From dc96ffc5517d18c7ffcc26ba600b0e3716ca77d6 Mon Sep 17 00:00:00 2001
From: Falco Girgis <gyrovorbis@gmail.com>
Date: Tue, 15 Apr 2025 13:53:19 -0500
Subject: [PATCH] FIXED LIBERTY BOAT ROTATION ISSUES.

---
 src/liberty/math/Matrix.cpp   |  2 +-
 src/liberty/math/Matrix.h     |  8 +-------
 src/liberty/math/Quaternion.h |  5 +++--
 src/liberty/math/Vector.cpp   | 24 +++++++++---------------
 src/liberty/math/Vector.h     |  5 +++--
 5 files changed, 17 insertions(+), 27 deletions(-)

diff --git a/src/liberty/math/Matrix.cpp b/src/liberty/math/Matrix.cpp
index a919baaf..5ac7d4c4 100644
--- a/src/liberty/math/Matrix.cpp
+++ b/src/liberty/math/Matrix.cpp
@@ -454,7 +454,7 @@ operator*(const CMatrix &m1, const CMatrix &m2)
 {
 	// TODO: VU0 code
 	CMatrix out;
-#if defined(RW_DC)
+#ifdef DC_SH4
 	mat_mult(out, m1, m2);
 #else
 	out.rx = m1.rx * m2.rx + m1.fx * m2.ry + m1.ux * m2.rz;
diff --git a/src/liberty/math/Matrix.h b/src/liberty/math/Matrix.h
index 06dab72a..295d5540 100644
--- a/src/liberty/math/Matrix.h
+++ b/src/liberty/math/Matrix.h
@@ -63,7 +63,6 @@ public:
 	void SetScale(float s);
 	void Scale(float scale)
 	{
-#ifndef DC_SH4
 		for (int i = 0; i < 3; i++)
 #ifdef FIX_BUGS // BUGFIX from VC
 			for (int j = 0; j < 3; j++)
@@ -71,11 +70,6 @@ public:
 			for (int j = 0; j < 4; j++)
 #endif
 				f[i][j] *= scale;
-#else
-		mat_load(*this);
-		mat_scale(scale, scale, scale);
-		mat_store(*this);
-#endif
 	}
 
 
@@ -112,7 +106,7 @@ CMatrix Invert(const CMatrix &matrix);
 CMatrix operator*(const CMatrix &m1, const CMatrix &m2);
 inline CVector MultiplyInverse(const CMatrix &mat, const CVector &vec)
 {
-#ifndef DC_SH4
+#if 1
 	CVector v(vec.x - mat.px, vec.y - mat.py, vec.z - mat.pz);
 	return CVector(
 		mat.rx * v.x + mat.ry * v.y + mat.rz * v.z,
diff --git a/src/liberty/math/Quaternion.h b/src/liberty/math/Quaternion.h
index c1b0e481..185adb7c 100644
--- a/src/liberty/math/Quaternion.h
+++ b/src/liberty/math/Quaternion.h
@@ -62,7 +62,7 @@ public:
 	}
 
 	const CQuaternion &operator/=(float right) {
-		right = dc::Invert(right);
+		right = dc::Invert<false>(right);
 		x *= right;
 		y *= right;
 		z *= right;
@@ -115,5 +115,6 @@ inline CQuaternion operator*(float left, const CQuaternion &right)
 
 inline CQuaternion operator/(const CQuaternion &left, float right)
 {
-	return CQuaternion(left.x / right, left.y / right, left.z / right, left.w / right);
+	right = Invert<false>(right);
+	return CQuaternion(left.x * right, left.y * right, left.z * right, left.w * right);
 }
diff --git a/src/liberty/math/Vector.cpp b/src/liberty/math/Vector.cpp
index 4aebb789..91ac44fe 100644
--- a/src/liberty/math/Vector.cpp
+++ b/src/liberty/math/Vector.cpp
@@ -27,23 +27,17 @@ CrossProduct(const CVector &v1, const CVector &v2)
 CVector
 Multiply3x3(const CMatrix &mat, const CVector &vec)
 {
-#ifdef DC_SH4
-    register float __x __asm__("fr12") = vec.x;
-    register float __y __asm__("fr13") = vec.y;
-    register float __z __asm__("fr14") = vec.z;
-    register float __w __asm__("fr15") = 0.0f;
-
-	mat_load(reinterpret_cast<matrix_t *>(const_cast<CMatrix *>(&mat)));
-
-	asm volatile( "ftrv  xmtrx, fv12\n"
-                : "=f" (__x), "=f" (__y), "=f" (__z), "=f" (__w)
-                : "0" (__x), "1" (__y), "2" (__z), "3" (__w) );
-    return { __x, __y, __z };
-#else
+#ifndef DC_SH4
 	// TODO: VU0 code
 	return CVector(mat.rx * vec.x + mat.fx * vec.y + mat.ux * vec.z,
 	               mat.ry * vec.x + mat.fy * vec.y + mat.uy * vec.z,
 	               mat.rz * vec.x + mat.fz * vec.y + mat.uz * vec.z);
+#else
+	CVector out;
+	mat_load(mat);
+	mat_trans_normal3_nomod(vec.x, vec.y, vec.z,
+	                        out.x, out.y, out.z);
+    return out;
 #endif
 }
 
@@ -58,8 +52,8 @@ Multiply3x3(const CVector &vec, const CMatrix &mat)
 	CVector out;
 	mat_load(mat);
 	mat_transpose();
-	mat_trans_vec3_nomod(vec.x, vec.y, vec.z,
-	                     out.x, out.y, out.z);
+	mat_trans_normal3_nomod(vec.x, vec.y, vec.z,
+	                        out.x, out.y, out.z);
 	return out;
 #endif
 }
diff --git a/src/liberty/math/Vector.h b/src/liberty/math/Vector.h
index c0996510..1501512d 100644
--- a/src/liberty/math/Vector.h
+++ b/src/liberty/math/Vector.h
@@ -68,7 +68,7 @@ public:
   }
 
   const CVector &operator/=(float right) {
-    right = Invert(right);
+    right = Invert<false>(right);
     x *= right;
     y *= right;
     z *= right;
@@ -112,7 +112,8 @@ inline CVector operator*(float left, const CVector &right)
 
 inline CVector operator/(const CVector &left, float right)
 {
-  return CVector(left.x / right, left.y / right, left.z / right);
+  right = Invert<false>(right);
+  return CVector(left.x * right, left.y * right, left.z * right);
 }
 
 __always_inline float