;=&nbsp;1

#define&nbsp;matrix33_rotate(m,&nbsp;a)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;=&nbsp;cos(a);&nbsp;&nbsp;(m)[1]&nbsp;=&nbsp;sin(a);&nbsp;(m)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;=&nbsp;-(m)[1];&nbsp;(m)[4]&nbsp;=&nbsp;(m)[0];&nbsp;(m)[5]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;=&nbsp;1

#define&nbsp;matrix44_rotate_from_axis(m,&nbsp;a,&nbsp;x,&nbsp;y,&nbsp;z)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;(1-cos(a))*(x)*(x)&nbsp;+&nbsp;cos(a);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;(1-cos(a))*(x)*(y)&nbsp;+&nbsp;sin(a)*(z);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;((1-cos(a))*(x)*(z)&nbsp;-&nbsp;sin(a)*(y));&nbsp;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;(1-cos(a))*(x)*(y)&nbsp;-&nbsp;sin(a)*(z);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;(1-cos(a))*(y)*(y)&nbsp;+&nbsp;cos(a);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;(1-cos(a))*(y)*(z)&nbsp;+&nbsp;sin(a)*(x);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;(1-cos(a))*(x)*(z)&nbsp;+&nbsp;sin(a)*(y);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;(1-cos(a))*(y)*(z)&nbsp;-&nbsp;sin(a)*(x);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[10]&nbsp;=&nbsp;(1-cos(a))*(z)*(z)&nbsp;+&nbsp;cos(a);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[11]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[13]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[14]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[15]&nbsp;=&nbsp;1

#define&nbsp;matrix44_rotate_from_axis_sincos(m,&nbsp;s,&nbsp;c,&nbsp;x,&nbsp;y,&nbsp;z)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;(1-(c))*(x)*(x)&nbsp;+&nbsp;(c);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;(1-(c))*(x)*(y)&nbsp;+&nbsp;(s)*(z);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;(1-(c))*(x)*(z)&nbsp;-&nbsp;(s)*(y);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;(1-(c))*(x)*(y)&nbsp;-&nbsp;(s)*(z);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;(1-(c))*(y)*(y)&nbsp;+&nbsp;(c);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;(1-(c))*(y)*(z)&nbsp;+&nbsp;(s)*(x);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;(1-(c))*(x)*(z)&nbsp;+&nbsp;(s)*(y);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;(1-(c))*(y)*(z)&nbsp;-&nbsp;(s)*(x);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[10]&nbsp;=&nbsp;(1-(c))*(z)*(z)&nbsp;+&nbsp;(c);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[11]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[13]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[14]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[15]&nbsp;=&nbsp;1

#define&nbsp;matrix44_rotate_from_quaternion(m,&nbsp;q)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;1&nbsp;-&nbsp;2*(q)[1]*(q)[1]&nbsp;-&nbsp;2*(q)[2]*(q)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;2*(q)[0]*(q)[1]&nbsp;+&nbsp;2*(q)[3]*(q)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;2*(q)[0]*(q)[2]&nbsp;-&nbsp;2*(q)[3]*(q)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;2*(q)[0]*(q)[1]&nbsp;-&nbsp;2*(q)[3]*(q)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;1&nbsp;-&nbsp;2*(q)[0]*(q)[0]&nbsp;-&nbsp;2*(q)[2]*(q)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;2*(q)[1]*(q)[2]&nbsp;+&nbsp;2*(q)[3]*(q)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;2*(q)[0]*(q)[2]&nbsp;+&nbsp;2*(q)[3]*(q)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;2*(q)[1]*(q)[2]&nbsp;-&nbsp;2*(q)[3]*(q)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[10]&nbsp;=&nbsp;1&nbsp;-&nbsp;2*(q)[0]*(q)[0]&nbsp;-&nbsp;2*(q)[1]*(q)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[11]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[13]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[14]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[15]&nbsp;=&nbsp;1

/*&nbsp;matrix44_perspective&nbsp;*/

#define&nbsp;matrix44_perspective(m,&nbsp;fovy,&nbsp;aspect,&nbsp;z_near,&nbsp;z_far)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;(1/tan(fovy/2));\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;(m)[5]/(aspect);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[10]&nbsp;=&nbsp;(z_far+z_near)/(z_near-z_far);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[11]&nbsp;=&nbsp;-1;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[13]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[14]&nbsp;=&nbsp;(2*z_far*z_near)/(z_near-z_far);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[15]&nbsp;=&nbsp;0

/*&nbsp;matrix44_ortho2D&nbsp;*/

#define&nbsp;matrix44_ortho2D(m,&nbsp;l,&nbsp;r,&nbsp;b,&nbsp;t,&nbsp;n,&nbsp;f)&nbsp;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;&nbsp;=&nbsp;2.0/(r&nbsp;-&nbsp;l);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[1]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[5]&nbsp;&nbsp;=&nbsp;2.0/(t&nbsp;-&nbsp;b);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[10]&nbsp;=&nbsp;-2.0/(f&nbsp;-&nbsp;n);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[11]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]&nbsp;=&nbsp;-(r&nbsp;+&nbsp;l)/(r&nbsp;-&nbsp;l);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[13]&nbsp;=&nbsp;-(t&nbsp;+&nbsp;b)/(t&nbsp;-&nbsp;b);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[14]&nbsp;=&nbsp;-(f&nbsp;+&nbsp;n)/(f&nbsp;-&nbsp;n);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[15]&nbsp;=&nbsp;1;\

/*&nbsp;matrix*_transpose&nbsp;*/

#define&nbsp;matrix44_transpose(r,&nbsp;m)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;&nbsp;=&nbsp;(m)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;&nbsp;=&nbsp;(m)[4];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;&nbsp;=&nbsp;(m)[8];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;&nbsp;=&nbsp;(m)[12];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[4]&nbsp;&nbsp;=&nbsp;(m)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[5]&nbsp;&nbsp;=&nbsp;(m)[5];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[6]&nbsp;&nbsp;=&nbsp;(m)[9];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[7]&nbsp;&nbsp;=&nbsp;(m)[13];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[8]&nbsp;&nbsp;=&nbsp;(m)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[9]&nbsp;&nbsp;=&nbsp;(m)[6];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[10]&nbsp;=&nbsp;(m)[10];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[11]&nbsp;=&nbsp;(m)[14];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[12]&nbsp;=&nbsp;(m)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[13]&nbsp;=&nbsp;(m)[7];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[14]&nbsp;=&nbsp;(m)[11];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[15]&nbsp;=&nbsp;(m)[15]

#define&nbsp;matrix33_transpose(r,&nbsp;m)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;&nbsp;=&nbsp;(m)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;&nbsp;=&nbsp;(m)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;&nbsp;=&nbsp;(m)[6];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;&nbsp;=&nbsp;(m)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[4]&nbsp;&nbsp;=&nbsp;(m)[4];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[5]&nbsp;&nbsp;=&nbsp;(m)[7];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[6]&nbsp;&nbsp;=&nbsp;(m)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[7]&nbsp;&nbsp;=&nbsp;(m)[5];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[8]&nbsp;&nbsp;=&nbsp;(m)[8]

/*&nbsp;matrix*_mult&nbsp;|&nbsp;m*m2&nbsp;*/

#define&nbsp;matrix44_mult(r,&nbsp;m,&nbsp;m2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;&nbsp;=&nbsp;(m)[0]*(m2)[0]&nbsp;&nbsp;+&nbsp;(m)[4]*(m2)[1]&nbsp;&nbsp;+&nbsp;(m)[8]*(m2)[2]&nbsp;&nbsp;&nbsp;+&nbsp;(m)[12]*(m2)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;&nbsp;=&nbsp;(m)[1]*(m2)[0]&nbsp;&nbsp;+&nbsp;(m)[5]*(m2)[1]&nbsp;&nbsp;+&nbsp;(m)[9]*(m2)[2]&nbsp;&nbsp;&nbsp;+&nbsp;(m)[13]*(m2)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;&nbsp;=&nbsp;(m)[2]*(m2)[0]&nbsp;&nbsp;+&nbsp;(m)[6]*(m2)[1]&nbsp;&nbsp;+&nbsp;(m)[10]*(m2)[2]&nbsp;&nbsp;+&nbsp;(m)[14]*(m2)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;&nbsp;=&nbsp;(m)[3]*(m2)[0]&nbsp;&nbsp;+&nbsp;(m)[7]*(m2)[1]&nbsp;&nbsp;+&nbsp;(m)[11]*(m2)[2]&nbsp;&nbsp;+&nbsp;(m)[15]*(m2)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[4]&nbsp;&nbsp;=&nbsp;(m)[0]*(m2)[4]&nbsp;&nbsp;+&nbsp;(m)[4]*(m2)[5]&nbsp;&nbsp;+&nbsp;(m)[8]*(m2)[6]&nbsp;&nbsp;&nbsp;+&nbsp;(m)[12]*(m2)[7];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[5]&nbsp;&nbsp;=&nbsp;(m)[1]*(m2)[4]&nbsp;&nbsp;+&nbsp;(m)[5]*(m2)[5]&nbsp;&nbsp;+&nbsp;(m)[9]*(m2)[6]&nbsp;&nbsp;&nbsp;+&nbsp;(m)[13]*(m2)[7];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[6]&nbsp;&nbsp;=&nbsp;(m)[2]*(m2)[4]&nbsp;&nbsp;+&nbsp;(m)[6]*(m2)[5]&nbsp;&nbsp;+&nbsp;(m)[10]*(m2)[6]&nbsp;&nbsp;+&nbsp;(m)[14]*(m2)[7];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[7]&nbsp;&nbsp;=&nbsp;(m)[3]*(m2)[4]&nbsp;&nbsp;+&nbsp;(m)[7]*(m2)[5]&nbsp;&nbsp;+&nbsp;(m)[11]*(m2)[6]&nbsp;&nbsp;+&nbsp;(m)[15]*(m2)[7];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[8]&nbsp;&nbsp;=&nbsp;(m)[0]*(m2)[8]&nbsp;&nbsp;+&nbsp;(m)[4]*(m2)[9]&nbsp;&nbsp;+&nbsp;(m)[8]*(m2)[10]&nbsp;&nbsp;+&nbsp;(m)[12]*(m2)[11];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[9]&nbsp;&nbsp;=&nbsp;(m)[1]*(m2)[8]&nbsp;&nbsp;+&nbsp;(m)[5]*(m2)[9]&nbsp;&nbsp;+&nbsp;(m)[9]*(m2)[10]&nbsp;&nbsp;+&nbsp;(m)[13]*(m2)[11];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[10]&nbsp;=&nbsp;(m)[2]*(m2)[8]&nbsp;&nbsp;+&nbsp;(m)[6]*(m2)[9]&nbsp;&nbsp;+&nbsp;(m)[10]*(m2)[10]&nbsp;+&nbsp;(m)[14]*(m2)[11];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[11]&nbsp;=&nbsp;(m)[3]*(m2)[8]&nbsp;&nbsp;+&nbsp;(m)[7]*(m2)[9]&nbsp;&nbsp;+&nbsp;(m)[11]*(m2)[10]&nbsp;+&nbsp;(m)[15]*(m2)[11];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[12]&nbsp;=&nbsp;(m)[0]*(m2)[12]&nbsp;+&nbsp;(m)[4]*(m2)[13]&nbsp;+&nbsp;(m)[8]*(m2)[14]&nbsp;&nbsp;+&nbsp;(m)[12]*(m2)[15];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[13]&nbsp;=&nbsp;(m)[1]*(m2)[12]&nbsp;+&nbsp;(m)[5]*(m2)[13]&nbsp;+&nbsp;(m)[9]*(m2)[14]&nbsp;&nbsp;+&nbsp;(m)[13]*(m2)[15];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[14]&nbsp;=&nbsp;(m)[2]*(m2)[12]&nbsp;+&nbsp;(m)[6]*(m2)[13]&nbsp;+&nbsp;(m)[10]*(m2)[14]&nbsp;+&nbsp;(m)[14]*(m2)[15];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[15]&nbsp;=&nbsp;(m)[3]*(m2)[12]&nbsp;+&nbsp;(m)[7]*(m2)[13]&nbsp;+&nbsp;(m)[11]*(m2)[14]&nbsp;+&nbsp;(m)[15]*(m2)[15]

#define&nbsp;matrix33_mult(r,&nbsp;m,&nbsp;m2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(m)[0]*(m2)[0]&nbsp;+&nbsp;(m)[3]*(m2)[1]&nbsp;+&nbsp;(m)[6]*(m2)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(m)[1]*(m2)[0]&nbsp;+&nbsp;(m)[4]*(m2)[1]&nbsp;+&nbsp;(m)[7]*(m2)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(m)[2]*(m2)[0]&nbsp;+&nbsp;(m)[5]*(m2)[1]&nbsp;+&nbsp;(m)[8]*(m2)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;=&nbsp;(m)[0]*(m2)[3]&nbsp;+&nbsp;(m)[3]*(m2)[4]&nbsp;+&nbsp;(m)[6]*(m2)[5];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[4]&nbsp;=&nbsp;(m)[1]*(m2)[3]&nbsp;+&nbsp;(m)[4]*(m2)[4]&nbsp;+&nbsp;(m)[7]*(m2)[5];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[5]&nbsp;=&nbsp;(m)[2]*(m2)[3]&nbsp;+&nbsp;(m)[5]*(m2)[4]&nbsp;+&nbsp;(m)[8]*(m2)[5];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[6]&nbsp;=&nbsp;(m)[0]*(m2)[6]&nbsp;+&nbsp;(m)[3]*(m2)[7]&nbsp;+&nbsp;(m)[6]*(m2)[8];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[7]&nbsp;=&nbsp;(m)[1]*(m2)[6]&nbsp;+&nbsp;(m)[4]*(m2)[7]&nbsp;+&nbsp;(m)[7]*(m2)[8];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[8]&nbsp;=&nbsp;(m)[2]*(m2)[6]&nbsp;+&nbsp;(m)[5]*(m2)[7]&nbsp;+&nbsp;(m)[8]*(m2)[8]

/*&nbsp;matrix*_det&nbsp;*/

#define&nbsp;matrix44_det(m)\
&nbsp;&nbsp;&nbsp;&nbsp;((m)[0]*((m)[5]*((m)[10]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[11])&nbsp;-&nbsp;(m)[9]*((m)[6]*(m)[15]&nbsp;-\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[14]*(m)[7])&nbsp;+&nbsp;(m)[13]*((m)[6]*(m)[11]&nbsp;-&nbsp;(m)[10]*(m)[7]))&nbsp;-\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[4]*-((m)[1]*((m)[10]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[11])&nbsp;-&nbsp;(m)[9]*((m)[2]*(m)[15]&nbsp;-\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[14]*(m)[3])&nbsp;+&nbsp;(m)[13]*((m)[2]*(m)[11]&nbsp;-&nbsp;(m)[10]*(m)[3]))&nbsp;+\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[8]*((m)[1]*((m)[6]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[7])&nbsp;-&nbsp;(m)[5]*((m)[2]*(m)[15]&nbsp;-\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[14]*(m)[3])&nbsp;+&nbsp;(m)[13]*((m)[2]*(m)[7]&nbsp;-&nbsp;(m)[6]*(m)[3]))&nbsp;-\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[12]*-((m)[1]*((m)[6]*(m)[11]&nbsp;-&nbsp;(m)[10]*(m)[7])&nbsp;-&nbsp;(m)[5]*((m)[2]*(m)[11]&nbsp;-\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[10]*(m)[3])&nbsp;+&nbsp;(m)[9]*((m)[2]*(m)[7]&nbsp;-&nbsp;(m)[6]*(m)[3])))

#define&nbsp;matrix33_det(m)\
&nbsp;&nbsp;&nbsp;&nbsp;((m)[0]*((m)[4]*(m)[8]&nbsp;-&nbsp;(m)[7]*(m)[5])&nbsp;-\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]*((m)[1]*(m)[8]&nbsp;-&nbsp;(m)[7]*(m)[2])&nbsp;+\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[6]*((m)[1]*(m)[5]&nbsp;-&nbsp;(m)[4]*(m)[2]))

/*&nbsp;matrix*_inverse&nbsp;*/

#define&nbsp;matrix44_inverse(r,&nbsp;m,&nbsp;ambuf,&nbsp;detbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[0]&nbsp;&nbsp;&nbsp;=&nbsp;&nbsp;((m)[5]*((m)[10]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[11])&nbsp;-&nbsp;(m)[9]*((m)[6]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[7])&nbsp;+&nbsp;(m)[13]*((m)[6]*(m)[11]&nbsp;-&nbsp;(m)[10]*(m)[7]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[1]&nbsp;&nbsp;&nbsp;=&nbsp;-((m)[4]*((m)[10]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[11])&nbsp;-&nbsp;(m)[8]*((m)[6]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[7])&nbsp;+&nbsp;(m)[12]*((m)[6]*(m)[11]&nbsp;-&nbsp;(m)[10]*(m)[7]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[2]&nbsp;&nbsp;&nbsp;=&nbsp;&nbsp;((m)[4]*((m)[9]*(m)[15]&nbsp;&nbsp;-&nbsp;(m)[13]*(m)[11])&nbsp;-&nbsp;(m)[8]*((m)[5]*(m)[15]&nbsp;-&nbsp;(m)[13]*(m)[7])&nbsp;+&nbsp;(m)[12]*((m)[5]*(m)[11]&nbsp;-&nbsp;(m)[9]*(m)[7]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[3]&nbsp;&nbsp;&nbsp;=&nbsp;-((m)[4]*((m)[9]*(m)[14]&nbsp;&nbsp;-&nbsp;(m)[13]*(m)[10])&nbsp;-&nbsp;(m)[8]*((m)[5]*(m)[14]&nbsp;-&nbsp;(m)[13]*(m)[6])&nbsp;+&nbsp;(m)[12]*((m)[5]*(m)[10]&nbsp;-&nbsp;(m)[9]*(m)[6]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[4]&nbsp;&nbsp;&nbsp;=&nbsp;-((m)[1]*((m)[10]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[11])&nbsp;-&nbsp;(m)[9]*((m)[2]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[3])&nbsp;+&nbsp;(m)[13]*((m)[2]*(m)[11]&nbsp;-&nbsp;(m)[10]*(m)[3]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[5]&nbsp;&nbsp;&nbsp;=&nbsp;&nbsp;((m)[0]*((m)[10]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[11])&nbsp;-&nbsp;(m)[8]*((m)[2]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[3])&nbsp;+&nbsp;(m)[12]*((m)[2]*(m)[11]&nbsp;-&nbsp;(m)[10]*(m)[3]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[6]&nbsp;&nbsp;&nbsp;=&nbsp;-((m)[0]*((m)[9]*(m)[15]&nbsp;&nbsp;-&nbsp;(m)[13]*(m)[11])&nbsp;-&nbsp;(m)[8]*((m)[1]*(m)[15]&nbsp;-&nbsp;(m)[13]*(m)[3])&nbsp;+&nbsp;(m)[12]*((m)[1]*(m)[11]&nbsp;-&nbsp;(m)[9]*(m)[3]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[7]&nbsp;&nbsp;&nbsp;=&nbsp;&nbsp;((m)[0]*((m)[9]*(m)[14]&nbsp;&nbsp;-&nbsp;(m)[13]*(m)[10])&nbsp;-&nbsp;(m)[8]*((m)[1]*(m)[14]&nbsp;-&nbsp;(m)[13]*(m)[2])&nbsp;+&nbsp;(m)[12]*((m)[1]*(m)[10]&nbsp;-&nbsp;(m)[9]*(m)[2]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[8]&nbsp;&nbsp;&nbsp;=&nbsp;&nbsp;((m)[1]*((m)[6]*(m)[15]&nbsp;&nbsp;-&nbsp;(m)[14]*(m)[7])&nbsp;&nbsp;-&nbsp;(m)[5]*((m)[2]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[3])&nbsp;+&nbsp;(m)[13]*((m)[2]*(m)[7]&nbsp;&nbsp;-&nbsp;(m)[6]*(m)[3]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[9]&nbsp;&nbsp;&nbsp;=&nbsp;-((m)[0]*((m)[6]*(m)[15]&nbsp;&nbsp;-&nbsp;(m)[14]*(m)[7])&nbsp;&nbsp;-&nbsp;(m)[4]*((m)[2]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[3])&nbsp;+&nbsp;(m)[12]*((m)[2]*(m)[7]&nbsp;&nbsp;-&nbsp;(m)[6]*(m)[3]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[10]&nbsp;&nbsp;=&nbsp;&nbsp;((m)[0]*((m)[5]*(m)[15]&nbsp;&nbsp;-&nbsp;(m)[13]*(m)[7])&nbsp;&nbsp;-&nbsp;(m)[4]*((m)[1]*(m)[15]&nbsp;-&nbsp;(m)[13]*(m)[3])&nbsp;+&nbsp;(m)[12]*((m)[1]*(m)[7]&nbsp;&nbsp;-&nbsp;(m)[5]*(m)[3]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[11]&nbsp;&nbsp;=&nbsp;-((m)[0]*((m)[5]*(m)[14]&nbsp;&nbsp;-&nbsp;(m)[13]*(m)[6])&nbsp;&nbsp;-&nbsp;(m)[4]*((m)[1]*(m)[14]&nbsp;-&nbsp;(m)[13]*(m)[2])&nbsp;+&nbsp;(m)[12]*((m)[1]*(m)[6]&nbsp;&nbsp;-&nbsp;(m)[5]*(m)[2]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[12]&nbsp;&nbsp;=&nbsp;-((m)[1]*((m)[6]*(m)[11]&nbsp;&nbsp;-&nbsp;(m)[10]*(m)[7])&nbsp;&nbsp;-&nbsp;(m)[5]*((m)[2]*(m)[11]&nbsp;-&nbsp;(m)[10]*(m)[3])&nbsp;+&nbsp;(m)[9]*((m)[2]*(m)[7]&nbsp;&nbsp;&nbsp;-&nbsp;(m)[6]*(m)[3]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[13]&nbsp;&nbsp;=&nbsp;&nbsp;((m)[0]*((m)[6]*(m)[11]&nbsp;&nbsp;-&nbsp;(m)[10]*(m)[7])&nbsp;&nbsp;-&nbsp;(m)[4]*((m)[2]*(m)[11]&nbsp;-&nbsp;(m)[10]*(m)[3])&nbsp;+&nbsp;(m)[8]*((m)[2]*(m)[7]&nbsp;&nbsp;&nbsp;-&nbsp;(m)[6]*(m)[3]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[14]&nbsp;&nbsp;=&nbsp;-((m)[0]*((m)[5]*(m)[11]&nbsp;&nbsp;-&nbsp;(m)[9]*(m)[7])&nbsp;&nbsp;&nbsp;-&nbsp;(m)[4]*((m)[1]*(m)[11]&nbsp;-&nbsp;(m)[9]*(m)[3])&nbsp;&nbsp;+&nbsp;(m)[8]*((m)[1]*(m)[7]&nbsp;&nbsp;&nbsp;-&nbsp;(m)[5]*(m)[3]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[15]&nbsp;&nbsp;=&nbsp;&nbsp;((m)[0]*((m)[5]*(m)[10]&nbsp;&nbsp;-&nbsp;(m)[9]*(m)[6])&nbsp;&nbsp;&nbsp;-&nbsp;(m)[4]*((m)[1]*(m)[10]&nbsp;-&nbsp;(m)[9]*(m)[2])&nbsp;&nbsp;+&nbsp;(m)[8]*((m)[1]*(m)[6]&nbsp;&nbsp;&nbsp;-&nbsp;(m)[5]*(m)[2]));\
&nbsp;&nbsp;&nbsp;&nbsp;(detbuf)&nbsp;=&nbsp;(ambuf)[0]*(m)[0]+(ambuf)[4]*(m)[4]+(ambuf)[8]*(m)[8]+(ambuf)[12]*(m)[12];\
&nbsp;&nbsp;&nbsp;&nbsp;if(detbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;&nbsp;=&nbsp;(ambuf)[0]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;&nbsp;=&nbsp;(ambuf)[4]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;&nbsp;=&nbsp;(ambuf)[8]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;&nbsp;=&nbsp;(ambuf)[12]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[4]&nbsp;&nbsp;=&nbsp;(ambuf)[1]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[5]&nbsp;&nbsp;=&nbsp;(ambuf)[5]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[6]&nbsp;&nbsp;=&nbsp;(ambuf)[9]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[7]&nbsp;&nbsp;=&nbsp;(ambuf)[13]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[8]&nbsp;&nbsp;=&nbsp;(ambuf)[2]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[9]&nbsp;&nbsp;=&nbsp;(ambuf)[6]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[10]&nbsp;=&nbsp;(ambuf)[10]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[11]&nbsp;=&nbsp;(ambuf)[14]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[12]&nbsp;=&nbsp;(ambuf)[3]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[13]&nbsp;=&nbsp;(ambuf)[7]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[14]&nbsp;=&nbsp;(ambuf)[11]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[15]&nbsp;=&nbsp;(ambuf)[15]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;}

#define&nbsp;matrix44_inverse2(r,&nbsp;m,&nbsp;ambuf,&nbsp;detbuf,&nbsp;cache)&nbsp;</font><font color="#408080"><em>/*&nbsp;cache&nbsp;requires&nbsp;array&nbsp;of&nbsp;17&nbsp;elements&nbsp;|&nbsp;Ex:&nbsp;float&nbsp;cache[17];&nbsp;*/</em></font><font color="#BC7A00">\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[0]&nbsp;&nbsp;&nbsp;=&nbsp;&nbsp;((m)[5]*(cache[0]&nbsp;=&nbsp;((m)[10]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[11]))&nbsp;-&nbsp;(m)[9]*(cache[1]&nbsp;=&nbsp;((m)[6]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[7]))&nbsp;+&nbsp;(m)[13]*(cache[2]&nbsp;=&nbsp;((m)[6]*(m)[11]&nbsp;-&nbsp;(m)[10]*(m)[7])));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[1]&nbsp;&nbsp;&nbsp;=&nbsp;-((m)[4]*(cache[0])&nbsp;-&nbsp;(m)[8]*(cache[1])&nbsp;+&nbsp;(m)[12]*(cache[2]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[2]&nbsp;&nbsp;&nbsp;=&nbsp;&nbsp;((m)[4]*(cache[3]&nbsp;=&nbsp;((m)[9]*(m)[15]&nbsp;-&nbsp;(m)[13]*(m)[11]))&nbsp;-&nbsp;(m)[8]*(cache[4]&nbsp;=&nbsp;((m)[5]*(m)[15]&nbsp;-&nbsp;(m)[13]*(m)[7]))&nbsp;+&nbsp;(m)[12]*(cache[5]&nbsp;=&nbsp;((m)[5]*(m)[11]&nbsp;-&nbsp;(m)[9]*(m)[7])));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[3]&nbsp;&nbsp;&nbsp;=&nbsp;-((m)[4]*(cache[6]&nbsp;=&nbsp;((m)[9]*(m)[14]&nbsp;-&nbsp;(m)[13]*(m)[10]))&nbsp;-&nbsp;(m)[8]*(cache[7]&nbsp;=&nbsp;((m)[5]*(m)[14]&nbsp;-&nbsp;(m)[13]*(m)[6]))&nbsp;+&nbsp;(m)[12]*(cache[8]&nbsp;=&nbsp;((m)[5]*(m)[10]&nbsp;-&nbsp;(m)[9]*(m)[6])));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[4]&nbsp;&nbsp;&nbsp;=&nbsp;-((m)[1]*(cache[0])&nbsp;-&nbsp;(m)[9]*(cache[9]&nbsp;=&nbsp;((m)[2]*(m)[15]&nbsp;-&nbsp;(m)[14]*(m)[3]))&nbsp;+&nbsp;(m)[13]*(cache[10]&nbsp;=&nbsp;((m)[2]*(m)[11]&nbsp;-&nbsp;(m)[10]*(m)[3])));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[5]&nbsp;&nbsp;&nbsp;=&nbsp;&nbsp;((m)[0]*(cache[0])&nbsp;-&nbsp;(m)[8]*(cache[9])&nbsp;+&nbsp;(m)[12]*(cache[10]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[6]&nbsp;&nbsp;&nbsp;=&nbsp;-((m)[0]*(cache[3])&nbsp;-&nbsp;(m)[8]*(cache[11]&nbsp;=&nbsp;((m)[1]*(m)[15]&nbsp;-&nbsp;(m)[13]*(m)[3]))&nbsp;+&nbsp;(m)[12]*(cache[12]&nbsp;=&nbsp;((m)[1]*(m)[11]&nbsp;-&nbsp;(m)[9]*(m)[3])));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[7]&nbsp;&nbsp;&nbsp;=&nbsp;&nbsp;((m)[0]*(cache[6])&nbsp;-&nbsp;(m)[8]*(cache[13]&nbsp;=&nbsp;((m)[1]*(m)[14]&nbsp;-&nbsp;(m)[13]*(m)[2]))&nbsp;+&nbsp;(m)[12]*(cache[14]&nbsp;=&nbsp;((m)[1]*(m)[10]&nbsp;-&nbsp;(m)[9]*(m)[2])));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[8]&nbsp;&nbsp;&nbsp;=&nbsp;&nbsp;((m)[1]*(cache[1])&nbsp;-&nbsp;(m)[5]*(cache[9])&nbsp;+&nbsp;(m)[13]*(cache[15]&nbsp;=&nbsp;((m)[2]*(m)[7]&nbsp;-&nbsp;(m)[6]*(m)[3])));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[9]&nbsp;&nbsp;&nbsp;=&nbsp;-((m)[0]*(cache[1])&nbsp;-&nbsp;(m)[4]*(cache[9])&nbsp;+&nbsp;(m)[12]*(cache[15]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[10]&nbsp;&nbsp;=&nbsp;&nbsp;((m)[0]*(cache[4])&nbsp;-&nbsp;(m)[4]*(cache[11])&nbsp;+&nbsp;(m)[12]*((m)[1]*(m)[7]&nbsp;-&nbsp;(m)[5]*(m)[3]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[11]&nbsp;&nbsp;=&nbsp;-((m)[0]*(cache[7])&nbsp;-&nbsp;(m)[4]*(cache[13])&nbsp;+&nbsp;(m)[12]*((m)[1]*(m)[6]&nbsp;-&nbsp;(m)[5]*(m)[2]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[12]&nbsp;&nbsp;=&nbsp;-((m)[1]*(cache[2])&nbsp;-&nbsp;(m)[5]*(cache[10])&nbsp;+&nbsp;(m)[9]*(cache[16]&nbsp;=&nbsp;((m)[2]*(m)[7]&nbsp;&nbsp;-&nbsp;(m)[6]*(m)[3])));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[13]&nbsp;&nbsp;=&nbsp;&nbsp;((m)[0]*(cache[2])&nbsp;-&nbsp;(m)[4]*(cache[10])&nbsp;+&nbsp;(m)[8]*(cache[16]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[14]&nbsp;&nbsp;=&nbsp;-((m)[0]*(cache[5])&nbsp;-&nbsp;(m)[4]*(cache[12])&nbsp;&nbsp;+&nbsp;(m)[8]*((m)[1]*(m)[7]&nbsp;&nbsp;-&nbsp;(m)[5]*(m)[3]));\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[15]&nbsp;&nbsp;=&nbsp;&nbsp;((m)[0]*(cache[8])&nbsp;-&nbsp;(m)[4]*(cache[14])&nbsp;&nbsp;+&nbsp;(m)[8]*((m)[1]*(m)[6]&nbsp;&nbsp;-&nbsp;(m)[5]*(m)[2]));\
&nbsp;&nbsp;&nbsp;&nbsp;(detbuf)&nbsp;=&nbsp;(ambuf)[0]*(m)[0]+(ambuf)[4]*(m)[4]+(ambuf)[8]*(m)[8]+(ambuf)[12]*(m)[12];\
&nbsp;&nbsp;&nbsp;&nbsp;if(detbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;&nbsp;=&nbsp;(ambuf)[0]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;&nbsp;=&nbsp;(ambuf)[4]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;&nbsp;=&nbsp;(ambuf)[8]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;&nbsp;=&nbsp;(ambuf)[12]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[4]&nbsp;&nbsp;=&nbsp;(ambuf)[1]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[5]&nbsp;&nbsp;=&nbsp;(ambuf)[5]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[6]&nbsp;&nbsp;=&nbsp;(ambuf)[9]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[7]&nbsp;&nbsp;=&nbsp;(ambuf)[13]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[8]&nbsp;&nbsp;=&nbsp;(ambuf)[2]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[9]&nbsp;&nbsp;=&nbsp;(ambuf)[6]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[10]&nbsp;=&nbsp;(ambuf)[10]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[11]&nbsp;=&nbsp;(ambuf)[14]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[12]&nbsp;=&nbsp;(ambuf)[3]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[13]&nbsp;=&nbsp;(ambuf)[7]&nbsp;&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[14]&nbsp;=&nbsp;(ambuf)[11]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[15]&nbsp;=&nbsp;(ambuf)[15]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;}

#define&nbsp;matrix33_inverse(r,&nbsp;m,&nbsp;ambuf,&nbsp;detbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[0]&nbsp;=&nbsp;&nbsp;((m)[4]*(m)[8]-(m)[7]*(m)[5]);\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[1]&nbsp;=&nbsp;-((m)[3]*(m)[8]-(m)[6]*(m)[5]);\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[2]&nbsp;=&nbsp;&nbsp;((m)[3]*(m)[7]-(m)[6]*(m)[4]);\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[3]&nbsp;=&nbsp;-((m)[1]*(m)[8]-(m)[7]*(m)[2]);\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[4]&nbsp;=&nbsp;&nbsp;((m)[0]*(m)[8]-(m)[6]*(m)[2]);\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[5]&nbsp;=&nbsp;-((m)[0]*(m)[7]-(m)[6]*(m)[1]);\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[6]&nbsp;=&nbsp;&nbsp;((m)[1]*(m)[5]-(m)[4]*(m)[2]);\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[7]&nbsp;=&nbsp;-((m)[0]*(m)[5]-(m)[3]*(m)[2]);\
&nbsp;&nbsp;&nbsp;&nbsp;(ambuf)[8]&nbsp;=&nbsp;&nbsp;((m)[0]*(m)[4]-(m)[3]*(m)[1]);\
&nbsp;&nbsp;&nbsp;&nbsp;(detbuf)&nbsp;=&nbsp;(ambuf)[0]*(m)[0]+(ambuf)[3]*(m)[3]+(ambuf)[6]*(m)[6];\
&nbsp;&nbsp;&nbsp;&nbsp;if(detbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(ambuf)[0]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(ambuf)[3]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(ambuf)[6]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;=&nbsp;(ambuf)[1]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[4]&nbsp;=&nbsp;(ambuf)[4]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[5]&nbsp;=&nbsp;(ambuf)[7]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[6]&nbsp;=&nbsp;(ambuf)[2]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[7]&nbsp;=&nbsp;(ambuf)[5]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[8]&nbsp;=&nbsp;(ambuf)[8]&nbsp;/&nbsp;(detbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;}

/*&nbsp;vector*_zero&nbsp;*/

#define&nbsp;vector3_zero(v)&nbsp;(v)[0]&nbsp;=&nbsp;0;&nbsp;(v)[1]&nbsp;=&nbsp;0;&nbsp;(v)[2]&nbsp;=&nbsp;0
#define&nbsp;vector2_zero(v)&nbsp;(v)[0]&nbsp;=&nbsp;0;&nbsp;(v)[1]&nbsp;=&nbsp;0

/*&nbsp;vector*_copy&nbsp;*/

#define&nbsp;vector3_copy(v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[0]&nbsp;=&nbsp;(v2)[0];&nbsp;(v)[1]&nbsp;=&nbsp;(v2)[1];&nbsp;(v)[2]&nbsp;=&nbsp;(v2)[2]

#define&nbsp;vector2_copy(v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[0]&nbsp;=&nbsp;(v2)[0];&nbsp;(v)[1]&nbsp;=&nbsp;(v2)[1]

/*&nbsp;vector*_set&nbsp;*/

#define&nbsp;vector3_set(v,&nbsp;x,&nbsp;y,&nbsp;z)\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[0]&nbsp;=&nbsp;(x);&nbsp;(v)[1]&nbsp;=&nbsp;(y);&nbsp;(v)[2]&nbsp;=&nbsp;(z)

#define&nbsp;vector2_set(v,&nbsp;x,&nbsp;y)\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[0]&nbsp;=&nbsp;(x);&nbsp;(v)[1]&nbsp;=&nbsp;(y)

/*&nbsp;vector*_equal&nbsp;*/

#define&nbsp;vector4_equal(v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;((v)[0]&nbsp;==&nbsp;(v2)[0]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(v)[1]&nbsp;==&nbsp;(v2)[1]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(v)[2]&nbsp;==&nbsp;(v2)[2]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(v)[3]&nbsp;==&nbsp;(v2)[3])

#define&nbsp;vector4_equal_dif(v,&nbsp;v2,&nbsp;dif)\
&nbsp;&nbsp;&nbsp;&nbsp;(fabs((v)[0]&nbsp;-&nbsp;(v2)[0])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((v)[1]&nbsp;-&nbsp;(v2)[1])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((v)[2]&nbsp;-&nbsp;(v2)[2])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((v)[3]&nbsp;-&nbsp;(v2)[3])&nbsp;&lt;&nbsp;(dif))

#define&nbsp;vector3_equal(v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;((v)[0]&nbsp;==&nbsp;(v2)[0]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(v)[1]&nbsp;==&nbsp;(v2)[1]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(v)[2]&nbsp;==&nbsp;(v2)[2])

#define&nbsp;vector3_equal_dif(v,&nbsp;v2,&nbsp;dif)\
&nbsp;&nbsp;&nbsp;&nbsp;(fabs((v)[0]&nbsp;-&nbsp;(v2)[0])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((v)[1]&nbsp;-&nbsp;(v2)[1])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((v)[2]&nbsp;-&nbsp;(v2)[2])&nbsp;&lt;&nbsp;(dif))

#define&nbsp;vector2_equal(v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;((v)[0]&nbsp;==&nbsp;(v2)[0]&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(v)[1]&nbsp;==&nbsp;(v2)[1])

#define&nbsp;vector2_equal_dif(v,&nbsp;v2,&nbsp;dif)\
&nbsp;&nbsp;&nbsp;&nbsp;(fabs((v)[0]&nbsp;-&nbsp;(v2)[0])&nbsp;&lt;&nbsp;(dif)&nbsp;&amp;&amp;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;fabs((v)[1]&nbsp;-&nbsp;(v2)[1])&nbsp;&lt;&nbsp;(dif))

/*&nbsp;vector*_sum&nbsp;*/

#define&nbsp;vector4_sum(r,&nbsp;v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(v)[0]&nbsp;+&nbsp;(v2)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(v)[1]&nbsp;+&nbsp;(v2)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(v)[2]&nbsp;+&nbsp;(v2)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;=&nbsp;(v)[3]&nbsp;+&nbsp;(v2)[3]

#define&nbsp;vector3_sum(r,&nbsp;v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(v)[0]&nbsp;+&nbsp;(v2)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(v)[1]&nbsp;+&nbsp;(v2)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(v)[2]&nbsp;+&nbsp;(v2)[2]

#define&nbsp;vector2_sum(r,&nbsp;v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(v)[0]&nbsp;+&nbsp;(v2)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(v)[1]&nbsp;+&nbsp;(v2)[1]

/*&nbsp;vector*_add&nbsp;*/

#define&nbsp;vector4_add(v,&nbsp;v2)&nbsp;vector4_sum(v,&nbsp;v,&nbsp;v2)
#define&nbsp;vector3_add(v,&nbsp;v2)&nbsp;vector3_sum(v,&nbsp;v,&nbsp;v2)
#define&nbsp;vector2_add(v,&nbsp;v2)&nbsp;vector2_sum(v,&nbsp;v,&nbsp;v2)

/*&nbsp;vector*_dif&nbsp;*/

#define&nbsp;vector4_dif(r,&nbsp;v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(v)[0]&nbsp;-&nbsp;(v2)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(v)[1]&nbsp;-&nbsp;(v2)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(v)[2]&nbsp;-&nbsp;(v2)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;=&nbsp;(v)[3]&nbsp;-&nbsp;(v2)[3]

#define&nbsp;vector3_dif(r,&nbsp;v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(v)[0]&nbsp;-&nbsp;(v2)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(v)[1]&nbsp;-&nbsp;(v2)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(v)[2]&nbsp;-&nbsp;(v2)[2]

#define&nbsp;vector2_dif(r,&nbsp;v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(v)[0]&nbsp;-&nbsp;(v2)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(v)[1]&nbsp;-&nbsp;(v2)[1]

/*&nbsp;vector*_sub&nbsp;*/

#define&nbsp;vector4_sub(v,&nbsp;v2)&nbsp;vector4_dif(v,&nbsp;v,&nbsp;v2)
#define&nbsp;vector3_sub(v,&nbsp;v2)&nbsp;vector3_dif(v,&nbsp;v,&nbsp;v2)
#define&nbsp;vector2_sub(v,&nbsp;v2)&nbsp;vector2_dif(v,&nbsp;v,&nbsp;v2)

/*&nbsp;vector*_mult&nbsp;*/

#define&nbsp;vector3_mult(r,&nbsp;v,&nbsp;s)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(v)[0]*(s);&nbsp;(r)[1]&nbsp;=&nbsp;(v)[1]*(s);&nbsp;(r)[2]&nbsp;=&nbsp;(v)[2]*(s)

#define&nbsp;vector2_mult(r,&nbsp;v,&nbsp;s)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(v)[0]*(s);&nbsp;(r)[1]&nbsp;=&nbsp;(v)[1]*(s)

/*&nbsp;vector*_dot&nbsp;*/

#define&nbsp;vector4_dot(v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;((v)[0]*(v2)[0]+(v)[1]*(v2)[1]+(v)[2]*(v2)[2]+(v)[3]*(v2)[3])

#define&nbsp;vector3_dot(v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;((v)[0]*(v2)[0]+(v)[1]*(v2)[1]+(v)[2]*(v2)[2])

#define&nbsp;vector2_dot(v,&nbsp;v2)\
&nbsp;&nbsp;&nbsp;&nbsp;((v)[0]*(v2)[0]+(v)[1]*(v2)[1])

/*&nbsp;vector3_cross&nbsp;*/

#define&nbsp;vector3_cross(c,&nbsp;a,&nbsp;b)\
&nbsp;&nbsp;&nbsp;&nbsp;(c)[0]&nbsp;=&nbsp;(a)[1]*(b)[2]&nbsp;-&nbsp;(a)[2]*(b)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(c)[1]&nbsp;=&nbsp;(a)[2]*(b)[0]&nbsp;-&nbsp;(a)[0]*(b)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(c)[2]&nbsp;=&nbsp;(a)[0]*(b)[1]&nbsp;-&nbsp;(a)[1]*(b)[0]

/*&nbsp;vector*_length&nbsp;*/

#define&nbsp;vector4_length(v)&nbsp;sqrt(vector4_dot((v),&nbsp;(v)))
#define&nbsp;vector3_length(v)&nbsp;sqrt(vector3_dot((v),&nbsp;(v)))
#define&nbsp;vector2_length(v)&nbsp;sqrt(vector2_dot((v),&nbsp;(v)))

/*&nbsp;vector*_normalize&nbsp;*/

#define&nbsp;vector4_normalize(v,&nbsp;lenbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(lenbuf)&nbsp;=&nbsp;vector4_length(v);\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[0]&nbsp;/=&nbsp;(lenbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[1]&nbsp;/=&nbsp;(lenbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[2]&nbsp;/=&nbsp;(lenbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[3]&nbsp;/=&nbsp;(lenbuf)

#define&nbsp;vector3_normalize(v,&nbsp;lenbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(lenbuf)&nbsp;=&nbsp;vector3_length(v);\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[0]&nbsp;/=&nbsp;(lenbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[1]&nbsp;/=&nbsp;(lenbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[2]&nbsp;/=&nbsp;(lenbuf)

#define&nbsp;vector2_normalize(v,&nbsp;lenbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(lenbuf)&nbsp;=&nbsp;vector2_length(v);\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[0]&nbsp;/=&nbsp;(lenbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(v)[1]&nbsp;/=&nbsp;(lenbuf)

/*&nbsp;[hvector|hpoint]*compute&nbsp;*/

#define&nbsp;hvector4_compute(hv)\
&nbsp;&nbsp;&nbsp;&nbsp;if((hv)[3]){\
&nbsp;&nbsp;&nbsp;&nbsp;(hv)[0]&nbsp;/=&nbsp;(hv)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(hv)[1]&nbsp;/=&nbsp;(hv)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(hv)[2]&nbsp;/=&nbsp;(hv)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(hv)[3]&nbsp;=&nbsp;0;}

#define&nbsp;hvector3_compute(hv)\
&nbsp;&nbsp;&nbsp;&nbsp;if((hv)[2]){\
&nbsp;&nbsp;&nbsp;&nbsp;(hv)[0]&nbsp;/=&nbsp;(hv)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(hv)[1]&nbsp;/=&nbsp;(hv)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(hv)[2]&nbsp;=&nbsp;0;}

#define&nbsp;hpoint4_compute(hp)\
&nbsp;&nbsp;&nbsp;&nbsp;if((hp)[3]&nbsp;!=&nbsp;1){\
&nbsp;&nbsp;&nbsp;&nbsp;(hp)[0]&nbsp;/=&nbsp;(hp)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(hp)[1]&nbsp;/=&nbsp;(hp)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(hp)[2]&nbsp;/=&nbsp;(hp)[3];\
&nbsp;&nbsp;&nbsp;&nbsp;(hp)[3]&nbsp;=&nbsp;1;}

#define&nbsp;hpoint3_compute(hp)\
&nbsp;&nbsp;&nbsp;&nbsp;if((hp)[2]&nbsp;!=&nbsp;1){\
&nbsp;&nbsp;&nbsp;&nbsp;(hp)[0]&nbsp;/=&nbsp;(hp)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(hp)[1]&nbsp;/=&nbsp;(hp)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(hp)[2]&nbsp;=&nbsp;1;}

/*&nbsp;*[vector|point|normal]*_transform&nbsp;|&nbsp;m*v&nbsp;*/

#define&nbsp;vector3_transform(r,&nbsp;m,&nbsp;v)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(m)[0]*(v)[0]&nbsp;+&nbsp;(m)[4]*(v)[1]&nbsp;+&nbsp;(m)[8]*(v)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(m)[1]*(v)[0]&nbsp;+&nbsp;(m)[5]*(v)[1]&nbsp;+&nbsp;(m)[9]*(v)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(m)[2]*(v)[0]&nbsp;+&nbsp;(m)[6]*(v)[1]&nbsp;+&nbsp;(m)[10]*(v)[2]

#define&nbsp;vector2_transform(r,&nbsp;m,&nbsp;v)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(m)[0]*(v)[0]&nbsp;+&nbsp;(m)[3]*(v)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(m)[1]*(v)[0]&nbsp;+&nbsp;(m)[4]*(v)[1]

#define&nbsp;point3_transform(r,&nbsp;m,&nbsp;v)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(m)[0]*(v)[0]&nbsp;+&nbsp;(m)[4]*(v)[1]&nbsp;+&nbsp;(m)[8]*(v)[2]&nbsp;&nbsp;+&nbsp;(m)[12];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(m)[1]*(v)[0]&nbsp;+&nbsp;(m)[5]*(v)[1]&nbsp;+&nbsp;(m)[9]*(v)[2]&nbsp;&nbsp;+&nbsp;(m)[13];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(m)[2]*(v)[0]&nbsp;+&nbsp;(m)[6]*(v)[1]&nbsp;+&nbsp;(m)[10]*(v)[2]&nbsp;+&nbsp;(m)[14]

#define&nbsp;point2_transform(r,&nbsp;m,&nbsp;v)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(m)[0]*(v)[0]&nbsp;+&nbsp;(m)[3]*(v)[1]&nbsp;+&nbsp;(m)[6];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(m)[1]*(v)[0]&nbsp;+&nbsp;(m)[4]*(v)[1]&nbsp;+&nbsp;(m)[7]

#define&nbsp;normal3_transform(r,&nbsp;m,&nbsp;v,&nbsp;transbuf,&nbsp;revbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;matrix44_inverse(revbuf,&nbsp;m,&nbsp;transbuf</font><font color="#408080"><em>/*&nbsp;ambuf&nbsp;*/</em></font><font color="#BC7A00">,&nbsp;(r)[0]</font><font color="#408080"><em>/*&nbsp;detbuf&nbsp;*/</em></font><font color="#BC7A00">);\
&nbsp;&nbsp;&nbsp;&nbsp;matrix44_transpose(transbuf,&nbsp;revbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(transbuf)[0]*(v)[0]&nbsp;+&nbsp;(transbuf)[4]*(v)[1]&nbsp;+&nbsp;(transbuf)[8]*(v)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(transbuf)[1]*(v)[0]&nbsp;+&nbsp;(transbuf)[5]*(v)[1]&nbsp;+&nbsp;(transbuf)[9]*(v)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(transbuf)[2]*(v)[0]&nbsp;+&nbsp;(transbuf)[6]*(v)[1]&nbsp;+&nbsp;(transbuf)[10]*(v)[2]

/*&nbsp;quat_*&nbsp;*/

#define&nbsp;quat_identity(q)\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[3]&nbsp;=&nbsp;1

#define&nbsp;quat_sum(r,&nbsp;q,&nbsp;q2)&nbsp;vector4_sum(r,&nbsp;q,&nbsp;q2)
#define&nbsp;quat_dif(r,&nbsp;q,&nbsp;q2)&nbsp;vector4_dif(r,&nbsp;q,&nbsp;q2)
#define&nbsp;quat_add(q,&nbsp;q2)&nbsp;vector4_add(q,&nbsp;q2)
#define&nbsp;quat_sub(q,&nbsp;q2)&nbsp;vector4_sub(q,&nbsp;q2)

#define&nbsp;quat_equal(q,&nbsp;q2)&nbsp;vector4_equal(q,&nbsp;q2)
#define&nbsp;quat_equal_dif(q,&nbsp;q2,&nbsp;dif)&nbsp;vector4_equal_dif(q,&nbsp;q2,&nbsp;dif)

#define&nbsp;quat_normalize(q,&nbsp;lenbuf)&nbsp;vector4_normalize(q,&nbsp;lenbuf)

#define&nbsp;quat_mult(r,&nbsp;q,&nbsp;q2,&nbsp;crossbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;vector3_cross(crossbuf,&nbsp;q,&nbsp;q2);\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(q)[3]*(q2)[0]&nbsp;+&nbsp;(q2)[3]*(q)[0]&nbsp;+&nbsp;(crossbuf)[0];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(q)[3]*(q2)[1]&nbsp;+&nbsp;(q2)[3]*(q)[1]&nbsp;+&nbsp;(crossbuf)[1];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(q)[3]*(q2)[2]&nbsp;+&nbsp;(q2)[3]*(q)[2]&nbsp;+&nbsp;(crossbuf)[2];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;=&nbsp;(q)[3]*(q2)[3]&nbsp;-&nbsp;vector3_dot(q,&nbsp;q2)

#define&nbsp;quat_inverse(r,&nbsp;q,&nbsp;dotbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(dotbuf)&nbsp;=&nbsp;vector4_dot(q,&nbsp;q);\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;-(q)[0]&nbsp;/&nbsp;(dotbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;-(q)[1]&nbsp;/&nbsp;(dotbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;-(q)[2]&nbsp;/&nbsp;(dotbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[3]&nbsp;=&nbsp;&nbsp;(q)[3]&nbsp;/&nbsp;(dotbuf)

/*&nbsp;quat_from*&nbsp;*/

#define&nbsp;quat_from_axis(q,&nbsp;a,&nbsp;x,&nbsp;y,&nbsp;z)\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[0]&nbsp;=&nbsp;sin(a/2)*x;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[1]&nbsp;=&nbsp;sin(a/2)*y;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[2]&nbsp;=&nbsp;sin(a/2)*z;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[3]&nbsp;=&nbsp;cos(a/2)

#define&nbsp;quat_form_matrix(q,&nbsp;m)\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[3]&nbsp;=&nbsp;sqrt((m)[0]+(m)[5]+(n)[10]+1)/2;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[0]&nbsp;=&nbsp;sqrt((m[0]+1-2*(q)[3]*(q)[3])/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[1]&nbsp;=&nbsp;sqrt((m[5]+1-2*(q)[3]*(q)[3])/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[2]&nbsp;=&nbsp;sqrt((m[10]+1-2*(q)[3]*(q)[3])/2)

/*&nbsp;&nbsp;quat_from_euler*&nbsp;*/

#define&nbsp;quat_from_euler_xyz(q,&nbsp;x,&nbsp;y,&nbsp;z,&nbsp;buf,&nbsp;buf2,&nbsp;crossbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;sin(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[1]&nbsp;=&nbsp;sin(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[3]&nbsp;=&nbsp;cos(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(buf2,&nbsp;buf,&nbsp;q,&nbsp;crossbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;sin(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(q,&nbsp;buf2,&nbsp;buf,&nbsp;crossbuf)

#define&nbsp;quat_from_euler_xzy(q,&nbsp;x,&nbsp;y,&nbsp;z,&nbsp;buf,&nbsp;buf2,&nbsp;crossbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;sin(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[2]&nbsp;=&nbsp;sin(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[3]&nbsp;=&nbsp;cos(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(buf2,&nbsp;buf,&nbsp;q,&nbsp;crossbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;sin(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(q,&nbsp;buf2,&nbsp;buf,&nbsp;crossbuf)

#define&nbsp;quat_from_euler_yxz(q,&nbsp;x,&nbsp;y,&nbsp;z,&nbsp;buf,&nbsp;buf2,&nbsp;crossbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;sin(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[0]&nbsp;=&nbsp;sin(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[3]&nbsp;=&nbsp;cos(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(buf2,&nbsp;buf,&nbsp;q,&nbsp;crossbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;sin(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(q,&nbsp;buf2,&nbsp;buf,&nbsp;crossbuf)

#define&nbsp;quat_from_euler_yzx(q,&nbsp;x,&nbsp;y,&nbsp;z,&nbsp;buf,&nbsp;buf2,&nbsp;crossbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;sin(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[2]&nbsp;=&nbsp;sin(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[3]&nbsp;=&nbsp;cos(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(buf2,&nbsp;buf,&nbsp;q,&nbsp;crossbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;sin(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(q,&nbsp;buf2,&nbsp;buf,&nbsp;crossbuf)

#define&nbsp;quat_from_euler_zxy(q,&nbsp;x,&nbsp;y,&nbsp;z,&nbsp;buf,&nbsp;buf2,&nbsp;crossbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;sin(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[0]&nbsp;=&nbsp;sin(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[3]&nbsp;=&nbsp;cos(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(buf2,&nbsp;buf,&nbsp;q,&nbsp;crossbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;sin(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(q,&nbsp;buf2,&nbsp;buf,&nbsp;crossbuf)

#define&nbsp;quat_from_euler_zyx(q,&nbsp;x,&nbsp;y,&nbsp;z,&nbsp;buf,&nbsp;buf2,&nbsp;crossbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;sin(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(z/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[1]&nbsp;=&nbsp;sin(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(q)[3]&nbsp;=&nbsp;cos(y/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(buf2,&nbsp;buf,&nbsp;q,&nbsp;crossbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[0]&nbsp;=&nbsp;sin(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[2]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;(buf)[3]&nbsp;=&nbsp;cos(x/2);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(q,&nbsp;buf2,&nbsp;buf,&nbsp;crossbuf)

/*&nbsp;hvector4_transform_by_quat&nbsp;*/

#define&nbsp;hvector4_transform_by_quat(r,&nbsp;v,&nbsp;q,&nbsp;tmp,&nbsp;invbuf,&nbsp;crossbuf,&nbsp;dotbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;quat_inverse(invbuf,&nbsp;q,&nbsp;dotbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(tmp,&nbsp;q,&nbsp;v,&nbsp;crossbuf);\
&nbsp;&nbsp;&nbsp;&nbsp;quat_mult(r,&nbsp;tmp,&nbsp;invbuf,&nbsp;crossbuf)

/*&nbsp;*_from_matrix*&nbsp;*/

#define&nbsp;translate_from_matrix44(r,&nbsp;m)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;(m)[12];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;(m)[13];\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;(m)[14]
</font>
<font color="#408080"><em>/*&nbsp;Argument&nbsp;&#39;r&#39;&nbsp;must&nbsp;be&nbsp;an&nbsp;array&nbsp;of&nbsp;3&nbsp;values&nbsp;and&nbsp;angle&nbsp;(in&nbsp;radians)&nbsp;will&nbsp;be&nbsp;written&nbsp;into&nbsp;&#39;r[0]&#39;
&nbsp;*&nbsp;Matrix&nbsp;&#39;m&#39;&nbsp;must&nbsp;not&nbsp;contain&nbsp;scale.&nbsp;*/</em></font>
<font color="#BC7A00">#define&nbsp;rotate_x_from_matrix44(r,&nbsp;m,&nbsp;tmpvec)\
&nbsp;&nbsp;&nbsp;&nbsp;vector3_set((r),&nbsp;0.0,&nbsp;1.0,&nbsp;0.0);\
&nbsp;&nbsp;&nbsp;&nbsp;vector3_transform((tmpvec),&nbsp;(m),&nbsp;(r));\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;acos((tmpvec)[2])

#define&nbsp;rotate_y_from_matrix44(r,&nbsp;m,&nbsp;tmpvec)\
&nbsp;&nbsp;&nbsp;&nbsp;vector3_set((r),&nbsp;0.0,&nbsp;0.0,&nbsp;1.0);\
&nbsp;&nbsp;&nbsp;&nbsp;vector3_transform((tmpvec),&nbsp;(m),&nbsp;(r));\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;acos((tmpvec)[0])

#define&nbsp;rotate_z_from_matrix44(r,&nbsp;m,&nbsp;tmpvec)\
&nbsp;&nbsp;&nbsp;&nbsp;vector3_set((r),&nbsp;1.0,&nbsp;0.0,&nbsp;0.0);\
&nbsp;&nbsp;&nbsp;&nbsp;vector3_transform((tmpvec),&nbsp;(m),&nbsp;(r));\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;acos((tmpvec)[1])

#define&nbsp;euler_xyz_from_matrix44(r,&nbsp;m,&nbsp;cosbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;asin((m)[8]);\
&nbsp;&nbsp;&nbsp;&nbsp;(cosbuf)&nbsp;=&nbsp;cos((r)[1]);\
&nbsp;&nbsp;&nbsp;&nbsp;if(fabs(cosbuf)&nbsp;&gt;&nbsp;MICRO)\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;atan2(-(m)[9]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[10]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;atan2(-(m)[4]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[0]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;}\
&nbsp;&nbsp;&nbsp;&nbsp;else&nbsp;</font><font color="#408080"><em>/*&nbsp;gimbal&nbsp;lock&nbsp;*/</em></font><font color="#BC7A00">&nbsp;\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;atan2((m)[1],&nbsp;(m)[5]);\
&nbsp;&nbsp;&nbsp;&nbsp;}

#define&nbsp;euler_xzy_from_matrix44(r,&nbsp;m,&nbsp;cosbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;asin(-(m)[4]);\
&nbsp;&nbsp;&nbsp;&nbsp;(cosbuf)&nbsp;=&nbsp;cos((r)[2]);\
&nbsp;&nbsp;&nbsp;&nbsp;if(fabs(cosbuf)&nbsp;&gt;&nbsp;MICRO)\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;atan2((m)[6]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[5]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;atan2((m)[8]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[0]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;}\
&nbsp;&nbsp;&nbsp;&nbsp;else&nbsp;</font><font color="#408080"><em>/*&nbsp;gimbal&nbsp;lock&nbsp;*/</em></font><font color="#BC7A00">&nbsp;\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;atan2(-(m)[2],&nbsp;(m)[10]);\
&nbsp;&nbsp;&nbsp;&nbsp;}

#define&nbsp;euler_yxz_from_matrix44(r,&nbsp;m,&nbsp;cosbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;asin(-(m)[9]);\
&nbsp;&nbsp;&nbsp;&nbsp;(cosbuf)&nbsp;=&nbsp;cos((r)[0]);\
&nbsp;&nbsp;&nbsp;&nbsp;if(fabs(cosbuf)&nbsp;&gt;&nbsp;MICRO)\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;atan2((m)[8]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[10]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;atan2((m)[1]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[5]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;}\
&nbsp;&nbsp;&nbsp;&nbsp;else&nbsp;</font><font color="#408080"><em>/*&nbsp;gimbal&nbsp;lock&nbsp;*/</em></font><font color="#BC7A00">&nbsp;\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;atan2(-(m)[4],&nbsp;(m)[0]);\
&nbsp;&nbsp;&nbsp;&nbsp;}

#define&nbsp;euler_yzx_from_matrix44(r,&nbsp;m,&nbsp;cosbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;asin((m)[1]);\
&nbsp;&nbsp;&nbsp;&nbsp;(cosbuf)&nbsp;=&nbsp;cos((r)[2]);\
&nbsp;&nbsp;&nbsp;&nbsp;if(fabs(cosbuf)&nbsp;&gt;&nbsp;MICRO)\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;atan2(-(m)[9]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[5]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;atan2(-(m)[2]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[0]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;}\
&nbsp;&nbsp;&nbsp;&nbsp;else&nbsp;</font><font color="#408080"><em>/*&nbsp;gimbal&nbsp;lock&nbsp;*/</em></font><font color="#BC7A00">&nbsp;\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;atan2((m)[6],&nbsp;(m)[10]);\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;}

#define&nbsp;euler_zxy_from_matrix44(r,&nbsp;m,&nbsp;cosbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;asin((m)[6]);\
&nbsp;&nbsp;&nbsp;&nbsp;(cosbuf)&nbsp;=&nbsp;cos((r)[0]);\
&nbsp;&nbsp;&nbsp;&nbsp;if(fabs(cosbuf)&nbsp;&gt;&nbsp;MICRO)\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;atan2(-(m)[2]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[10]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;atan2(-(m)[4]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[5]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;}\
&nbsp;&nbsp;&nbsp;&nbsp;else&nbsp;</font><font color="#408080"><em>/*&nbsp;gimbal&nbsp;lock&nbsp;*/</em></font><font color="#BC7A00">&nbsp;\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;atan2((m)[1],&nbsp;(m)[0]);\
&nbsp;&nbsp;&nbsp;&nbsp;}

#define&nbsp;euler_zyx_from_matrix44(r,&nbsp;m,&nbsp;cosbuf)\
&nbsp;&nbsp;&nbsp;&nbsp;(r)[1]&nbsp;=&nbsp;asin(-(m)[2]);\
&nbsp;&nbsp;&nbsp;&nbsp;(cosbuf)&nbsp;=&nbsp;cos((r)[1]);\
&nbsp;&nbsp;&nbsp;&nbsp;if(fabs(cosbuf)&nbsp;&gt;&nbsp;MICRO)\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;atan2((m)[6]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[10]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;atan2((m)[1]&nbsp;/&nbsp;(cosbuf),&nbsp;(m)[0]&nbsp;/&nbsp;(cosbuf));\
&nbsp;&nbsp;&nbsp;&nbsp;}\
&nbsp;&nbsp;&nbsp;&nbsp;else&nbsp;</font><font color="#408080"><em>/*&nbsp;gimbal&nbsp;lock&nbsp;*/</em></font><font color="#BC7A00">&nbsp;\
&nbsp;&nbsp;&nbsp;&nbsp;{\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[0]&nbsp;=&nbsp;0;\
&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(r)[2]&nbsp;=&nbsp;atan2(-(m)[2],&nbsp;(m)[10]);\
&nbsp;&nbsp;&nbsp;&nbsp;}

/*&nbsp;misc&nbsp;*/

#define&nbsp;point3_move(p,&nbsp;v,&nbsp;val)\
&nbsp;&nbsp;&nbsp;&nbsp;(p)[0]&nbsp;+=&nbsp;(v)[0]*val;\
&nbsp;&nbsp;&nbsp;&nbsp;(p)[1]&nbsp;+=&nbsp;(v)[1]*val;\
&nbsp;&nbsp;&nbsp;&nbsp;(p)[2]&nbsp;+=&nbsp;(v)[2]*val

#define&nbsp;matrix44_camera_inverse(m,&nbsp;eye,&nbsp;u,&nbsp;v,&nbsp;n)\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[0]&nbsp;=&nbsp;(u)[0];&nbsp;(m)[4]&nbsp;=&nbsp;(u)[1];&nbsp;(m)[8]&nbsp;&nbsp;=&nbsp;(u)[2];&nbsp;(m)[12]&nbsp;=&nbsp;-vector3_dot(eye,&nbsp;u);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[1]&nbsp;=&nbsp;(v)[0];&nbsp;(m)[5]&nbsp;=&nbsp;(v)[1];&nbsp;(m)[9]&nbsp;&nbsp;=&nbsp;(v)[2];&nbsp;(m)[13]&nbsp;=&nbsp;-vector3_dot(eye,&nbsp;v);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[2]&nbsp;=&nbsp;(n)[0];&nbsp;(m)[6]&nbsp;=&nbsp;(n)[1];&nbsp;(m)[10]&nbsp;=&nbsp;(n)[2];&nbsp;(m)[14]&nbsp;=&nbsp;-vector3_dot(eye,&nbsp;n);\
&nbsp;&nbsp;&nbsp;&nbsp;(m)[3]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[7]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[11]&nbsp;=&nbsp;0;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;(m)[15]&nbsp;=&nbsp;1

#endif&nbsp;</font><font color="#408080"><em>/*&nbsp;XFORM_H&nbsp;*/</em></font><font color="#BC7A00">
</font></code></blockquote><p><font color="gray">Colored with <a href="http://dumpz.org">dumpz.org</a></p>