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cglm/include/cglm-mat.h
Recep Aslantas e789186889 zero initializer for matrix
2017-04-25 23:22:29 +03:00

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*!
* Most of functions in this header are optimized manually with SIMD
* if available. You dont need to call/incude SIMD headers manually
*/
#ifndef cglm_mat_h
#define cglm_mat_h
#include "cglm-common.h"
#include "arch/simd/cglm-mat-simd-sse2.h"
#include "arch/simd/cglm-mat-simd-avx.h"
#include <assert.h>
#define GLM_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 GLM_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 GLM_MAT4_IDENTITY (mat4)GLM_MAT4_IDENTITY_INIT
#define GLM_MAT4_ZERO (mat4)GLM_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
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat4_ucopy(mat4 mat, mat4 dest) {
glm__memcpy(float, dest, mat, sizeof(mat4));
}
/*!
* @brief copy all members of [mat] to [dest]
*
* @param[in] mat source
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat4_copy(mat4 mat, mat4 dest) {
#ifdef __AVX__
_mm256_store_ps(dest[0], _mm256_load_ps(mat[0]));
_mm256_store_ps(dest[2], _mm256_load_ps(mat[2]));
#elif defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(dest[0], _mm_load_ps(mat[0]));
_mm_store_ps(dest[1], _mm_load_ps(mat[1]));
_mm_store_ps(dest[2], _mm_load_ps(mat[2]));
_mm_store_ps(dest[3], _mm_load_ps(mat[3]));
#else
glm_mat4_ucopy(mat, dest);
#endif
}
/*!
* @brief copy upper-left of mat4 to mat3
*
* @param[in] mat source
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat4_pick3(mat4 mat, mat3 dest) {
dest[0][0] = mat[0][0];
dest[0][1] = mat[0][1];
dest[0][2] = mat[0][2];
dest[1][0] = mat[1][0];
dest[1][1] = mat[1][1];
dest[1][2] = mat[1][2];
dest[2][0] = mat[2][0];
dest[2][1] = mat[2][1];
dest[2][2] = mat[2][2];
}
/*!
* @brief copy upper-left of mat4 to mat3 (transposed)
*
* the postfix t stands for transpose
*
* @param[in] mat source
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat4_pick3t(mat4 mat, mat3 dest) {
dest[0][0] = mat[0][0];
dest[0][1] = mat[1][0];
dest[0][2] = mat[2][0];
dest[1][0] = mat[0][1];
dest[1][1] = mat[1][1];
dest[1][2] = mat[2][1];
dest[2][0] = mat[0][2];
dest[2][1] = mat[1][2];
dest[2][2] = mat[2][2];
}
/*!
* @brief copy mat3 to mat4's upper-left
*
* @param[in] mat source
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat4_ins3(mat3 mat, mat4 dest) {
dest[0][0] = mat[0][0];
dest[0][1] = mat[0][1];
dest[0][2] = mat[0][2];
dest[1][0] = mat[1][0];
dest[1][1] = mat[1][1];
dest[1][2] = mat[1][2];
dest[2][0] = mat[2][0];
dest[2][1] = mat[2][1];
dest[2][2] = mat[2][2];
}
/*!
* @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
* @param[out] dest destination matrix
*/
CGLM_INLINE
void
glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest) {
#ifdef __AVX__
glm_mat4_mul_avx(m1, m2, dest);
#elif defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_mul_sse2(m1, m2, dest);
#else
float a00, a01, a02, a03, b00, b01, b02, b03,
a10, a11, a12, a13, b10, b11, b12, b13,
a20, a21, a22, a23, b20, b21, b22, b23,
a30, a31, a32, a33, b30, b31, b32, b33;
a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2], a03 = m1[0][3],
a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2], a13 = m1[1][3],
a20 = m1[2][0], a21 = m1[2][1], a22 = m1[2][2], a23 = m1[2][3],
a30 = m1[3][0], a31 = m1[3][1], a32 = m1[3][2], a33 = m1[3][3];
b00 = m2[0][0], b01 = m2[0][1], b02 = m2[0][2], b03 = m2[0][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],
b30 = m2[3][0], b31 = m2[3][1], b32 = m2[3][2], b33 = m2[3][3];
dest[0][0] = a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03;
dest[0][1] = a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03;
dest[0][2] = a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03;
dest[0][3] = a03 * b00 + a13 * b01 + a23 * b02 + a33 * b03;
dest[1][0] = a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13;
dest[1][1] = a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13;
dest[1][2] = a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13;
dest[1][3] = a03 * b10 + a13 * b11 + a23 * b12 + a33 * b13;
dest[2][0] = a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23;
dest[2][1] = a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23;
dest[2][2] = a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23;
dest[2][3] = a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23;
dest[3][0] = a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33;
dest[3][1] = a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33;
dest[3][2] = a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33;
dest[3][3] = a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33;
#endif
}
/*!
* @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
* @param[out] dest result
*/
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);
}
/*!
* @brief multiply mat4 with vec4 (column vector) and store in dest vector
*
* @param[in] m mat4 (left)
* @param[in] v vec4 (right, column vector)
* @param[out] dest vec4 (result, column vector)
*/
CGLM_INLINE
void
glm_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_mulv_sse2(m, v, dest);
#else
vec4 res;
res[0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0] * v[2] + m[3][0] * v[3];
res[1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1] * v[2] + m[3][1] * v[3];
res[2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2] + m[3][2] * v[3];
res[3] = m[0][3] * v[0] + m[1][3] * v[1] + m[2][3] * v[2] + m[3][3] * v[3];
glm_vec4_copy(res, dest);
#endif
}
/*!
* @brief multiply vector with mat4's mat3 part(rotation)
*
* @param[in] m mat4(affine transform)
* @param[in] v vec3
* @param[out] dest vec3
*/
CGLM_INLINE
void
glm_mat4_mulv3(mat4 m, vec3 v, vec3 dest) {
vec3 res;
res[0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0] * v[2];
res[1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1] * v[2];
res[2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2];
glm_vec_copy(res, dest);
}
/*!
* @brief transpose mat4 and store in dest
*
* source matrix will not be transposed unless dest is m
*
* @param m[in] matrix
* @param dest[out] result
*/
CGLM_INLINE
void
glm_mat4_transpose_to(mat4 m, mat4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_transp_sse2(m, dest);
#else
dest[0][0] = m[0][0]; dest[1][0] = m[0][1];
dest[0][1] = m[1][0]; dest[1][1] = m[1][1];
dest[0][2] = m[2][0]; dest[1][2] = m[2][1];
dest[0][3] = m[3][0]; dest[1][3] = m[3][1];
dest[2][0] = m[0][2]; dest[3][0] = m[0][3];
dest[2][1] = m[1][2]; dest[3][1] = m[1][3];
dest[2][2] = m[2][2]; dest[3][2] = m[2][3];
dest[2][3] = m[3][2]; dest[3][3] = m[3][3];
#endif
}
/*!
* @brief tranpose mat4 and store result in same matrix
*
* @param[in, out] m source and dest
*/
CGLM_INLINE
void
glm_mat4_transpose(mat4 m) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_transp_sse2(m, m);
#else
mat4 d;
glm_mat4_transpose_to(m, d);
glm__memcpy(float, m, d, sizeof(mat4));
#endif
}
/*!
* @brief scale (multiply with scalar) matrix without simd optimization
*
* multiply matrix with scalar
*
* @param[in, out] m matrix
* @param[in] s scalar
*/
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;
}
/*!
* @brief scale (multiply with scalar) matrix
*
* multiply matrix with scalar
*
* @param[in, out] m matrix
* @param[in] s scalar
*/
CGLM_INLINE
void
glm_mat4_scale(mat4 m, float s) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_scale_sse2(m, s);
#else
glm_mat4_scale_p(m, s);
#endif
}
/*!
* @brief mat4 determinant
*
* @param[in] mat matrix
*
* @return determinant
*/
CGLM_INLINE
float
glm_mat4_det(mat4 mat) {
#if defined( __SSE__ ) || defined( __SSE2__ )
return glm_mat4_det_sse2(mat);
#else
/* [square] det(A) = det(At) */
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[0][1], c = mat[0][2], d = mat[0][3],
e = mat[1][0], f = mat[1][1], g = mat[1][2], h = mat[1][3],
i = mat[2][0], j = mat[2][1], k = mat[2][2], l = mat[2][3],
m = mat[3][0], n = mat[3][1], o = mat[3][2], 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
}
/*!
* @brief inverse mat4 and store in dest
*
* this func uses reciprocal approximation without extra corrections
* e.g Newton-Raphson. this should work faster than _precise,
* to get precise value use _precise version
*
* @param[in] mat matrix
* @param[out] dest inverse matrix
*/
CGLM_INLINE
void
glm_mat4_inv(mat4 mat, mat4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_inv_sse2(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[0][1], c = mat[0][2], d = mat[0][3],
e = mat[1][0], f = mat[1][1], g = mat[1][2], h = mat[1][3],
i = mat[2][0], j = mat[2][1], k = mat[2][2], l = mat[2][3],
m = mat[3][0], n = mat[3][1], o = mat[3][2], 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
}
/*!
* @brief inverse mat4 precisely and store in dest
*
* this do same thing as glm_mat4_inv did. the only diff is this func uses
* division instead of reciprocal approximation. Due to division this might
* work slower than glm_mat4_inv
*
* @param[in] mat matrix
* @param[out] dest inverse matrix
*/
CGLM_INLINE
void
glm_mat4_inv_precise(mat4 mat, mat4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_inv_precise_sse2(mat, dest);
#else
glm_mat4_inv_precise(mat, dest);
#endif
}
/*!
* @brief swap two matrix columns
*
* @param[in,out] mat matrix
* @param[in] col1 col1
* @param[in] col2 col2
*/
CGLM_INLINE
void
glm_mat4_swap_col(mat4 mat, int col1, int col2) {
vec4 tmp;
glm_vec4_copy(mat[col1], tmp);
glm_vec4_copy(mat[col2], mat[col1]);
glm_vec4_copy(tmp, mat[col2]);
}
/*!
* @brief swap two matrix rows
*
* @param[in,out] mat matrix
* @param[in] col1 col1
* @param[in] col2 col2
*/
CGLM_INLINE
void
glm_mat4_swap_row(mat4 mat, int row1, int row2) {
vec4 tmp;
tmp[0] = mat[0][row1];
tmp[1] = mat[1][row1];
tmp[2] = mat[2][row1];
tmp[3] = mat[3][row1];
mat[0][row1] = mat[0][row2];
mat[1][row1] = mat[1][row2];
mat[2][row1] = mat[2][row2];
mat[3][row1] = mat[3][row2];
mat[0][row2] = tmp[0];
mat[1][row2] = tmp[1];
mat[2][row2] = tmp[2];
mat[3][row2] = tmp[3];
}
#else
#endif /* cglm_mat_h */
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