m4math.cpp

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#include "linden_common.h"

//#include "vmath.h"
#include "v3math.h"
#include "v4math.h"
#include "m4math.h"
#include "m3math.h"
#include "llquaternion.h"




// LLMatrix4

// Constructors


LLMatrix4::LLMatrix4(const F32 *mat)
{
        mMatrix[0][0] = mat[0];
        mMatrix[0][1] = mat[1];
        mMatrix[0][2] = mat[2];
        mMatrix[0][3] = mat[3];

        mMatrix[1][0] = mat[4];
        mMatrix[1][1] = mat[5];
        mMatrix[1][2] = mat[6];
        mMatrix[1][3] = mat[7];

        mMatrix[2][0] = mat[8];
        mMatrix[2][1] = mat[9];
        mMatrix[2][2] = mat[10];
        mMatrix[2][3] = mat[11];

        mMatrix[3][0] = mat[12];
        mMatrix[3][1] = mat[13];
        mMatrix[3][2] = mat[14];
        mMatrix[3][3] = mat[15];
}

LLMatrix4::LLMatrix4(const LLMatrix3 &mat, const LLVector4 &vec)
{
        mMatrix[0][0] = mat.mMatrix[0][0];
        mMatrix[0][1] = mat.mMatrix[0][1];
        mMatrix[0][2] = mat.mMatrix[0][2];
        mMatrix[0][3] = 0.f;

        mMatrix[1][0] = mat.mMatrix[1][0];
        mMatrix[1][1] = mat.mMatrix[1][1];
        mMatrix[1][2] = mat.mMatrix[1][2];
        mMatrix[1][3] = 0.f;

        mMatrix[2][0] = mat.mMatrix[2][0];
        mMatrix[2][1] = mat.mMatrix[2][1];
        mMatrix[2][2] = mat.mMatrix[2][2];
        mMatrix[2][3] = 0.f;

        mMatrix[3][0] = vec.mV[0];
        mMatrix[3][1] = vec.mV[1];
        mMatrix[3][2] = vec.mV[2];
        mMatrix[3][3] = 1.f;
}

LLMatrix4::LLMatrix4(const LLMatrix3 &mat)
{
        mMatrix[0][0] = mat.mMatrix[0][0];
        mMatrix[0][1] = mat.mMatrix[0][1];
        mMatrix[0][2] = mat.mMatrix[0][2];
        mMatrix[0][3] = 0.f;

        mMatrix[1][0] = mat.mMatrix[1][0];
        mMatrix[1][1] = mat.mMatrix[1][1];
        mMatrix[1][2] = mat.mMatrix[1][2];
        mMatrix[1][3] = 0.f;

        mMatrix[2][0] = mat.mMatrix[2][0];
        mMatrix[2][1] = mat.mMatrix[2][1];
        mMatrix[2][2] = mat.mMatrix[2][2];
        mMatrix[2][3] = 0.f;

        mMatrix[3][0] = 0.f;
        mMatrix[3][1] = 0.f;
        mMatrix[3][2] = 0.f;
        mMatrix[3][3] = 1.f;
}

LLMatrix4::LLMatrix4(const LLQuaternion &q)
{
        *this = initRotation(q);
}

LLMatrix4::LLMatrix4(const LLQuaternion &q, const LLVector4 &pos)
{
        *this = initRotTrans(q, pos);
}

LLMatrix4::LLMatrix4(const F32 angle, const LLVector4 &vec, const LLVector4 &pos)
{
        initRotTrans(LLQuaternion(angle, vec), pos);
}

LLMatrix4::LLMatrix4(const F32 angle, const LLVector4 &vec)
{
        initRotation(LLQuaternion(angle, vec));

        mMatrix[3][0] = 0.f;
        mMatrix[3][1] = 0.f;
        mMatrix[3][2] = 0.f;
        mMatrix[3][3] = 1.f;
}

LLMatrix4::LLMatrix4(const F32 roll, const F32 pitch, const F32 yaw, const LLVector4 &pos)
{
        LLMatrix3       mat(roll, pitch, yaw);
        initRotTrans(LLQuaternion(mat), pos);
}

LLMatrix4::LLMatrix4(const F32 roll, const F32 pitch, const F32 yaw)
{
        LLMatrix3       mat(roll, pitch, yaw);
        initRotation(LLQuaternion(mat));

        mMatrix[3][0] = 0.f;
        mMatrix[3][1] = 0.f;
        mMatrix[3][2] = 0.f;
        mMatrix[3][3] = 1.f;
}

LLMatrix4::~LLMatrix4(void)
{
}

// Clear and Assignment Functions

const LLMatrix4& LLMatrix4::zero()
{
        mMatrix[0][0] = 0.f;
        mMatrix[0][1] = 0.f;
        mMatrix[0][2] = 0.f;
        mMatrix[0][3] = 0.f;

        mMatrix[1][0] = 0.f;
        mMatrix[1][1] = 0.f;
        mMatrix[1][2] = 0.f;
        mMatrix[1][3] = 0.f;

        mMatrix[2][0] = 0.f;
        mMatrix[2][1] = 0.f;
        mMatrix[2][2] = 0.f;
        mMatrix[2][3] = 0.f;

        mMatrix[3][0] = 0.f;
        mMatrix[3][1] = 0.f;
        mMatrix[3][2] = 0.f;
        mMatrix[3][3] = 0.f;
        return *this;
}


// various useful mMatrix functions

const LLMatrix4&        LLMatrix4::transpose()
{
        LLMatrix4 mat;
        mat.mMatrix[0][0] = mMatrix[0][0];
        mat.mMatrix[1][0] = mMatrix[0][1];
        mat.mMatrix[2][0] = mMatrix[0][2];
        mat.mMatrix[3][0] = mMatrix[0][3];

        mat.mMatrix[0][1] = mMatrix[1][0];
        mat.mMatrix[1][1] = mMatrix[1][1];
        mat.mMatrix[2][1] = mMatrix[1][2];
        mat.mMatrix[3][1] = mMatrix[1][3];

        mat.mMatrix[0][2] = mMatrix[2][0];
        mat.mMatrix[1][2] = mMatrix[2][1];
        mat.mMatrix[2][2] = mMatrix[2][2];
        mat.mMatrix[3][2] = mMatrix[2][3];

        mat.mMatrix[0][3] = mMatrix[3][0];
        mat.mMatrix[1][3] = mMatrix[3][1];
        mat.mMatrix[2][3] = mMatrix[3][2];
        mat.mMatrix[3][3] = mMatrix[3][3];

        *this = mat;
        return *this;
}


F32 LLMatrix4::determinant() const
{
        llerrs << "Not implemented!" << llendl;
        return 0.f;
}

// Only works for pure orthonormal, homogeneous transform matrices.
const LLMatrix4&        LLMatrix4::invert(void) 
{
        // transpose the rotation part
        F32 temp;
        temp = mMatrix[VX][VY]; mMatrix[VX][VY] = mMatrix[VY][VX]; mMatrix[VY][VX] = temp;
        temp = mMatrix[VX][VZ]; mMatrix[VX][VZ] = mMatrix[VZ][VX]; mMatrix[VZ][VX] = temp;
        temp = mMatrix[VY][VZ]; mMatrix[VY][VZ] = mMatrix[VZ][VY]; mMatrix[VZ][VY] = temp;

        // rotate the translation part by the new rotation 
        // (temporarily store in empty column of matrix)
        U32 j;
        for (j=0; j<3; j++)
        {
                mMatrix[j][VW] =  mMatrix[VW][VX] * mMatrix[VX][j] + 
                                                  mMatrix[VW][VY] * mMatrix[VY][j] +
                                                  mMatrix[VW][VZ] * mMatrix[VZ][j]; 
        }

        // negate and copy the temporary vector back to the tranlation row
        mMatrix[VW][VX] = -mMatrix[VX][VW];
        mMatrix[VW][VY] = -mMatrix[VY][VW];
        mMatrix[VW][VZ] = -mMatrix[VZ][VW];

        // zero the empty column again
        mMatrix[VX][VW] = mMatrix[VY][VW] = mMatrix[VZ][VW] = 0.0f;
        
        return *this;
}

LLVector4 LLMatrix4::getFwdRow4() const
{
        return LLVector4(mMatrix[VX][VX], mMatrix[VX][VY], mMatrix[VX][VZ], mMatrix[VX][VW]);
}

LLVector4 LLMatrix4::getLeftRow4() const
{
        return LLVector4(mMatrix[VY][VX], mMatrix[VY][VY], mMatrix[VY][VZ], mMatrix[VY][VW]);
}

LLVector4 LLMatrix4::getUpRow4() const
{
        return LLVector4(mMatrix[VZ][VX], mMatrix[VZ][VY], mMatrix[VZ][VZ], mMatrix[VZ][VW]);
}

// SJB: This code is correct for a logicly stored (non-transposed) matrix;
//              Our matrices are stored transposed, OpenGL style, so this generates the
//              INVERSE quaternion (-x, -y, -z, w)!
//              Because we use similar logic in LLQuaternion::getMatrix3,
//              we are internally consistant so everything works OK :)
LLQuaternion    LLMatrix4::quaternion() const
{
        LLQuaternion    quat;
        F32             tr, s, q[4];
        U32             i, j, k;
        U32             nxt[3] = {1, 2, 0};

        tr = mMatrix[0][0] + mMatrix[1][1] + mMatrix[2][2];

        // check the diagonal
        if (tr > 0.f) 
        {
                s = (F32)sqrt (tr + 1.f);
                quat.mQ[VS] = s / 2.f;
                s = 0.5f / s;
                quat.mQ[VX] = (mMatrix[1][2] - mMatrix[2][1]) * s;
                quat.mQ[VY] = (mMatrix[2][0] - mMatrix[0][2]) * s;
                quat.mQ[VZ] = (mMatrix[0][1] - mMatrix[1][0]) * s;
        } 
        else
        {               
                // diagonal is negative
                i = 0;
                if (mMatrix[1][1] > mMatrix[0][0]) 
                        i = 1;
                if (mMatrix[2][2] > mMatrix[i][i]) 
                        i = 2;

                j = nxt[i];
                k = nxt[j];


                s = (F32)sqrt ((mMatrix[i][i] - (mMatrix[j][j] + mMatrix[k][k])) + 1.f);

                q[i] = s * 0.5f;

                if (s != 0.f) 
                        s = 0.5f / s;

                q[3] = (mMatrix[j][k] - mMatrix[k][j]) * s;
                q[j] = (mMatrix[i][j] + mMatrix[j][i]) * s;
                q[k] = (mMatrix[i][k] + mMatrix[k][i]) * s;

                quat.setQuat(q);
        }
        return quat;
}



void LLMatrix4::initRows(const LLVector4 &row0,
                                                 const LLVector4 &row1,
                                                 const LLVector4 &row2,
                                                 const LLVector4 &row3)
{
        mMatrix[0][0] = row0.mV[0];
        mMatrix[0][1] = row0.mV[1];
        mMatrix[0][2] = row0.mV[2];
        mMatrix[0][3] = row0.mV[3];

        mMatrix[1][0] = row1.mV[0];
        mMatrix[1][1] = row1.mV[1];
        mMatrix[1][2] = row1.mV[2];
        mMatrix[1][3] = row1.mV[3];

        mMatrix[2][0] = row2.mV[0];
        mMatrix[2][1] = row2.mV[1];
        mMatrix[2][2] = row2.mV[2];
        mMatrix[2][3] = row2.mV[3];

        mMatrix[3][0] = row3.mV[0];
        mMatrix[3][1] = row3.mV[1];
        mMatrix[3][2] = row3.mV[2];
        mMatrix[3][3] = row3.mV[3];
}


const LLMatrix4&        LLMatrix4::initRotation(const F32 angle, const F32 x, const F32 y, const F32 z)
{
        LLMatrix3       mat(angle, x, y, z);
        return initMatrix(mat);
}


const LLMatrix4&        LLMatrix4::initRotation(F32 angle, const LLVector4 &vec)
{
        LLMatrix3       mat(angle, vec);
        return initMatrix(mat);
}


const LLMatrix4&        LLMatrix4::initRotation(const F32 roll, const F32 pitch, const F32 yaw)
{
        LLMatrix3       mat(roll, pitch, yaw);
        return initMatrix(mat);
}


const LLMatrix4&        LLMatrix4::initRotation(const LLQuaternion &q)
{
        LLMatrix3       mat(q);
        return initMatrix(mat);
}


// Position and Rotation
const LLMatrix4&        LLMatrix4::initRotTrans(const F32 angle, const F32 rx, const F32 ry, const F32 rz,
                                                                                        const F32 tx, const F32 ty, const F32 tz)
{
        LLMatrix3       mat(angle, rx, ry, rz);
        LLVector3       translation(tx, ty, tz);
        initMatrix(mat);
        setTranslation(translation);
        return (*this);
}

const LLMatrix4&        LLMatrix4::initRotTrans(const F32 angle, const LLVector3 &axis, const LLVector3&translation)
{
        LLMatrix3       mat(angle, axis);
        initMatrix(mat);
        setTranslation(translation);
        return (*this);
}

const LLMatrix4&        LLMatrix4::initRotTrans(const F32 roll, const F32 pitch, const F32 yaw, const LLVector4 &translation)
{
        LLMatrix3       mat(roll, pitch, yaw);
        initMatrix(mat);
        setTranslation(translation);
        return (*this);
}

/*
const LLMatrix4&        LLMatrix4::initRotTrans(const LLVector4 &fwd, 
                                                                                        const LLVector4 &left, 
                                                                                        const LLVector4 &up, 
                                                                                        const LLVector4 &translation)
{
        LLMatrix3 mat(fwd, left, up);
        initMatrix(mat);
        setTranslation(translation);
        return (*this);
}
*/

const LLMatrix4&        LLMatrix4::initRotTrans(const LLQuaternion &q, const LLVector4 &translation)
{
        LLMatrix3       mat(q);
        initMatrix(mat);
        setTranslation(translation);
        return (*this);
}

const LLMatrix4& LLMatrix4::initAll(const LLVector3 &scale, const LLQuaternion &q, const LLVector3 &pos)
{
        F32             sx, sy, sz;
        F32             xx, xy, xz, xw, yy, yz, yw, zz, zw;

        sx      = scale.mV[0];
        sy      = scale.mV[1];
        sz      = scale.mV[2];

    xx      = q.mQ[VX] * q.mQ[VX];
    xy      = q.mQ[VX] * q.mQ[VY];
    xz      = q.mQ[VX] * q.mQ[VZ];
    xw      = q.mQ[VX] * q.mQ[VW];

    yy      = q.mQ[VY] * q.mQ[VY];
    yz      = q.mQ[VY] * q.mQ[VZ];
    yw      = q.mQ[VY] * q.mQ[VW];

    zz      = q.mQ[VZ] * q.mQ[VZ];
    zw      = q.mQ[VZ] * q.mQ[VW];

    mMatrix[0][0]  = (1.f - 2.f * ( yy + zz )) *sx;
    mMatrix[0][1]  = (      2.f * ( xy + zw )) *sx;
    mMatrix[0][2]  = (      2.f * ( xz - yw )) *sx;

    mMatrix[1][0]  = (      2.f * ( xy - zw )) *sy;
    mMatrix[1][1]  = (1.f - 2.f * ( xx + zz )) *sy;
    mMatrix[1][2]  = (      2.f * ( yz + xw )) *sy;

    mMatrix[2][0]  = (      2.f * ( xz + yw )) *sz;
    mMatrix[2][1]  = (      2.f * ( yz - xw )) *sz;
    mMatrix[2][2]  = (1.f - 2.f * ( xx + yy )) *sz;

        mMatrix[3][0]  = pos.mV[0];
        mMatrix[3][1]  = pos.mV[1];
        mMatrix[3][2]  = pos.mV[2];
        mMatrix[3][3]  = 1.0;

        // TODO -- should we set the translation portion to zero?
        return (*this);
}

// Rotate exisitng mMatrix
const LLMatrix4&        LLMatrix4::rotate(const F32 angle, const F32 x, const F32 y, const F32 z)
{
        LLVector4       vec4(x, y, z);
        LLMatrix4       mat(angle, vec4);
        *this *= mat;
        return *this;
}

const LLMatrix4&        LLMatrix4::rotate(const F32 angle, const LLVector4 &vec)
{
        LLMatrix4       mat(angle, vec);
        *this *= mat;
        return *this;
}

const LLMatrix4&        LLMatrix4::rotate(const F32 roll, const F32 pitch, const F32 yaw)
{
        LLMatrix4       mat(roll, pitch, yaw);
        *this *= mat;
        return *this;
}

const LLMatrix4&        LLMatrix4::rotate(const LLQuaternion &q)
{
        LLMatrix4       mat(q);
        *this *= mat;
        return *this;
}


const LLMatrix4&        LLMatrix4::translate(const LLVector3 &vec)
{
        mMatrix[3][0] += vec.mV[0];
        mMatrix[3][1] += vec.mV[1];
        mMatrix[3][2] += vec.mV[2];
        return (*this);
}


void LLMatrix4::setFwdRow(const LLVector3 &row)
{
        mMatrix[VX][VX] = row.mV[VX];
        mMatrix[VX][VY] = row.mV[VY];
        mMatrix[VX][VZ] = row.mV[VZ];
}

void LLMatrix4::setLeftRow(const LLVector3 &row)
{
        mMatrix[VY][VX] = row.mV[VX];
        mMatrix[VY][VY] = row.mV[VY];
        mMatrix[VY][VZ] = row.mV[VZ];
}

void LLMatrix4::setUpRow(const LLVector3 &row)
{
        mMatrix[VZ][VX] = row.mV[VX];
        mMatrix[VZ][VY] = row.mV[VY];
        mMatrix[VZ][VZ] = row.mV[VZ];
}


void LLMatrix4::setFwdCol(const LLVector3 &col)
{
        mMatrix[VX][VX] = col.mV[VX];
        mMatrix[VY][VX] = col.mV[VY];
        mMatrix[VZ][VX] = col.mV[VZ];
}

void LLMatrix4::setLeftCol(const LLVector3 &col)
{
        mMatrix[VX][VY] = col.mV[VX];
        mMatrix[VY][VY] = col.mV[VY];
        mMatrix[VZ][VY] = col.mV[VZ];
}

void LLMatrix4::setUpCol(const LLVector3 &col)
{
        mMatrix[VX][VZ] = col.mV[VX];
        mMatrix[VY][VZ] = col.mV[VY];
        mMatrix[VZ][VZ] = col.mV[VZ];
}


const LLMatrix4&        LLMatrix4::setTranslation(const F32 tx, const F32 ty, const F32 tz)
{
        mMatrix[VW][VX] = tx;
        mMatrix[VW][VY] = ty;
        mMatrix[VW][VZ] = tz;
        return (*this);
}

const LLMatrix4&        LLMatrix4::setTranslation(const LLVector3 &translation)
{
        mMatrix[VW][VX] = translation.mV[VX];
        mMatrix[VW][VY] = translation.mV[VY];
        mMatrix[VW][VZ] = translation.mV[VZ];
        return (*this);
}

const LLMatrix4&        LLMatrix4::setTranslation(const LLVector4 &translation)
{
        mMatrix[VW][VX] = translation.mV[VX];
        mMatrix[VW][VY] = translation.mV[VY];
        mMatrix[VW][VZ] = translation.mV[VZ];
        return (*this);
}

// LLMatrix3 Extraction and Setting
LLMatrix3       LLMatrix4::getMat3() const
{
        LLMatrix3 retmat;

        retmat.mMatrix[0][0] = mMatrix[0][0];
        retmat.mMatrix[0][1] = mMatrix[0][1];
        retmat.mMatrix[0][2] = mMatrix[0][2];

        retmat.mMatrix[1][0] = mMatrix[1][0];
        retmat.mMatrix[1][1] = mMatrix[1][1];
        retmat.mMatrix[1][2] = mMatrix[1][2];

        retmat.mMatrix[2][0] = mMatrix[2][0];
        retmat.mMatrix[2][1] = mMatrix[2][1];
        retmat.mMatrix[2][2] = mMatrix[2][2];

        return retmat;
}

const LLMatrix4&        LLMatrix4::initMatrix(const LLMatrix3 &mat)
{
        mMatrix[0][0] = mat.mMatrix[0][0];
        mMatrix[0][1] = mat.mMatrix[0][1];
        mMatrix[0][2] = mat.mMatrix[0][2];
        mMatrix[0][3] = 0.f;

        mMatrix[1][0] = mat.mMatrix[1][0];
        mMatrix[1][1] = mat.mMatrix[1][1];
        mMatrix[1][2] = mat.mMatrix[1][2];
        mMatrix[1][3] = 0.f;

        mMatrix[2][0] = mat.mMatrix[2][0];
        mMatrix[2][1] = mat.mMatrix[2][1];
        mMatrix[2][2] = mat.mMatrix[2][2];
        mMatrix[2][3] = 0.f;

        mMatrix[3][0] = 0.f;
        mMatrix[3][1] = 0.f;
        mMatrix[3][2] = 0.f;
        mMatrix[3][3] = 1.f;
        return (*this);
}

const LLMatrix4&        LLMatrix4::initMatrix(const LLMatrix3 &mat, const LLVector4 &translation)
{
        mMatrix[0][0] = mat.mMatrix[0][0];
        mMatrix[0][1] = mat.mMatrix[0][1];
        mMatrix[0][2] = mat.mMatrix[0][2];
        mMatrix[0][3] = 0.f;

        mMatrix[1][0] = mat.mMatrix[1][0];
        mMatrix[1][1] = mat.mMatrix[1][1];
        mMatrix[1][2] = mat.mMatrix[1][2];
        mMatrix[1][3] = 0.f;

        mMatrix[2][0] = mat.mMatrix[2][0];
        mMatrix[2][1] = mat.mMatrix[2][1];
        mMatrix[2][2] = mat.mMatrix[2][2];
        mMatrix[2][3] = 0.f;

        mMatrix[3][0] = translation.mV[0];
        mMatrix[3][1] = translation.mV[1];
        mMatrix[3][2] = translation.mV[2];
        mMatrix[3][3] = 1.f;
        return (*this);
}

// LLMatrix4 Operators


/* Not implemented to help enforce code consistency with the syntax of
   row-major notation.  This is a Good Thing.
LLVector4 operator*(const LLMatrix4 &a, const LLVector4 &b)
{
        // Operate "to the right" on column-vector b
        LLVector4       vec;
        vec.mV[VX] = a.mMatrix[VX][VX] * b.mV[VX] + 
                                 a.mMatrix[VY][VX] * b.mV[VY] + 
                                 a.mMatrix[VZ][VX] * b.mV[VZ] +
                                 a.mMatrix[VW][VX] * b.mV[VW];

        vec.mV[VY] = a.mMatrix[VX][VY] * b.mV[VX] + 
                                 a.mMatrix[VY][VY] * b.mV[VY] + 
                                 a.mMatrix[VZ][VY] * b.mV[VZ] +
                                 a.mMatrix[VW][VY] * b.mV[VW];

        vec.mV[VZ] = a.mMatrix[VX][VZ] * b.mV[VX] + 
                                 a.mMatrix[VY][VZ] * b.mV[VY] + 
                                 a.mMatrix[VZ][VZ] * b.mV[VZ] +
                                 a.mMatrix[VW][VZ] * b.mV[VW];

        vec.mV[VW] = a.mMatrix[VX][VW] * b.mV[VX] + 
                                 a.mMatrix[VY][VW] * b.mV[VY] + 
                                 a.mMatrix[VZ][VW] * b.mV[VZ] +
                                 a.mMatrix[VW][VW] * b.mV[VW];
        return vec;
}
*/

// Operates "to the left" on row-vector a
//
// This used to be in the header file but was not actually inlined in practice.
// When avatar vertex programs are off, this function is a hot spot in profiles
// due to software skinning in LLViewerJointMesh::updateGeometry().  JC
LLVector3 operator*(const LLVector3 &a, const LLMatrix4 &b)
{
        // This is better than making a temporary LLVector3.  This eliminates an
        // unnecessary LLVector3() constructor and also helps the compiler to
        // realize that the output floats do not alias the input floats, hence
        // eliminating redundant loads of a.mV[0], etc.  JC
        return LLVector3(a.mV[VX] * b.mMatrix[VX][VX] + 
                                         a.mV[VY] * b.mMatrix[VY][VX] + 
                                         a.mV[VZ] * b.mMatrix[VZ][VX] +
                                         b.mMatrix[VW][VX],
                                         
                                         a.mV[VX] * b.mMatrix[VX][VY] + 
                                         a.mV[VY] * b.mMatrix[VY][VY] + 
                                         a.mV[VZ] * b.mMatrix[VZ][VY] +
                                         b.mMatrix[VW][VY],
                                         
                                         a.mV[VX] * b.mMatrix[VX][VZ] + 
                                         a.mV[VY] * b.mMatrix[VY][VZ] + 
                                         a.mV[VZ] * b.mMatrix[VZ][VZ] +
                                         b.mMatrix[VW][VZ]);
}

LLVector4 operator*(const LLVector4 &a, const LLMatrix4 &b)
{
        // Operate "to the left" on row-vector a
        return LLVector4(a.mV[VX] * b.mMatrix[VX][VX] + 
                                         a.mV[VY] * b.mMatrix[VY][VX] + 
                                         a.mV[VZ] * b.mMatrix[VZ][VX] +
                                         a.mV[VW] * b.mMatrix[VW][VX],

                                         a.mV[VX] * b.mMatrix[VX][VY] + 
                                         a.mV[VY] * b.mMatrix[VY][VY] + 
                                         a.mV[VZ] * b.mMatrix[VZ][VY] +
                                         a.mV[VW] * b.mMatrix[VW][VY],

                                         a.mV[VX] * b.mMatrix[VX][VZ] + 
                                         a.mV[VY] * b.mMatrix[VY][VZ] + 
                                         a.mV[VZ] * b.mMatrix[VZ][VZ] +
                                         a.mV[VW] * b.mMatrix[VW][VZ],

                                         a.mV[VX] * b.mMatrix[VX][VW] + 
                                         a.mV[VY] * b.mMatrix[VY][VW] + 
                                         a.mV[VZ] * b.mMatrix[VZ][VW] +
                                         a.mV[VW] * b.mMatrix[VW][VW]);
}

LLVector4 rotate_vector(const LLVector4 &a, const LLMatrix4 &b)
{
        // Rotates but does not translate
        // Operate "to the left" on row-vector a
        LLVector4       vec;
        vec.mV[VX] = a.mV[VX] * b.mMatrix[VX][VX] + 
                                 a.mV[VY] * b.mMatrix[VY][VX] + 
                                 a.mV[VZ] * b.mMatrix[VZ][VX];

        vec.mV[VY] = a.mV[VX] * b.mMatrix[VX][VY] + 
                                 a.mV[VY] * b.mMatrix[VY][VY] + 
                                 a.mV[VZ] * b.mMatrix[VZ][VY];

        vec.mV[VZ] = a.mV[VX] * b.mMatrix[VX][VZ] + 
                                 a.mV[VY] * b.mMatrix[VY][VZ] + 
                                 a.mV[VZ] * b.mMatrix[VZ][VZ];

//      vec.mV[VW] = a.mV[VX] * b.mMatrix[VX][VW] + 
//                               a.mV[VY] * b.mMatrix[VY][VW] + 
//                               a.mV[VZ] * b.mMatrix[VZ][VW] +
        vec.mV[VW] = a.mV[VW];
        return vec;
}

LLVector3 rotate_vector(const LLVector3 &a, const LLMatrix4 &b)
{
        // Rotates but does not translate
        // Operate "to the left" on row-vector a
        LLVector3       vec;
        vec.mV[VX] = a.mV[VX] * b.mMatrix[VX][VX] + 
                                 a.mV[VY] * b.mMatrix[VY][VX] + 
                                 a.mV[VZ] * b.mMatrix[VZ][VX];

        vec.mV[VY] = a.mV[VX] * b.mMatrix[VX][VY] + 
                                 a.mV[VY] * b.mMatrix[VY][VY] + 
                                 a.mV[VZ] * b.mMatrix[VZ][VY];

        vec.mV[VZ] = a.mV[VX] * b.mMatrix[VX][VZ] + 
                                 a.mV[VY] * b.mMatrix[VY][VZ] + 
                                 a.mV[VZ] * b.mMatrix[VZ][VZ];
        return vec;
}

bool operator==(const LLMatrix4 &a, const LLMatrix4 &b)
{
        U32             i, j;
        for (i = 0; i < NUM_VALUES_IN_MAT4; i++)
        {
                for (j = 0; j < NUM_VALUES_IN_MAT4; j++)
                {
                        if (a.mMatrix[j][i] != b.mMatrix[j][i])
                                return FALSE;
                }
        }
        return TRUE;
}

bool operator!=(const LLMatrix4 &a, const LLMatrix4 &b)
{
        U32             i, j;
        for (i = 0; i < NUM_VALUES_IN_MAT4; i++)
        {
                for (j = 0; j < NUM_VALUES_IN_MAT4; j++)
                {
                        if (a.mMatrix[j][i] != b.mMatrix[j][i])
                                return TRUE;
                }
        }
        return FALSE;
}

const LLMatrix4& operator*=(LLMatrix4 &a, F32 k)
{
        U32             i, j;
        for (i = 0; i < NUM_VALUES_IN_MAT4; i++)
        {
                for (j = 0; j < NUM_VALUES_IN_MAT4; j++)
                {
                        a.mMatrix[j][i] *= k;
                }
        }
        return a;
}

std::ostream& operator<<(std::ostream& s, const LLMatrix4 &a) 
{
        s << "{ " 
                << a.mMatrix[VX][VX] << ", " 
                << a.mMatrix[VX][VY] << ", " 
                << a.mMatrix[VX][VZ] << ", " 
                << a.mMatrix[VX][VW] 
                << "; "
                << a.mMatrix[VY][VX] << ", " 
                << a.mMatrix[VY][VY] << ", " 
                << a.mMatrix[VY][VZ] << ", " 
                << a.mMatrix[VY][VW] 
                << "; "
                << a.mMatrix[VZ][VX] << ", " 
                << a.mMatrix[VZ][VY] << ", " 
                << a.mMatrix[VZ][VZ] << ", " 
                << a.mMatrix[VZ][VW] 
                << "; "
                << a.mMatrix[VW][VX] << ", " 
                << a.mMatrix[VW][VY] << ", " 
                << a.mMatrix[VW][VZ] << ", " 
                << a.mMatrix[VW][VW] 
          << " }";
        return s;
}

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