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245
src/math/Matrix.h
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245
src/math/Matrix.h
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#pragma once
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class CMatrix
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{
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public:
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RwMatrix m_matrix;
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RwMatrix *m_attachment;
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bool m_hasRwMatrix; // are we the owner?
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CMatrix(void){
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m_attachment = nil;
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m_hasRwMatrix = false;
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}
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CMatrix(CMatrix const &m){
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m_attachment = nil;
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m_hasRwMatrix = false;
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*this = m;
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}
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CMatrix(RwMatrix *matrix, bool attach){
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m_attachment = nil;
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Attach(matrix, attach);
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}
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~CMatrix(void){
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if(m_hasRwMatrix && m_attachment)
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RwMatrixDestroy(m_attachment);
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}
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void Attach(RwMatrix *matrix, bool attach){
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if(m_hasRwMatrix && m_attachment)
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RwMatrixDestroy(m_attachment);
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m_attachment = matrix;
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m_hasRwMatrix = attach;
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Update();
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}
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void AttachRW(RwMatrix *matrix, bool attach){
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if(m_hasRwMatrix && m_attachment)
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RwMatrixDestroy(m_attachment);
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m_attachment = matrix;
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m_hasRwMatrix = attach;
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UpdateRW();
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}
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void Detach(void){
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if(m_hasRwMatrix && m_attachment)
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RwMatrixDestroy(m_attachment);
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m_attachment = nil;
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}
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void Update(void){
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m_matrix = *m_attachment;
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}
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void UpdateRW(void){
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if(m_attachment){
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*m_attachment = m_matrix;
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RwMatrixUpdate(m_attachment);
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}
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}
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void operator=(CMatrix const &rhs){
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m_matrix = rhs.m_matrix;
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if(m_attachment)
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UpdateRW();
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}
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CVector *GetPosition(void){ return (CVector*)&m_matrix.pos; }
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CVector *GetRight(void) { return (CVector*)&m_matrix.right; }
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CVector *GetForward(void) { return (CVector*)&m_matrix.up; }
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CVector *GetUp(void) { return (CVector*)&m_matrix.at; }
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void SetScale(float s){
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m_matrix.right.x = s;
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m_matrix.right.y = 0.0f;
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m_matrix.right.z = 0.0f;
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m_matrix.up.x = 0.0f;
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m_matrix.up.y = s;
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m_matrix.up.z = 0.0f;
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m_matrix.at.x = 0.0f;
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m_matrix.at.y = 0.0f;
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m_matrix.at.z = s;
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m_matrix.pos.x = 0.0f;
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m_matrix.pos.y = 0.0f;
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m_matrix.pos.z = 0.0f;
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}
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void SetRotateXOnly(float angle){
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float c = cos(angle);
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float s = sin(angle);
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m_matrix.right.x = 1.0f;
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m_matrix.right.y = 0.0f;
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m_matrix.right.z = 0.0f;
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m_matrix.up.x = 0.0f;
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m_matrix.up.y = c;
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m_matrix.up.z = s;
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m_matrix.at.x = 0.0f;
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m_matrix.at.y = -s;
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m_matrix.at.z = c;
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}
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void SetRotateX(float angle){
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SetRotateXOnly(angle);
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m_matrix.pos.x = 0.0f;
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m_matrix.pos.y = 0.0f;
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m_matrix.pos.z = 0.0f;
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}
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void SetRotateYOnly(float angle){
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float c = cos(angle);
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float s = sin(angle);
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m_matrix.right.x = c;
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m_matrix.right.y = 0.0f;
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m_matrix.right.z = -s;
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m_matrix.up.x = 0.0f;
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m_matrix.up.y = 1.0f;
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m_matrix.up.z = 0.0f;
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m_matrix.at.x = s;
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m_matrix.at.y = 0.0f;
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m_matrix.at.z = c;
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}
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void SetRotateY(float angle){
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SetRotateYOnly(angle);
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m_matrix.pos.x = 0.0f;
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m_matrix.pos.y = 0.0f;
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m_matrix.pos.z = 0.0f;
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}
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void SetRotateZOnly(float angle){
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float c = cos(angle);
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float s = sin(angle);
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m_matrix.right.x = c;
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m_matrix.right.y = s;
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m_matrix.right.z = 0.0f;
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m_matrix.up.x = -s;
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m_matrix.up.y = c;
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m_matrix.up.z = 0.0f;
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m_matrix.at.x = 0.0f;
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m_matrix.at.y = 0.0f;
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m_matrix.at.z = 1.0f;
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}
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void SetRotateZ(float angle){
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SetRotateZOnly(angle);
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m_matrix.pos.x = 0.0f;
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m_matrix.pos.y = 0.0f;
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m_matrix.pos.z = 0.0f;
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}
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void Reorthogonalise(void){
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CVector &r = *GetRight();
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CVector &f = *GetForward();
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CVector &u = *GetUp();
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u = CrossProduct(r, f);
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u.Normalise();
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r = CrossProduct(f, u);
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r.Normalise();
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f = CrossProduct(u, r);
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}
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};
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inline CMatrix&
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Invert(const CMatrix &src, CMatrix &dst)
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{
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// GTA handles this as a raw 4x4 orthonormal matrix
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// and trashes the RW flags, let's not do that
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// actual copy of librw code:
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RwMatrix *d = &dst.m_matrix;
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const RwMatrix *s = &src.m_matrix;
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d->right.x = s->right.x;
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d->right.y = s->up.x;
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d->right.z = s->at.x;
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d->up.x = s->right.y;
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d->up.y = s->up.y;
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d->up.z = s->at.y;
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d->at.x = s->right.z;
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d->at.y = s->up.z;
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d->at.z = s->at.z;
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d->pos.x = -(s->pos.x*s->right.x +
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s->pos.y*s->right.y +
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s->pos.z*s->right.z);
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d->pos.y = -(s->pos.x*s->up.x +
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s->pos.y*s->up.y +
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s->pos.z*s->up.z);
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d->pos.z = -(s->pos.x*s->at.x +
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s->pos.y*s->at.y +
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s->pos.z*s->at.z);
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d->flags = rwMATRIXTYPEORTHONORMAL;
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return dst;
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}
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inline CMatrix
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Invert(const CMatrix &matrix)
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{
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CMatrix inv;
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return Invert(matrix, inv);
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}
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inline CVector
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operator*(const CMatrix &mat, const CVector &vec)
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{
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return CVector(
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mat.m_matrix.right.x * vec.x + mat.m_matrix.up.x * vec.y + mat.m_matrix.at.x * vec.z + mat.m_matrix.pos.x,
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mat.m_matrix.right.y * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.at.y * vec.z + mat.m_matrix.pos.y,
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mat.m_matrix.right.z * vec.x + mat.m_matrix.up.z * vec.y + mat.m_matrix.at.z * vec.z + mat.m_matrix.pos.z);
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}
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inline CMatrix
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operator*(const CMatrix &m1, const CMatrix &m2)
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{
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CMatrix out;
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RwMatrix *dst = &out.m_matrix;
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const RwMatrix *src1 = &m1.m_matrix;
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const RwMatrix *src2 = &m2.m_matrix;
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dst->right.x = src1->right.x*src2->right.x + src1->up.x*src2->right.y + src1->at.x*src2->right.z;
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dst->right.y = src1->right.y*src2->right.x + src1->up.y*src2->right.y + src1->at.y*src2->right.z;
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dst->right.z = src1->right.z*src2->right.x + src1->up.z*src2->right.y + src1->at.z*src2->right.z;
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dst->up.x = src1->right.x*src2->up.x + src1->up.x*src2->up.y + src1->at.x*src2->up.z;
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dst->up.y = src1->right.y*src2->up.x + src1->up.y*src2->up.y + src1->at.y*src2->up.z;
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dst->up.z = src1->right.z*src2->up.x + src1->up.z*src2->up.y + src1->at.z*src2->up.z;
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dst->at.x = src1->right.x*src2->at.x + src1->up.x*src2->at.y + src1->at.x*src2->at.z;
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dst->at.y = src1->right.y*src2->at.x + src1->up.y*src2->at.y + src1->at.y*src2->at.z;
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dst->at.z = src1->right.z*src2->at.x + src1->up.z*src2->at.y + src1->at.z*src2->at.z;
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dst->pos.x = src1->right.x*src2->pos.x + src1->up.x*src2->pos.y + src1->at.x*src2->pos.z + src1->pos.x;
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dst->pos.y = src1->right.y*src2->pos.x + src1->up.y*src2->pos.y + src1->at.y*src2->pos.z + src1->pos.y;
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dst->pos.z = src1->right.z*src2->pos.x + src1->up.z*src2->pos.y + src1->at.z*src2->pos.z + src1->pos.z;
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return out;
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}
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inline CVector
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MultiplyInverse(const CMatrix &mat, const CVector &vec)
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{
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CVector v(vec.x - mat.m_matrix.pos.x, vec.y - mat.m_matrix.pos.y, vec.z - mat.m_matrix.pos.z);
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return CVector(
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mat.m_matrix.right.x * v.x + mat.m_matrix.right.y * v.y + mat.m_matrix.right.z * v.z,
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mat.m_matrix.up.x * v.x + mat.m_matrix.up.y * v.y + mat.m_matrix.up.z * v.z,
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mat.m_matrix.at.x * v.x + mat.m_matrix.at.y * v.y + mat.m_matrix.at.z * v.z);
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}
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inline CVector
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Multiply3x3(const CMatrix &mat, const CVector &vec)
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{
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return CVector(
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mat.m_matrix.right.x * vec.x + mat.m_matrix.up.x * vec.y + mat.m_matrix.at.x * vec.z,
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mat.m_matrix.right.y * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.at.y * vec.z,
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mat.m_matrix.right.z * vec.x + mat.m_matrix.up.z * vec.y + mat.m_matrix.at.z * vec.z);
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}
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