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Merge pull request #411 from EasyIP2023/bugfix/mat4x3-multiplication

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mat4x3: fix multiplication functions
This commit is contained in:
Recep Aslantas
2024-03-31 23:44:00 +03:00
committed by GitHub
parent f07d75c680 013ac5dd07
commit 28142b5912
6 changed files with 105 additions and 60 deletions
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66
docs/source/mat4x3.rst
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@@ -23,6 +23,16 @@ Functions:
#. :c:func:`glm_mat4x3_transpose`
#. :c:func:`glm_mat4x3_scale`
Represented
~~~~~~~~~~~
.. csv-table:: mat4x3
:header: "", "column 1", "column 2", "column 3", "column4"
"row 1", "m00", "m10", "m20", "m30"
"row 2", "m01", "m11", "m21", "m31"
"row 3", "m02", "m12", "m22", "m32"
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
@@ -51,28 +61,72 @@ Functions documentation
| *[in]* **src** pointer to an array of floats
| *[out]* **dest** destination matrix4x3
.. c:function:: void glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest)
.. c:function:: void glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest)
multiply m1 and m2 to dest
.. code-block:: c
glm_mat4x3_mul(mat4x3, mat3x4, mat4);
glm_mat4x3_mul(mat4x3, mat3x4, mat3);
Parameters:
| *[in]* **m1** left matrix (mat4x3)
| *[in]* **m2** right matrix (mat3x4)
| *[out]* **dest** destination matrix (mat4)
| *[out]* **dest** destination matrix (mat3)
.. c:function:: void glm_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest)
.. csv-table:: mat4x3
:header: "", "column 1", "column 2", "column 3", "column 4"
multiply mat4x3 with vec3 (column vector) and store in dest vector
"row 1", "a00", "a10", "a20", "a30"
"row 2", "a01", "a11", "a21", "a31"
"row 3", "a02", "a12", "a22", "a32"
.. csv-table:: mat3x4
:header: "", "column 1", "column 2", "column 3"
"row 1", "b00", "b10", "b20"
"row 2", "b01", "b11", "b21"
"row 3", "b02", "b12", "b22"
"row 4", "b03", "b13", "b23"
.. csv-table:: mat3x3
:header: "", "column 1", "column 2", "column 3"
"row 1", "a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03", "a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13", "a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23"
"row 2", "a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03", "a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13", "a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23"
"row 3", "a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03", "a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13", "a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23"
.. c:function:: void glm_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest)
multiply mat4x3 with vec4 (column vector) and store in dest column vector
Parameters:
| *[in]* **m** mat4x3 (left)
| *[in]* **v** vec3 (right, column vector)
| *[in]* **v** vec4 (right, column vector)
| *[out]* **dest** destination (result, column vector)
.. csv-table:: mat4x3
:header: "", "column 1", "column 2", "column 3", "column 4"
"row 1", "m00", "m10", "m20", "m30"
"row 2", "m01", "m11", "m21", "m31"
"row 3", "m02", "m12", "m22", "m32"
.. csv-table:: column vec4 (1x4)
:header: "", "column 1"
"row 1", "v0"
"row 2", "v1"
"row 3", "v2"
"row 4", "v3"
.. csv-table:: column vec3 (1x3)
:header: "", "column 1"
"row 1", "m00 * v0 + m10 * v1 + m20 * v2 + m30 * v3"
"row 2", "m01 * v0 + m11 * v1 + m21 * v2 + m31 * v3"
"row 3", "m02 * v0 + m12 * v1 + m22 * v2 + m32 * v3"
.. c:function:: void glm_mat4x3_transpose(mat4x3 m, mat3x4 dest)
transpose matrix and store in dest

4
include/cglm/call/mat4x3.h
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@@ -27,11 +27,11 @@ glmc_mat4x3_make(const float * __restrict src, mat4x3 dest);
CGLM_EXPORT
void
glmc_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest);
glmc_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest);
CGLM_EXPORT
void
glmc_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest);
glmc_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest);
CGLM_EXPORT
void

49
include/cglm/mat4x3.h
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@@ -14,8 +14,8 @@
CGLM_INLINE void glm_mat4x3_copy(mat4x3 mat, mat4x3 dest);
CGLM_INLINE void glm_mat4x3_zero(mat4x3 mat);
CGLM_INLINE void glm_mat4x3_make(const float * __restrict src, mat4x3 dest);
CGLM_INLINE void glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest);
CGLM_INLINE void glm_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest);
CGLM_INLINE void glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest);
CGLM_INLINE void glm_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest);
CGLM_INLINE void glm_mat4x3_transpose(mat4x3 m, mat3x4 dest);
CGLM_INLINE void glm_mat4x3_scale(mat4x3 m, float s);
*/
@@ -99,16 +99,16 @@ glm_mat4x3_make(const float * __restrict src, mat4x3 dest) {
* @brief multiply m1 and m2 to dest
*
* @code
* glm_mat4x3_mul(mat4x3, mat3x4, mat4);
* glm_mat4x3_mul(mat4x3, mat3x4, mat3);
* @endcode
*
* @param[in] m1 left matrix (mat4x3)
* @param[in] m2 right matrix (mat3x4)
* @param[out] dest destination matrix (mat4)
* @param[out] dest destination matrix (mat3)
*/
CGLM_INLINE
void
glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest) {
glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest) {
float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2],
a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2],
a20 = m1[2][0], a21 = m1[2][1], a22 = m1[2][2],
@@ -118,29 +118,21 @@ glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest) {
b10 = m2[1][0], b11 = m2[1][1], b12 = m2[1][2], b13 = m2[1][3],
b20 = m2[2][0], b21 = m2[2][1], b22 = m2[2][2], b23 = m2[2][3];
dest[0][0] = a00 * b00 + a01 * b10 + a02 * b20;
dest[0][1] = a00 * b01 + a01 * b11 + a02 * b21;
dest[0][2] = a00 * b02 + a01 * b12 + a02 * b22;
dest[0][3] = a00 * b03 + a01 * b13 + a02 * b23;
dest[0][0] = a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03;
dest[0][1] = a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03;
dest[0][2] = a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03;
dest[1][0] = a10 * b00 + a11 * b10 + a12 * b20;
dest[1][1] = a10 * b01 + a11 * b11 + a12 * b21;
dest[1][2] = a10 * b02 + a11 * b12 + a12 * b22;
dest[1][3] = a10 * b03 + a11 * b13 + a12 * b23;
dest[1][0] = a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13;
dest[1][1] = a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13;
dest[1][2] = a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13;
dest[2][0] = a20 * b00 + a21 * b10 + a22 * b20;
dest[2][1] = a20 * b01 + a21 * b11 + a22 * b21;
dest[2][2] = a20 * b02 + a21 * b12 + a22 * b22;
dest[2][3] = a20 * b03 + a21 * b13 + a22 * b23;
dest[3][0] = a30 * b00 + a31 * b10 + a32 * b20;
dest[3][1] = a30 * b01 + a31 * b11 + a32 * b21;
dest[3][2] = a30 * b02 + a31 * b12 + a32 * b22;
dest[3][3] = a30 * b03 + a31 * b13 + a32 * b23;
dest[2][0] = a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23;
dest[2][1] = a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23;
dest[2][2] = a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23;
}
/*!
* @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)
@@ -148,13 +140,12 @@ glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest) {
*/
CGLM_INLINE
void
glm_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest) {
float v0 = v[0], v1 = v[1], v2 = v[2];
glm_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest) {
float v0 = v[0], v1 = v[1], v2 = v[2], v3 = v[3];
dest[0] = m[0][0] * v0 + m[0][1] * v1 + m[0][2] * v2;
dest[1] = m[1][0] * v0 + m[1][1] * v1 + m[1][2] * v2;
dest[2] = m[2][0] * v0 + m[2][1] * v1 + m[2][2] * v2;
dest[3] = m[3][0] * v0 + m[3][1] * v1 + m[3][2] * v2;
dest[0] = m[0][0] * v0 + m[1][0] * v1 + m[2][0] * v2 + m[3][0] * v3;
dest[1] = m[0][1] * v0 + m[1][1] * v1 + m[2][1] * v2 + m[3][1] * v3;
dest[2] = m[0][2] * v0 + m[1][2] * v1 + m[2][2] * v2 + m[3][2] * v3;
}
/*!

18
include/cglm/struct/mat4x3.h
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@@ -13,8 +13,8 @@
Functions:
CGLM_INLINE mat4x3s glms_mat4x3_zero(void);
CGLM_INLINE mat4x3s glms_mat4x3_make(const float * __restrict src);
CGLM_INLINE mat4s glms_mat4x3_mul(mat4x3s m1, mat3x4s m2);
CGLM_INLINE vec4s glms_mat4x3_mulv(mat4x3s m, vec3s v);
CGLM_INLINE mat3s glms_mat4x3_mul(mat4x3s m1, mat3x4s m2);
CGLM_INLINE vec3s glms_mat4x3_mulv(mat4x3s m, vec4s v);
CGLM_INLINE mat3x4s glms_mat4x3_transpose(mat4x3s m);
CGLM_INLINE mat4x3s glms_mat4x3_scale(mat4x3s m, float s);
*/
@@ -70,12 +70,12 @@ glms_mat4x3_(make)(const float * __restrict src) {
*
* @param[in] m1 left matrix (mat4x3s)
* @param[in] m2 right matrix (mat3x4s)
* @returns destination matrix (mat4s)
* @returns destination matrix (mat3s)
*/
CGLM_INLINE
mat4s
mat3s
glms_mat4x3_(mul)(mat4x3s m1, mat3x4s m2) {
mat4s r;
mat3s r;
glm_mat4x3_mul(m1.raw, m2.raw, r.raw);
return r;
}
@@ -85,12 +85,12 @@ glms_mat4x3_(mul)(mat4x3s m1, mat3x4s m2) {
*
* @param[in] m matrix (left)
* @param[in] v vector (right, column vector)
* @param[out] dest result vector
* @returns destination vector (vec3s)
*/
CGLM_INLINE
vec4s
glms_mat4x3_(mulv)(mat4x3s m, vec3s v) {
vec4s r;
vec3s
glms_mat4x3_(mulv)(mat4x3s m, vec4s v) {
vec3s r;
glm_mat4x3_mulv(m.raw, v.raw, r.raw);
return r;
}

4
src/mat4x3.c
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@@ -28,13 +28,13 @@ glmc_mat4x3_make(const float * __restrict src, mat4x3 dest) {
CGLM_EXPORT
void
glmc_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest) {
glmc_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest) {
glm_mat4x3_mul(m1, m2, dest);
}
CGLM_EXPORT
void
glmc_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest) {
glmc_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest) {
glm_mat4x3_mulv(m, v, dest);
}

24
test/src/test_mat4x3.h
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@@ -91,40 +91,40 @@ TEST_IMPL(GLM_PREFIX, mat4x3_mul) {
mat4x3 m1 = GLM_MAT4X3_ZERO_INIT;
mat3x4 m2 = GLM_MAT3X4_ZERO_INIT;
mat4 m3 = GLM_MAT4_ZERO_INIT;
mat4 m4 = GLM_MAT4_ZERO_INIT;
mat3 m3 = GLM_MAT3_ZERO_INIT;
mat3 m4 = GLM_MAT3_ZERO_INIT;
int i, j, k;
int c, r, k;
test_rand_mat4x3(m1);
test_rand_mat3x4(m2);
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
for (k = 0; k < 3; k++) {
m4[i][j] += m1[i][k] * m2[k][j];
for (r = 0; r < 3; r++) {
for (c = 0; c < 3; c++) {
for (k = 0; k < 4; k++) {
m4[c][r] += m1[k][r] * m2[c][k];
}
}
}
GLM(mat4x3_mul)(m1, m2, m3);
ASSERTIFY(test_assert_mat4_eq(m3, m4))
ASSERTIFY(test_assert_mat3_eq(m3, m4))
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, mat4x3_mulv) {
mat4x3 mat = A_MATRIX4X3;
vec3 v = {11.0f, 21.0f, 31.0f};
vec4 v = {11.0f, 21.0f, 31.0f, 41.0f};
int i;
vec4 dest;
vec3 dest;
float res = 0.0;
GLM(mat4x3_mulv)(mat, v, dest);
for (i = 0; i < 4; i++) {
res = mat[i][0] * v[0] + mat[i][1] * v[1] + mat[i][2] * v[2];
for (i = 0; i < 3; i++) {
res = mat[0][i] * v[0] + mat[1][i] * v[1] + mat[2][i] * v[2] + mat[3][i] * v[3];
ASSERT(test_eq(dest[i], res))
}