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vec: optimize rotate vector using matrix

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* add mat3 version
This commit is contained in:
Recep Aslantas
2018-04-13 22:33:32 +03:00
parent 7f7007574b
commit d6395d4fb8
3 changed files with 64 additions and 8 deletions
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10
docs/source/vec3.rst
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@@ -60,6 +60,7 @@ Functions:
#. :c:func:`glm_vec_angle`
#. :c:func:`glm_vec_rotate`
#. :c:func:`glm_vec_rotate_m4`
#. :c:func:`glm_vec_rotate_m3`
#. :c:func:`glm_vec_proj`
#. :c:func:`glm_vec_center`
#. :c:func:`glm_vec_maxv`
@@ -338,6 +339,15 @@ Functions documentation
| *[in]* **v** vector
| *[out]* **dest** rotated vector
.. c:function:: void glm_vec_rotate_m3(mat3 m, vec3 v, vec3 dest)
apply rotation matrix to vector
Parameters:
| *[in]* **m** affine matrix or rot matrix
| *[in]* **v** vector
| *[out]* **dest** rotated vector
.. c:function:: void glm_vec_proj(vec3 a, vec3 b, vec3 dest)
project a vector onto b vector

50
include/cglm/vec3.h
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@@ -67,6 +67,7 @@
#define cglm_vec3_h
#include "common.h"
#include "vec4.h"
#include "vec3-ext.h"
#include "util.h"
@@ -551,6 +552,12 @@ glm_vec_rotate(vec3 v, float angle, vec3 axis) {
/*!
* @brief apply rotation matrix to vector
*
* matrix format should be (no perspective):
* a b c x
* e f g y
* i j k z
* 0 0 0 w
*
* @param[in] m affine matrix or rot matrix
* @param[in] v vector
* @param[out] dest rotated vector
@@ -558,17 +565,44 @@ glm_vec_rotate(vec3 v, float angle, vec3 axis) {
CGLM_INLINE
void
glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest) {
vec3 res, x, y, z;
vec4 x, y, z, res;
glm_vec_normalize_to(m[0], x);
glm_vec_normalize_to(m[1], y);
glm_vec_normalize_to(m[2], z);
glm_vec4_normalize_to(m[0], x);
glm_vec4_normalize_to(m[1], y);
glm_vec4_normalize_to(m[2], z);
res[0] = x[0] * v[0] + y[0] * v[1] + z[0] * v[2];
res[1] = x[1] * v[0] + y[1] * v[1] + z[1] * v[2];
res[2] = x[2] * v[0] + y[2] * v[1] + z[2] * v[2];
glm_vec4_scale(x, v[0], res);
glm_vec4_muladds(y, v[1], res);
glm_vec4_muladds(y, v[2], res);
glm_vec_copy(res, dest);
glm_vec3(res, dest);
}
/*!
* @brief apply rotation matrix to vector
*
* @param[in] m affine matrix or rot matrix
* @param[in] v vector
* @param[out] dest rotated vector
*/
CGLM_INLINE
void
glm_vec_rotate_m3(mat3 m, vec3 v, vec3 dest) {
vec4 res, x, y, z;
glm_vec4(m[0], 0.0f, x);
glm_vec4(m[1], 0.0f, y);
glm_vec4(m[2], 0.0f, z);
glm_vec4_normalize(x);
glm_vec4_normalize(y);
glm_vec4_normalize(z);
glm_vec4_scale(x, v[0], res);
glm_vec4_muladds(y, v[1], res);
glm_vec4_muladds(y, v[2], res);
glm_vec3(res, dest);
}
/*!

12
test/src/test_vec3.c
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@@ -9,6 +9,8 @@
void
test_vec3(void **state) {
mat3 rot1m3;
mat4 rot1;
vec3 v, v1, v2;
/* test zero */
@@ -63,4 +65,14 @@ test_vec3(void **state) {
glm_vec_broadcast(3, v2);
glm_vec_muladd(v1, v2, v);
assert_true(glmc_vec_eq_eps(v, 10));
/* rotate */
glm_vec_copy(GLM_YUP, v);
glm_rotate_make(rot1, glm_rad(90), GLM_XUP);
glm_vec_rotate_m4(rot1, v, v1);
glm_mat4_pick3(rot1, rot1m3);
glm_vec_rotate_m3(rot1m3, v, v2);
test_assert_vec3_eq(v1, v2);
test_assert_vec3_eq(v1, GLM_ZUP);
}