/* * Copyright (c), Recep Aslantas. * * MIT License (MIT), http://opensource.org/licenses/MIT * Full license can be found in the LICENSE file */ #ifndef cglm_mat_h #define cglm_mat_h #include "cglm.h" #include "cglm-mat-simd.h" #include #define GLM_MAT4_IDENTITY (mat4){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 glm_mat4_mul_impl(l, r, d) \ do { \ d[0] = l[0] * r[0] + l[1] * r[4] + l[2] * r[8] + l[3] * r[12]; \ d[1] = l[0] * r[1] + l[1] * r[5] + l[2] * r[9] + l[3] * r[13]; \ d[2] = l[0] * r[2] + l[1] * r[6] + l[2] * r[10] + l[3] * r[14]; \ d[3] = l[0] * r[3] + l[1] * r[7] + l[2] * r[11] + l[3] * r[15]; \ d[4] = l[4] * r[0] + l[5] * r[4] + l[6] * r[8] + l[7] * r[12]; \ d[5] = l[4] * r[1] + l[5] * r[5] + l[6] * r[9] + l[7] * r[13]; \ d[6] = l[4] * r[2] + l[5] * r[6] + l[6] * r[10] + l[7] * r[14]; \ d[7] = l[4] * r[3] + l[5] * r[7] + l[6] * r[11] + l[7] * r[15]; \ d[8] = l[8] * r[0] + l[9] * r[4] + l[10] * r[8] + l[11] * r[12]; \ d[9] = l[8] * r[1] + l[9] * r[5] + l[10] * r[9] + l[11] * r[13]; \ d[10] = l[8] * r[2] + l[9] * r[6] + l[10] * r[10] + l[11] * r[14]; \ d[11] = l[8] * r[3] + l[9] * r[7] + l[10] * r[11] + l[11] * r[15]; \ d[12] = l[12] * r[0] + l[13] * r[4] + l[14] * r[8] + l[15] * r[12]; \ d[13] = l[12] * r[1] + l[13] * r[5] + l[14] * r[9] + l[15] * r[13]; \ d[14] = l[12] * r[2] + l[13] * r[6] + l[14] * r[10] + l[15] * r[14]; \ d[15] = l[12] * r[3] + l[13] * r[7] + l[14] * r[11] + l[15] * r[15]; \ } while (0) CGLM_INLINE void glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest) { float * __restrict d; float * __restrict l; d = (float *)dest; l = (float *)m1; if (m1 != m2) { float * __restrict r; r = (float *)m2; #if defined( __SSE__ ) || defined( __SSE2__ ) CGLM_MAT_MUL_SSE_4x4f(l, r, d); #else glm_mat4_mul_impl(l, r, d); #endif } else { #if defined( __SSE__ ) || defined( __SSE2__ ) CGLM_MAT_MUL_SSE_4x4f(l, l, d); #else glm_mat4_mul_impl(l, l, d); #endif } } CGLM_INLINE void glm_mat4_mulN(mat4 * __restrict matrices[], int len, mat4 dest) { int i; assert(len > 1 && "there must be least 2 matrices to go!"); glm_mat4_mul(*matrices[0], *matrices[1], dest); for (i = 2; i < len; i++) glm_mat4_mul(dest, *matrices[i], dest); } CGLM_INLINE void glm_mat4_transpose_to(mat4 m, mat4 dest) { #if defined( __SSE__ ) || defined( __SSE2__ ) CGLM_MAT_TRANSP_SSE_4x4f(m, dest); #else dest[0][0] = m[0][0]; dest[0][1] = m[1][0]; dest[0][2] = m[2][0]; dest[0][3] = m[3][0]; dest[1][0] = m[0][1]; dest[1][1] = m[1][1]; dest[1][2] = m[2][1]; dest[1][3] = m[3][1]; dest[2][0] = m[0][2]; dest[2][1] = m[1][2]; dest[2][2] = m[2][2]; dest[2][3] = m[3][2]; dest[3][0] = m[0][3]; dest[3][1] = m[1][3]; dest[3][2] = m[2][3]; dest[3][3] = m[3][3]; #endif } CGLM_INLINE void glm_mat4_transpose(mat4 m) { #if defined( __SSE__ ) || defined( __SSE2__ ) CGLM_MAT_TRANSP_SSE_4x4f(m, m); #else mat4 d; glm_mat4_transpose_to(m, d); glm__memcpy(float, m, d, sizeof(mat4)); #endif } CGLM_INLINE void glm_mat4_scale_p(mat4 m, float s) { m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; m[0][3] *= s; m[1][0] *= s; m[1][1] *= s; m[1][2] *= s; m[1][3] *= s; m[2][0] *= s; m[2][1] *= s; m[2][2] *= s; m[2][3] *= s; m[3][0] *= s; m[3][1] *= s; m[3][2] *= s; m[3][3] *= s; } CGLM_INLINE void glm_mat4_scale(mat4 m, float s) { #if defined( __SSE__ ) || defined( __SSE2__ ) CGLM_MAT_SCALE_SSE_4x4f(m, s); #else glm_mat4_scale_p(m, s); #endif } CGLM_INLINE float glm_mat4_det(mat4 mat) { #if defined( __SSE__ ) || defined( __SSE2__ ) return glm_mat4_det_sse2(mat); #else float t[6]; float a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p; a = mat[0][0], b = mat[1][0], c = mat[2][0], d = mat[3][0], e = mat[0][1], f = mat[1][1], g = mat[2][1], h = mat[3][1], i = mat[0][2], j = mat[1][2], k = mat[2][2], l = mat[3][2], m = mat[0][3], n = mat[1][3], o = mat[2][3], p = mat[3][3]; t[0] = k * p - o * l; t[1] = j * p - n * l; t[2] = j * o - n * k; t[3] = i * p - m * l; t[4] = i * o - m * k; t[5] = i * n - m * j; return a * (f * t[0] - g * t[1] + h * t[2]) - b * (e * t[0] - g * t[3] + h * t[4]) + c * (e * t[1] - f * t[3] + h * t[5]) - d * (e * t[2] - f * t[4] + g * t[5]); #endif } CGLM_INLINE void glm_mat4_inv(mat4 mat, mat4 dest) { #if defined( __SSE__ ) || defined( __SSE2__ ) glm_mat4_inv_see2(mat, dest); #else float t[6]; float det; float a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p; a = mat[0][0], b = mat[1][0], c = mat[2][0], d = mat[3][0], e = mat[0][1], f = mat[1][1], g = mat[2][1], h = mat[3][1], i = mat[0][2], j = mat[1][2], k = mat[2][2], l = mat[3][2], m = mat[0][3], n = mat[1][3], o = mat[2][3], p = mat[3][3]; t[0] = k * p - o * l; t[1] = j * p - n * l; t[2] = j * o - n * k; t[3] = i * p - m * l; t[4] = i * o - m * k; t[5] = i * n - m * j; dest[0][0] = f * t[0] - g * t[1] + h * t[2]; dest[1][0] =-(e * t[0] - g * t[3] + h * t[4]); dest[2][0] = e * t[1] - f * t[3] + h * t[5]; dest[3][0] =-(e * t[2] - f * t[4] + g * t[5]); dest[0][1] =-(b * t[0] - c * t[1] + d * t[2]); dest[1][1] = a * t[0] - c * t[3] + d * t[4]; dest[2][1] =-(a * t[1] - b * t[3] + d * t[5]); dest[3][1] = a * t[2] - b * t[4] + c * t[5]; t[0] = g * p - o * h; t[1] = f * p - n * h; t[2] = f * o - n * g; t[3] = e * p - m * h; t[4] = e * o - m * g; t[5] = e * n - m * f; dest[0][2] = b * t[0] - c * t[1] + d * t[2]; dest[1][2] =-(a * t[0] - c * t[3] + d * t[4]); dest[2][2] = a * t[1] - b * t[3] + d * t[5]; dest[3][2] =-(a * t[2] - b * t[4] + c * t[5]); t[0] = g * l - k * h; t[1] = f * l - j * h; t[2] = f * k - j * g; t[3] = e * l - i * h; t[4] = e * k - i * g; t[5] = e * j - i * f; dest[0][3] =-(b * t[0] - c * t[1] + d * t[2]); dest[1][3] = a * t[0] - c * t[3] + d * t[4]; dest[2][3] =-(a * t[1] - b * t[3] + d * t[5]); dest[3][3] = a * t[2] - b * t[4] + c * t[5]; det = 1.0f / (a * dest[0][0] + b * dest[1][0] + c * dest[2][0] + d * dest[3][0]); glm_mat4_scale_p(dest, det); #endif } #endif /* cglm_mat_h */