Point sprite problem

typedef struct Particle_t{	vec3 position;	vec3 direction;	float energy;	float velocity;	vec4 color;}PARTICLE;struct EmitterInfo_t{	float TimeToEmitNewParticles;	float MaxParticleEnergy;	float EnergyDecrAmount;	unsigned int ParticlesEmitedAtOnce;	vec4	StartColor,EndColor;	float  MinSize,MaxSize;		//particle sizes	bool bGravity,bWind;		//enviroment effects	vec3 gravity_dir,wind_dir;	float gravity_scale,wind_scale;	float particle_vel;};class ParticleEmitter :	public RefCount{public:	ParticleEmitter(unsigned int nMaxParticles,unsigned int nTextureID);		void EmitParticles(float Time);	bool Emitting();	void Update();	void Render();	void StopRender(){ m_CurEmitted = 0; bEmit = false;}	EmitterInfo_t m_Info;	SPHERE m_ColSphere;	mat4 orientation;protected:	~ParticleEmitter(void);	void UpdateParticle(float fTime,		unsigned int nNumParticles,PARTICLE* pParticle);	virtual void SetUpParticles(unsigned int nNum,PARTICLE* pParticles);	virtual void AnimateParticle(float fTime,PARTICLE* pParticle);	const unsigned int m_MaxParticles;	unsigned int m_TextureID;	unsigned int m_CurEmitted;	float m_fMaxTime;	float m_fBaseTime;	float m_fEmitTime;	unsigned int m_nCurIndex;	PARTICLE* m_pParticles;	GlDataBuffer* m_pVertexData;		//VBO	bool bEmit;	Timer m_timer;};

float quadric[] = {0.0f,0.0f,1.0f};struct ParticleInfo{	vec3 pos;	vec4 color;};ParticleEmitter::ParticleEmitter(unsigned int nMaxParticles,unsigned int nTextureID):m_MaxParticles(nMaxParticles),m_TextureID(nTextureID),m_CurEmitted(0),m_nCurIndex(0),bEmit(1){	float mt[16];	int vw[4];	m_ColSphere.position = vec3(0,0,0);	m_ColSphere.radius = 1.0f;	m_pParticles = new PARTICLE[m_MaxParticles];	memset (m_pParticles,0,sizeof(PARTICLE)*m_MaxParticles);	m_pVertexData = new GlDataBuffer;	glGetFloatv (GL_PROJECTION_MATRIX,mt);	glGetIntegerv (GL_VIEWPORT,vw);	//sets up attenuation for sprite sizes	float h = vw[2];	float H = 2.0f/mt[0];	float D0 = sqrt(2.0f)*h/H;	float k = 1.0f/(1.0f + 2 * ((1/mt[0]) * (1/mt[0])));	quadric[2] = (((1/D0) * (1/D0)) * k);	m_timer.Start ();}ParticleEmitter::~ParticleEmitter(void){	delete [] m_pParticles;	m_pVertexData->unRef();}void ParticleEmitter::EmitParticles(float Time){	if( !m_pVertexData->Created () )	{		m_pVertexData->Create (GlDataBuffer::DB_DYNAMIC,			GlDataBuffer::DB_VERTICES,sizeof(ParticleInfo) * m_MaxParticles);	}	m_fBaseTime = m_timer.GetSeconds ();	m_fMaxTime = Time;	m_CurEmitted = m_MaxParticles;	srand((unsigned int)m_fBaseTime);			memset(m_pParticles,0, sizeof( PARTICLE )* m_MaxParticles );	bEmit = true;	}void ParticleEmitter::SetUpParticles(unsigned int nNum,PARTICLE* pParticles){		for( register int i = 0; i < nNum; ++i )	{		 pParticles[ i ].direction.x = (float)(rand() % 360);		 pParticles[ i ].direction.y = (float)(rand() % 360);		 pParticles[ i ].direction.z = (float)(rand() % 360);		 pParticles[ i ].energy = m_Info.MaxParticleEnergy;		 pParticles[ i ].color = m_Info.StartColor;		 pParticles[ i ].position = vec3(0,0,0);		 if((rand() % 2 + 1) == 2)			 pParticles[ i ].direction.x *= -1.0f;		 if((rand() % 3 + 1) == 1)			 pParticles[ i ].direction.y *= -1.0f;		 if((rand() % 4 + 1) == 3)			 pParticles[ i ].direction.z *= -1.0f;		 int r = rand()%4 + 1;		 pParticles[ i ].velocity = m_Info.particle_vel * r;		 pParticles[ i ].direction.normalize ();	}}void ParticleEmitter::AnimateParticle(float fTime,PARTICLE* pParticle){	float percent = pParticle->energy/m_Info.MaxParticleEnergy;	pParticle->color = m_Info.StartColor * ( percent ) + m_Info.EndColor * ( 1 - percent);	pParticle->color.w = 1.0f * percent;	pParticle->position += ( pParticle->direction * pParticle->velocity * percent);	if( m_Info.bGravity )		pParticle->position += m_Info.gravity_dir * m_Info.gravity_scale;	if( m_Info.bWind )		pParticle->position += m_Info.wind_dir * m_Info.wind_scale;	pParticle->energy += -m_Info.EnergyDecrAmount;}void ParticleEmitter::UpdateParticle(float fTime,					unsigned int nNumParticles,PARTICLE* pParticle){	vector< ParticleInfo > active_particles;	unsigned int nCurEmitted = 0;	// check to see if the emitter should die	if( m_fMaxTime != 0.0f )	{		if( (fTime - m_fBaseTime) > m_fMaxTime )		{			if(!m_CurEmitted)			{				return;			}else				bEmit = false;		}	}	// go through and update the particles	for( register int i = 0; i < nNumParticles; ++i )	{		if( pParticle[ i ].energy > 0.0f )		{			ParticleInfo info;			AnimateParticle (fTime,&pParticle[ i ]);						info.color = pParticle[ i ].color;			info.pos   = pParticle[ i ].position; 			active_particles.push_back ( info );			++nCurEmitted;		}	}	//check to see if we can still emit	if( bEmit )// see if its time to add new particles	if( (fTime - m_fEmitTime) > m_Info.TimeToEmitNewParticles )	{		m_fEmitTime = fTime;		int emit_count = 0;		for( register int i = 0; i < nNumParticles; ++i )		{			if( m_pParticles[ i ].energy <= 0.0f )			{				emit_count++;				SetUpParticles (1,&m_pParticles);			}			if( emit_count > m_Info.ParticlesEmitedAtOnce )				break;		}	}	//put the active particles in the vertex buffer for rendering	if( nCurEmitted )	{		ParticleInfo* p = (ParticleInfo*)m_pVertexData->Lock (GlDataBuffer::DB_WRITE);		for( size_t i = 0; i < active_particles.size() ; ++i )		{			p[ i ] = active_particles[ i ]; 		}		m_pVertexData->Unlock ();		if( !m_pVertexData->DataValid () )		{			ParticleInfo* p = (ParticleInfo*)m_pVertexData->Lock (GlDataBuffer::DB_WRITE);			for( size_t i = 0; i < active_particles.size() ; ++i )			{				p[ i ] = active_particles[ i ]; 			}			m_pVertexData->Unlock ();		}	}	m_CurEmitted = nCurEmitted;}void ParticleEmitter::Render(){	float mt[16];	int vw[4];	if( m_pVertexData->DataValid () && m_CurEmitted)	{								glPushClientAttrib (GL_ALL_ATTRIB_BITS);				glDepthMask (0);		glEnable(GL_POINT_SPRITE_ARB);		glEnable(GL_VERTEX_ARRAY);		glEnable(GL_COLOR_ARRAY);		m_pVertexData->Bind ();				glTexEnvi(GL_POINT_SPRITE_ARB,GL_COORD_REPLACE_ARB,GL_TRUE);		glVertexPointer (3,GL_FLOAT,sizeof(ParticleInfo),0);		glColorPointer (4,GL_FLOAT,sizeof(ParticleInfo),(const GLvoid*)((char*)(sizeof(float)*3)));		TexRef tex = CTextureMgr::getMgr ().GetTexture(m_TextureID);						if(!tex.Null ())		{			tex->SetTextureUnit (0);			tex->EnableUnit (1);			tex->Bind ();		}		glPointSize (1.0f);				glPointParameterf ( GL_POINT_SIZE_MIN, m_Info.MinSize );		glPointParameterf ( GL_POINT_SIZE_MAX, m_Info.MaxSize );		glPointParameterf ( GL_POINT_FADE_THRESHOLD_SIZE, m_Info.MaxSize + 1);		glPointParameterfv ( GL_POINT_DISTANCE_ATTENUATION, quadric );		glEnable (GL_BLEND);		glBlendFunc( GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA );		glDrawArrays (GL_POINTS,0,m_CurEmitted);		glDisable (GL_BLEND);		if(!tex.Null ())		{			tex->EnableUnit (0);			tex.Release ();		}						m_pVertexData->UnBind ();		glDisable (GL_COLOR_ARRAY);		glDisable (GL_VERTEX_ARRAY);		glDisable (GL_POINT_SPRITE_ARB);		glTexEnvi(GL_POINT_SPRITE_ARB,GL_COORD_REPLACE_ARB,GL_FALSE);		glDepthMask (1);		glPopClientAttrib ();					}}void ParticleEmitter::Update(){	float t = m_timer.GetSeconds ();	UpdateParticle (t,m_MaxParticles,m_pParticles);}bool ParticleEmitter::Emitting(){	return bEmit;}

const vec3 gUp(0,1,0);CCamera::CCamera(void){	matrix[0] = 1;	matrix[4] = 0; matrix[8] = 0; matrix[12] = 0;	matrix[1] = 0; matrix[5] = 1; matrix[9] = 0; matrix[13] = 0;	matrix[2] = 0; matrix[6] = 0; matrix[10] = -1;matrix[14] = 0;}CCamera::~CCamera(void){}CCamera::CCamera(float Xx,float Xy,float Xz,		float Yx,float Yy,float Yz,		float Zx,float Zy,float Zz,		float x,float y,float z){	matrix[0] = Xx;	matrix[4] = Yx; matrix[8] = Zx; matrix[12] = x;	matrix[1] = Xy; matrix[5] = Yy; matrix[9] = Zy; matrix[13] = y;	matrix[2] = Xz; matrix[6] = Yz; matrix[10] = Zz;matrix[14] = z;}void CCamera::Set (float Xx,float Xy,float Xz, float Yx,float Yy,				   float Yz, float Zx,float Zy,float Zz, 				   float x,float y,float z){	matrix[0] = Xx;	matrix[4] = Yx; matrix[8] = Zx; matrix[12] = x;	matrix[1] = Xy; matrix[5] = Yy; matrix[9] = Zy; matrix[13] = y;	matrix[2] = Xz; matrix[6] = Yz; matrix[10] = Zz;matrix[14] = z;}void CCamera::Set(vec3& x,vec3& y,vec3& z){	Set(x.x,x.y,x.z,y.x,y.y,y.z,z.x,z.y,z.z,matrix[12],matrix[13],matrix[14]);}mat4 CCamera::GetInvsTrans(){	mat4 m;	UpdateCamera ();	memcpy (m.mat,matrix.mat,sizeof(float)*16);	m = m.inverse ();	m[12] = -(vec3(matrix[12],matrix[13],matrix[14]) * vec3(matrix[0],matrix[1],matrix[2]));	m[13] = -(vec3(matrix[12],matrix[13],matrix[14]) * vec3(matrix[4],matrix[5],matrix[6]));	m[14] = -(vec3(matrix[12],matrix[13],matrix[14]) * vec3(matrix[8],matrix[9],matrix[10]));	return m;}void CCamera::UpdateCamera(){	vec3 z(matrix[8],matrix[9],matrix[10]);	vec3 x,y;	z.normalize ();	x = cross(z,vec3(0,1,0));	x.normalize ();	y = cross(x,z);	y.normalize ();	Set(x,y,z);}mat4 CCamera::GetMatrix(){	mat4 m;	UpdateCamera ();	memcpy(m.mat,matrix.mat,sizeof(float) * 16 );	return m;}void CCamera::RotLocalX(float angle){	mat4 rot;	rot.rotate (matrix[0],matrix[1],matrix[2],angle);		//vec3 y,x;	//matrix = rot * matrix;	vec3 *z = matrix.getRowZ ();	*z = rot * (*z);	if( (*z) * gUp > 0.70f ||		(*z) * gUp < -0.70f)	{		rot.rotate (matrix[0],matrix[1],matrix[2],-angle);		*z = rot * (*z);	}}void CCamera::RotLocaly(float angle){	mat4 rot;	rot.rotate (matrix[4],matrix[5],matrix[6],angle);		//vec3 y,x;	vec3 *z = matrix.getRowZ ();	*z = rot * (*z);}void CCamera::RotLocalZ(float angle){	mat4 rot;	rot.rotate (matrix[8],matrix[9],matrix[10],angle);		//vec3 y,x;	vec3 *z = matrix.getRowZ ();	*z = rot * (*z);}void CCamera::RotGlobalX(float angle){	mat4 rot;	rot.rotate (1,0,0,angle);		//vec3 y,x;	vec3 *z = matrix.getRowZ ();		if((*z) * gUp > 0.70f ||		(*z) * gUp < -0.70f)	{		rot.rotate (1,0,0,-angle);		*z = rot * (*z);	}}void CCamera::RotGlobalY(float angle){	mat4 rot;	rot.rotate (0,1,0,angle);		//vec3 y,x;	vec3 *z = matrix.getRowZ ();	*z = rot * (*z);}void CCamera::RotGlobalZ(float angle){	mat4 rot;	rot.rotate (0,0,1,angle);		//vec3 y,x;	vec3 *z = matrix.getRowZ ();	*z = rot * (*z);}void CCamera::TranslateXYZ( float Xaxis,float Yaxis,float Zaxis ){	mat4 trans;	trans.translate( Xaxis, Yaxis, Zaxis );	matrix = matrix * trans;}void CCamera::ReCalcFrustum(mat4& projection){}

/* mathlib** Copyright (C) 2003-2004, Alexander Zaprjagaev <frustum@frustum.org>** This program is free software; you can redistribute it and/or modify* it under the terms of the GNU General Public License as published by* the Free Software Foundation; either version 2 of the License, or* (at your option) any later version.** This program is distributed in the hope that it will be useful,* but WITHOUT ANY WARRANTY; without even the implied warranty of* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the* GNU General Public License for more details.** You should have received a copy of the GNU General Public License* along with this program; if not, write to the Free Software* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA*/#ifndef __MATHLIB_H__#define __MATHLIB_H__#include <math.h>#define EPSILON 1e-6f#define PI 3.14159265358979323846f#define DEG2RAD (PI / 180.0f)#define RAD2DEG (180.0f / PI)struct vec2;struct vec3;struct vec4;struct mat3;struct mat4;struct quat;/*****************************************************************************//*                                                                           *//* vec2                                                                      *//*                                                                           *//*****************************************************************************/struct vec2 {	inline vec2() : x(0), y(0) { }	inline vec2(float x,float y) : x(x), y(y) { }	inline vec2(const float *v) : x(v[0]), y(v[1]) { }	inline vec2(const vec2 &v) : x(v.x), y(v.y) { }	inline int operator==(const vec2 &v) { return (fabs(x - v.x) < EPSILON && fabs(y - v.y) < EPSILON); }	inline int operator!=(const vec2 &v) { return !(*this == v); }	inline const vec2 operator*(float f) const { return vec2(x * f,y * f); }	inline const vec2 operator/(float f) const { return vec2(x / f,y / f); }	inline const vec2 operator+(const vec2 &v) const { return vec2(x + v.x,y + v.y); }	inline const vec2 operator-() const { return vec2(-x,-y); }	inline const vec2 operator-(const vec2 &v) const { return vec2(x - v.x,y - v.y); }	inline vec2 &operator*=(float f) { return *this = *this * f; }	inline vec2 &operator/=(float f) { return *this = *this / f; }	inline vec2 &operator+=(const vec2 &v) { return *this = *this + v; }	inline vec2 &operator-=(const vec2 &v) { return *this = *this - v; }	inline float operator*(const vec2 &v) const { return x * v.x + y * v.y; }	inline bool ZeroCom()const{ return ( x == 0 || y == 0);}	inline operator float*() { return (float*)&x }	inline operator const float*() const { return (float*)&x }	inline float &operator[](int i) { return ((float*)&x); }	inline const float operator[](int i) const { return ((float*)&x); }	inline float length() const { return sqrt(x * x + y * y); }	inline float normalize() {		float inv,length = sqrt(x * x + y * y);		if(length < EPSILON) return 0.0;		inv = 1.0f / length;		x *= inv;		y *= inv;		return length;	}	union {		struct {			float x,y;		};		float v[2];	};};/*****************************************************************************//*                                                                           *//* vec3                                                                      *//*                                                                           *//*****************************************************************************/struct vec3 {	inline vec3() : x(0), y(0), z(0) { }	inline vec3(float x,float y,float z) : x(x), y(y), z(z) { }	inline vec3(const float *v) : x(v[0]), y(v[1]), z(v[2]) { }	inline vec3(const vec3 &v) : x(v.x), y(v.y), z(v.z) { }	inline vec3(const vec4 &v);	inline int operator==(const vec3 &v) { return (fabs(x - v.x) < EPSILON && fabs(y - v.y) < EPSILON && fabs(z - v.z) < EPSILON); }	inline int operator!=(const vec3 &v) { return !(*this == v); }	inline vec3& operator=(const float v) { x = v; y = v; z = v; return *this; }	inline const vec3 operator*(float f) const { return vec3(x * f,y * f,z * f); }	inline const vec3 operator/(float f) const { return vec3(x / f,y / f,z / f); }	inline const vec3 operator+(const vec3 &v) const { return vec3(x + v.x,y + v.y,z + v.z); }	inline const vec3 operator-() const { return vec3(-x,-y,-z); }	inline const vec3 operator-(const vec3 &v) const { return vec3(x - v.x,y - v.y,z - v.z); }	inline vec3 &operator*=(float f) { return *this = *this * f; }	inline vec3 &operator/=(float f) { return *this = *this / f; }	inline vec3 &operator+=(const vec3 &v) { return *this = *this + v; }	inline vec3 &operator-=(const vec3 &v) { return *this = *this - v; }	inline float operator*(const vec3 &v) const { return x * v.x + y * v.y + z * v.z; }	inline float operator*(const vec4 &v) const;	inline operator float*() { return (float*)&x }	inline operator const float*() const { return (float*)&x }	inline float &operator[](int i) { return ((float*)&x); }	inline const float operator[](int i) const { return ((float*)&x); }	inline float length() const { return sqrt(x * x + y * y + z * z); }	inline float normalize() {		float inv,length = sqrt(x * x + y * y + z * z);		if(length < EPSILON) return 0.0;		inv = 1.0f / length;		x *= inv;		y *= inv;		z *= inv;		return length;	}	inline void cross(const vec3 &v1,const vec3 &v2) {		x = v1.y * v2.z - v1.z * v2.y;		y = v1.z * v2.x - v1.x * v2.z;		z = v1.x * v2.y - v1.y * v2.x;	}	union {		struct {			float x,y,z;		};		float v[3];	};};inline vec3 cross(const vec3 &v1,const vec3 &v2) {	vec3 ret;	ret.x = v1.y * v2.z - v1.z * v2.y;	ret.y = v1.z * v2.x - v1.x * v2.z;	ret.z = v1.x * v2.y - v1.y * v2.x;	return ret;}inline float scalarTriple(const vec3& v1,const vec3& v2,const vec3& v3){	return cross(v2,v1) * v3;}/*****************************************************************************//*                                                                           *//* vec4                                                                      *//*                                                                           *//*****************************************************************************/struct vec4 {	inline vec4() : x(0), y(0), z(0), w(1) { }	inline vec4(float x,float y,float z,float w) : x(x), y(y), z(z), w(w) { }	inline vec4(const float *v) : x(v[0]), y(v[1]), z(v[2]), w(v[3]) { }	inline vec4(const vec3 &v) : x(v.x), y(v.y), z(v.z), w(1) { }	inline vec4(const vec3 &v,float w) : x(v.x), y(v.y), z(v.z), w(w) { }	inline vec4(const vec4 &v) : x(v.x), y(v.y), z(v.z), w(v.w) { }	inline int operator==(const vec4 &v) { return (fabs(x - v.x) < EPSILON && fabs(y - v.y) < EPSILON && fabs(z - v.z) < EPSILON && fabs(w - v.w) < EPSILON); }	inline int operator!=(const vec4 &v) { return !(*this == v); }	inline const vec4 operator*(float f) const { return vec4(x * f,y * f,z * f,w * f); }	inline const vec4 operator/(float f) const { return vec4(x / f,y / f,z / f,w / f); }	inline const vec4 operator+(const vec4 &v) const { return vec4(x + v.x,y + v.y,z + v.z,w + v.w); }	inline const vec4 operator-() const { return vec4(-x,-y,-z,-w); }	inline const vec4 operator-(const vec4 &v) const { return vec4(x - v.x,y - v.y,z - v.z,z - v.w); }	inline vec4 &operator*=(float f) { return *this = *this * f; }	inline vec4 &operator/=(float f) { return *this = *this / f; }	inline vec4 &operator+=(const vec4 &v) { return *this = *this + v; }	inline vec4 &operator-=(const vec4 &v) { return *this = *this - v; }	inline float operator*(const vec3 &v) const { return x * v.x + y * v.y + z * v.z + w; }	inline float operator*(const vec4 &v) const { return x * v.x + y * v.y + z * v.z + w * v.w; }	inline operator float*() { return (float*)&x }	inline operator const float*() const { return (float*)&x }	inline float &operator[](int i) { return ((float*)&x); }	inline const float operator[](int i) const { return ((float*)&x); }	inline float normalize() { float dist = sqrt( x * x + y * y + z * z + w * w );		float inv = 1/dist;		x *= inv;		y *= inv;		z *= inv;		w *= inv;		return dist;	}	union {		struct {			float x,y,z,w;		};		float v[4];	};};inline vec3::vec3(const vec4 &v) {	x = v.x;	y = v.y;	z = v.z;}inline float vec3::operator*(const vec4 &v) const {	return x * v.x + y * v.y + z * v.z + v.w;}/*****************************************************************************//*                                                                           *//* mat3                                                                      *//*                                                                           *//*****************************************************************************/struct mat3 {	mat3() {		mat[0] = 1.0; mat[3] = 0.0; mat[6] = 0.0;		mat[1] = 0.0; mat[4] = 1.0; mat[7] = 0.0;		mat[2] = 0.0; mat[5] = 0.0; mat[8] = 1.0;	}	mat3(const float *m) {		mat[0] = m[0]; mat[3] = m[3]; mat[6] = m[6];		mat[1] = m[1]; mat[4] = m[4]; mat[7] = m[7];		mat[2] = m[2]; mat[5] = m[5]; mat[8] = m[8];	}	mat3(const mat3 &m) {		mat[0] = m[0]; mat[3] = m[3]; mat[6] = m[6];		mat[1] = m[1]; mat[4] = m[4]; mat[7] = m[7];		mat[2] = m[2]; mat[5] = m[5]; mat[8] = m[8];	}	mat3(const mat4 &m);	vec3 operator*(const vec3 &v) const {		vec3 ret;		ret[0] = mat[0] * v[0] + mat[3] * v[1] + mat[6] * v[2];		ret[1] = mat[1] * v[0] + mat[4] * v[1] + mat[7] * v[2];		ret[2] = mat[2] * v[0] + mat[5] * v[1] + mat[8] * v[2];		return ret;	}	vec4 operator*(const vec4 &v) const {		vec4 ret;		ret[0] = mat[0] * v[0] + mat[3] * v[1] + mat[6] * v[2];		ret[1] = mat[1] * v[0] + mat[4] * v[1] + mat[7] * v[2];		ret[2] = mat[2] * v[0] + mat[5] * v[1] + mat[8] * v[2];		ret[3] = v[3];		return ret;	}	mat3 operator*(float f) const {		mat3 ret;		ret[0] = mat[0] * f; ret[3] = mat[3] * f; ret[6] = mat[6] * f;		ret[1] = mat[1] * f; ret[4] = mat[4] * f; ret[7] = mat[7] * f;		ret[2] = mat[2] * f; ret[5] = mat[5] * f; ret[8] = mat[8] * f;		return ret;	}	mat3 operator*(const mat3 &m) const {		mat3 ret;		ret[0] = mat[0] * m[0] + mat[3] * m[1] + mat[6] * m[2];		ret[1] = mat[1] * m[0] + mat[4] * m[1] + mat[7] * m[2];		ret[2] = mat[2] * m[0] + mat[5] * m[1] + mat[8] * m[2];		ret[3] = mat[0] * m[3] + mat[3] * m[4] + mat[6] * m[5];		ret[4] = mat[1] * m[3] + mat[4] * m[4] + mat[7] * m[5];		ret[5] = mat[2] * m[3] + mat[5] * m[4] + mat[8] * m[5];		ret[6] = mat[0] * m[6] + mat[3] * m[7] + mat[6] * m[8];		ret[7] = mat[1] * m[6] + mat[4] * m[7] + mat[7] * m[8];		ret[8] = mat[2] * m[6] + mat[5] * m[7] + mat[8] * m[8];		return ret;	}	mat3 operator+(const mat3 &m) const {		mat3 ret;		ret[0] = mat[0] + m[0]; ret[3] = mat[3] + m[3]; ret[6] = mat[6] + m[6];		ret[1] = mat[1] + m[1]; ret[4] = mat[4] + m[4]; ret[7] = mat[7] + m[7];		ret[2] = mat[2] + m[2]; ret[5] = mat[5] + m[5]; ret[8] = mat[8] + m[8];		return ret;	}	mat3 operator-(const mat3 &m) const {		mat3 ret;		ret[0] = mat[0] - m[0]; ret[3] = mat[3] - m[3]; ret[6] = mat[6] - m[6];		ret[1] = mat[1] - m[1]; ret[4] = mat[4] - m[4]; ret[7] = mat[7] - m[7];		ret[2] = mat[2] - m[2]; ret[5] = mat[5] - m[5]; ret[8] = mat[8] - m[8];		return ret;	}	mat3 &operator*=(float f) { return *this = *this * f; }	mat3 &operator*=(const mat3 &m) { return *this = *this * m; }	mat3 &operator+=(const mat3 &m) { return *this = *this + m; }	mat3 &operator-=(const mat3 &m) { return *this = *this - m; }	operator float*() { return mat; }	operator const float*() const { return mat; }	float &operator[](int i) { return mat; }	const float operator[](int i) const { return mat; }	mat3 transpose() const {		mat3 ret;		ret[0] = mat[0]; ret[3] = mat[1]; ret[6] = mat[2];		ret[1] = mat[3]; ret[4] = mat[4]; ret[7] = mat[5];		ret[2] = mat[6]; ret[5] = mat[7]; ret[8] = mat[8];		return ret;	}	float det() const {		float det;		det = mat[0] * mat[4] * mat[8];		det += mat[3] * mat[7] * mat[2];		det += mat[6] * mat[1] * mat[5];		det -= mat[6] * mat[4] * mat[2];		det -= mat[3] * mat[1] * mat[8];		det -= mat[0] * mat[7] * mat[5];		return det;	}	mat3 inverse() const {		mat3 ret;		float idet = 1.0f / det();		ret[0] =  (mat[4] * mat[8] - mat[7] * mat[5]) * idet;		ret[1] = -(mat[1] * mat[8] - mat[7] * mat[2]) * idet;		ret[2] =  (mat[1] * mat[5] - mat[4] * mat[2]) * idet;		ret[3] = -(mat[3] * mat[8] - mat[6] * mat[5]) * idet;		ret[4] =  (mat[0] * mat[8] - mat[6] * mat[2]) * idet;		ret[5] = -(mat[0] * mat[5] - mat[3] * mat[2]) * idet;		ret[6] =  (mat[3] * mat[7] - mat[6] * mat[4]) * idet;		ret[7] = -(mat[0] * mat[7] - mat[6] * mat[1]) * idet;		ret[8] =  (mat[0] * mat[4] - mat[3] * mat[1]) * idet;		return ret;	}	void zero() {		mat[0] = 0.0; mat[3] = 0.0; mat[6] = 0.0;		mat[1] = 0.0; mat[4] = 0.0; mat[7] = 0.0;		mat[2] = 0.0; mat[5] = 0.0; mat[8] = 0.0;	}	void identity() {		mat[0] = 1.0; mat[3] = 0.0; mat[6] = 0.0;		mat[1] = 0.0; mat[4] = 1.0; mat[7] = 0.0;		mat[2] = 0.0; mat[5] = 0.0; mat[8] = 1.0;	}	void rotate(const vec3 &axis,float angle) {		float rad = angle * DEG2RAD;		float c = cos(rad);		float s = sin(rad);		vec3 v = axis;		v.normalize();		float xx = v.x * v.x;		float yy = v.y * v.y;		float zz = v.z * v.z;		float xy = v.x * v.y;		float yz = v.y * v.z;		float zx = v.z * v.x;		float xs = v.x * s;		float ys = v.y * s;		float zs = v.z * s;		mat[0] = (1.0f - c) * xx + c; mat[3] = (1.0f - c) * xy - zs; mat[6] = (1.0f - c) * zx + ys;		mat[1] = (1.0f - c) * xy + zs; mat[4] = (1.0f - c) * yy + c; mat[7] = (1.0f - c) * yz - xs;		mat[2] = (1.0f - c) * zx - ys; mat[5] = (1.0f - c) * yz + xs; mat[8] = (1.0f - c) * zz + c;	}	void rotate(float x,float y,float z,float angle) {		rotate(vec3(x,y,z),angle);	}	void rotate_x(float angle) {		float rad = angle * DEG2RAD;		float c = cos(rad);		float s = sin(rad);		mat[0] = 1.0; mat[3] = 0.0; mat[6] = 0.0;		mat[1] = 0.0; mat[4] = c; mat[7] = -s;		mat[2] = 0.0; mat[5] = s; mat[8] = c;	}	void rotate_y(float angle) {		float rad = angle * DEG2RAD;		float c = cos(rad);		float s = sin(rad);		mat[0] = c; mat[3] = 0.0; mat[6] = s;		mat[1] = 0.0; mat[4] = 1.0; mat[7] = 0.0;		mat[2] = -s; mat[5] = 0.0; mat[8] = c;	}	void rotate_z(float angle) {		float rad = angle * DEG2RAD;		float c = cos(rad);		float s = sin(rad);		mat[0] = c; mat[3] = -s; mat[6] = 0.0;		mat[1] = s; mat[4] = c; mat[7] = 0.0;		mat[2] = 0.0; mat[5] = 0.0; mat[8] = 1.0;	}	void scale(const vec3 &v) {		mat[0] = v.x; mat[3] = 0.0; mat[6] = 0.0;		mat[1] = 0.0; mat[4] = v.y; mat[7] = 0.0;		mat[2] = 0.0; mat[5] = 0.0; mat[8] = v.z;	}	void scale(float x,float y,float z) {		scale(vec3(x,y,z));	}	void orthonormalize() {		vec3 x(mat[0],mat[1],mat[2]);		vec3 y(mat[3],mat[4],mat[5]);		vec3 z;		x.normalize();		z.cross(x,y);		z.normalize();		y.cross(z,x);		y.normalize();		mat[0] = x.x; mat[3] = y.x; mat[6] = z.x;		mat[1] = x.y; mat[4] = y.y; mat[7] = z.y;		mat[2] = x.z; mat[5] = y.z; mat[8] = z.z;	}	float mat[9];};/*****************************************************************************//*                                                                           *//* mat4                                                                      *//*                                                                           *//*****************************************************************************/struct mat4 {	mat4() {		mat[0] = 1.0; mat[4] = 0.0; mat[8] = 0.0; mat[12] = 0.0;		mat[1] = 0.0; mat[5] = 1.0; mat[9] = 0.0; mat[13] = 0.0;		mat[2] = 0.0; mat[6] = 0.0; mat[10] = 1.0; mat[14] = 0.0;		mat[3] = 0.0; mat[7] = 0.0; mat[11] = 0.0; mat[15] = 1.0;	}	mat4(const vec3 &v) {		translate(v);	}	mat4(float x,float y,float z) {		translate(x,y,z);	}	mat4(const vec3 &axis,float angle) {		rotate(axis,angle);	}	mat4(float x,float y,float z,float angle) {		rotate(x,y,z,angle);	}	mat4(const mat3 &m) {		mat[0] = m[0]; mat[4] = m[3]; mat[8] = m[6]; mat[12] = 0.0;		mat[1] = m[1]; mat[5] = m[4]; mat[9] = m[7]; mat[13] = 0.0;		mat[2] = m[2]; mat[6] = m[5]; mat[10] = m[8]; mat[14] = 0.0;		mat[3] = 0.0; mat[7] = 0.0; mat[11] = 0.0; mat[15] = 1.0;	}	mat4(const float *m) {		mat[0] = m[0]; mat[4] = m[4]; mat[8] = m[8]; mat[12] = m[12];		mat[1] = m[1]; mat[5] = m[5]; mat[9] = m[9]; mat[13] = m[13];		mat[2] = m[2]; mat[6] = m[6]; mat[10] = m[10]; mat[14] = m[14];		mat[3] = m[3]; mat[7] = m[7]; mat[11] = m[11]; mat[15] = m[15];	}	mat4(const mat4 &m) {		mat[0] = m[0]; mat[4] = m[4]; mat[8] = m[8]; mat[12] = m[12];		mat[1] = m[1]; mat[5] = m[5]; mat[9] = m[9]; mat[13] = m[13];		mat[2] = m[2]; mat[6] = m[6]; mat[10] = m[10]; mat[14] = m[14];		mat[3] = m[3]; mat[7] = m[7]; mat[11] = m[11]; mat[15] = m[15];	}	vec3 operator*(const vec3 &v) const {		vec3 ret;		ret[0] = mat[0] * v[0] + mat[4] * v[1] + mat[8] * v[2] + mat[12];		ret[1] = mat[1] * v[0] + mat[5] * v[1] + mat[9] * v[2] + mat[13];		ret[2] = mat[2] * v[0] + mat[6] * v[1] + mat[10] * v[2] + mat[14];		return ret;	}	vec4 operator*(const vec4 &v) const {		vec4 ret;		ret[0] = mat[0] * v[0] + mat[4] * v[1] + mat[8] * v[2] + mat[12] * v[3];		ret[1] = mat[1] * v[0] + mat[5] * v[1] + mat[9] * v[2] + mat[13] * v[3];		ret[2] = mat[2] * v[0] + mat[6] * v[1] + mat[10] * v[2] + mat[14] * v[3];		ret[3] = mat[3] * v[0] + mat[7] * v[1] + mat[11] * v[2] + mat[15] * v[3];		return ret;	}	mat4 operator*(float f) const {		mat4 ret;		ret[0] = mat[0] * f; ret[4] = mat[4] * f; ret[8] = mat[8] * f; ret[12] = mat[12] * f;		ret[1] = mat[1] * f; ret[5] = mat[5] * f; ret[9] = mat[9] * f; ret[13] = mat[13] * f;		ret[2] = mat[2] * f; ret[6] = mat[6] * f; ret[10] = mat[10] * f; ret[14] = mat[14] * f;		ret[3] = mat[3] * f; ret[7] = mat[7] * f; ret[11] = mat[11] * f; ret[15] = mat[15] * f;		return ret;	}	mat4 operator*(const mat4 &m) const {		mat4 ret;		ret[0] = mat[0] * m[0] + mat[4] * m[1] + mat[8] * m[2] + mat[12] * m[3];		ret[1] = mat[1] * m[0] + mat[5] * m[1] + mat[9] * m[2] + mat[13] * m[3];		ret[2] = mat[2] * m[0] + mat[6] * m[1] + mat[10] * m[2] + mat[14] * m[3];		ret[3] = mat[3] * m[0] + mat[7] * m[1] + mat[11] * m[2] + mat[15] * m[3];		ret[4] = mat[0] * m[4] + mat[4] * m[5] + mat[8] * m[6] + mat[12] * m[7];		ret[5] = mat[1] * m[4] + mat[5] * m[5] + mat[9] * m[6] + mat[13] * m[7];		ret[6] = mat[2] * m[4] + mat[6] * m[5] + mat[10] * m[6] + mat[14] * m[7];		ret[7] = mat[3] * m[4] + mat[7] * m[5] + mat[11] * m[6] + mat[15] * m[7];		ret[8] = mat[0] * m[8] + mat[4] * m[9] + mat[8] * m[10] + mat[12] * m[11];		ret[9] = mat[1] * m[8] + mat[5] * m[9] + mat[9] * m[10] + mat[13] * m[11];		ret[10] = mat[2] * m[8] + mat[6] * m[9] + mat[10] * m[10] + mat[14] * m[11];		ret[11] = mat[3] * m[8] + mat[7] * m[9] + mat[11] * m[10] + mat[15] * m[11];		ret[12] = mat[0] * m[12] + mat[4] * m[13] + mat[8] * m[14] + mat[12] * m[15];		ret[13] = mat[1] * m[12] + mat[5] * m[13] + mat[9] * m[14] + mat[13] * m[15];		ret[14] = mat[2] * m[12] + mat[6] * m[13] + mat[10] * m[14] + mat[14] * m[15];		ret[15] = mat[3] * m[12] + mat[7] * m[13] + mat[11] * m[14] + mat[15] * m[15];		return ret;	}	mat4 operator+(const mat4 &m) const {		mat4 ret;		ret[0] = mat[0] + m[0]; ret[4] = mat[4] + m[4]; ret[8] = mat[8] + m[8]; ret[12] = mat[12] + m[12];		ret[1] = mat[1] + m[1]; ret[5] = mat[5] + m[5]; ret[9] = mat[9] + m[9]; ret[13] = mat[13] + m[13];		ret[2] = mat[2] + m[2]; ret[6] = mat[6] + m[6]; ret[10] = mat[10] + m[10]; ret[14] = mat[14] + m[14];		ret[3] = mat[3] + m[3]; ret[7] = mat[7] + m[7]; ret[11] = mat[11] + m[11]; ret[15] = mat[15] + m[15];		return ret;	}	mat4 operator-(const mat4 &m) const {		mat4 ret;		ret[0] = mat[0] - m[0]; ret[4] = mat[4] - m[4]; ret[8] = mat[8] - m[8]; ret[12] = mat[12] - m[12];		ret[1] = mat[1] - m[1]; ret[5] = mat[5] - m[5]; ret[9] = mat[9] - m[9]; ret[13] = mat[13] - m[13];		ret[2] = mat[2] - m[2]; ret[6] = mat[6] - m[6]; ret[10] = mat[10] - m[10]; ret[14] = mat[14] - m[14];		ret[3] = mat[3] - m[3]; ret[7] = mat[7] - m[7]; ret[11] = mat[11] - m[11]; ret[15] = mat[15] - m[15];		return ret;	}	mat4 &operator*=(float f) { return *this = *this * f; }	mat4 &operator*=(const mat4 &m) { return *this = *this * m; }	mat4 &operator+=(const mat4 &m) { return *this = *this + m; }	mat4 &operator-=(const mat4 &m) { return *this = *this - m; }	operator float*() { return mat; }	operator const float*() const { return mat; }	float &operator[](int i) { return mat; }	const float operator[](int i) const { return mat; }	mat4 rotation() const {		mat4 ret;		ret[0] = mat[0]; ret[4] = mat[4]; ret[8] = mat[8]; ret[12] = 0;		ret[1] = mat[1]; ret[5] = mat[5]; ret[9] = mat[9]; ret[13] = 0;		ret[2] = mat[2]; ret[6] = mat[6]; ret[10] = mat[10]; ret[14] = 0;		ret[3] = 0; ret[7] = 0; ret[11] = 0; ret[15] = 1;		return ret;	}	mat4 transpose() const {		mat4 ret;		ret[0] = mat[0]; ret[4] = mat[1]; ret[8] = mat[2]; ret[12] = mat[3];		ret[1] = mat[4]; ret[5] = mat[5]; ret[9] = mat[6]; ret[13] = mat[7];		ret[2] = mat[8]; ret[6] = mat[9]; ret[10] = mat[10]; ret[14] = mat[11];		ret[3] = mat[12]; ret[7] = mat[13]; ret[11] = mat[14]; ret[15] = mat[15];		return ret;	}	mat4 transpose_rotation() const {		mat4 ret;		ret[0] = mat[0]; ret[4] = mat[1]; ret[8] = mat[2]; ret[12] = mat[12];		ret[1] = mat[4]; ret[5] = mat[5]; ret[9] = mat[6]; ret[13] = mat[13];		ret[2] = mat[8]; ret[6] = mat[9]; ret[10] = mat[10]; ret[14] = mat[14];		ret[3] = mat[3]; ret[7] = mat[7]; ret[14] = mat[14]; ret[15] = mat[15];		return ret;	}	float det() const {		float det;		det = mat[0] * mat[5] * mat[10];		det += mat[4] * mat[9] * mat[2];		det += mat[8] * mat[1] * mat[6];		det -= mat[8] * mat[5] * mat[2];		det -= mat[4] * mat[1] * mat[10];		det -= mat[0] * mat[9] * mat[6];		return det;	}	mat4 inverse() const {		mat4 ret;		float idet = 1.0f / det();		ret[0] =  (mat[5] * mat[10] - mat[9] * mat[6]) * idet;		ret[1] = -(mat[1] * mat[10] - mat[9] * mat[2]) * idet;		ret[2] =  (mat[1] * mat[6] - mat[5] * mat[2]) * idet;		ret[3] = 0.0;		ret[4] = -(mat[4] * mat[10] - mat[8] * mat[6]) * idet;		ret[5] =  (mat[0] * mat[10] - mat[8] * mat[2]) * idet;		ret[6] = -(mat[0] * mat[6] - mat[4] * mat[2]) * idet;		ret[7] = 0.0;		ret[8] =  (mat[4] * mat[9] - mat[8] * mat[5]) * idet;		ret[9] = -(mat[0] * mat[9] - mat[8] * mat[1]) * idet;		ret[10] =  (mat[0] * mat[5] - mat[4] * mat[1]) * idet;		ret[11] = 0.0;		ret[12] = -(mat[12] * ret[0] + mat[13] * ret[4] + mat[14] * ret[8]);		ret[13] = -(mat[12] * ret[1] + mat[13] * ret[5] + mat[14] * ret[9]);		ret[14] = -(mat[12] * ret[2] + mat[13] * ret[6] + mat[14] * ret[10]);		ret[15] = 1.0;		return ret;	}	void zero() {		mat[0] = 0.0; mat[4] = 0.0; mat[8] = 0.0; mat[12] = 0.0;		mat[1] = 0.0; mat[5] = 0.0; mat[9] = 0.0; mat[13] = 0.0;		mat[2] = 0.0; mat[6] = 0.0; mat[10] = 0.0; mat[14] = 0.0;		mat[3] = 0.0; mat[7] = 0.0; mat[11] = 0.0; mat[15] = 0.0;	}	void identity() {		mat[0] = 1.0; mat[4] = 0.0; mat[8] = 0.0; mat[12] = 0.0;		mat[1] = 0.0; mat[5] = 1.0; mat[9] = 0.0; mat[13] = 0.0;		mat[2] = 0.0; mat[6] = 0.0; mat[10] = 1.0; mat[14] = 0.0;		mat[3] = 0.0; mat[7] = 0.0; mat[11] = 0.0; mat[15] = 1.0;	}	void rotate(const vec3 &axis,float angle) {		float rad = angle * DEG2RAD;		float c = cos(rad);		float s = sin(rad);		vec3 v = axis;		v.normalize();		float xx = v.x * v.x;		float yy = v.y * v.y;		float zz = v.z * v.z;		float xy = v.x * v.y;		float yz = v.y * v.z;		float zx = v.z * v.x;		float xs = v.x * s;		float ys = v.y * s;		float zs = v.z * s;		mat[0] = (1.0f - c) * xx + c; mat[4] = (1.0f - c) * xy - zs; mat[8] = (1.0f - c) * zx + ys; mat[12] = 0.0;		mat[1] = (1.0f - c) * xy + zs; mat[5] = (1.0f - c) * yy + c; mat[9] = (1.0f - c) * yz - xs; mat[13] = 0.0;		mat[2] = (1.0f - c) * zx - ys; mat[6] = (1.0f - c) * yz + xs; mat[10] = (1.0f - c) * zz + c; mat[14] = 0.0;		mat[3] = 0.0; mat[7] = 0.0; mat[11] = 0.0; mat[15] = 1.0;	}	void rotate(float x,float y,float z,float angle) {		rotate(vec3(x,y,z),angle);	}	void rotate_x(float angle) {		float rad = angle * DEG2RAD;		float c = cos(rad);		float s = sin(rad);		mat[0] = 1.0; mat[4] = 0.0; mat[8] = 0.0; mat[12] = 0.0;		mat[1] = 0.0; mat[5] = c; mat[9] = -s; mat[13] = 0.0;		mat[2] = 0.0; mat[6] = s; mat[10] = c; mat[14] = 0.0;		mat[3] = 0.0; mat[7] = 0.0; mat[11] = 0.0; mat[15] = 1.0;	}	void rotate_y(float angle) {		float rad = angle * DEG2RAD;		float c = cos(rad);		float s = sin(rad);		mat[0] = c; mat[4] = 0.0; mat[8] = s; mat[12] = 0.0;		mat[1] = 0.0; mat[5] = 1.0; mat[9] = 0.0; mat[13] = 0.0;		mat[2] = -s; mat[6] = 0.0; mat[10] = c; mat[14] = 0.0;		mat[3] = 0.0; mat[7] = 0.0; mat[11] = 0.0; mat[15] = 1.0;	}	void rotate_z(float angle) {		float rad = angle * DEG2RAD;		float c = cos(rad);		float s = sin(rad);		mat[0] = c; mat[4] = -s; mat[8] = 0.0; mat[12] = 0.0;		mat[1] = s; mat[5] = c; mat[9] = 0.0; mat[13] = 0.0;		mat[2] = 0.0; mat[6] = 0.0; mat[10] = 1.0; mat[14] = 0.0;		mat[3] = 0.0; mat[7] = 0.0; mat[11] = 0.0; mat[15] = 1.0;	}	void scale(const vec3 &v) {		mat[0] = v.x; mat[4] = 0.0; mat[8] = 0.0; mat[12] = 0.0;		mat[1] = 0.0; mat[5] = v.y; mat[9] = 0.0; mat[13] = 0.0;		mat[2] = 0.0; mat[6] = 0.0; mat[10] = v.z; mat[14] = 0.0;		mat[3] = 0.0; mat[7] = 0.0; mat[11] = 0.0; mat[15] = 1.0;	}	void scale(float x,float y,float z) {		scale(vec3(x,y,z));	}	void translate(const vec3 &v) {		mat[0] = 1.0; mat[4] = 0.0; mat[8] = 0.0; mat[12] = v.x;		mat[1] = 0.0; mat[5] = 1.0; mat[9] = 0.0; mat[13] = v.y;		mat[2] = 0.0; mat[6] = 0.0; mat[10] = 1.0; mat[14] = v.z;		mat[3] = 0.0; mat[7] = 0.0; mat[11] = 0.0; mat[15] = 1.0;	}	void translate(float x,float y,float z) {		translate(vec3(x,y,z));	}	void reflect(const vec4 &plane) {		float x = plane.x;		float y = plane.y;		float z = plane.z;		float x2 = x * 2.0f;		float y2 = y * 2.0f;		float z2 = z * 2.0f;		mat[0] = 1.0f - x * x2; mat[4] = -y * x2; mat[8] = -z * x2; mat[12] = -plane.w * x2;		mat[1] = -x * y2; mat[5] = 1.0f - y * y2; mat[9] = -z * y2; mat[13] = -plane.w * y2;		mat[2] = -x * z2; mat[6] = -y * z2; mat[10] = 1.0f - z * z2; mat[14] = -plane.w * z2;		mat[3] = 0.0; mat[7] = 0.0; mat[11] = 0.0; mat[15] = 1.0;	}	void reflect(float x,float y,float z,float w) {		reflect(vec4(x,y,z,w));	}	void perspective(float fov,float aspect,float znear,float zfar) {		float y = tan(fov * PI / 360.0f);		float x = y * aspect;		mat[0] = 1.0f / x; mat[4] = 0.0; mat[8] = 0.0; mat[12] = 0.0;		mat[1] = 0.0; mat[5] = 1.0f / y; mat[9] = 0.0; mat[13] = 0.0;		mat[2] = 0.0; mat[6] = 0.0; mat[10] = -(zfar + znear) / (zfar - znear); mat[14] = -(2.0f * zfar * znear) / (zfar - znear);		mat[3] = 0.0; mat[7] = 0.0; mat[11] = -1.0; mat[15] = 0.0;	}	void look_at(const vec3 &eye,const vec3 &dir,const vec3 &up) {		vec3 x,y,z;		mat4 m0,m1;		z = eye - dir;		z.normalize();		x.cross(up,z);		x.normalize();		y.cross(z,x);		y.normalize();		m0[0] = x.x; m0[4] = x.y; m0[8] = x.z; m0[12] = 0.0;		m0[1] = y.x; m0[5] = y.y; m0[9] = y.z; m0[13] = 0.0;		m0[2] = z.x; m0[6] = z.y; m0[10] = z.z; m0[14] = 0.0;		m0[3] = 0.0; m0[7] = 0.0; m0[11] = 0.0; m0[15] = 1.0;		m1.translate(-eye);		*this = m0 * m1;	}	void look_at(const float *eye,const float *dir,const float *up) {		look_at(vec3(eye),vec3(dir),vec3(up));	}	vec3* getRowX(){ return (vec3*)&mat[0];}	vec3* getRowY(){ return (vec3*)&mat[4];}	vec3* getRowZ(){ return (vec3*)&mat[8];}	vec3* getRowT(){ return (vec3*)&mat[12];}		float mat[16];};inline mat3::mat3(const mat4 &m) {	mat[0] = m[0]; mat[3] = m[4]; mat[6] = m[8];	mat[1] = m[1]; mat[4] = m[5]; mat[7] = m[9];	mat[2] = m[2]; mat[5] = m[6]; mat[8] = m[10];}/*****************************************************************************//*                                                                           *//* quat                                                                      *//*                                                                           *//*****************************************************************************/struct quat {	quat() : x(0), y(0), z(0), w(1) { }	quat(const vec3 &dir,float angle) {		set(dir,angle);	}	quat(float x,float y,float z,float angle) {		set(x,y,z,angle);	}	quat(const mat3 &m) {		float trace = m[0] + m[4] + m[8];		if(trace > 0.0) {			float s = sqrt(trace + 1.0f);			q[3] = 0.5f * s;			s = 0.5f / s;			q[0] = (m[5] - m[7]) * s;			q[1] = (m[6] - m[2]) * s;			q[2] = (m[1] - m[3]) * s;		} else {			static int next[3] = { 1, 2, 0 };			int i = 0;			if(m[4] > m[0]) i = 1;			if(m[8] > m[3 * i + i]) i = 2;			int j = next;			int k = next[j];			float s = sqrt(m[3 * i + i] - m[3 * j + j] - m[3 * k + k] + 1.0f);			q = 0.5f * s;			if(s != 0) s = 0.5f / s;			q[3] = (m[3 * j + k] - m[3 * k + j]) * s;			q[j] = (m[3 * i + j] + m[3 * j + i]) * s;			q[k] = (m[3 * i + k] + m[3 * k + i]) * s;		}	}	operator float*() { return (float*)&x }	operator const float*() const { return (float*)&x }	float &operator[](int i) { return ((float*)&x); }	const float operator[](int i) const { return ((float*)&x); }	quat operator*(const quat &q) const {		quat ret;		ret.x = w * q.x + x * q.x + y * q.z - z * q.y;		ret.y = w * q.y + y * q.w + z * q.x - x * q.z;		ret.z = w * q.z + z * q.w + x * q.y - y * q.x;		ret.w = w * q.w - x * q.x - y * q.y - z * q.z;		return ret;	}	void set(const vec3 &dir,float angle) {		float length = dir.length();		if(length != 0.0) {			length = 1.0f / length;			float sinangle = sin(angle * DEG2RAD / 2.0f);			x = dir[0] * length * sinangle;			y = dir[1] * length * sinangle;			z = dir[2] * length * sinangle;			w = cos(angle * DEG2RAD / 2.0f);		} else {			x = y = z = 0.0;			w = 1.0;		}	}	void set(float x,float y,float z,float angle) {		set(vec3(x,y,z),angle);	}	void slerp(const quat &q0,const quat &q1,float t) {		float k0,k1,cosomega = q0.x * q1.x + q0.y * q1.y + q0.z * q1.z + q0.w * q1.w;		quat q;		if(cosomega < 0.0) {			cosomega = -cosomega;			q.x = -q1.x;			q.y = -q1.y;			q.z = -q1.z;			q.w = -q1.w;		} else {			q.x = q1.x;			q.y = q1.y;			q.z = q1.z;			q.w = q1.w;		}		if(1.0 - cosomega > 1e-6) {			float omega = acos(cosomega);			float sinomega = sin(omega);			k0 = sin((1.0f - t) * omega) / sinomega;			k1 = sin(t * omega) / sinomega;		} else {			k0 = 1.0f - t;			k1 = t;		}		x = q0.x * k0 + q.x * k1;		y = q0.y * k0 + q.y * k1;		z = q0.z * k0 + q.z * k1;		w = q0.w * k0 + q.w * k1;	}	mat3 to_matrix() const {		mat3 ret;		float x2 = x + x;		float y2 = y + y;		float z2 = z + z;		float xx = x * x2;		float yy = y * y2;		float zz = z * z2;		float xy = x * y2;		float yz = y * z2;		float xz = z * x2;		float wx = w * x2;		float wy = w * y2;		float wz = w * z2;		ret[0] = 1.0f - (yy + zz); ret[3] = xy - wz; ret[6] = xz + wy;		ret[1] = xy + wz; ret[4] = 1.0f - (xx + zz); ret[7] = yz - wx;		ret[2] = xz - wy; ret[5] = yz + wx; ret[8] = 1.0f - (xx + yy);		return ret;	}	union {		struct {			float x,y,z,w;		};		float q[4];	};};#endif /* __MATHLIB_H__ */