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mat4x3: 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 14:14:35 -04:00
parent 929963c6eb
commit a0e3d3766f
5 changed files with 45 additions and 54 deletions
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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 CGLM_EXPORT
void void
glmc_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest); glmc_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest);
CGLM_EXPORT CGLM_EXPORT
void void
glmc_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest); glmc_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest);
CGLM_EXPORT CGLM_EXPORT
void 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_copy(mat4x3 mat, mat4x3 dest);
CGLM_INLINE void glm_mat4x3_zero(mat4x3 mat); 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_make(const float * __restrict src, mat4x3 dest);
CGLM_INLINE void glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest); CGLM_INLINE void glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest);
CGLM_INLINE void glm_mat4x3_mulv(mat4x3 m, vec3 v, vec4 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_transpose(mat4x3 m, mat3x4 dest);
CGLM_INLINE void glm_mat4x3_scale(mat4x3 m, float s); 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 * @brief multiply m1 and m2 to dest
* *
* @code * @code
* glm_mat4x3_mul(mat4x3, mat3x4, mat4); * glm_mat4x3_mul(mat4x3, mat3x4, mat3);
* @endcode * @endcode
* *
* @param[in] m1 left matrix (mat4x3) * @param[in] m1 left matrix (mat4x3)
* @param[in] m2 right matrix (mat3x4) * @param[in] m2 right matrix (mat3x4)
* @param[out] dest destination matrix (mat4) * @param[out] dest destination matrix (mat3)
*/ */
CGLM_INLINE CGLM_INLINE
void 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], 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], a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2],
a20 = m1[2][0], a21 = m1[2][1], a22 = m1[2][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], 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]; 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][0] = a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03;
dest[0][1] = a00 * b01 + a01 * b11 + a02 * b21; dest[0][1] = a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03;
dest[0][2] = a00 * b02 + a01 * b12 + a02 * b22; dest[0][2] = a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03;
dest[0][3] = a00 * b03 + a01 * b13 + a02 * b23;
dest[1][0] = a10 * b00 + a11 * b10 + a12 * b20; dest[1][0] = a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13;
dest[1][1] = a10 * b01 + a11 * b11 + a12 * b21; dest[1][1] = a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13;
dest[1][2] = a10 * b02 + a11 * b12 + a12 * b22; dest[1][2] = a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13;
dest[1][3] = a10 * b03 + a11 * b13 + a12 * b23;
dest[2][0] = a20 * b00 + a21 * b10 + a22 * b20; dest[2][0] = a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23;
dest[2][1] = a20 * b01 + a21 * b11 + a22 * b21; dest[2][1] = a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23;
dest[2][2] = a20 * b02 + a21 * b12 + a22 * b22; dest[2][2] = a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23;
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;
} }
/*! /*!
* @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] m matrix (left)
* @param[in] v vector (right, column vector) * @param[in] v vector (right, column vector)
@@ -148,13 +140,12 @@ glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest) {
*/ */
CGLM_INLINE CGLM_INLINE
void void
glm_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest) { glm_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest) {
float v0 = v[0], v1 = v[1], v2 = v[2]; 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[0] = m[0][0] * v0 + m[1][0] * v1 + m[2][0] * v2 + m[3][0] * v3;
dest[1] = m[1][0] * v0 + m[1][1] * v1 + m[1][2] * v2; dest[1] = m[0][1] * v0 + m[1][1] * v1 + m[2][1] * v2 + m[3][1] * v3;
dest[2] = m[2][0] * v0 + m[2][1] * v1 + m[2][2] * v2; dest[2] = m[0][2] * v0 + m[1][2] * v1 + m[2][2] * v2 + m[3][2] * v3;
dest[3] = m[3][0] * v0 + m[3][1] * v1 + m[3][2] * v2;
} }
/*! /*!

18
include/cglm/struct/mat4x3.h
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@@ -13,8 +13,8 @@
Functions: Functions:
CGLM_INLINE mat4x3s glms_mat4x3_zero(void); CGLM_INLINE mat4x3s glms_mat4x3_zero(void);
CGLM_INLINE mat4x3s glms_mat4x3_make(const float * __restrict src); CGLM_INLINE mat4x3s glms_mat4x3_make(const float * __restrict src);
CGLM_INLINE mat4s glms_mat4x3_mul(mat4x3s m1, mat3x4s m2); CGLM_INLINE mat3s glms_mat4x3_mul(mat4x3s m1, mat3x4s m2);
CGLM_INLINE vec4s glms_mat4x3_mulv(mat4x3s m, vec3s v); CGLM_INLINE vec3s glms_mat4x3_mulv(mat4x3s m, vec4s v);
CGLM_INLINE mat3x4s glms_mat4x3_transpose(mat4x3s m); CGLM_INLINE mat3x4s glms_mat4x3_transpose(mat4x3s m);
CGLM_INLINE mat4x3s glms_mat4x3_scale(mat4x3s m, float s); 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] m1 left matrix (mat4x3s)
* @param[in] m2 right matrix (mat3x4s) * @param[in] m2 right matrix (mat3x4s)
* @returns destination matrix (mat4s) * @returns destination matrix (mat3s)
*/ */
CGLM_INLINE CGLM_INLINE
mat4s mat3s
glms_mat4x3_(mul)(mat4x3s m1, mat3x4s m2) { glms_mat4x3_(mul)(mat4x3s m1, mat3x4s m2) {
mat4s r; mat3s r;
glm_mat4x3_mul(m1.raw, m2.raw, r.raw); glm_mat4x3_mul(m1.raw, m2.raw, r.raw);
return r; return r;
} }
@@ -85,12 +85,12 @@ glms_mat4x3_(mul)(mat4x3s m1, mat3x4s m2) {
* *
* @param[in] m matrix (left) * @param[in] m matrix (left)
* @param[in] v vector (right, column vector) * @param[in] v vector (right, column vector)
* @param[out] dest result vector * @returns destination vector (vec3s)
*/ */
CGLM_INLINE CGLM_INLINE
vec4s vec3s
glms_mat4x3_(mulv)(mat4x3s m, vec3s v) { glms_mat4x3_(mulv)(mat4x3s m, vec4s v) {
vec4s r; vec3s r;
glm_mat4x3_mulv(m.raw, v.raw, r.raw); glm_mat4x3_mulv(m.raw, v.raw, r.raw);
return r; 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 CGLM_EXPORT
void 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); glm_mat4x3_mul(m1, m2, dest);
} }
CGLM_EXPORT CGLM_EXPORT
void 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); 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; mat4x3 m1 = GLM_MAT4X3_ZERO_INIT;
mat3x4 m2 = GLM_MAT3X4_ZERO_INIT; mat3x4 m2 = GLM_MAT3X4_ZERO_INIT;
mat4 m3 = GLM_MAT4_ZERO_INIT; mat3 m3 = GLM_MAT3_ZERO_INIT;
mat4 m4 = GLM_MAT4_ZERO_INIT; mat3 m4 = GLM_MAT3_ZERO_INIT;
int i, j, k; int c, r, k;
test_rand_mat4x3(m1); test_rand_mat4x3(m1);
test_rand_mat3x4(m2); test_rand_mat3x4(m2);
for (i = 0; i < 4; i++) { for (r = 0; r < 3; r++) {
for (j = 0; j < 4; j++) { for (c = 0; c < 3; c++) {
for (k = 0; k < 3; k++) { for (k = 0; k < 4; k++) {
m4[i][j] += m1[i][k] * m2[k][j]; m4[c][r] += m1[k][r] * m2[c][k];
} }
} }
} }
GLM(mat4x3_mul)(m1, m2, m3); GLM(mat4x3_mul)(m1, m2, m3);
ASSERTIFY(test_assert_mat4_eq(m3, m4)) ASSERTIFY(test_assert_mat3_eq(m3, m4))
TEST_SUCCESS TEST_SUCCESS
} }
TEST_IMPL(GLM_PREFIX, mat4x3_mulv) { TEST_IMPL(GLM_PREFIX, mat4x3_mulv) {
mat4x3 mat = A_MATRIX4X3; mat4x3 mat = A_MATRIX4X3;
vec3 v = {11.0f, 21.0f, 31.0f}; vec4 v = {11.0f, 21.0f, 31.0f, 41.0f};
int i; int i;
vec4 dest; vec3 dest;
float res = 0.0; float res = 0.0;
GLM(mat4x3_mulv)(mat, v, dest); GLM(mat4x3_mulv)(mat, v, dest);
for (i = 0; i < 4; i++) { for (i = 0; i < 3; i++) {
res = mat[i][0] * v[0] + mat[i][1] * v[1] + mat[i][2] * v[2]; 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)) ASSERT(test_eq(dest[i], res))
} }