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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
*/
/*
Functions:
CGLM_INLINE mat4s glms_mul(mat4 m1, mat4 m2);
CGLM_INLINE mat4s glms_mul_rot(mat4 m1, mat4 m2);
CGLM_INLINE mat4s glms_inv_tr();
*/
#ifndef cglms_affine_mat_h
#define cglms_affine_mat_h
#include "../common.h"
#include "../types-struct.h"
#include "../affine-mat.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
/*!
* @brief this is similar to glms_mat4_mul but specialized to affine transform
*
* Matrix format should be:
* R R R X
* R R R Y
* R R R Z
* 0 0 0 W
*
* this reduces some multiplications. It should be faster than mat4_mul.
* if you are not sure about matrix format then DON'T use this! use mat4_mul
*
* @param[in] m1 affine matrix 1
* @param[in] m2 affine matrix 2
* @returns destination matrix
*/
CGLM_INLINE
mat4s
glms_mul(mat4s m1, mat4s m2){
mat4s r;
glm_mul(m1.raw, m2.raw, r.raw);
return r;
}
/*!
* @brief this is similar to glm_mat4_mul but specialized to affine transform
*
* Right Matrix format should be:
* R R R 0
* R R R 0
* R R R 0
* 0 0 0 1
*
* this reduces some multiplications. It should be faster than mat4_mul.
* if you are not sure about matrix format then DON'T use this! use mat4_mul
*
* @param[in] m1 affine matrix 1
* @param[in] m2 affine matrix 2
* @returns destination matrix
*/
CGLM_INLINE
mat4s
glms_mul_rot(mat4s m1, mat4s m2){
mat4s r;
glm_mul_rot(m1.raw, m2.raw, r.raw);
return r;
}
/*!
* @brief inverse orthonormal rotation + translation matrix (ridig-body)
*
* @code
* X = | R T | X' = | R' -R'T |
* | 0 1 | | 0 1 |
* @endcode
*
* @param[in] m matrix
* @returns destination matrix
*/
CGLM_INLINE
mat4s
glms_inv_tr(mat4s m){
glm_inv_tr(m.raw);
return m;
}
#endif /* cglms_affine_mat_h */
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