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mat3x4: fix multiplication functions

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Signed-off-by: Vincent Davis Jr <vince@underview.tech>
This commit is contained in:
Vincent Davis Jr
2024-03-31 01:48:50 -04:00
parent 929963c6eb
commit 1340b5d512
5 changed files with 58 additions and 50 deletions
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4
include/cglm/call/mat3x4.h
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@@ -27,11 +27,11 @@ glmc_mat3x4_make(const float * __restrict src, mat3x4 dest);
CGLM_EXPORT
void
glmc_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest);
glmc_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest);
CGLM_EXPORT
void
glmc_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest);
glmc_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest);
CGLM_EXPORT
void

56
include/cglm/mat3x4.h
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@@ -14,8 +14,8 @@
CGLM_INLINE void glm_mat3x4_copy(mat3x4 mat, mat3x4 dest);
CGLM_INLINE void glm_mat3x4_zero(mat3x4 mat);
CGLM_INLINE void glm_mat3x4_make(const float * __restrict src, mat3x4 dest);
CGLM_INLINE void glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest);
CGLM_INLINE void glm_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest);
CGLM_INLINE void glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest);
CGLM_INLINE void glm_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest);
CGLM_INLINE void glm_mat3x4_transpose(mat3x4 m, mat4x3 dest);
CGLM_INLINE void glm_mat3x4_scale(mat3x4 m, float s);
*/
@@ -87,16 +87,16 @@ glm_mat3x4_make(const float * __restrict src, mat3x4 dest) {
* @brief multiply m1 and m2 to dest
*
* @code
* glm_mat3x4_mul(mat3x4, mat4x3, mat3);
* glm_mat3x4_mul(mat3x4, mat4x3, mat4);
* @endcode
*
* @param[in] m1 left matrix (mat3x4)
* @param[in] m2 right matrix (mat4x3)
* @param[out] dest destination matrix (mat3)
* @param[out] dest destination matrix (mat4)
*/
CGLM_INLINE
void
glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest) {
glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest) {
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],
@@ -106,21 +106,29 @@ glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest) {
b20 = m2[2][0], b21 = m2[2][1], b22 = m2[2][2],
b30 = m2[3][0], b31 = m2[3][1], b32 = m2[3][2];
dest[0][0] = a00 * b00 + a01 * b10 + a02 * b20 + a03 * b30;
dest[0][1] = a00 * b01 + a01 * b11 + a02 * b21 + a03 * b31;
dest[0][2] = a00 * b02 + a01 * b12 + a02 * b22 + a03 * b32;
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] = a10 * b00 + a11 * b10 + a12 * b20 + a13 * b30;
dest[1][1] = a10 * b01 + a11 * b11 + a12 * b21 + a13 * b31;
dest[1][2] = a10 * b02 + a11 * b12 + a12 * b22 + a13 * b32;
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] = a20 * b00 + a21 * b10 + a22 * b20 + a23 * b30;
dest[2][1] = a20 * b01 + a21 * b11 + a22 * b21 + a23 * b31;
dest[2][2] = a20 * b02 + a21 * b12 + a22 * b22 + a23 * b32;
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] = a00 * b30 + a10 * b31 + a20 * b32;
dest[3][1] = a01 * b30 + a11 * b31 + a21 * b32;
dest[3][2] = a02 * b30 + a12 * b31 + a22 * b32;
dest[3][3] = a03 * b30 + a13 * b31 + a23 * b32;
}
/*!
* @brief multiply matrix with column vector and store in dest vector
* @brief multiply matrix with column vector and store in dest column vector
*
* @param[in] m matrix (left)
* @param[in] v vector (right, column vector)
@@ -128,12 +136,13 @@ glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest) {
*/
CGLM_INLINE
void
glm_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest) {
float v0 = v[0], v1 = v[1], v2 = v[2], v3 = v[3];
glm_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest) {
float v0 = v[0], v1 = v[1], v2 = v[2];
dest[0] = m[0][0] * v0 + m[0][1] * v1 + m[0][2] * v2 + m[0][3] * v3;
dest[1] = m[1][0] * v0 + m[1][1] * v1 + m[1][2] * v2 + m[1][3] * v3;
dest[2] = m[2][0] * v0 + m[2][1] * v1 + m[2][2] * v2 + m[2][3] * v3;
dest[0] = m[0][0] * v0 + m[1][0] * v1 + m[2][0] * v2;
dest[1] = m[0][1] * v0 + m[1][1] * v1 + m[2][1] * v2;
dest[2] = m[0][2] * v0 + m[1][2] * v1 + m[2][2] * v2;
dest[3] = m[0][3] * v0 + m[1][3] * v1 + m[2][3] * v2;
}
/*!
@@ -162,10 +171,9 @@ glm_mat3x4_transpose(mat3x4 m, mat4x3 dest) {
CGLM_INLINE
void
glm_mat3x4_scale(mat3x4 m, float s) {
m[0][0] *= s; m[1][0] *= s; m[2][0] *= s;
m[0][1] *= s; m[1][1] *= s; m[2][1] *= s;
m[0][2] *= s; m[1][2] *= s; m[2][2] *= s;
m[0][3] *= s; m[1][3] *= s; m[2][3] *= s;
m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; m[0][3] *= s;
m[1][0] *= s; m[1][1] *= s; m[1][2] *= s; m[1][3] *= s;
m[2][0] *= s; m[2][1] *= s; m[2][2] *= s; m[2][3] *= s;
}
#endif

20
include/cglm/struct/mat3x4.h
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@@ -13,8 +13,8 @@
Functions:
CGLM_INLINE mat3x4s glms_mat3x4_zero(void);
CGLM_INLINE mat3x4s glms_mat3x4_make(const float * __restrict src);
CGLM_INLINE mat3s glms_mat3x4_mul(mat3x4s m1, mat4x3s m2);
CGLM_INLINE vec3s glms_mat3x4_mulv(mat3x4s m, vec4s v);
CGLM_INLINE mat4s glms_mat3x4_mul(mat3x4s m1, mat4x3s m2);
CGLM_INLINE vec4s glms_mat3x4_mulv(mat3x4s m, vec3s v);
CGLM_INLINE mat4x3s glms_mat3x4_transpose(mat3x4s m);
CGLM_INLINE mat3x4s glms_mat3x4_scale(mat3x4s m, float s);
*/
@@ -70,27 +70,27 @@ glms_mat3x4_(make)(const float * __restrict src) {
*
* @param[in] m1 left matrix (mat3x4s)
* @param[in] m2 right matrix (mat4x3s)
* @returns destination matrix (mat3s)
* @returns destination matrix (mat4s)
*/
CGLM_INLINE
mat3s
mat4s
glms_mat3x4_(mul)(mat3x4s m1, mat4x3s m2) {
mat3s r;
mat4s r;
glm_mat3x4_mul(m1.raw, m2.raw, r.raw);
return r;
}
/*!
* @brief multiply matrix with column vector and store in dest vector
* @brief multiply matrix with column vector and store in dest column vector
*
* @param[in] m matrix (left)
* @param[in] v vector (right, column vector)
* @param[out] dest result vector
* @returns destination vector (vec4s)
*/
CGLM_INLINE
vec3s
glms_mat3x4_(mulv)(mat3x4s m, vec4s v) {
vec3s r;
vec4s
glms_mat3x4_(mulv)(mat3x4s m, vec3s v) {
vec4s r;
glm_mat3x4_mulv(m.raw, v.raw, r.raw);
return r;
}