diff options
Diffstat (limited to 'include/cglm/mat3x4.h')
| -rw-r--r-- | include/cglm/mat3x4.h | 177 |
1 files changed, 177 insertions, 0 deletions
diff --git a/include/cglm/mat3x4.h b/include/cglm/mat3x4.h new file mode 100644 index 0000000..52d8e7e --- /dev/null +++ b/include/cglm/mat3x4.h @@ -0,0 +1,177 @@ +/* + * Copyright (c), Recep Aslantas. + * + * MIT License (MIT), http://opensource.org/licenses/MIT + * Full license can be found in the LICENSE file + */ + +/* + Macros: + GLM_MAT3X4_ZERO_INIT + GLM_MAT3X4_ZERO + + Functions: + CGLM_INLINE void glm_mat3x4_copy(mat3x4 src, mat3x4 dest); + CGLM_INLINE void glm_mat3x4_zero(mat3x4 m); + CGLM_INLINE void glm_mat3x4_make(const float * __restrict src, mat3x4 dest); + CGLM_INLINE void glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest); + CGLM_INLINE void glm_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest); + CGLM_INLINE void glm_mat3x4_transpose(mat3x4 src, mat4x3 dest); + CGLM_INLINE void glm_mat3x4_scale(mat3x4 m, float s); + */ + +#ifndef cglm_mat3x4_h +#define cglm_mat3x4_h + +#include "common.h" + +#define GLM_MAT3X4_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}} + +/* for C only */ +#define GLM_MAT3X4_ZERO GLM_MAT3X4_ZERO_INIT + +/*! + * @brief Copy mat3x4 (src) to mat3x4 (dest). + * + * @param[in] src mat3x4 (left) + * @param[out] dest destination (result, mat3x4) + */ +CGLM_INLINE +void +glm_mat3x4_copy(mat3x4 src, mat3x4 dest) { + glm_vec4_ucopy(src[0], dest[0]); + glm_vec4_ucopy(src[1], dest[1]); + glm_vec4_ucopy(src[2], dest[2]); +} + +/*! + * @brief Zero out the mat3x4 (m). + * + * @param[in, out] mat3x4 (src, dest) + */ +CGLM_INLINE +void +glm_mat3x4_zero(mat3x4 m) { + CGLM_ALIGN_MAT mat3x4 t = GLM_MAT3X4_ZERO_INIT; + glm_mat3x4_copy(t, m); +} + +/*! + * @brief Create mat3x4 (dest) from pointer (src). + * + * @param[in] src pointer to an array of floats (left) + * @param[out] dest destination (result, mat3x4) + */ +CGLM_INLINE +void +glm_mat3x4_make(const float * __restrict src, mat3x4 dest) { + dest[0][0] = src[0]; + dest[0][1] = src[1]; + dest[0][2] = src[2]; + dest[0][3] = src[3]; + + dest[1][0] = src[4]; + dest[1][1] = src[5]; + dest[1][2] = src[6]; + dest[1][3] = src[7]; + + dest[2][0] = src[8]; + dest[2][1] = src[9]; + dest[2][2] = src[10]; + dest[2][3] = src[11]; +} + +/*! + * @brief Multiply mat3x4 (m1) by mat4x3 (m2) and store in mat4 (dest). + * + * @code + * glm_mat3x4_mul(mat3x4, mat4x3, mat4); + * @endcode + * + * @param[in] m1 mat3x4 (left) + * @param[in] m2 mat4x3 (right) + * @param[out] dest destination (result, mat4) + */ +CGLM_INLINE +void +glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest) { + float 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], + + b00 = m2[0][0], b01 = m2[0][1], b02 = m2[0][2], + b10 = m2[1][0], b11 = m2[1][1], b12 = m2[1][2], + b20 = m2[2][0], b21 = m2[2][1], b22 = m2[2][2], + b30 = m2[3][0], b31 = m2[3][1], b32 = m2[3][2]; + + dest[0][0] = a00 * b00 + a10 * b01 + a20 * b02; + dest[0][1] = a01 * b00 + a11 * b01 + a21 * b02; + dest[0][2] = a02 * b00 + a12 * b01 + a22 * b02; + dest[0][3] = a03 * b00 + a13 * b01 + a23 * b02; + + dest[1][0] = a00 * b10 + a10 * b11 + a20 * b12; + dest[1][1] = a01 * b10 + a11 * b11 + a21 * b12; + dest[1][2] = a02 * b10 + a12 * b11 + a22 * b12; + dest[1][3] = a03 * b10 + a13 * b11 + a23 * b12; + + dest[2][0] = a00 * b20 + a10 * b21 + a20 * b22; + dest[2][1] = a01 * b20 + a11 * b21 + a21 * b22; + dest[2][2] = a02 * b20 + a12 * b21 + a22 * b22; + dest[2][3] = a03 * b20 + a13 * b21 + a23 * b22; + + dest[3][0] = a00 * b30 + a10 * b31 + a20 * b32; + dest[3][1] = a01 * b30 + a11 * b31 + a21 * b32; + dest[3][2] = a02 * b30 + a12 * b31 + a22 * b32; + dest[3][3] = a03 * b30 + a13 * b31 + a23 * b32; +} + +/*! + * @brief Multiply mat3x4 (m) by vec3 (v) and store in vec4 (dest). + * + * @param[in] m mat3x4 (left) + * @param[in] v vec3 (right, column vector) + * @param[out] dest destination (result, column vector) + */ +CGLM_INLINE +void +glm_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest) { + float v0 = v[0], v1 = v[1], v2 = v[2]; + + dest[0] = m[0][0] * v0 + m[1][0] * v1 + m[2][0] * v2; + dest[1] = m[0][1] * v0 + m[1][1] * v1 + m[2][1] * v2; + dest[2] = m[0][2] * v0 + m[1][2] * v1 + m[2][2] * v2; + dest[3] = m[0][3] * v0 + m[1][3] * v1 + m[2][3] * v2; +} + +/*! + * @brief Transpose mat3x4 (src) and store in mat4x3 (dest). + * + * @param[in] src mat3x4 (left) + * @param[out] dest destination (result, mat4x3) + */ +CGLM_INLINE +void +glm_mat3x4_transpose(mat3x4 src, mat4x3 dest) { + dest[0][0] = src[0][0]; dest[0][1] = src[1][0]; dest[0][2] = src[2][0]; + dest[1][0] = src[0][1]; dest[1][1] = src[1][1]; dest[1][2] = src[2][1]; + dest[2][0] = src[0][2]; dest[2][1] = src[1][2]; dest[2][2] = src[2][2]; + dest[3][0] = src[0][3]; dest[3][1] = src[1][3]; dest[3][2] = src[2][3]; +} + +/*! + * @brief Multiply mat3x4 (m) by scalar constant (s). + * + * @param[in, out] m (src, dest) + * @param[in] s float (scalar) + */ +CGLM_INLINE +void +glm_mat3x4_scale(mat3x4 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; +} + +#endif |