External/cglm
1
0
Fork 0
mirror of https://github.com/recp/cglm.git synced 2025-12-24 20:34:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

add mat3 and mat4 implementation

Browse Source
This commit is contained in:
acoto87
2019-05-03 22:48:13 -05:00
parent 892a7c7dce
commit 3ff902de9c
3 changed files with 728 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

263
include/cglm/structs/mat3.h
View File

@@ -6,9 +6,29 @@
*/
/*
Macros:
GLMS_MAT3_IDENTITY_INIT
GLMS_MAT3_ZERO_INIT
GLMS_MAT3_IDENTITY
GLMS_MAT3_ZERO
Functions:
CGLM_INLINE vec3s glm_mat3_mulv(mat3 m, vec3s v);
CGLM_INLINE float glm_mat3_rmc(vec3s r, mat3 m, vec3s c);
CGLM_INLINE mat3s glms_mat3_copy(mat3s mat);
CGLM_INLINE mat3s glms_mat3_identity();
CGLM_INLINE void glms_mat3_identity_array(mat3s * __restrict mat, size_t count);
CGLM_INLINE mat3s glms_mat3_zero();
CGLM_INLINE mat3s glms_mat3_mul(mat3s m1, mat3s m2);
CGLM_INLINE mat3s glms_mat3_transpose_to(mat3s m);
CGLM_INLINE ma3s glms_mat3_transpose(mat3s m);
CGLM_INLINE vec3s glms_mat3_mulv(mat3s m, vec3s v);
CGLM_INLINE float glms_mat3_trace(mat3s m);
CGLM_INLINE versor glms_mat3_quat(mat3s m);
CGLM_INLINE mat3s glms_mat3_scale(mat3s m, float s);
CGLM_INLINE float glms_mat3_det(mat3s mat);
CGLM_INLINE mat3s glms_mat3_inv(mat3s mat);
CGLM_INLINE mat3s glms_mat3_swap_col(mat3s mat, int col1, int col2);
CGLM_INLINE mat3s glms_mat3_swap_row(mat3s mat, int row1, int row2);
CGLM_INLINE float glms_mat3_rmc(vec3s r, mat3s m, vec3s c);
*/
#ifndef cglm_mat3s_h
@@ -19,21 +39,250 @@
#include "../mat3.h"
#include "vec3.h"
#define GLMS_MAT3_IDENTITY_INIT {1.0f, 0.0f, 0.0f, \
0.0f, 1.0f, 0.0f, \
0.0f, 0.0f, 1.0f}
#define GLMS_MAT3_ZERO_INIT {0.0f, 0.0f, 0.0f, \
0.0f, 0.0f, 0.0f, \
0.0f, 0.0f, 0.0f}
/* for C only */
#define GLMS_MAT3_IDENTITY ((mat3s)GLMS_MAT3_IDENTITY_INIT)
#define GLMS_MAT3_ZERO ((mat3s)GLMS_MAT3_ZERO_INIT)
/*!
* @brief copy all members of [mat] to [dest]
*
* @param[in] mat source
* @returns destination
*/
CGLM_INLINE
mat3s
glms_mat3_copy(mat3s mat) {
mat3s r;
glm_mat3_copy(mat.raw, r.raw);
return r;
}
/*!
* @brief make given matrix identity. It is identical with below,
* but it is more easy to do that with this func especially for members
* e.g. glm_mat3_identity(aStruct->aMatrix);
*
* @code
* glm_mat3_copy(GLM_MAT3_IDENTITY, mat); // C only
*
* // or
* mat3 mat = GLM_MAT3_IDENTITY_INIT;
* @endcode
*
* @returns destination
*/
CGLM_INLINE
mat3s
glms_mat3_identity() {
mat3s r;
glm_mat3_identity(r.raw);
return r;
}
/*!
* @brief make given matrix array's each element identity matrix
*
* @param[in, out] mat matrix array (must be aligned (16/32)
* if alignment is not disabled)
*
* @param[in] count count of matrices
*/
CGLM_INLINE
void
glms_mat3_identity_array(mat3s * __restrict mat, size_t count) {
CGLM_ALIGN_MAT mat3s t = GLMS_MAT3_IDENTITY_INIT;
size_t i;
for (i = 0; i < count; i++) {
glm_mat3_copy(t.raw, mat[i].raw);
}
}
/*!
* @brief make given matrix zero.
*
* @returns matrix
*/
CGLM_INLINE
mat3s
glms_mat3_zero() {
mat3s r;
glm_mat3_zero(r.raw);
return r;
}
/*!
* @brief multiply m1 and m2 to dest
*
* m1, m2 and dest matrices can be same matrix, it is possible to write this:
*
* @code
* mat3 m = GLM_MAT3_IDENTITY_INIT;
* glm_mat3_mul(m, m, m);
* @endcode
*
* @param[in] m1 left matrix
* @param[in] m2 right matrix
* @returns destination matrix
*/
CGLM_INLINE
mat3s
glms_mat3_mul(mat3s m1, mat3s m2) {
mat3s r;
glm_mat3_mul(m1.raw, m2.raw, r.raw);
return r;
}
/*!
* @brief transpose mat3 and store in dest
*
* source matrix will not be transposed unless dest is m
*
* @param[in] m matrix
* @param[out] dest result
*/
CGLM_INLINE
mat3s
glms_mat3_transpose_to(mat3s m) {
mat3s r;
glm_mat3_transpose_to(m.raw, r.raw);
return r;
}
/*!
* @brief tranpose mat3 and store result in same matrix
*
* @param[in, out] m source and dest
*/
CGLM_INLINE
mat3s
glms_mat3_transpose(mat3s m) {
glm_mat3_transpose(m.raw);
return m;
}
/*!
* @brief multiply mat3 with vec3 (column vector) and store in dest vector
*
* @param[in] m mat3 (left)
* @param[in] v vec3 (right, column vector)
* returns vec3 (result, column vector)
* @returns vec3 (result, column vector)
*/
CGLM_INLINE
vec3s
glms_mat3_mulv(mat3 m, vec3s v) {
glms_mat3_mulv(mat3s m, vec3s v) {
vec3s r;
glm_mat3_mulv(m, v.raw, r.raw);
glm_mat3_mulv(m.raw, v.raw, r.raw);
return r;
}
/*!
* @brief trace of matrix
*
* sum of the elements on the main diagonal from upper left to the lower right
*
* @param[in] m matrix
*/
CGLM_INLINE
float
glms_mat3_trace(mat3s m) {
return glm_mat3_trace(m.raw);
}
/*!
* @brief convert mat3 to quaternion
*
* @param[in] m rotation matrix
* @returns destination quaternion
*/
CGLM_INLINE
versors
glms_mat3_quat(mat3s m) {
versors r;
glm_mat3_quat(m.raw, r.raw);
return r;
}
/*!
* @brief scale (multiply with scalar) matrix
*
* multiply matrix with scalar
*
* @param[in] m matrix
* @param[in] s scalar
* @returns scaled matrix
*/
CGLM_INLINE
mat3s
glms_mat3_scale(mat3s m, float s) {
glm_mat3_scale(m.raw, s);
return m;
}
/*!
* @brief mat3 determinant
*
* @param[in] mat matrix
*
* @return determinant
*/
CGLM_INLINE
float
glms_mat3_det(mat3s mat) {
return glm_mat3_det(mat.raw);
}
/*!
* @brief inverse mat3 and store in dest
*
* @param[in] mat matrix
* @returns inverse matrix
*/
CGLM_INLINE
mat3s
glms_mat3_inv(mat3s mat) {
mat3s r;
glm_mat3_inv(mat.raw, r.raw);
return r;
}
/*!
* @brief swap two matrix columns
*
* @param[in] mat matrix
* @param[in] col1 col1
* @param[in] col2 col2
* @returns matrix
*/
CGLM_INLINE
mat3s
glms_mat3_swap_col(mat3s mat, int col1, int col2) {
glm_mat3_swap_col(mat.raw, col1, col2);
return mat;
}
/*!
* @brief swap two matrix rows
*
* @param[in] mat matrix
* @param[in] row1 row1
* @param[in] row2 row2
* @returns matrix
*/
CGLM_INLINE
mat3s
glms_mat3_swap_row(mat3s mat, int row1, int row2) {
glm_mat3_swap_row(mat.raw, row1, row2);
return mat;
}
/*!
* @brief helper for R (row vector) * M (matrix) * C (column vector)
*
@@ -50,8 +299,8 @@ glms_mat3_mulv(mat3 m, vec3s v) {
*/
CGLM_INLINE
float
glms_mat3_rmc(vec3s r, mat3 m, vec3s c) {
return glm_mat3_rmc(r.raw, m, c.raw);
glms_mat3_rmc(vec3s r, mat3s m, vec3s c) {
return glm_mat3_rmc(r.raw, m.raw, c.raw);
}
#endif /* cglm_mat3s_h */

427
include/cglm/structs/mat4.h
View File

@@ -11,14 +11,42 @@
*/
/*
Macros:
GLMS_MAT4_IDENTITY_INIT
GLMS_MAT4_ZERO_INIT
GLMS_MAT4_IDENTITY
GLMS_MAT4_ZERO
Functions:
CGLM_INLINE void glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);
CGLM_INLINE void glm_mat4_mulv3(mat4 m, vec3 v, vec3 dest);
CGLM_INLINE float glm_mat4_rmc(vec4 r, mat4 m, vec4 c);
CGLM_INLINE mat4s glms_mat4_ucopy(mat4s mat);
CGLM_INLINE mat4s glms_mat4_copy(mat4s mat);
CGLM_INLINE mat4s glms_mat4_identity();
CGLM_INLINE void glms_mat4_identity_array(mat4s * __restrict mat, size_t count);
CGLM_INLINE mat4s glms_mat4_zero();
CGLM_INLINE mat3s glms_mat4_pick3(mat4s mat);
CGLM_INLINE mat3s glms_mat4_pick3t(mat4s mat);
CGLM_INLINE mat4s glms_mat4_ins3(mat3s mat);
CGLM_INLINE mat4s glms_mat4_mul(mat4s m1, mat4s m2);
CGLM_INLINE mat4s glms_mat4_mulN(mat4s * __restrict matrices[], uint32_t len);
CGLM_INLINE vec4s glms_mat4_mulv(mat4s m, vec4s v);
CGLM_INLINE float glms_mat4_trace(mat4s m);
CGLM_INLINE float glms_mat4_trace3(mat4s m);
CGLM_INLINE versors glms_mat4_quat(mat4s m);
CGLM_INLINE vec3s glms_mat4_mulv3(mat4s m, vec3s v, float last);
CGLM_INLINE mat4s glms_mat4_transpose_to(mat4s m);
CGLM_INLINE mat4s glms_mat4_transpose(mat4s m);
CGLM_INLINE mat4s glms_mat4_scale_p(mat4s m, float s);
CGLM_INLINE mat4s glms_mat4_scale(mat4s m, float s);
CGLM_INLINE float glms_mat4_det(mat4s mat);
CGLM_INLINE mat4s glms_mat4_inv(mat4s mat);
CGLM_INLINE mat4s glms_mat4_inv_fast(mat4s mat);
CGLM_INLINE mat4s glms_mat4_swap_col(mat4s mat, int col1, int col2);
CGLM_INLINE mat4s glms_mat4_swap_row(mat4s mat, int row1, int row2);
CGLM_INLINE float glms_mat4_rmc(vec4s r, mat4s m, vec4s c);
*/
#ifndef cglm_mats_h
#define cglm_mats_h
#ifndef cglm_mat4s_h
#define cglm_mat4s_h
#include "../common.h"
#include "../types-struct.h"
@@ -26,18 +54,250 @@
#include "vec4.h"
#include "vec3.h"
#define GLMS_MAT4_IDENTITY_INIT {{1.0f, 0.0f, 0.0f, 0.0f}, \
{0.0f, 1.0f, 0.0f, 0.0f}, \
{0.0f, 0.0f, 1.0f, 0.0f}, \
{0.0f, 0.0f, 0.0f, 1.0f}}
#define GLMS_MAT4_ZERO_INIT {{0.0f, 0.0f, 0.0f, 0.0f}, \
{0.0f, 0.0f, 0.0f, 0.0f}, \
{0.0f, 0.0f, 0.0f, 0.0f}, \
{0.0f, 0.0f, 0.0f, 0.0f}}
/* for C only */
#define GLMS_MAT4_IDENTITY ((mat4)GLMS_MAT4_IDENTITY_INIT)
#define GLMS_MAT4_ZERO ((mat4)GLMS_MAT4_ZERO_INIT)
/*!
* @brief copy all members of [mat] to [dest]
*
* matrix may not be aligned, u stands for unaligned, this may be useful when
* copying a matrix from external source e.g. asset importer...
*
* @param[in] mat source
* @returns destination
*/
CGLM_INLINE
mat4s
glms_mat4_ucopy(mat4s mat) {
mat4s r;
glm_mat4_ucopy(mat.raw, r.raw);
return r;
}
/*!
* @brief copy all members of [mat] to [dest]
*
* @param[in] mat source
* @returns destination
*/
CGLM_INLINE
mat4s
glms_mat4_copy(mat4s mat) {
mat4s r;
glm_mat4_copy(mat.raw, r.raw);
return r;
}
/*!
* @brief make given matrix identity. It is identical with below,
* but it is more easy to do that with this func especially for members
* e.g. glm_mat4_identity(aStruct->aMatrix);
*
* @code
* glm_mat4_copy(GLM_MAT4_IDENTITY, mat); // C only
*
* // or
* mat4 mat = GLM_MAT4_IDENTITY_INIT;
* @endcode
*
* @retuns destination
*/
CGLM_INLINE
mat4s
glms_mat4_identity() {
mat4s r;
glm_mat4_identity(r.raw);
return r;
}
/*!
* @brief make given matrix array's each element identity matrix
*
* @param[in, out] mat matrix array (must be aligned (16/32)
* if alignment is not disabled)
*
* @param[in] count count of matrices
*/
CGLM_INLINE
void
glms_mat4_identity_array(mat4s * __restrict mat, size_t count) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
size_t i;
for (i = 0; i < count; i++) {
glm_mat4_copy(t.raw, mat[i].raw);
}
}
/*!
* @brief make given matrix zero.
*
* @returns matrix
*/
CGLM_INLINE
mat4s
glms_mat4_zero() {
mat4s r;
glm_mat4_zero(r.raw);
return r;
}
/*!
* @brief copy upper-left of mat4 to mat3
*
* @param[in] mat source
* @returns destination
*/
CGLM_INLINE
mat3s
glms_mat4_pick3(mat4s mat) {
mat3s r;
glm_mat4_pick3(mat.raw, r.raw);
return r;
}
/*!
* @brief copy upper-left of mat4 to mat3 (transposed)
*
* the postfix t stands for transpose
*
* @param[in] mat source
* @returns destination
*/
CGLM_INLINE
mat3s
glms_mat4_pick3t(mat4s mat) {
mat3s r;
glm_mat4_pick3t(mat.raw, r.raw);
return r;
}
/*!
* @brief copy mat3 to mat4's upper-left
*
* @param[in] mat source
* @returns destination
*/
CGLM_INLINE
mat4s
glms_mat4_ins3(mat3s mat) {
mat4s r;
glm_mat4_ins3(mat.raw, r.raw);
return r;
}
/*!
* @brief multiply m1 and m2 to dest
*
* m1, m2 and dest matrices can be same matrix, it is possible to write this:
*
* @code
* mat4 m = GLM_MAT4_IDENTITY_INIT;
* glm_mat4_mul(m, m, m);
* @endcode
*
* @param[in] m1 left matrix
* @param[in] m2 right matrix
* @returns destination matrix
*/
CGLM_INLINE
mat4s
glms_mat4_mul(mat4s m1, mat4s m2) {
mat4s r;
glm_mat4_mul(m1.raw, m2.raw, r.raw);
return r;
}
/*!
* @brief mupliply N mat4 matrices and store result in dest
*
* this function lets you multiply multiple (more than two or more...) matrices
* <br><br>multiplication will be done in loop, this may reduce instructions
* size but if <b>len</b> is too small then compiler may unroll whole loop,
* usage:
* @code
* mat m1, m2, m3, m4, res;
*
* glm_mat4_mulN((mat4 *[]){&m1, &m2, &m3, &m4}, 4, res);
* @endcode
*
* @warning matrices parameter is pointer array not mat4 array!
*
* @param[in] matrices mat4 * array
* @param[in] len matrices count
* @returns result
*/
CGLM_INLINE
mat4s
glms_mat4_mulN(mat4s * __restrict matrices[], uint32_t len) {
mat4s r;
glm_mat4_mulN(matrices, len, r.raw);
return r;
}
/*!
* @brief multiply mat4 with vec4 (column vector) and store in dest vector
*
* @param[in] m mat4 (left)
* @param[in] v vec4 (right, column vector)
* returns vec4 (result, column vector)
* @returns vec4 (result, column vector)
*/
CGLM_INLINE
vec4s
glms_mat4_mulv(mat4 m, vec4s v) {
glms_mat4_mulv(mat4s m, vec4s v) {
vec4s r;
glm_mat4_mulv(m, v.raw, r.raw);
glm_mat4_mulv(m.raw, v.raw, r.raw);
return r;
}
/*!
* @brief trace of matrix
*
* sum of the elements on the main diagonal from upper left to the lower right
*
* @param[in] m matrix
*/
CGLM_INLINE
float
glms_mat4_trace(mat4s m) {
return glm_mat4_trace(m.raw);
}
/*!
* @brief trace of matrix (rotation part)
*
* sum of the elements on the main diagonal from upper left to the lower right
*
* @param[in] m matrix
*/
CGLM_INLINE
float
glms_mat4_trace3(mat4s m) {
return glm_mat4_trace3(m.raw);
}
/*!
* @brief convert mat4's rotation part to quaternion
*
* @param[in] m affine matrix
* @returns destination quaternion
*/
CGLM_INLINE
versors
glms_mat4_quat(mat4s m) {
versors r;
glm_mat4_quat(m.raw, r.raw);
return r;
}
@@ -47,16 +307,154 @@ glms_mat4_mulv(mat4 m, vec4s v) {
* @param[in] m mat4(affine transform)
* @param[in] v vec3
* @param[in] last 4th item to make it vec4
* returns result vector (vec3)
* @returns result vector (vec3)
*/
CGLM_INLINE
vec3s
glms_mat4_mulv3(mat4 m, vec3s v, float last) {
glms_mat4_mulv3(mat4s m, vec3s v, float last) {
vec3s r;
glm_mat4_mulv3(m, v.raw, last, r.raw);
glm_mat4_mulv3(m.raw, v.raw, last, r.raw);
return r;
}
/*!
* @brief transpose mat4 and store in dest
*
* source matrix will not be transposed unless dest is m
*
* @param[in] m matrix
* @returns result
*/
CGLM_INLINE
mat4s
glms_mat4_transpose_to(mat4s m) {
mat4s r;
glm_mat4_transpose_to(m.raw, r.raw);
return r;
}
/*!
* @brief tranpose mat4 and store result in same matrix
*
* @param[in] m source
* @returns result
*/
CGLM_INLINE
mat4s
glms_mat4_transpose(mat4s m) {
glm_mat4_transpose(m.raw);
return m;
}
/*!
* @brief scale (multiply with scalar) matrix without simd optimization
*
* multiply matrix with scalar
*
* @param[in] m matrix
* @param[in] s scalar
* @returns matrix
*/
CGLM_INLINE
mat4s
glms_mat4_scale_p(mat4s m, float s) {
glm_mat4_scale_p(m.raw, s);
return m;
}
/*!
* @brief scale (multiply with scalar) matrix
*
* multiply matrix with scalar
*
* @param[in] m matrix
* @param[in] s scalar
* @returns matrix
*/
CGLM_INLINE
mat4s
glms_mat4_scale(mat4s m, float s) {
glm_mat4_scale(m.raw, s);
return m;
}
/*!
* @brief mat4 determinant
*
* @param[in] mat matrix
*
* @return determinant
*/
CGLM_INLINE
float
glms_mat4_det(mat4s mat) {
return glm_mat4_det(mat.raw);
}
/*!
* @brief inverse mat4 and store in dest
*
* @param[in] mat matrix
* @returns inverse matrix
*/
CGLM_INLINE
mat4s
glms_mat4_inv(mat4s mat) {
mat4s r;
glm_mat4_inv(mat.raw, r.raw);
return r;
}
/*!
* @brief inverse mat4 and store in dest
*
* this func uses reciprocal approximation without extra corrections
* e.g Newton-Raphson. this should work faster than normal,
* to get more precise use glm_mat4_inv version.
*
* NOTE: You will lose precision, glm_mat4_inv is more accurate
*
* @param[in] mat matrix
* @returns inverse matrix
*/
CGLM_INLINE
mat4s
glms_mat4_inv_fast(mat4s mat) {
mat4s r;
glm_mat4_inv_fast(mat.raw, r.raw);
return r;
}
/*!
* @brief swap two matrix columns
*
* @param[in] mat matrix
* @param[in] col1 col1
* @param[in] col2 col2
* @returns matrix
*/
CGLM_INLINE
mat4s
glms_mat4_swap_col(mat4s mat, int col1, int col2) {
glm_mat4_swap_col(mat.raw, col1, col2);
return mat;
}
/*!
* @brief swap two matrix rows
*
* @param[in] mat matrix
* @param[in] row1 row1
* @param[in] row2 row2
* @returns matrix
*/
CGLM_INLINE
mat4s
glms_mat4_swap_row(mat4s mat, int row1, int row2) {
glm_mat4_swap_row(mat.raw, row1, row2);
return mat;
}
/*!
* @brief helper for R (row vector) * M (matrix) * C (column vector)
*
@@ -73,8 +471,9 @@ glms_mat4_mulv3(mat4 m, vec3s v, float last) {
*/
CGLM_INLINE
float
glms_mat4_rmc(vec4s r, mat4 m, vec4s c) {
return glm_mat4_rmc(r.raw, m, c.raw);
glms_mat4_rmc(vec4s r, mat4s m, vec4s c) {
return glm_mat4_rmc(r.raw, m.raw, c.raw);
}
#endif /* cglm_mats_h */
#endif /* cglm_mat4s_h */

60
include/cglm/types-struct.h
View File

@@ -10,7 +10,7 @@
#include "types.h"
typedef union CGLM_ALIGN_IF(16) vec3s {
typedef union vec3s {
#ifndef CGLM_NO_ANONYMOUS_STRUCT
struct {
float x;
@@ -33,4 +33,62 @@ typedef union CGLM_ALIGN_IF(16) vec4s {
vec4 raw;
} vec4s;
typedef vec4s versors;
typedef union mat3s {
#ifndef CGLM_NO_ANONYMOUS_STRUCT
struct {
float m00;
float m01;
float m02;
float m10;
float m11;
float m12;
float m20;
float m21;
float m22;
};
struct {
vec3s col0;
vec3s col1;
vec3s col2;
};
#endif
mat3 raw;
} mat3s;
#ifdef __AVX__
typedef union CGLM_ALIGN_IF(32) mat4s {
#else
typedef union CGLM_ALIGN_IF(16) mat4s {
#endif
#ifndef CGLM_NO_ANONYMOUS_STRUCT
struct {
float m00;
float m01;
float m02;
float m03;
float m10;
float m11;
float m12;
float m13;
float m20;
float m21;
float m22;
float m23;
float m30;
float m31;
float m32;
float m33;
};
struct {
vec4s col0;
vec4s col1;
vec4s col2;
vec4s col3;
};
#endif
mat4 raw;
} mat4s;
#endif /* cglm_types_struct_h */