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Merge pull request #260 from recp/new-affine

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new affine transform functions 🚀
This commit is contained in:
Recep Aslantas
2022-10-23 14:06:34 +03:00
committed by GitHub
parent 199d1fa031 53009d69c0
commit 8034073965
25 changed files with 1382 additions and 440 deletions
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2
Makefile.am
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@@ -159,6 +159,8 @@ cglm_structdir=$(includedir)/cglm/struct
cglm_struct_HEADERS = include/cglm/struct/mat4.h \
include/cglm/struct/mat3.h \
include/cglm/struct/mat2.h \
include/cglm/struct/affine-pre.h \
include/cglm/struct/affine-post.h \
include/cglm/struct/affine.h \
include/cglm/struct/affine2d.h \
include/cglm/struct/vec2.h \

129
docs/source/affine-common.rst Normal file
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@@ -0,0 +1,129 @@
.. default-domain:: C
3D Affine Transforms (common)
================================================================================
Common transfrom functions.
Table of contents (click to go):
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Functions:
1. :c:func:`glm_translate_make`
#. :c:func:`glm_scale_to`
#. :c:func:`glm_scale_make`
#. :c:func:`glm_scale`
#. :c:func:`glm_scale_uni`
#. :c:func:`glm_rotate_make`
#. :c:func:`glm_rotate_atm`
#. :c:func:`glm_decompose_scalev`
#. :c:func:`glm_uniscaled`
#. :c:func:`glm_decompose_rs`
#. :c:func:`glm_decompose`
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
.. c:function:: void glm_translate_make(mat4 m, vec3 v)
creates NEW translate transform matrix by *v* vector.
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** translate vector [x, y, z]
.. c:function:: void glm_scale_to(mat4 m, vec3 v, mat4 dest)
scale existing transform matrix by *v* vector and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **v** scale vector [x, y, z]
| *[out]* **dest** scaled matrix
.. c:function:: void glm_scale_make(mat4 m, vec3 v)
creates NEW scale matrix by v vector
Parameters:
| *[out]* **m** affine transfrom
| *[in]* **v** scale vector [x, y, z]
.. c:function:: void glm_scale(mat4 m, vec3 v)
scales existing transform matrix by v vector
and stores result in same matrix
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** scale vector [x, y, z]
.. c:function:: void glm_scale_uni(mat4 m, float s)
applies uniform scale to existing transform matrix v = [s, s, s]
and stores result in same matrix
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** scale factor
.. c:function:: void glm_rotate_make(mat4 m, float angle, vec3 axis)
creates NEW rotation matrix by angle and axis,
axis will be normalized so you don't need to normalize it
Parameters:
| *[out]* **m** affine transfrom
| *[in]* **axis** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis)
| creates NEW rotation matrix by angle and axis at given point
| this creates rotation matrix, it assumes you don't have a matrix
| this should work faster than glm_rotate_at because it reduces one glm_translate.
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **pivot** pivot, anchor point, rotation center
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_decompose_scalev(mat4 m, vec3 s)
decompose scale vector
Parameters:
| *[in]* **m** affine transform
| *[out]* **s** scale vector (Sx, Sy, Sz)
.. c:function:: bool glm_uniscaled(mat4 m)
returns true if matrix is uniform scaled.
This is helpful for creating normal matrix.
Parameters:
| *[in]* **m** matrix
.. c:function:: void glm_decompose_rs(mat4 m, mat4 r, vec3 s)
decompose rotation matrix (mat4) and scale vector [Sx, Sy, Sz]
DON'T pass projected matrix here
Parameters:
| *[in]* **m** affine transform
| *[out]* **r** rotation matrix
| *[out]* **s** scale matrix
.. c:function:: void glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s)
decompose affine transform, TODO: extract shear factors.
DON'T pass projected matrix here
Parameters:
| *[in]* **m** affine transfrom
| *[out]* **t** translation vector
| *[out]* **r** rotation matrix (mat4)
| *[out]* **s** scaling vector [X, Y, Z]

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docs/source/affine-post.rst Normal file
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@@ -0,0 +1,129 @@
.. default-domain:: C
3D Affine Transforms (post)
================================================================================
Post transfrom functions are similar to pre transform functions except order of application is reversed.
Post transform functions are applied after the object is transformed with given (model matrix) transfrom.
Ther are named af
Table of contents (click to go):
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Functions:
1. :c:func:`glm_translated_to`
#. :c:func:`glm_translated`
#. :c:func:`glm_translated_x`
#. :c:func:`glm_translated_y`
#. :c:func:`glm_translated_z`
#. :c:func:`glm_rotated_x`
#. :c:func:`glm_rotated_y`
#. :c:func:`glm_rotated_z`
#. :c:func:`glm_rotated`
#. :c:func:`glm_rotated_at`
#. :c:func:`glm_spinned`
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
.. c:function:: void glm_translated_to(mat4 m, vec3 v, mat4 dest)
translate existing transform matrix by *v* vector and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **v** translate vector [x, y, z]
| *[out]* **dest** translated matrix
.. c:function:: void glm_translated(mat4 m, vec3 v)
translate existing transform matrix by *v* vector
and stores result in same matrix
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** translate vector [x, y, z]
.. c:function:: void glm_translated_x(mat4 m, float x)
translate existing transform matrix by x factor
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** x factor
.. c:function:: void glm_translated_y(mat4 m, float y)
translate existing transform matrix by *y* factor
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** y factor
.. c:function:: void glm_translated_z(mat4 m, float z)
translate existing transform matrix by *z* factor
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** z factor
.. c:function:: void glm_rotated_x(mat4 m, float angle, mat4 dest)
rotate existing transform matrix around X axis by angle
and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[out]* **dest** rotated matrix
.. c:function:: void glm_rotated_y(mat4 m, float angle, mat4 dest)
rotate existing transform matrix around Y axis by angle
and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[out]* **dest** rotated matrix
.. c:function:: void glm_rotated_z(mat4 m, float angle, mat4 dest)
rotate existing transform matrix around Z axis by angle
and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[out]* **dest** rotated matrix
.. c:function:: void glm_rotated(mat4 m, float angle, vec3 axis)
rotate existing transform matrix around Z axis by angle and axis
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis)
rotate existing transform around given axis by angle at given pivot point (rotation center)
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **pivot** pivot, anchor point, rotation center
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_spinned(mat4 m, float angle, vec3 axis)
| rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis

240
docs/source/affine-pre.rst Normal file
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@@ -0,0 +1,240 @@
.. default-domain:: C
3D Affine Transforms (pre)
================================================================================
Pre transfrom functions which are regular transfrom functions.
Table of contents (click to go):
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Functions:
1. :c:func:`glm_translate_to`
#. :c:func:`glm_translate`
#. :c:func:`glm_translate_x`
#. :c:func:`glm_translate_y`
#. :c:func:`glm_translate_z`
#. :c:func:`glm_translate_make`
#. :c:func:`glm_scale_to`
#. :c:func:`glm_scale_make`
#. :c:func:`glm_scale`
#. :c:func:`glm_scale_uni`
#. :c:func:`glm_rotate_x`
#. :c:func:`glm_rotate_y`
#. :c:func:`glm_rotate_z`
#. :c:func:`glm_rotate_make`
#. :c:func:`glm_rotate`
#. :c:func:`glm_rotate_at`
#. :c:func:`glm_rotate_atm`
#. :c:func:`glm_decompose_scalev`
#. :c:func:`glm_uniscaled`
#. :c:func:`glm_decompose_rs`
#. :c:func:`glm_decompose`
#. :c:func:`glm_spin`
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
.. c:function:: void glm_translate_to(mat4 m, vec3 v, mat4 dest)
translate existing transform matrix by *v* vector and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **v** translate vector [x, y, z]
| *[out]* **dest** translated matrix
.. c:function:: void glm_translate(mat4 m, vec3 v)
translate existing transform matrix by *v* vector
and stores result in same matrix
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** translate vector [x, y, z]
.. c:function:: void glm_translate_x(mat4 m, float x)
translate existing transform matrix by x factor
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** x factor
.. c:function:: void glm_translate_y(mat4 m, float y)
translate existing transform matrix by *y* factor
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** y factor
.. c:function:: void glm_translate_z(mat4 m, float z)
translate existing transform matrix by *z* factor
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** z factor
.. c:function:: void glm_translate_make(mat4 m, vec3 v)
creates NEW translate transform matrix by *v* vector.
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** translate vector [x, y, z]
.. c:function:: void glm_scale_to(mat4 m, vec3 v, mat4 dest)
scale existing transform matrix by *v* vector and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **v** scale vector [x, y, z]
| *[out]* **dest** scaled matrix
.. c:function:: void glm_scale_make(mat4 m, vec3 v)
creates NEW scale matrix by v vector
Parameters:
| *[out]* **m** affine transfrom
| *[in]* **v** scale vector [x, y, z]
.. c:function:: void glm_scale(mat4 m, vec3 v)
scales existing transform matrix by v vector
and stores result in same matrix
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** scale vector [x, y, z]
.. c:function:: void glm_scale_uni(mat4 m, float s)
applies uniform scale to existing transform matrix v = [s, s, s]
and stores result in same matrix
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** scale factor
.. c:function:: void glm_rotate_x(mat4 m, float angle, mat4 dest)
rotate existing transform matrix around X axis by angle
and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[out]* **dest** rotated matrix
.. c:function:: void glm_rotate_y(mat4 m, float angle, mat4 dest)
rotate existing transform matrix around Y axis by angle
and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[out]* **dest** rotated matrix
.. c:function:: void glm_rotate_z(mat4 m, float angle, mat4 dest)
rotate existing transform matrix around Z axis by angle
and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[out]* **dest** rotated matrix
.. c:function:: void glm_rotate_make(mat4 m, float angle, vec3 axis)
creates NEW rotation matrix by angle and axis,
axis will be normalized so you don't need to normalize it
Parameters:
| *[out]* **m** affine transfrom
| *[in]* **axis** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotate(mat4 m, float angle, vec3 axis)
rotate existing transform matrix around Z axis by angle and axis
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis)
rotate existing transform around given axis by angle at given pivot point (rotation center)
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **pivot** pivot, anchor point, rotation center
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis)
| creates NEW rotation matrix by angle and axis at given point
| this creates rotation matrix, it assumes you don't have a matrix
| this should work faster than glm_rotate_at because it reduces one glm_translate.
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **pivot** pivot, anchor point, rotation center
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_decompose_scalev(mat4 m, vec3 s)
decompose scale vector
Parameters:
| *[in]* **m** affine transform
| *[out]* **s** scale vector (Sx, Sy, Sz)
.. c:function:: bool glm_uniscaled(mat4 m)
returns true if matrix is uniform scaled.
This is helpful for creating normal matrix.
Parameters:
| *[in]* **m** matrix
.. c:function:: void glm_decompose_rs(mat4 m, mat4 r, vec3 s)
decompose rotation matrix (mat4) and scale vector [Sx, Sy, Sz]
DON'T pass projected matrix here
Parameters:
| *[in]* **m** affine transform
| *[out]* **r** rotation matrix
| *[out]* **s** scale matrix
.. c:function:: void glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s)
decompose affine transform, TODO: extract shear factors.
DON'T pass projected matrix here
Parameters:
| *[in]* **m** affine transfrom
| *[out]* **t** translation vector
| *[out]* **r** rotation matrix (mat4)
| *[out]* **s** scaling vector [X, Y, Z]
.. c:function:: void glm_spin(mat4 m, float angle, vec3 axis)
| rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis

239
docs/source/affine.rst
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@@ -5,6 +5,18 @@
Header: cglm/affine.h
Before starting, **cglm** provides two kind of transform functions; pre and post.
Pre functions (`T' = Tnew * T`) are like `glm_translate`, `glm_rotate` which means it will translate the vector first and then apply the model transformation.
Post functions (`T' = T * Tnew`) are like `glm_translated`, `glm_rotated` which means it will apply the model transformation first and then translate the vector.
`glm_translate`, `glm_rotate` are pre functions and are similar to C++ **glm** which you are familiar with.
In new versions of **cglm** we added `glm_translated`, `glm_rotated`... which are post functions,
they are useful in some cases, e.g. append transform to existing transform (apply/append transform as last transfrom T' = T * Tnew).
Post functions are named after pre functions with `ed` suffix, e.g. `glm_translate` -> `glm_translated`. So don't mix them up.
Initialize Transform Matrices
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Functions with **_make** prefix expect you don't have a matrix and they create
@@ -25,6 +37,9 @@ since scale factors are stored in rotation matrix, same may also true for scalli
cglm provides some functions for rotating around at given point e.g.
**glm_rotate_at**, **glm_quat_rotate_at**. Use them or follow next section for algorihm ("Rotate or Scale around specific Point (Pivot Point / Anchor Point)").
Also **cglm** provides :c:func:`glm_spin` and :c:func:`glm_spinned` functions to rotate around itself. No need to give pivot.
These functions are useful for rotating around center of object.
Rotate or Scale around specific Point (Anchor Point)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -34,7 +49,8 @@ If you want to rotate model around arbibtrary point follow these steps:
2. Apply rotation (or scaling maybe)
3. Move model back from origin to pivot (reverse of step-1): **translate(pivot.x, pivot.y, pivot.z)**
**glm_rotate_at**, **glm_quat_rotate_at** and their helper functions works that way.
**glm_rotate_at**, **glm_quat_rotate_at** and their helper functions works that way.
So if you use them you don't need to do these steps manually which are done by **cglm**.
The implementation would be:
@@ -45,6 +61,13 @@ The implementation would be:
glm_rotate(m, angle, axis);
glm_translate(m, pivotInv); /* pivotInv = -pivot */
or just:
.. code-block:: c
:linenos:
glm_rotate_at(m, pivot, angle, axis);
.. _TransformsOrder:
Transforms Order
@@ -54,7 +77,7 @@ It is important to understand this part especially if you call transform
functions multiple times
`glm_translate`, `glm_rotate`, `glm_scale` and `glm_quat_rotate` and their
helpers functions works like this (cglm may provide reverse order too as alternative in the future):
helpers functions works like this (cglm provides reverse order as `ed` suffix e.g `glm_translated`, `glm_rotated` see post transforms):
.. code-block:: c
:linenos:
@@ -147,199 +170,27 @@ Functions:
#. :c:func:`glm_decompose_rs`
#. :c:func:`glm_decompose`
Post functions (**NEW**):
1. :c:func:`glm_translated_to`
#. :c:func:`glm_translated`
#. :c:func:`glm_translated_x`
#. :c:func:`glm_translated_y`
#. :c:func:`glm_translated_z`
#. :c:func:`glm_rotated_x`
#. :c:func:`glm_rotated_y`
#. :c:func:`glm_rotated_z`
#. :c:func:`glm_rotated`
#. :c:func:`glm_rotated_at`
#. :c:func:`glm_spinned`
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
.. c:function:: void glm_translate_to(mat4 m, vec3 v, mat4 dest)
.. toctree::
:maxdepth: 1
:caption: Affine categories:
translate existing transform matrix by *v* vector and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **v** translate vector [x, y, z]
| *[out]* **dest** translated matrix
.. c:function:: void glm_translate(mat4 m, vec3 v)
translate existing transform matrix by *v* vector
and stores result in same matrix
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** translate vector [x, y, z]
.. c:function:: void glm_translate_x(mat4 m, float x)
translate existing transform matrix by x factor
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** x factor
.. c:function:: void glm_translate_y(mat4 m, float y)
translate existing transform matrix by *y* factor
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** y factor
.. c:function:: void glm_translate_z(mat4 m, float z)
translate existing transform matrix by *z* factor
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** z factor
.. c:function:: void glm_translate_make(mat4 m, vec3 v)
creates NEW translate transform matrix by *v* vector.
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** translate vector [x, y, z]
.. c:function:: void glm_scale_to(mat4 m, vec3 v, mat4 dest)
scale existing transform matrix by *v* vector and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **v** scale vector [x, y, z]
| *[out]* **dest** scaled matrix
.. c:function:: void glm_scale_make(mat4 m, vec3 v)
creates NEW scale matrix by v vector
Parameters:
| *[out]* **m** affine transfrom
| *[in]* **v** scale vector [x, y, z]
.. c:function:: void glm_scale(mat4 m, vec3 v)
scales existing transform matrix by v vector
and stores result in same matrix
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** scale vector [x, y, z]
.. c:function:: void glm_scale_uni(mat4 m, float s)
applies uniform scale to existing transform matrix v = [s, s, s]
and stores result in same matrix
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **v** scale factor
.. c:function:: void glm_rotate_x(mat4 m, float angle, mat4 dest)
rotate existing transform matrix around X axis by angle
and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[out]* **dest** rotated matrix
.. c:function:: void glm_rotate_y(mat4 m, float angle, mat4 dest)
rotate existing transform matrix around Y axis by angle
and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[out]* **dest** rotated matrix
.. c:function:: void glm_rotate_z(mat4 m, float angle, mat4 dest)
rotate existing transform matrix around Z axis by angle
and store result in dest
Parameters:
| *[in]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[out]* **dest** rotated matrix
.. c:function:: void glm_rotate_make(mat4 m, float angle, vec3 axis)
creates NEW rotation matrix by angle and axis,
axis will be normalized so you don't need to normalize it
Parameters:
| *[out]* **m** affine transfrom
| *[in]* **axis** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotate(mat4 m, float angle, vec3 axis)
rotate existing transform matrix around Z axis by angle and axis
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis)
rotate existing transform around given axis by angle at given pivot point (rotation center)
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **pivot** pivot, anchor point, rotation center
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis)
| creates NEW rotation matrix by angle and axis at given point
| this creates rotation matrix, it assumes you don't have a matrix
| this should work faster than glm_rotate_at because it reduces one glm_translate.
Parameters:
| *[in, out]* **m** affine transfrom
| *[in]* **pivot** pivot, anchor point, rotation center
| *[in]* **angle** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_decompose_scalev(mat4 m, vec3 s)
decompose scale vector
Parameters:
| *[in]* **m** affine transform
| *[out]* **s** scale vector (Sx, Sy, Sz)
.. c:function:: bool glm_uniscaled(mat4 m)
returns true if matrix is uniform scaled.
This is helpful for creating normal matrix.
Parameters:
| *[in]* **m** matrix
.. c:function:: void glm_decompose_rs(mat4 m, mat4 r, vec3 s)
decompose rotation matrix (mat4) and scale vector [Sx, Sy, Sz]
DON'T pass projected matrix here
Parameters:
| *[in]* **m** affine transform
| *[out]* **r** rotation matrix
| *[out]* **s** scale matrix
.. c:function:: void glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s)
decompose affine transform, TODO: extract shear factors.
DON'T pass projected matrix here
Parameters:
| *[in]* **m** affine transfrom
| *[out]* **t** translation vector
| *[out]* **r** rotation matrix (mat4)
| *[out]* **s** scaling vector [X, Y, Z]
affine-common
affine-pre
affine-post

35
docs/source/project.rst
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@@ -21,14 +21,14 @@ Functions:
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
.. c:function:: void glm_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest)
.. c:function:: void glm_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest)
| maps the specified viewport coordinates into specified space [1]
the matrix should contain projection matrix.
if you don't have ( and don't want to have ) an inverse matrix then use
glm_unproject version. You may use existing inverse of matrix in somewhere
else, this is why glm_unprojecti exists to save save inversion cost
:c:func:`glm_unproject` version. You may use existing inverse of matrix in somewhere
else, this is why **glm_unprojecti** exists to save inversion cost
[1] space:
- if m = invProj: View Space
@@ -57,7 +57,7 @@ Functions documentation
| maps the specified viewport coordinates into specified space [1]
the matrix should contain projection matrix.
this is same as glm_unprojecti except this function get inverse matrix for
this is same as :c:func:`glm_unprojecti` except this function get inverse matrix for
you.
[1] space:
@@ -80,7 +80,7 @@ Functions documentation
| *[in]* **vp** viewport as [x, y, width, height]
| *[out]* **dest** unprojected coordinates
.. c:function:: void glm_project(vec3 pos, mat4 m, vec4 vp, vec3 dest)
.. c:function:: void glm_project(vec3 pos, mat4 m, vec4 vp, vec3 dest)
| map object coordinates to window coordinates
@@ -91,12 +91,29 @@ Functions documentation
glm_mat4_mul(proj, view, viewProj);
glm_mat4_mul(viewProj, model, MVP);
this could be useful for gettng a bbox which fits with view frustum and
object bounding boxes. In this case you crop view frustum box with objects
box
Parameters:
| *[in]* **pos** object coordinates
| *[in]* **m** MVP matrix
| *[in]* **vp** viewport as [x, y, width, height]
| *[out]* **dest** projected coordinates
.. c:function:: float glm_project_z(vec3 pos, mat4 m)
| map object's z coordinate to window coordinates
this is same as :c:func:`glm_project` except this function projects only Z coordinate
which reduces a few calculations and parameters.
Computing MVP:
.. code-block:: c
glm_mat4_mul(proj, view, viewProj);
glm_mat4_mul(viewProj, model, MVP);
Parameters:
| *[in]* **pos** object coordinates
| *[in]* **m** MVP matrix
Returns:
projected z coordinate

231
include/cglm/affine-post.h Normal file
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@@ -0,0 +1,231 @@
/*
* 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_mul(mat4 m1, mat4 m2, mat4 dest);
CGLM_INLINE void glm_inv_tr(mat4 mat);
*/
#ifndef cglm_affine_post_h
#define cglm_affine_post_h
/*
Functions:
CGLM_INLINE void glm_translated_to(mat4 m, vec3 v, mat4 dest);
CGLM_INLINE void glm_translated(mat4 m, vec3 v);
CGLM_INLINE void glm_translated_x(mat4 m, float to);
CGLM_INLINE void glm_translated_y(mat4 m, float to);
CGLM_INLINE void glm_translated_z(mat4 m, float to);
CGLM_INLINE void glm_rotated_x(mat4 m, float angle, mat4 dest);
CGLM_INLINE void glm_rotated_y(mat4 m, float angle, mat4 dest);
CGLM_INLINE void glm_rotated_z(mat4 m, float angle, mat4 dest);
CGLM_INLINE void glm_rotated(mat4 m, float angle, vec3 axis);
CGLM_INLINE void glm_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis);
CGLM_INLINE void glm_spinned(mat4 m, float angle, vec3 axis);
*/
#include "common.h"
#include "util.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
#include "affine-mat.h"
/*!
* @brief translate existing transform matrix by v vector
* and stores result in same matrix
*
* @param[in, out] m affine transfrom
* @param[in] v translate vector [x, y, z]
*/
CGLM_INLINE
void
glm_translated(mat4 m, vec3 v) {
glm_vec3_add(m[3], v, m[3]);
}
/*!
* @brief translate existing transform matrix by v vector
* and store result in dest
*
* source matrix will remain same
*
* @param[in] m affine transfrom
* @param[in] v translate vector [x, y, z]
* @param[out] dest translated matrix
*/
CGLM_INLINE
void
glm_translated_to(mat4 m, vec3 v, mat4 dest) {
glm_mat4_copy(m, dest);
glm_translated(dest, v);
}
/*!
* @brief translate existing transform matrix by x factor
*
* @param[in, out] m affine transfrom
* @param[in] x x factor
*/
CGLM_INLINE
void
glm_translated_x(mat4 m, float x) {
m[3][0] += x;
}
/*!
* @brief translate existing transform matrix by y factor
*
* @param[in, out] m affine transfrom
* @param[in] y y factor
*/
CGLM_INLINE
void
glm_translated_y(mat4 m, float y) {
m[3][1] += y;
}
/*!
* @brief translate existing transform matrix by z factor
*
* @param[in, out] m affine transfrom
* @param[in] z z factor
*/
CGLM_INLINE
void
glm_translated_z(mat4 m, float z) {
m[3][2] += z;
}
/*!
* @brief rotate existing transform matrix around X axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotated_x(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[1][1] = c;
t[1][2] = s;
t[2][1] = -s;
t[2][2] = c;
glm_mul_rot(t, m, dest);
}
/*!
* @brief rotate existing transform matrix around Y axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotated_y(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[0][0] = c;
t[0][2] = -s;
t[2][0] = s;
t[2][2] = c;
glm_mul_rot(t, m, dest);
}
/*!
* @brief rotate existing transform matrix around Z axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotated_z(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[0][0] = c;
t[0][1] = s;
t[1][0] = -s;
t[1][1] = c;
glm_mul_rot(t, m, dest);
}
/*!
* @brief rotate existing transform matrix around given axis by angle
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotated(mat4 m, float angle, vec3 axis) {
CGLM_ALIGN_MAT mat4 rot;
glm_rotate_make(rot, angle, axis);
glm_mul_rot(rot, m, m);
}
/*!
* @brief rotate existing transform
* around given axis by angle at given pivot point (rotation center)
*
* @param[in, out] m affine transfrom
* @param[in] pivot rotation center
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
CGLM_ALIGN(8) vec3 pivotInv;
glm_vec3_negate_to(pivot, pivotInv);
glm_translated(m, pivot);
glm_rotated(m, angle, axis);
glm_translated(m, pivotInv);
}
/*!
* @brief rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_spinned(mat4 m, float angle, vec3 axis) {
CGLM_ALIGN_MAT mat4 rot;
glm_rotate_atm(rot, m[3], angle, axis);
glm_mat4_mul(rot, m, m);
}
#endif /* cglm_affine_post_h */

291
include/cglm/affine-pre.h Normal file
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@@ -0,0 +1,291 @@
/*
* 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_mul(mat4 m1, mat4 m2, mat4 dest);
CGLM_INLINE void glm_inv_tr(mat4 mat);
*/
#ifndef cglm_affine_pre_h
#define cglm_affine_pre_h
/*
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_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(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);
*/
#include "common.h"
#include "util.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
#include "affine-mat.h"
/*!
* @brief translate existing transform matrix by v vector
* and stores result in same matrix
*
* @param[in, out] m affine transfrom
* @param[in] v translate vector [x, y, z]
*/
CGLM_INLINE
void
glm_translate(mat4 m, vec3 v) {
#if defined(CGLM_SIMD)
glmm_128 m0, m1, m2, m3;
m0 = glmm_load(m[0]);
m1 = glmm_load(m[1]);
m2 = glmm_load(m[2]);
m3 = glmm_load(m[3]);
glmm_store(m[3],
glmm_fmadd(m0, glmm_set1(v[0]),
glmm_fmadd(m1, glmm_set1(v[1]),
glmm_fmadd(m2, glmm_set1(v[2]), m3))));
#else
glm_vec4_muladds(m[0], v[0], m[3]);
glm_vec4_muladds(m[1], v[1], m[3]);
glm_vec4_muladds(m[2], v[2], m[3]);
#endif
}
/*!
* @brief translate existing transform matrix by v vector
* and store result in dest
*
* source matrix will remain same
*
* @param[in] m affine transfrom
* @param[in] v translate vector [x, y, z]
* @param[out] dest translated matrix
*/
CGLM_INLINE
void
glm_translate_to(mat4 m, vec3 v, mat4 dest) {
glm_mat4_copy(m, dest);
glm_translate(dest, v);
}
/*!
* @brief translate existing transform matrix by x factor
*
* @param[in, out] m affine transfrom
* @param[in] x x factor
*/
CGLM_INLINE
void
glm_translate_x(mat4 m, float x) {
#if defined(CGLM_SIMD)
glmm_store(m[3], glmm_fmadd(glmm_load(m[0]), glmm_set1(x), glmm_load(m[3])));
#else
vec4 v1;
glm_vec4_scale(m[0], x, v1);
glm_vec4_add(v1, m[3], m[3]);
#endif
}
/*!
* @brief translate existing transform matrix by y factor
*
* @param[in, out] m affine transfrom
* @param[in] y y factor
*/
CGLM_INLINE
void
glm_translate_y(mat4 m, float y) {
#if defined(CGLM_SIMD)
glmm_store(m[3], glmm_fmadd(glmm_load(m[1]), glmm_set1(y), glmm_load(m[3])));
#else
vec4 v1;
glm_vec4_scale(m[1], y, v1);
glm_vec4_add(v1, m[3], m[3]);
#endif
}
/*!
* @brief translate existing transform matrix by z factor
*
* @param[in, out] m affine transfrom
* @param[in] z z factor
*/
CGLM_INLINE
void
glm_translate_z(mat4 m, float z) {
#if defined(CGLM_SIMD)
glmm_store(m[3], glmm_fmadd(glmm_load(m[2]), glmm_set1(z), glmm_load(m[3])));
#else
vec4 v1;
glm_vec4_scale(m[2], z, v1);
glm_vec4_add(v1, m[3], m[3]);
#endif
}
/*!
* @brief rotate existing transform matrix around X axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotate_x(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[1][1] = c;
t[1][2] = s;
t[2][1] = -s;
t[2][2] = c;
glm_mul_rot(m, t, dest);
}
/*!
* @brief rotate existing transform matrix around Y axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotate_y(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[0][0] = c;
t[0][2] = -s;
t[2][0] = s;
t[2][2] = c;
glm_mul_rot(m, t, dest);
}
/*!
* @brief rotate existing transform matrix around Z axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotate_z(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[0][0] = c;
t[0][1] = s;
t[1][0] = -s;
t[1][1] = c;
glm_mul_rot(m, t, dest);
}
/*!
* @brief rotate existing transform matrix around given axis by angle
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotate(mat4 m, float angle, vec3 axis) {
CGLM_ALIGN_MAT mat4 rot;
glm_rotate_make(rot, angle, axis);
glm_mul_rot(m, rot, m);
}
/*!
* @brief rotate existing transform
* around given axis by angle at given pivot point (rotation center)
*
* @param[in, out] m affine transfrom
* @param[in] pivot rotation center
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
CGLM_ALIGN(8) vec3 pivotInv;
glm_vec3_negate_to(pivot, pivotInv);
glm_translate(m, pivot);
glm_rotate(m, angle, axis);
glm_translate(m, pivotInv);
}
/*!
* @brief creates NEW rotation matrix by angle and axis at given point
*
* this creates rotation matrix, it assumes you don't have a matrix
*
* this should work faster than glm_rotate_at because it reduces
* one glm_translate.
*
* @param[out] m affine transfrom
* @param[in] pivot rotation center
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
CGLM_ALIGN(8) vec3 pivotInv;
glm_vec3_negate_to(pivot, pivotInv);
glm_translate_make(m, pivot);
glm_rotate(m, angle, axis);
glm_translate(m, pivotInv);
}
/*!
* @brief rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_spin(mat4 m, float angle, vec3 axis) {
CGLM_ALIGN_MAT mat4 rot;
glm_rotate_atm(rot, m[3], angle, axis);
glm_mat4_mul(m, rot, m);
}
#endif /* cglm_affine_pre_h */

240
include/cglm/affine.h
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@@ -24,6 +24,7 @@
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);
@@ -40,106 +41,6 @@
#include "mat4.h"
#include "affine-mat.h"
/*!
* @brief translate existing transform matrix by v vector
* and stores result in same matrix
*
* @param[in, out] m affine transfrom
* @param[in] v translate vector [x, y, z]
*/
CGLM_INLINE
void
glm_translate(mat4 m, vec3 v) {
#if defined(CGLM_SIMD)
glmm_128 m0, m1, m2, m3;
m0 = glmm_load(m[0]);
m1 = glmm_load(m[1]);
m2 = glmm_load(m[2]);
m3 = glmm_load(m[3]);
glmm_store(m[3],
glmm_fmadd(m0, glmm_set1(v[0]),
glmm_fmadd(m1, glmm_set1(v[1]),
glmm_fmadd(m2, glmm_set1(v[2]), m3))));
#else
glm_vec4_muladds(m[0], v[0], m[3]);
glm_vec4_muladds(m[1], v[1], m[3]);
glm_vec4_muladds(m[2], v[2], m[3]);
#endif
}
/*!
* @brief translate existing transform matrix by v vector
* and store result in dest
*
* source matrix will remain same
*
* @param[in] m affine transfrom
* @param[in] v translate vector [x, y, z]
* @param[out] dest translated matrix
*/
CGLM_INLINE
void
glm_translate_to(mat4 m, vec3 v, mat4 dest) {
glm_mat4_copy(m, dest);
glm_translate(dest, v);
}
/*!
* @brief translate existing transform matrix by x factor
*
* @param[in, out] m affine transfrom
* @param[in] x x factor
*/
CGLM_INLINE
void
glm_translate_x(mat4 m, float x) {
#if defined(CGLM_SIMD)
glmm_store(m[3], glmm_fmadd(glmm_load(m[0]), glmm_set1(x), glmm_load(m[3])));
#else
vec4 v1;
glm_vec4_scale(m[0], x, v1);
glm_vec4_add(v1, m[3], m[3]);
#endif
}
/*!
* @brief translate existing transform matrix by y factor
*
* @param[in, out] m affine transfrom
* @param[in] y y factor
*/
CGLM_INLINE
void
glm_translate_y(mat4 m, float y) {
#if defined(CGLM_SIMD)
glmm_store(m[3], glmm_fmadd(glmm_load(m[1]), glmm_set1(y), glmm_load(m[3])));
#else
vec4 v1;
glm_vec4_scale(m[1], y, v1);
glm_vec4_add(v1, m[3], m[3]);
#endif
}
/*!
* @brief translate existing transform matrix by z factor
*
* @param[in, out] m affine transfrom
* @param[in] z z factor
*/
CGLM_INLINE
void
glm_translate_z(mat4 m, float z) {
#if defined(CGLM_SIMD)
glmm_store(m[3], glmm_fmadd(glmm_load(m[2]), glmm_set1(z), glmm_load(m[3])));
#else
vec4 v1;
glm_vec4_scale(m[2], z, v1);
glm_vec4_add(v1, m[3], m[3]);
#endif
}
/*!
* @brief creates NEW translate transform matrix by v vector
*
@@ -213,81 +114,6 @@ glm_scale_uni(mat4 m, float s) {
glm_scale_to(m, v, m);
}
/*!
* @brief rotate existing transform matrix around X axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotate_x(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[1][1] = c;
t[1][2] = s;
t[2][1] = -s;
t[2][2] = c;
glm_mul_rot(m, t, dest);
}
/*!
* @brief rotate existing transform matrix around Y axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotate_y(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[0][0] = c;
t[0][2] = -s;
t[2][0] = s;
t[2][2] = c;
glm_mul_rot(m, t, dest);
}
/*!
* @brief rotate existing transform matrix around Z axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotate_z(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[0][0] = c;
t[0][1] = s;
t[1][0] = -s;
t[1][1] = c;
glm_mul_rot(m, t, dest);
}
/*!
* @brief creates NEW rotation matrix by angle and axis
*
@@ -321,67 +147,6 @@ glm_rotate_make(mat4 m, float angle, vec3 axis) {
m[3][3] = 1.0f;
}
/*!
* @brief rotate existing transform matrix around given axis by angle
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotate(mat4 m, float angle, vec3 axis) {
CGLM_ALIGN_MAT mat4 rot;
glm_rotate_make(rot, angle, axis);
glm_mul_rot(m, rot, m);
}
/*!
* @brief rotate existing transform
* around given axis by angle at given pivot point (rotation center)
*
* @param[in, out] m affine transfrom
* @param[in] pivot rotation center
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
CGLM_ALIGN(8) vec3 pivotInv;
glm_vec3_negate_to(pivot, pivotInv);
glm_translate(m, pivot);
glm_rotate(m, angle, axis);
glm_translate(m, pivotInv);
}
/*!
* @brief creates NEW rotation matrix by angle and axis at given point
*
* this creates rotation matrix, it assumes you don't have a matrix
*
* this should work faster than glm_rotate_at because it reduces
* one glm_translate.
*
* @param[out] m affine transfrom
* @param[in] pivot rotation center
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
CGLM_ALIGN(8) vec3 pivotInv;
glm_vec3_negate_to(pivot, pivotInv);
glm_translate_make(m, pivot);
glm_rotate(m, angle, axis);
glm_translate(m, pivotInv);
}
/*!
* @brief decompose scale vector
*
@@ -467,4 +232,7 @@ glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s) {
glm_decompose_rs(m, r, s);
}
#include "affine-pre.h"
#include "affine-post.h"
#endif /* cglm_affine_h */

50
include/cglm/call/affine.h
View File

@@ -81,6 +81,10 @@ CGLM_EXPORT
void
glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_spin(mat4 m, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_decompose_scalev(mat4 m, vec3 s);
@@ -97,6 +101,52 @@ CGLM_EXPORT
void
glmc_decompose(mat4 m, vec4 t, mat4 r, vec3 s);
/* affine-post */
CGLM_EXPORT
void
glmc_translated(mat4 m, vec3 v);
CGLM_EXPORT
void
glmc_translated_to(mat4 m, vec3 v, mat4 dest);
CGLM_EXPORT
void
glmc_translated_x(mat4 m, float x);
CGLM_EXPORT
void
glmc_translated_y(mat4 m, float y);
CGLM_EXPORT
void
glmc_translated_z(mat4 m, float z);
CGLM_EXPORT
void
glmc_rotated_x(mat4 m, float angle, mat4 dest);
CGLM_EXPORT
void
glmc_rotated_y(mat4 m, float angle, mat4 dest);
CGLM_EXPORT
void
glmc_rotated_z(mat4 m, float angle, mat4 dest);
CGLM_EXPORT
void
glmc_rotated(mat4 m, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_spinned(mat4 m, float angle, vec3 axis);
/* affine-mat */
CGLM_EXPORT

4
include/cglm/call/clipspace/project_no.h
View File

@@ -21,6 +21,10 @@ CGLM_EXPORT
void
glmc_project_no(vec3 pos, mat4 m, vec4 vp, vec3 dest);
CGLM_EXPORT
float
glmc_project_z_no(vec3 pos, mat4 m);
#ifdef __cplusplus
}
#endif

4
include/cglm/call/clipspace/project_zo.h
View File

@@ -21,6 +21,10 @@ CGLM_EXPORT
void
glmc_project_zo(vec3 pos, mat4 m, vec4 vp, vec3 dest);
CGLM_EXPORT
float
glmc_project_z_zo(vec3 pos, mat4 m);
#ifdef __cplusplus
}
#endif

4
include/cglm/call/project.h
View File

@@ -25,6 +25,10 @@ CGLM_EXPORT
void
glmc_project(vec3 pos, mat4 m, vec4 vp, vec3 dest);
CGLM_EXPORT
float
glmc_project_z(vec3 pos, mat4 m);
CGLM_EXPORT
void
glmc_pickmatrix(vec2 center, vec2 size, vec4 vp, mat4 dest);

23
include/cglm/clipspace/project_no.h
View File

@@ -83,4 +83,27 @@ glm_project_no(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
dest[2] = pos4[2];
}
/*!
* @brief map object's z coordinate to window coordinates
*
* Computing MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] v object coordinates
* @param[in] m MVP matrix
*
* @returns projected z coordinate
*/
CGLM_INLINE
float
glm_project_z_no(vec3 v, mat4 m) {
float z, w;
z = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2] + m[3][2];
w = m[0][3] * v[0] + m[1][3] * v[1] + m[2][3] * v[2] + m[3][3];
return 0.5f * (z / w) + 0.5f;
}
#endif /* cglm_project_no_h */

23
include/cglm/clipspace/project_zo.h
View File

@@ -85,4 +85,27 @@ glm_project_zo(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
dest[1] = pos4[1] * vp[3] + vp[1];
}
/*!
* @brief map object's z coordinate to window coordinates
*
* Computing MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] v object coordinates
* @param[in] m MVP matrix
*
* @returns projected z coordinate
*/
CGLM_INLINE
float
glm_project_z_zo(vec3 v, mat4 m) {
float z, w;
z = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2] + m[3][2];
w = m[0][3] * v[0] + m[1][3] * v[1] + m[2][3] * v[2] + m[3][3];
return z / w;
}
#endif /* cglm_project_zo_h */

22
include/cglm/project.h
View File

@@ -114,6 +114,28 @@ glm_project(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
#endif
}
/*!
* @brief map object's z coordinate to window coordinates
*
* Computing MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] v object coordinates
* @param[in] m MVP matrix
*
* @returns projected z coordinate
*/
CGLM_INLINE
float
glm_project_z(vec3 v, mat4 m) {
#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_ZO_BIT
return glm_project_z_zo(v, m);
#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_NO_BIT
return glm_project_z_no(v, m);
#endif
}
/*!
* @brief define a picking region
*

18
include/cglm/struct/affine.h
View File

@@ -23,6 +23,7 @@
CGLM_INLINE mat4s glms_rotate(mat4s m, float angle, vec3s axis);
CGLM_INLINE mat4s glms_rotate_at(mat4s m, vec3s pivot, float angle, vec3s axis);
CGLM_INLINE mat4s glms_rotate_atm(mat4s m, vec3s pivot, float angle, vec3s axis);
CGLM_INLINE mat4s glms_spin(mat4s m, float angle, vec3s axis);
CGLM_INLINE vec3s glms_decompose_scalev(mat4s m);
CGLM_INLINE bool glms_uniscaled(mat4s m);
CGLM_INLINE void glms_decompose_rs(mat4s m, mat4s * r, vec3s * s);
@@ -226,7 +227,7 @@ glms_rotate_make(float angle, vec3s axis) {
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
* @returns affine transfrom
* @returns affine transfrom
*/
CGLM_INLINE
mat4s
@@ -273,6 +274,21 @@ glms_rotate_atm(mat4s m, vec3s pivot, float angle, vec3s axis) {
return m;
}
/*!
* @brief rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
* @returns affine transfrom
*/
CGLM_INLINE
mat4s
glms_spin(mat4s m, float angle, vec3s axis) {
glm_spin(m.raw, angle, axis.raw);
return m;
}
/*!
* @brief decompose scale vector
*

20
include/cglm/struct/clipspace/project_no.h
View File

@@ -43,6 +43,7 @@
* @param[in] pos point/position in viewport coordinates
* @param[in] invMat matrix (see brief)
* @param[in] vp viewport as [x, y, width, height]
*
* @returns unprojected coordinates
*/
CGLM_INLINE
@@ -63,6 +64,7 @@ glms_unprojecti_no(vec3s pos, mat4s invMat, vec4s vp, vec3 dest) {
* @param[in] pos object coordinates
* @param[in] m MVP matrix
* @param[in] vp viewport as [x, y, width, height]
*
* @returns projected coordinates
*/
CGLM_INLINE
@@ -73,4 +75,22 @@ glms_project_no(vec3s pos, mat4s m, vec4s vp, vec3s dest) {
return dest;
}
/*!
* @brief map object's z coordinate to window coordinates
*
* Computing MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] v object coordinates
* @param[in] m MVP matrix
*
* @returns projected z coordinate
*/
CGLM_INLINE
vec3s
glms_project_z_no(vec3s v, mat4s m) {
return glm_project_z_no(v.raw, m.raw);
}
#endif /* cglms_project_rh_no_h */

20
include/cglm/struct/clipspace/project_zo.h
View File

@@ -43,6 +43,7 @@
* @param[in] pos point/position in viewport coordinates
* @param[in] invMat matrix (see brief)
* @param[in] vp viewport as [x, y, width, height]
*
* @returns unprojected coordinates
*/
CGLM_INLINE
@@ -63,6 +64,7 @@ glms_unprojecti_zo(vec3s pos, mat4s invMat, vec4s vp, vec3 dest) {
* @param[in] pos object coordinates
* @param[in] m MVP matrix
* @param[in] vp viewport as [x, y, width, height]
*
* @returns projected coordinates
*/
CGLM_INLINE
@@ -73,4 +75,22 @@ glms_project_zo(vec3s pos, mat4s m, vec4s vp, vec3 dest) {
return dest;
}
/*!
* @brief map object's z coordinate to window coordinates
*
* Computing MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] v object coordinates
* @param[in] m MVP matrix
*
* @returns projected z coordinate
*/
CGLM_INLINE
vec3s
glms_project_z_zo(vec3s v, mat4s m) {
return glm_project_z_zo(v.raw, m.raw);
}
#endif /* cglm_project_zo_h */

72
src/affine.c
View File

@@ -110,6 +110,12 @@ glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
glm_rotate_atm(m, pivot, angle, axis);
}
CGLM_EXPORT
void
glmc_spin(mat4 m, float angle, vec3 axis) {
glm_spin(m, angle, axis);
}
CGLM_EXPORT
void
glmc_decompose_scalev(mat4 m, vec3 s) {
@@ -128,6 +134,72 @@ glmc_decompose_rs(mat4 m, mat4 r, vec3 s) {
glm_decompose_rs(m, r, s);
}
CGLM_EXPORT
void
glmc_translated(mat4 m, vec3 v) {
glm_translated(m, v);
}
CGLM_EXPORT
void
glmc_translated_to(mat4 m, vec3 v, mat4 dest) {
glm_translated_to(m, v, dest);
}
CGLM_EXPORT
void
glmc_translated_x(mat4 m, float x) {
glm_translated_x(m, x);
}
CGLM_EXPORT
void
glmc_translated_y(mat4 m, float y) {
glm_translated_y(m, y);
}
CGLM_EXPORT
void
glmc_translated_z(mat4 m, float z) {
glm_translated_z(m, z);
}
CGLM_EXPORT
void
glmc_rotated_x(mat4 m, float angle, mat4 dest) {
glm_rotated_x(m, angle, dest);
}
CGLM_EXPORT
void
glmc_rotated_y(mat4 m, float angle, mat4 dest) {
glm_rotated_y(m, angle, dest);
}
CGLM_EXPORT
void
glmc_rotated_z(mat4 m, float angle, mat4 dest) {
glm_rotated_z(m, angle, dest);
}
CGLM_EXPORT
void
glmc_rotated(mat4 m, float angle, vec3 axis) {
glm_rotated(m, angle, axis);
}
CGLM_EXPORT
void
glmc_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
glm_rotated_at(m, pivot, angle, axis);
}
CGLM_EXPORT
void
glmc_spinned(mat4 m, float angle, vec3 axis) {
glm_spinned(m, angle, axis);
}
CGLM_EXPORT
void
glmc_decompose(mat4 m, vec4 t, mat4 r, vec3 s) {

6
src/clipspace/project_no.c
View File

@@ -19,3 +19,9 @@ void
glmc_project_no(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
glm_project_no(pos, m, vp, dest);
}
CGLM_EXPORT
float
glmc_project_z_no(vec3 pos, mat4 m) {
return glm_project_z_no(pos, m);
}

6
src/clipspace/project_zo.c
View File

@@ -19,3 +19,9 @@ void
glmc_project_zo(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
glm_project_zo(pos, m, vp, dest);
}
CGLM_EXPORT
float
glmc_project_z_zo(vec3 pos, mat4 m) {
return glm_project_z_zo(pos, m);
}

6
src/project.c
View File

@@ -26,6 +26,12 @@ glmc_project(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
glm_project(pos, m, vp, dest);
}
CGLM_EXPORT
float
glmc_project_z(vec3 pos, mat4 m) {
return glm_project_z(pos, m);
}
CGLM_EXPORT
void
glmc_pickmatrix(vec2 center, vec2 size, vec4 vp, mat4 dest) {

2
win/cglm.vcxproj
View File

@@ -60,6 +60,8 @@
</ItemGroup>
<ItemGroup>
<ClInclude Include="..\include\cglm\affine-mat.h" />
<ClInclude Include="..\include\cglm\affine-post.h" />
<ClInclude Include="..\include\cglm\affine-pre.h" />
<ClInclude Include="..\include\cglm\affine.h" />
<ClInclude Include="..\include\cglm\affine2d.h" />
<ClInclude Include="..\include\cglm\applesimd.h" />

6
win/cglm.vcxproj.filters
View File

@@ -591,5 +591,11 @@
<ClInclude Include="..\include\cglm\ivec4.h">
<Filter>include\cglm</Filter>
</ClInclude>
<ClInclude Include="..\include\cglm\affine-post.h">
<Filter>include\cglm</Filter>
</ClInclude>
<ClInclude Include="..\include\cglm\affine-pre.h">
<Filter>include\cglm</Filter>
</ClInclude>
</ItemGroup>
</Project>