fixed several bugs in matrix processing

1 files changed, 10 insertions, 4 deletions

diff --git a/linmath.h b/linmath.h
index 7207dd7..6c06269 100644
--- a/linmath.h
+++ b/linmath.h
@@ -124,12 +124,18 @@ static inline void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b)
 	for(i=0; i<4; ++i)
 		vec4_sub(M[i], a[i], b[i]);
 }
-static inline void mat4x4_scale(mat4x4 M, mat4x4 a, float k)
+static inline void mat4x4_scale_isotropic(mat4x4 M, mat4x4 a, float k)
 {
 	int i;
 	for(i=0; i<4; ++i)
 		vec4_scale(M[i], a[i], k);
 }
+static inline void mat4x4_scale(mat4x4 R, mat4x4 M, float sx, float sy, float sz)
+{
+	vec4_scale(R[0], M[0], sx);
+	vec4_scale(R[1], M[1], sy);
+	vec4_scale(R[2], M[2], sz);
+}
 static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
 {
 	int k, r, c;
@@ -183,14 +189,14 @@ static inline void mat4x4_rotate(mat4x4 Q, mat4x4 M, float x, float y, float z,
 			{ u[1], -u[0],     0, 0},
 			{    0,     0,     0, 1}
 		};
-		mat4x4_scale(S, S, s);
+		mat4x4_scale_isotropic(S, S, s);
 
 		mat4x4 R;
 		mat4x4_from_vec3_mul_outer(R, u, u);
 		mat4x4_identity(T);
 		mat4x4_sub(T, T, Q);
 		T[3][3] = 0.;
-		mat4x4_scale(T, T, c);
+		mat4x4_scale_isotropic(T, T, c);
 
 		mat4x4_add(R, R, T);
 		mat4x4_add(Q, R, S);
@@ -413,7 +419,7 @@ static inline void mat4x4_mul_quat(mat4x4 R, mat4x4 M, quat q)
 }
 static inline void quat_from_mat4x4(quat q, mat4x4 M)
 {
-	float r=0., r2;
+	float r=0.;
 	int i;
 
 	int perm[] = { 0, 1, 2, 0, 1 };