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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
*/
/*
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
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