Remove unused Bullet module and thirdparty code

It has been disabled in `master` since one year (#45852) and our plan
is for Bullet, and possibly other thirdparty physics engines, to be
implemented via GDExtension so that they can be selected by the users
who need them.

1 files changed, 0 insertions, 1488 deletions

diff --git a/thirdparty/bullet/BulletCollision/Gimpact/gim_linear_math.h b/thirdparty/bullet/BulletCollision/Gimpact/gim_linear_math.h
deleted file mode 100644
index 98401a404a..0000000000
--- a/thirdparty/bullet/BulletCollision/Gimpact/gim_linear_math.h
+++ /dev/null
@@ -1,1488 +0,0 @@
-#ifndef GIM_LINEAR_H_INCLUDED
-#define GIM_LINEAR_H_INCLUDED
-
-/*! \file gim_linear_math.h
-*\author Francisco Leon Najera
-Type Independant Vector and matrix operations.
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library 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 files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_math.h"
-#include "gim_geom_types.h"
-
-//! Zero out a 2D vector
-#define VEC_ZERO_2(a)           \
-	{                           \
-		(a)[0] = (a)[1] = 0.0f; \
-	}
-
-//! Zero out a 3D vector
-#define VEC_ZERO(a)                      \
-	{                                    \
-		(a)[0] = (a)[1] = (a)[2] = 0.0f; \
-	}
-
-/// Zero out a 4D vector
-#define VEC_ZERO_4(a)                             \
-	{                                             \
-		(a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \
-	}
-
-/// Vector copy
-#define VEC_COPY_2(b, a) \
-	{                    \
-		(b)[0] = (a)[0]; \
-		(b)[1] = (a)[1]; \
-	}
-
-/// Copy 3D vector
-#define VEC_COPY(b, a)   \
-	{                    \
-		(b)[0] = (a)[0]; \
-		(b)[1] = (a)[1]; \
-		(b)[2] = (a)[2]; \
-	}
-
-/// Copy 4D vector
-#define VEC_COPY_4(b, a) \
-	{                    \
-		(b)[0] = (a)[0]; \
-		(b)[1] = (a)[1]; \
-		(b)[2] = (a)[2]; \
-		(b)[3] = (a)[3]; \
-	}
-
-/// VECTOR SWAP
-#define VEC_SWAP(b, a)                    \
-	{                                     \
-		GIM_SWAP_NUMBERS((b)[0], (a)[0]); \
-		GIM_SWAP_NUMBERS((b)[1], (a)[1]); \
-		GIM_SWAP_NUMBERS((b)[2], (a)[2]); \
-	}
-
-/// Vector difference
-#define VEC_DIFF_2(v21, v2, v1)       \
-	{                                 \
-		(v21)[0] = (v2)[0] - (v1)[0]; \
-		(v21)[1] = (v2)[1] - (v1)[1]; \
-	}
-
-/// Vector difference
-#define VEC_DIFF(v21, v2, v1)         \
-	{                                 \
-		(v21)[0] = (v2)[0] - (v1)[0]; \
-		(v21)[1] = (v2)[1] - (v1)[1]; \
-		(v21)[2] = (v2)[2] - (v1)[2]; \
-	}
-
-/// Vector difference
-#define VEC_DIFF_4(v21, v2, v1)       \
-	{                                 \
-		(v21)[0] = (v2)[0] - (v1)[0]; \
-		(v21)[1] = (v2)[1] - (v1)[1]; \
-		(v21)[2] = (v2)[2] - (v1)[2]; \
-		(v21)[3] = (v2)[3] - (v1)[3]; \
-	}
-
-/// Vector sum
-#define VEC_SUM_2(v21, v2, v1)        \
-	{                                 \
-		(v21)[0] = (v2)[0] + (v1)[0]; \
-		(v21)[1] = (v2)[1] + (v1)[1]; \
-	}
-
-/// Vector sum
-#define VEC_SUM(v21, v2, v1)          \
-	{                                 \
-		(v21)[0] = (v2)[0] + (v1)[0]; \
-		(v21)[1] = (v2)[1] + (v1)[1]; \
-		(v21)[2] = (v2)[2] + (v1)[2]; \
-	}
-
-/// Vector sum
-#define VEC_SUM_4(v21, v2, v1)        \
-	{                                 \
-		(v21)[0] = (v2)[0] + (v1)[0]; \
-		(v21)[1] = (v2)[1] + (v1)[1]; \
-		(v21)[2] = (v2)[2] + (v1)[2]; \
-		(v21)[3] = (v2)[3] + (v1)[3]; \
-	}
-
-/// scalar times vector
-#define VEC_SCALE_2(c, a, b)   \
-	{                          \
-		(c)[0] = (a) * (b)[0]; \
-		(c)[1] = (a) * (b)[1]; \
-	}
-
-/// scalar times vector
-#define VEC_SCALE(c, a, b)     \
-	{                          \
-		(c)[0] = (a) * (b)[0]; \
-		(c)[1] = (a) * (b)[1]; \
-		(c)[2] = (a) * (b)[2]; \
-	}
-
-/// scalar times vector
-#define VEC_SCALE_4(c, a, b)   \
-	{                          \
-		(c)[0] = (a) * (b)[0]; \
-		(c)[1] = (a) * (b)[1]; \
-		(c)[2] = (a) * (b)[2]; \
-		(c)[3] = (a) * (b)[3]; \
-	}
-
-/// accumulate scaled vector
-#define VEC_ACCUM_2(c, a, b)    \
-	{                           \
-		(c)[0] += (a) * (b)[0]; \
-		(c)[1] += (a) * (b)[1]; \
-	}
-
-/// accumulate scaled vector
-#define VEC_ACCUM(c, a, b)      \
-	{                           \
-		(c)[0] += (a) * (b)[0]; \
-		(c)[1] += (a) * (b)[1]; \
-		(c)[2] += (a) * (b)[2]; \
-	}
-
-/// accumulate scaled vector
-#define VEC_ACCUM_4(c, a, b)    \
-	{                           \
-		(c)[0] += (a) * (b)[0]; \
-		(c)[1] += (a) * (b)[1]; \
-		(c)[2] += (a) * (b)[2]; \
-		(c)[3] += (a) * (b)[3]; \
-	}
-
-/// Vector dot product
-#define VEC_DOT_2(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1])
-
-/// Vector dot product
-#define VEC_DOT(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] + (a)[2] * (b)[2])
-
-/// 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])
-
-/// vector impact parameter (squared)
-#define VEC_IMPACT_SQ(bsq, direction, position)              \
-	{                                                        \
-		GREAL _llel_ = VEC_DOT(direction, position);         \
-		bsq = VEC_DOT(position, position) - _llel_ * _llel_; \
-	}
-
-/// vector impact parameter
-#define VEC_IMPACT(bsq, direction, position)     \
-	{                                            \
-		VEC_IMPACT_SQ(bsq, direction, position); \
-		GIM_SQRT(bsq, bsq);                      \
-	}
-
-/// Vector length
-#define VEC_LENGTH_2(a, l)           \
-	{                                \
-		GREAL _pp = VEC_DOT_2(a, a); \
-		GIM_SQRT(_pp, l);            \
-	}
-
-/// Vector length
-#define VEC_LENGTH(a, l)           \
-	{                              \
-		GREAL _pp = VEC_DOT(a, a); \
-		GIM_SQRT(_pp, l);          \
-	}
-
-/// Vector length
-#define VEC_LENGTH_4(a, l)           \
-	{                                \
-		GREAL _pp = VEC_DOT_4(a, a); \
-		GIM_SQRT(_pp, l);            \
-	}
-
-/// Vector inv length
-#define VEC_INV_LENGTH_2(a, l)       \
-	{                                \
-		GREAL _pp = VEC_DOT_2(a, a); \
-		GIM_INV_SQRT(_pp, l);        \
-	}
-
-/// Vector inv length
-#define VEC_INV_LENGTH(a, l)       \
-	{                              \
-		GREAL _pp = VEC_DOT(a, a); \
-		GIM_INV_SQRT(_pp, l);      \
-	}
-
-/// Vector inv length
-#define VEC_INV_LENGTH_4(a, l)       \
-	{                                \
-		GREAL _pp = VEC_DOT_4(a, a); \
-		GIM_INV_SQRT(_pp, l);        \
-	}
-
-/// distance between two points
-#define VEC_DISTANCE(_len, _va, _vb) \
-	{                                \
-		vec3f _tmp_;                 \
-		VEC_DIFF(_tmp_, _vb, _va);   \
-		VEC_LENGTH(_tmp_, _len);     \
-	}
-
-/// Vector length
-#define VEC_CONJUGATE_LENGTH(a, l)                                 \
-	{                                                              \
-		GREAL _pp = 1.0 - a[0] * a[0] - a[1] * a[1] - a[2] * a[2]; \
-		GIM_SQRT(_pp, l);                                          \
-	}
-
-/// Vector length
-#define VEC_NORMALIZE(a)           \
-	{                              \
-		GREAL len;                 \
-		VEC_INV_LENGTH(a, len);    \
-		if (len < G_REAL_INFINITY) \
-		{                          \
-			a[0] *= len;           \
-			a[1] *= len;           \
-			a[2] *= len;           \
-		}                          \
-	}
-
-/// Set Vector size
-#define VEC_RENORMALIZE(a, newlen) \
-	{                              \
-		GREAL len;                 \
-		VEC_INV_LENGTH(a, len);    \
-		if (len < G_REAL_INFINITY) \
-		{                          \
-			len *= newlen;         \
-			a[0] *= len;           \
-			a[1] *= len;           \
-			a[2] *= len;           \
-		}                          \
-	}
-
-/// Vector cross
-#define VEC_CROSS(c, a, b)                        \
-	{                                             \
-		c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1]; \
-		c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2]; \
-		c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0]; \
-	}
-
-/*! Vector perp -- assumes that n is of unit length
- * accepts vector v, subtracts out any component parallel to n */
-#define VEC_PERPENDICULAR(vp, v, n)    \
-	{                                  \
-		GREAL dot = VEC_DOT(v, n);     \
-		vp[0] = (v)[0] - dot * (n)[0]; \
-		vp[1] = (v)[1] - dot * (n)[1]; \
-		vp[2] = (v)[2] - dot * (n)[2]; \
-	}
-
-/*! Vector parallel -- assumes that n is of unit length */
-#define VEC_PARALLEL(vp, v, n)     \
-	{                              \
-		GREAL dot = VEC_DOT(v, n); \
-		vp[0] = (dot) * (n)[0];    \
-		vp[1] = (dot) * (n)[1];    \
-		vp[2] = (dot) * (n)[2];    \
-	}
-
-/*! Same as Vector parallel --  n can have any length
- * accepts vector v, subtracts out any component perpendicular to n */
-#define VEC_PROJECT(vp, v, n)         \
-	{                                 \
-		GREAL scalar = VEC_DOT(v, n); \
-		scalar /= VEC_DOT(n, n);      \
-		vp[0] = (scalar) * (n)[0];    \
-		vp[1] = (scalar) * (n)[1];    \
-		vp[2] = (scalar) * (n)[2];    \
-	}
-
-/*! accepts vector v*/
-#define VEC_UNPROJECT(vp, v, n)          \
-	{                                    \
-		GREAL scalar = VEC_DOT(v, n);    \
-		scalar = VEC_DOT(n, n) / scalar; \
-		vp[0] = (scalar) * (n)[0];       \
-		vp[1] = (scalar) * (n)[1];       \
-		vp[2] = (scalar) * (n)[2];       \
-	}
-
-/*! Vector reflection -- assumes n is of unit length
- Takes vector v, reflects it against reflector n, and returns vr */
-#define VEC_REFLECT(vr, v, n)                  \
-	{                                          \
-		GREAL dot = VEC_DOT(v, n);             \
-		vr[0] = (v)[0] - 2.0 * (dot) * (n)[0]; \
-		vr[1] = (v)[1] - 2.0 * (dot) * (n)[1]; \
-		vr[2] = (v)[2] - 2.0 * (dot) * (n)[2]; \
-	}
-
-/*! Vector blending
-Takes two vectors a, b, blends them together with two scalars */
-#define VEC_BLEND_AB(vr, sa, a, sb, b)         \
-	{                                          \
-		vr[0] = (sa) * (a)[0] + (sb) * (b)[0]; \
-		vr[1] = (sa) * (a)[1] + (sb) * (b)[1]; \
-		vr[2] = (sa) * (a)[2] + (sb) * (b)[2]; \
-	}
-
-/*! Vector blending
-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_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
-#define VEC_MAYOR_COORD(vec, maxc)                                          \
-	{                                                                       \
-		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); \
-	}
-
-//! Finds the 2 smallest cartesian coordinates from a vector
-#define VEC_MINOR_AXES(vec, i0, i1) \
-	{                               \
-		VEC_MAYOR_COORD(vec, i0);   \
-		i0 = (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_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
-#define X_AXIS_CROSS_VEC(dst, src) \
-	{                              \
-		dst[0] = 0.0f;             \
-		dst[1] = -src[2];          \
-		dst[2] = src[1];           \
-	}
-
-#define Y_AXIS_CROSS_VEC(dst, src) \
-	{                              \
-		dst[0] = src[2];           \
-		dst[1] = 0.0f;             \
-		dst[2] = -src[0];          \
-	}
-
-#define Z_AXIS_CROSS_VEC(dst, src) \
-	{                              \
-		dst[0] = -src[1];          \
-		dst[1] = src[0];           \
-		dst[2] = 0.0f;             \
-	}
-
-/// initialize matrix
-#define IDENTIFY_MATRIX_3X3(m) \
-	{                          \
-		m[0][0] = 1.0;         \
-		m[0][1] = 0.0;         \
-		m[0][2] = 0.0;         \
-                               \
-		m[1][0] = 0.0;         \
-		m[1][1] = 1.0;         \
-		m[1][2] = 0.0;         \
-                               \
-		m[2][0] = 0.0;         \
-		m[2][1] = 0.0;         \
-		m[2][2] = 1.0;         \
-	}
-
-/*! initialize matrix */
-#define IDENTIFY_MATRIX_4X4(m) \
-	{                          \
-		m[0][0] = 1.0;         \
-		m[0][1] = 0.0;         \
-		m[0][2] = 0.0;         \
-		m[0][3] = 0.0;         \
-                               \
-		m[1][0] = 0.0;         \
-		m[1][1] = 1.0;         \
-		m[1][2] = 0.0;         \
-		m[1][3] = 0.0;         \
-                               \
-		m[2][0] = 0.0;         \
-		m[2][1] = 0.0;         \
-		m[2][2] = 1.0;         \
-		m[2][3] = 0.0;         \
-                               \
-		m[3][0] = 0.0;         \
-		m[3][1] = 0.0;         \
-		m[3][2] = 0.0;         \
-		m[3][3] = 1.0;         \
-	}
-
-/*! initialize matrix */
-#define ZERO_MATRIX_4X4(m) \
-	{                      \
-		m[0][0] = 0.0;     \
-		m[0][1] = 0.0;     \
-		m[0][2] = 0.0;     \
-		m[0][3] = 0.0;     \
-                           \
-		m[1][0] = 0.0;     \
-		m[1][1] = 0.0;     \
-		m[1][2] = 0.0;     \
-		m[1][3] = 0.0;     \
-                           \
-		m[2][0] = 0.0;     \
-		m[2][1] = 0.0;     \
-		m[2][2] = 0.0;     \
-		m[2][3] = 0.0;     \
-                           \
-		m[3][0] = 0.0;     \
-		m[3][1] = 0.0;     \
-		m[3][2] = 0.0;     \
-		m[3][3] = 0.0;     \
-	}
-
-/*! matrix rotation  X */
-#define ROTX_CS(m, cosine, sine)        \
-	{                                   \
-		/* rotation about the x-axis */ \
-                                        \
-		m[0][0] = 1.0;                  \
-		m[0][1] = 0.0;                  \
-		m[0][2] = 0.0;                  \
-		m[0][3] = 0.0;                  \
-                                        \
-		m[1][0] = 0.0;                  \
-		m[1][1] = (cosine);             \
-		m[1][2] = (sine);               \
-		m[1][3] = 0.0;                  \
-                                        \
-		m[2][0] = 0.0;                  \
-		m[2][1] = -(sine);              \
-		m[2][2] = (cosine);             \
-		m[2][3] = 0.0;                  \
-                                        \
-		m[3][0] = 0.0;                  \
-		m[3][1] = 0.0;                  \
-		m[3][2] = 0.0;                  \
-		m[3][3] = 1.0;                  \
-	}
-
-/*! matrix rotation  Y */
-#define ROTY_CS(m, cosine, sine)        \
-	{                                   \
-		/* rotation about the y-axis */ \
-                                        \
-		m[0][0] = (cosine);             \
-		m[0][1] = 0.0;                  \
-		m[0][2] = -(sine);              \
-		m[0][3] = 0.0;                  \
-                                        \
-		m[1][0] = 0.0;                  \
-		m[1][1] = 1.0;                  \
-		m[1][2] = 0.0;                  \
-		m[1][3] = 0.0;                  \
-                                        \
-		m[2][0] = (sine);               \
-		m[2][1] = 0.0;                  \
-		m[2][2] = (cosine);             \
-		m[2][3] = 0.0;                  \
-                                        \
-		m[3][0] = 0.0;                  \
-		m[3][1] = 0.0;                  \
-		m[3][2] = 0.0;                  \
-		m[3][3] = 1.0;                  \
-	}
-
-/*! matrix rotation  Z */
-#define ROTZ_CS(m, cosine, sine)        \
-	{                                   \
-		/* rotation about the z-axis */ \
-                                        \
-		m[0][0] = (cosine);             \
-		m[0][1] = (sine);               \
-		m[0][2] = 0.0;                  \
-		m[0][3] = 0.0;                  \
-                                        \
-		m[1][0] = -(sine);              \
-		m[1][1] = (cosine);             \
-		m[1][2] = 0.0;                  \
-		m[1][3] = 0.0;                  \
-                                        \
-		m[2][0] = 0.0;                  \
-		m[2][1] = 0.0;                  \
-		m[2][2] = 1.0;                  \
-		m[2][3] = 0.0;                  \
-                                        \
-		m[3][0] = 0.0;                  \
-		m[3][1] = 0.0;                  \
-		m[3][2] = 0.0;                  \
-		m[3][3] = 1.0;                  \
-	}
-
-/*! matrix copy */
-#define COPY_MATRIX_2X2(b, a) \
-	{                         \
-		b[0][0] = a[0][0];    \
-		b[0][1] = a[0][1];    \
-                              \
-		b[1][0] = a[1][0];    \
-		b[1][1] = a[1][1];    \
-	}
-
-/*! matrix copy */
-#define COPY_MATRIX_2X3(b, a) \
-	{                         \
-		b[0][0] = a[0][0];    \
-		b[0][1] = a[0][1];    \
-		b[0][2] = a[0][2];    \
-                              \
-		b[1][0] = a[1][0];    \
-		b[1][1] = a[1][1];    \
-		b[1][2] = a[1][2];    \
-	}
-
-/*! matrix copy */
-#define COPY_MATRIX_3X3(b, a) \
-	{                         \
-		b[0][0] = a[0][0];    \
-		b[0][1] = a[0][1];    \
-		b[0][2] = a[0][2];    \
-                              \
-		b[1][0] = a[1][0];    \
-		b[1][1] = a[1][1];    \
-		b[1][2] = a[1][2];    \
-                              \
-		b[2][0] = a[2][0];    \
-		b[2][1] = a[2][1];    \
-		b[2][2] = a[2][2];    \
-	}
-
-/*! matrix copy */
-#define COPY_MATRIX_4X4(b, a) \
-	{                         \
-		b[0][0] = a[0][0];    \
-		b[0][1] = a[0][1];    \
-		b[0][2] = a[0][2];    \
-		b[0][3] = a[0][3];    \
-                              \
-		b[1][0] = a[1][0];    \
-		b[1][1] = a[1][1];    \
-		b[1][2] = a[1][2];    \
-		b[1][3] = a[1][3];    \
-                              \
-		b[2][0] = a[2][0];    \
-		b[2][1] = a[2][1];    \
-		b[2][2] = a[2][2];    \
-		b[2][3] = a[2][3];    \
-                              \
-		b[3][0] = a[3][0];    \
-		b[3][1] = a[3][1];    \
-		b[3][2] = a[3][2];    \
-		b[3][3] = a[3][3];    \
-	}
-
-/*! matrix transpose */
-#define TRANSPOSE_MATRIX_2X2(b, a) \
-	{                              \
-		b[0][0] = a[0][0];         \
-		b[0][1] = a[1][0];         \
-                                   \
-		b[1][0] = a[0][1];         \
-		b[1][1] = a[1][1];         \
-	}
-
-/*! matrix transpose */
-#define TRANSPOSE_MATRIX_3X3(b, a) \
-	{                              \
-		b[0][0] = a[0][0];         \
-		b[0][1] = a[1][0];         \
-		b[0][2] = a[2][0];         \
-                                   \
-		b[1][0] = a[0][1];         \
-		b[1][1] = a[1][1];         \
-		b[1][2] = a[2][1];         \
-                                   \
-		b[2][0] = a[0][2];         \
-		b[2][1] = a[1][2];         \
-		b[2][2] = a[2][2];         \
-	}
-
-/*! matrix transpose */
-#define TRANSPOSE_MATRIX_4X4(b, a) \
-	{                              \
-		b[0][0] = a[0][0];         \
-		b[0][1] = a[1][0];         \
-		b[0][2] = a[2][0];         \
-		b[0][3] = a[3][0];         \
-                                   \
-		b[1][0] = a[0][1];         \
-		b[1][1] = a[1][1];         \
-		b[1][2] = a[2][1];         \
-		b[1][3] = a[3][1];         \
-                                   \
-		b[2][0] = a[0][2];         \
-		b[2][1] = a[1][2];         \
-		b[2][2] = a[2][2];         \
-		b[2][3] = a[3][2];         \
-                                   \
-		b[3][0] = a[0][3];         \
-		b[3][1] = a[1][3];         \
-		b[3][2] = a[2][3];         \
-		b[3][3] = a[3][3];         \
-	}
-
-/*! multiply matrix by scalar */
-#define SCALE_MATRIX_2X2(b, s, a) \
-	{                             \
-		b[0][0] = (s)*a[0][0];    \
-		b[0][1] = (s)*a[0][1];    \
-                                  \
-		b[1][0] = (s)*a[1][0];    \
-		b[1][1] = (s)*a[1][1];    \
-	}
-
-/*! multiply matrix by scalar */
-#define SCALE_MATRIX_3X3(b, s, a) \
-	{                             \
-		b[0][0] = (s)*a[0][0];    \
-		b[0][1] = (s)*a[0][1];    \
-		b[0][2] = (s)*a[0][2];    \
-                                  \
-		b[1][0] = (s)*a[1][0];    \
-		b[1][1] = (s)*a[1][1];    \
-		b[1][2] = (s)*a[1][2];    \
-                                  \
-		b[2][0] = (s)*a[2][0];    \
-		b[2][1] = (s)*a[2][1];    \
-		b[2][2] = (s)*a[2][2];    \
-	}
-
-/*! multiply matrix by scalar */
-#define SCALE_MATRIX_4X4(b, s, a) \
-	{                             \
-		b[0][0] = (s)*a[0][0];    \
-		b[0][1] = (s)*a[0][1];    \
-		b[0][2] = (s)*a[0][2];    \
-		b[0][3] = (s)*a[0][3];    \
-                                  \
-		b[1][0] = (s)*a[1][0];    \
-		b[1][1] = (s)*a[1][1];    \
-		b[1][2] = (s)*a[1][2];    \
-		b[1][3] = (s)*a[1][3];    \
-                                  \
-		b[2][0] = (s)*a[2][0];    \
-		b[2][1] = (s)*a[2][1];    \
-		b[2][2] = (s)*a[2][2];    \
-		b[2][3] = (s)*a[2][3];    \
-                                  \
-		b[3][0] = s * a[3][0];    \
-		b[3][1] = s * a[3][1];    \
-		b[3][2] = s * a[3][2];    \
-		b[3][3] = s * a[3][3];    \
-	}
-
-/*! multiply matrix by scalar */
-#define SCALE_VEC_MATRIX_2X2(b, svec, a) \
-	{                                    \
-		b[0][0] = svec[0] * a[0][0];     \
-		b[1][0] = svec[0] * a[1][0];     \
-                                         \
-		b[0][1] = svec[1] * a[0][1];     \
-		b[1][1] = svec[1] * a[1][1];     \
-	}
-
-/*! multiply matrix by scalar. Each columns is scaled by each scalar vector component */
-#define SCALE_VEC_MATRIX_3X3(b, svec, a) \
-	{                                    \
-		b[0][0] = svec[0] * a[0][0];     \
-		b[1][0] = svec[0] * a[1][0];     \
-		b[2][0] = svec[0] * a[2][0];     \
-                                         \
-		b[0][1] = svec[1] * a[0][1];     \
-		b[1][1] = svec[1] * a[1][1];     \
-		b[2][1] = svec[1] * a[2][1];     \
-                                         \
-		b[0][2] = svec[2] * a[0][2];     \
-		b[1][2] = svec[2] * a[1][2];     \
-		b[2][2] = svec[2] * a[2][2];     \
-	}
-
-/*! multiply matrix by scalar */
-#define SCALE_VEC_MATRIX_4X4(b, svec, a) \
-	{                                    \
-		b[0][0] = svec[0] * a[0][0];     \
-		b[1][0] = svec[0] * a[1][0];     \
-		b[2][0] = svec[0] * a[2][0];     \
-		b[3][0] = svec[0] * a[3][0];     \
-                                         \
-		b[0][1] = svec[1] * a[0][1];     \
-		b[1][1] = svec[1] * a[1][1];     \
-		b[2][1] = svec[1] * a[2][1];     \
-		b[3][1] = svec[1] * a[3][1];     \
-                                         \
-		b[0][2] = svec[2] * a[0][2];     \
-		b[1][2] = svec[2] * a[1][2];     \
-		b[2][2] = svec[2] * a[2][2];     \
-		b[3][2] = svec[2] * a[3][2];     \
-                                         \
-		b[0][3] = svec[3] * a[0][3];     \
-		b[1][3] = svec[3] * a[1][3];     \
-		b[2][3] = svec[3] * a[2][3];     \
-		b[3][3] = svec[3] * a[3][3];     \
-	}
-
-/*! multiply matrix by scalar */
-#define ACCUM_SCALE_MATRIX_2X2(b, s, a) \
-	{                                   \
-		b[0][0] += (s)*a[0][0];         \
-		b[0][1] += (s)*a[0][1];         \
-                                        \
-		b[1][0] += (s)*a[1][0];         \
-		b[1][1] += (s)*a[1][1];         \
-	}
-
-/*! multiply matrix by scalar */
-#define ACCUM_SCALE_MATRIX_3X3(b, s, a) \
-	{                                   \
-		b[0][0] += (s)*a[0][0];         \
-		b[0][1] += (s)*a[0][1];         \
-		b[0][2] += (s)*a[0][2];         \
-                                        \
-		b[1][0] += (s)*a[1][0];         \
-		b[1][1] += (s)*a[1][1];         \
-		b[1][2] += (s)*a[1][2];         \
-                                        \
-		b[2][0] += (s)*a[2][0];         \
-		b[2][1] += (s)*a[2][1];         \
-		b[2][2] += (s)*a[2][2];         \
-	}
-
-/*! multiply matrix by scalar */
-#define ACCUM_SCALE_MATRIX_4X4(b, s, a) \
-	{                                   \
-		b[0][0] += (s)*a[0][0];         \
-		b[0][1] += (s)*a[0][1];         \
-		b[0][2] += (s)*a[0][2];         \
-		b[0][3] += (s)*a[0][3];         \
-                                        \
-		b[1][0] += (s)*a[1][0];         \
-		b[1][1] += (s)*a[1][1];         \
-		b[1][2] += (s)*a[1][2];         \
-		b[1][3] += (s)*a[1][3];         \
-                                        \
-		b[2][0] += (s)*a[2][0];         \
-		b[2][1] += (s)*a[2][1];         \
-		b[2][2] += (s)*a[2][2];         \
-		b[2][3] += (s)*a[2][3];         \
-                                        \
-		b[3][0] += (s)*a[3][0];         \
-		b[3][1] += (s)*a[3][1];         \
-		b[3][2] += (s)*a[3][2];         \
-		b[3][3] += (s)*a[3][3];         \
-	}
-
-/*! 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];*/
-#define MATRIX_PRODUCT_2X2(c, a, b)                      \
-	{                                                    \
-		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[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]; \
-	}
-
-/*! 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];*/
-#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][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[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][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][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]; \
-	}
-
-/*! 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];*/
-#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][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][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][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][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][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][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][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][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 */
-#define MAT_DOT_VEC_2X2(p, m, v)                \
-	{                                           \
-		p[0] = m[0][0] * v[0] + m[0][1] * v[1]; \
-		p[1] = m[1][0] * v[0] + m[1][1] * v[1]; \
-	}
-
-/*! matrix times vector */
-#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[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]; \
-	}
-
-/*! matrix times vector
-v is a vec4f
-*/
-#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[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[3] = m[3][0] * v[0] + m[3][1] * v[1] + m[3][2] * v[2] + m[3][3] * v[3]; \
-	}
-
-/*! matrix times vector
-v is a vec3f
-and m is a mat4f<br>
-Last column is added as the position
-*/
-#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[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]; \
-	}
-
-/*! vector transpose times matrix */
-/*! 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)                                 \
-	{                                                            \
-		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[2] = v[0] * m[0][2] + v[1] * m[1][2] + v[2] * m[2][2]; \
-	}
-
-/*! affine matrix times vector */
-/** The matrix is assumed to be an affine matrix, with last two
- * entries representing a translation */
-#define MAT_DOT_VEC_2X3(p, m, v)                          \
-	{                                                     \
-		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]; \
-	}
-
-//! Transform a 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[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[3] = m[0][3] * pout[0] + m[1][3] * pout[1] + m[2][3] * pout[2] + plane[3]; \
-	}
-
-/** inverse transpose of matrix times vector
- *
- * This macro computes inverse transpose of matrix m,
- * and multiplies vector v into it, to yeild vector p
- *
- * DANGER !!! Do Not use this on normal vectors!!!
- * It will leave normals the wrong length !!!
- * See macro below for use on normals.
- */
-#define INV_TRANSP_MAT_DOT_VEC_2X2(p, m, v)                                 \
-	{                                                                       \
-		GREAL det;                                                          \
-                                                                            \
-		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[1] = -m[0][1] * v[0] + m[0][0] * v[1];                            \
-                                                                            \
-		/* if matrix not singular, and not orthonormal, then renormalize */ \
-		if ((det != 1.0f) && (det != 0.0f))                                 \
-		{                                                                   \
-			det = 1.0f / det;                                               \
-			p[0] *= det;                                                    \
-			p[1] *= det;                                                    \
-		}                                                                   \
-	}
-
-/** transform normal vector by inverse transpose of matrix
- * and then renormalize the vector
- *
- * This macro computes inverse transpose of matrix m,
- * and multiplies vector v into it, to yeild vector p
- * Vector p is then normalized.
- */
-#define NORM_XFORM_2X2(p, m, v)                                           \
-	{                                                                     \
-		GREAL len;                                                        \
-                                                                          \
-		/* do nothing if off-diagonals are zero and diagonals are 	\
-    * equal */      \
-		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[1] = -m[0][1] * v[0] + m[0][0] * v[1];                      \
-                                                                          \
-			len = p[0] * p[0] + p[1] * p[1];                              \
-			GIM_INV_SQRT(len, len);                                       \
-			p[0] *= len;                                                  \
-			p[1] *= len;                                                  \
-		}                                                                 \
-		else                                                              \
-		{                                                                 \
-			VEC_COPY_2(p, v);                                             \
-		}                                                                 \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define OUTER_PRODUCT_2X2(m, v, t) \
-	{                              \
-		m[0][0] = v[0] * t[0];     \
-		m[0][1] = v[0] * t[1];     \
-                                   \
-		m[1][0] = v[1] * t[0];     \
-		m[1][1] = v[1] * t[1];     \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define OUTER_PRODUCT_3X3(m, v, t) \
-	{                              \
-		m[0][0] = v[0] * t[0];     \
-		m[0][1] = v[0] * t[1];     \
-		m[0][2] = v[0] * t[2];     \
-                                   \
-		m[1][0] = v[1] * t[0];     \
-		m[1][1] = v[1] * t[1];     \
-		m[1][2] = v[1] * t[2];     \
-                                   \
-		m[2][0] = v[2] * t[0];     \
-		m[2][1] = v[2] * t[1];     \
-		m[2][2] = v[2] * t[2];     \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define OUTER_PRODUCT_4X4(m, v, t) \
-	{                              \
-		m[0][0] = v[0] * t[0];     \
-		m[0][1] = v[0] * t[1];     \
-		m[0][2] = v[0] * t[2];     \
-		m[0][3] = v[0] * t[3];     \
-                                   \
-		m[1][0] = v[1] * t[0];     \
-		m[1][1] = v[1] * t[1];     \
-		m[1][2] = v[1] * t[2];     \
-		m[1][3] = v[1] * t[3];     \
-                                   \
-		m[2][0] = v[2] * t[0];     \
-		m[2][1] = v[2] * t[1];     \
-		m[2][2] = v[2] * t[2];     \
-		m[2][3] = v[2] * t[3];     \
-                                   \
-		m[3][0] = v[3] * t[0];     \
-		m[3][1] = v[3] * t[1];     \
-		m[3][2] = v[3] * t[2];     \
-		m[3][3] = v[3] * t[3];     \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define ACCUM_OUTER_PRODUCT_2X2(m, v, t) \
-	{                                    \
-		m[0][0] += v[0] * t[0];          \
-		m[0][1] += v[0] * t[1];          \
-                                         \
-		m[1][0] += v[1] * t[0];          \
-		m[1][1] += v[1] * t[1];          \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define ACCUM_OUTER_PRODUCT_3X3(m, v, t) \
-	{                                    \
-		m[0][0] += v[0] * t[0];          \
-		m[0][1] += v[0] * t[1];          \
-		m[0][2] += v[0] * t[2];          \
-                                         \
-		m[1][0] += v[1] * t[0];          \
-		m[1][1] += v[1] * t[1];          \
-		m[1][2] += v[1] * t[2];          \
-                                         \
-		m[2][0] += v[2] * t[0];          \
-		m[2][1] += v[2] * t[1];          \
-		m[2][2] += v[2] * t[2];          \
-	}
-
-/** outer product of vector times vector transpose
- *
- * The outer product of vector v and vector transpose t yeilds
- * dyadic matrix m.
- */
-#define ACCUM_OUTER_PRODUCT_4X4(m, v, t) \
-	{                                    \
-		m[0][0] += v[0] * t[0];          \
-		m[0][1] += v[0] * t[1];          \
-		m[0][2] += v[0] * t[2];          \
-		m[0][3] += v[0] * t[3];          \
-                                         \
-		m[1][0] += v[1] * t[0];          \
-		m[1][1] += v[1] * t[1];          \
-		m[1][2] += v[1] * t[2];          \
-		m[1][3] += v[1] * t[3];          \
-                                         \
-		m[2][0] += v[2] * t[0];          \
-		m[2][1] += v[2] * t[1];          \
-		m[2][2] += v[2] * t[2];          \
-		m[2][3] += v[2] * t[3];          \
-                                         \
-		m[3][0] += v[3] * t[0];          \
-		m[3][1] += v[3] * t[1];          \
-		m[3][2] += v[3] * t[2];          \
-		m[3][3] += v[3] * t[3];          \
-	}
-
-/** determinant of matrix
- *
- * Computes determinant of matrix m, returning d
- */
-#define DETERMINANT_2X2(d, m)                      \
-	{                                              \
-		d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \
-	}
-
-/** determinant of matrix
- *
- * Computes determinant of matrix m, returning d
- */
-#define DETERMINANT_3X3(d, m)                                   \
-	{                                                           \
-		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][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \
-	}
-
-/** i,j,th cofactor of a 4x4 matrix
- *
- */
-#define COFACTOR_4X4_IJ(fac, m, i, j)                                                                                           \
-	{                                                                                                                           \
-		GUINT __ii[4], __jj[4], __k;                                                                                            \
-                                                                                                                                \
-		for (__k = 0; __k < i; __k++) __ii[__k] = __k;                                                                          \
-		for (__k = i; __k < 3; __k++) __ii[__k] = __k + 1;                                                                      \
-		for (__k = 0; __k < j; __k++) __jj[__k] = __k;                                                                          \
-		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]] - 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[2]] * (m[__ii[1]][__jj[0]] * m[__ii[2]][__jj[1]] - m[__ii[1]][__jj[1]] * m[__ii[2]][__jj[0]]); \
-                                                                                                                                \
-		__k = i + j;                                                                                                            \
-		if (__k != (__k / 2) * 2)                                                                                               \
-		{                                                                                                                       \
-			(fac) = -(fac);                                                                                                     \
-		}                                                                                                                       \
-	}
-
-/** determinant of matrix
- *
- * Computes determinant of matrix m, returning d
- */
-#define DETERMINANT_4X4(d, m)            \
-	{                                    \
-		GREAL cofac;                     \
-		COFACTOR_4X4_IJ(cofac, m, 0, 0); \
-		d = m[0][0] * cofac;             \
-		COFACTOR_4X4_IJ(cofac, m, 0, 1); \
-		d += m[0][1] * cofac;            \
-		COFACTOR_4X4_IJ(cofac, m, 0, 2); \
-		d += m[0][2] * cofac;            \
-		COFACTOR_4X4_IJ(cofac, m, 0, 3); \
-		d += m[0][3] * cofac;            \
-	}
-
-/** cofactor of matrix
- *
- * Computes cofactor of matrix m, returning a
- */
-#define COFACTOR_2X2(a, m)    \
-	{                         \
-		a[0][0] = (m)[1][1];  \
-		a[0][1] = -(m)[1][0]; \
-		a[1][0] = -(m)[0][1]; \
-		a[1][1] = (m)[0][0];  \
-	}
-
-/** cofactor of matrix
- *
- * Computes cofactor of matrix m, returning a
- */
-#define COFACTOR_3X3(a, m)                                  \
-	{                                                       \
-		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][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][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[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][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]);            \
-	}
-
-/** cofactor of matrix
- *
- * Computes cofactor of matrix m, returning a
- */
-#define COFACTOR_4X4(a, m)                         \
-	{                                              \
-		int i, j;                                  \
-                                                   \
-		for (i = 0; i < 4; i++)                    \
-		{                                          \
-			for (j = 0; j < 4; j++)                \
-			{                                      \
-				COFACTOR_4X4_IJ(a[i][j], m, i, j); \
-			}                                      \
-		}                                          \
-	}
-
-/** adjoint of matrix
- *
- * Computes adjoint of matrix m, returning a
- * (Note that adjoint is just the transpose of the cofactor matrix)
- */
-#define ADJOINT_2X2(a, m)     \
-	{                         \
-		a[0][0] = (m)[1][1];  \
-		a[1][0] = -(m)[1][0]; \
-		a[0][1] = -(m)[0][1]; \
-		a[1][1] = (m)[0][0];  \
-	}
-
-/** adjoint of matrix
- *
- * Computes adjoint of matrix m, returning a
- * (Note that adjoint is just the transpose of the cofactor matrix)
- */
-#define ADJOINT_3X3(a, m)                                   \
-	{                                                       \
-		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[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[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[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[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]);            \
-	}
-
-/** adjoint of matrix
- *
- * Computes adjoint of matrix m, returning a
- * (Note that adjoint is just the transpose of the cofactor matrix)
- */
-#define ADJOINT_4X4(a, m)                                  \
-	{                                                      \
-		char _i_, _j_;                                     \
-                                                           \
-		for (_i_ = 0; _i_ < 4; _i_++)                      \
-		{                                                  \
-			for (_j_ = 0; _j_ < 4; _j_++)                  \
-			{                                              \
-				COFACTOR_4X4_IJ(a[_j_][_i_], m, _i_, _j_); \
-			}                                              \
-		}                                                  \
-	}
-
-/** compute adjoint of matrix and scale
- *
- * Computes adjoint of matrix m, scales it by s, returning a
- */
-#define SCALE_ADJOINT_2X2(a, s, m) \
-	{                              \
-		a[0][0] = (s)*m[1][1];     \
-		a[1][0] = -(s)*m[1][0];    \
-		a[0][1] = -(s)*m[0][1];    \
-		a[1][1] = (s)*m[0][0];     \
-	}
-
-/** compute adjoint of matrix and scale
- *
- * Computes adjoint of matrix m, scales it by s, returning a
- */
-#define SCALE_ADJOINT_3X3(a, s, m)                               \
-	{                                                            \
-		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[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[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[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[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]); \
-	}
-
-/** compute adjoint of matrix and scale
- *
- * Computes adjoint of matrix m, scales it by s, returning a
- */
-#define SCALE_ADJOINT_4X4(a, s, m)                         \
-	{                                                      \
-		char _i_, _j_;                                     \
-		for (_i_ = 0; _i_ < 4; _i_++)                      \
-		{                                                  \
-			for (_j_ = 0; _j_ < 4; _j_++)                  \
-			{                                              \
-				COFACTOR_4X4_IJ(a[_j_][_i_], m, _i_, _j_); \
-				a[_j_][_i_] *= s;                          \
-			}                                              \
-		}                                                  \
-	}
-
-/** inverse of matrix
- *
- * Compute inverse of matrix a, returning determinant m and
- * inverse b
- */
-#define INVERT_2X2(b, det, a)           \
-	{                                   \
-		GREAL _tmp_;                    \
-		DETERMINANT_2X2(det, a);        \
-		_tmp_ = 1.0 / (det);            \
-		SCALE_ADJOINT_2X2(b, _tmp_, a); \
-	}
-
-/** inverse of matrix
- *
- * Compute inverse of matrix a, returning determinant m and
- * inverse b
- */
-#define INVERT_3X3(b, det, a)           \
-	{                                   \
-		GREAL _tmp_;                    \
-		DETERMINANT_3X3(det, a);        \
-		_tmp_ = 1.0 / (det);            \
-		SCALE_ADJOINT_3X3(b, _tmp_, a); \
-	}
-
-/** inverse of matrix
- *
- * Compute inverse of matrix a, returning determinant m and
- * inverse b
- */
-#define INVERT_4X4(b, det, a)           \
-	{                                   \
-		GREAL _tmp_;                    \
-		DETERMINANT_4X4(det, a);        \
-		_tmp_ = 1.0 / (det);            \
-		SCALE_ADJOINT_4X4(b, _tmp_, a); \
-	}
-
-//! Get the triple(3) row of a transform matrix
-#define MAT_GET_ROW(mat, vec3, rowindex) \
-	{                                    \
-		vec3[0] = mat[rowindex][0];      \
-		vec3[1] = mat[rowindex][1];      \
-		vec3[2] = mat[rowindex][2];      \
-	}
-
-//! Get the tuple(2) row of a transform matrix
-#define MAT_GET_ROW2(mat, vec2, rowindex) \
-	{                                     \
-		vec2[0] = mat[rowindex][0];       \
-		vec2[1] = mat[rowindex][1];       \
-	}
-
-//! Get the quad (4) row of a transform matrix
-#define MAT_GET_ROW4(mat, vec4, rowindex) \
-	{                                     \
-		vec4[0] = mat[rowindex][0];       \
-		vec4[1] = mat[rowindex][1];       \
-		vec4[2] = mat[rowindex][2];       \
-		vec4[3] = mat[rowindex][3];       \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_GET_COL(mat, vec3, colindex) \
-	{                                    \
-		vec3[0] = mat[0][colindex];      \
-		vec3[1] = mat[1][colindex];      \
-		vec3[2] = mat[2][colindex];      \
-	}
-
-//! Get the tuple(2) col of a transform matrix
-#define MAT_GET_COL2(mat, vec2, colindex) \
-	{                                     \
-		vec2[0] = mat[0][colindex];       \
-		vec2[1] = mat[1][colindex];       \
-	}
-
-//! Get the quad (4) col of a transform matrix
-#define MAT_GET_COL4(mat, vec4, colindex) \
-	{                                     \
-		vec4[0] = mat[0][colindex];       \
-		vec4[1] = mat[1][colindex];       \
-		vec4[2] = mat[2][colindex];       \
-		vec4[3] = mat[3][colindex];       \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_GET_X(mat, vec3)       \
-	{                              \
-		MAT_GET_COL(mat, vec3, 0); \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_GET_Y(mat, vec3)       \
-	{                              \
-		MAT_GET_COL(mat, vec3, 1); \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_GET_Z(mat, vec3)       \
-	{                              \
-		MAT_GET_COL(mat, vec3, 2); \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_SET_X(mat, vec3) \
-	{                        \
-		mat[0][0] = vec3[0]; \
-		mat[1][0] = vec3[1]; \
-		mat[2][0] = vec3[2]; \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_SET_Y(mat, vec3) \
-	{                        \
-		mat[0][1] = vec3[0]; \
-		mat[1][1] = vec3[1]; \
-		mat[2][1] = vec3[2]; \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_SET_Z(mat, vec3) \
-	{                        \
-		mat[0][2] = vec3[0]; \
-		mat[1][2] = vec3[1]; \
-		mat[2][2] = vec3[2]; \
-	}
-
-//! Get the triple(3) col of a transform matrix
-#define MAT_GET_TRANSLATION(mat, vec3) \
-	{                                  \
-		vec3[0] = mat[0][3];           \
-		vec3[1] = mat[1][3];           \
-		vec3[2] = mat[2][3];           \
-	}
-
-//! Set the triple(3) col of a transform matrix
-#define MAT_SET_TRANSLATION(mat, vec3) \
-	{                                  \
-		mat[0][3] = vec3[0];           \
-		mat[1][3] = vec3[1];           \
-		mat[2][3] = vec3[2];           \
-	}
-
-//! 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])
-
-//! 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])
-
-//! 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])
-
-//! 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])
-
-//! 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])
-
-//! 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])
-
-/*!Transpose matrix times vector
-v is a vec3f
-and m is a mat4f<br>
-*/
-#define INV_MAT_DOT_VEC_3X3(p, m, v) \
-	{                                \
-		p[0] = MAT_DOT_COL(m, v, 0); \
-		p[1] = MAT_DOT_COL(m, v, 1); \
-		p[2] = MAT_DOT_COL(m, v, 2); \
-	}
-
-#endif  // GIM_VECTOR_H_INCLUDED