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Diffstat (limited to 'include/cglm/affine.h')
| -rw-r--r-- | include/cglm/affine.h | 238 |
1 files changed, 238 insertions, 0 deletions
diff --git a/include/cglm/affine.h b/include/cglm/affine.h new file mode 100644 index 0000000..2c608f7 --- /dev/null +++ b/include/cglm/affine.h @@ -0,0 +1,238 @@ +/* + * Copyright (c), Recep Aslantas. + * + * MIT License (MIT), http://opensource.org/licenses/MIT + * Full license can be found in the LICENSE file + */ + +/* + Functions: + CGLM_INLINE void glm_translate_to(mat4 m, vec3 v, mat4 dest); + CGLM_INLINE void glm_translate(mat4 m, vec3 v); + CGLM_INLINE void glm_translate_x(mat4 m, float to); + CGLM_INLINE void glm_translate_y(mat4 m, float to); + CGLM_INLINE void glm_translate_z(mat4 m, float to); + CGLM_INLINE void glm_translate_make(mat4 m, vec3 v); + CGLM_INLINE void glm_scale_to(mat4 m, vec3 v, mat4 dest); + CGLM_INLINE void glm_scale_make(mat4 m, vec3 v); + CGLM_INLINE void glm_scale(mat4 m, vec3 v); + CGLM_INLINE void glm_scale_uni(mat4 m, float s); + CGLM_INLINE void glm_rotate_x(mat4 m, float angle, mat4 dest); + CGLM_INLINE void glm_rotate_y(mat4 m, float angle, mat4 dest); + CGLM_INLINE void glm_rotate_z(mat4 m, float angle, mat4 dest); + CGLM_INLINE void glm_rotate_make(mat4 m, float angle, vec3 axis); + CGLM_INLINE void glm_rotate(mat4 m, float angle, vec3 axis); + CGLM_INLINE void glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis); + CGLM_INLINE void glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis); + CGLM_INLINE void glm_spin(mat4 m, float angle, vec3 axis); + CGLM_INLINE void glm_decompose_scalev(mat4 m, vec3 s); + CGLM_INLINE bool glm_uniscaled(mat4 m); + CGLM_INLINE void glm_decompose_rs(mat4 m, mat4 r, vec3 s); + CGLM_INLINE void glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s); + */ + +#ifndef cglm_affine_h +#define cglm_affine_h + +#include "common.h" +#include "util.h" +#include "vec3.h" +#include "vec4.h" +#include "mat4.h" +#include "affine-mat.h" + +/*! + * @brief creates NEW translate transform matrix by v vector + * + * @param[out] m affine transform + * @param[in] v translate vector [x, y, z] + */ +CGLM_INLINE +void +glm_translate_make(mat4 m, vec3 v) { + glm_mat4_identity(m); + glm_vec3_copy(v, m[3]); +} + +/*! + * @brief scale existing transform matrix by v vector + * and store result in dest + * + * @param[in] m affine transform + * @param[in] v scale vector [x, y, z] + * @param[out] dest scaled matrix + */ +CGLM_INLINE +void +glm_scale_to(mat4 m, vec3 v, mat4 dest) { + glm_vec4_scale(m[0], v[0], dest[0]); + glm_vec4_scale(m[1], v[1], dest[1]); + glm_vec4_scale(m[2], v[2], dest[2]); + + glm_vec4_copy(m[3], dest[3]); +} + +/*! + * @brief creates NEW scale matrix by v vector + * + * @param[out] m affine transform + * @param[in] v scale vector [x, y, z] + */ +CGLM_INLINE +void +glm_scale_make(mat4 m, vec3 v) { + glm_mat4_identity(m); + m[0][0] = v[0]; + m[1][1] = v[1]; + m[2][2] = v[2]; +} + +/*! + * @brief scales existing transform matrix by v vector + * and stores result in same matrix + * + * @param[in, out] m affine transform + * @param[in] v scale vector [x, y, z] + */ +CGLM_INLINE +void +glm_scale(mat4 m, vec3 v) { + glm_scale_to(m, v, m); +} + +/*! + * @brief applies uniform scale to existing transform matrix v = [s, s, s] + * and stores result in same matrix + * + * @param[in, out] m affine transform + * @param[in] s scale factor + */ +CGLM_INLINE +void +glm_scale_uni(mat4 m, float s) { + CGLM_ALIGN(8) vec3 v = { s, s, s }; + glm_scale_to(m, v, m); +} + +/*! + * @brief creates NEW rotation matrix by angle and axis + * + * axis will be normalized so you don't need to normalize it + * + * @param[out] m affine transform + * @param[in] angle angle (radians) + * @param[in] axis axis + */ +CGLM_INLINE +void +glm_rotate_make(mat4 m, float angle, vec3 axis) { + CGLM_ALIGN(8) vec3 axisn, v, vs; + float c; + + c = cosf(angle); + + glm_vec3_normalize_to(axis, axisn); + glm_vec3_scale(axisn, 1.0f - c, v); + glm_vec3_scale(axisn, sinf(angle), vs); + + glm_vec3_scale(axisn, v[0], m[0]); + glm_vec3_scale(axisn, v[1], m[1]); + glm_vec3_scale(axisn, v[2], m[2]); + + m[0][0] += c; m[1][0] -= vs[2]; m[2][0] += vs[1]; + m[0][1] += vs[2]; m[1][1] += c; m[2][1] -= vs[0]; + m[0][2] -= vs[1]; m[1][2] += vs[0]; m[2][2] += c; + + m[0][3] = m[1][3] = m[2][3] = m[3][0] = m[3][1] = m[3][2] = 0.0f; + m[3][3] = 1.0f; +} + +/*! + * @brief decompose scale vector + * + * @param[in] m affine transform + * @param[out] s scale vector (Sx, Sy, Sz) + */ +CGLM_INLINE +void +glm_decompose_scalev(mat4 m, vec3 s) { + s[0] = glm_vec3_norm(m[0]); + s[1] = glm_vec3_norm(m[1]); + s[2] = glm_vec3_norm(m[2]); +} + +/*! + * @brief returns true if matrix is uniform scaled. This is helpful for + * creating normal matrix. + * + * @param[in] m m + * + * @return boolean + */ +CGLM_INLINE +bool +glm_uniscaled(mat4 m) { + CGLM_ALIGN(8) vec3 s; + glm_decompose_scalev(m, s); + return glm_vec3_eq_all(s); +} + +/*! + * @brief decompose rotation matrix (mat4) and scale vector [Sx, Sy, Sz] + * DON'T pass projected matrix here + * + * @param[in] m affine transform + * @param[out] r rotation matrix + * @param[out] s scale matrix + */ +CGLM_INLINE +void +glm_decompose_rs(mat4 m, mat4 r, vec3 s) { + CGLM_ALIGN(16) vec4 t = {0.0f, 0.0f, 0.0f, 1.0f}; + CGLM_ALIGN(8) vec3 v; + + glm_vec4_copy(m[0], r[0]); + glm_vec4_copy(m[1], r[1]); + glm_vec4_copy(m[2], r[2]); + glm_vec4_copy(t, r[3]); + + s[0] = glm_vec3_norm(m[0]); + s[1] = glm_vec3_norm(m[1]); + s[2] = glm_vec3_norm(m[2]); + + glm_vec4_scale(r[0], 1.0f/s[0], r[0]); + glm_vec4_scale(r[1], 1.0f/s[1], r[1]); + glm_vec4_scale(r[2], 1.0f/s[2], r[2]); + + /* Note from Apple Open Source (assume that the matrix is orthonormal): + check for a coordinate system flip. If the determinant + is -1, then negate the matrix and the scaling factors. */ + glm_vec3_cross(m[0], m[1], v); + if (glm_vec3_dot(v, m[2]) < 0.0f) { + glm_vec4_negate(r[0]); + glm_vec4_negate(r[1]); + glm_vec4_negate(r[2]); + glm_vec3_negate(s); + } +} + +/*! + * @brief decompose affine transform, TODO: extract shear factors. + * DON'T pass projected matrix here + * + * @param[in] m affine transform + * @param[out] t translation vector + * @param[out] r rotation matrix (mat4) + * @param[out] s scaling vector [X, Y, Z] + */ +CGLM_INLINE +void +glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s) { + glm_vec4_copy(m[3], t); + glm_decompose_rs(m, r, s); +} + +#include "affine-pre.h" +#include "affine-post.h" + +#endif /* cglm_affine_h */ |