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Merge pull request #408 from EasyIP2023/bugfix/mat3x4-multiplication
mat3x4: fix multiplication functions
This commit is contained in:
Recep Aslantas
GitHub
@@ -23,6 +23,17 @@ Functions:
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#. :c:func:`glm_mat3x4_transpose`
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#. :c:func:`glm_mat3x4_scale`
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Represented
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~~~~~~~~~~~
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.. csv-table:: mat3x4
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:header: "", "column 1", "column 2", "column 3"
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"row 1", "m00", "m10", "m20"
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"row 2", "m01", "m11", "m21"
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"row 3", "m02", "m12", "m22"
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"row 4", "m03", "m13", "m23"
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Functions documentation
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~~~~~~~~~~~~~~~~~~~~~~~
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@@ -51,28 +62,74 @@ Functions documentation
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| *[in]* **src** pointer to an array of floats
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| *[out]* **dest** destination matrix3x4
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.. c:function:: void glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest)
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.. c:function:: void glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest)
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multiply m1 and m2 to dest
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.. code-block:: c
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glm_mat3x4_mul(mat3x4, mat4x3, mat3);
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glm_mat3x4_mul(mat3x4, mat4x3, mat4);
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Parameters:
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| *[in]* **m1** left matrix (mat3x4)
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| *[in]* **m2** right matrix (mat4x3)
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| *[out]* **dest** destination matrix (mat3)
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| *[out]* **dest** destination matrix (mat4)
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.. c:function:: void glm_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest)
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.. csv-table:: mat3x4
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:header: "", "column 1", "column 2", "column 3"
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multiply mat3x4 with vec4 (column vector) and store in dest vector
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"row 1", "a00", "a10", "a20"
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"row 2", "a01", "a11", "a21"
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"row 3", "a02", "a12", "a22"
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"row 4", "a03", "a13", "a23"
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.. csv-table:: mat4x3
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:header: "", "column 1", "column 2", "column 3", "column 4"
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"row 1", "b00", "b10", "b20", "b30"
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"row 2", "b01", "b11", "b21", "b31"
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"row 3", "b02", "b12", "b22", "b32"
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.. csv-table:: mat4x4
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:header: "", "column 1", "column 2", "column 3", "column 4"
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"row 1", "a00 * b00 + a10 * b01 + a20 * b02", "a00 * b10 + a10 * b11 + a20 * b12", "a00 * b20 + a10 * b21 + a20 * b22", "a00 * b30 + a10 * b31 + a20 * b32"
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"row 2", "a01 * b00 + a11 * b01 + a21 * b02", "a01 * b10 + a11 * b11 + a21 * b12", "a01 * b20 + a11 * b21 + a21 * b22", "a01 * b30 + a11 * b31 + a21 * b32"
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"row 3", "a02 * b00 + a12 * b01 + a22 * b02", "a02 * b10 + a12 * b11 + a22 * b12", "a02 * b20 + a12 * b21 + a22 * b22", "a02 * b30 + a12 * b31 + a22 * b32"
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"row 4", "a03 * b00 + a13 * b01 + a23 * b02", "a03 * b10 + a13 * b11 + a23 * b12", "a03 * b20 + a13 * b21 + a23 * b22", "a03 * b30 + a13 * b31 + a23 * b32"
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.. c:function:: void glm_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest)
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multiply mat3x4 with vec3 (column vector) and store in dest vector
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Parameters:
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| *[in]* **m** mat3x4 (left)
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| *[in]* **v** vec4 (right, column vector)
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| *[in]* **v** vec3 (right, column vector)
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| *[out]* **dest** destination (result, column vector)
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.. csv-table:: mat3x4
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:header: "", "column 1", "column 2", "column 3"
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"row 1", "m00", "m10", "m20"
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"row 2", "m01", "m11", "m21"
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"row 3", "m02", "m12", "m22"
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"row 4", "m03", "m13", "m23"
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.. csv-table:: column vec3 (1x3)
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:header: "", "column 1"
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"row 1", "v0"
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"row 2", "v1"
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"row 3", "v2"
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.. csv-table:: column vec4 (1x4)
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:header: "", "column 1"
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"row 1", "m00 * v0 + m10 * v1 + m20 * v2"
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"row 2", "m01 * v0 + m11 * v1 + m21 * v2"
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"row 3", "m02 * v0 + m12 * v1 + m22 * v2"
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"row 4", "m03 * v0 + m13 * v1 + m23 * v2"
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.. c:function:: void glm_mat3x4_transpose(mat3x4 m, mat4x3 dest)
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transpose matrix and store in dest
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@@ -27,11 +27,11 @@ glmc_mat3x4_make(const float * __restrict src, mat3x4 dest);
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CGLM_EXPORT
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void
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glmc_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest);
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glmc_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest);
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CGLM_EXPORT
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void
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glmc_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest);
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glmc_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest);
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CGLM_EXPORT
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void
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@@ -14,8 +14,8 @@
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CGLM_INLINE void glm_mat3x4_copy(mat3x4 mat, mat3x4 dest);
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CGLM_INLINE void glm_mat3x4_zero(mat3x4 mat);
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CGLM_INLINE void glm_mat3x4_make(const float * __restrict src, mat3x4 dest);
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CGLM_INLINE void glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest);
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CGLM_INLINE void glm_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest);
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CGLM_INLINE void glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest);
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CGLM_INLINE void glm_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest);
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CGLM_INLINE void glm_mat3x4_transpose(mat3x4 m, mat4x3 dest);
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CGLM_INLINE void glm_mat3x4_scale(mat3x4 m, float s);
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*/
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@@ -87,16 +87,16 @@ glm_mat3x4_make(const float * __restrict src, mat3x4 dest) {
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* @brief multiply m1 and m2 to dest
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*
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* @code
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* glm_mat3x4_mul(mat3x4, mat4x3, mat3);
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* glm_mat3x4_mul(mat3x4, mat4x3, mat4);
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* @endcode
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*
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* @param[in] m1 left matrix (mat3x4)
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* @param[in] m2 right matrix (mat4x3)
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* @param[out] dest destination matrix (mat3)
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* @param[out] dest destination matrix (mat4)
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*/
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CGLM_INLINE
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void
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glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest) {
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glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest) {
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float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2], a03 = m1[0][3],
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a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2], a13 = m1[1][3],
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a20 = m1[2][0], a21 = m1[2][1], a22 = m1[2][2], a23 = m1[2][3],
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@@ -106,21 +106,29 @@ glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest) {
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b20 = m2[2][0], b21 = m2[2][1], b22 = m2[2][2],
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b30 = m2[3][0], b31 = m2[3][1], b32 = m2[3][2];
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dest[0][0] = a00 * b00 + a01 * b10 + a02 * b20 + a03 * b30;
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dest[0][1] = a00 * b01 + a01 * b11 + a02 * b21 + a03 * b31;
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dest[0][2] = a00 * b02 + a01 * b12 + a02 * b22 + a03 * b32;
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dest[0][0] = a00 * b00 + a10 * b01 + a20 * b02;
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dest[0][1] = a01 * b00 + a11 * b01 + a21 * b02;
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dest[0][2] = a02 * b00 + a12 * b01 + a22 * b02;
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dest[0][3] = a03 * b00 + a13 * b01 + a23 * b02;
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dest[1][0] = a10 * b00 + a11 * b10 + a12 * b20 + a13 * b30;
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dest[1][1] = a10 * b01 + a11 * b11 + a12 * b21 + a13 * b31;
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dest[1][2] = a10 * b02 + a11 * b12 + a12 * b22 + a13 * b32;
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dest[1][0] = a00 * b10 + a10 * b11 + a20 * b12;
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dest[1][1] = a01 * b10 + a11 * b11 + a21 * b12;
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dest[1][2] = a02 * b10 + a12 * b11 + a22 * b12;
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dest[1][3] = a03 * b10 + a13 * b11 + a23 * b12;
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dest[2][0] = a20 * b00 + a21 * b10 + a22 * b20 + a23 * b30;
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dest[2][1] = a20 * b01 + a21 * b11 + a22 * b21 + a23 * b31;
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dest[2][2] = a20 * b02 + a21 * b12 + a22 * b22 + a23 * b32;
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dest[2][0] = a00 * b20 + a10 * b21 + a20 * b22;
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dest[2][1] = a01 * b20 + a11 * b21 + a21 * b22;
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dest[2][2] = a02 * b20 + a12 * b21 + a22 * b22;
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dest[2][3] = a03 * b20 + a13 * b21 + a23 * b22;
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dest[3][0] = a00 * b30 + a10 * b31 + a20 * b32;
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dest[3][1] = a01 * b30 + a11 * b31 + a21 * b32;
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dest[3][2] = a02 * b30 + a12 * b31 + a22 * b32;
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dest[3][3] = a03 * b30 + a13 * b31 + a23 * b32;
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}
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/*!
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* @brief multiply matrix with column vector and store in dest vector
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* @brief multiply matrix with column vector and store in dest column vector
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*
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* @param[in] m matrix (left)
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* @param[in] v vector (right, column vector)
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@@ -128,12 +136,13 @@ glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest) {
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*/
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CGLM_INLINE
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void
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glm_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest) {
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float v0 = v[0], v1 = v[1], v2 = v[2], v3 = v[3];
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glm_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest) {
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float v0 = v[0], v1 = v[1], v2 = v[2];
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dest[0] = m[0][0] * v0 + m[0][1] * v1 + m[0][2] * v2 + m[0][3] * v3;
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dest[1] = m[1][0] * v0 + m[1][1] * v1 + m[1][2] * v2 + m[1][3] * v3;
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dest[2] = m[2][0] * v0 + m[2][1] * v1 + m[2][2] * v2 + m[2][3] * v3;
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dest[0] = m[0][0] * v0 + m[1][0] * v1 + m[2][0] * v2;
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dest[1] = m[0][1] * v0 + m[1][1] * v1 + m[2][1] * v2;
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dest[2] = m[0][2] * v0 + m[1][2] * v1 + m[2][2] * v2;
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dest[3] = m[0][3] * v0 + m[1][3] * v1 + m[2][3] * v2;
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}
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/*!
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@@ -162,10 +171,9 @@ glm_mat3x4_transpose(mat3x4 m, mat4x3 dest) {
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CGLM_INLINE
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void
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glm_mat3x4_scale(mat3x4 m, float s) {
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m[0][0] *= s; m[1][0] *= s; m[2][0] *= s;
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m[0][1] *= s; m[1][1] *= s; m[2][1] *= s;
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m[0][2] *= s; m[1][2] *= s; m[2][2] *= s;
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m[0][3] *= s; m[1][3] *= s; m[2][3] *= s;
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m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; m[0][3] *= s;
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m[1][0] *= s; m[1][1] *= s; m[1][2] *= s; m[1][3] *= s;
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m[2][0] *= s; m[2][1] *= s; m[2][2] *= s; m[2][3] *= s;
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}
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#endif
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@@ -13,8 +13,8 @@
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Functions:
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CGLM_INLINE mat3x4s glms_mat3x4_zero(void);
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CGLM_INLINE mat3x4s glms_mat3x4_make(const float * __restrict src);
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CGLM_INLINE mat3s glms_mat3x4_mul(mat3x4s m1, mat4x3s m2);
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CGLM_INLINE vec3s glms_mat3x4_mulv(mat3x4s m, vec4s v);
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CGLM_INLINE mat4s glms_mat3x4_mul(mat3x4s m1, mat4x3s m2);
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CGLM_INLINE vec4s glms_mat3x4_mulv(mat3x4s m, vec3s v);
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CGLM_INLINE mat4x3s glms_mat3x4_transpose(mat3x4s m);
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CGLM_INLINE mat3x4s glms_mat3x4_scale(mat3x4s m, float s);
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*/
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@@ -70,27 +70,27 @@ glms_mat3x4_(make)(const float * __restrict src) {
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*
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* @param[in] m1 left matrix (mat3x4s)
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* @param[in] m2 right matrix (mat4x3s)
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* @returns destination matrix (mat3s)
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* @returns destination matrix (mat4s)
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*/
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CGLM_INLINE
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mat3s
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mat4s
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glms_mat3x4_(mul)(mat3x4s m1, mat4x3s m2) {
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mat3s r;
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mat4s r;
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glm_mat3x4_mul(m1.raw, m2.raw, r.raw);
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return r;
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}
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/*!
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* @brief multiply matrix with column vector and store in dest vector
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* @brief multiply matrix with column vector and store in dest column vector
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*
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* @param[in] m matrix (left)
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* @param[in] v vector (right, column vector)
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* @param[out] dest result vector
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* @returns destination vector (vec4s)
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*/
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CGLM_INLINE
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vec3s
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glms_mat3x4_(mulv)(mat3x4s m, vec4s v) {
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vec3s r;
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vec4s
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glms_mat3x4_(mulv)(mat3x4s m, vec3s v) {
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vec4s r;
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glm_mat3x4_mulv(m.raw, v.raw, r.raw);
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return r;
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}
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@@ -28,13 +28,13 @@ glmc_mat3x4_make(const float * __restrict src, mat3x4 dest) {
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CGLM_EXPORT
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void
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glmc_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest) {
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glmc_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest) {
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glm_mat3x4_mul(m1, m2, dest);
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}
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CGLM_EXPORT
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void
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glmc_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest) {
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glmc_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest) {
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glm_mat3x4_mulv(m, v, dest);
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}
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@@ -90,40 +90,40 @@ TEST_IMPL(GLM_PREFIX, mat3x4_mul) {
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mat3x4 m1 = GLM_MAT3X4_ZERO_INIT;
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mat4x3 m2 = GLM_MAT4X3_ZERO_INIT;
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mat3 m3 = GLM_MAT3_ZERO_INIT;
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mat3 m4 = GLM_MAT3_ZERO_INIT;
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mat4 m3 = GLM_MAT4_ZERO_INIT;
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mat4 m4 = GLM_MAT4_ZERO_INIT;
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int i, j, k;
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int c, r, k;
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test_rand_mat3x4(m1);
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test_rand_mat4x3(m2);
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for (i = 0; i < 3; i++) {
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for (j = 0; j < 3; j++) {
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for (k = 0; k < 4; k++) {
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m4[i][j] += m1[i][k] * m2[k][j];
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for (r = 0; r < 4; r++) {
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for (c = 0; c < 4; c++) {
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for (k = 0; k < 3; k++) {
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m4[c][r] += m1[k][r] * m2[c][k];
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}
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}
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}
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GLM(mat3x4_mul)(m1, m2, m3);
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ASSERTIFY(test_assert_mat3_eq(m3, m4))
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ASSERTIFY(test_assert_mat4_eq(m3, m4))
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TEST_SUCCESS
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}
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TEST_IMPL(GLM_PREFIX, mat3x4_mulv) {
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mat3x4 mat = A_MATRIX3X4;
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vec4 v = {11.0f, 21.0f, 31.0f, 41.0f};
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vec4 v = {11.0f, 21.0f, 31.0f};
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int i;
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vec3 dest;
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vec4 dest;
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float res = 0.0;
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GLM(mat3x4_mulv)(mat, v, dest);
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for (i = 0; i < 3; i++) {
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res = mat[i][0] * v[0] + mat[i][1] * v[1] + mat[i][2] * v[2];
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for (i = 0; i < 4; i++) {
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res = mat[0][i] * v[0] + mat[1][i] * v[1] + mat[2][i] * v[2];
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ASSERT(test_eq(dest[i], res))
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}
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