[1699] | 1 | //#include <math/projection.h> |
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| 2 | #include <math.h> |
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| 3 | #include <memory.h> |
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| 4 | |
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| 5 | static void __gluMakeIdentityd(float m[16]) |
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| 6 | { |
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| 7 | m[0+4*0] = 1; m[0+4*1] = 0; m[0+4*2] = 0; m[0+4*3] = 0; |
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| 8 | m[1+4*0] = 0; m[1+4*1] = 1; m[1+4*2] = 0; m[1+4*3] = 0; |
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| 9 | m[2+4*0] = 0; m[2+4*1] = 0; m[2+4*2] = 1; m[2+4*3] = 0; |
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| 10 | m[3+4*0] = 0; m[3+4*1] = 0; m[3+4*2] = 0; m[3+4*3] = 1; |
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| 11 | } |
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| 12 | |
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| 13 | |
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| 14 | static int __gluInvertMatrixd(const float m[16], float invOut[16]) |
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| 15 | { |
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| 16 | float inv[16], det; |
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| 17 | int i; |
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| 18 | |
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| 19 | inv[0] = m[5]*m[10]*m[15] - m[5]*m[11]*m[14] - m[9]*m[6]*m[15] |
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| 20 | + m[9]*m[7]*m[14] + m[13]*m[6]*m[11] - m[13]*m[7]*m[10]; |
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| 21 | inv[4] = -m[4]*m[10]*m[15] + m[4]*m[11]*m[14] + m[8]*m[6]*m[15] |
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| 22 | - m[8]*m[7]*m[14] - m[12]*m[6]*m[11] + m[12]*m[7]*m[10]; |
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| 23 | inv[8] = m[4]*m[9]*m[15] - m[4]*m[11]*m[13] - m[8]*m[5]*m[15] |
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| 24 | + m[8]*m[7]*m[13] + m[12]*m[5]*m[11] - m[12]*m[7]*m[9]; |
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| 25 | inv[12] = -m[4]*m[9]*m[14] + m[4]*m[10]*m[13] + m[8]*m[5]*m[14] |
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| 26 | - m[8]*m[6]*m[13] - m[12]*m[5]*m[10] + m[12]*m[6]*m[9]; |
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| 27 | inv[1] = -m[1]*m[10]*m[15] + m[1]*m[11]*m[14] + m[9]*m[2]*m[15] |
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| 28 | - m[9]*m[3]*m[14] - m[13]*m[2]*m[11] + m[13]*m[3]*m[10]; |
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| 29 | inv[5] = m[0]*m[10]*m[15] - m[0]*m[11]*m[14] - m[8]*m[2]*m[15] |
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| 30 | + m[8]*m[3]*m[14] + m[12]*m[2]*m[11] - m[12]*m[3]*m[10]; |
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| 31 | inv[9] = -m[0]*m[9]*m[15] + m[0]*m[11]*m[13] + m[8]*m[1]*m[15] |
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| 32 | - m[8]*m[3]*m[13] - m[12]*m[1]*m[11] + m[12]*m[3]*m[9]; |
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| 33 | inv[13] = m[0]*m[9]*m[14] - m[0]*m[10]*m[13] - m[8]*m[1]*m[14] |
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| 34 | + m[8]*m[2]*m[13] + m[12]*m[1]*m[10] - m[12]*m[2]*m[9]; |
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| 35 | inv[2] = m[1]*m[6]*m[15] - m[1]*m[7]*m[14] - m[5]*m[2]*m[15] |
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| 36 | + m[5]*m[3]*m[14] + m[13]*m[2]*m[7] - m[13]*m[3]*m[6]; |
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| 37 | inv[6] = -m[0]*m[6]*m[15] + m[0]*m[7]*m[14] + m[4]*m[2]*m[15] |
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| 38 | - m[4]*m[3]*m[14] - m[12]*m[2]*m[7] + m[12]*m[3]*m[6]; |
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| 39 | inv[10] = m[0]*m[5]*m[15] - m[0]*m[7]*m[13] - m[4]*m[1]*m[15] |
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| 40 | + m[4]*m[3]*m[13] + m[12]*m[1]*m[7] - m[12]*m[3]*m[5]; |
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| 41 | inv[14] = -m[0]*m[5]*m[14] + m[0]*m[6]*m[13] + m[4]*m[1]*m[14] |
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| 42 | - m[4]*m[2]*m[13] - m[12]*m[1]*m[6] + m[12]*m[2]*m[5]; |
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| 43 | inv[3] = -m[1]*m[6]*m[11] + m[1]*m[7]*m[10] + m[5]*m[2]*m[11] |
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| 44 | - m[5]*m[3]*m[10] - m[9]*m[2]*m[7] + m[9]*m[3]*m[6]; |
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| 45 | inv[7] = m[0]*m[6]*m[11] - m[0]*m[7]*m[10] - m[4]*m[2]*m[11] |
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| 46 | + m[4]*m[3]*m[10] + m[8]*m[2]*m[7] - m[8]*m[3]*m[6]; |
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| 47 | inv[11] = -m[0]*m[5]*m[11] + m[0]*m[7]*m[9] + m[4]*m[1]*m[11] |
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| 48 | - m[4]*m[3]*m[9] - m[8]*m[1]*m[7] + m[8]*m[3]*m[5]; |
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| 49 | inv[15] = m[0]*m[5]*m[10] - m[0]*m[6]*m[9] - m[4]*m[1]*m[10] |
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| 50 | + m[4]*m[2]*m[9] + m[8]*m[1]*m[6] - m[8]*m[2]*m[5]; |
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| 51 | |
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| 52 | det = m[0]*inv[0] + m[1]*inv[4] + m[2]*inv[8] + m[3]*inv[12]; |
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| 53 | |
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| 54 | if (det == 0) |
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| 55 | return 0; |
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| 56 | |
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| 57 | det = 1.0f / det; |
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| 58 | |
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| 59 | for (i = 0; i < 16; i++) |
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| 60 | invOut[i] = inv[i] * det; |
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| 61 | |
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| 62 | return 1; |
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| 63 | } |
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| 64 | |
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| 65 | |
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| 66 | static void __gluMultMatrixVecd(const float matrix[16], const float in[4], |
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| 67 | float out[4]) |
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| 68 | { |
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| 69 | int i; |
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| 70 | |
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| 71 | for (i=0; i<4; i++) { |
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| 72 | out[i] = |
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| 73 | in[0] * matrix[0*4+i] + |
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| 74 | in[1] * matrix[1*4+i] + |
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| 75 | in[2] * matrix[2*4+i] + |
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| 76 | in[3] * matrix[3*4+i]; |
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| 77 | } |
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| 78 | } |
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| 79 | |
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| 80 | static void __gluMultMatricesd(const float a[16], const float b[16], |
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| 81 | float r[16]) |
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| 82 | { |
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| 83 | int i, j; |
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| 84 | |
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| 85 | for (i = 0; i < 4; i++) { |
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| 86 | for (j = 0; j < 4; j++) { |
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| 87 | r[i*4+j] = |
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| 88 | a[i*4+0]*b[0*4+j] + |
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| 89 | a[i*4+1]*b[1*4+j] + |
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| 90 | a[i*4+2]*b[2*4+j] + |
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| 91 | a[i*4+3]*b[3*4+j]; |
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| 92 | } |
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| 93 | } |
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| 94 | } |
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| 95 | |
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| 96 | int unproject(float winx, float winy, float winz, |
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| 97 | const float modelMatrix[16], |
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| 98 | const float projMatrix[16], |
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| 99 | const int viewport[4], |
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| 100 | float *objx, float *objy, float *objz) |
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| 101 | { |
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| 102 | float finalMatrix[16]; |
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| 103 | float in[4]; |
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| 104 | float out[4]; |
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| 105 | |
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| 106 | __gluMultMatricesd(modelMatrix, projMatrix, finalMatrix); |
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| 107 | if (!__gluInvertMatrixd(finalMatrix, finalMatrix)) return(0); |
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| 108 | |
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| 109 | in[0]=winx; |
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| 110 | in[1]=winy; |
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| 111 | in[2]=winz; |
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| 112 | in[3]=1.0; |
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| 113 | |
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| 114 | // Map x and y from window coordinates |
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| 115 | in[0] = (in[0] - viewport[0]) / viewport[2]; |
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| 116 | in[1] = (in[1] - viewport[1]) / viewport[3]; |
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| 117 | |
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| 118 | // Map to range -1 to 1 |
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| 119 | in[0] = in[0] * 2 - 1; |
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| 120 | in[1] = in[1] * 2 - 1; |
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| 121 | in[2] = in[2] * 2 - 1; |
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| 122 | |
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| 123 | __gluMultMatrixVecd(finalMatrix, in, out); |
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| 124 | if (out[3] == 0.0) return(0); |
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| 125 | out[0] /= out[3]; |
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| 126 | out[1] /= out[3]; |
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| 127 | out[2] /= out[3]; |
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| 128 | *objx = out[0]; |
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| 129 | *objy = out[1]; |
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| 130 | *objz = out[2]; |
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| 131 | return(1); |
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| 132 | } |
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| 133 | |
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| 134 | #define __glPi 3.14159265358979323846 |
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| 135 | |
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| 136 | void perspective(float fovy, float aspect, float zNear, float zFar, float* matrix) |
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| 137 | { |
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| 138 | float m[4][4]; |
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| 139 | float sine, cotangent, deltaZ; |
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| 140 | float radians = (float) (fovy / 2.0 * __glPi / 180.0); |
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| 141 | |
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| 142 | deltaZ = zFar - zNear; |
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| 143 | sine = sin(radians); |
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| 144 | if ((deltaZ == 0) || (sine == 0) || (aspect == 0)) { |
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| 145 | return; |
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| 146 | } |
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| 147 | cotangent = cos(radians) / sine; |
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| 148 | |
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| 149 | __gluMakeIdentityd(&m[0][0]); |
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| 150 | m[0][0] = cotangent / aspect; |
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| 151 | m[1][1] = cotangent; |
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| 152 | m[2][2] = -(zFar + zNear) / deltaZ; |
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| 153 | m[2][3] = -1; |
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| 154 | m[3][2] = -2 * zNear * zFar / deltaZ; |
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| 155 | m[3][3] = 0; |
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| 156 | //glMultMatrixd(&m[0][0]); |
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| 157 | memcpy(matrix, &m[0][0], sizeof(float) * 16); |
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| 158 | } |
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| 159 | |
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