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implement rotate_at for quat and provide make version

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This commit is contained in:
Recep Aslantas
2018-04-17 12:17:04 +03:00
parent c63c6c90ac
commit 33e951fe2e
6 changed files with 121 additions and 7 deletions
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40
include/cglm/affine.h
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@@ -38,6 +38,11 @@
#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
@@ -459,19 +464,46 @@ glm_rotate(mat4 m, float angle, vec3 axis) {
* 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 model, vec3 pivot, float angle, vec3 axis) {
glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
vec3 pivotInv;
glm_vec_inv_to(pivot, pivotInv);
glm_translate(model, pivot);
glm_rotate(model, angle, axis);
glm_translate(model, 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);
}
/*!

6
include/cglm/call/affine.h
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@@ -87,7 +87,11 @@ glmc_rotate(mat4 m, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_rotate_at(mat4 model, vec3 pivot, 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

52
include/cglm/quat.h
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@@ -60,6 +60,10 @@
# 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);
@@ -68,6 +72,10 @@ CGLM_INLINE
void
glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
CGLM_INLINE
void
glm_translate(mat4 m, vec3 v);
/*
* IMPORTANT:
* ----------------------------------------------------------------------------
@@ -740,4 +748,48 @@ glm_quat_rotate(mat4 m, versor q, mat4 dest) {
glm_mat4_mul(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 model, versor q, vec3 pivot) {
vec3 pivotInv;
glm_vec_inv_to(pivot, pivotInv);
glm_translate(model, pivot);
glm_quat_rotate(model, q, model);
glm_translate(model, 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 */

10
src/affine.c
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@@ -118,8 +118,14 @@ glmc_rotate(mat4 m, float angle, vec3 axis) {
CGLM_EXPORT
void
glmc_rotate_at(mat4 model, vec3 pivot, float angle, vec3 axis) {
glm_rotate_at(model, pivot, 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
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@@ -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);
}