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Merge pull request #46 from recp/affine

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affine transform update
This commit is contained in:
Recep Aslantas
2018-04-18 15:25:40 +03:00
committed by GitHub
parent a2792178db e28cf1d3f6
commit 016c0a71a6
16 changed files with 556 additions and 185 deletions
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22
docs/source/affine-mat.rst
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@@ -33,6 +33,7 @@ Table of contents (click func go):
Functions:
1. :c:func:`glm_mul`
#. :c:func:`glm_mul_rot`
#. :c:func:`glm_inv_tr`
Functions documentation
@@ -59,6 +60,27 @@ Functions documentation
| *[in]* **m2** affine matrix 2
| *[out]* **dest** result matrix
.. c:function:: void glm_mul_rot(mat4 m1, mat4 m2, mat4 dest)
| this is similar to glm_mat4_mul but specialized to rotation matrix
Right Matrix format should be (left is free):
.. code-block:: text
R R R 0
R R R 0
R R R 0
0 0 0 1
this reduces some multiplications. It should be faster than mat4_mul.
if you are not sure about matrix format then DON'T use this! use mat4_mul
Parameters:
| *[in]* **m1** affine matrix 1
| *[in]* **m2** affine matrix 2
| *[out]* **dest** result matrix
.. c:function:: void glm_inv_tr(mat4 mat)
| inverse orthonormal rotation + translation matrix (ridig-body)

155
docs/source/affine.rst
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@@ -5,6 +5,8 @@ affine transforms
Header: cglm/affine.h
Initialize Transform Matrices
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Functions with **_make** prefix expect you don't have a matrix and they create
a matrix for you. You don't need to pass identity matrix.
@@ -15,6 +17,107 @@ before sending to transfrom functions.
There are also functions to decompose transform matrix. These functions can't
decompose matrix after projected.
Rotation Center
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Rotating functions uses origin as rotation center (pivot/anchor point),
since scale factors are stored in rotation matrix, same may also true for scalling.
cglm provides some functions for rotating around at given point e.g.
**glm_rotate_at**, **glm_quat_rotate_at**. Use them or follow next section for algorihm ("Rotate or Scale around specific Point (Pivot Point / Anchor Point)").
Rotate or Scale around specific Point (Anchor Point)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
If you want to rotate model around arbibtrary point follow these steps:
1. Move model from pivot point to origin: **translate(-pivot.x, -pivot.y, -pivot.z)**
2. Apply rotation (or scaling maybe)
3. Move model back from origin to pivot (reverse of step-1): **translate(pivot.x, pivot.y, pivot.z)**
**glm_rotate_at**, **glm_quat_rotate_at** and their helper functions works that way.
The implementation would be:
.. code-block:: c
:linenos:
glm_translate(m, pivot);
glm_rotate(m, angle, axis);
glm_translate(m, pivotInv); /* pivotInv = -pivot */
Transforms Order
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
It is important to understand this part especially if you call transform
functions multiple times
`glm_translate`, `glm_rotate`, `glm_scale` and `glm_quat_rotate` and their
helpers functions works like this (cglm may provide reverse order too as alternative in the future):
.. code-block:: c
:linenos:
TransformMatrix = TransformMatrix * TraslateMatrix; // glm_translate()
TransformMatrix = TransformMatrix * RotateMatrix; // glm_rotate(), glm_quat_rotate()
TransformMatrix = TransformMatrix * ScaleMatrix; // glm_scale()
As you can see it is multipled as right matrix. For instance what will happen if you call `glm_translate` twice?
.. code-block:: c
:linenos:
glm_translate(transform, translate1); /* transform = transform * translate1 */
glm_translate(transform, translate2); /* transform = transform * translate2 */
glm_rotate(transform, angle, axis) /* transform = transform * rotation */
Now lets try to understand this:
1. You call translate using `translate1` and you expect it will be first transform
because you call it first, do you?
Result will be **`transform = transform * translate1`**
2. Then you call translate using `translate2` and you expect it will be second transform?
Result will be **`transform = transform * translate2`**. Now lets expand transform,
it was `transform * translate1` before second call.
Now it is **`transform = transform * translate1 * translate2`**, now do you understand what I say?
3. After last call transform will be:
**`transform = transform * translate1 * translate2 * rotation`**
The order will be; **rotation will be applied first**, then **translate2** then **translate1**
It is all about matrix multiplication order. It is similar to MVP matrix:
`MVP = Projection * View * Model`, model will be applied first, then view then projection.
**Confused?**
In the end the last function call applied first in shaders.
As alternative way, you can create transform matrices individually then combine manually,
but don't forget that `glm_translate`, `glm_rotate`, `glm_scale`... are optimized and should be faster (an smaller assembly output) than manual multiplication
.. code-block:: c
:linenos:
mat4 transform1, transform2, transform3, finalTransform;
glm_translate_make(transform1, translate1);
glm_translate_make(transform2, translate2);
glm_rotate_make(transform3, angle, axis);
/* first apply transform1, then transform2, thentransform3 */
glm_mat4_mulN((mat4 *[]){&transform3, &transform2, &transform1}, 3, finalTransform);
/* if you don't want to use mulN, same as above */
glm_mat4_mul(transform3, transform2, finalTransform);
glm_mat4_mul(finalTransform, transform1, finalTransform);
Now transform1 will be applied first, then transform2 then transform3
Table of contents (click to go):
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -29,15 +132,14 @@ Functions:
#. :c:func:`glm_scale_to`
#. :c:func:`glm_scale_make`
#. :c:func:`glm_scale`
#. :c:func:`glm_scale1`
#. :c:func:`glm_scale_uni`
#. :c:func:`glm_rotate_x`
#. :c:func:`glm_rotate_y`
#. :c:func:`glm_rotate_z`
#. :c:func:`glm_rotate_ndc_make`
#. :c:func:`glm_rotate_make`
#. :c:func:`glm_rotate_ndc`
#. :c:func:`glm_rotate`
#. :c:func:`glm_rotate_at`
#. :c:func:`glm_rotate_atm`
#. :c:func:`glm_decompose_scalev`
#. :c:func:`glm_uniscaled`
#. :c:func:`glm_decompose_rs`
@@ -122,10 +224,6 @@ Functions documentation
| *[in, out]* **m** affine transfrom
| *[in]* **v** scale vector [x, y, z]
.. c:function:: void glm_scale1(mat4 m, float s)
DEPRECATED! Use glm_scale_uni
.. c:function:: void glm_scale_uni(mat4 m, float s)
applies uniform scale to existing transform matrix v = [s, s, s]
@@ -165,16 +263,6 @@ Functions documentation
| *[in]* **angle** angle (radians)
| *[out]* **dest** rotated matrix
.. c:function:: void glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc)
creates NEW rotation matrix by angle and axis
this name may change in the future. axis must be is normalized
Parameters:
| *[out]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[in]* **axis_ndc** normalized axis
.. c:function:: void glm_rotate_make(mat4 m, float angle, vec3 axis)
creates NEW rotation matrix by angle and axis,
@@ -185,16 +273,6 @@ Functions documentation
| *[in]* **axis** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc)
rotate existing transform matrix around Z axis by angle and axis
this name may change in the future, axis must be normalized.
Parameters:
| *[out]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[in]* **axis_ndc** normalized axis
.. c:function:: void glm_rotate(mat4 m, float angle, vec3 axis)
rotate existing transform matrix around Z axis by angle and axis
@@ -204,6 +282,29 @@ Functions documentation
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis)
rotate existing transform around given axis by angle at given pivot point (rotation center)
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **pivot** pivot, anchor point, rotation center
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis)
| creates NEW rotation matrix by angle and axis at given point
| this creates rotation matrix, it assumes you don't have a matrix
| this should work faster than glm_rotate_at because it reduces one glm_translate.
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **pivot** pivot, anchor point, rotation center
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_decompose_scalev(mat4 m, vec3 s)
decompose scale vector

1
docs/source/index.rst
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@@ -40,6 +40,7 @@ Also currently only **float** type is supported for most operations.
getting_started
opengl
api
troubleshooting
Indices and tables
==================

24
docs/source/quat.rst
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@@ -56,6 +56,9 @@ Functions:
#. :c:func:`glm_quat_for`
#. :c:func:`glm_quat_forp`
#. :c:func:`glm_quat_rotatev`
#. :c:func:`glm_quat_rotate`
#. :c:func:`glm_quat_rotate_at`
#. :c:func:`glm_quat_rotate_atm`
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
@@ -354,3 +357,24 @@ Functions documentation
| *[in]* **m** existing transform matrix to rotate
| *[in]* **q** quaternion
| *[out]* **dest** rotated matrix/transform
.. c:function:: void glm_quat_rotate_at(mat4 m, versor q, vec3 pivot)
| rotate existing transform matrix using quaternion at pivot point
Parameters:
| *[in, out]* **m** existing transform matrix to rotate
| *[in]* **q** quaternion
| *[in]* **pivot** pivot
.. c:function:: void glm_quat_rotate(mat4 m, versor q, mat4 dest)
| rotate NEW transform matrix using quaternion at pivot point
| this creates rotation matrix, it assumes you don't have a matrix
| this should work faster than glm_quat_rotate_at because it reduces one glm_translate.
Parameters:
| *[in, out]* **m** existing transform matrix to rotate
| *[in]* **q** quaternion
| *[in]* **pivot** pivot

76
docs/source/troubleshooting.rst Normal file
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@@ -0,0 +1,76 @@
.. default-domain:: C
Troubleshooting
================================================================================
It is possible that sometimes you may get crashes or wrong results.
Follow these topics
Memory Allocation:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Again, **cglm** doesn't alloc any memory on heap.
cglm functions works like memcpy; it copies data from src,
makes calculations then copy the result to dest.
You are responsible for allocation of **src** and **dest** parameters.
Aligment:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
**vec4** and **mat4** types requires 16 byte aligment aligment.
These types are marked with align attribute to let compiler know about this
requirement.
But since MSVC (Windows) throws the error:
**"formal parameter with requested alignment of 16 won't be aligned"**
The aligment attribute has been commented for MSVC
.. code-block:: c
#if defined(_MSC_VER)
# define CGLM_ALIGN(X) /* __declspec(align(X)) */
#else
# define CGLM_ALIGN(X) __attribute((aligned(X)))
#endif.
So MSVC may not know about aligment requirements when creating variables.
The interesting thing is that, if I remember correctly Visual Studio 2017
doesn't throw the above error. So we may uncomment that line for Visual Studio 2017,
you may do it yourself.
**This MSVC issue is still in TODOs.**
Crashes, Invalid Memory Access:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Probably you are trying to write to invalid memory location.
You may used wrong function for what you want to do.
For instance you may called **glm_vec4_** functions for **vec3** data type.
It will try to write 32 byte but since **vec3** is 24 byte it should throw
memory access error or exit the app without saying anything.
Wrong Results:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Again, you may used wrong function.
For instance if you use **glm_normalize()** or **glm_vec_normalize()** for **vec4**,
it will assume that passed param is **vec3** and will normalize it for **vec3**.
Since you need to **vec4** to be normalized in your case, you will get wrong results.
Accessing vec4 type with vec3 functions is valid, you will not get any error, exception or crash.
You only get wrong results if you don't know what you are doing!
So be carefull, when your IDE (Xcode, Visual Studio ...) tried to autocomplete function names, READ IT :)
**Also implementation may be wrong please let us know by creating an issue on Github.**
Other Issues?
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
**Please let us know by creating an issue on Github.**

53
include/cglm/affine-mat.h
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@@ -81,6 +81,59 @@ glm_mul(mat4 m1, mat4 m2, mat4 dest) {
#endif
}
/*!
* @brief this is similar to glm_mat4_mul but specialized to affine transform
*
* Right Matrix format should be:
* R R R 0
* R R R 0
* R R R 0
* 0 0 0 1
*
* this reduces some multiplications. It should be faster than mat4_mul.
* if you are not sure about matrix format then DON'T use this! use mat4_mul
*
* @param[in] m1 affine matrix 1
* @param[in] m2 affine matrix 2
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_mul_rot(mat4 m1, mat4 m2, mat4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mul_rot_sse2(m1, m2, dest);
#else
float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2], a03 = m1[0][3],
a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2], a13 = m1[1][3],
a20 = m1[2][0], a21 = m1[2][1], a22 = m1[2][2], a23 = m1[2][3],
a30 = m1[3][0], a31 = m1[3][1], a32 = m1[3][2], a33 = m1[3][3],
b00 = m2[0][0], b01 = m2[0][1], b02 = m2[0][2],
b10 = m2[1][0], b11 = m2[1][1], b12 = m2[1][2],
b20 = m2[2][0], b21 = m2[2][1], b22 = m2[2][2];
dest[0][0] = a00 * b00 + a10 * b01 + a20 * b02;
dest[0][1] = a01 * b00 + a11 * b01 + a21 * b02;
dest[0][2] = a02 * b00 + a12 * b01 + a22 * b02;
dest[0][3] = a03 * b00 + a13 * b01 + a23 * b02;
dest[1][0] = a00 * b10 + a10 * b11 + a20 * b12;
dest[1][1] = a01 * b10 + a11 * b11 + a21 * b12;
dest[1][2] = a02 * b10 + a12 * b11 + a22 * b12;
dest[1][3] = a03 * b10 + a13 * b11 + a23 * b12;
dest[2][0] = a00 * b20 + a10 * b21 + a20 * b22;
dest[2][1] = a01 * b20 + a11 * b21 + a21 * b22;
dest[2][2] = a02 * b20 + a12 * b21 + a22 * b22;
dest[2][3] = a03 * b20 + a13 * b21 + a23 * b22;
dest[3][0] = a30;
dest[3][1] = a31;
dest[3][2] = a32;
dest[3][3] = a33;
#endif
}
/*!
* @brief inverse orthonormal rotation + translation matrix (ridig-body)
*

227
include/cglm/affine.h
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@@ -16,15 +16,14 @@
CGLM_INLINE void glm_scale_to(mat4 m, vec3 v, mat4 dest);
CGLM_INLINE void glm_scale_make(mat4 m, vec3 v);
CGLM_INLINE void glm_scale(mat4 m, vec3 v);
CGLM_INLINE void glm_scale1(mat4 m, float s);
CGLM_INLINE void glm_scale_uni(mat4 m, float s);
CGLM_INLINE void glm_rotate_x(mat4 m, float angle, mat4 dest);
CGLM_INLINE void glm_rotate_y(mat4 m, float angle, mat4 dest);
CGLM_INLINE void glm_rotate_z(mat4 m, float angle, mat4 dest);
CGLM_INLINE void glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc);
CGLM_INLINE void glm_rotate_make(mat4 m, float angle, vec3 axis);
CGLM_INLINE void glm_rotate_ndc(mat4 m, float angle, vec3 axis);
CGLM_INLINE void glm_rotate(mat4 m, float angle, vec3 axis);
CGLM_INLINE void glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis);
CGLM_INLINE void glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis);
CGLM_INLINE void glm_decompose_scalev(mat4 m, vec3 s);
CGLM_INLINE bool glm_uniscaled(mat4 m);
CGLM_INLINE void glm_decompose_rs(mat4 m, mat4 r, vec3 s);
@@ -38,6 +37,11 @@
#include "vec4.h"
#include "affine-mat.h"
#include "util.h"
#include "mat4.h"
CGLM_INLINE
void
glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
/*!
* @brief translate existing transform matrix by v vector
@@ -237,16 +241,6 @@ glm_scale(mat4 m, vec3 v) {
glm_scale_to(m, v, m);
}
/*!
* @brief DEPRECATED! Use glm_scale_uni
*/
CGLM_INLINE
void
glm_scale1(mat4 m, float s) {
vec3 v = { s, s, s };
glm_scale_to(m, v, m);
}
/*!
* @brief applies uniform scale to existing transform matrix v = [s, s, s]
* and stores result in same matrix
@@ -272,19 +266,18 @@ glm_scale_uni(mat4 m, float s) {
CGLM_INLINE
void
glm_rotate_x(mat4 m, float angle, mat4 dest) {
float cosVal;
float sinVal;
mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
cosVal = cosf(angle);
sinVal = sinf(angle);
c = cosf(angle);
s = sinf(angle);
t[1][1] = cosVal;
t[1][2] = sinVal;
t[2][1] = -sinVal;
t[2][2] = cosVal;
t[1][1] = c;
t[1][2] = s;
t[2][1] = -s;
t[2][2] = c;
glm_mat4_mul(m, t, dest);
glm_mul_rot(m, t, dest);
}
/*!
@@ -298,19 +291,18 @@ glm_rotate_x(mat4 m, float angle, mat4 dest) {
CGLM_INLINE
void
glm_rotate_y(mat4 m, float angle, mat4 dest) {
float cosVal;
float sinVal;
mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
cosVal = cosf(angle);
sinVal = sinf(angle);
c = cosf(angle);
s = sinf(angle);
t[0][0] = cosVal;
t[0][2] = -sinVal;
t[2][0] = sinVal;
t[2][2] = cosVal;
t[0][0] = c;
t[0][2] = -s;
t[2][0] = s;
t[2][2] = c;
glm_mat4_mul(m, t, dest);
glm_mul_rot(m, t, dest);
}
/*!
@@ -324,61 +316,18 @@ glm_rotate_y(mat4 m, float angle, mat4 dest) {
CGLM_INLINE
void
glm_rotate_z(mat4 m, float angle, mat4 dest) {
float cosVal;
float sinVal;
mat4 t = GLM_MAT4_IDENTITY_INIT;
cosVal = cosf(angle);
sinVal = sinf(angle);
t[0][0] = cosVal;
t[0][1] = sinVal;
t[1][0] = -sinVal;
t[1][1] = cosVal;
glm_mat4_mul(m, t, dest);
}
/*!
* @brief creates NEW rotation matrix by angle and axis
*
* this name may change in the future. axis must be is normalized
*
* @param[out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis_ndc normalized axis
*/
CGLM_INLINE
void
glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc) {
/* https://www.opengl.org/sdk/docs/man2/xhtml/glRotate.xml */
vec3 v, vs;
float c;
float c, s;
c = cosf(angle);
s = sinf(angle);
glm_vec_scale(axis_ndc, 1.0f - c, v);
glm_vec_scale(axis_ndc, sinf(angle), vs);
t[0][0] = c;
t[0][1] = s;
t[1][0] = -s;
t[1][1] = c;
glm_vec_scale(axis_ndc, v[0], m[0]);
glm_vec_scale(axis_ndc, v[1], m[1]);
glm_vec_scale(axis_ndc, v[2], m[2]);
m[0][0] += c;
m[0][1] += vs[2];
m[0][2] -= vs[1];
m[1][0] -= vs[2];
m[1][1] += c;
m[1][2] += vs[0];
m[2][0] += vs[1];
m[2][1] -= vs[0];
m[2][2] += c;
m[0][3] = m[1][3] = m[2][3] = m[3][0] = m[3][1] = m[3][2] = 0.0f;
m[3][3] = 1.0f;
glm_mul_rot(m, t, dest);
}
/*!
@@ -393,53 +342,29 @@ glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc) {
CGLM_INLINE
void
glm_rotate_make(mat4 m, float angle, vec3 axis) {
vec3 axis_ndc;
vec3 axisn, v, vs;
float c;
glm_vec_normalize_to(axis, axis_ndc);
glm_rotate_ndc_make(m, angle, axis_ndc);
c = cosf(angle);
glm_vec_normalize_to(axis, axisn);
glm_vec_scale(axisn, 1.0f - c, v);
glm_vec_scale(axisn, sinf(angle), vs);
glm_vec_scale(axisn, v[0], m[0]);
glm_vec_scale(axisn, v[1], m[1]);
glm_vec_scale(axisn, v[2], m[2]);
m[0][0] += c; m[1][0] -= vs[2]; m[2][0] += vs[1];
m[0][1] += vs[2]; m[1][1] += c; m[2][1] -= vs[0];
m[0][2] -= vs[1]; m[1][2] += vs[0]; m[2][2] += c;
m[0][3] = m[1][3] = m[2][3] = m[3][0] = m[3][1] = m[3][2] = 0.0f;
m[3][3] = 1.0f;
}
/*!
* @brief rotate existing transform matrix around Z axis by angle and axis
*
* this name may change in the future, axis must be normalized.
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis_ndc normalized axis
*/
CGLM_INLINE
void
glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc) {
mat4 rot, tmp;
glm_rotate_ndc_make(rot, angle, axis_ndc);
glm_vec4_scale(m[0], rot[0][0], tmp[1]);
glm_vec4_scale(m[1], rot[0][1], tmp[0]);
glm_vec4_add(tmp[1], tmp[0], tmp[1]);
glm_vec4_scale(m[2], rot[0][2], tmp[0]);
glm_vec4_add(tmp[1], tmp[0], tmp[1]);
glm_vec4_scale(m[0], rot[1][0], tmp[2]);
glm_vec4_scale(m[1], rot[1][1], tmp[0]);
glm_vec4_add(tmp[2], tmp[0], tmp[2]);
glm_vec4_scale(m[2], rot[1][2], tmp[0]);
glm_vec4_add(tmp[2], tmp[0], tmp[2]);
glm_vec4_scale(m[0], rot[2][0], tmp[3]);
glm_vec4_scale(m[1], rot[2][1], tmp[0]);
glm_vec4_add(tmp[3], tmp[0], tmp[3]);
glm_vec4_scale(m[2], rot[2][2], tmp[0]);
glm_vec4_add(tmp[3], tmp[0], tmp[3]);
glm_vec4_copy(tmp[1], m[0]);
glm_vec4_copy(tmp[2], m[1]);
glm_vec4_copy(tmp[3], m[2]);
}
/*!
* @brief rotate existing transform matrix around Z axis by angle and axis
* @brief rotate existing transform matrix around given axis by angle
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
@@ -448,10 +373,56 @@ glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc) {
CGLM_INLINE
void
glm_rotate(mat4 m, float angle, vec3 axis) {
vec3 axis_ndc;
mat4 rot;
glm_rotate_make(rot, angle, axis);
glm_mul_rot(m, rot, m);
}
glm_vec_normalize_to(axis, axis_ndc);
glm_rotate_ndc(m, angle, axis_ndc);
/*!
* @brief rotate existing transform
* around given axis by angle at given pivot point (rotation center)
*
* @param[in, out] m affine transfrom
* @param[in] pivot rotation center
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
vec3 pivotInv;
glm_vec_inv_to(pivot, pivotInv);
glm_translate(m, pivot);
glm_rotate(m, angle, axis);
glm_translate(m, pivotInv);
}
/*!
* @brief creates NEW rotation matrix by angle and axis at given point
*
* this creates rotation matrix, it assumes you don't have a matrix
*
* this should work faster than glm_rotate_at because it reduces
* one glm_translate.
*
* @param[out] m affine transfrom
* @param[in] pivot rotation center
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
vec3 pivotInv;
glm_vec_inv_to(pivot, pivotInv);
glm_mat4_identity(m);
glm_vec_copy(pivot, m[3]);
glm_rotate(m, angle, axis);
glm_translate(m, pivotInv);
}
/*!
@@ -469,7 +440,7 @@ glm_decompose_scalev(mat4 m, vec3 s) {
}
/*!
* @brief returns true if matrix is uniform scaled. This is helpful for
* @brief returns true if matrix is uniform scaled. This is helpful for
* creating normal matrix.
*
* @param[in] m m

16
include/cglm/call/affine.h
View File

@@ -49,10 +49,6 @@ CGLM_EXPORT
void
glmc_scale(mat4 m, vec3 v);
CGLM_EXPORT
void
glmc_scale1(mat4 m, float s);
CGLM_EXPORT
void
glmc_scale_uni(mat4 m, float s);
@@ -69,21 +65,21 @@ CGLM_EXPORT
void
glmc_rotate_z(mat4 m, float rad, mat4 dest);
CGLM_EXPORT
void
glmc_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc);
CGLM_EXPORT
void
glmc_rotate_make(mat4 m, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_rotate_ndc(mat4 m, float angle, vec3 axis_ndc);
glmc_rotate(mat4 m, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_rotate(mat4 m, float angle, vec3 axis);
glmc_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis);
CGLM_EXPORT
void

8
include/cglm/call/quat.h
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@@ -137,6 +137,14 @@ CGLM_EXPORT
void
glmc_quat_rotate(mat4 m, versor q, mat4 dest);
CGLM_EXPORT
void
glmc_quat_rotate_at(mat4 model, versor q, vec3 pivot);
CGLM_EXPORT
void
glmc_quat_rotate_atm(mat4 m, versor q, vec3 pivot);
#ifdef __cplusplus
}
#endif

57
include/cglm/quat.h
View File

@@ -55,18 +55,27 @@
#include "vec4.h"
#include "mat4.h"
#include "mat3.h"
#include "affine-mat.h"
#ifdef CGLM_SSE_FP
# include "simd/sse2/quat.h"
#endif
CGLM_INLINE
void
glm_mat4_identity(mat4 mat);
CGLM_INLINE
void
glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);
CGLM_INLINE
void
glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
glm_mul_rot(mat4 m1, mat4 m2, mat4 dest);
CGLM_INLINE
void
glm_translate(mat4 m, vec3 v);
/*
* IMPORTANT:
@@ -737,7 +746,51 @@ void
glm_quat_rotate(mat4 m, versor q, mat4 dest) {
mat4 rot;
glm_quat_mat4(q, rot);
glm_mat4_mul(m, rot, dest);
glm_mul_rot(m, rot, dest);
}
/*!
* @brief rotate existing transform matrix using quaternion at pivot point
*
* @param[in, out] m existing transform matrix
* @param[in] q quaternion
* @param[out] pivot pivot
*/
CGLM_INLINE
void
glm_quat_rotate_at(mat4 m, versor q, vec3 pivot) {
vec3 pivotInv;
glm_vec_inv_to(pivot, pivotInv);
glm_translate(m, pivot);
glm_quat_rotate(m, q, m);
glm_translate(m, pivotInv);
}
/*!
* @brief rotate NEW transform matrix using quaternion at pivot point
*
* this creates rotation matrix, it assumes you don't have a matrix
*
* this should work faster than glm_quat_rotate_at because it reduces
* one glm_translate.
*
* @param[out] m existing transform matrix
* @param[in] q quaternion
* @param[in] pivot pivot
*/
CGLM_INLINE
void
glm_quat_rotate_atm(mat4 m, versor q, vec3 pivot) {
vec3 pivotInv;
glm_vec_inv_to(pivot, pivotInv);
glm_mat4_identity(m);
glm_vec_copy(pivot, m[3]);
glm_quat_rotate(m, q, m);
glm_translate(m, pivotInv);
}
#endif /* cglm_quat_h */

19
include/cglm/simd/intrin.h
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@@ -46,6 +46,25 @@ glm_simd_norm(__m128 a) {
return _mm_sqrt_ps(glm_simd_dot(a, a));
}
static inline
__m128
glm_simd_load_v3(vec3 v) {
__m128i xy;
__m128 z;
xy = _mm_loadl_epi64((const __m128i *)v);
z = _mm_load_ss(&v[2]);
return _mm_movelh_ps(_mm_castsi128_ps(xy), z);
}
static inline
void
glm_simd_store_v3(__m128 vx, vec3 v) {
_mm_storel_pi((__m64 *)&v[0], vx);
_mm_store_ss(&v[2], _mm_shuffle1_ps(vx, 2, 2, 2, 2));
}
#endif
/* x86, x64 */

32
include/cglm/simd/sse2/affine.h
View File

@@ -49,6 +49,38 @@ glm_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
_mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
}
CGLM_INLINE
void
glm_mul_rot_sse2(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
__m128 l0, l1, l2, l3, r;
l0 = _mm_load_ps(m1[0]);
l1 = _mm_load_ps(m1[1]);
l2 = _mm_load_ps(m1[2]);
l3 = _mm_load_ps(m1[3]);
r = _mm_load_ps(m2[0]);
_mm_store_ps(dest[0],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
r = _mm_load_ps(m2[1]);
_mm_store_ps(dest[1],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
r = _mm_load_ps(m2[2]);
_mm_store_ps(dest[2],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
_mm_store_ps(dest[3], l3);
}
CGLM_INLINE
void
glm_inv_tr_sse2(mat4 mat) {

4
include/cglm/types.h
View File

@@ -15,12 +15,12 @@
#endif
typedef float vec2[2];
typedef float vec3[3];
typedef CGLM_ALIGN(8) float vec3[3];
typedef int ivec3[3];
typedef CGLM_ALIGN(16) float vec4[4];
typedef vec3 mat3[3];
typedef vec4 mat4[4];
typedef CGLM_ALIGN(16) vec4 mat4[4];
typedef vec4 versor;

26
src/affine.c
View File

@@ -62,12 +62,6 @@ glmc_scale(mat4 m, vec3 v) {
glm_scale(m, v);
}
CGLM_EXPORT
void
glmc_scale1(mat4 m, float s) {
glm_scale1(m, s);
}
CGLM_EXPORT
void
glmc_scale_uni(mat4 m, float s) {
@@ -92,12 +86,6 @@ glmc_rotate_z(mat4 m, float rad, mat4 dest) {
glm_rotate_z(m, rad, dest);
}
CGLM_EXPORT
void
glmc_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc) {
glm_rotate_ndc_make(m, angle, axis_ndc);
}
CGLM_EXPORT
void
glmc_rotate_make(mat4 m, float angle, vec3 axis) {
@@ -106,14 +94,20 @@ glmc_rotate_make(mat4 m, float angle, vec3 axis) {
CGLM_EXPORT
void
glmc_rotate_ndc(mat4 m, float angle, vec3 axis_ndc) {
glm_rotate_ndc(m, angle, axis_ndc);
glmc_rotate(mat4 m, float angle, vec3 axis) {
glm_rotate(m, angle, axis);
}
CGLM_EXPORT
void
glmc_rotate(mat4 m, float angle, vec3 axis) {
glm_rotate(m, angle, axis);
glmc_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
glm_rotate_at(m, pivot, angle, axis);
}
CGLM_EXPORT
void
glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
glm_rotate_atm(m, pivot, angle, axis);
}
CGLM_EXPORT

12
src/quat.c
View File

@@ -194,3 +194,15 @@ void
glmc_quat_rotate(mat4 m, versor q, mat4 dest) {
glm_quat_rotate(m, q, dest);
}
CGLM_EXPORT
void
glmc_quat_rotate_at(mat4 model, versor q, vec3 pivot) {
glm_quat_rotate_at(model, q, pivot);
}
CGLM_EXPORT
void
glmc_quat_rotate_atm(mat4 m, versor q, vec3 pivot) {
glm_quat_rotate_atm(m, q, pivot);
}

9
test/src/test_affine.c
View File

@@ -91,6 +91,15 @@ test_affine(void **state) {
glm_rotate_z(t2, M_PI_4, t2);
test_assert_mat4_eq(t2, t3);
/* test rotate */
glmc_rotate_make(t1, M_PI_4, (vec3){0, 0, 1});
glm_translate_make(t2, (vec3){34, 57, 36});
glmc_mat4_mul(t2, t1, t3); /* T * R */
glmc_rotate(t2, M_PI_4, (vec3){0, 0, 1});
test_assert_mat4_eq(t3, t2);
/* test scale_uni */
glmc_rotate_make(t1, M_PI_4, GLM_YUP);
glm_translate_make(t2, (vec3){34, 57, 36});