169 lines
4.7 KiB
C
169 lines
4.7 KiB
C
/*
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* Copyright (c), Recep Aslantas.
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*
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* MIT License (MIT), http://opensource.org/licenses/MIT
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* Full license can be found in the LICENSE file
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*/
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/*
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Macros:
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GLM_MAT4X3_ZERO_INIT
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GLM_MAT4X3_ZERO
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Functions:
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CGLM_INLINE void glm_mat4x3_copy(mat4x3 src, mat4x3 dest);
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CGLM_INLINE void glm_mat4x3_zero(mat4x3 m);
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CGLM_INLINE void glm_mat4x3_make(const float * __restrict src, mat4x3 dest);
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CGLM_INLINE void glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest);
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CGLM_INLINE void glm_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest);
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CGLM_INLINE void glm_mat4x3_transpose(mat4x3 src, mat3x4 dest);
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CGLM_INLINE void glm_mat4x3_scale(mat4x3 m, float s);
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*/
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#ifndef cglm_mat4x3_h
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#define cglm_mat4x3_h
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#include "common.h"
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#define GLM_MAT4X3_ZERO_INIT {{0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, \
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{0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}}
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/* for C only */
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#define GLM_MAT4X3_ZERO GLM_MAT4X3_ZERO_INIT
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/*!
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* @brief Copy mat4x3 (src) to mat4x3 (dest).
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*
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* @param[in] src mat4x3 (left)
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* @param[out] dest destination (result, mat4x3)
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*/
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CGLM_INLINE
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void
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glm_mat4x3_copy(mat4x3 src, mat4x3 dest) {
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glm_vec3_copy(src[0], dest[0]);
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glm_vec3_copy(src[1], dest[1]);
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glm_vec3_copy(src[2], dest[2]);
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glm_vec3_copy(src[3], dest[3]);
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}
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/*!
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* @brief Zero out the mat4x3 (m).
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*
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* @param[in, out] mat4x3 (src, dest)
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*/
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CGLM_INLINE
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void
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glm_mat4x3_zero(mat4x3 m) {
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CGLM_ALIGN_MAT mat4x3 t = GLM_MAT4X3_ZERO_INIT;
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glm_mat4x3_copy(t, m);
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}
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/*!
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* @brief Create mat4x3 (dest) from pointer (src).
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*
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* @param[in] src pointer to an array of floats (left)
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* @param[out] dest destination (result, mat4x3)
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*/
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CGLM_INLINE
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void
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glm_mat4x3_make(const float * __restrict src, mat4x3 dest) {
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dest[0][0] = src[0];
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dest[0][1] = src[1];
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dest[0][2] = src[2];
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dest[1][0] = src[3];
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dest[1][1] = src[4];
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dest[1][2] = src[5];
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dest[2][0] = src[6];
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dest[2][1] = src[7];
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dest[2][2] = src[8];
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dest[3][0] = src[9];
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dest[3][1] = src[10];
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dest[3][2] = src[11];
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}
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/*!
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* @brief Multiply mat4x3 (m1) by mat3x4 (m2) and store in mat3 (dest).
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*
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* @code
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* glm_mat4x3_mul(mat4x3, mat3x4, mat3);
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* @endcode
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*
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* @param[in] m1 mat4x3 (left)
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* @param[in] m2 mat3x4 (right)
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* @param[out] dest destination (result, mat3)
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*/
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CGLM_INLINE
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void
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glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest) {
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float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2],
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a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2],
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a20 = m1[2][0], a21 = m1[2][1], a22 = m1[2][2],
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a30 = m1[3][0], a31 = m1[3][1], a32 = m1[3][2],
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b00 = m2[0][0], b01 = m2[0][1], b02 = m2[0][2], b03 = m2[0][3],
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b10 = m2[1][0], b11 = m2[1][1], b12 = m2[1][2], b13 = m2[1][3],
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b20 = m2[2][0], b21 = m2[2][1], b22 = m2[2][2], b23 = m2[2][3];
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dest[0][0] = a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03;
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dest[0][1] = a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03;
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dest[0][2] = a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03;
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dest[1][0] = a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13;
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dest[1][1] = a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13;
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dest[1][2] = a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13;
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dest[2][0] = a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23;
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dest[2][1] = a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23;
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dest[2][2] = a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23;
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}
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/*!
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* @brief Multiply mat4x3 (m) by vec4 (v) and store in vec3 (dest).
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*
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* @param[in] m mat4x3 (left)
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* @param[in] v vec3 (right, column vector)
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* @param[out] dest destination (result, column vector)
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*/
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CGLM_INLINE
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void
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glm_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest) {
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float v0 = v[0], v1 = v[1], v2 = v[2], v3 = v[3];
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dest[0] = m[0][0] * v0 + m[1][0] * v1 + m[2][0] * v2 + m[3][0] * v3;
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dest[1] = m[0][1] * v0 + m[1][1] * v1 + m[2][1] * v2 + m[3][1] * v3;
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dest[2] = m[0][2] * v0 + m[1][2] * v1 + m[2][2] * v2 + m[3][2] * v3;
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}
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/*!
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* @brief Transpose mat4x3 (src) and store in mat3x4 (dest).
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*
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* @param[in] src mat4x3 (left)
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* @param[out] dest destination (result, mat3x4)
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*/
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CGLM_INLINE
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void
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glm_mat4x3_transpose(mat4x3 src, mat3x4 dest) {
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dest[0][0] = src[0][0]; dest[0][1] = src[1][0]; dest[0][2] = src[2][0]; dest[0][3] = src[3][0];
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dest[1][0] = src[0][1]; dest[1][1] = src[1][1]; dest[1][2] = src[2][1]; dest[1][3] = src[3][1];
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dest[2][0] = src[0][2]; dest[2][1] = src[1][2]; dest[2][2] = src[2][2]; dest[2][3] = src[3][2];
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}
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/*!
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* @brief Multiply mat4x3 (m) by scalar constant (s).
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*
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* @param[in, out] m (src, dest)
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* @param[in] s float (scalar)
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*/
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CGLM_INLINE
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void
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glm_mat4x3_scale(mat4x3 m, float s) {
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m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; m[1][0] *= s;
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m[1][1] *= s; m[1][2] *= s; m[2][0] *= s; m[2][1] *= s;
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m[2][2] *= s; m[3][0] *= s; m[3][1] *= s; m[3][2] *= s;
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}
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#endif /* cglm_mat4x3_h */
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