Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/Gimpact/gim_linear_math.h

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extern/bullet2/src/BulletCollision/Gimpact/gim_linear_math.h

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	This library is distributed in the hope that it will be useful,			This library is distributed in the hope that it will be useful,
	but WITHOUT ANY WARRANTY; without even the implied warranty of			but WITHOUT ANY WARRANTY; without even the implied warranty of
	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files			MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
	GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.			GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.

	-----------------------------------------------------------------------------			-----------------------------------------------------------------------------
	*/			*/


	#include "gim_math.h"			#include "gim_math.h"
	#include "gim_geom_types.h"			#include "gim_geom_types.h"




	//! Zero out a 2D vector			//! Zero out a 2D vector
	#define VEC_ZERO_2(a) \			#define VEC_ZERO_2(a) \
	{ \			{ \
	(a)[0] = (a)[1] = 0.0f; \			(a)[0] = (a)[1] = 0.0f; \
	}\			}


	//! Zero out a 3D vector			//! Zero out a 3D vector
	#define VEC_ZERO(a) \			#define VEC_ZERO(a) \
	{ \			{ \
	(a)[0] = (a)[1] = (a)[2] = 0.0f; \			(a)[0] = (a)[1] = (a)[2] = 0.0f; \
	}\			}


	/// Zero out a 4D vector			/// Zero out a 4D vector
	#define VEC_ZERO_4(a) \			#define VEC_ZERO_4(a) \
	{ \			{ \
	(a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \			(a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \
	}\			}


	/// Vector copy			/// Vector copy
	#define VEC_COPY_2(b,a) \			#define VEC_COPY_2(b, a) \
	{ \			{ \
	(b)[0] = (a)[0]; \			(b)[0] = (a)[0]; \
	(b)[1] = (a)[1]; \			(b)[1] = (a)[1]; \
	}\			}


	/// Copy 3D vector			/// Copy 3D vector
	#define VEC_COPY(b,a) \			#define VEC_COPY(b, a) \
	{ \			{ \
	(b)[0] = (a)[0]; \			(b)[0] = (a)[0]; \
	(b)[1] = (a)[1]; \			(b)[1] = (a)[1]; \
	(b)[2] = (a)[2]; \			(b)[2] = (a)[2]; \
	}\			}


	/// Copy 4D vector			/// Copy 4D vector
	#define VEC_COPY_4(b,a) \			#define VEC_COPY_4(b, a) \
	{ \			{ \
	(b)[0] = (a)[0]; \			(b)[0] = (a)[0]; \
	(b)[1] = (a)[1]; \			(b)[1] = (a)[1]; \
	(b)[2] = (a)[2]; \			(b)[2] = (a)[2]; \
	(b)[3] = (a)[3]; \			(b)[3] = (a)[3]; \
	}\			}

	/// VECTOR SWAP			/// VECTOR SWAP
	#define VEC_SWAP(b,a) \			#define VEC_SWAP(b, a) \
	{ \			{ \
	GIM_SWAP_NUMBERS((b)[0],(a)[0]);\			GIM_SWAP_NUMBERS((b)[0], (a)[0]); \
	GIM_SWAP_NUMBERS((b)[1],(a)[1]);\			GIM_SWAP_NUMBERS((b)[1], (a)[1]); \
	GIM_SWAP_NUMBERS((b)[2],(a)[2]);\			GIM_SWAP_NUMBERS((b)[2], (a)[2]); \
	}\			}

	/// Vector difference			/// Vector difference
	#define VEC_DIFF_2(v21,v2,v1) \			#define VEC_DIFF_2(v21, v2, v1) \
	{ \			{ \
	(v21)[0] = (v2)[0] - (v1)[0]; \			(v21)[0] = (v2)[0] - (v1)[0]; \
	(v21)[1] = (v2)[1] - (v1)[1]; \			(v21)[1] = (v2)[1] - (v1)[1]; \
	}\			}


	/// Vector difference			/// Vector difference
	#define VEC_DIFF(v21,v2,v1) \			#define VEC_DIFF(v21, v2, v1) \
	{ \			{ \
	(v21)[0] = (v2)[0] - (v1)[0]; \			(v21)[0] = (v2)[0] - (v1)[0]; \
	(v21)[1] = (v2)[1] - (v1)[1]; \			(v21)[1] = (v2)[1] - (v1)[1]; \
	(v21)[2] = (v2)[2] - (v1)[2]; \			(v21)[2] = (v2)[2] - (v1)[2]; \
	}\			}


	/// Vector difference			/// Vector difference
	#define VEC_DIFF_4(v21,v2,v1) \			#define VEC_DIFF_4(v21, v2, v1) \
	{ \			{ \
	(v21)[0] = (v2)[0] - (v1)[0]; \			(v21)[0] = (v2)[0] - (v1)[0]; \
	(v21)[1] = (v2)[1] - (v1)[1]; \			(v21)[1] = (v2)[1] - (v1)[1]; \
	(v21)[2] = (v2)[2] - (v1)[2]; \			(v21)[2] = (v2)[2] - (v1)[2]; \
	(v21)[3] = (v2)[3] - (v1)[3]; \			(v21)[3] = (v2)[3] - (v1)[3]; \
	}\			}


	/// Vector sum			/// Vector sum
	#define VEC_SUM_2(v21,v2,v1) \			#define VEC_SUM_2(v21, v2, v1) \
	{ \			{ \
	(v21)[0] = (v2)[0] + (v1)[0]; \			(v21)[0] = (v2)[0] + (v1)[0]; \
	(v21)[1] = (v2)[1] + (v1)[1]; \			(v21)[1] = (v2)[1] + (v1)[1]; \
	}\			}


	/// Vector sum			/// Vector sum
	#define VEC_SUM(v21,v2,v1) \			#define VEC_SUM(v21, v2, v1) \
	{ \			{ \
	(v21)[0] = (v2)[0] + (v1)[0]; \			(v21)[0] = (v2)[0] + (v1)[0]; \
	(v21)[1] = (v2)[1] + (v1)[1]; \			(v21)[1] = (v2)[1] + (v1)[1]; \
	(v21)[2] = (v2)[2] + (v1)[2]; \			(v21)[2] = (v2)[2] + (v1)[2]; \
	}\			}


	/// Vector sum			/// Vector sum
	#define VEC_SUM_4(v21,v2,v1) \			#define VEC_SUM_4(v21, v2, v1) \
	{ \			{ \
	(v21)[0] = (v2)[0] + (v1)[0]; \			(v21)[0] = (v2)[0] + (v1)[0]; \
	(v21)[1] = (v2)[1] + (v1)[1]; \			(v21)[1] = (v2)[1] + (v1)[1]; \
	(v21)[2] = (v2)[2] + (v1)[2]; \			(v21)[2] = (v2)[2] + (v1)[2]; \
	(v21)[3] = (v2)[3] + (v1)[3]; \			(v21)[3] = (v2)[3] + (v1)[3]; \
	}\			}


	/// scalar times vector			/// scalar times vector
	#define VEC_SCALE_2(c,a,b) \			#define VEC_SCALE_2(c, a, b) \
	{ \			{ \
	(c)[0] = (a)*(b)[0]; \			(c)[0] = (a) * (b)[0]; \
	(c)[1] = (a)*(b)[1]; \			(c)[1] = (a) * (b)[1]; \
	}\			}


	/// scalar times vector			/// scalar times vector
	#define VEC_SCALE(c,a,b) \			#define VEC_SCALE(c, a, b) \
	{ \			{ \
	(c)[0] = (a)*(b)[0]; \			(c)[0] = (a) * (b)[0]; \
	(c)[1] = (a)*(b)[1]; \			(c)[1] = (a) * (b)[1]; \
	(c)[2] = (a)*(b)[2]; \			(c)[2] = (a) * (b)[2]; \
	}\			}


	/// scalar times vector			/// scalar times vector
	#define VEC_SCALE_4(c,a,b) \			#define VEC_SCALE_4(c, a, b) \
	{ \			{ \
	(c)[0] = (a)*(b)[0]; \			(c)[0] = (a) * (b)[0]; \
	(c)[1] = (a)*(b)[1]; \			(c)[1] = (a) * (b)[1]; \
	(c)[2] = (a)*(b)[2]; \			(c)[2] = (a) * (b)[2]; \
	(c)[3] = (a)*(b)[3]; \			(c)[3] = (a) * (b)[3]; \
	}\			}


	/// accumulate scaled vector			/// accumulate scaled vector
	#define VEC_ACCUM_2(c,a,b) \			#define VEC_ACCUM_2(c, a, b) \
	{ \			{ \
	(c)[0] += (a)*(b)[0]; \			(c)[0] += (a) * (b)[0]; \
	(c)[1] += (a)*(b)[1]; \			(c)[1] += (a) * (b)[1]; \
	}\			}


	/// accumulate scaled vector			/// accumulate scaled vector
	#define VEC_ACCUM(c,a,b) \			#define VEC_ACCUM(c, a, b) \
	{ \			{ \
	(c)[0] += (a)*(b)[0]; \			(c)[0] += (a) * (b)[0]; \
	(c)[1] += (a)*(b)[1]; \			(c)[1] += (a) * (b)[1]; \
	(c)[2] += (a)*(b)[2]; \			(c)[2] += (a) * (b)[2]; \
	}\			}


	/// accumulate scaled vector			/// accumulate scaled vector
	#define VEC_ACCUM_4(c,a,b) \			#define VEC_ACCUM_4(c, a, b) \
	{ \			{ \
	(c)[0] += (a)*(b)[0]; \			(c)[0] += (a) * (b)[0]; \
	(c)[1] += (a)*(b)[1]; \			(c)[1] += (a) * (b)[1]; \
	(c)[2] += (a)*(b)[2]; \			(c)[2] += (a) * (b)[2]; \
	(c)[3] += (a)*(b)[3]; \			(c)[3] += (a) * (b)[3]; \
	}\			}


	/// Vector dot product			/// Vector dot product
	#define VEC_DOT_2(a,b) ((a)[0](b)[0] + (a)[1](b)[1])			#define VEC_DOT_2(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1])


	/// Vector dot product			/// Vector dot product
	#define VEC_DOT(a,b) ((a)[0](b)[0] + (a)[1](b)[1] + (a)[2]*(b)[2])			#define VEC_DOT(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] + (a)[2] * (b)[2])

	/// Vector dot product			/// Vector dot product
	#define VEC_DOT_4(a,b) ((a)[0](b)[0] + (a)[1](b)[1] + (a)[2](b)[2] + (a)[3](b)[3])			#define VEC_DOT_4(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] + (a)[2] * (b)[2] + (a)[3] * (b)[3])

	/// vector impact parameter (squared)			/// vector impact parameter (squared)
	#define VEC_IMPACT_SQ(bsq,direction,position) {\			#define VEC_IMPACT_SQ(bsq, direction, position) \
				{ \
	GREAL _llel_ = VEC_DOT(direction, position);\			GREAL _llel_ = VEC_DOT(direction, position); \
	bsq = VEC_DOT(position, position) - _llel_*_llel_;\			bsq = VEC_DOT(position, position) - _llel_ * _llel_; \
	}\			}


	/// vector impact parameter			/// vector impact parameter
	#define VEC_IMPACT(bsq,direction,position) {\			#define VEC_IMPACT(bsq, direction, position) \
				{ \
	VEC_IMPACT_SQ(bsq,direction,position); \			VEC_IMPACT_SQ(bsq, direction, position); \
	GIM_SQRT(bsq,bsq); \			GIM_SQRT(bsq, bsq); \
	}\			}

	/// Vector length			/// Vector length
	#define VEC_LENGTH_2(a,l)\			#define VEC_LENGTH_2(a, l) \
	{\			{ \
	GREAL _pp = VEC_DOT_2(a,a);\			GREAL _pp = VEC_DOT_2(a, a); \
	GIM_SQRT(_pp,l);\			GIM_SQRT(_pp, l); \
	}\			}


	/// Vector length			/// Vector length
	#define VEC_LENGTH(a,l)\			#define VEC_LENGTH(a, l) \
	{\			{ \
	GREAL _pp = VEC_DOT(a,a);\			GREAL _pp = VEC_DOT(a, a); \
	GIM_SQRT(_pp,l);\			GIM_SQRT(_pp, l); \
	}\			}


	/// Vector length			/// Vector length
	#define VEC_LENGTH_4(a,l)\			#define VEC_LENGTH_4(a, l) \
	{\			{ \
	GREAL _pp = VEC_DOT_4(a,a);\			GREAL _pp = VEC_DOT_4(a, a); \
	GIM_SQRT(_pp,l);\			GIM_SQRT(_pp, l); \
	}\			}

	/// Vector inv length			/// Vector inv length
	#define VEC_INV_LENGTH_2(a,l)\			#define VEC_INV_LENGTH_2(a, l) \
	{\			{ \
	GREAL _pp = VEC_DOT_2(a,a);\			GREAL _pp = VEC_DOT_2(a, a); \
	GIM_INV_SQRT(_pp,l);\			GIM_INV_SQRT(_pp, l); \
	}\			}


	/// Vector inv length			/// Vector inv length
	#define VEC_INV_LENGTH(a,l)\			#define VEC_INV_LENGTH(a, l) \
	{\			{ \
	GREAL _pp = VEC_DOT(a,a);\			GREAL _pp = VEC_DOT(a, a); \
	GIM_INV_SQRT(_pp,l);\			GIM_INV_SQRT(_pp, l); \
	}\			}


	/// Vector inv length			/// Vector inv length
	#define VEC_INV_LENGTH_4(a,l)\			#define VEC_INV_LENGTH_4(a, l) \
	{\			{ \
	GREAL _pp = VEC_DOT_4(a,a);\			GREAL _pp = VEC_DOT_4(a, a); \
	GIM_INV_SQRT(_pp,l);\			GIM_INV_SQRT(_pp, l); \
	}\			}



	/// distance between two points			/// distance between two points
	#define VEC_DISTANCE(_len,_va,_vb) {\			#define VEC_DISTANCE(_len, _va, _vb) \
				{ \
	vec3f _tmp_; \			vec3f _tmp_; \
	VEC_DIFF(_tmp_, _vb, _va); \			VEC_DIFF(_tmp_, _vb, _va); \
	VEC_LENGTH(_tmp_,_len); \			VEC_LENGTH(_tmp_, _len); \
	}\			}


	/// Vector length			/// Vector length
	#define VEC_CONJUGATE_LENGTH(a,l)\			#define VEC_CONJUGATE_LENGTH(a, l) \
	{\			{ \
	GREAL _pp = 1.0 - a[0]a[0] - a[1]a[1] - a[2]*a[2];\			GREAL _pp = 1.0 - a[0] * a[0] - a[1] * a[1] - a[2] * a[2]; \
	GIM_SQRT(_pp,l);\			GIM_SQRT(_pp, l); \
	}\			}


	/// Vector length			/// Vector length
	#define VEC_NORMALIZE(a) { \			#define VEC_NORMALIZE(a) \
				{ \
	GREAL len;\			GREAL len; \
	VEC_INV_LENGTH(a,len); \			VEC_INV_LENGTH(a, len); \
	if(len<G_REAL_INFINITY)\			if (len < G_REAL_INFINITY) \
	{\			{ \
	a[0] *= len; \			a[0] *= len; \
	a[1] *= len; \			a[1] *= len; \
	a[2] *= len; \			a[2] *= len; \
	} \			} \
	}\			}

	/// Set Vector size			/// Set Vector size
	#define VEC_RENORMALIZE(a,newlen) { \			#define VEC_RENORMALIZE(a, newlen) \
				{ \
	GREAL len;\			GREAL len; \
	VEC_INV_LENGTH(a,len); \			VEC_INV_LENGTH(a, len); \
	if(len<G_REAL_INFINITY)\			if (len < G_REAL_INFINITY) \
	{\			{ \
	len *= newlen;\			len *= newlen; \
	a[0] *= len; \			a[0] *= len; \
	a[1] *= len; \			a[1] *= len; \
	a[2] *= len; \			a[2] *= len; \
	} \			} \
	}\			}

	/// Vector cross			/// Vector cross
	#define VEC_CROSS(c,a,b) \			#define VEC_CROSS(c, a, b) \
	{ \			{ \
	c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1]; \			c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1]; \
	c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2]; \			c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2]; \
	c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0]; \			c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0]; \
	}\			}


	/*! Vector perp -- assumes that n is of unit length			/*! Vector perp -- assumes that n is of unit length
	* accepts vector v, subtracts out any component parallel to n */			* accepts vector v, subtracts out any component parallel to n */
	#define VEC_PERPENDICULAR(vp,v,n) \			#define VEC_PERPENDICULAR(vp, v, n) \
	{ \			{ \
	GREAL dot = VEC_DOT(v, n); \			GREAL dot = VEC_DOT(v, n); \
	vp[0] = (v)[0] - dot*(n)[0]; \			vp[0] = (v)[0] - dot * (n)[0]; \
	vp[1] = (v)[1] - dot*(n)[1]; \			vp[1] = (v)[1] - dot * (n)[1]; \
	vp[2] = (v)[2] - dot*(n)[2]; \			vp[2] = (v)[2] - dot * (n)[2]; \
	}\			}


	/! Vector parallel -- assumes that n is of unit length /			/! Vector parallel -- assumes that n is of unit length /
	#define VEC_PARALLEL(vp,v,n) \			#define VEC_PARALLEL(vp, v, n) \
	{ \			{ \
	GREAL dot = VEC_DOT(v, n); \			GREAL dot = VEC_DOT(v, n); \
	vp[0] = (dot) * (n)[0]; \			vp[0] = (dot) * (n)[0]; \
	vp[1] = (dot) * (n)[1]; \			vp[1] = (dot) * (n)[1]; \
	vp[2] = (dot) * (n)[2]; \			vp[2] = (dot) * (n)[2]; \
	}\			}

	/*! Same as Vector parallel -- n can have any length			/*! Same as Vector parallel -- n can have any length
	* accepts vector v, subtracts out any component perpendicular to n */			* accepts vector v, subtracts out any component perpendicular to n */
	#define VEC_PROJECT(vp,v,n) \			#define VEC_PROJECT(vp, v, n) \
	{ \			{ \
	GREAL scalar = VEC_DOT(v, n); \			GREAL scalar = VEC_DOT(v, n); \
	scalar/= VEC_DOT(n, n); \			scalar /= VEC_DOT(n, n); \
	vp[0] = (scalar) * (n)[0]; \			vp[0] = (scalar) * (n)[0]; \
	vp[1] = (scalar) * (n)[1]; \			vp[1] = (scalar) * (n)[1]; \
	vp[2] = (scalar) * (n)[2]; \			vp[2] = (scalar) * (n)[2]; \
	}\			}


	/! accepts vector v/			/! accepts vector v/
	#define VEC_UNPROJECT(vp,v,n) \			#define VEC_UNPROJECT(vp, v, n) \
	{ \			{ \
	GREAL scalar = VEC_DOT(v, n); \			GREAL scalar = VEC_DOT(v, n); \
	scalar = VEC_DOT(n, n)/scalar; \			scalar = VEC_DOT(n, n) / scalar; \
	vp[0] = (scalar) * (n)[0]; \			vp[0] = (scalar) * (n)[0]; \
	vp[1] = (scalar) * (n)[1]; \			vp[1] = (scalar) * (n)[1]; \
	vp[2] = (scalar) * (n)[2]; \			vp[2] = (scalar) * (n)[2]; \
	}\			}


	/*! Vector reflection -- assumes n is of unit length			/*! Vector reflection -- assumes n is of unit length
	Takes vector v, reflects it against reflector n, and returns vr */			Takes vector v, reflects it against reflector n, and returns vr */
	#define VEC_REFLECT(vr,v,n) \			#define VEC_REFLECT(vr, v, n) \
	{ \			{ \
	GREAL dot = VEC_DOT(v, n); \			GREAL dot = VEC_DOT(v, n); \
	vr[0] = (v)[0] - 2.0 * (dot) * (n)[0]; \			vr[0] = (v)[0] - 2.0 * (dot) * (n)[0]; \
	vr[1] = (v)[1] - 2.0 * (dot) * (n)[1]; \			vr[1] = (v)[1] - 2.0 * (dot) * (n)[1]; \
	vr[2] = (v)[2] - 2.0 * (dot) * (n)[2]; \			vr[2] = (v)[2] - 2.0 * (dot) * (n)[2]; \
	}\			}


	/*! Vector blending			/*! Vector blending
	Takes two vectors a, b, blends them together with two scalars */			Takes two vectors a, b, blends them together with two scalars */
	#define VEC_BLEND_AB(vr,sa,a,sb,b) \			#define VEC_BLEND_AB(vr, sa, a, sb, b) \
	{ \			{ \
	vr[0] = (sa) * (a)[0] + (sb) * (b)[0]; \			vr[0] = (sa) * (a)[0] + (sb) * (b)[0]; \
	vr[1] = (sa) * (a)[1] + (sb) * (b)[1]; \			vr[1] = (sa) * (a)[1] + (sb) * (b)[1]; \
	vr[2] = (sa) * (a)[2] + (sb) * (b)[2]; \			vr[2] = (sa) * (a)[2] + (sb) * (b)[2]; \
	}\			}

	/*! Vector blending			/*! Vector blending
	Takes two vectors a, b, blends them together with s <=1 */			Takes two vectors a, b, blends them together with s <=1 */
	#define VEC_BLEND(vr,a,b,s) VEC_BLEND_AB(vr,(1-s),a,s,b)			#define VEC_BLEND(vr, a, b, s) VEC_BLEND_AB(vr, (1 - s), a, s, b)

	#define VEC_SET3(a,b,op,c) a[0]=b[0] op c[0]; a[1]=b[1] op c[1]; a[2]=b[2] op c[2];			#define VEC_SET3(a, b, op, c) \
				a[0] = b[0] op c[0]; \
				a[1] = b[1] op c[1]; \
				a[2] = b[2] op c[2];

	//! Finds the bigger cartesian coordinate from a vector			//! Finds the bigger cartesian coordinate from a vector
	#define VEC_MAYOR_COORD(vec, maxc)\			#define VEC_MAYOR_COORD(vec, maxc) \
	{\			{ \
	GREAL A[] = {fabs(vec[0]),fabs(vec[1]),fabs(vec[2])};\			GREAL A[] = {fabs(vec[0]), fabs(vec[1]), fabs(vec[2])}; \
	maxc = A[0]>A[1]?(A[0]>A[2]?0:2):(A[1]>A[2]?1:2);\			maxc = A[0] > A[1] ? (A[0] > A[2] ? 0 : 2) : (A[1] > A[2] ? 1 : 2); \
	}\			}

	//! Finds the 2 smallest cartesian coordinates from a vector			//! Finds the 2 smallest cartesian coordinates from a vector
	#define VEC_MINOR_AXES(vec, i0, i1)\			#define VEC_MINOR_AXES(vec, i0, i1) \
	{\			{ \
	VEC_MAYOR_COORD(vec,i0);\			VEC_MAYOR_COORD(vec, i0); \
	i0 = (i0+1)%3;\			i0 = (i0 + 1) % 3; \
	i1 = (i0+1)%3;\			i1 = (i0 + 1) % 3; \
	}\			}




	#define VEC_EQUAL(v1,v2) (v1[0]==v2[0]&&v1[1]==v2[1]&&v1[2]==v2[2])			#define VEC_EQUAL(v1, v2) (v1[0] == v2[0] && v1[1] == v2[1] && v1[2] == v2[2])

	#define VEC_NEAR_EQUAL(v1,v2) (GIM_NEAR_EQUAL(v1[0],v2[0])&&GIM_NEAR_EQUAL(v1[1],v2[1])&&GIM_NEAR_EQUAL(v1[2],v2[2]))			#define VEC_NEAR_EQUAL(v1, v2) (GIM_NEAR_EQUAL(v1[0], v2[0]) && GIM_NEAR_EQUAL(v1[1], v2[1]) && GIM_NEAR_EQUAL(v1[2], v2[2]))


	/// Vector cross			/// Vector cross
	#define X_AXIS_CROSS_VEC(dst,src)\			#define X_AXIS_CROSS_VEC(dst, src) \
	{ \			{ \
	dst[0] = 0.0f; \			dst[0] = 0.0f; \
	dst[1] = -src[2]; \			dst[1] = -src[2]; \
	dst[2] = src[1]; \			dst[2] = src[1]; \
	}\			}

	#define Y_AXIS_CROSS_VEC(dst,src)\			#define Y_AXIS_CROSS_VEC(dst, src) \
	{ \			{ \
	dst[0] = src[2]; \			dst[0] = src[2]; \
	dst[1] = 0.0f; \			dst[1] = 0.0f; \
	dst[2] = -src[0]; \			dst[2] = -src[0]; \
	}\			}

	#define Z_AXIS_CROSS_VEC(dst,src)\			#define Z_AXIS_CROSS_VEC(dst, src) \
	{ \			{ \
	dst[0] = -src[1]; \			dst[0] = -src[1]; \
	dst[1] = src[0]; \			dst[1] = src[0]; \
	dst[2] = 0.0f; \			dst[2] = 0.0f; \
	}\			}






	/// initialize matrix			/// initialize matrix
	#define IDENTIFY_MATRIX_3X3(m) \			#define IDENTIFY_MATRIX_3X3(m) \
	{ \			{ \
	m[0][0] = 1.0; \			m[0][0] = 1.0; \
	m[0][1] = 0.0; \			m[0][1] = 0.0; \
	m[0][2] = 0.0; \			m[0][2] = 0.0; \
	\			\
	m[1][0] = 0.0; \			m[1][0] = 0.0; \
	m[1][1] = 1.0; \			m[1][1] = 1.0; \
	m[1][2] = 0.0; \			m[1][2] = 0.0; \
	\			\
	m[2][0] = 0.0; \			m[2][0] = 0.0; \
	m[2][1] = 0.0; \			m[2][1] = 0.0; \
	m[2][2] = 1.0; \			m[2][2] = 1.0; \
	}\			}

	/! initialize matrix /			/! initialize matrix /
	#define IDENTIFY_MATRIX_4X4(m) \			#define IDENTIFY_MATRIX_4X4(m) \
	{ \			{ \
	m[0][0] = 1.0; \			m[0][0] = 1.0; \
	m[0][1] = 0.0; \			m[0][1] = 0.0; \
	m[0][2] = 0.0; \			m[0][2] = 0.0; \
	m[0][3] = 0.0; \			m[0][3] = 0.0; \
	\			\
	m[1][0] = 0.0; \			m[1][0] = 0.0; \
	m[1][1] = 1.0; \			m[1][1] = 1.0; \
	m[1][2] = 0.0; \			m[1][2] = 0.0; \
	m[1][3] = 0.0; \			m[1][3] = 0.0; \
	\			\
	m[2][0] = 0.0; \			m[2][0] = 0.0; \
	m[2][1] = 0.0; \			m[2][1] = 0.0; \
	m[2][2] = 1.0; \			m[2][2] = 1.0; \
	m[2][3] = 0.0; \			m[2][3] = 0.0; \
	\			\
	m[3][0] = 0.0; \			m[3][0] = 0.0; \
	m[3][1] = 0.0; \			m[3][1] = 0.0; \
	m[3][2] = 0.0; \			m[3][2] = 0.0; \
	m[3][3] = 1.0; \			m[3][3] = 1.0; \
	}\			}

	/! initialize matrix /			/! initialize matrix /
	#define ZERO_MATRIX_4X4(m) \			#define ZERO_MATRIX_4X4(m) \
	{ \			{ \
	m[0][0] = 0.0; \			m[0][0] = 0.0; \
	m[0][1] = 0.0; \			m[0][1] = 0.0; \
	m[0][2] = 0.0; \			m[0][2] = 0.0; \
	m[0][3] = 0.0; \			m[0][3] = 0.0; \
	\			\
	m[1][0] = 0.0; \			m[1][0] = 0.0; \
	m[1][1] = 0.0; \			m[1][1] = 0.0; \
	m[1][2] = 0.0; \			m[1][2] = 0.0; \
	m[1][3] = 0.0; \			m[1][3] = 0.0; \
	\			\
	m[2][0] = 0.0; \			m[2][0] = 0.0; \
	m[2][1] = 0.0; \			m[2][1] = 0.0; \
	m[2][2] = 0.0; \			m[2][2] = 0.0; \
	m[2][3] = 0.0; \			m[2][3] = 0.0; \
	\			\
	m[3][0] = 0.0; \			m[3][0] = 0.0; \
	m[3][1] = 0.0; \			m[3][1] = 0.0; \
	m[3][2] = 0.0; \			m[3][2] = 0.0; \
	m[3][3] = 0.0; \			m[3][3] = 0.0; \
	}\			}

	/! matrix rotation X /			/! matrix rotation X /
	#define ROTX_CS(m,cosine,sine) \			#define ROTX_CS(m, cosine, sine) \
	{ \			{ \
	/* rotation about the x-axis */ \			/* rotation about the x-axis */ \
	\			\
	m[0][0] = 1.0; \			m[0][0] = 1.0; \
	m[0][1] = 0.0; \			m[0][1] = 0.0; \
	m[0][2] = 0.0; \			m[0][2] = 0.0; \
	m[0][3] = 0.0; \			m[0][3] = 0.0; \
	\			\
	m[1][0] = 0.0; \			m[1][0] = 0.0; \
	m[1][1] = (cosine); \			m[1][1] = (cosine); \
	m[1][2] = (sine); \			m[1][2] = (sine); \
	m[1][3] = 0.0; \			m[1][3] = 0.0; \
	\			\
	m[2][0] = 0.0; \			m[2][0] = 0.0; \
	m[2][1] = -(sine); \			m[2][1] = -(sine); \
	m[2][2] = (cosine); \			m[2][2] = (cosine); \
	m[2][3] = 0.0; \			m[2][3] = 0.0; \
	\			\
	m[3][0] = 0.0; \			m[3][0] = 0.0; \
	m[3][1] = 0.0; \			m[3][1] = 0.0; \
	m[3][2] = 0.0; \			m[3][2] = 0.0; \
	m[3][3] = 1.0; \			m[3][3] = 1.0; \
	}\			}

	/! matrix rotation Y /			/! matrix rotation Y /
	#define ROTY_CS(m,cosine,sine) \			#define ROTY_CS(m, cosine, sine) \
	{ \			{ \
	/* rotation about the y-axis */ \			/* rotation about the y-axis */ \
	\			\
	m[0][0] = (cosine); \			m[0][0] = (cosine); \
	m[0][1] = 0.0; \			m[0][1] = 0.0; \
	m[0][2] = -(sine); \			m[0][2] = -(sine); \
	m[0][3] = 0.0; \			m[0][3] = 0.0; \
	\			\
	m[1][0] = 0.0; \			m[1][0] = 0.0; \
	m[1][1] = 1.0; \			m[1][1] = 1.0; \
	m[1][2] = 0.0; \			m[1][2] = 0.0; \
	m[1][3] = 0.0; \			m[1][3] = 0.0; \
	\			\
	m[2][0] = (sine); \			m[2][0] = (sine); \
	m[2][1] = 0.0; \			m[2][1] = 0.0; \
	m[2][2] = (cosine); \			m[2][2] = (cosine); \
	m[2][3] = 0.0; \			m[2][3] = 0.0; \
	\			\
	m[3][0] = 0.0; \			m[3][0] = 0.0; \
	m[3][1] = 0.0; \			m[3][1] = 0.0; \
	m[3][2] = 0.0; \			m[3][2] = 0.0; \
	m[3][3] = 1.0; \			m[3][3] = 1.0; \
	}\			}

	/! matrix rotation Z /			/! matrix rotation Z /
	#define ROTZ_CS(m,cosine,sine) \			#define ROTZ_CS(m, cosine, sine) \
	{ \			{ \
	/* rotation about the z-axis */ \			/* rotation about the z-axis */ \
	\			\
	m[0][0] = (cosine); \			m[0][0] = (cosine); \
	m[0][1] = (sine); \			m[0][1] = (sine); \
	m[0][2] = 0.0; \			m[0][2] = 0.0; \
	m[0][3] = 0.0; \			m[0][3] = 0.0; \
	\			\
	m[1][0] = -(sine); \			m[1][0] = -(sine); \
	m[1][1] = (cosine); \			m[1][1] = (cosine); \
	m[1][2] = 0.0; \			m[1][2] = 0.0; \
	m[1][3] = 0.0; \			m[1][3] = 0.0; \
	\			\
	m[2][0] = 0.0; \			m[2][0] = 0.0; \
	m[2][1] = 0.0; \			m[2][1] = 0.0; \
	m[2][2] = 1.0; \			m[2][2] = 1.0; \
	m[2][3] = 0.0; \			m[2][3] = 0.0; \
	\			\
	m[3][0] = 0.0; \			m[3][0] = 0.0; \
	m[3][1] = 0.0; \			m[3][1] = 0.0; \
	m[3][2] = 0.0; \			m[3][2] = 0.0; \
	m[3][3] = 1.0; \			m[3][3] = 1.0; \
	}\			}

	/! matrix copy /			/! matrix copy /
	#define COPY_MATRIX_2X2(b,a) \			#define COPY_MATRIX_2X2(b, a) \
	{ \			{ \
	b[0][0] = a[0][0]; \			b[0][0] = a[0][0]; \
	b[0][1] = a[0][1]; \			b[0][1] = a[0][1]; \
	\			\
	b[1][0] = a[1][0]; \			b[1][0] = a[1][0]; \
	b[1][1] = a[1][1]; \			b[1][1] = a[1][1]; \
	\			}
	}\


	/! matrix copy /			/! matrix copy /
	#define COPY_MATRIX_2X3(b,a) \			#define COPY_MATRIX_2X3(b, a) \
	{ \			{ \
	b[0][0] = a[0][0]; \			b[0][0] = a[0][0]; \
	b[0][1] = a[0][1]; \			b[0][1] = a[0][1]; \
	b[0][2] = a[0][2]; \			b[0][2] = a[0][2]; \
	\			\
	b[1][0] = a[1][0]; \			b[1][0] = a[1][0]; \
	b[1][1] = a[1][1]; \			b[1][1] = a[1][1]; \
	b[1][2] = a[1][2]; \			b[1][2] = a[1][2]; \
	}\			}


	/! matrix copy /			/! matrix copy /
	#define COPY_MATRIX_3X3(b,a) \			#define COPY_MATRIX_3X3(b, a) \
	{ \			{ \
	b[0][0] = a[0][0]; \			b[0][0] = a[0][0]; \
	b[0][1] = a[0][1]; \			b[0][1] = a[0][1]; \
	b[0][2] = a[0][2]; \			b[0][2] = a[0][2]; \
	\			\
	b[1][0] = a[1][0]; \			b[1][0] = a[1][0]; \
	b[1][1] = a[1][1]; \			b[1][1] = a[1][1]; \
	b[1][2] = a[1][2]; \			b[1][2] = a[1][2]; \
	\			\
	b[2][0] = a[2][0]; \			b[2][0] = a[2][0]; \
	b[2][1] = a[2][1]; \			b[2][1] = a[2][1]; \
	b[2][2] = a[2][2]; \			b[2][2] = a[2][2]; \
	}\			}


	/! matrix copy /			/! matrix copy /
	#define COPY_MATRIX_4X4(b,a) \			#define COPY_MATRIX_4X4(b, a) \
	{ \			{ \
	b[0][0] = a[0][0]; \			b[0][0] = a[0][0]; \
	b[0][1] = a[0][1]; \			b[0][1] = a[0][1]; \
	b[0][2] = a[0][2]; \			b[0][2] = a[0][2]; \
	b[0][3] = a[0][3]; \			b[0][3] = a[0][3]; \
	\			\
	b[1][0] = a[1][0]; \			b[1][0] = a[1][0]; \
	b[1][1] = a[1][1]; \			b[1][1] = a[1][1]; \
	b[1][2] = a[1][2]; \			b[1][2] = a[1][2]; \
	b[1][3] = a[1][3]; \			b[1][3] = a[1][3]; \
	\			\
	b[2][0] = a[2][0]; \			b[2][0] = a[2][0]; \
	b[2][1] = a[2][1]; \			b[2][1] = a[2][1]; \
	b[2][2] = a[2][2]; \			b[2][2] = a[2][2]; \
	b[2][3] = a[2][3]; \			b[2][3] = a[2][3]; \
	\			\
	b[3][0] = a[3][0]; \			b[3][0] = a[3][0]; \
	b[3][1] = a[3][1]; \			b[3][1] = a[3][1]; \
	b[3][2] = a[3][2]; \			b[3][2] = a[3][2]; \
	b[3][3] = a[3][3]; \			b[3][3] = a[3][3]; \
	}\			}


	/! matrix transpose /			/! matrix transpose /
	#define TRANSPOSE_MATRIX_2X2(b,a) \			#define TRANSPOSE_MATRIX_2X2(b, a) \
	{ \			{ \
	b[0][0] = a[0][0]; \			b[0][0] = a[0][0]; \
	b[0][1] = a[1][0]; \			b[0][1] = a[1][0]; \
	\			\
	b[1][0] = a[0][1]; \			b[1][0] = a[0][1]; \
	b[1][1] = a[1][1]; \			b[1][1] = a[1][1]; \
	}\			}


	/! matrix transpose /			/! matrix transpose /
	#define TRANSPOSE_MATRIX_3X3(b,a) \			#define TRANSPOSE_MATRIX_3X3(b, a) \
	{ \			{ \
	b[0][0] = a[0][0]; \			b[0][0] = a[0][0]; \
	b[0][1] = a[1][0]; \			b[0][1] = a[1][0]; \
	b[0][2] = a[2][0]; \			b[0][2] = a[2][0]; \
	\			\
	b[1][0] = a[0][1]; \			b[1][0] = a[0][1]; \
	b[1][1] = a[1][1]; \			b[1][1] = a[1][1]; \
	b[1][2] = a[2][1]; \			b[1][2] = a[2][1]; \
	\			\
	b[2][0] = a[0][2]; \			b[2][0] = a[0][2]; \
	b[2][1] = a[1][2]; \			b[2][1] = a[1][2]; \
	b[2][2] = a[2][2]; \			b[2][2] = a[2][2]; \
	}\			}


	/! matrix transpose /			/! matrix transpose /
	#define TRANSPOSE_MATRIX_4X4(b,a) \			#define TRANSPOSE_MATRIX_4X4(b, a) \
	{ \			{ \
	b[0][0] = a[0][0]; \			b[0][0] = a[0][0]; \
	b[0][1] = a[1][0]; \			b[0][1] = a[1][0]; \
	b[0][2] = a[2][0]; \			b[0][2] = a[2][0]; \
	b[0][3] = a[3][0]; \			b[0][3] = a[3][0]; \
	\			\
	b[1][0] = a[0][1]; \			b[1][0] = a[0][1]; \
	b[1][1] = a[1][1]; \			b[1][1] = a[1][1]; \
	b[1][2] = a[2][1]; \			b[1][2] = a[2][1]; \
	b[1][3] = a[3][1]; \			b[1][3] = a[3][1]; \
	\			\
	b[2][0] = a[0][2]; \			b[2][0] = a[0][2]; \
	b[2][1] = a[1][2]; \			b[2][1] = a[1][2]; \
	b[2][2] = a[2][2]; \			b[2][2] = a[2][2]; \
	b[2][3] = a[3][2]; \			b[2][3] = a[3][2]; \
	\			\
	b[3][0] = a[0][3]; \			b[3][0] = a[0][3]; \
	b[3][1] = a[1][3]; \			b[3][1] = a[1][3]; \
	b[3][2] = a[2][3]; \			b[3][2] = a[2][3]; \
	b[3][3] = a[3][3]; \			b[3][3] = a[3][3]; \
	}\			}


	/! multiply matrix by scalar /			/! multiply matrix by scalar /
	#define SCALE_MATRIX_2X2(b,s,a) \			#define SCALE_MATRIX_2X2(b, s, a) \
	{ \			{ \
	b[0][0] = (s) * a[0][0]; \			b[0][0] = (s)*a[0][0]; \
	b[0][1] = (s) * a[0][1]; \			b[0][1] = (s)*a[0][1]; \
	\			\
	b[1][0] = (s) * a[1][0]; \			b[1][0] = (s)*a[1][0]; \
	b[1][1] = (s) * a[1][1]; \			b[1][1] = (s)*a[1][1]; \
	}\			}


	/! multiply matrix by scalar /			/! multiply matrix by scalar /
	#define SCALE_MATRIX_3X3(b,s,a) \			#define SCALE_MATRIX_3X3(b, s, a) \
	{ \			{ \
	b[0][0] = (s) * a[0][0]; \			b[0][0] = (s)*a[0][0]; \
	b[0][1] = (s) * a[0][1]; \			b[0][1] = (s)*a[0][1]; \
	b[0][2] = (s) * a[0][2]; \			b[0][2] = (s)*a[0][2]; \
	\			\
	b[1][0] = (s) * a[1][0]; \			b[1][0] = (s)*a[1][0]; \
	b[1][1] = (s) * a[1][1]; \			b[1][1] = (s)*a[1][1]; \
	b[1][2] = (s) * a[1][2]; \			b[1][2] = (s)*a[1][2]; \
	\			\
	b[2][0] = (s) * a[2][0]; \			b[2][0] = (s)*a[2][0]; \
	b[2][1] = (s) * a[2][1]; \			b[2][1] = (s)*a[2][1]; \
	b[2][2] = (s) * a[2][2]; \			b[2][2] = (s)*a[2][2]; \
	}\			}


	/! multiply matrix by scalar /			/! multiply matrix by scalar /
	#define SCALE_MATRIX_4X4(b,s,a) \			#define SCALE_MATRIX_4X4(b, s, a) \
	{ \			{ \
	b[0][0] = (s) * a[0][0]; \			b[0][0] = (s)*a[0][0]; \
	b[0][1] = (s) * a[0][1]; \			b[0][1] = (s)*a[0][1]; \
	b[0][2] = (s) * a[0][2]; \			b[0][2] = (s)*a[0][2]; \
	b[0][3] = (s) * a[0][3]; \			b[0][3] = (s)*a[0][3]; \
	\			\
	b[1][0] = (s) * a[1][0]; \			b[1][0] = (s)*a[1][0]; \
	b[1][1] = (s) * a[1][1]; \			b[1][1] = (s)*a[1][1]; \
	b[1][2] = (s) * a[1][2]; \			b[1][2] = (s)*a[1][2]; \
	b[1][3] = (s) * a[1][3]; \			b[1][3] = (s)*a[1][3]; \
	\			\
	b[2][0] = (s) * a[2][0]; \			b[2][0] = (s)*a[2][0]; \
	b[2][1] = (s) * a[2][1]; \			b[2][1] = (s)*a[2][1]; \
	b[2][2] = (s) * a[2][2]; \			b[2][2] = (s)*a[2][2]; \
	b[2][3] = (s) * a[2][3]; \			b[2][3] = (s)*a[2][3]; \
	\			\
	b[3][0] = s * a[3][0]; \			b[3][0] = s * a[3][0]; \
	b[3][1] = s * a[3][1]; \			b[3][1] = s * a[3][1]; \
	b[3][2] = s * a[3][2]; \			b[3][2] = s * a[3][2]; \
	b[3][3] = s * a[3][3]; \			b[3][3] = s * a[3][3]; \
	}\			}


	/! multiply matrix by scalar /			/! multiply matrix by scalar /
	#define SCALE_VEC_MATRIX_2X2(b,svec,a) \			#define SCALE_VEC_MATRIX_2X2(b, svec, a) \
	{ \			{ \
	b[0][0] = svec[0] * a[0][0]; \			b[0][0] = svec[0] * a[0][0]; \
	b[1][0] = svec[0] * a[1][0]; \			b[1][0] = svec[0] * a[1][0]; \
	\			\
	b[0][1] = svec[1] * a[0][1]; \			b[0][1] = svec[1] * a[0][1]; \
	b[1][1] = svec[1] * a[1][1]; \			b[1][1] = svec[1] * a[1][1]; \
	}\			}


	/! multiply matrix by scalar. Each columns is scaled by each scalar vector component /			/! multiply matrix by scalar. Each columns is scaled by each scalar vector component /
	#define SCALE_VEC_MATRIX_3X3(b,svec,a) \			#define SCALE_VEC_MATRIX_3X3(b, svec, a) \
	{ \			{ \
	b[0][0] = svec[0] * a[0][0]; \			b[0][0] = svec[0] * a[0][0]; \
	b[1][0] = svec[0] * a[1][0]; \			b[1][0] = svec[0] * a[1][0]; \
	b[2][0] = svec[0] * a[2][0]; \			b[2][0] = svec[0] * a[2][0]; \
	\			\
	b[0][1] = svec[1] * a[0][1]; \			b[0][1] = svec[1] * a[0][1]; \
	b[1][1] = svec[1] * a[1][1]; \			b[1][1] = svec[1] * a[1][1]; \
	b[2][1] = svec[1] * a[2][1]; \			b[2][1] = svec[1] * a[2][1]; \
	\			\
	b[0][2] = svec[2] * a[0][2]; \			b[0][2] = svec[2] * a[0][2]; \
	b[1][2] = svec[2] * a[1][2]; \			b[1][2] = svec[2] * a[1][2]; \
	b[2][2] = svec[2] * a[2][2]; \			b[2][2] = svec[2] * a[2][2]; \
	}\			}


	/! multiply matrix by scalar /			/! multiply matrix by scalar /
	#define SCALE_VEC_MATRIX_4X4(b,svec,a) \			#define SCALE_VEC_MATRIX_4X4(b, svec, a) \
	{ \			{ \
	b[0][0] = svec[0] * a[0][0]; \			b[0][0] = svec[0] * a[0][0]; \
	b[1][0] = svec[0] * a[1][0]; \			b[1][0] = svec[0] * a[1][0]; \
	b[2][0] = svec[0] * a[2][0]; \			b[2][0] = svec[0] * a[2][0]; \
	b[3][0] = svec[0] * a[3][0]; \			b[3][0] = svec[0] * a[3][0]; \
	\			\
	b[0][1] = svec[1] * a[0][1]; \			b[0][1] = svec[1] * a[0][1]; \
	b[1][1] = svec[1] * a[1][1]; \			b[1][1] = svec[1] * a[1][1]; \
	b[2][1] = svec[1] * a[2][1]; \			b[2][1] = svec[1] * a[2][1]; \
	b[3][1] = svec[1] * a[3][1]; \			b[3][1] = svec[1] * a[3][1]; \
	\			\
	b[0][2] = svec[2] * a[0][2]; \			b[0][2] = svec[2] * a[0][2]; \
	b[1][2] = svec[2] * a[1][2]; \			b[1][2] = svec[2] * a[1][2]; \
	b[2][2] = svec[2] * a[2][2]; \			b[2][2] = svec[2] * a[2][2]; \
	b[3][2] = svec[2] * a[3][2]; \			b[3][2] = svec[2] * a[3][2]; \
	\			\
	b[0][3] = svec[3] * a[0][3]; \			b[0][3] = svec[3] * a[0][3]; \
	b[1][3] = svec[3] * a[1][3]; \			b[1][3] = svec[3] * a[1][3]; \
	b[2][3] = svec[3] * a[2][3]; \			b[2][3] = svec[3] * a[2][3]; \
	b[3][3] = svec[3] * a[3][3]; \			b[3][3] = svec[3] * a[3][3]; \
	}\			}


	/! multiply matrix by scalar /			/! multiply matrix by scalar /
	#define ACCUM_SCALE_MATRIX_2X2(b,s,a) \			#define ACCUM_SCALE_MATRIX_2X2(b, s, a) \
	{ \			{ \
	b[0][0] += (s) * a[0][0]; \			b[0][0] += (s)*a[0][0]; \
	b[0][1] += (s) * a[0][1]; \			b[0][1] += (s)*a[0][1]; \
	\			\
	b[1][0] += (s) * a[1][0]; \			b[1][0] += (s)*a[1][0]; \
	b[1][1] += (s) * a[1][1]; \			b[1][1] += (s)*a[1][1]; \
	}\			}


	/! multiply matrix by scalar /			/! multiply matrix by scalar /
	#define ACCUM_SCALE_MATRIX_3X3(b,s,a) \			#define ACCUM_SCALE_MATRIX_3X3(b, s, a) \
	{ \			{ \
	b[0][0] += (s) * a[0][0]; \			b[0][0] += (s)*a[0][0]; \
	b[0][1] += (s) * a[0][1]; \			b[0][1] += (s)*a[0][1]; \
	b[0][2] += (s) * a[0][2]; \			b[0][2] += (s)*a[0][2]; \
	\			\
	b[1][0] += (s) * a[1][0]; \			b[1][0] += (s)*a[1][0]; \
	b[1][1] += (s) * a[1][1]; \			b[1][1] += (s)*a[1][1]; \
	b[1][2] += (s) * a[1][2]; \			b[1][2] += (s)*a[1][2]; \
	\			\
	b[2][0] += (s) * a[2][0]; \			b[2][0] += (s)*a[2][0]; \
	b[2][1] += (s) * a[2][1]; \			b[2][1] += (s)*a[2][1]; \
	b[2][2] += (s) * a[2][2]; \			b[2][2] += (s)*a[2][2]; \
	}\			}


	/! multiply matrix by scalar /			/! multiply matrix by scalar /
	#define ACCUM_SCALE_MATRIX_4X4(b,s,a) \			#define ACCUM_SCALE_MATRIX_4X4(b, s, a) \
	{ \			{ \
	b[0][0] += (s) * a[0][0]; \			b[0][0] += (s)*a[0][0]; \
	b[0][1] += (s) * a[0][1]; \			b[0][1] += (s)*a[0][1]; \
	b[0][2] += (s) * a[0][2]; \			b[0][2] += (s)*a[0][2]; \
	b[0][3] += (s) * a[0][3]; \			b[0][3] += (s)*a[0][3]; \
	\			\
	b[1][0] += (s) * a[1][0]; \			b[1][0] += (s)*a[1][0]; \
	b[1][1] += (s) * a[1][1]; \			b[1][1] += (s)*a[1][1]; \
	b[1][2] += (s) * a[1][2]; \			b[1][2] += (s)*a[1][2]; \
	b[1][3] += (s) * a[1][3]; \			b[1][3] += (s)*a[1][3]; \
	\			\
	b[2][0] += (s) * a[2][0]; \			b[2][0] += (s)*a[2][0]; \
	b[2][1] += (s) * a[2][1]; \			b[2][1] += (s)*a[2][1]; \
	b[2][2] += (s) * a[2][2]; \			b[2][2] += (s)*a[2][2]; \
	b[2][3] += (s) * a[2][3]; \			b[2][3] += (s)*a[2][3]; \
	\			\
	b[3][0] += (s) * a[3][0]; \			b[3][0] += (s)*a[3][0]; \
	b[3][1] += (s) * a[3][1]; \			b[3][1] += (s)*a[3][1]; \
	b[3][2] += (s) * a[3][2]; \			b[3][2] += (s)*a[3][2]; \
	b[3][3] += (s) * a[3][3]; \			b[3][3] += (s)*a[3][3]; \
	}\			}

	/! matrix product /			/! matrix product /
	/! c[x][y] = a[x][0]b[0][y]+a[x][1]b[1][y]+a[x][2]b[2][y]+a[x][3]b[3][y];/			/! c[x][y] = a[x][0]b[0][y]+a[x][1]b[1][y]+a[x][2]b[2][y]+a[x][3]b[3][y];/
	#define MATRIX_PRODUCT_2X2(c,a,b) \			#define MATRIX_PRODUCT_2X2(c, a, b) \
	{ \			{ \
	c[0][0] = a[0][0]b[0][0]+a[0][1]b[1][0]; \			c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0]; \
	c[0][1] = a[0][0]b[0][1]+a[0][1]b[1][1]; \			c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1]; \
	\			\
	c[1][0] = a[1][0]b[0][0]+a[1][1]b[1][0]; \			c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0]; \
	c[1][1] = a[1][0]b[0][1]+a[1][1]b[1][1]; \			c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1]; \
	\			}
	}\

	/! matrix product /			/! matrix product /
	/! c[x][y] = a[x][0]b[0][y]+a[x][1]b[1][y]+a[x][2]b[2][y]+a[x][3]b[3][y];/			/! c[x][y] = a[x][0]b[0][y]+a[x][1]b[1][y]+a[x][2]b[2][y]+a[x][3]b[3][y];/
	#define MATRIX_PRODUCT_3X3(c,a,b) \			#define MATRIX_PRODUCT_3X3(c, a, b) \
	{ \			{ \
	c[0][0] = a[0][0]b[0][0]+a[0][1]b[1][0]+a[0][2]*b[2][0]; \			c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0]; \
	c[0][1] = a[0][0]b[0][1]+a[0][1]b[1][1]+a[0][2]*b[2][1]; \			c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1]; \
	c[0][2] = a[0][0]b[0][2]+a[0][1]b[1][2]+a[0][2]*b[2][2]; \			c[0][2] = a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2]; \
	\			\
	c[1][0] = a[1][0]b[0][0]+a[1][1]b[1][0]+a[1][2]*b[2][0]; \			c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0]; \
	c[1][1] = a[1][0]b[0][1]+a[1][1]b[1][1]+a[1][2]*b[2][1]; \			c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1]; \
	c[1][2] = a[1][0]b[0][2]+a[1][1]b[1][2]+a[1][2]*b[2][2]; \			c[1][2] = a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2]; \
	\			\
	c[2][0] = a[2][0]b[0][0]+a[2][1]b[1][0]+a[2][2]*b[2][0]; \			c[2][0] = a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0]; \
	c[2][1] = a[2][0]b[0][1]+a[2][1]b[1][1]+a[2][2]*b[2][1]; \			c[2][1] = a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1]; \
	c[2][2] = a[2][0]b[0][2]+a[2][1]b[1][2]+a[2][2]*b[2][2]; \			c[2][2] = a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2]; \
	}\			}


	/! matrix product /			/! matrix product /
	/! c[x][y] = a[x][0]b[0][y]+a[x][1]b[1][y]+a[x][2]b[2][y]+a[x][3]b[3][y];/			/! c[x][y] = a[x][0]b[0][y]+a[x][1]b[1][y]+a[x][2]b[2][y]+a[x][3]b[3][y];/
	#define MATRIX_PRODUCT_4X4(c,a,b) \			#define MATRIX_PRODUCT_4X4(c, a, b) \
	{ \			{ \
	c[0][0] = a[0][0]b[0][0]+a[0][1]b[1][0]+a[0][2]b[2][0]+a[0][3]b[3][0];\			c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0] + a[0][3] * b[3][0]; \
	c[0][1] = a[0][0]b[0][1]+a[0][1]b[1][1]+a[0][2]b[2][1]+a[0][3]b[3][1];\			c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1] + a[0][3] * b[3][1]; \
	c[0][2] = a[0][0]b[0][2]+a[0][1]b[1][2]+a[0][2]b[2][2]+a[0][3]b[3][2];\			c[0][2] = a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2] + a[0][3] * b[3][2]; \
	c[0][3] = a[0][0]b[0][3]+a[0][1]b[1][3]+a[0][2]b[2][3]+a[0][3]b[3][3];\			c[0][3] = a[0][0] * b[0][3] + a[0][1] * b[1][3] + a[0][2] * b[2][3] + a[0][3] * b[3][3]; \
	\			\
	c[1][0] = a[1][0]b[0][0]+a[1][1]b[1][0]+a[1][2]b[2][0]+a[1][3]b[3][0];\			c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0] + a[1][3] * b[3][0]; \
	c[1][1] = a[1][0]b[0][1]+a[1][1]b[1][1]+a[1][2]b[2][1]+a[1][3]b[3][1];\			c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1] + a[1][3] * b[3][1]; \
	c[1][2] = a[1][0]b[0][2]+a[1][1]b[1][2]+a[1][2]b[2][2]+a[1][3]b[3][2];\			c[1][2] = a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2] + a[1][3] * b[3][2]; \
	c[1][3] = a[1][0]b[0][3]+a[1][1]b[1][3]+a[1][2]b[2][3]+a[1][3]b[3][3];\			c[1][3] = a[1][0] * b[0][3] + a[1][1] * b[1][3] + a[1][2] * b[2][3] + a[1][3] * b[3][3]; \
	\			\
	c[2][0] = a[2][0]b[0][0]+a[2][1]b[1][0]+a[2][2]b[2][0]+a[2][3]b[3][0];\			c[2][0] = a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0] + a[2][3] * b[3][0]; \
	c[2][1] = a[2][0]b[0][1]+a[2][1]b[1][1]+a[2][2]b[2][1]+a[2][3]b[3][1];\			c[2][1] = a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1] + a[2][3] * b[3][1]; \
	c[2][2] = a[2][0]b[0][2]+a[2][1]b[1][2]+a[2][2]b[2][2]+a[2][3]b[3][2];\			c[2][2] = a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2] + a[2][3] * b[3][2]; \
	c[2][3] = a[2][0]b[0][3]+a[2][1]b[1][3]+a[2][2]b[2][3]+a[2][3]b[3][3];\			c[2][3] = a[2][0] * b[0][3] + a[2][1] * b[1][3] + a[2][2] * b[2][3] + a[2][3] * b[3][3]; \
	\			\
	c[3][0] = a[3][0]b[0][0]+a[3][1]b[1][0]+a[3][2]b[2][0]+a[3][3]b[3][0];\			c[3][0] = a[3][0] * b[0][0] + a[3][1] * b[1][0] + a[3][2] * b[2][0] + a[3][3] * b[3][0]; \
	c[3][1] = a[3][0]b[0][1]+a[3][1]b[1][1]+a[3][2]b[2][1]+a[3][3]b[3][1];\			c[3][1] = a[3][0] * b[0][1] + a[3][1] * b[1][1] + a[3][2] * b[2][1] + a[3][3] * b[3][1]; \
	c[3][2] = a[3][0]b[0][2]+a[3][1]b[1][2]+a[3][2]b[2][2]+a[3][3]b[3][2];\			c[3][2] = a[3][0] * b[0][2] + a[3][1] * b[1][2] + a[3][2] * b[2][2] + a[3][3] * b[3][2]; \
	c[3][3] = a[3][0]b[0][3]+a[3][1]b[1][3]+a[3][2]b[2][3]+a[3][3]b[3][3];\			c[3][3] = a[3][0] * b[0][3] + a[3][1] * b[1][3] + a[3][2] * b[2][3] + a[3][3] * b[3][3]; \
	}\			}


	/! matrix times vector /			/! matrix times vector /
	#define MAT_DOT_VEC_2X2(p,m,v) \			#define MAT_DOT_VEC_2X2(p, m, v) \
	{ \			{ \
	p[0] = m[0][0]v[0] + m[0][1]v[1]; \			p[0] = m[0][0] * v[0] + m[0][1] * v[1]; \
	p[1] = m[1][0]v[0] + m[1][1]v[1]; \			p[1] = m[1][0] * v[0] + m[1][1] * v[1]; \
	}\			}


	/! matrix times vector /			/! matrix times vector /
	#define MAT_DOT_VEC_3X3(p,m,v) \			#define MAT_DOT_VEC_3X3(p, m, v) \
	{ \			{ \
	p[0] = m[0][0]v[0] + m[0][1]v[1] + m[0][2]*v[2]; \			p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2]; \
	p[1] = m[1][0]v[0] + m[1][1]v[1] + m[1][2]*v[2]; \			p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2]; \
	p[2] = m[2][0]v[0] + m[2][1]v[1] + m[2][2]*v[2]; \			p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2]; \
	}\			}


	/*! matrix times vector			/*! matrix times vector
	v is a vec4f			v is a vec4f
	*/			*/
	#define MAT_DOT_VEC_4X4(p,m,v) \			#define MAT_DOT_VEC_4X4(p, m, v) \
	{ \			{ \
	p[0] = m[0][0]v[0] + m[0][1]v[1] + m[0][2]v[2] + m[0][3]v[3]; \			p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2] + m[0][3] * v[3]; \
	p[1] = m[1][0]v[0] + m[1][1]v[1] + m[1][2]v[2] + m[1][3]v[3]; \			p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2] + m[1][3] * v[3]; \
	p[2] = m[2][0]v[0] + m[2][1]v[1] + m[2][2]v[2] + m[2][3]v[3]; \			p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2] + m[2][3] * v[3]; \
	p[3] = m[3][0]v[0] + m[3][1]v[1] + m[3][2]v[2] + m[3][3]v[3]; \			p[3] = m[3][0] * v[0] + m[3][1] * v[1] + m[3][2] * v[2] + m[3][3] * v[3]; \
	}\			}

	/*! matrix times vector			/*! matrix times vector
	v is a vec3f			v is a vec3f
	and m is a mat4f<br>			and m is a mat4f<br>
	Last column is added as the position			Last column is added as the position
	*/			*/
	#define MAT_DOT_VEC_3X4(p,m,v) \			#define MAT_DOT_VEC_3X4(p, m, v) \
	{ \			{ \
	p[0] = m[0][0]v[0] + m[0][1]v[1] + m[0][2]*v[2] + m[0][3]; \			p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2] + m[0][3]; \
	p[1] = m[1][0]v[0] + m[1][1]v[1] + m[1][2]*v[2] + m[1][3]; \			p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2] + m[1][3]; \
	p[2] = m[2][0]v[0] + m[2][1]v[1] + m[2][2]*v[2] + m[2][3]; \			p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2] + m[2][3]; \
	}\			}


	/! vector transpose times matrix /			/! vector transpose times matrix /
	/! p[j] = v[0]m[0][j] + v[1]m[1][j] + v[2]m[2][j]; */			/! p[j] = v[0]m[0][j] + v[1]m[1][j] + v[2]m[2][j]; */
	#define VEC_DOT_MAT_3X3(p,v,m) \			#define VEC_DOT_MAT_3X3(p, v, m) \
	{ \			{ \
	p[0] = v[0]m[0][0] + v[1]m[1][0] + v[2]*m[2][0]; \			p[0] = v[0] * m[0][0] + v[1] * m[1][0] + v[2] * m[2][0]; \
	p[1] = v[0]m[0][1] + v[1]m[1][1] + v[2]*m[2][1]; \			p[1] = v[0] * m[0][1] + v[1] * m[1][1] + v[2] * m[2][1]; \
	p[2] = v[0]m[0][2] + v[1]m[1][2] + v[2]*m[2][2]; \			p[2] = v[0] * m[0][2] + v[1] * m[1][2] + v[2] * m[2][2]; \
	}\			}


	/! affine matrix times vector /			/! affine matrix times vector /
	/** The matrix is assumed to be an affine matrix, with last two			/** The matrix is assumed to be an affine matrix, with last two
	* entries representing a translation */			* entries representing a translation */
	#define MAT_DOT_VEC_2X3(p,m,v) \			#define MAT_DOT_VEC_2X3(p, m, v) \
	{ \			{ \
	p[0] = m[0][0]v[0] + m[0][1]v[1] + m[0][2]; \			p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2]; \
	p[1] = m[1][0]v[0] + m[1][1]v[1] + m[1][2]; \			p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2]; \
	}\			}

	//! Transform a plane			//! Transform a plane
	#define MAT_TRANSFORM_PLANE_4X4(pout,m,plane)\			#define MAT_TRANSFORM_PLANE_4X4(pout, m, plane) \
	{ \			{ \
	pout[0] = m[0][0]plane[0] + m[0][1]plane[1] + m[0][2]*plane[2];\			pout[0] = m[0][0] * plane[0] + m[0][1] * plane[1] + m[0][2] * plane[2]; \
	pout[1] = m[1][0]plane[0] + m[1][1]plane[1] + m[1][2]*plane[2];\			pout[1] = m[1][0] * plane[0] + m[1][1] * plane[1] + m[1][2] * plane[2]; \
	pout[2] = m[2][0]plane[0] + m[2][1]plane[1] + m[2][2]*plane[2];\			pout[2] = m[2][0] * plane[0] + m[2][1] * plane[1] + m[2][2] * plane[2]; \
	pout[3] = m[0][3]pout[0] + m[1][3]pout[1] + m[2][3]*pout[2] + plane[3];\			pout[3] = m[0][3] * pout[0] + m[1][3] * pout[1] + m[2][3] * pout[2] + plane[3]; \
	}\			}



	/** inverse transpose of matrix times vector			/** inverse transpose of matrix times vector
	*			*
	* This macro computes inverse transpose of matrix m,			* This macro computes inverse transpose of matrix m,
	* and multiplies vector v into it, to yeild vector p			* and multiplies vector v into it, to yeild vector p
	*			*
	* DANGER !!! Do Not use this on normal vectors!!!			* DANGER !!! Do Not use this on normal vectors!!!
	* It will leave normals the wrong length !!!			* It will leave normals the wrong length !!!
	* See macro below for use on normals.			* See macro below for use on normals.
	*/			*/
	#define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v) \			#define INV_TRANSP_MAT_DOT_VEC_2X2(p, m, v) \
	{ \			{ \
	GREAL det; \			GREAL det; \
	\			\
	det = m[0][0]m[1][1] - m[0][1]m[1][0]; \			det = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \
	p[0] = m[1][1]v[0] - m[1][0]v[1]; \			p[0] = m[1][1] * v[0] - m[1][0] * v[1]; \
	p[1] = - m[0][1]v[0] + m[0][0]v[1]; \			p[1] = -m[0][1] * v[0] + m[0][0] * v[1]; \
	\			\
	/* if matrix not singular, and not orthonormal, then renormalize */ \			/* if matrix not singular, and not orthonormal, then renormalize */ \
	if ((det!=1.0f) && (det != 0.0f)) { \			if ((det != 1.0f) && (det != 0.0f)) \
				{ \
	det = 1.0f / det; \			det = 1.0f / det; \
	p[0] *= det; \			p[0] *= det; \
	p[1] *= det; \			p[1] *= det; \
	} \			} \
	}\			}


	/** transform normal vector by inverse transpose of matrix			/** transform normal vector by inverse transpose of matrix
	* and then renormalize the vector			* and then renormalize the vector
	*			*
	* This macro computes inverse transpose of matrix m,			* This macro computes inverse transpose of matrix m,
	* and multiplies vector v into it, to yeild vector p			* and multiplies vector v into it, to yeild vector p
	* Vector p is then normalized.			* Vector p is then normalized.
	*/			*/
	#define NORM_XFORM_2X2(p,m,v) \			#define NORM_XFORM_2X2(p, m, v) \
	{ \			{ \
	GREAL len; \			GREAL len; \
	\			\
	/* do nothing if off-diagonals are zero and diagonals are \			/* do nothing if off-diagonals are zero and diagonals are \
	* equal */ \			* equal */ \
	if ((m[0][1] != 0.0) \|\| (m[1][0] != 0.0) \|\| (m[0][0] != m[1][1])) { \			if ((m[0][1] != 0.0) \|\| (m[1][0] != 0.0) \|\| (m[0][0] != m[1][1])) \
				{ \
	p[0] = m[1][1]v[0] - m[1][0]v[1]; \			p[0] = m[1][1] * v[0] - m[1][0] * v[1]; \
	p[1] = - m[0][1]v[0] + m[0][0]v[1]; \			p[1] = -m[0][1] * v[0] + m[0][0] * v[1]; \
	\			\
	len = p[0]p[0] + p[1]p[1]; \			len = p[0] * p[0] + p[1] * p[1]; \
	GIM_INV_SQRT(len,len); \			GIM_INV_SQRT(len, len); \
	p[0] *= len; \			p[0] *= len; \
	p[1] *= len; \			p[1] *= len; \
	} else { \
	VEC_COPY_2 (p, v); \
	} \			} \
				else \
				{ \
				VEC_COPY_2(p, v); \
	}\			} \
				}

	/** outer product of vector times vector transpose			/** outer product of vector times vector transpose
	*			*
	* The outer product of vector v and vector transpose t yeilds			* The outer product of vector v and vector transpose t yeilds
	* dyadic matrix m.			* dyadic matrix m.
	*/			*/
	#define OUTER_PRODUCT_2X2(m,v,t) \			#define OUTER_PRODUCT_2X2(m, v, t) \
	{ \			{ \
	m[0][0] = v[0] * t[0]; \			m[0][0] = v[0] * t[0]; \
	m[0][1] = v[0] * t[1]; \			m[0][1] = v[0] * t[1]; \
	\			\
	m[1][0] = v[1] * t[0]; \			m[1][0] = v[1] * t[0]; \
	m[1][1] = v[1] * t[1]; \			m[1][1] = v[1] * t[1]; \
	}\			}


	/** outer product of vector times vector transpose			/** outer product of vector times vector transpose
	*			*
	* The outer product of vector v and vector transpose t yeilds			* The outer product of vector v and vector transpose t yeilds
	* dyadic matrix m.			* dyadic matrix m.
	*/			*/
	#define OUTER_PRODUCT_3X3(m,v,t) \			#define OUTER_PRODUCT_3X3(m, v, t) \
	{ \			{ \
	m[0][0] = v[0] * t[0]; \			m[0][0] = v[0] * t[0]; \
	m[0][1] = v[0] * t[1]; \			m[0][1] = v[0] * t[1]; \
	m[0][2] = v[0] * t[2]; \			m[0][2] = v[0] * t[2]; \
	\			\
	m[1][0] = v[1] * t[0]; \			m[1][0] = v[1] * t[0]; \
	m[1][1] = v[1] * t[1]; \			m[1][1] = v[1] * t[1]; \
	m[1][2] = v[1] * t[2]; \			m[1][2] = v[1] * t[2]; \
	\			\
	m[2][0] = v[2] * t[0]; \			m[2][0] = v[2] * t[0]; \
	m[2][1] = v[2] * t[1]; \			m[2][1] = v[2] * t[1]; \
	m[2][2] = v[2] * t[2]; \			m[2][2] = v[2] * t[2]; \
	}\			}


	/** outer product of vector times vector transpose			/** outer product of vector times vector transpose
	*			*
	* The outer product of vector v and vector transpose t yeilds			* The outer product of vector v and vector transpose t yeilds
	* dyadic matrix m.			* dyadic matrix m.
	*/			*/
	#define OUTER_PRODUCT_4X4(m,v,t) \			#define OUTER_PRODUCT_4X4(m, v, t) \
	{ \			{ \
	m[0][0] = v[0] * t[0]; \			m[0][0] = v[0] * t[0]; \
	m[0][1] = v[0] * t[1]; \			m[0][1] = v[0] * t[1]; \
	m[0][2] = v[0] * t[2]; \			m[0][2] = v[0] * t[2]; \
	m[0][3] = v[0] * t[3]; \			m[0][3] = v[0] * t[3]; \
	\			\
	m[1][0] = v[1] * t[0]; \			m[1][0] = v[1] * t[0]; \
	m[1][1] = v[1] * t[1]; \			m[1][1] = v[1] * t[1]; \
	m[1][2] = v[1] * t[2]; \			m[1][2] = v[1] * t[2]; \
	m[1][3] = v[1] * t[3]; \			m[1][3] = v[1] * t[3]; \
	\			\
	m[2][0] = v[2] * t[0]; \			m[2][0] = v[2] * t[0]; \
	m[2][1] = v[2] * t[1]; \			m[2][1] = v[2] * t[1]; \
	m[2][2] = v[2] * t[2]; \			m[2][2] = v[2] * t[2]; \
	m[2][3] = v[2] * t[3]; \			m[2][3] = v[2] * t[3]; \
	\			\
	m[3][0] = v[3] * t[0]; \			m[3][0] = v[3] * t[0]; \
	m[3][1] = v[3] * t[1]; \			m[3][1] = v[3] * t[1]; \
	m[3][2] = v[3] * t[2]; \			m[3][2] = v[3] * t[2]; \
	m[3][3] = v[3] * t[3]; \			m[3][3] = v[3] * t[3]; \
	}\			}


	/** outer product of vector times vector transpose			/** outer product of vector times vector transpose
	*			*
	* The outer product of vector v and vector transpose t yeilds			* The outer product of vector v and vector transpose t yeilds
	* dyadic matrix m.			* dyadic matrix m.
	*/			*/
	#define ACCUM_OUTER_PRODUCT_2X2(m,v,t) \			#define ACCUM_OUTER_PRODUCT_2X2(m, v, t) \
	{ \			{ \
	m[0][0] += v[0] * t[0]; \			m[0][0] += v[0] * t[0]; \
	m[0][1] += v[0] * t[1]; \			m[0][1] += v[0] * t[1]; \
	\			\
	m[1][0] += v[1] * t[0]; \			m[1][0] += v[1] * t[0]; \
	m[1][1] += v[1] * t[1]; \			m[1][1] += v[1] * t[1]; \
	}\			}


	/** outer product of vector times vector transpose			/** outer product of vector times vector transpose
	*			*
	* The outer product of vector v and vector transpose t yeilds			* The outer product of vector v and vector transpose t yeilds
	* dyadic matrix m.			* dyadic matrix m.
	*/			*/
	#define ACCUM_OUTER_PRODUCT_3X3(m,v,t) \			#define ACCUM_OUTER_PRODUCT_3X3(m, v, t) \
	{ \			{ \
	m[0][0] += v[0] * t[0]; \			m[0][0] += v[0] * t[0]; \
	m[0][1] += v[0] * t[1]; \			m[0][1] += v[0] * t[1]; \
	m[0][2] += v[0] * t[2]; \			m[0][2] += v[0] * t[2]; \
	\			\
	m[1][0] += v[1] * t[0]; \			m[1][0] += v[1] * t[0]; \
	m[1][1] += v[1] * t[1]; \			m[1][1] += v[1] * t[1]; \
	m[1][2] += v[1] * t[2]; \			m[1][2] += v[1] * t[2]; \
	\			\
	m[2][0] += v[2] * t[0]; \			m[2][0] += v[2] * t[0]; \
	m[2][1] += v[2] * t[1]; \			m[2][1] += v[2] * t[1]; \
	m[2][2] += v[2] * t[2]; \			m[2][2] += v[2] * t[2]; \
	}\			}


	/** outer product of vector times vector transpose			/** outer product of vector times vector transpose
	*			*
	* The outer product of vector v and vector transpose t yeilds			* The outer product of vector v and vector transpose t yeilds
	* dyadic matrix m.			* dyadic matrix m.
	*/			*/
	#define ACCUM_OUTER_PRODUCT_4X4(m,v,t) \			#define ACCUM_OUTER_PRODUCT_4X4(m, v, t) \
	{ \			{ \
	m[0][0] += v[0] * t[0]; \			m[0][0] += v[0] * t[0]; \
	m[0][1] += v[0] * t[1]; \			m[0][1] += v[0] * t[1]; \
	m[0][2] += v[0] * t[2]; \			m[0][2] += v[0] * t[2]; \
	m[0][3] += v[0] * t[3]; \			m[0][3] += v[0] * t[3]; \
	\			\
	m[1][0] += v[1] * t[0]; \			m[1][0] += v[1] * t[0]; \
	m[1][1] += v[1] * t[1]; \			m[1][1] += v[1] * t[1]; \
	m[1][2] += v[1] * t[2]; \			m[1][2] += v[1] * t[2]; \
	m[1][3] += v[1] * t[3]; \			m[1][3] += v[1] * t[3]; \
	\			\
	m[2][0] += v[2] * t[0]; \			m[2][0] += v[2] * t[0]; \
	m[2][1] += v[2] * t[1]; \			m[2][1] += v[2] * t[1]; \
	m[2][2] += v[2] * t[2]; \			m[2][2] += v[2] * t[2]; \
	m[2][3] += v[2] * t[3]; \			m[2][3] += v[2] * t[3]; \
	\			\
	m[3][0] += v[3] * t[0]; \			m[3][0] += v[3] * t[0]; \
	m[3][1] += v[3] * t[1]; \			m[3][1] += v[3] * t[1]; \
	m[3][2] += v[3] * t[2]; \			m[3][2] += v[3] * t[2]; \
	m[3][3] += v[3] * t[3]; \			m[3][3] += v[3] * t[3]; \
	}\			}


	/** determinant of matrix			/** determinant of matrix
	*			*
	* Computes determinant of matrix m, returning d			* Computes determinant of matrix m, returning d
	*/			*/
	#define DETERMINANT_2X2(d,m) \			#define DETERMINANT_2X2(d, m) \
	{ \			{ \
	d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \			d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \
	}\			}


	/** determinant of matrix			/** determinant of matrix
	*			*
	* Computes determinant of matrix m, returning d			* Computes determinant of matrix m, returning d
	*/			*/
	#define DETERMINANT_3X3(d,m) \			#define DETERMINANT_3X3(d, m) \
	{ \			{ \
	d = m[0][0] * (m[1][1]m[2][2] - m[1][2] m[2][1]); \			d = m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); \
	d -= m[0][1] * (m[1][0]m[2][2] - m[1][2] m[2][0]); \			d -= m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0]); \
	d += m[0][2] * (m[1][0]m[2][1] - m[1][1] m[2][0]); \			d += m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \
	}\			}


	/** i,j,th cofactor of a 4x4 matrix			/** i,j,th cofactor of a 4x4 matrix
	*			*
	*/			*/
	#define COFACTOR_4X4_IJ(fac,m,i,j) \			#define COFACTOR_4X4_IJ(fac, m, i, j) \
	{ \			{ \
	GUINT __ii[4], __jj[4], __k; \			GUINT __ii[4], __jj[4], __k; \
	\			\
	for (__k=0; __k<i; __k++) __ii[__k] = __k; \			for (__k = 0; __k < i; __k++) __ii[__k] = __k; \
	for (__k=i; __k<3; __k++) __ii[__k] = __k+1; \			for (__k = i; __k < 3; __k++) __ii[__k] = __k + 1; \
	for (__k=0; __k<j; __k++) __jj[__k] = __k; \			for (__k = 0; __k < j; __k++) __jj[__k] = __k; \
	for (__k=j; __k<3; __k++) __jj[__k] = __k+1; \			for (__k = j; __k < 3; __k++) __jj[__k] = __k + 1; \
	\			\
	(fac) = m[__ii[0]][__jj[0]] * (m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[2]] \			(fac) = m[__ii[0]][__jj[0]] * (m[__ii[1]][__jj[1]] * m[__ii[2]][__jj[2]] - m[__ii[1]][__jj[2]] * m[__ii[2]][__jj[1]]); \
	- m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[1]]); \			(fac) -= m[__ii[0]][__jj[1]] * (m[__ii[1]][__jj[0]] * m[__ii[2]][__jj[2]] - m[__ii[1]][__jj[2]] * m[__ii[2]][__jj[0]]); \
	(fac) -= m[__ii[0]][__jj[1]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[2]] \			(fac) += m[__ii[0]][__jj[2]] * (m[__ii[1]][__jj[0]] * m[__ii[2]][__jj[1]] - m[__ii[1]][__jj[1]] * m[__ii[2]][__jj[0]]); \
	- m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[0]]);\
	(fac) += m[__ii[0]][__jj[2]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[1]] \
	- m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[0]]);\
	\			\
	__k = i+j; \			__k = i + j; \
	if ( __k != (__k/2)*2) { \			if (__k != (__k / 2) * 2) \
				{ \
	(fac) = -(fac); \			(fac) = -(fac); \
	} \			} \
	}\			}


	/** determinant of matrix			/** determinant of matrix
	*			*
	* Computes determinant of matrix m, returning d			* Computes determinant of matrix m, returning d
	*/			*/
	#define DETERMINANT_4X4(d,m) \			#define DETERMINANT_4X4(d, m) \
	{ \			{ \
	GREAL cofac; \			GREAL cofac; \
	COFACTOR_4X4_IJ (cofac, m, 0, 0); \			COFACTOR_4X4_IJ(cofac, m, 0, 0); \
	d = m[0][0] * cofac; \			d = m[0][0] * cofac; \
	COFACTOR_4X4_IJ (cofac, m, 0, 1); \			COFACTOR_4X4_IJ(cofac, m, 0, 1); \
	d += m[0][1] * cofac; \			d += m[0][1] * cofac; \
	COFACTOR_4X4_IJ (cofac, m, 0, 2); \			COFACTOR_4X4_IJ(cofac, m, 0, 2); \
	d += m[0][2] * cofac; \			d += m[0][2] * cofac; \
	COFACTOR_4X4_IJ (cofac, m, 0, 3); \			COFACTOR_4X4_IJ(cofac, m, 0, 3); \
	d += m[0][3] * cofac; \			d += m[0][3] * cofac; \
	}\			}


	/** cofactor of matrix			/** cofactor of matrix
	*			*
	* Computes cofactor of matrix m, returning a			* Computes cofactor of matrix m, returning a
	*/			*/
	#define COFACTOR_2X2(a,m) \			#define COFACTOR_2X2(a, m) \
	{ \			{ \
	a[0][0] = (m)[1][1]; \			a[0][0] = (m)[1][1]; \
	a[0][1] = - (m)[1][0]; \			a[0][1] = -(m)[1][0]; \
	a[1][0] = - (m)[0][1]; \			a[1][0] = -(m)[0][1]; \
	a[1][1] = (m)[0][0]; \			a[1][1] = (m)[0][0]; \
	}\			}


	/** cofactor of matrix			/** cofactor of matrix
	*			*
	* Computes cofactor of matrix m, returning a			* Computes cofactor of matrix m, returning a
	*/			*/
	#define COFACTOR_3X3(a,m) \			#define COFACTOR_3X3(a, m) \
	{ \			{ \
	a[0][0] = m[1][1]m[2][2] - m[1][2]m[2][1]; \			a[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1]; \
	a[0][1] = - (m[1][0]m[2][2] - m[2][0]m[1][2]); \			a[0][1] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]); \
	a[0][2] = m[1][0]m[2][1] - m[1][1]m[2][0]; \			a[0][2] = m[1][0] * m[2][1] - m[1][1] * m[2][0]; \
	a[1][0] = - (m[0][1]m[2][2] - m[0][2]m[2][1]); \			a[1][0] = -(m[0][1] * m[2][2] - m[0][2] * m[2][1]); \
	a[1][1] = m[0][0]m[2][2] - m[0][2]m[2][0]; \			a[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0]; \
	a[1][2] = - (m[0][0]m[2][1] - m[0][1]m[2][0]); \			a[1][2] = -(m[0][0] * m[2][1] - m[0][1] * m[2][0]); \
	a[2][0] = m[0][1]m[1][2] - m[0][2]m[1][1]; \			a[2][0] = m[0][1] * m[1][2] - m[0][2] * m[1][1]; \
	a[2][1] = - (m[0][0]m[1][2] - m[0][2]m[1][0]); \			a[2][1] = -(m[0][0] * m[1][2] - m[0][2] * m[1][0]); \
	a[2][2] = m[0][0]m[1][1] - m[0][1]m[1][0]); \			a[2][2] = m[0][0]m[1][1] - m[0][1]m[1][0]); \
	}\			}


	/** cofactor of matrix			/** cofactor of matrix
	*			*
	* Computes cofactor of matrix m, returning a			* Computes cofactor of matrix m, returning a
	*/			*/
	#define COFACTOR_4X4(a,m) \			#define COFACTOR_4X4(a, m) \
	{ \			{ \
	int i,j; \			int i, j; \
	\			\
	for (i=0; i<4; i++) { \			for (i = 0; i < 4; i++) \
	for (j=0; j<4; j++) { \			{ \
				for (j = 0; j < 4; j++) \
				{ \
	COFACTOR_4X4_IJ (a[i][j], m, i, j); \			COFACTOR_4X4_IJ(a[i][j], m, i, j); \
	} \			} \
	} \			} \
	}\			}


	/** adjoint of matrix			/** adjoint of matrix
	*			*
	* Computes adjoint of matrix m, returning a			* Computes adjoint of matrix m, returning a
	* (Note that adjoint is just the transpose of the cofactor matrix)			* (Note that adjoint is just the transpose of the cofactor matrix)
	*/			*/
	#define ADJOINT_2X2(a,m) \			#define ADJOINT_2X2(a, m) \
	{ \			{ \
	a[0][0] = (m)[1][1]; \			a[0][0] = (m)[1][1]; \
	a[1][0] = - (m)[1][0]; \			a[1][0] = -(m)[1][0]; \
	a[0][1] = - (m)[0][1]; \			a[0][1] = -(m)[0][1]; \
	a[1][1] = (m)[0][0]; \			a[1][1] = (m)[0][0]; \
	}\			}


	/** adjoint of matrix			/** adjoint of matrix
	*			*
	* Computes adjoint of matrix m, returning a			* Computes adjoint of matrix m, returning a
	* (Note that adjoint is just the transpose of the cofactor matrix)			* (Note that adjoint is just the transpose of the cofactor matrix)
	*/			*/
	#define ADJOINT_3X3(a,m) \			#define ADJOINT_3X3(a, m) \
	{ \			{ \
	a[0][0] = m[1][1]m[2][2] - m[1][2]m[2][1]; \			a[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1]; \
	a[1][0] = - (m[1][0]m[2][2] - m[2][0]m[1][2]); \			a[1][0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]); \
	a[2][0] = m[1][0]m[2][1] - m[1][1]m[2][0]; \			a[2][0] = m[1][0] * m[2][1] - m[1][1] * m[2][0]; \
	a[0][1] = - (m[0][1]m[2][2] - m[0][2]m[2][1]); \			a[0][1] = -(m[0][1] * m[2][2] - m[0][2] * m[2][1]); \
	a[1][1] = m[0][0]m[2][2] - m[0][2]m[2][0]; \			a[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0]; \
	a[2][1] = - (m[0][0]m[2][1] - m[0][1]m[2][0]); \			a[2][1] = -(m[0][0] * m[2][1] - m[0][1] * m[2][0]); \
	a[0][2] = m[0][1]m[1][2] - m[0][2]m[1][1]; \			a[0][2] = m[0][1] * m[1][2] - m[0][2] * m[1][1]; \
	a[1][2] = - (m[0][0]m[1][2] - m[0][2]m[1][0]); \			a[1][2] = -(m[0][0] * m[1][2] - m[0][2] * m[1][0]); \
	a[2][2] = m[0][0]m[1][1] - m[0][1]m[1][0]); \			a[2][2] = m[0][0]m[1][1] - m[0][1]m[1][0]); \
	}\			}


	/** adjoint of matrix			/** adjoint of matrix
	*			*
	* Computes adjoint of matrix m, returning a			* Computes adjoint of matrix m, returning a
	* (Note that adjoint is just the transpose of the cofactor matrix)			* (Note that adjoint is just the transpose of the cofactor matrix)
	*/			*/
	#define ADJOINT_4X4(a,m) \			#define ADJOINT_4X4(a, m) \
	{ \			{ \
	char _i_,_j_; \			char _i_, _j_; \
	\			\
	for (_i_=0; _i_<4; _i_++) { \			for (_i_ = 0; _i_ < 4; _i_++) \
	for (_j_=0; _j_<4; _j_++) { \			{ \
				for (_j_ = 0; _j_ < 4; _j_++) \
				{ \
	COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_); \			COFACTOR_4X4_IJ(a[_j_][_i_], m, _i_, _j_); \
	} \			} \
	} \			} \
	}\			}


	/** compute adjoint of matrix and scale			/** compute adjoint of matrix and scale
	*			*
	* Computes adjoint of matrix m, scales it by s, returning a			* Computes adjoint of matrix m, scales it by s, returning a
	*/			*/
	#define SCALE_ADJOINT_2X2(a,s,m) \			#define SCALE_ADJOINT_2X2(a, s, m) \
	{ \			{ \
	a[0][0] = (s) * m[1][1]; \			a[0][0] = (s)*m[1][1]; \
	a[1][0] = - (s) * m[1][0]; \			a[1][0] = -(s)*m[1][0]; \
	a[0][1] = - (s) * m[0][1]; \			a[0][1] = -(s)*m[0][1]; \
	a[1][1] = (s) * m[0][0]; \			a[1][1] = (s)*m[0][0]; \
	}\			}


	/** compute adjoint of matrix and scale			/** compute adjoint of matrix and scale
	*			*
	* Computes adjoint of matrix m, scales it by s, returning a			* Computes adjoint of matrix m, scales it by s, returning a
	*/			*/
	#define SCALE_ADJOINT_3X3(a,s,m) \			#define SCALE_ADJOINT_3X3(a, s, m) \
	{ \			{ \
	a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); \			a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); \
	a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]); \			a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]); \
	a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \			a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \
	\			\
	a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]); \			a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]); \
	a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]); \			a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]); \
	a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]); \			a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]); \
	\			\
	a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]); \			a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]); \
	a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]); \			a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]); \
	a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]); \			a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]); \
	}\			}


	/** compute adjoint of matrix and scale			/** compute adjoint of matrix and scale
	*			*
	* Computes adjoint of matrix m, scales it by s, returning a			* Computes adjoint of matrix m, scales it by s, returning a
	*/			*/
	#define SCALE_ADJOINT_4X4(a,s,m) \			#define SCALE_ADJOINT_4X4(a, s, m) \
	{ \			{ \
	char _i_,_j_; \			char _i_, _j_; \
	for (_i_=0; _i_<4; _i_++) { \			for (_i_ = 0; _i_ < 4; _i_++) \
	for (_j_=0; _j_<4; _j_++) { \			{ \
				for (_j_ = 0; _j_ < 4; _j_++) \
				{ \
	COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_); \			COFACTOR_4X4_IJ(a[_j_][_i_], m, _i_, _j_); \
	a[_j_][_i_] *= s; \			a[_j_][_i_] *= s; \
	} \			} \
	} \			} \
	}\			}

	/** inverse of matrix			/** inverse of matrix
	*			*
	* Compute inverse of matrix a, returning determinant m and			* Compute inverse of matrix a, returning determinant m and
	* inverse b			* inverse b
	*/			*/
	#define INVERT_2X2(b,det,a) \			#define INVERT_2X2(b, det, a) \
	{ \			{ \
	GREAL _tmp_; \			GREAL _tmp_; \
	DETERMINANT_2X2 (det, a); \			DETERMINANT_2X2(det, a); \
	_tmp_ = 1.0 / (det); \			_tmp_ = 1.0 / (det); \
	SCALE_ADJOINT_2X2 (b, _tmp_, a); \			SCALE_ADJOINT_2X2(b, _tmp_, a); \
	}\			}


	/** inverse of matrix			/** inverse of matrix
	*			*
	* Compute inverse of matrix a, returning determinant m and			* Compute inverse of matrix a, returning determinant m and
	* inverse b			* inverse b
	*/			*/
	#define INVERT_3X3(b,det,a) \			#define INVERT_3X3(b, det, a) \
	{ \			{ \
	GREAL _tmp_; \			GREAL _tmp_; \
	DETERMINANT_3X3 (det, a); \			DETERMINANT_3X3(det, a); \
	_tmp_ = 1.0 / (det); \			_tmp_ = 1.0 / (det); \
	SCALE_ADJOINT_3X3 (b, _tmp_, a); \			SCALE_ADJOINT_3X3(b, _tmp_, a); \
	}\			}


	/** inverse of matrix			/** inverse of matrix
	*			*
	* Compute inverse of matrix a, returning determinant m and			* Compute inverse of matrix a, returning determinant m and
	* inverse b			* inverse b
	*/			*/
	#define INVERT_4X4(b,det,a) \			#define INVERT_4X4(b, det, a) \
	{ \			{ \
	GREAL _tmp_; \			GREAL _tmp_; \
	DETERMINANT_4X4 (det, a); \			DETERMINANT_4X4(det, a); \
	_tmp_ = 1.0 / (det); \			_tmp_ = 1.0 / (det); \
	SCALE_ADJOINT_4X4 (b, _tmp_, a); \			SCALE_ADJOINT_4X4(b, _tmp_, a); \
	}\			}

	//! Get the triple(3) row of a transform matrix			//! Get the triple(3) row of a transform matrix
	#define MAT_GET_ROW(mat,vec3,rowindex)\			#define MAT_GET_ROW(mat, vec3, rowindex) \
	{\			{ \
	vec3[0] = mat[rowindex][0];\			vec3[0] = mat[rowindex][0]; \
	vec3[1] = mat[rowindex][1];\			vec3[1] = mat[rowindex][1]; \
	vec3[2] = mat[rowindex][2]; \			vec3[2] = mat[rowindex][2]; \
	}\			}

	//! Get the tuple(2) row of a transform matrix			//! Get the tuple(2) row of a transform matrix
	#define MAT_GET_ROW2(mat,vec2,rowindex)\			#define MAT_GET_ROW2(mat, vec2, rowindex) \
	{\			{ \
	vec2[0] = mat[rowindex][0];\			vec2[0] = mat[rowindex][0]; \
	vec2[1] = mat[rowindex][1];\			vec2[1] = mat[rowindex][1]; \
	}\			}


	//! Get the quad (4) row of a transform matrix			//! Get the quad (4) row of a transform matrix
	#define MAT_GET_ROW4(mat,vec4,rowindex)\			#define MAT_GET_ROW4(mat, vec4, rowindex) \
	{\			{ \
	vec4[0] = mat[rowindex][0];\			vec4[0] = mat[rowindex][0]; \
	vec4[1] = mat[rowindex][1];\			vec4[1] = mat[rowindex][1]; \
	vec4[2] = mat[rowindex][2];\			vec4[2] = mat[rowindex][2]; \
	vec4[3] = mat[rowindex][3];\			vec4[3] = mat[rowindex][3]; \
	}\			}

	//! Get the triple(3) col of a transform matrix			//! Get the triple(3) col of a transform matrix
	#define MAT_GET_COL(mat,vec3,colindex)\			#define MAT_GET_COL(mat, vec3, colindex) \
	{\			{ \
	vec3[0] = mat[0][colindex];\			vec3[0] = mat[0][colindex]; \
	vec3[1] = mat[1][colindex];\			vec3[1] = mat[1][colindex]; \
	vec3[2] = mat[2][colindex]; \			vec3[2] = mat[2][colindex]; \
	}\			}

	//! Get the tuple(2) col of a transform matrix			//! Get the tuple(2) col of a transform matrix
	#define MAT_GET_COL2(mat,vec2,colindex)\			#define MAT_GET_COL2(mat, vec2, colindex) \
	{\			{ \
	vec2[0] = mat[0][colindex];\			vec2[0] = mat[0][colindex]; \
	vec2[1] = mat[1][colindex];\			vec2[1] = mat[1][colindex]; \
	}\			}


	//! Get the quad (4) col of a transform matrix			//! Get the quad (4) col of a transform matrix
	#define MAT_GET_COL4(mat,vec4,colindex)\			#define MAT_GET_COL4(mat, vec4, colindex) \
	{\			{ \
	vec4[0] = mat[0][colindex];\			vec4[0] = mat[0][colindex]; \
	vec4[1] = mat[1][colindex];\			vec4[1] = mat[1][colindex]; \
	vec4[2] = mat[2][colindex];\			vec4[2] = mat[2][colindex]; \
	vec4[3] = mat[3][colindex];\			vec4[3] = mat[3][colindex]; \
	}\			}

	//! Get the triple(3) col of a transform matrix			//! Get the triple(3) col of a transform matrix
	#define MAT_GET_X(mat,vec3)\			#define MAT_GET_X(mat, vec3) \
	{\			{ \
	MAT_GET_COL(mat,vec3,0);\			MAT_GET_COL(mat, vec3, 0); \
	}\			}

	//! Get the triple(3) col of a transform matrix			//! Get the triple(3) col of a transform matrix
	#define MAT_GET_Y(mat,vec3)\			#define MAT_GET_Y(mat, vec3) \
	{\			{ \
	MAT_GET_COL(mat,vec3,1);\			MAT_GET_COL(mat, vec3, 1); \
	}\			}

	//! Get the triple(3) col of a transform matrix			//! Get the triple(3) col of a transform matrix
	#define MAT_GET_Z(mat,vec3)\			#define MAT_GET_Z(mat, vec3) \
	{\			{ \
	MAT_GET_COL(mat,vec3,2);\			MAT_GET_COL(mat, vec3, 2); \
	}\			}


	//! Get the triple(3) col of a transform matrix			//! Get the triple(3) col of a transform matrix
	#define MAT_SET_X(mat,vec3)\			#define MAT_SET_X(mat, vec3) \
	{\			{ \
	mat[0][0] = vec3[0];\			mat[0][0] = vec3[0]; \
	mat[1][0] = vec3[1];\			mat[1][0] = vec3[1]; \
	mat[2][0] = vec3[2];\			mat[2][0] = vec3[2]; \
	}\			}

	//! Get the triple(3) col of a transform matrix			//! Get the triple(3) col of a transform matrix
	#define MAT_SET_Y(mat,vec3)\			#define MAT_SET_Y(mat, vec3) \
	{\			{ \
	mat[0][1] = vec3[0];\			mat[0][1] = vec3[0]; \
	mat[1][1] = vec3[1];\			mat[1][1] = vec3[1]; \
	mat[2][1] = vec3[2];\			mat[2][1] = vec3[2]; \
	}\			}

	//! Get the triple(3) col of a transform matrix			//! Get the triple(3) col of a transform matrix
	#define MAT_SET_Z(mat,vec3)\			#define MAT_SET_Z(mat, vec3) \
	{\			{ \
	mat[0][2] = vec3[0];\			mat[0][2] = vec3[0]; \
	mat[1][2] = vec3[1];\			mat[1][2] = vec3[1]; \
	mat[2][2] = vec3[2];\			mat[2][2] = vec3[2]; \
	}\			}


	//! Get the triple(3) col of a transform matrix			//! Get the triple(3) col of a transform matrix
	#define MAT_GET_TRANSLATION(mat,vec3)\			#define MAT_GET_TRANSLATION(mat, vec3) \
	{\			{ \
	vec3[0] = mat[0][3];\			vec3[0] = mat[0][3]; \
	vec3[1] = mat[1][3];\			vec3[1] = mat[1][3]; \
	vec3[2] = mat[2][3]; \			vec3[2] = mat[2][3]; \
	}\			}

	//! Set the triple(3) col of a transform matrix			//! Set the triple(3) col of a transform matrix
	#define MAT_SET_TRANSLATION(mat,vec3)\			#define MAT_SET_TRANSLATION(mat, vec3) \
	{\			{ \
	mat[0][3] = vec3[0];\			mat[0][3] = vec3[0]; \
	mat[1][3] = vec3[1];\			mat[1][3] = vec3[1]; \
	mat[2][3] = vec3[2]; \			mat[2][3] = vec3[2]; \
	}\			}



	//! Returns the dot product between a vec3f and the row of a matrix			//! Returns the dot product between a vec3f and the row of a matrix
	#define MAT_DOT_ROW(mat,vec3,rowindex) (vec3[0]mat[rowindex][0] + vec3[1]mat[rowindex][1] + vec3[2]*mat[rowindex][2])			#define MAT_DOT_ROW(mat, vec3, rowindex) (vec3[0] * mat[rowindex][0] + vec3[1] * mat[rowindex][1] + vec3[2] * mat[rowindex][2])

	//! Returns the dot product between a vec2f and the row of a matrix			//! Returns the dot product between a vec2f and the row of a matrix
	#define MAT_DOT_ROW2(mat,vec2,rowindex) (vec2[0]mat[rowindex][0] + vec2[1]mat[rowindex][1])			#define MAT_DOT_ROW2(mat, vec2, rowindex) (vec2[0] * mat[rowindex][0] + vec2[1] * mat[rowindex][1])

	//! Returns the dot product between a vec4f and the row of a matrix			//! Returns the dot product between a vec4f and the row of a matrix
	#define MAT_DOT_ROW4(mat,vec4,rowindex) (vec4[0]mat[rowindex][0] + vec4[1]mat[rowindex][1] + vec4[2]mat[rowindex][2] + vec4[3]mat[rowindex][3])			#define MAT_DOT_ROW4(mat, vec4, rowindex) (vec4[0] * mat[rowindex][0] + vec4[1] * mat[rowindex][1] + vec4[2] * mat[rowindex][2] + vec4[3] * mat[rowindex][3])


	//! Returns the dot product between a vec3f and the col of a matrix			//! Returns the dot product between a vec3f and the col of a matrix
	#define MAT_DOT_COL(mat,vec3,colindex) (vec3[0]mat[0][colindex] + vec3[1]mat[1][colindex] + vec3[2]*mat[2][colindex])			#define MAT_DOT_COL(mat, vec3, colindex) (vec3[0] * mat[0][colindex] + vec3[1] * mat[1][colindex] + vec3[2] * mat[2][colindex])

	//! Returns the dot product between a vec2f and the col of a matrix			//! Returns the dot product between a vec2f and the col of a matrix
	#define MAT_DOT_COL2(mat,vec2,colindex) (vec2[0]mat[0][colindex] + vec2[1]mat[1][colindex])			#define MAT_DOT_COL2(mat, vec2, colindex) (vec2[0] * mat[0][colindex] + vec2[1] * mat[1][colindex])

	//! Returns the dot product between a vec4f and the col of a matrix			//! Returns the dot product between a vec4f and the col of a matrix
	#define MAT_DOT_COL4(mat,vec4,colindex) (vec4[0]mat[0][colindex] + vec4[1]mat[1][colindex] + vec4[2]mat[2][colindex] + vec4[3]mat[3][colindex])			#define MAT_DOT_COL4(mat, vec4, colindex) (vec4[0] * mat[0][colindex] + vec4[1] * mat[1][colindex] + vec4[2] * mat[2][colindex] + vec4[3] * mat[3][colindex])

	/*!Transpose matrix times vector			/*!Transpose matrix times vector
	v is a vec3f			v is a vec3f
	and m is a mat4f<br>			and m is a mat4f<br>
	*/			*/
	#define INV_MAT_DOT_VEC_3X3(p,m,v) \			#define INV_MAT_DOT_VEC_3X3(p, m, v) \
	{ \			{ \
	p[0] = MAT_DOT_COL(m,v,0); \			p[0] = MAT_DOT_COL(m, v, 0); \
	p[1] = MAT_DOT_COL(m,v,1); \			p[1] = MAT_DOT_COL(m, v, 1); \
	p[2] = MAT_DOT_COL(m,v,2); \			p[2] = MAT_DOT_COL(m, v, 2); \
	}\			}



	#endif // GIM_VECTOR_H_INCLUDED			#endif // GIM_VECTOR_H_INCLUDED