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Merge branch 'master' into optimizations

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Recep Aslantas
2018-05-10 13:59:10 +03:00
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parent cfd3600107 48d33c16cb
commit 9fc2ead8ef
64 changed files with 4736 additions and 770 deletions
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11
.gitignore vendored
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@@ -59,4 +59,13 @@ cglm_test_ios/*
cglm_test_iosTests/*
docs/build/*
win/cglm_test_*
* copy.*
* copy.*
*.o
*.obj
*codeanalysis.*.xml
*codeanalysis.xml
*.lib
*.tlog
win/x64
win/x85
win/Debug

2
.travis.yml
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@@ -49,7 +49,7 @@ script:
after_success:
- if [[ "$CC" == "gcc" && "$CODE_COVERAGE" == "ON" ]]; then
pip install --user cpp-coveralls
pip install --user cpp-coveralls &&
coveralls
--build-root .
--exclude lib

7
CREDITS
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@@ -43,3 +43,10 @@ https://github.com/erich666/GraphicsGems/blob/master/gems/TransBox.c
6. Cull frustum
http://www.txutxi.com/?p=584
http://old.cescg.org/CESCG-2002/DSykoraJJelinek/
7. Quaternions
Initial mat4_quat is borrowed from Apple's simd library
8. Vector Rotation using Quaternion
https://gamedev.stackexchange.com/questions/28395/rotating-vector3-by-a-quaternion

6
README.md
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@@ -19,7 +19,11 @@ Complete documentation: http://cglm.readthedocs.io
- _dup (duplicate) is changed to _copy. For instance `glm_vec_dup -> glm_vec_copy`
- OpenGL related functions are dropped to make this lib platform/third-party independent
- make sure you have latest version and feel free to report bugs, troubles
- **[bugfix]** euler angles was implemented in reverse order (extrinsic) it was fixed, now they are intrinsic. Make sure that you have the latest version
- **[bugfix]** euler angles was implemented in reverse order (extrinsic) it was fixed, now they are intrinsic. Make sure that
you have the latest version
- **[major change]** by starting v0.4.0, quaternions are stored as [x, y, z, w], it was [w, x, y, z] in v0.3.5 and earlier versions
- **[api rename]** by starting v0.4.5, **glm_simd** functions are renamed to **glmm_**
- **[new option]** by starting v0.4.5, you can disable alignment requirement, check options in docs.
#### Note for C++ developers:
If you don't aware about original GLM library yet, you may also want to look at:

17
autogen.sh
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@@ -8,17 +8,14 @@
cd $(dirname "$0")
if [ "$(uname)" = "Darwin" ]; then
libtoolBin=$(which glibtoolize)
libtoolBinDir=$(dirname "${libtoolBin}")
if [ ! -f "${libtoolBinDir}/libtoolize" ]; then
ln -s $libtoolBin "${libtoolBinDir}/libtoolize"
fi
fi
autoheader
libtoolize
if [ "$(uname)" = "Darwin" ]; then
glibtoolize
else
libtoolize
fi
aclocal -I m4
autoconf
automake --add-missing --copy

11
build-deps.sh
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@@ -9,19 +9,8 @@
# check if deps are pulled
git submodule update --init --recursive
# fix glibtoolize
cd $(dirname "$0")
if [ "$(uname)" = "Darwin" ]; then
libtoolBin=$(which glibtoolize)
libtoolBinDir=$(dirname "${libtoolBin}")
if [ ! -f "${libtoolBinDir}/libtoolize" ]; then
ln -s $libtoolBin "${libtoolBinDir}/libtoolize"
fi
fi
# general deps: gcc make autoconf automake libtool cmake
# test - cmocka

28
cglm.podspec Normal file
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@@ -0,0 +1,28 @@
Pod::Spec.new do |s|
# Description
s.name = "cglm"
s.version = "0.4.4"
s.summary = "📽 Optimized OpenGL/Graphics Math (glm) for C"
s.description = <<-DESC
cglm is math library for graphics programming for C. It is similar to original glm but it is written for C instead of C++ (you can use here too). See the documentation or README for all features.
DESC
s.documentation_url = "http://cglm.readthedocs.io"
# Home
s.homepage = "https://github.com/recp/cglm"
s.license = { :type => "MIT", :file => "LICENSE" }
s.author = { "Recep Aslantas" => "recp@acm.org" }
# Sources
s.source = { :git => "https://github.com/recp/cglm.git", :tag => "v#{s.version}" }
s.source_files = "src", "include/cglm/**/*.h"
s.public_header_files = "include", "include/cglm/**/*.h"
s.exclude_files = "src/win/*", "src/dllmain.c", "src/**/*.h"
s.preserve_paths = "include", "src"
s.header_mappings_dir = "include"
# Linking
s.library = "m"
end

2
configure.ac
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@@ -7,7 +7,7 @@
#*****************************************************************************
AC_PREREQ([2.69])
AC_INIT([cglm], [0.3.6], [info@recp.me])
AC_INIT([cglm], [0.4.5], [info@recp.me])
AM_INIT_AUTOMAKE([-Wall -Werror foreign subdir-objects])
AC_CONFIG_MACRO_DIR([m4])

22
docs/source/affine-mat.rst
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@@ -33,6 +33,7 @@ Table of contents (click func go):
Functions:
1. :c:func:`glm_mul`
#. :c:func:`glm_mul_rot`
#. :c:func:`glm_inv_tr`
Functions documentation
@@ -59,6 +60,27 @@ Functions documentation
| *[in]* **m2** affine matrix 2
| *[out]* **dest** result matrix
.. c:function:: void glm_mul_rot(mat4 m1, mat4 m2, mat4 dest)
| this is similar to glm_mat4_mul but specialized to rotation matrix
Right Matrix format should be (left is free):
.. code-block:: text
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
Parameters:
| *[in]* **m1** affine matrix 1
| *[in]* **m2** affine matrix 2
| *[out]* **dest** result matrix
.. c:function:: void glm_inv_tr(mat4 mat)
| inverse orthonormal rotation + translation matrix (ridig-body)

155
docs/source/affine.rst
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@@ -5,6 +5,8 @@ affine transforms
Header: cglm/affine.h
Initialize Transform Matrices
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Functions with **_make** prefix expect you don't have a matrix and they create
a matrix for you. You don't need to pass identity matrix.
@@ -15,6 +17,107 @@ before sending to transfrom functions.
There are also functions to decompose transform matrix. These functions can't
decompose matrix after projected.
Rotation Center
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Rotating functions uses origin as rotation center (pivot/anchor point),
since scale factors are stored in rotation matrix, same may also true for scalling.
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)").
Rotate or Scale around specific Point (Anchor Point)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
If you want to rotate model around arbibtrary point follow these steps:
1. Move model from pivot point to origin: **translate(-pivot.x, -pivot.y, -pivot.z)**
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.
The implementation would be:
.. code-block:: c
:linenos:
glm_translate(m, pivot);
glm_rotate(m, angle, axis);
glm_translate(m, pivotInv); /* pivotInv = -pivot */
Transforms Order
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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):
.. code-block:: c
:linenos:
TransformMatrix = TransformMatrix * TraslateMatrix; // glm_translate()
TransformMatrix = TransformMatrix * RotateMatrix; // glm_rotate(), glm_quat_rotate()
TransformMatrix = TransformMatrix * ScaleMatrix; // glm_scale()
As you can see it is multipled as right matrix. For instance what will happen if you call `glm_translate` twice?
.. code-block:: c
:linenos:
glm_translate(transform, translate1); /* transform = transform * translate1 */
glm_translate(transform, translate2); /* transform = transform * translate2 */
glm_rotate(transform, angle, axis) /* transform = transform * rotation */
Now lets try to understand this:
1. You call translate using `translate1` and you expect it will be first transform
because you call it first, do you?
Result will be **`transform = transform * translate1`**
2. Then you call translate using `translate2` and you expect it will be second transform?
Result will be **`transform = transform * translate2`**. Now lets expand transform,
it was `transform * translate1` before second call.
Now it is **`transform = transform * translate1 * translate2`**, now do you understand what I say?
3. After last call transform will be:
**`transform = transform * translate1 * translate2 * rotation`**
The order will be; **rotation will be applied first**, then **translate2** then **translate1**
It is all about matrix multiplication order. It is similar to MVP matrix:
`MVP = Projection * View * Model`, model will be applied first, then view then projection.
**Confused?**
In the end the last function call applied first in shaders.
As alternative way, you can create transform matrices individually then combine manually,
but don't forget that `glm_translate`, `glm_rotate`, `glm_scale`... are optimized and should be faster (an smaller assembly output) than manual multiplication
.. code-block:: c
:linenos:
mat4 transform1, transform2, transform3, finalTransform;
glm_translate_make(transform1, translate1);
glm_translate_make(transform2, translate2);
glm_rotate_make(transform3, angle, axis);
/* first apply transform1, then transform2, thentransform3 */
glm_mat4_mulN((mat4 *[]){&transform3, &transform2, &transform1}, 3, finalTransform);
/* if you don't want to use mulN, same as above */
glm_mat4_mul(transform3, transform2, finalTransform);
glm_mat4_mul(finalTransform, transform1, finalTransform);
Now transform1 will be applied first, then transform2 then transform3
Table of contents (click to go):
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -29,15 +132,14 @@ Functions:
#. :c:func:`glm_scale_to`
#. :c:func:`glm_scale_make`
#. :c:func:`glm_scale`
#. :c:func:`glm_scale1`
#. :c:func:`glm_scale_uni`
#. :c:func:`glm_rotate_x`
#. :c:func:`glm_rotate_y`
#. :c:func:`glm_rotate_z`
#. :c:func:`glm_rotate_ndc_make`
#. :c:func:`glm_rotate_make`
#. :c:func:`glm_rotate_ndc`
#. :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`
@@ -122,10 +224,6 @@ Functions documentation
| *[in, out]* **m** affine transfrom
| *[in]* **v** scale vector [x, y, z]
.. c:function:: void glm_scale1(mat4 m, float s)
DEPRECATED! Use glm_scale_uni
.. c:function:: void glm_scale_uni(mat4 m, float s)
applies uniform scale to existing transform matrix v = [s, s, s]
@@ -165,16 +263,6 @@ Functions documentation
| *[in]* **angle** angle (radians)
| *[out]* **dest** rotated matrix
.. c:function:: void glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc)
creates NEW rotation matrix by angle and axis
this name may change in the future. axis must be is normalized
Parameters:
| *[out]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[in]* **axis_ndc** normalized axis
.. c:function:: void glm_rotate_make(mat4 m, float angle, vec3 axis)
creates NEW rotation matrix by angle and axis,
@@ -185,16 +273,6 @@ Functions documentation
| *[in]* **axis** angle (radians)
| *[in]* **axis** axis
.. c:function:: void glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc)
rotate existing transform matrix around Z axis by angle and axis
this name may change in the future, axis must be normalized.
Parameters:
| *[out]* **m** affine transfrom
| *[in]* **angle** angle (radians)
| *[in]* **axis_ndc** normalized axis
.. c:function:: void glm_rotate(mat4 m, float angle, vec3 axis)
rotate existing transform matrix around Z axis by angle and axis
@@ -204,6 +282,29 @@ Functions documentation
| *[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

4
docs/source/conf.py
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@@ -62,9 +62,9 @@ author = u'Recep Aslantas'
# built documents.
#
# The short X.Y version.
version = u'0.3.4'
version = u'0.4.5'
# The full version, including alpha/beta/rc tags.
release = u'0.3.4'
release = u'0.4.5'
# The language for content autogenerated by Sphinx. Refer to documentation
# for a list of supported languages.

13
docs/source/getting_started.rst
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@@ -21,17 +21,24 @@ Types:
As you can see types don't store extra informations in favor of space.
You can send these values e.g. matrix to OpenGL directly without casting or calling a function like *value_ptr*
Aligment is Required:
Alignment is Required:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
**vec4** and **mat4** requires 16 byte aligment because vec4 and mat4 operations are
**vec4** and **mat4** requires 16 byte alignment because vec4 and mat4 operations are
vectorized by SIMD instructions (SSE/AVX).
**UPDATE:**
By starting v0.4.5 cglm provides an option to disable alignment requirement, it is enabled as default
| Check :doc:`opt` page for more details
Also alignment is disabled for older msvc verisons as default. Now alignment is only required in Visual Studio 2017 version 15.6+ if CGLM_ALL_UNALIGNED macro is not defined.
Allocations:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
*cglm* doesn't alloc any memory on heap. So it doesn't provide any allocator.
You must allocate memory yourself. You should alloc memory for out parameters too if you pass pointer of memory location.
When allocating memory don't forget that **vec4** and **mat4** requires aligment.
When allocating memory don't forget that **vec4** and **mat4** requires alignment.
**NOTE:** Unaligned vec4 and unaligned mat4 operations will be supported in the future. Check todo list.
Because you may want to multiply a CGLM matrix with external matrix.

2
docs/source/index.rst
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@@ -40,6 +40,8 @@ Also currently only **float** type is supported for most operations.
getting_started
opengl
api
opt
troubleshooting
Indices and tables
==================

36
docs/source/opt.rst Normal file
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@@ -0,0 +1,36 @@
.. default-domain:: C
Options
===============================================================================
A few options are provided via macros.
Alignment
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
As default, cglm requires types to be aligned. Alignment requirements:
vec3: 8 byte
vec4: 16 byte
mat4: 16 byte
versor: 16 byte
By starting **v0.4.5** cglm provides an option to disable alignment requirement.
To enable this option define **CGLM_ALL_UNALIGNED** macro before all headers.
You can define it in Xcode, Visual Studio (or other IDEs) or you can also prefer
to define it in build system. If you use pre-compiled verisons then you
have to compile cglm with **CGLM_ALL_UNALIGNED** macro.
**VERY VERY IMPORTANT:** If you use cglm in multiple projects and
those projects are depends on each other, then
| *ALWAYS* or *NEVER USE* **CGLM_ALL_UNALIGNED** macro in linked projects
if you do not know what you are doing. Because a cglm header included
via 'project A' may force types to be aligned and another cglm header
included via 'project B' may not require alignment. In this case
cglm functions will read from and write to **INVALID MEMORY LOCATIONs**.
ALWAYS USE SAME CONFIGURATION / OPTION for **cglm** if you have multiple projects.
For instance if you set CGLM_ALL_UNALIGNED in a project then set it in other projects too

298
docs/source/quat.rst
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@@ -5,17 +5,16 @@ quaternions
Header: cglm/quat.h
**Important:** *cglm* stores quaternion as [w, x, y, z] in memory, don't
forget that when changing quaternion items manually. For instance *quat[3]*
is *quat.z* and *quat[0*] is *quat.w*. This may change in the future if *cglm*
will got enough request to do that. Probably it will not be changed in near
future
**Important:** *cglm* stores quaternion as **[x, y, z, w]** in memory
since **v0.4.0** it was **[w, x, y, z]**
before v0.4.0 ( **v0.3.5 and earlier** ). w is real part.
There are some TODOs for quaternions check TODO list to see them.
What you can do with quaternions with existing functions is (Some of them):
Also **versor** is identity quaternion so the type may change to **vec4** or
something else. This will not affect existing functions for your engine because
*versor* is alias of *vec4*
- You can rotate transform matrix using quaterion
- You can rotate vector using quaterion
- You can create view matrix using quaterion
- You can create a lookrotation (from source point to dest)
Table of contents (click to go):
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -28,14 +27,38 @@ Macros:
Functions:
1. :c:func:`glm_quat_identity`
#. :c:func:`glm_quat_init`
#. :c:func:`glm_quat`
#. :c:func:`glm_quatv`
#. :c:func:`glm_quat_copy`
#. :c:func:`glm_quat_norm`
#. :c:func:`glm_quat_normalize`
#. :c:func:`glm_quat_normalize_to`
#. :c:func:`glm_quat_dot`
#. :c:func:`glm_quat_mulv`
#. :c:func:`glm_quat_conjugate`
#. :c:func:`glm_quat_inv`
#. :c:func:`glm_quat_add`
#. :c:func:`glm_quat_sub`
#. :c:func:`glm_quat_real`
#. :c:func:`glm_quat_imag`
#. :c:func:`glm_quat_imagn`
#. :c:func:`glm_quat_imaglen`
#. :c:func:`glm_quat_angle`
#. :c:func:`glm_quat_axis`
#. :c:func:`glm_quat_mul`
#. :c:func:`glm_quat_mat4`
#. :c:func:`glm_quat_mat4t`
#. :c:func:`glm_quat_mat3`
#. :c:func:`glm_quat_mat3t`
#. :c:func:`glm_quat_lerp`
#. :c:func:`glm_quat_slerp`
#. :c:func:`glm_quat_look`
#. :c:func:`glm_quat_for`
#. :c:func:`glm_quat_forp`
#. :c:func:`glm_quat_rotatev`
#. :c:func:`glm_quat_rotate`
#. :c:func:`glm_quat_rotate_at`
#. :c:func:`glm_quat_rotate_atm`
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
@@ -47,10 +70,23 @@ Functions documentation
Parameters:
| *[in, out]* **q** quaternion
.. c:function:: void glm_quat_init(versor q, float x, float y, float z, float w)
| inits quaternion with given values
Parameters:
| *[out]* **q** quaternion
| *[in]* **x** imag.x
| *[in]* **y** imag.y
| *[in]* **z** imag.z
| *[in]* **w** w (real part)
.. c:function:: void glm_quat(versor q, float angle, float x, float y, float z)
| creates NEW quaternion with individual axis components
| given axis will be normalized
Parameters:
| *[out]* **q** quaternion
| *[in]* **angle** angle (radians)
@@ -58,14 +94,24 @@ Functions documentation
| *[in]* **y** axis.y
| *[in]* **z** axis.z
.. c:function:: void glm_quatv(versor q, float angle, vec3 v)
.. c:function:: void glm_quatv(versor q, float angle, vec3 axis)
| creates NEW quaternion with axis vector
| given axis will be normalized
Parameters:
| *[out]* **q** quaternion
| *[in]* **angle** angle (radians)
| *[in]* **v** axis
| *[in]* **axis** axis (will be normalized)
.. c:function:: void glm_quat_copy(versor q, versor dest)
| copy quaternion to another one
Parameters:
| *[in]* **q** source quaternion
| *[out]* **dest** destination quaternion
.. c:function:: float glm_quat_norm(versor q)
@@ -77,6 +123,14 @@ Functions documentation
Returns:
norm (magnitude)
.. c:function:: void glm_quat_normalize_to(versor q, versor dest)
| normalize quaternion and store result in dest, original one will not be normalized
Parameters:
| *[in]* **q** quaternion to normalize into
| *[out]* **dest** destination quaternion
.. c:function:: void glm_quat_normalize(versor q)
| normalize quaternion
@@ -84,24 +138,118 @@ Functions documentation
Parameters:
| *[in, out]* **q** quaternion
.. c:function:: float glm_quat_dot(versor q, versor r)
.. c:function:: float glm_quat_dot(versor p, versor q)
dot product of two quaternion
Parameters:
| *[in]* **q1** quaternion 1
| *[in]* **q2** quaternion 2
| *[in]* **p** quaternion 1
| *[in]* **q** quaternion 2
Returns:
dot product
.. c:function:: void glm_quat_mulv(versor q1, versor q2, versor dest)
.. c:function:: void glm_quat_conjugate(versor q, versor dest)
conjugate of quaternion
Parameters:
| *[in]* **q** quaternion
| *[in]* **dest** conjugate
.. c:function:: void glm_quat_inv(versor q, versor dest)
inverse of non-zero quaternion
Parameters:
| *[in]* **q** quaternion
| *[in]* **dest** inverse quaternion
.. c:function:: void glm_quat_add(versor p, versor q, versor dest)
add (componentwise) two quaternions and store result in dest
Parameters:
| *[in]* **p** quaternion 1
| *[in]* **q** quaternion 2
| *[in]* **dest** result quaternion
.. c:function:: void glm_quat_sub(versor p, versor q, versor dest)
subtract (componentwise) two quaternions and store result in dest
Parameters:
| *[in]* **p** quaternion 1
| *[in]* **q** quaternion 2
| *[in]* **dest** result quaternion
.. c:function:: float glm_quat_real(versor q)
returns real part of quaternion
Parameters:
| *[in]* **q** quaternion
Returns:
real part (quat.w)
.. c:function:: void glm_quat_imag(versor q, vec3 dest)
returns imaginary part of quaternion
Parameters:
| *[in]* **q** quaternion
| *[out]* **dest** imag
.. c:function:: void glm_quat_imagn(versor q, vec3 dest)
returns normalized imaginary part of quaternion
Parameters:
| *[in]* **q** quaternion
| *[out]* **dest** imag
.. c:function:: float glm_quat_imaglen(versor q)
returns length of imaginary part of quaternion
Parameters:
| *[in]* **q** quaternion
Returns:
norm of imaginary part
.. c:function:: float glm_quat_angle(versor q)
returns angle of quaternion
Parameters:
| *[in]* **q** quaternion
Returns:
angles of quat (radians)
.. c:function:: void glm_quat_axis(versor q, versor dest)
axis of quaternion
Parameters:
| *[in]* **p** quaternion
| *[out]* **dest** axis of quaternion
.. c:function:: void glm_quat_mul(versor p, versor q, versor dest)
| multiplies two quaternion and stores result in dest
| this is also called Hamilton Product
| According to WikiPedia:
| The product of two rotation quaternions [clarification needed] will be
equivalent to the rotation q followed by the rotation p
Parameters:
| *[in]* **q1** quaternion 1
| *[in]* **q2** quaternion 2
| *[in]* **p** quaternion 1 (first rotation)
| *[in]* **q** quaternion 2 (second rotation)
| *[out]* **dest** result quaternion
.. c:function:: void glm_quat_mat4(versor q, mat4 dest)
@@ -112,13 +260,121 @@ Functions documentation
| *[in]* **q** quaternion
| *[out]* **dest** result matrix
.. c:function:: void glm_quat_mat4t(versor q, mat4 dest)
| convert quaternion to mat4 (transposed). This is transposed version of glm_quat_mat4
Parameters:
| *[in]* **q** quaternion
| *[out]* **dest** result matrix
.. c:function:: void glm_quat_mat3(versor q, mat3 dest)
| convert quaternion to mat3
Parameters:
| *[in]* **q** quaternion
| *[out]* **dest** result matrix
.. c:function:: void glm_quat_mat3t(versor q, mat3 dest)
| convert quaternion to mat3 (transposed). This is transposed version of glm_quat_mat3
Parameters:
| *[in]* **q** quaternion
| *[out]* **dest** result matrix
.. c:function:: void glm_quat_lerp(versor from, versor to, float t, versor dest)
| interpolates between two quaternions
| using spherical linear interpolation (LERP)
Parameters:
| *[in]* **from** from
| *[in]* **to** to
| *[in]* **t** interpolant (amount) clamped between 0 and 1
| *[out]* **dest** result quaternion
.. c:function:: void glm_quat_slerp(versor q, versor r, float t, versor dest)
| interpolates between two quaternions
| using spherical linear interpolation (SLERP)
Parameters:
| *[in]* **q** from
| *[in]* **r** to
| *[in]* **t** amout
| *[in]* **from** from
| *[in]* **to** to
| *[in]* **t** interpolant (amount) clamped between 0 and 1
| *[out]* **dest** result quaternion
.. c:function:: void glm_quat_look(vec3 eye, versor ori, mat4 dest)
| creates view matrix using quaternion as camera orientation
Parameters:
| *[in]* **eye** eye
| *[in]* **ori** orientation in world space as quaternion
| *[out]* **dest** result matrix
.. c:function:: void glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest)
| creates look rotation quaternion
Parameters:
| *[in]* **dir** direction to look
| *[in]* **fwd** forward vector
| *[in]* **up** up vector
| *[out]* **dest** result matrix
.. c:function:: void glm_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest)
| creates look rotation quaternion using source and destination positions p suffix stands for position
| this is similar to glm_quat_for except this computes direction for glm_quat_for for you.
Parameters:
| *[in]* **from** source point
| *[in]* **to** destination point
| *[in]* **fwd** forward vector
| *[in]* **up** up vector
| *[out]* **dest** result matrix
.. c:function:: void glm_quat_rotatev(versor q, vec3 v, vec3 dest)
| crotate vector using using quaternion
Parameters:
| *[in]* **q** quaternion
| *[in]* **v** vector to rotate
| *[out]* **dest** rotated vector
.. c:function:: void glm_quat_rotate(mat4 m, versor q, mat4 dest)
| rotate existing transform matrix using quaternion
instead of passing identity matrix, consider to use quat_mat4 functions
Parameters:
| *[in]* **m** existing transform matrix to rotate
| *[in]* **q** quaternion
| *[out]* **dest** rotated matrix/transform
.. c:function:: void glm_quat_rotate_at(mat4 m, versor q, vec3 pivot)
| rotate existing transform matrix using quaternion at pivot point
Parameters:
| *[in, out]* **m** existing transform matrix to rotate
| *[in]* **q** quaternion
| *[in]* **pivot** pivot
.. c:function:: void glm_quat_rotate(mat4 m, versor q, mat4 dest)
| rotate NEW transform matrix using quaternion at pivot point
| this creates rotation matrix, it assumes you don't have a matrix
| this should work faster than glm_quat_rotate_at because it reduces one glm_translate.
Parameters:
| *[in, out]* **m** existing transform matrix to rotate
| *[in]* **q** quaternion
| *[in]* **pivot** pivot

79
docs/source/troubleshooting.rst Normal file
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@@ -0,0 +1,79 @@
.. default-domain:: C
Troubleshooting
================================================================================
It is possible that sometimes you may get crashes or wrong results.
Follow these topics
Memory Allocation:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Again, **cglm** doesn't alloc any memory on heap.
cglm functions works like memcpy; it copies data from src,
makes calculations then copy the result to dest.
You are responsible for allocation of **src** and **dest** parameters.
Alignment:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
**vec4** and **mat4** types requires 16 byte alignment.
These types are marked with align attribute to let compiler know about this
requirement.
But since MSVC (Windows) throws the error:
**"formal parameter with requested alignment of 16 won't be aligned"**
The alignment attribute has been commented for MSVC
.. code-block:: c
#if defined(_MSC_VER)
# define CGLM_ALIGN(X) /* __declspec(align(X)) */
#else
# define CGLM_ALIGN(X) __attribute((aligned(X)))
#endif.
So MSVC may not know about alignment requirements when creating variables.
The interesting thing is that, if I remember correctly Visual Studio 2017
doesn't throw the above error. So we may uncomment that line for Visual Studio 2017,
you may do it yourself.
**This MSVC issue is still in TODOs.**
**UPDATE:** By starting v0.4.5 cglm provides an option to disable alignment requirement.
Also alignment is disabled for older msvc verisons as default. Now alignment is only required in Visual Studio 2017 version 15.6+ if CGLM_ALL_UNALIGNED macro is not defined.
Crashes, Invalid Memory Access:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Probably you are trying to write to invalid memory location.
You may used wrong function for what you want to do.
For instance you may called **glm_vec4_** functions for **vec3** data type.
It will try to write 32 byte but since **vec3** is 24 byte it should throw
memory access error or exit the app without saying anything.
Wrong Results:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Again, you may used wrong function.
For instance if you use **glm_normalize()** or **glm_vec_normalize()** for **vec4**,
it will assume that passed param is **vec3** and will normalize it for **vec3**.
Since you need to **vec4** to be normalized in your case, you will get wrong results.
Accessing vec4 type with vec3 functions is valid, you will not get any error, exception or crash.
You only get wrong results if you don't know what you are doing!
So be carefull, when your IDE (Xcode, Visual Studio ...) tried to autocomplete function names, READ IT :)
**Also implementation may be wrong please let us know by creating an issue on Github.**
Other Issues?
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
**Please let us know by creating an issue on Github.**

15
docs/source/util.rst
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@@ -22,6 +22,7 @@ Functions:
#. :c:func:`glm_min`
#. :c:func:`glm_max`
#. :c:func:`glm_clamp`
#. :c:func:`glm_lerp`
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
@@ -121,3 +122,17 @@ Functions documentation
Returns:
clamped value
.. c:function:: float glm_lerp(float from, float to, float t)
linear interpolation between two number
| formula: from + s * (to - from)
Parameters:
| *[in]* **from** from value
| *[in]* **to** to value
| *[in]* **t** interpolant (amount) clamped between 0 and 1
Returns:
interpolated value

45
docs/source/vec3-ext.rst
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@@ -23,6 +23,11 @@ Functions:
#. :c:func:`glm_vec_eqv_eps`
#. :c:func:`glm_vec_max`
#. :c:func:`glm_vec_min`
#. :c:func:`glm_vec_isnan`
#. :c:func:`glm_vec_isinf`
#. :c:func:`glm_vec_isvalid`
#. :c:func:`glm_vec_sign`
#. :c:func:`glm_vec_sqrt`
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
@@ -96,3 +101,43 @@ Functions documentation
Parameters:
| *[in]* **v** vector
.. c:function:: bool glm_vec_isnan(vec3 v)
| check if one of items is NaN (not a number)
| you should only use this in DEBUG mode or very critical asserts
Parameters:
| *[in]* **v** vector
.. c:function:: bool glm_vec_isinf(vec3 v)
| check if one of items is INFINITY
| you should only use this in DEBUG mode or very critical asserts
Parameters:
| *[in]* **v** vector
.. c:function:: bool glm_vec_isvalid(vec3 v)
| check if all items are valid number
| you should only use this in DEBUG mode or very critical asserts
Parameters:
| *[in]* **v** vector
.. c:function:: void glm_vec_sign(vec3 v, vec3 dest)
get sign of 32 bit float as +1, -1, 0
Parameters:
| *[in]* **v** vector
| *[out]* **dest** sign vector (only keeps signs as -1, 0, -1)
.. c:function:: void glm_vec_sqrt(vec3 v, vec3 dest)
square root of each vector item
Parameters:
| *[in]* **v** vector
| *[out]* **dest** destination vector (sqrt(v))

160
docs/source/vec3.rst
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@@ -31,15 +31,27 @@ Functions:
1. :c:func:`glm_vec3`
#. :c:func:`glm_vec_copy`
#. :c:func:`glm_vec_zero`
#. :c:func:`glm_vec_one`
#. :c:func:`glm_vec_dot`
#. :c:func:`glm_vec_cross`
#. :c:func:`glm_vec_norm2`
#. :c:func:`glm_vec_norm`
#. :c:func:`glm_vec_add`
#. :c:func:`glm_vec_adds`
#. :c:func:`glm_vec_sub`
#. :c:func:`glm_vec_subs`
#. :c:func:`glm_vec_mul`
#. :c:func:`glm_vec_scale`
#. :c:func:`glm_vec_scale_as`
#. :c:func:`glm_vec_div`
#. :c:func:`glm_vec_divs`
#. :c:func:`glm_vec_addadd`
#. :c:func:`glm_vec_subadd`
#. :c:func:`glm_vec_muladd`
#. :c:func:`glm_vec_muladds`
#. :c:func:`glm_vec_flipsign`
#. :c:func:`glm_vec_flipsign_to`
#. :c:func:`glm_vec_inv`
#. :c:func:`glm_vec_inv_to`
#. :c:func:`glm_vec_normalize`
@@ -48,12 +60,14 @@ Functions:
#. :c:func:`glm_vec_angle`
#. :c:func:`glm_vec_rotate`
#. :c:func:`glm_vec_rotate_m4`
#. :c:func:`glm_vec_rotate_m3`
#. :c:func:`glm_vec_proj`
#. :c:func:`glm_vec_center`
#. :c:func:`glm_vec_maxv`
#. :c:func:`glm_vec_minv`
#. :c:func:`glm_vec_ortho`
#. :c:func:`glm_vec_clamp`
#. :c:func:`glm_vec_lerp`
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
@@ -74,6 +88,20 @@ Functions documentation
| *[in]* **a** source
| *[out]* **dest** destination
.. c:function:: void glm_vec_zero(vec3 v)
makes all members 0.0f (zero)
Parameters:
| *[in, out]* **v** vector
.. c:function:: void glm_vec_one(vec3 v)
makes all members 1.0f (one)
Parameters:
| *[in, out]* **v** vector
.. c:function:: float glm_vec_dot(vec3 a, vec3 b)
dot product of vec3
@@ -115,24 +143,51 @@ Functions documentation
Parameters:
| *[in]* **vec** vector
.. c:function:: void glm_vec_add(vec3 v1, vec3 v2, vec3 dest)
.. c:function:: void glm_vec_add(vec3 a, vec3 b, vec3 dest)
add v2 vector to v1 vector store result in dest
add a vector to b vector store result in dest
Parameters:
| *[in]* **v1** vector1
| *[in]* **v2** vector2
| *[in]* **a** vector1
| *[in]* **b** vector2
| *[out]* **dest** destination vector
.. c:function:: void glm_vec_adds(vec3 a, float s, vec3 dest)
add scalar to v vector store result in dest (d = v + vec(s))
Parameters:
| *[in]* **v** vector
| *[in]* **s** scalar
| *[out]* **dest** destination vector
.. c:function:: void glm_vec_sub(vec3 v1, vec3 v2, vec3 dest)
subtract v2 vector from v1 vector store result in dest
subtract b vector from a vector store result in dest (d = v1 - v2)
Parameters:
| *[in]* **v1** vector1
| *[in]* **v2** vector2
| *[in]* **a** vector1
| *[in]* **b** vector2
| *[out]* **dest** destination vector
.. c:function:: void glm_vec_subs(vec3 v, float s, vec3 dest)
subtract scalar from v vector store result in dest (d = v - vec(s))
Parameters:
| *[in]* **v** vector
| *[in]* **s** scalar
| *[out]* **dest** destination vector
.. c:function:: void glm_vec_mul(vec3 a, vec3 b, vec3 d)
multiply two vector (component-wise multiplication)
Parameters:
| *[in]* **a** vector
| *[in]* **b** scalar
| *[out]* **d** result = (a[0] * b[0], a[1] * b[1], a[2] * b[2])
.. c:function:: void glm_vec_scale(vec3 v, float s, vec3 dest)
multiply/scale vec3 vector with scalar: result = v * s
@@ -152,12 +207,78 @@ Functions documentation
| *[in]* **s** scalar
| *[out]* **dest** destination vector
.. c:function:: void glm_vec_div(vec3 a, vec3 b, vec3 dest)
div vector with another component-wise division: d = a / b
Parameters:
| *[in]* **a** vector 1
| *[in]* **b** vector 2
| *[out]* **dest** result = (a[0] / b[0], a[1] / b[1], a[2] / b[2])
.. c:function:: void glm_vec_divs(vec3 v, float s, vec3 dest)
div vector with scalar: d = v / s
Parameters:
| *[in]* **v** vector
| *[in]* **s** scalar
| *[out]* **dest** result = (a[0] / s, a[1] / s, a[2] / s])
.. c:function:: void glm_vec_addadd(vec3 a, vec3 b, vec3 dest)
| add two vectors and add result to sum
| it applies += operator so dest must be initialized
Parameters:
| *[in]* **a** vector 1
| *[in]* **b** vector 2
| *[out]* **dest** dest += (a + b)
.. c:function:: void glm_vec_subadd(vec3 a, vec3 b, vec3 dest)
| sub two vectors and add result to sum
| it applies += operator so dest must be initialized
Parameters:
| *[in]* **a** vector 1
| *[in]* **b** vector 2
| *[out]* **dest** dest += (a - b)
.. c:function:: void glm_vec_muladd(vec3 a, vec3 b, vec3 dest)
| mul two vectors and add result to sum
| it applies += operator so dest must be initialized
Parameters:
| *[in]* **a** vector 1
| *[in]* **b** vector 2
| *[out]* **dest** dest += (a * b)
.. c:function:: void glm_vec_muladds(vec3 a, float s, vec3 dest)
| mul vector with scalar and add result to sum
| it applies += operator so dest must be initialized
Parameters:
| *[in]* **a** vector
| *[in]* **s** scalar
| *[out]* **dest** dest += (a * b)
.. c:function:: void glm_vec_flipsign(vec3 v)
flip sign of all vec3 members
Parameters:
| *[in, out]* **v** vector
| *[in, out]* **v** vector
.. c:function:: void glm_vec_flipsign_to(vec3 v, vec3 dest)
flip sign of all vec3 members and store result in dest
Parameters:
| *[in]* **v** vector
| *[out]* **dest** negated vector
.. c:function:: void glm_vec_inv(vec3 v)
@@ -206,7 +327,7 @@ Functions documentation
Parameters:
| *[in, out]* **v** vector
| *[in]* **axis** axis vector (must be unit vector)
| *[in]* **axis** axis vector (will be normalized)
| *[out]* **angle** angle (radians)
.. c:function:: void glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest)
@@ -218,6 +339,15 @@ Functions documentation
| *[in]* **v** vector
| *[out]* **dest** rotated vector
.. c:function:: void glm_vec_rotate_m3(mat3 m, vec3 v, vec3 dest)
apply rotation matrix to vector
Parameters:
| *[in]* **m** affine matrix or rot matrix
| *[in]* **v** vector
| *[out]* **dest** rotated vector
.. c:function:: void glm_vec_proj(vec3 a, vec3 b, vec3 dest)
project a vector onto b vector
@@ -281,3 +411,15 @@ Functions documentation
| *[in, out]* **v** vector
| *[in]* **minVal** minimum value
| *[in]* **maxVal** maximum value
.. c:function:: void glm_vec_lerp(vec3 from, vec3 to, float t, vec3 dest)
linear interpolation between two vector
| formula: from + s * (to - from)
Parameters:
| *[in]* **from** from value
| *[in]* **to** to value
| *[in]* **t** interpolant (amount) clamped between 0 and 1
| *[out]* **dest** destination

40
docs/source/vec4-ext.rst
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@@ -96,3 +96,43 @@ Functions documentation
Parameters:
| *[in]* **v** vector
.. c:function:: bool glm_vec4_isnan(vec4 v)
| check if one of items is NaN (not a number)
| you should only use this in DEBUG mode or very critical asserts
Parameters:
| *[in]* **v** vector
.. c:function:: bool glm_vec4_isinf(vec4 v)
| check if one of items is INFINITY
| you should only use this in DEBUG mode or very critical asserts
Parameters:
| *[in]* **v** vector
.. c:function:: bool glm_vec4_isvalid(vec4 v)
| check if all items are valid number
| you should only use this in DEBUG mode or very critical asserts
Parameters:
| *[in]* **v** vector
.. c:function:: void glm_vec4_sign(vec4 v, vec4 dest)
get sign of 32 bit float as +1, -1, 0
Parameters:
| *[in]* **v** vector
| *[out]* **dest** sign vector (only keeps signs as -1, 0, -1)
.. c:function:: void glm_vec4_sqrt(vec4 v, vec4 dest)
square root of each vector item
Parameters:
| *[in]* **v** vector
| *[out]* **dest** destination vector (sqrt(v))

146
docs/source/vec4.rst
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@@ -24,14 +24,26 @@ Functions:
1. :c:func:`glm_vec4`
#. :c:func:`glm_vec4_copy3`
#. :c:func:`glm_vec4_copy`
#. :c:func:`glm_vec4_zero`
#. :c:func:`glm_vec4_one`
#. :c:func:`glm_vec4_dot`
#. :c:func:`glm_vec4_norm2`
#. :c:func:`glm_vec4_norm`
#. :c:func:`glm_vec4_add`
#. :c:func:`glm_vec4_adds`
#. :c:func:`glm_vec4_sub`
#. :c:func:`glm_vec4_subs`
#. :c:func:`glm_vec4_mul`
#. :c:func:`glm_vec4_scale`
#. :c:func:`glm_vec4_scale_as`
#. :c:func:`glm_vec4_div`
#. :c:func:`glm_vec4_divs`
#. :c:func:`glm_vec4_addadd`
#. :c:func:`glm_vec4_subadd`
#. :c:func:`glm_vec4_muladd`
#. :c:func:`glm_vec4_muladds`
#. :c:func:`glm_vec4_flipsign`
#. :c:func:`glm_vec_flipsign_to`
#. :c:func:`glm_vec4_inv`
#. :c:func:`glm_vec4_inv_to`
#. :c:func:`glm_vec4_normalize`
@@ -40,6 +52,12 @@ Functions:
#. :c:func:`glm_vec4_maxv`
#. :c:func:`glm_vec4_minv`
#. :c:func:`glm_vec4_clamp`
#. :c:func:`glm_vec4_lerp`
#. :c:func:`glm_vec4_isnan`
#. :c:func:`glm_vec4_isinf`
#. :c:func:`glm_vec4_isvalid`
#. :c:func:`glm_vec4_sign`
#. :c:func:`glm_vec4_sqrt`
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
@@ -71,6 +89,13 @@ Functions documentation
| *[in]* **v** source
| *[in]* **dest** destination
.. c:function:: void glm_vec4_zero(vec4 v)
makes all members zero
Parameters:
| *[in, out]* **v** vector
.. c:function:: float glm_vec4_dot(vec4 a, vec4 b)
dot product of vec4
@@ -103,24 +128,51 @@ Functions documentation
Parameters:
| *[in]* **vec** vector
.. c:function:: void glm_vec4_add(vec4 v1, vec4 v2, vec4 dest)
.. c:function:: void glm_vec4_add(vec4 a, vec4 b, vec4 dest)
add v2 vector to v1 vector store result in dest
add a vector to b vector store result in dest
Parameters:
| *[in]* **v1** vector1
| *[in]* **v2** vector2
| *[in]* **a** vector1
| *[in]* **b** vector2
| *[out]* **dest** destination vector
.. c:function:: void glm_vec4_sub(vec4 v1, vec4 v2, vec4 dest)
.. c:function:: void glm_vec4_adds(vec4 v, float s, vec4 dest)
subtract v2 vector from v1 vector store result in dest
add scalar to v vector store result in dest (d = v + vec(s))
Parameters:
| *[in]* **v1** vector1
| *[in]* **v2** vector2
| *[in]* **v** vector
| *[in]* **s** scalar
| *[out]* **dest** destination vector
.. c:function:: void glm_vec4_sub(vec4 a, vec4 b, vec4 dest)
subtract b vector from a vector store result in dest (d = v1 - v2)
Parameters:
| *[in]* **a** vector1
| *[in]* **b** vector2
| *[out]* **dest** destination vector
.. c:function:: void glm_vec4_subs(vec4 v, float s, vec4 dest)
subtract scalar from v vector store result in dest (d = v - vec(s))
Parameters:
| *[in]* **v** vector
| *[in]* **s** scalar
| *[out]* **dest** destination vector
.. c:function:: void glm_vec4_mul(vec4 a, vec4 b, vec4 d)
multiply two vector (component-wise multiplication)
Parameters:
| *[in]* **a** vector1
| *[in]* **b** vector2
| *[out]* **dest** result = (a[0] * b[0], a[1] * b[1], a[2] * b[2], a[3] * b[3])
.. c:function:: void glm_vec4_scale(vec4 v, float s, vec4 dest)
multiply/scale vec4 vector with scalar: result = v * s
@@ -139,6 +191,64 @@ Functions documentation
| *[in]* **s** scalar
| *[out]* **dest** destination vector
.. c:function:: void glm_vec4_div(vec4 a, vec4 b, vec4 dest)
div vector with another component-wise division: d = v1 / v2
Parameters:
| *[in]* **a** vector1
| *[in]* **b** vector2
| *[out]* **dest** result = (a[0] / b[0], a[1] / b[1], a[2] / b[2], a[3] / b[3])
.. c:function:: void glm_vec4_divs(vec4 v, float s, vec4 dest)
div vector with scalar: d = v / s
Parameters:
| *[in]* **v** vector
| *[in]* **s** scalar
| *[out]* **dest** result = (a[0] / s, a[1] / s, a[2] / s, a[3] / s)
.. c:function:: void glm_vec4_addadd(vec4 a, vec4 b, vec4 dest)
| add two vectors and add result to sum
| it applies += operator so dest must be initialized
Parameters:
| *[in]* **a** vector 1
| *[in]* **b** vector 2
| *[out]* **dest** dest += (a + b)
.. c:function:: void glm_vec4_subadd(vec4 a, vec4 b, vec4 dest)
| sub two vectors and add result to sum
| it applies += operator so dest must be initialized
Parameters:
| *[in]* **a** vector 1
| *[in]* **b** vector 2
| *[out]* **dest** dest += (a - b)
.. c:function:: void glm_vec4_muladd(vec4 a, vec4 b, vec4 dest)
| mul two vectors and add result to sum
| it applies += operator so dest must be initialized
Parameters:
| *[in]* **a** vector 1
| *[in]* **b** vector 2
| *[out]* **dest** dest += (a * b)
.. c:function:: void glm_vec4_muladds(vec4 a, float s, vec4 dest)
| mul vector with scalar and add result to sum
| it applies += operator so dest must be initialized
Parameters:
| *[in]* **a** vector
| *[in]* **s** scalar
| *[out]* **dest** dest += (a * b)
.. c:function:: void glm_vec4_flipsign(vec4 v)
flip sign of all vec4 members
@@ -146,6 +256,14 @@ Functions documentation
Parameters:
| *[in, out]* **v** vector
.. c:function:: void glm_vec4_flipsign_to(vec4 v, vec4 dest)
flip sign of all vec4 members and store result in dest
Parameters:
| *[in]* **v** vector
| *[out]* **dest** negated vector
.. c:function:: void glm_vec4_inv(vec4 v)
make vector as inverse/opposite of itself
@@ -213,3 +331,15 @@ Functions documentation
| *[in, out]* **v** vector
| *[in]* **minVal** minimum value
| *[in]* **maxVal** maximum value
.. c:function:: void glm_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest)
linear interpolation between two vector
| formula: from + s * (to - from)
Parameters:
| *[in]* **from** from value
| *[in]* **to** to value
| *[in]* **t** interpolant (amount) clamped between 0 and 1
| *[out]* **dest** destination

54
include/cglm/affine-mat.h
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@@ -16,6 +16,7 @@
#include "common.h"
#include "mat4.h"
#include "mat3.h"
#ifdef CGLM_SSE_FP
# include "simd/sse2/affine.h"
@@ -81,6 +82,59 @@ glm_mul(mat4 m1, mat4 m2, mat4 dest) {
#endif
}
/*!
* @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
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_mul_rot(mat4 m1, mat4 m2, mat4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mul_rot_sse2(m1, m2, dest);
#else
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],
a30 = m1[3][0], a31 = m1[3][1], a32 = m1[3][2], a33 = m1[3][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];
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] = a30;
dest[3][1] = a31;
dest[3][2] = a32;
dest[3][3] = a33;
#endif
}
/*!
* @brief inverse orthonormal rotation + translation matrix (ridig-body)
*

294
include/cglm/affine.h
View File

@@ -16,15 +16,14 @@
CGLM_INLINE void glm_scale_to(mat4 m, vec3 v, mat4 dest);
CGLM_INLINE void glm_scale_make(mat4 m, vec3 v);
CGLM_INLINE void glm_scale(mat4 m, vec3 v);
CGLM_INLINE void glm_scale1(mat4 m, float s);
CGLM_INLINE void glm_scale_uni(mat4 m, float s);
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_ndc_make(mat4 m, float angle, vec3 axis_ndc);
CGLM_INLINE void glm_rotate_make(mat4 m, float angle, vec3 axis);
CGLM_INLINE void glm_rotate_ndc(mat4 m, float angle, vec3 axis);
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_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);
@@ -35,9 +34,15 @@
#define cglm_affine_h
#include "common.h"
#include "vec4.h"
#include "affine-mat.h"
#include "util.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
#include "affine-mat.h"
CGLM_INLINE
void
glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
/*!
* @brief translate existing transform matrix by v vector
@@ -53,19 +58,19 @@ glm_translate_to(mat4 m, vec3 v, mat4 dest) {
mat4 t = GLM_MAT4_IDENTITY_INIT;
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(dest[3],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_load_ps(t[0]),
_mm_set1_ps(v[0])),
_mm_mul_ps(_mm_load_ps(t[1]),
_mm_set1_ps(v[1]))),
_mm_add_ps(_mm_mul_ps(_mm_load_ps(t[2]),
_mm_set1_ps(v[2])),
_mm_load_ps(t[3]))))
glmm_store(dest[3],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_load(t[0]),
_mm_set1_ps(v[0])),
_mm_mul_ps(glmm_load(t[1]),
_mm_set1_ps(v[1]))),
_mm_add_ps(_mm_mul_ps(glmm_load(t[2]),
_mm_set1_ps(v[2])),
glmm_load(t[3]))))
;
_mm_store_ps(dest[0], _mm_load_ps(m[0]));
_mm_store_ps(dest[1], _mm_load_ps(m[1]));
_mm_store_ps(dest[2], _mm_load_ps(m[2]));
glmm_store(dest[0], glmm_load(m[0]));
glmm_store(dest[1], glmm_load(m[1]));
glmm_store(dest[2], glmm_load(m[2]));
#else
vec4 v1, v2, v3;
@@ -92,14 +97,14 @@ CGLM_INLINE
void
glm_translate(mat4 m, vec3 v) {
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(m[3],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_load_ps(m[0]),
_mm_set1_ps(v[0])),
_mm_mul_ps(_mm_load_ps(m[1]),
_mm_set1_ps(v[1]))),
_mm_add_ps(_mm_mul_ps(_mm_load_ps(m[2]),
_mm_set1_ps(v[2])),
_mm_load_ps(m[3]))))
glmm_store(m[3],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(glmm_load(m[0]),
_mm_set1_ps(v[0])),
_mm_mul_ps(glmm_load(m[1]),
_mm_set1_ps(v[1]))),
_mm_add_ps(_mm_mul_ps(glmm_load(m[2]),
_mm_set1_ps(v[2])),
glmm_load(m[3]))))
;
#else
vec4 v1, v2, v3;
@@ -124,10 +129,10 @@ CGLM_INLINE
void
glm_translate_x(mat4 m, float x) {
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(m[3],
_mm_add_ps(_mm_mul_ps(_mm_load_ps(m[0]),
_mm_set1_ps(x)),
_mm_load_ps(m[3])))
glmm_store(m[3],
_mm_add_ps(_mm_mul_ps(glmm_load(m[0]),
_mm_set1_ps(x)),
glmm_load(m[3])))
;
#else
vec4 v1;
@@ -146,10 +151,10 @@ CGLM_INLINE
void
glm_translate_y(mat4 m, float y) {
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(m[3],
_mm_add_ps(_mm_mul_ps(_mm_load_ps(m[1]),
_mm_set1_ps(y)),
_mm_load_ps(m[3])))
glmm_store(m[3],
_mm_add_ps(_mm_mul_ps(glmm_load(m[1]),
_mm_set1_ps(y)),
glmm_load(m[3])))
;
#else
vec4 v1;
@@ -168,10 +173,10 @@ CGLM_INLINE
void
glm_translate_z(mat4 m, float z) {
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(m[3],
_mm_add_ps(_mm_mul_ps(_mm_load_ps(m[2]),
_mm_set1_ps(z)),
_mm_load_ps(m[3])))
glmm_store(m[3],
_mm_add_ps(_mm_mul_ps(glmm_load(m[2]),
_mm_set1_ps(z)),
glmm_load(m[3])))
;
#else
vec4 v1;
@@ -237,16 +242,6 @@ glm_scale(mat4 m, vec3 v) {
glm_scale_to(m, v, m);
}
/*!
* @brief DEPRECATED! Use glm_scale_uni
*/
CGLM_INLINE
void
glm_scale1(mat4 m, float s) {
vec3 v = { s, s, s };
glm_scale_to(m, v, m);
}
/*!
* @brief applies uniform scale to existing transform matrix v = [s, s, s]
* and stores result in same matrix
@@ -272,19 +267,18 @@ glm_scale_uni(mat4 m, float s) {
CGLM_INLINE
void
glm_rotate_x(mat4 m, float angle, mat4 dest) {
float cosVal;
float sinVal;
mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
cosVal = cosf(angle);
sinVal = sinf(angle);
c = cosf(angle);
s = sinf(angle);
t[1][1] = cosVal;
t[1][2] = sinVal;
t[2][1] = -sinVal;
t[2][2] = cosVal;
t[1][1] = c;
t[1][2] = s;
t[2][1] = -s;
t[2][2] = c;
glm_mat4_mul(m, t, dest);
glm_mul_rot(m, t, dest);
}
/*!
@@ -298,19 +292,18 @@ glm_rotate_x(mat4 m, float angle, mat4 dest) {
CGLM_INLINE
void
glm_rotate_y(mat4 m, float angle, mat4 dest) {
float cosVal;
float sinVal;
mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
cosVal = cosf(angle);
sinVal = sinf(angle);
c = cosf(angle);
s = sinf(angle);
t[0][0] = cosVal;
t[0][2] = -sinVal;
t[2][0] = sinVal;
t[2][2] = cosVal;
t[0][0] = c;
t[0][2] = -s;
t[2][0] = s;
t[2][2] = c;
glm_mat4_mul(m, t, dest);
glm_mul_rot(m, t, dest);
}
/*!
@@ -324,61 +317,18 @@ glm_rotate_y(mat4 m, float angle, mat4 dest) {
CGLM_INLINE
void
glm_rotate_z(mat4 m, float angle, mat4 dest) {
float cosVal;
float sinVal;
mat4 t = GLM_MAT4_IDENTITY_INIT;
cosVal = cosf(angle);
sinVal = sinf(angle);
t[0][0] = cosVal;
t[0][1] = sinVal;
t[1][0] = -sinVal;
t[1][1] = cosVal;
glm_mat4_mul(m, t, dest);
}
/*!
* @brief creates NEW rotation matrix by angle and axis
*
* this name may change in the future. axis must be is normalized
*
* @param[out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis_ndc normalized axis
*/
CGLM_INLINE
void
glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc) {
/* https://www.opengl.org/sdk/docs/man2/xhtml/glRotate.xml */
vec3 v, vs;
float c;
float c, s;
c = cosf(angle);
s = sinf(angle);
glm_vec_scale(axis_ndc, 1.0f - c, v);
glm_vec_scale(axis_ndc, sinf(angle), vs);
t[0][0] = c;
t[0][1] = s;
t[1][0] = -s;
t[1][1] = c;
glm_vec_scale(axis_ndc, v[0], m[0]);
glm_vec_scale(axis_ndc, v[1], m[1]);
glm_vec_scale(axis_ndc, v[2], m[2]);
m[0][0] += c;
m[0][1] += vs[2];
m[0][2] -= vs[1];
m[1][0] -= vs[2];
m[1][1] += c;
m[1][2] += vs[0];
m[2][0] += vs[1];
m[2][1] -= vs[0];
m[2][2] += c;
m[0][3] = m[1][3] = m[2][3] = m[3][0] = m[3][1] = m[3][2] = 0.0f;
m[3][3] = 1.0f;
glm_mul_rot(m, t, dest);
}
/*!
@@ -393,53 +343,29 @@ glm_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc) {
CGLM_INLINE
void
glm_rotate_make(mat4 m, float angle, vec3 axis) {
vec3 axis_ndc;
vec3 axisn, v, vs;
float c;
glm_vec_normalize_to(axis, axis_ndc);
glm_rotate_ndc_make(m, angle, axis_ndc);
c = cosf(angle);
glm_vec_normalize_to(axis, axisn);
glm_vec_scale(axisn, 1.0f - c, v);
glm_vec_scale(axisn, sinf(angle), vs);
glm_vec_scale(axisn, v[0], m[0]);
glm_vec_scale(axisn, v[1], m[1]);
glm_vec_scale(axisn, v[2], m[2]);
m[0][0] += c; m[1][0] -= vs[2]; m[2][0] += vs[1];
m[0][1] += vs[2]; m[1][1] += c; m[2][1] -= vs[0];
m[0][2] -= vs[1]; m[1][2] += vs[0]; m[2][2] += c;
m[0][3] = m[1][3] = m[2][3] = m[3][0] = m[3][1] = m[3][2] = 0.0f;
m[3][3] = 1.0f;
}
/*!
* @brief rotate existing transform matrix around Z axis by angle and axis
*
* this name may change in the future, axis must be normalized.
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis_ndc normalized axis
*/
CGLM_INLINE
void
glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc) {
mat4 rot, tmp;
glm_rotate_ndc_make(rot, angle, axis_ndc);
glm_vec4_scale(m[0], rot[0][0], tmp[1]);
glm_vec4_scale(m[1], rot[0][1], tmp[0]);
glm_vec4_add(tmp[1], tmp[0], tmp[1]);
glm_vec4_scale(m[2], rot[0][2], tmp[0]);
glm_vec4_add(tmp[1], tmp[0], tmp[1]);
glm_vec4_scale(m[0], rot[1][0], tmp[2]);
glm_vec4_scale(m[1], rot[1][1], tmp[0]);
glm_vec4_add(tmp[2], tmp[0], tmp[2]);
glm_vec4_scale(m[2], rot[1][2], tmp[0]);
glm_vec4_add(tmp[2], tmp[0], tmp[2]);
glm_vec4_scale(m[0], rot[2][0], tmp[3]);
glm_vec4_scale(m[1], rot[2][1], tmp[0]);
glm_vec4_add(tmp[3], tmp[0], tmp[3]);
glm_vec4_scale(m[2], rot[2][2], tmp[0]);
glm_vec4_add(tmp[3], tmp[0], tmp[3]);
glm_vec4_copy(tmp[1], m[0]);
glm_vec4_copy(tmp[2], m[1]);
glm_vec4_copy(tmp[3], m[2]);
}
/*!
* @brief rotate existing transform matrix around Z axis by angle and axis
* @brief rotate existing transform matrix around given axis by angle
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
@@ -448,10 +374,56 @@ glm_rotate_ndc(mat4 m, float angle, vec3 axis_ndc) {
CGLM_INLINE
void
glm_rotate(mat4 m, float angle, vec3 axis) {
vec3 axis_ndc;
mat4 rot;
glm_rotate_make(rot, angle, axis);
glm_mul_rot(m, rot, m);
}
glm_vec_normalize_to(axis, axis_ndc);
glm_rotate_ndc(m, angle, axis_ndc);
/*!
* @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) {
vec3 pivotInv;
glm_vec_inv_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) {
vec3 pivotInv;
glm_vec_inv_to(pivot, pivotInv);
glm_mat4_identity(m);
glm_vec_copy(pivot, m[3]);
glm_rotate(m, angle, axis);
glm_translate(m, pivotInv);
}
/*!
@@ -469,7 +441,7 @@ glm_decompose_scalev(mat4 m, vec3 s) {
}
/*!
* @brief returns true if matrix is uniform scaled. This is helpful for
* @brief returns true if matrix is uniform scaled. This is helpful for
* creating normal matrix.
*
* @param[in] m m

1
include/cglm/box.h
View File

@@ -11,6 +11,7 @@
#include "common.h"
#include "vec3.h"
#include "vec4.h"
#include "util.h"
/*!
* @brief apply transform to Axis-Aligned Bounding Box

30
include/cglm/call/affine.h
View File

@@ -13,6 +13,10 @@ extern "C" {
#include "../cglm.h"
CGLM_EXPORT
void
glmc_translate_make(mat4 m, vec3 v);
CGLM_EXPORT
void
glmc_translate_to(mat4 m, vec3 v, mat4 dest);
@@ -33,6 +37,10 @@ CGLM_EXPORT
void
glmc_translate_z(mat4 m, float to);
CGLM_EXPORT
void
glmc_scale_make(mat4 m, vec3 v);
CGLM_EXPORT
void
glmc_scale_to(mat4 m, vec3 v, mat4 dest);
@@ -43,7 +51,7 @@ glmc_scale(mat4 m, vec3 v);
CGLM_EXPORT
void
glmc_scale1(mat4 m, float s);
glmc_scale_uni(mat4 m, float s);
CGLM_EXPORT
void
@@ -57,26 +65,30 @@ CGLM_EXPORT
void
glmc_rotate_z(mat4 m, float rad, mat4 dest);
CGLM_EXPORT
void
glmc_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc);
CGLM_EXPORT
void
glmc_rotate_make(mat4 m, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_rotate_ndc(mat4 m, float angle, vec3 axis_ndc);
CGLM_EXPORT
void
glmc_rotate(mat4 m, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_decompose_scalev(mat4 m, vec3 s);
CGLM_EXPORT
bool
glmc_uniscaled(mat4 m);
CGLM_EXPORT
void
glmc_decompose_rs(mat4 m, mat4 r, vec3 s);

6
include/cglm/call/mat4.h
View File

@@ -47,12 +47,16 @@ glmc_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
CGLM_EXPORT
void
glmc_mat4_mulN(mat4 * __restrict matrices[], int len, mat4 dest);
glmc_mat4_mulN(mat4 * __restrict matrices[], uint32_t len, mat4 dest);
CGLM_EXPORT
void
glmc_mat4_mulv(mat4 m, vec4 v, vec4 dest);
CGLM_EXPORT
void
glmc_mat4_quat(mat4 m, versor dest);
CGLM_EXPORT
void
glmc_mat4_transpose_to(mat4 m, mat4 dest);

115
include/cglm/call/quat.h
View File

@@ -19,33 +19,79 @@ glmc_quat_identity(versor q);
CGLM_EXPORT
void
glmc_quat(versor q,
float angle,
float x,
float y,
float z);
glmc_quat_init(versor q, float x, float y, float z, float w);
CGLM_EXPORT
void
glmc_quatv(versor q,
float angle,
vec3 v);
glmc_quat(versor q, float angle, float x, float y, float z);
CGLM_EXPORT
void
glmc_quatv(versor q, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_quat_copy(versor q, versor dest);
CGLM_EXPORT
float
glmc_quat_norm(versor q);
CGLM_EXPORT
void
glmc_quat_normalize_to(versor q, versor dest);
CGLM_EXPORT
void
glmc_quat_normalize(versor q);
CGLM_EXPORT
float
glmc_quat_dot(versor q, versor r);
glmc_quat_dot(versor p, versor q);
CGLM_EXPORT
void
glmc_quat_mulv(versor q1, versor q2, versor dest);
glmc_quat_conjugate(versor q, versor dest);
CGLM_EXPORT
void
glmc_quat_inv(versor q, versor dest);
CGLM_EXPORT
void
glmc_quat_add(versor p, versor q, versor dest);
CGLM_EXPORT
void
glmc_quat_sub(versor p, versor q, versor dest);
CGLM_EXPORT
float
glmc_quat_real(versor q);
CGLM_EXPORT
void
glmc_quat_imag(versor q, vec3 dest);
CGLM_EXPORT
void
glmc_quat_imagn(versor q, vec3 dest);
CGLM_EXPORT
float
glmc_quat_imaglen(versor q);
CGLM_EXPORT
float
glmc_quat_angle(versor q);
CGLM_EXPORT
void
glmc_quat_axis(versor q, versor dest);
CGLM_EXPORT
void
glmc_quat_mul(versor p, versor q, versor dest);
CGLM_EXPORT
void
@@ -53,10 +99,51 @@ glmc_quat_mat4(versor q, mat4 dest);
CGLM_EXPORT
void
glmc_quat_slerp(versor q,
versor r,
float t,
versor dest);
glmc_quat_mat4t(versor q, mat4 dest);
CGLM_EXPORT
void
glmc_quat_mat3(versor q, mat3 dest);
CGLM_EXPORT
void
glmc_quat_mat3t(versor q, mat3 dest);
CGLM_EXPORT
void
glmc_quat_lerp(versor from, versor to, float t, versor dest);
CGLM_EXPORT
void
glmc_quat_slerp(versor q, versor r, float t, versor dest);
CGLM_EXPORT
void
glmc_quat_look(vec3 eye, versor ori, mat4 dest);
CGLM_EXPORT
void
glmc_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest);
CGLM_EXPORT
void
glmc_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest);
CGLM_EXPORT
void
glmc_quat_rotatev(versor from, vec3 to, vec3 dest);
CGLM_EXPORT
void
glmc_quat_rotate(mat4 m, versor q, mat4 dest);
CGLM_EXPORT
void
glmc_quat_rotate_at(mat4 model, versor q, vec3 pivot);
CGLM_EXPORT
void
glmc_quat_rotate_atm(mat4 m, versor q, vec3 pivot);
#ifdef __cplusplus
}

120
include/cglm/call/vec3.h
View File

@@ -16,10 +16,22 @@ extern "C" {
/* DEPRECATED! use _copy, _ucopy versions */
#define glmc_vec_dup(v, dest) glmc_vec_copy(v, dest)
CGLM_EXPORT
void
glmc_vec3(vec4 v4, vec3 dest);
CGLM_EXPORT
void
glmc_vec_copy(vec3 a, vec3 dest);
CGLM_EXPORT
void
glmc_vec_zero(vec3 v);
CGLM_EXPORT
void
glmc_vec_one(vec3 v);
CGLM_EXPORT
float
glmc_vec_dot(vec3 a, vec3 b);
@@ -50,7 +62,19 @@ glmc_vec_add(vec3 v1, vec3 v2, vec3 dest);
CGLM_EXPORT
void
glmc_vec_sub(vec3 v1, vec3 v2, vec3 dest);
glmc_vec_adds(vec3 v, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec_sub(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec_subs(vec3 v, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec_mul(vec3 a, vec3 b, vec3 d);
CGLM_EXPORT
void
@@ -60,10 +84,38 @@ CGLM_EXPORT
void
glmc_vec_scale_as(vec3 v, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec_div(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec_divs(vec3 a, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec_addadd(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec_subadd(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec_muladd(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec_muladds(vec3 a, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec_flipsign(vec3 v);
CGLM_EXPORT
void
glmc_vec_flipsign_to(vec3 v, vec3 dest);
CGLM_EXPORT
void
glmc_vec_inv(vec3 v);
@@ -108,6 +160,72 @@ CGLM_EXPORT
void
glmc_vec_clamp(vec3 v, float minVal, float maxVal);
CGLM_EXPORT
void
glmc_vec_ortho(vec3 v, vec3 dest);
CGLM_EXPORT
void
glmc_vec_lerp(vec3 from, vec3 to, float t, vec3 dest);
/* ext */
CGLM_EXPORT
void
glmc_vec_mulv(vec3 a, vec3 b, vec3 d);
CGLM_EXPORT
void
glmc_vec_broadcast(float val, vec3 d);
CGLM_EXPORT
bool
glmc_vec_eq(vec3 v, float val);
CGLM_EXPORT
bool
glmc_vec_eq_eps(vec3 v, float val);
CGLM_EXPORT
bool
glmc_vec_eq_all(vec3 v);
CGLM_EXPORT
bool
glmc_vec_eqv(vec3 v1, vec3 v2);
CGLM_EXPORT
bool
glmc_vec_eqv_eps(vec3 v1, vec3 v2);
CGLM_EXPORT
float
glmc_vec_max(vec3 v);
CGLM_EXPORT
float
glmc_vec_min(vec3 v);
CGLM_EXPORT
bool
glmc_vec_isnan(vec3 v);
CGLM_EXPORT
bool
glmc_vec_isinf(vec3 v);
CGLM_EXPORT
bool
glmc_vec_isvalid(vec3 v);
CGLM_EXPORT
void
glmc_vec_sign(vec3 v, vec3 dest);
CGLM_EXPORT
void
glmc_vec_sqrt(vec3 v, vec3 dest);
#ifdef __cplusplus
}
#endif

118
include/cglm/call/vec4.h
View File

@@ -17,6 +17,18 @@ extern "C" {
#define glmc_vec4_dup3(v, dest) glmc_vec4_copy3(v, dest)
#define glmc_vec4_dup(v, dest) glmc_vec4_copy(v, dest)
CGLM_EXPORT
void
glmc_vec4(vec3 v3, float last, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_zero(vec4 v);
CGLM_EXPORT
void
glmc_vec4_one(vec4 v);
CGLM_EXPORT
void
glmc_vec4_copy3(vec4 a, vec3 dest);
@@ -47,11 +59,23 @@ glmc_vec4_normalize(vec4 v);
CGLM_EXPORT
void
glmc_vec4_add(vec4 v1, vec4 v2, vec4 dest);
glmc_vec4_add(vec4 a, vec4 b, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_sub(vec4 v1, vec4 v2, vec4 dest);
glmc_vec4_adds(vec4 v, float s, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_sub(vec4 a, vec4 b, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_subs(vec4 v, float s, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_mul(vec4 a, vec4 b, vec4 d);
CGLM_EXPORT
void
@@ -61,10 +85,38 @@ CGLM_EXPORT
void
glmc_vec4_scale_as(vec3 v, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec4_div(vec4 a, vec4 b, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_divs(vec4 v, float s, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_addadd(vec4 a, vec4 b, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_subadd(vec4 a, vec4 b, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_muladd(vec4 a, vec4 b, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_muladds(vec4 a, float s, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_flipsign(vec4 v);
CGLM_EXPORT
void
glmc_vec4_flipsign_to(vec4 v, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_inv(vec4 v);
@@ -89,6 +141,68 @@ CGLM_EXPORT
void
glmc_vec4_clamp(vec4 v, float minVal, float maxVal);
CGLM_EXPORT
void
glmc_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest);
/* ext */
CGLM_EXPORT
void
glmc_vec4_mulv(vec4 a, vec4 b, vec4 d);
CGLM_EXPORT
void
glmc_vec4_broadcast(float val, vec4 d);
CGLM_EXPORT
bool
glmc_vec4_eq(vec4 v, float val);
CGLM_EXPORT
bool
glmc_vec4_eq_eps(vec4 v, float val);
CGLM_EXPORT
bool
glmc_vec4_eq_all(vec4 v);
CGLM_EXPORT
bool
glmc_vec4_eqv(vec4 v1, vec4 v2);
CGLM_EXPORT
bool
glmc_vec4_eqv_eps(vec4 v1, vec4 v2);
CGLM_EXPORT
float
glmc_vec4_max(vec4 v);
CGLM_EXPORT
float
glmc_vec4_min(vec4 v);
CGLM_EXPORT
bool
glmc_vec4_isnan(vec4 v);
CGLM_EXPORT
bool
glmc_vec4_isinf(vec4 v);
CGLM_EXPORT
bool
glmc_vec4_isvalid(vec4 v);
CGLM_EXPORT
void
glmc_vec4_sign(vec4 v, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_sqrt(vec4 v, vec4 dest);
#ifdef __cplusplus
}
#endif

2
include/cglm/common.h
View File

@@ -14,7 +14,7 @@
#include <math.h>
#include <float.h>
#if defined(_WIN32)
#if defined(_MSC_VER)
# ifdef CGLM_DLL
# define CGLM_EXPORT __declspec(dllexport)
# else

3
include/cglm/frustum.h
View File

@@ -10,6 +10,9 @@
#include "common.h"
#include "plane.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
#define GLM_LBN 0 /* left bottom near */
#define GLM_LTN 1 /* left top near */

51
include/cglm/mat3.h
View File

@@ -31,6 +31,7 @@
#define cglm_mat3_h
#include "common.h"
#include "vec3.h"
#ifdef CGLM_SSE_FP
# include "simd/sse2/mat3.h"
@@ -186,6 +187,56 @@ glm_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
dest[2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2];
}
/*!
* @brief convert mat4's rotation part to quaternion
*
* @param[in] m left matrix
* @param[out] dest destination quaternion
*/
CGLM_INLINE
void
glm_mat3_quat(mat3 m, versor dest) {
float trace, r, rinv;
/* it seems using like m12 instead of m[1][2] causes extra instructions */
trace = m[0][0] + m[1][1] + m[2][2];
if (trace >= 0.0f) {
r = sqrtf(1.0f + trace);
rinv = 0.5f / r;
dest[0] = rinv * (m[1][2] - m[2][1]);
dest[1] = rinv * (m[2][0] - m[0][2]);
dest[2] = rinv * (m[0][1] - m[1][0]);
dest[3] = r * 0.5f;
} else if (m[0][0] >= m[1][1] && m[0][0] >= m[2][2]) {
r = sqrtf(1.0f - m[1][1] - m[2][2] + m[0][0]);
rinv = 0.5f / r;
dest[0] = r * 0.5f;
dest[1] = rinv * (m[0][1] + m[1][0]);
dest[2] = rinv * (m[0][2] + m[2][0]);
dest[3] = rinv * (m[1][2] - m[2][1]);
} else if (m[1][1] >= m[2][2]) {
r = sqrtf(1.0f - m[0][0] - m[2][2] + m[1][1]);
rinv = 0.5f / r;
dest[0] = rinv * (m[0][1] + m[1][0]);
dest[1] = r * 0.5f;
dest[2] = rinv * (m[1][2] + m[2][1]);
dest[3] = rinv * (m[2][0] - m[0][2]);
} else {
r = sqrtf(1.0f - m[0][0] - m[1][1] + m[2][2]);
rinv = 0.5f / r;
dest[0] = rinv * (m[0][2] + m[2][0]);
dest[1] = rinv * (m[1][2] + m[2][1]);
dest[2] = r * 0.5f;
dest[3] = rinv * (m[0][1] - m[1][0]);
}
}
/*!
* @brief scale (multiply with scalar) matrix
*

82
include/cglm/mat4.h
View File

@@ -45,6 +45,8 @@
#define cglm_mat_h
#include "common.h"
#include "vec4.h"
#include "vec3.h"
#ifdef CGLM_SSE_FP
# include "simd/sse2/mat4.h"
@@ -58,7 +60,9 @@
# include "simd/neon/mat4.h"
#endif
#include <assert.h>
#ifdef DEBUG
# include <assert.h>
#endif
#define GLM_MAT4_IDENTITY_INIT {{1.0f, 0.0f, 0.0f, 0.0f}, \
{0.0f, 1.0f, 0.0f, 0.0f}, \
@@ -106,13 +110,13 @@ CGLM_INLINE
void
glm_mat4_copy(mat4 mat, mat4 dest) {
#ifdef __AVX__
_mm256_store_ps(dest[0], _mm256_load_ps(mat[0]));
_mm256_store_ps(dest[2], _mm256_load_ps(mat[2]));
glmm_store256(dest[0], glmm_load256(mat[0]));
glmm_store256(dest[2], glmm_load256(mat[2]));
#elif defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(dest[0], _mm_load_ps(mat[0]));
_mm_store_ps(dest[1], _mm_load_ps(mat[1]));
_mm_store_ps(dest[2], _mm_load_ps(mat[2]));
_mm_store_ps(dest[3], _mm_load_ps(mat[3]));
glmm_store(dest[0], glmm_load(mat[0]));
glmm_store(dest[1], glmm_load(mat[1]));
glmm_store(dest[2], glmm_load(mat[2]));
glmm_store(dest[3], glmm_load(mat[3]));
#else
glm_mat4_ucopy(mat, dest);
#endif
@@ -281,19 +285,17 @@ glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest) {
*/
CGLM_INLINE
void
glm_mat4_mulN(mat4 * __restrict matrices[], int len, mat4 dest) {
int i;
glm_mat4_mulN(mat4 * __restrict matrices[], uint32_t len, mat4 dest) {
uint32_t i;
#ifdef DEBUG
assert(len > 1 && "there must be least 2 matrices to go!");
#endif
glm_mat4_mul(*matrices[0],
*matrices[1],
dest);
glm_mat4_mul(*matrices[0], *matrices[1], dest);
for (i = 2; i < len; i++)
glm_mat4_mul(dest,
*matrices[i],
dest);
glm_mat4_mul(dest, *matrices[i], dest);
}
/*!
@@ -318,6 +320,55 @@ glm_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
#endif
}
/*!
* @brief convert mat4's rotation part to quaternion
*
* @param[in] m left matrix
* @param[out] dest destination quaternion
*/
CGLM_INLINE
void
glm_mat4_quat(mat4 m, versor dest) {
float trace, r, rinv;
/* it seems using like m12 instead of m[1][2] causes extra instructions */
trace = m[0][0] + m[1][1] + m[2][2];
if (trace >= 0.0f) {
r = sqrtf(1.0f + trace);
rinv = 0.5f / r;
dest[0] = rinv * (m[1][2] - m[2][1]);
dest[1] = rinv * (m[2][0] - m[0][2]);
dest[2] = rinv * (m[0][1] - m[1][0]);
dest[3] = r * 0.5f;
} else if (m[0][0] >= m[1][1] && m[0][0] >= m[2][2]) {
r = sqrtf(1.0f - m[1][1] - m[2][2] + m[0][0]);
rinv = 0.5f / r;
dest[0] = r * 0.5f;
dest[1] = rinv * (m[0][1] + m[1][0]);
dest[2] = rinv * (m[0][2] + m[2][0]);
dest[3] = rinv * (m[1][2] - m[2][1]);
} else if (m[1][1] >= m[2][2]) {
r = sqrtf(1.0f - m[0][0] - m[2][2] + m[1][1]);
rinv = 0.5f / r;
dest[0] = rinv * (m[0][1] + m[1][0]);
dest[1] = r * 0.5f;
dest[2] = rinv * (m[1][2] + m[2][1]);
dest[3] = rinv * (m[2][0] - m[0][2]);
} else {
r = sqrtf(1.0f - m[0][0] - m[1][1] + m[2][2]);
rinv = 0.5f / r;
dest[0] = rinv * (m[0][2] + m[2][0]);
dest[1] = rinv * (m[1][2] + m[2][1]);
dest[2] = r * 0.5f;
dest[3] = rinv * (m[0][1] - m[1][0]);
}
}
/*!
* @brief multiply vector with mat4's mat3 part(rotation)
*
@@ -568,5 +619,4 @@ glm_mat4_swap_row(mat4 mat, int row1, int row2) {
mat[3][row2] = tmp[3];
}
#else
#endif /* cglm_mat_h */

2
include/cglm/plane.h
View File

@@ -9,9 +9,7 @@
#define cglm_plane_h
#include "common.h"
#include "mat4.h"
#include "vec4.h"
#include "vec3.h"
/*
Plane equation: Ax + By + Cz + D = 0;

2
include/cglm/project.h
View File

@@ -8,9 +8,9 @@
#ifndef cglm_project_h
#define cglm_project_h
#include "mat4.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
/*!
* @brief maps the specified viewport coordinates into specified space [1]

763
include/cglm/quat.h
View File

@@ -11,41 +11,84 @@
GLM_QUAT_IDENTITY
Functions:
CGLM_INLINE void glm_quat_identity(versor q);
CGLM_INLINE void glm_quat(versor q, float angle, float x, float y, float z);
CGLM_INLINE void glm_quatv(versor q, float angle, vec3 v);
CGLM_INLINE void glm_quat_identity(versor q);
CGLM_INLINE void glm_quat_init(versor q, float x, float y, float z, float w);
CGLM_INLINE void glm_quat(versor q, float angle, float x, float y, float z);
CGLM_INLINE void glm_quatv(versor q, float angle, vec3 axis);
CGLM_INLINE void glm_quat_copy(versor q, versor dest);
CGLM_INLINE float glm_quat_norm(versor q);
CGLM_INLINE void glm_quat_normalize(versor q);
CGLM_INLINE float glm_quat_dot(versor q, versor r);
CGLM_INLINE void glm_quat_mulv(versor q1, versor q2, versor dest);
CGLM_INLINE void glm_quat_mat4(versor q, mat4 dest);
CGLM_INLINE void glm_quat_slerp(versor q, versor r, float t, versor dest);
CGLM_INLINE void glm_quat_normalize(versor q);
CGLM_INLINE void glm_quat_normalize_to(versor q, versor dest);
CGLM_INLINE float glm_quat_dot(versor q1, versor q2);
CGLM_INLINE void glm_quat_conjugate(versor q, versor dest);
CGLM_INLINE void glm_quat_inv(versor q, versor dest);
CGLM_INLINE void glm_quat_add(versor p, versor q, versor dest);
CGLM_INLINE void glm_quat_sub(versor p, versor q, versor dest);
CGLM_INLINE float glm_quat_real(versor q);
CGLM_INLINE void glm_quat_imag(versor q, vec3 dest);
CGLM_INLINE void glm_quat_imagn(versor q, vec3 dest);
CGLM_INLINE float glm_quat_imaglen(versor q);
CGLM_INLINE float glm_quat_angle(versor q);
CGLM_INLINE void glm_quat_axis(versor q, versor dest);
CGLM_INLINE void glm_quat_mul(versor p, versor q, versor dest);
CGLM_INLINE void glm_quat_mat4(versor q, mat4 dest);
CGLM_INLINE void glm_quat_mat4t(versor q, mat4 dest);
CGLM_INLINE void glm_quat_mat3(versor q, mat3 dest);
CGLM_INLINE void glm_quat_mat3t(versor q, mat3 dest);
CGLM_INLINE void glm_quat_lerp(versor from, versor to, float t, versor dest);
CGLM_INLINE void glm_quat_slerp(versor q, versor r, float t, versor dest);
CGLM_INLINE void glm_quat_look(vec3 eye, versor ori, mat4 dest);
CGLM_INLINE void glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest);
CGLM_INLINE void glm_quat_forp(vec3 from,
vec3 to,
vec3 fwd,
vec3 up,
versor dest);
CGLM_INLINE void glm_quat_rotatev(versor q, vec3 v, vec3 dest);
CGLM_INLINE void glm_quat_rotate(mat4 m, versor q, mat4 dest);
*/
#ifndef cglm_quat_h
#define cglm_quat_h
#include "common.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
#include "mat3.h"
#include "affine-mat.h"
#ifdef CGLM_SSE_FP
# include "simd/sse2/quat.h"
#endif
CGLM_INLINE
void
glm_mat4_identity(mat4 mat);
CGLM_INLINE
void
glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);
CGLM_INLINE
void
glm_mul_rot(mat4 m1, mat4 m2, mat4 dest);
CGLM_INLINE
void
glm_translate(mat4 m, vec3 v);
/*
* IMPORTANT! cglm stores quat as [w, x, y, z]
* IMPORTANT:
* ----------------------------------------------------------------------------
* cglm stores quat as [x, y, z, w] since v0.3.6
*
* Possible changes (these may be changed in the future):
* - versor is identity quat, we can define new type for quat.
* it can't be quat or quaternion becuase someone can use that name for
* variable name. maybe just vec4.
* - it stores [w, x, y, z] but it may change to [x, y, z, w] if we get enough
* feedback to change it.
* - in general we use last param as dest, but this header used first param
* as dest this may be changed but decided yet
* it was [w, x, y, z] before v0.3.6 it has been changed to [x, y, z, w]
* with v0.3.6 version.
* ----------------------------------------------------------------------------
*/
#define GLM_QUAT_IDENTITY_INIT {1.0f, 0.0f, 0.0f, 0.0f}
#define GLM_QUAT_IDENTITY_INIT {0.0f, 0.0f, 0.0f, 1.0f}
#define GLM_QUAT_IDENTITY ((versor)GLM_QUAT_IDENTITY_INIT)
/*!
@@ -60,6 +103,49 @@ glm_quat_identity(versor q) {
glm_vec4_copy(v, q);
}
/*!
* @brief inits quaterion with raw values
*
* @param[out] q quaternion
* @param[in] x x
* @param[in] y y
* @param[in] z z
* @param[in] w w (real part)
*/
CGLM_INLINE
void
glm_quat_init(versor q, float x, float y, float z, float w) {
q[0] = x;
q[1] = y;
q[2] = z;
q[3] = w;
}
/*!
* @brief creates NEW quaternion with axis vector
*
* @param[out] q quaternion
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_quatv(versor q, float angle, vec3 axis) {
vec3 k;
float a, c, s;
a = angle * 0.5f;
c = cosf(a);
s = sinf(a);
glm_normalize_to(axis, k);
q[0] = s * k[0];
q[1] = s * k[1];
q[2] = s * k[2];
q[3] = c;
}
/*!
* @brief creates NEW quaternion with individual axis components
*
@@ -71,45 +157,21 @@ glm_quat_identity(versor q) {
*/
CGLM_INLINE
void
glm_quat(versor q,
float angle,
float x,
float y,
float z) {
float a, c, s;
a = angle * 0.5f;
c = cosf(a);
s = sinf(a);
q[0] = c;
q[1] = s * x;
q[2] = s * y;
q[3] = s * z;
glm_quat(versor q, float angle, float x, float y, float z) {
vec3 axis = {x, y, z};
glm_quatv(q, angle, axis);
}
/*!
* @brief creates NEW quaternion with axis vector
* @brief copy quaternion to another one
*
* @param[out] q quaternion
* @param[in] angle angle (radians)
* @param[in] v axis
* @param[in] q quaternion
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_quatv(versor q,
float angle,
vec3 v) {
float a, c, s;
a = angle * 0.5f;
c = cosf(a);
s = sinf(a);
q[0] = c;
q[1] = s * v[0];
q[2] = s * v[1];
q[3] = s * v[2];
glm_quat_copy(versor q, versor dest) {
glm_vec4_copy(q, dest);
}
/*!
@@ -123,6 +185,43 @@ glm_quat_norm(versor q) {
return glm_vec4_norm(q);
}
/*!
* @brief normalize quaternion and store result in dest
*
* @param[in] q quaternion to normalze
* @param[out] dest destination quaternion
*/
CGLM_INLINE
void
glm_quat_normalize_to(versor q, versor dest) {
#if defined( __SSE2__ ) || defined( __SSE2__ )
__m128 xdot, x0;
float dot;
x0 = glmm_load(q);
xdot = glmm_dot(x0, x0);
dot = _mm_cvtss_f32(xdot);
if (dot <= 0.0f) {
glm_quat_identity(dest);
return;
}
glmm_store(dest, _mm_div_ps(x0, _mm_sqrt_ps(xdot)));
#else
float dot;
dot = glm_vec4_norm2(q);
if (dot <= 0.0f) {
glm_quat_identity(q);
return;
}
glm_vec4_scale(q, 1.0f / sqrtf(dot), dest);
#endif
}
/*!
* @brief normalize quaternion
*
@@ -131,45 +230,178 @@ glm_quat_norm(versor q) {
CGLM_INLINE
void
glm_quat_normalize(versor q) {
float sum;
sum = q[0] * q[0] + q[1] * q[1]
+ q[2] * q[2] + q[3] * q[3];
if (fabs(1.0f - sum) < 0.0001f)
return;
glm_vec4_scale(q, 1.0f / sqrtf(sum), q);
glm_quat_normalize_to(q, q);
}
/*!
* @brief dot product of two quaternion
*
* @param[in] q quaternion 1
* @param[in] r quaternion 2
* @param[in] p quaternion 1
* @param[in] q quaternion 2
*/
CGLM_INLINE
float
glm_quat_dot(versor q, versor r) {
return glm_vec4_dot(q, r);
glm_quat_dot(versor p, versor q) {
return glm_vec4_dot(p, q);
}
/*!
* @brief conjugate of quaternion
*
* @param[in] q quaternion
* @param[out] dest conjugate
*/
CGLM_INLINE
void
glm_quat_conjugate(versor q, versor dest) {
glm_vec4_flipsign_to(q, dest);
dest[3] = -dest[3];
}
/*!
* @brief inverse of non-zero quaternion
*
* @param[in] q quaternion
* @param[out] dest inverse quaternion
*/
CGLM_INLINE
void
glm_quat_inv(versor q, versor dest) {
versor conj;
glm_quat_conjugate(q, conj);
glm_vec4_scale(conj, 1.0f / glm_vec4_norm2(q), dest);
}
/*!
* @brief add (componentwise) two quaternions and store result in dest
*
* @param[in] p quaternion 1
* @param[in] q quaternion 2
* @param[out] dest result quaternion
*/
CGLM_INLINE
void
glm_quat_add(versor p, versor q, versor dest) {
glm_vec4_add(p, q, dest);
}
/*!
* @brief subtract (componentwise) two quaternions and store result in dest
*
* @param[in] p quaternion 1
* @param[in] q quaternion 2
* @param[out] dest result quaternion
*/
CGLM_INLINE
void
glm_quat_sub(versor p, versor q, versor dest) {
glm_vec4_sub(p, q, dest);
}
/*!
* @brief returns real part of quaternion
*
* @param[in] q quaternion
*/
CGLM_INLINE
float
glm_quat_real(versor q) {
return q[3];
}
/*!
* @brief returns imaginary part of quaternion
*
* @param[in] q quaternion
* @param[out] dest imag
*/
CGLM_INLINE
void
glm_quat_imag(versor q, vec3 dest) {
dest[0] = q[0];
dest[1] = q[1];
dest[2] = q[2];
}
/*!
* @brief returns normalized imaginary part of quaternion
*
* @param[in] q quaternion
*/
CGLM_INLINE
void
glm_quat_imagn(versor q, vec3 dest) {
glm_normalize_to(q, dest);
}
/*!
* @brief returns length of imaginary part of quaternion
*
* @param[in] q quaternion
*/
CGLM_INLINE
float
glm_quat_imaglen(versor q) {
return glm_vec_norm(q);
}
/*!
* @brief returns angle of quaternion
*
* @param[in] q quaternion
*/
CGLM_INLINE
float
glm_quat_angle(versor q) {
/*
sin(theta / 2) = length(x*x + y*y + z*z)
cos(theta / 2) = w
theta = 2 * atan(sin(theta / 2) / cos(theta / 2))
*/
return 2.0f * atan2f(glm_quat_imaglen(q), glm_quat_real(q));
}
/*!
* @brief axis of quaternion
*
* @param[in] q quaternion
* @param[out] dest axis of quaternion
*/
CGLM_INLINE
void
glm_quat_axis(versor q, versor dest) {
glm_quat_imagn(q, dest);
}
/*!
* @brief multiplies two quaternion and stores result in dest
* this is also called Hamilton Product
*
* @param[in] q1 quaternion 1
* @param[in] q2 quaternion 2
* According to WikiPedia:
* The product of two rotation quaternions [clarification needed] will be
* equivalent to the rotation q followed by the rotation p
*
* @param[in] p quaternion 1
* @param[in] q quaternion 2
* @param[out] dest result quaternion
*/
CGLM_INLINE
void
glm_quat_mulv(versor q1, versor q2, versor dest) {
dest[0] = q2[0] * q1[0] - q2[1] * q1[1] - q2[2] * q1[2] - q2[3] * q1[3];
dest[1] = q2[0] * q1[1] + q2[1] * q1[0] - q2[2] * q1[3] + q2[3] * q1[2];
dest[2] = q2[0] * q1[2] + q2[1] * q1[3] + q2[2] * q1[0] - q2[3] * q1[1];
dest[3] = q2[0] * q1[3] - q2[1] * q1[2] + q2[2] * q1[1] + q2[3] * q1[0];
glm_quat_normalize(dest);
glm_quat_mul(versor p, versor q, versor dest) {
/*
+ (a1 b2 + b1 a2 + c1 d2 − d1 c2)i
+ (a1 c2 − b1 d2 + c1 a2 + d1 b2)j
+ (a1 d2 + b1 c2 − c1 b2 + d1 a2)k
a1 a2 − b1 b2 − c1 c2 − d1 d2
*/
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_quat_mul_sse2(p, q, dest);
#else
dest[0] = p[3] * q[0] + p[0] * q[3] + p[1] * q[2] - p[2] * q[1];
dest[1] = p[3] * q[1] - p[0] * q[2] + p[1] * q[3] + p[2] * q[0];
dest[2] = p[3] * q[2] + p[0] * q[1] - p[1] * q[0] + p[2] * q[3];
dest[3] = p[3] * q[3] - p[0] * q[0] - p[1] * q[1] - p[2] * q[2];
#endif
}
/*!
@@ -181,19 +413,22 @@ glm_quat_mulv(versor q1, versor q2, versor dest) {
CGLM_INLINE
void
glm_quat_mat4(versor q, mat4 dest) {
float w, x, y, z;
float xx, yy, zz;
float xy, yz, xz;
float wx, wy, wz;
float w, x, y, z,
xx, yy, zz,
xy, yz, xz,
wx, wy, wz, norm, s;
w = q[0];
x = q[1];
y = q[2];
z = q[3];
norm = glm_quat_norm(q);
s = norm > 0.0f ? 2.0f / norm : 0.0f;
xx = 2.0f * x * x; xy = 2.0f * x * y; wx = 2.0f * w * x;
yy = 2.0f * y * y; yz = 2.0f * y * z; wy = 2.0f * w * y;
zz = 2.0f * z * z; xz = 2.0f * x * z; wz = 2.0f * w * z;
x = q[0];
y = q[1];
z = q[2];
w = q[3];
xx = s * x * x; xy = s * x * y; wx = s * w * x;
yy = s * y * y; yz = s * y * z; wy = s * w * y;
zz = s * z * z; xz = s * x * z; wz = s * w * z;
dest[0][0] = 1.0f - yy - zz;
dest[1][1] = 1.0f - xx - zz;
@@ -207,8 +442,8 @@ glm_quat_mat4(versor q, mat4 dest) {
dest[2][1] = yz - wx;
dest[0][2] = xz - wy;
dest[1][3] = 0.0f;
dest[0][3] = 0.0f;
dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
@@ -216,69 +451,347 @@ glm_quat_mat4(versor q, mat4 dest) {
dest[3][3] = 1.0f;
}
/*!
* @brief convert quaternion to mat4 (transposed)
*
* @param[in] q quaternion
* @param[out] dest result matrix as transposed
*/
CGLM_INLINE
void
glm_quat_mat4t(versor q, mat4 dest) {
float w, x, y, z,
xx, yy, zz,
xy, yz, xz,
wx, wy, wz, norm, s;
norm = glm_quat_norm(q);
s = norm > 0.0f ? 2.0f / norm : 0.0f;
x = q[0];
y = q[1];
z = q[2];
w = q[3];
xx = s * x * x; xy = s * x * y; wx = s * w * x;
yy = s * y * y; yz = s * y * z; wy = s * w * y;
zz = s * z * z; xz = s * x * z; wz = s * w * z;
dest[0][0] = 1.0f - yy - zz;
dest[1][1] = 1.0f - xx - zz;
dest[2][2] = 1.0f - xx - yy;
dest[1][0] = xy + wz;
dest[2][1] = yz + wx;
dest[0][2] = xz + wy;
dest[0][1] = xy - wz;
dest[1][2] = yz - wx;
dest[2][0] = xz - wy;
dest[0][3] = 0.0f;
dest[1][3] = 0.0f;
dest[2][3] = 0.0f;
dest[3][0] = 0.0f;
dest[3][1] = 0.0f;
dest[3][2] = 0.0f;
dest[3][3] = 1.0f;
}
/*!
* @brief convert quaternion to mat3
*
* @param[in] q quaternion
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_quat_mat3(versor q, mat3 dest) {
float w, x, y, z,
xx, yy, zz,
xy, yz, xz,
wx, wy, wz, norm, s;
norm = glm_quat_norm(q);
s = norm > 0.0f ? 2.0f / norm : 0.0f;
x = q[0];
y = q[1];
z = q[2];
w = q[3];
xx = s * x * x; xy = s * x * y; wx = s * w * x;
yy = s * y * y; yz = s * y * z; wy = s * w * y;
zz = s * z * z; xz = s * x * z; wz = s * w * z;
dest[0][0] = 1.0f - yy - zz;
dest[1][1] = 1.0f - xx - zz;
dest[2][2] = 1.0f - xx - yy;
dest[0][1] = xy + wz;
dest[1][2] = yz + wx;
dest[2][0] = xz + wy;
dest[1][0] = xy - wz;
dest[2][1] = yz - wx;
dest[0][2] = xz - wy;
}
/*!
* @brief convert quaternion to mat3 (transposed)
*
* @param[in] q quaternion
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_quat_mat3t(versor q, mat3 dest) {
float w, x, y, z,
xx, yy, zz,
xy, yz, xz,
wx, wy, wz, norm, s;
norm = glm_quat_norm(q);
s = norm > 0.0f ? 2.0f / norm : 0.0f;
x = q[0];
y = q[1];
z = q[2];
w = q[3];
xx = s * x * x; xy = s * x * y; wx = s * w * x;
yy = s * y * y; yz = s * y * z; wy = s * w * y;
zz = s * z * z; xz = s * x * z; wz = s * w * z;
dest[0][0] = 1.0f - yy - zz;
dest[1][1] = 1.0f - xx - zz;
dest[2][2] = 1.0f - xx - yy;
dest[1][0] = xy + wz;
dest[2][1] = yz + wx;
dest[0][2] = xz + wy;
dest[0][1] = xy - wz;
dest[1][2] = yz - wx;
dest[2][0] = xz - wy;
}
/*!
* @brief interpolates between two quaternions
* using linear interpolation (LERP)
*
* @param[in] from from
* @param[in] to to
* @param[in] t interpolant (amount) clamped between 0 and 1
* @param[out] dest result quaternion
*/
CGLM_INLINE
void
glm_quat_lerp(versor from, versor to, float t, versor dest) {
glm_vec4_lerp(from, to, t, dest);
}
/*!
* @brief interpolates between two quaternions
* using spherical linear interpolation (SLERP)
*
* @param[in] q from
* @param[in] r to
* @param[in] from from
* @param[in] to to
* @param[in] t amout
* @param[out] dest result quaternion
*/
CGLM_INLINE
void
glm_quat_slerp(versor q,
versor r,
float t,
versor dest) {
/* https://en.wikipedia.org/wiki/Slerp */
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_quat_slerp_sse2(q, r, t, dest);
#else
float cosTheta, sinTheta, angle, a, b, c;
glm_quat_slerp(versor from, versor to, float t, versor dest) {
vec4 q1, q2;
float cosTheta, sinTheta, angle;
cosTheta = glm_quat_dot(q, r);
if (cosTheta < 0.0f) {
q[0] *= -1.0f;
q[1] *= -1.0f;
q[2] *= -1.0f;
q[3] *= -1.0f;
cosTheta = glm_quat_dot(from, to);
glm_quat_copy(from, q1);
cosTheta = -cosTheta;
}
if (fabs(cosTheta) >= 1.0f) {
dest[0] = q[0];
dest[1] = q[1];
dest[2] = q[2];
dest[3] = q[3];
if (fabsf(cosTheta) >= 1.0f) {
glm_quat_copy(q1, dest);
return;
}
sinTheta = sqrt(1.0f - cosTheta * cosTheta);
if (cosTheta < 0.0f) {
glm_vec4_flipsign(q1);
cosTheta = -cosTheta;
}
c = 1.0f - t;
sinTheta = sqrtf(1.0f - cosTheta * cosTheta);
/* LERP */
/* TODO: FLT_EPSILON vs 0.001? */
if (sinTheta < 0.001f) {
dest[0] = c * q[0] + t * r[0];
dest[1] = c * q[1] + t * r[1];
dest[2] = c * q[2] + t * r[2];
dest[3] = c * q[3] + t * r[3];
/* LERP to avoid zero division */
if (fabsf(sinTheta) < 0.001f) {
glm_quat_lerp(from, to, t, dest);
return;
}
/* SLERP */
angle = acosf(cosTheta);
a = sinf(c * angle);
b = sinf(t * angle);
glm_vec4_scale(q1, sinf((1.0f - t) * angle), q1);
glm_vec4_scale(to, sinf(t * angle), q2);
dest[0] = (q[0] * a + r[0] * b) / sinTheta;
dest[1] = (q[1] * a + r[1] * b) / sinTheta;
dest[2] = (q[2] * a + r[2] * b) / sinTheta;
dest[3] = (q[3] * a + r[3] * b) / sinTheta;
#endif
glm_vec4_add(q1, q2, q1);
glm_vec4_scale(q1, 1.0f / sinTheta, dest);
}
/*!
* @brief creates view matrix using quaternion as camera orientation
*
* @param[in] eye eye
* @param[in] ori orientation in world space as quaternion
* @param[out] dest view matrix
*/
CGLM_INLINE
void
glm_quat_look(vec3 eye, versor ori, mat4 dest) {
vec4 t;
/* orientation */
glm_quat_mat4t(ori, dest);
/* translate */
glm_vec4(eye, 1.0f, t);
glm_mat4_mulv(dest, t, t);
glm_vec_flipsign_to(t, dest[3]);
}
/*!
* @brief creates look rotation quaternion
*
* @param[in] dir direction to look
* @param[in] fwd forward vector
* @param[in] up up vector
* @param[out] dest destination quaternion
*/
CGLM_INLINE
void
glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest) {
vec3 axis;
float dot, angle;
dot = glm_vec_dot(dir, fwd);
if (fabsf(dot + 1.0f) < 0.000001f) {
glm_quat_init(dest, up[0], up[1], up[2], CGLM_PI);
return;
}
if (fabsf(dot - 1.0f) < 0.000001f) {
glm_quat_identity(dest);
return;
}
angle = acosf(dot);
glm_cross(fwd, dir, axis);
glm_normalize(axis);
glm_quatv(dest, angle, axis);
}
/*!
* @brief creates look rotation quaternion using source and
* destination positions p suffix stands for position
*
* @param[in] from source point
* @param[in] to destination point
* @param[in] fwd forward vector
* @param[in] up up vector
* @param[out] dest destination quaternion
*/
CGLM_INLINE
void
glm_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest) {
vec3 dir;
glm_vec_sub(to, from, dir);
glm_quat_for(dir, fwd, up, dest);
}
/*!
* @brief rotate vector using using quaternion
*
* @param[in] q quaternion
* @param[in] v vector to rotate
* @param[out] dest rotated vector
*/
CGLM_INLINE
void
glm_quat_rotatev(versor q, vec3 v, vec3 dest) {
versor p;
vec3 u, v1, v2;
float s;
glm_quat_normalize_to(q, p);
glm_quat_imag(p, u);
s = glm_quat_real(p);
glm_vec_scale(u, 2.0f * glm_vec_dot(u, v), v1);
glm_vec_scale(v, s * s - glm_vec_dot(u, u), v2);
glm_vec_add(v1, v2, v1);
glm_vec_cross(u, v, v2);
glm_vec_scale(v2, 2.0f * s, v2);
glm_vec_add(v1, v2, dest);
}
/*!
* @brief rotate existing transform matrix using quaternion
*
* @param[in] m existing transform matrix
* @param[in] q quaternion
* @param[out] dest rotated matrix/transform
*/
CGLM_INLINE
void
glm_quat_rotate(mat4 m, versor q, mat4 dest) {
mat4 rot;
glm_quat_mat4(q, rot);
glm_mul_rot(m, rot, dest);
}
/*!
* @brief rotate existing transform matrix using quaternion at pivot point
*
* @param[in, out] m existing transform matrix
* @param[in] q quaternion
* @param[out] pivot pivot
*/
CGLM_INLINE
void
glm_quat_rotate_at(mat4 m, versor q, vec3 pivot) {
vec3 pivotInv;
glm_vec_inv_to(pivot, pivotInv);
glm_translate(m, pivot);
glm_quat_rotate(m, q, m);
glm_translate(m, pivotInv);
}
/*!
* @brief rotate NEW transform matrix using quaternion at pivot point
*
* this creates rotation matrix, it assumes you don't have a matrix
*
* this should work faster than glm_quat_rotate_at because it reduces
* one glm_translate.
*
* @param[out] m existing transform matrix
* @param[in] q quaternion
* @param[in] pivot pivot
*/
CGLM_INLINE
void
glm_quat_rotate_atm(mat4 m, versor q, vec3 pivot) {
vec3 pivotInv;
glm_vec_inv_to(pivot, pivotInv);
glm_mat4_identity(m);
glm_vec_copy(pivot, m[3]);
glm_quat_rotate(m, q, m);
glm_translate(m, pivotInv);
}
#endif /* cglm_quat_h */

26
include/cglm/simd/avx/affine.h
View File

@@ -21,11 +21,11 @@ glm_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
__m256 y0, y1, y2, y3, y4, y5, y6, y7, y8, y9;
y0 = _mm256_load_ps(m2[0]); /* h g f e d c b a */
y1 = _mm256_load_ps(m2[2]); /* p o n m l k j i */
y0 = glmm_load256(m2[0]); /* h g f e d c b a */
y1 = glmm_load256(m2[2]); /* p o n m l k j i */
y2 = _mm256_load_ps(m1[0]); /* h g f e d c b a */
y3 = _mm256_load_ps(m1[2]); /* p o n m l k j i */
y2 = glmm_load256(m1[0]); /* h g f e d c b a */
y3 = glmm_load256(m1[2]); /* p o n m l k j i */
y4 = _mm256_permute2f128_ps(y2, y2, 0b00000011); /* d c b a h g f e */
y5 = _mm256_permute2f128_ps(y3, y3, 0b00000000); /* l k j i l k j i */
@@ -37,10 +37,10 @@ glm_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
y6 = _mm256_permutevar_ps(y0, _mm256_set_epi32(1, 1, 1, 1, 0, 0, 0, 0));
y8 = _mm256_permutevar_ps(y0, _mm256_set_epi32(0, 0, 0, 0, 1, 1, 1, 1));
_mm256_store_ps(dest[0],
_mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
_mm256_mul_ps(y4, y8)),
_mm256_mul_ps(y5, y7)));
glmm_store256(dest[0],
_mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
_mm256_mul_ps(y4, y8)),
_mm256_mul_ps(y5, y7)));
/* n n n n i i i i */
@@ -52,11 +52,11 @@ glm_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
y8 = _mm256_permutevar_ps(y1, _mm256_set_epi32(0, 0, 0, 0, 1, 1, 1, 1));
y9 = _mm256_permutevar_ps(y1, _mm256_set_epi32(2, 2, 2, 2, 3, 3, 3, 3));
_mm256_store_ps(dest[2],
_mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
_mm256_mul_ps(y3, y7)),
_mm256_add_ps(_mm256_mul_ps(y4, y8),
_mm256_mul_ps(y5, y9))));
glmm_store256(dest[2],
_mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
_mm256_mul_ps(y3, y7)),
_mm256_add_ps(_mm256_mul_ps(y4, y8),
_mm256_mul_ps(y5, y9))));
}
#endif

28
include/cglm/simd/avx/mat4.h
View File

@@ -21,11 +21,11 @@ glm_mat4_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
__m256 y0, y1, y2, y3, y4, y5, y6, y7, y8, y9;
y0 = _mm256_load_ps(m2[0]); /* h g f e d c b a */
y1 = _mm256_load_ps(m2[2]); /* p o n m l k j i */
y0 = glmm_load256(m2[0]); /* h g f e d c b a */
y1 = glmm_load256(m2[2]); /* p o n m l k j i */
y2 = _mm256_load_ps(m1[0]); /* h g f e d c b a */
y3 = _mm256_load_ps(m1[2]); /* p o n m l k j i */
y2 = glmm_load256(m1[0]); /* h g f e d c b a */
y3 = glmm_load256(m1[2]); /* p o n m l k j i */
y4 = _mm256_permute2f128_ps(y2, y2, 0b00000011); /* d c b a h g f e */
y5 = _mm256_permute2f128_ps(y3, y3, 0b00000011); /* l k j i p o n m */
@@ -39,11 +39,11 @@ glm_mat4_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
y8 = _mm256_permutevar_ps(y0, _mm256_set_epi32(0, 0, 0, 0, 1, 1, 1, 1));
y9 = _mm256_permutevar_ps(y0, _mm256_set_epi32(2, 2, 2, 2, 3, 3, 3, 3));
_mm256_store_ps(dest[0],
_mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
_mm256_mul_ps(y3, y7)),
_mm256_add_ps(_mm256_mul_ps(y4, y8),
_mm256_mul_ps(y5, y9))));
glmm_store256(dest[0],
_mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
_mm256_mul_ps(y3, y7)),
_mm256_add_ps(_mm256_mul_ps(y4, y8),
_mm256_mul_ps(y5, y9))));
/* n n n n i i i i */
/* p p p p k k k k */
@@ -54,11 +54,11 @@ glm_mat4_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
y8 = _mm256_permutevar_ps(y1, _mm256_set_epi32(0, 0, 0, 0, 1, 1, 1, 1));
y9 = _mm256_permutevar_ps(y1, _mm256_set_epi32(2, 2, 2, 2, 3, 3, 3, 3));
_mm256_store_ps(dest[2],
_mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
_mm256_mul_ps(y3, y7)),
_mm256_add_ps(_mm256_mul_ps(y4, y8),
_mm256_mul_ps(y5, y9))));
glmm_store256(dest[2],
_mm256_add_ps(_mm256_add_ps(_mm256_mul_ps(y2, y6),
_mm256_mul_ps(y3, y7)),
_mm256_add_ps(_mm256_mul_ps(y4, y8),
_mm256_mul_ps(y5, y9))));
}
#endif

66
include/cglm/simd/intrin.h
View File

@@ -8,11 +8,19 @@
#ifndef cglm_intrin_h
#define cglm_intrin_h
#if defined( _WIN32 )
#if defined( _MSC_VER )
# if (defined(_M_AMD64) || defined(_M_X64)) || _M_IX86_FP == 2
# define __SSE2__
# ifndef __SSE2__
# define __SSE2__
# endif
# elif _M_IX86_FP == 1
# define __SSE__
# ifndef __SSE__
# define __SSE__
# endif
# endif
/* do not use alignment for older visual studio versions */
# if _MSC_VER < 1913 /* Visual Studio 2017 version 15.6 */
# define CGLM_ALL_UNALIGNED
# endif
#endif
@@ -36,6 +44,49 @@
# define _mm_shuffle2_ps(a, b, z0, y0, x0, w0, z1, y1, x1, w1) \
_mm_shuffle1_ps(_mm_shuffle_ps(a, b, _MM_SHUFFLE(z0, y0, x0, w0)), \
z1, y1, x1, w1)
static inline
__m128
glmm_dot(__m128 a, __m128 b) {
__m128 x0;
x0 = _mm_mul_ps(a, b);
x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 1, 0, 3, 2));
return _mm_add_ps(x0, _mm_shuffle1_ps(x0, 0, 1, 0, 1));
}
static inline
__m128
glmm_norm(__m128 a) {
return _mm_sqrt_ps(glmm_dot(a, a));
}
static inline
__m128
glmm_load3(float v[3]) {
__m128i xy;
__m128 z;
xy = _mm_loadl_epi64((const __m128i *)v);
z = _mm_load_ss(&v[2]);
return _mm_movelh_ps(_mm_castsi128_ps(xy), z);
}
static inline
void
glmm_store3(__m128 vx, float v[3]) {
_mm_storel_pi((__m64 *)&v[0], vx);
_mm_store_ss(&v[2], _mm_shuffle1_ps(vx, 2, 2, 2, 2));
}
#ifdef CGLM_ALL_UNALIGNED
# define glmm_load(p) _mm_loadu_ps(p)
# define glmm_store(p, a) _mm_storeu_ps(p, a)
#else
# define glmm_load(p) _mm_load_ps(p)
# define glmm_store(p, a) _mm_store_ps(p, a)
#endif
#endif
/* x86, x64 */
@@ -45,6 +96,15 @@
#ifdef __AVX__
# define CGLM_AVX_FP 1
#ifdef CGLM_ALL_UNALIGNED
# define glmm_load256(p) _mm256_loadu_ps(p)
# define glmm_store256(p, a) _mm256_storeu_ps(p, a)
#else
# define glmm_load256(p) _mm256_load_ps(p)
# define glmm_store256(p, a) _mm256_store_ps(p, a)
#endif
#endif
/* ARM Neon */

100
include/cglm/simd/sse2/affine.h
View File

@@ -18,35 +18,67 @@ glm_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
__m128 l0, l1, l2, l3, r;
l0 = _mm_load_ps(m1[0]);
l1 = _mm_load_ps(m1[1]);
l2 = _mm_load_ps(m1[2]);
l3 = _mm_load_ps(m1[3]);
l0 = glmm_load(m1[0]);
l1 = glmm_load(m1[1]);
l2 = glmm_load(m1[2]);
l3 = glmm_load(m1[3]);
r = _mm_load_ps(m2[0]);
_mm_store_ps(dest[0],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
r = glmm_load(m2[0]);
glmm_store(dest[0],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
r = _mm_load_ps(m2[1]);
_mm_store_ps(dest[1],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
r = glmm_load(m2[1]);
glmm_store(dest[1],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
r = _mm_load_ps(m2[2]);
_mm_store_ps(dest[2],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
r = glmm_load(m2[2]);
glmm_store(dest[2],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
r = _mm_load_ps(m2[3]);
_mm_store_ps(dest[3],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
_mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
r = glmm_load(m2[3]);
glmm_store(dest[3],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
_mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
}
CGLM_INLINE
void
glm_mul_rot_sse2(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
__m128 l0, l1, l2, l3, r;
l0 = glmm_load(m1[0]);
l1 = glmm_load(m1[1]);
l2 = glmm_load(m1[2]);
l3 = glmm_load(m1[3]);
r = glmm_load(m2[0]);
glmm_store(dest[0],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
r = glmm_load(m2[1]);
glmm_store(dest[1],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
r = glmm_load(m2[2]);
glmm_store(dest[2],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2)));
glmm_store(dest[3], l3);
}
CGLM_INLINE
@@ -54,11 +86,11 @@ void
glm_inv_tr_sse2(mat4 mat) {
__m128 r0, r1, r2, r3, x0, x1;
r0 = _mm_load_ps(mat[0]);
r1 = _mm_load_ps(mat[1]);
r2 = _mm_load_ps(mat[2]);
r3 = _mm_load_ps(mat[3]);
x1 = _mm_set_ps(1.0f, 0.0f, 0.0f, 0.0f);
r0 = glmm_load(mat[0]);
r1 = glmm_load(mat[1]);
r2 = glmm_load(mat[2]);
r3 = glmm_load(mat[3]);
x1 = _mm_set_ps(1.0f, 0.0f, 0.0f, 0.0f);
_MM_TRANSPOSE4_PS(r0, r1, r2, x1);
@@ -69,10 +101,10 @@ glm_inv_tr_sse2(mat4 mat) {
x0 = _mm_add_ps(x0, x1);
_mm_store_ps(mat[0], r0);
_mm_store_ps(mat[1], r1);
_mm_store_ps(mat[2], r2);
_mm_store_ps(mat[3], x0);
glmm_store(mat[0], r0);
glmm_store(mat[1], r1);
glmm_store(mat[2], r2);
glmm_store(mat[3], x0);
}
#endif

132
include/cglm/simd/sse2/mat4.h
View File

@@ -20,10 +20,10 @@ glm_mat4_scale_sse2(mat4 m, float s){
__m128 x0;
x0 = _mm_set1_ps(s);
_mm_store_ps(m[0], _mm_mul_ps(_mm_load_ps(m[0]), x0));
_mm_store_ps(m[1], _mm_mul_ps(_mm_load_ps(m[1]), x0));
_mm_store_ps(m[2], _mm_mul_ps(_mm_load_ps(m[2]), x0));
_mm_store_ps(m[3], _mm_mul_ps(_mm_load_ps(m[3]), x0));
glmm_store(m[0], _mm_mul_ps(glmm_load(m[0]), x0));
glmm_store(m[1], _mm_mul_ps(glmm_load(m[1]), x0));
glmm_store(m[2], _mm_mul_ps(glmm_load(m[2]), x0));
glmm_store(m[3], _mm_mul_ps(glmm_load(m[3]), x0));
}
CGLM_INLINE
@@ -31,17 +31,17 @@ void
glm_mat4_transp_sse2(mat4 m, mat4 dest){
__m128 r0, r1, r2, r3;
r0 = _mm_load_ps(m[0]);
r1 = _mm_load_ps(m[1]);
r2 = _mm_load_ps(m[2]);
r3 = _mm_load_ps(m[3]);
r0 = glmm_load(m[0]);
r1 = glmm_load(m[1]);
r2 = glmm_load(m[2]);
r3 = glmm_load(m[3]);
_MM_TRANSPOSE4_PS(r0, r1, r2, r3);
_mm_store_ps(dest[0], r0);
_mm_store_ps(dest[1], r1);
_mm_store_ps(dest[2], r2);
_mm_store_ps(dest[3], r3);
glmm_store(dest[0], r0);
glmm_store(dest[1], r1);
glmm_store(dest[2], r2);
glmm_store(dest[3], r3);
}
CGLM_INLINE
@@ -51,36 +51,36 @@ glm_mat4_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
__m128 l0, l1, l2, l3, r;
l0 = _mm_load_ps(m1[0]);
l1 = _mm_load_ps(m1[1]);
l2 = _mm_load_ps(m1[2]);
l3 = _mm_load_ps(m1[3]);
l0 = glmm_load(m1[0]);
l1 = glmm_load(m1[1]);
l2 = glmm_load(m1[2]);
l3 = glmm_load(m1[3]);
r = _mm_load_ps(m2[0]);
_mm_store_ps(dest[0],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
_mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
r = _mm_load_ps(m2[1]);
_mm_store_ps(dest[1],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
_mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
r = _mm_load_ps(m2[2]);
_mm_store_ps(dest[2],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
_mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
r = glmm_load(m2[0]);
glmm_store(dest[0],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
_mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
r = glmm_load(m2[1]);
glmm_store(dest[1],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
_mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
r = glmm_load(m2[2]);
glmm_store(dest[2],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
_mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
r = _mm_load_ps(m2[3]);
_mm_store_ps(dest[3],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
_mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
r = glmm_load(m2[3]);
glmm_store(dest[3],
_mm_add_ps(_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 0), l0),
_mm_mul_ps(_mm_shuffle1_ps1(r, 1), l1)),
_mm_add_ps(_mm_mul_ps(_mm_shuffle1_ps1(r, 2), l2),
_mm_mul_ps(_mm_shuffle1_ps1(r, 3), l3))));
}
CGLM_INLINE
@@ -88,18 +88,18 @@ void
glm_mat4_mulv_sse2(mat4 m, vec4 v, vec4 dest) {
__m128 x0, x1, x2;
x0 = _mm_load_ps(v);
x1 = _mm_add_ps(_mm_mul_ps(_mm_load_ps(m[0]),
x0 = glmm_load(v);
x1 = _mm_add_ps(_mm_mul_ps(glmm_load(m[0]),
_mm_shuffle1_ps1(x0, 0)),
_mm_mul_ps(_mm_load_ps(m[1]),
_mm_mul_ps(glmm_load(m[1]),
_mm_shuffle1_ps1(x0, 1)));
x2 = _mm_add_ps(_mm_mul_ps(_mm_load_ps(m[2]),
x2 = _mm_add_ps(_mm_mul_ps(glmm_load(m[2]),
_mm_shuffle1_ps1(x0, 2)),
_mm_mul_ps(_mm_load_ps(m[3]),
_mm_mul_ps(glmm_load(m[3]),
_mm_shuffle1_ps1(x0, 3)));
_mm_store_ps(dest, _mm_add_ps(x1, x2));
glmm_store(dest, _mm_add_ps(x1, x2));
}
CGLM_INLINE
@@ -108,10 +108,10 @@ glm_mat4_det_sse2(mat4 mat) {
__m128 r0, r1, r2, r3, x0, x1, x2;
/* 127 <- 0, [square] det(A) = det(At) */
r0 = _mm_load_ps(mat[0]); /* d c b a */
r1 = _mm_load_ps(mat[1]); /* h g f e */
r2 = _mm_load_ps(mat[2]); /* l k j i */
r3 = _mm_load_ps(mat[3]); /* p o n m */
r0 = glmm_load(mat[0]); /* d c b a */
r1 = glmm_load(mat[1]); /* h g f e */
r2 = glmm_load(mat[2]); /* l k j i */
r3 = glmm_load(mat[3]); /* p o n m */
/*
t[1] = j * p - n * l;
@@ -166,10 +166,10 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
x0, x1, x2, x3, x4, x5, x6, x7;
/* 127 <- 0 */
r0 = _mm_load_ps(mat[0]); /* d c b a */
r1 = _mm_load_ps(mat[1]); /* h g f e */
r2 = _mm_load_ps(mat[2]); /* l k j i */
r3 = _mm_load_ps(mat[3]); /* p o n m */
r0 = glmm_load(mat[0]); /* d c b a */
r1 = glmm_load(mat[1]); /* h g f e */
r2 = glmm_load(mat[2]); /* l k j i */
r3 = glmm_load(mat[3]); /* p o n m */
x0 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(3, 2, 3, 2)); /* p o l k */
x1 = _mm_shuffle1_ps(x0, 1, 3, 3, 3); /* l p p p */
@@ -275,10 +275,10 @@ glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 1, 0, 0, 1));
x0 = _mm_rcp_ps(x0);
_mm_store_ps(dest[0], _mm_mul_ps(v0, x0));
_mm_store_ps(dest[1], _mm_mul_ps(v1, x0));
_mm_store_ps(dest[2], _mm_mul_ps(v2, x0));
_mm_store_ps(dest[3], _mm_mul_ps(v3, x0));
glmm_store(dest[0], _mm_mul_ps(v0, x0));
glmm_store(dest[1], _mm_mul_ps(v1, x0));
glmm_store(dest[2], _mm_mul_ps(v2, x0));
glmm_store(dest[3], _mm_mul_ps(v3, x0));
}
CGLM_INLINE
@@ -290,10 +290,10 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
x0, x1, x2, x3, x4, x5, x6, x7;
/* 127 <- 0 */
r0 = _mm_load_ps(mat[0]); /* d c b a */
r1 = _mm_load_ps(mat[1]); /* h g f e */
r2 = _mm_load_ps(mat[2]); /* l k j i */
r3 = _mm_load_ps(mat[3]); /* p o n m */
r0 = glmm_load(mat[0]); /* d c b a */
r1 = glmm_load(mat[1]); /* h g f e */
r2 = glmm_load(mat[2]); /* l k j i */
r3 = glmm_load(mat[3]); /* p o n m */
x0 = _mm_shuffle_ps(r2, r3, _MM_SHUFFLE(3, 2, 3, 2)); /* p o l k */
x1 = _mm_shuffle1_ps(x0, 1, 3, 3, 3); /* l p p p */
@@ -399,10 +399,10 @@ glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 1, 0, 0, 1));
x0 = _mm_div_ps(_mm_set1_ps(1.0f), x0);
_mm_store_ps(dest[0], _mm_mul_ps(v0, x0));
_mm_store_ps(dest[1], _mm_mul_ps(v1, x0));
_mm_store_ps(dest[2], _mm_mul_ps(v2, x0));
_mm_store_ps(dest[3], _mm_mul_ps(v3, x0));
glmm_store(dest[0], _mm_mul_ps(v0, x0));
glmm_store(dest[1], _mm_mul_ps(v1, x0));
glmm_store(dest[2], _mm_mul_ps(v2, x0));
glmm_store(dest[3], _mm_mul_ps(v3, x0));
}
#endif

61
include/cglm/simd/sse2/quat.h
View File

@@ -14,56 +14,33 @@
CGLM_INLINE
void
glm_quat_slerp_sse2(versor q,
versor r,
float t,
versor dest) {
/* https://en.wikipedia.org/wiki/Slerp */
float cosTheta, sinTheta, angle, a, b, c;
glm_quat_mul_sse2(versor p, versor q, versor dest) {
/*
+ (a1 b2 + b1 a2 + c1 d2 − d1 c2)i
+ (a1 c2 − b1 d2 + c1 a2 + d1 b2)j
+ (a1 d2 + b1 c2 − c1 b2 + d1 a2)k
a1 a2 − b1 b2 − c1 c2 − d1 d2
*/
__m128 xmm_q;
__m128 xp, xq, x0, r;
xmm_q = _mm_load_ps(q);
xp = glmm_load(p); /* 3 2 1 0 */
xq = glmm_load(q);
cosTheta = glm_vec4_dot(q, r);
if (cosTheta < 0.0f) {
_mm_store_ps(q,
_mm_xor_ps(xmm_q,
_mm_set1_ps(-0.f))) ;
r = _mm_mul_ps(_mm_shuffle1_ps1(xp, 3), xq);
cosTheta = -cosTheta;
}
x0 = _mm_xor_ps(_mm_shuffle1_ps1(xp, 0), _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
r = _mm_add_ps(r, _mm_mul_ps(x0, _mm_shuffle1_ps(xq, 0, 1, 2, 3)));
if (cosTheta >= 1.0f) {
_mm_store_ps(dest, xmm_q);
return;
}
x0 = _mm_xor_ps(_mm_shuffle1_ps1(xp, 1), _mm_set_ps(-0.f, -0.f, 0.f, 0.f));
r = _mm_add_ps(r, _mm_mul_ps(x0, _mm_shuffle1_ps(xq, 1, 0, 3, 2)));
sinTheta = sqrtf(1.0f - cosTheta * cosTheta);
x0 = _mm_xor_ps(_mm_shuffle1_ps1(xp, 2), _mm_set_ps(-0.f, 0.f, 0.f, -0.f));
r = _mm_add_ps(r, _mm_mul_ps(x0, _mm_shuffle1_ps(xq, 2, 3, 0, 1)));
c = 1.0f - t;
/* LERP */
if (sinTheta < 0.001f) {
_mm_store_ps(dest, _mm_add_ps(_mm_mul_ps(_mm_set1_ps(c),
xmm_q),
_mm_mul_ps(_mm_set1_ps(t),
_mm_load_ps(r))));
return;
}
/* SLERP */
angle = acosf(cosTheta);
a = sinf(c * angle);
b = sinf(t * angle);
_mm_store_ps(dest,
_mm_div_ps(_mm_add_ps(_mm_mul_ps(_mm_set1_ps(a),
xmm_q),
_mm_mul_ps(_mm_set1_ps(b),
_mm_load_ps(r))),
_mm_set1_ps(sinTheta)));
glmm_store(dest, r);
}
#endif
#endif /* cglm_quat_simd_h */

34
include/cglm/types.h
View File

@@ -9,23 +9,35 @@
#define cglm_types_h
#if defined(_MSC_VER)
# define CGLM_ALIGN(X) /* __declspec(align(X)) */
/* do not use alignment for older visual studio versions */
#if _MSC_VER < 1913 /* Visual Studio 2017 version 15.6 */
# define CGLM_ALL_UNALIGNED
# define CGLM_ALIGN(X) /* no alignment */
#else
# define CGLM_ALIGN(X) __declspec(align(X))
#endif
#else
# define CGLM_ALIGN(X) __attribute((aligned(X)))
#endif
typedef float vec2[2];
typedef float vec3[3];
typedef int ivec3[3];
typedef CGLM_ALIGN(16) float vec4[4];
#ifndef CGLM_ALL_UNALIGNED
# define CGLM_ALIGN_IF(X) CGLM_ALIGN(X)
#else
# define CGLM_ALIGN_IF(X) /* no alignment */
#endif
typedef vec3 mat3[3];
typedef vec4 mat4[4];
typedef float vec2[2];
typedef CGLM_ALIGN_IF(8) float vec3[3];
typedef int ivec3[3];
typedef CGLM_ALIGN_IF(16) float vec4[4];
typedef vec4 versor;
typedef vec3 mat3[3];
typedef CGLM_ALIGN_IF(16) vec4 mat4[4];
#define CGLM_PI (float)M_PI
#define CGLM_PI_2 (float)M_PI_2
#define CGLM_PI_4 (float)M_PI_4
typedef vec4 versor;
#define CGLM_PI ((float)M_PI)
#define CGLM_PI_2 ((float)M_PI_2)
#define CGLM_PI_4 ((float)M_PI_4)
#endif /* cglm_types_h */

15
include/cglm/util.h
View File

@@ -143,4 +143,19 @@ glm_clamp(float val, float minVal, float maxVal) {
return glm_min(glm_max(val, minVal), maxVal);
}
/*!
* @brief linear interpolation between two number
*
* formula: from + s * (to - from)
*
* @param[in] from from value
* @param[in] to to value
* @param[in] t interpolant (amount) clamped between 0 and 1
*/
CGLM_INLINE
float
glm_lerp(float from, float to, float t) {
return from + glm_clamp(t, 0.0f, 1.0f) * (to - from);
}
#endif /* cglm_util_h */

68
include/cglm/vec3-ext.h
View File

@@ -26,12 +26,13 @@
#define cglm_vec3_ext_h
#include "common.h"
#include "util.h"
#include <stdbool.h>
#include <math.h>
#include <float.h>
/*!
* @brief multiplies individual items, just for convenient like SIMD
* @brief DEPRECATED! use glm_vec_mul
*
* @param[in] a vec1
* @param[in] b vec2
@@ -160,4 +161,69 @@ glm_vec_min(vec3 v) {
return min;
}
/*!
* @brief check if all items are NaN (not a number)
* you should only use this in DEBUG mode or very critical asserts
*
* @param[in] v vector
*/
CGLM_INLINE
bool
glm_vec_isnan(vec3 v) {
return isnan(v[0]) || isnan(v[1]) || isnan(v[2]);
}
/*!
* @brief check if all items are INFINITY
* you should only use this in DEBUG mode or very critical asserts
*
* @param[in] v vector
*/
CGLM_INLINE
bool
glm_vec_isinf(vec3 v) {
return isinf(v[0]) || isinf(v[1]) || isinf(v[2]);
}
/*!
* @brief check if all items are valid number
* you should only use this in DEBUG mode or very critical asserts
*
* @param[in] v vector
*/
CGLM_INLINE
bool
glm_vec_isvalid(vec3 v) {
return !glm_vec_isnan(v) && !glm_vec_isinf(v);
}
/*!
* @brief get sign of 32 bit float as +1, -1, 0
*
* Important: It returns 0 for zero/NaN input
*
* @param v vector
*/
CGLM_INLINE
void
glm_vec_sign(vec3 v, vec3 dest) {
dest[0] = glm_signf(v[0]);
dest[1] = glm_signf(v[1]);
dest[2] = glm_signf(v[2]);
}
/*!
* @brief square root of each vector item
*
* @param[in] v vector
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_vec_sqrt(vec3 v, vec3 dest) {
dest[0] = sqrtf(v[0]);
dest[1] = sqrtf(v[1]);
dest[2] = sqrtf(v[2]);
}
#endif /* cglm_vec3_ext_h */

328
include/cglm/vec3.h
View File

@@ -28,10 +28,18 @@
CGLM_INLINE void glm_vec_cross(vec3 a, vec3 b, vec3 d);
CGLM_INLINE float glm_vec_norm2(vec3 v);
CGLM_INLINE float glm_vec_norm(vec3 vec);
CGLM_INLINE void glm_vec_add(vec3 v1, vec3 v2, vec3 dest);
CGLM_INLINE void glm_vec_sub(vec3 v1, vec3 v2, vec3 dest);
CGLM_INLINE void glm_vec_add(vec3 a, vec3 b, vec3 dest);
CGLM_INLINE void glm_vec_adds(vec3 a, float s, vec3 dest);
CGLM_INLINE void glm_vec_sub(vec3 a, vec3 b, vec3 dest);
CGLM_INLINE void glm_vec_subs(vec3 a, float s, vec3 dest);
CGLM_INLINE void glm_vec_mul(vec3 a, vec3 b, vec3 dest);
CGLM_INLINE void glm_vec_scale(vec3 v, float s, vec3 dest);
CGLM_INLINE void glm_vec_scale_as(vec3 v, float s, vec3 dest);
CGLM_INLINE void glm_vec_div(vec3 a, vec3 b, vec3 dest);
CGLM_INLINE void glm_vec_divs(vec3 a, float s, vec3 dest);
CGLM_INLINE void glm_vec_addadd(vec3 a, vec3 b, vec3 dest);
CGLM_INLINE void glm_vec_subadd(vec3 a, vec3 b, vec3 dest);
CGLM_INLINE void glm_vec_muladd(vec3 a, vec3 b, vec3 dest);
CGLM_INLINE void glm_vec_flipsign(vec3 v);
CGLM_INLINE void glm_vec_inv(vec3 v);
CGLM_INLINE void glm_vec_inv_to(vec3 v, vec3 dest);
@@ -59,6 +67,7 @@
#define cglm_vec3_h
#include "common.h"
#include "vec4.h"
#include "vec3-ext.h"
#include "util.h"
@@ -103,6 +112,32 @@ glm_vec_copy(vec3 a, vec3 dest) {
dest[2] = a[2];
}
/*!
* @brief make vector zero
*
* @param[in, out] v vector
*/
CGLM_INLINE
void
glm_vec_zero(vec3 v) {
v[0] = 0.0f;
v[1] = 0.0f;
v[2] = 0.0f;
}
/*!
* @brief make vector one
*
* @param[in, out] v vector
*/
CGLM_INLINE
void
glm_vec_one(vec3 v) {
v[0] = 1.0f;
v[1] = 1.0f;
v[2] = 1.0f;
}
/*!
* @brief vec3 dot product
*
@@ -147,7 +182,7 @@ glm_vec_cross(vec3 a, vec3 b, vec3 d) {
CGLM_INLINE
float
glm_vec_norm2(vec3 v) {
return v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
return glm_vec_dot(v, v);
}
/*!
@@ -164,33 +199,78 @@ glm_vec_norm(vec3 vec) {
}
/*!
* @brief add v2 vector to v1 vector store result in dest
* @brief add a vector to b vector store result in dest
*
* @param[in] v1 vector1
* @param[in] v2 vector2
* @param[in] a vector1
* @param[in] b vector2
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_vec_add(vec3 v1, vec3 v2, vec3 dest) {
dest[0] = v1[0] + v2[0];
dest[1] = v1[1] + v2[1];
dest[2] = v1[2] + v2[2];
glm_vec_add(vec3 a, vec3 b, vec3 dest) {
dest[0] = a[0] + b[0];
dest[1] = a[1] + b[1];
dest[2] = a[2] + b[2];
}
/*!
* @brief add scalar to v vector store result in dest (d = v + s)
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_vec_adds(vec3 v, float s, vec3 dest) {
dest[0] = v[0] + s;
dest[1] = v[1] + s;
dest[2] = v[2] + s;
}
/*!
* @brief subtract v2 vector from v1 vector store result in dest
*
* @param[in] v1 vector1
* @param[in] v2 vector2
* @param[in] a vector1
* @param[in] b vector2
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_vec_sub(vec3 v1, vec3 v2, vec3 dest) {
dest[0] = v1[0] - v2[0];
dest[1] = v1[1] - v2[1];
dest[2] = v1[2] - v2[2];
glm_vec_sub(vec3 a, vec3 b, vec3 dest) {
dest[0] = a[0] - b[0];
dest[1] = a[1] - b[1];
dest[2] = a[2] - b[2];
}
/*!
* @brief subtract scalar from v vector store result in dest (d = v - s)
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_vec_subs(vec3 v, float s, vec3 dest) {
dest[0] = v[0] - s;
dest[1] = v[1] - s;
dest[2] = v[2] - s;
}
/*!
* @brief multiply two vector (component-wise multiplication)
*
* @param a v1
* @param b v2
* @param d v3 = (a[0] * b[0], a[1] * b[1], a[2] * b[2])
*/
CGLM_INLINE
void
glm_vec_mul(vec3 a, vec3 b, vec3 d) {
d[0] = a[0] * b[0];
d[1] = a[1] * b[1];
d[2] = a[2] * b[2];
}
/*!
@@ -221,14 +301,112 @@ glm_vec_scale_as(vec3 v, float s, vec3 dest) {
float norm;
norm = glm_vec_norm(v);
if (norm == 0) {
glm_vec_copy(v, dest);
if (norm == 0.0f) {
glm_vec_zero(dest);
return;
}
glm_vec_scale(v, s / norm, dest);
}
/*!
* @brief div vector with another component-wise division: d = a / b
*
* @param[in] a vector 1
* @param[in] b vector 2
* @param[out] dest result = (a[0]/b[0], a[1]/b[1], a[2]/b[2])
*/
CGLM_INLINE
void
glm_vec_div(vec3 a, vec3 b, vec3 dest) {
dest[0] = a[0] / b[0];
dest[1] = a[1] / b[1];
dest[2] = a[2] / b[2];
}
/*!
* @brief div vector with scalar: d = v / s
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest result = (a[0]/s, a[1]/s, a[2]/s)
*/
CGLM_INLINE
void
glm_vec_divs(vec3 v, float s, vec3 dest) {
dest[0] = v[0] / s;
dest[1] = v[1] / s;
dest[2] = v[2] / s;
}
/*!
* @brief add two vectors and add result to sum
*
* it applies += operator so dest must be initialized
*
* @param[in] a vector 1
* @param[in] b vector 2
* @param[out] dest dest += (a + b)
*/
CGLM_INLINE
void
glm_vec_addadd(vec3 a, vec3 b, vec3 dest) {
dest[0] += a[0] + b[0];
dest[1] += a[1] + b[1];
dest[2] += a[2] + b[2];
}
/*!
* @brief sub two vectors and add result to dest
*
* it applies += operator so dest must be initialized
*
* @param[in] a vector 1
* @param[in] b vector 2
* @param[out] dest dest += (a + b)
*/
CGLM_INLINE
void
glm_vec_subadd(vec3 a, vec3 b, vec3 dest) {
dest[0] += a[0] - b[0];
dest[1] += a[1] - b[1];
dest[2] += a[2] - b[2];
}
/*!
* @brief mul two vectors and add result to dest
*
* it applies += operator so dest must be initialized
*
* @param[in] a vector 1
* @param[in] b vector 2
* @param[out] dest dest += (a * b)
*/
CGLM_INLINE
void
glm_vec_muladd(vec3 a, vec3 b, vec3 dest) {
dest[0] += a[0] * b[0];
dest[1] += a[1] * b[1];
dest[2] += a[2] * b[2];
}
/*!
* @brief mul vector with scalar and add result to sum
*
* it applies += operator so dest must be initialized
*
* @param[in] a vector
* @param[in] s scalar
* @param[out] dest dest += (a * b)
*/
CGLM_INLINE
void
glm_vec_muladds(vec3 a, float s, vec3 dest) {
dest[0] += a[0] * s;
dest[1] += a[1] * s;
dest[2] += a[2] * s;
}
/*!
* @brief flip sign of all vec3 members
*
@@ -242,6 +420,20 @@ glm_vec_flipsign(vec3 v) {
v[2] = -v[2];
}
/*!
* @brief flip sign of all vec3 members and store result in dest
*
* @param[in] v vector
* @param[out] dest result vector
*/
CGLM_INLINE
void
glm_vec_flipsign_to(vec3 v, vec3 dest) {
dest[0] = -v[0];
dest[1] = -v[1];
dest[2] = -v[2];
}
/*!
* @brief make vector as inverse/opposite of itself
*
@@ -300,7 +492,7 @@ glm_vec_normalize_to(vec3 vec, vec3 dest) {
norm = glm_vec_norm(vec);
if (norm == 0.0f) {
dest[0] = dest[1] = dest[2] = 0.0f;
glm_vec_zero(dest);
return;
}
@@ -325,12 +517,6 @@ glm_vec_angle(vec3 v1, vec3 v2) {
return acosf(glm_vec_dot(v1, v2) * norm);
}
CGLM_INLINE
void
glm_quatv(versor q,
float angle,
vec3 v);
/*!
* @brief rotate vec3 around axis by angle using Rodrigues' rotation formula
*
@@ -341,31 +527,55 @@ glm_quatv(versor q,
CGLM_INLINE
void
glm_vec_rotate(vec3 v, float angle, vec3 axis) {
versor q;
vec3 v1, v2, v3;
vec3 v1, v2, k;
float c, s;
c = cosf(angle);
s = sinf(angle);
glm_vec_normalize_to(axis, k);
/* Right Hand, Rodrigues' rotation formula:
v = v*cos(t) + (kxv)sin(t) + k*(k.v)(1 - cos(t))
*/
/* quaternion */
glm_quatv(q, angle, v);
glm_vec_scale(v, c, v1);
glm_vec_cross(axis, v, v2);
glm_vec_cross(k, v, v2);
glm_vec_scale(v2, s, v2);
glm_vec_scale(axis,
glm_vec_dot(axis, v) * (1.0f - c),
v3);
glm_vec_add(v1, v2, v1);
glm_vec_add(v1, v3, v);
glm_vec_scale(k, glm_vec_dot(k, v) * (1.0f - c), v2);
glm_vec_add(v1, v2, v);
}
/*!
* @brief apply rotation matrix to vector
*
* matrix format should be (no perspective):
* a b c x
* e f g y
* i j k z
* 0 0 0 w
*
* @param[in] m affine matrix or rot matrix
* @param[in] v vector
* @param[out] dest rotated vector
*/
CGLM_INLINE
void
glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest) {
vec4 x, y, z, res;
glm_vec4_normalize_to(m[0], x);
glm_vec4_normalize_to(m[1], y);
glm_vec4_normalize_to(m[2], z);
glm_vec4_scale(x, v[0], res);
glm_vec4_muladds(y, v[1], res);
glm_vec4_muladds(z, v[2], res);
glm_vec3(res, dest);
}
/*!
@@ -377,18 +587,22 @@ glm_vec_rotate(vec3 v, float angle, vec3 axis) {
*/
CGLM_INLINE
void
glm_vec_rotate_m4(mat4 m, vec3 v, vec3 dest) {
vec3 res, x, y, z;
glm_vec_rotate_m3(mat3 m, vec3 v, vec3 dest) {
vec4 res, x, y, z;
glm_vec_normalize_to(m[0], x);
glm_vec_normalize_to(m[1], y);
glm_vec_normalize_to(m[2], z);
glm_vec4(m[0], 0.0f, x);
glm_vec4(m[1], 0.0f, y);
glm_vec4(m[2], 0.0f, z);
res[0] = x[0] * v[0] + y[0] * v[1] + z[0] * v[2];
res[1] = x[1] * v[0] + y[1] * v[1] + z[1] * v[2];
res[2] = x[2] * v[0] + y[2] * v[1] + z[2] * v[2];
glm_vec4_normalize(x);
glm_vec4_normalize(y);
glm_vec4_normalize(z);
glm_vec_copy(res, dest);
glm_vec4_scale(x, v[0], res);
glm_vec4_muladds(y, v[1], res);
glm_vec4_muladds(z, v[2], res);
glm_vec3(res, dest);
}
/*!
@@ -494,6 +708,28 @@ glm_vec_clamp(vec3 v, float minVal, float maxVal) {
v[2] = glm_clamp(v[2], minVal, maxVal);
}
/*!
* @brief linear interpolation between two vector
*
* formula: from + s * (to - from)
*
* @param[in] from from value
* @param[in] to to value
* @param[in] t interpolant (amount) clamped between 0 and 1
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_vec_lerp(vec3 from, vec3 to, float t, vec3 dest) {
vec3 s, v;
/* from + s * (to - from) */
glm_vec_broadcast(glm_clamp(t, 0.0f, 1.0f), s);
glm_vec_sub(to, from, v);
glm_vec_mulv(s, v, v);
glm_vec_add(from, v, dest);
}
/*!
* @brief vec3 cross product
*

91
include/cglm/vec4-ext.h
View File

@@ -32,7 +32,7 @@
#include <float.h>
/*!
* @brief multiplies individual items, just for convenient like SIMD
* @brief DEPRECATED! use glm_vec4_mul
*
* @param a v1
* @param b v2
@@ -42,7 +42,7 @@ CGLM_INLINE
void
glm_vec4_mulv(vec4 a, vec4 b, vec4 d) {
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(d, _mm_mul_ps(_mm_load_ps(a), _mm_load_ps(b)));
glmm_store(d, _mm_mul_ps(glmm_load(a), glmm_load(b)));
#else
d[0] = a[0] * b[0];
d[1] = a[1] * b[1];
@@ -61,7 +61,7 @@ CGLM_INLINE
void
glm_vec4_broadcast(float val, vec4 d) {
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(d, _mm_set1_ps(val));
glmm_store(d, _mm_set1_ps(val));
#else
d[0] = d[1] = d[2] = d[3] = val;
#endif
@@ -174,5 +174,88 @@ glm_vec4_min(vec4 v) {
return min;
}
#endif /* cglm_vec4_ext_h */
/*!
* @brief check if one of items is NaN (not a number)
* you should only use this in DEBUG mode or very critical asserts
*
* @param[in] v vector
*/
CGLM_INLINE
bool
glm_vec4_isnan(vec4 v) {
return isnan(v[0]) || isnan(v[1]) || isnan(v[2]) || isnan(v[3]);
}
/*!
* @brief check if one of items is INFINITY
* you should only use this in DEBUG mode or very critical asserts
*
* @param[in] v vector
*/
CGLM_INLINE
bool
glm_vec4_isinf(vec4 v) {
return isinf(v[0]) || isinf(v[1]) || isinf(v[2]) || isinf(v[3]);
}
/*!
* @brief check if all items are valid number
* you should only use this in DEBUG mode or very critical asserts
*
* @param[in] v vector
*/
CGLM_INLINE
bool
glm_vec4_isvalid(vec4 v) {
return !glm_vec4_isnan(v) && !glm_vec4_isinf(v);
}
/*!
* @brief get sign of 32 bit float as +1, -1, 0
*
* Important: It returns 0 for zero/NaN input
*
* @param v vector
*/
CGLM_INLINE
void
glm_vec4_sign(vec4 v, vec4 dest) {
#if defined( __SSE2__ ) || defined( __SSE2__ )
__m128 x0, x1, x2, x3, x4;
x0 = glmm_load(v);
x1 = _mm_set_ps(0.0f, 0.0f, 1.0f, -1.0f);
x2 = _mm_shuffle1_ps1(x1, 2);
x3 = _mm_and_ps(_mm_cmpgt_ps(x0, x2), _mm_shuffle1_ps1(x1, 1));
x4 = _mm_and_ps(_mm_cmplt_ps(x0, x2), _mm_shuffle1_ps1(x1, 0));
glmm_store(dest, _mm_or_ps(x3, x4));
#else
dest[0] = glm_signf(v[0]);
dest[1] = glm_signf(v[1]);
dest[2] = glm_signf(v[2]);
dest[3] = glm_signf(v[3]);
#endif
}
/*!
* @brief square root of each vector item
*
* @param[in] v vector
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_vec4_sqrt(vec4 v, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_sqrt_ps(glmm_load(v)));
#else
dest[0] = sqrtf(v[0]);
dest[1] = sqrtf(v[1]);
dest[2] = sqrtf(v[2]);
dest[3] = sqrtf(v[3]);
#endif
}
#endif /* cglm_vec4_ext_h */

418
include/cglm/vec4.h
View File

@@ -28,10 +28,18 @@
CGLM_INLINE float glm_vec4_dot(vec4 a, vec4 b);
CGLM_INLINE float glm_vec4_norm2(vec4 v);
CGLM_INLINE float glm_vec4_norm(vec4 vec);
CGLM_INLINE void glm_vec4_add(vec4 v1, vec4 v2, vec4 dest);
CGLM_INLINE void glm_vec4_sub(vec4 v1, vec4 v2, vec4 dest);
CGLM_INLINE void glm_vec4_add(vec4 a, vec4 b, vec4 dest);
CGLM_INLINE void glm_vec4_adds(vec4 v, float s, vec4 dest);
CGLM_INLINE void glm_vec4_sub(vec4 a, vec4 b, vec4 dest);
CGLM_INLINE void glm_vec4_subs(vec4 v, float s, vec4 dest);
CGLM_INLINE void glm_vec4_mul(vec4 a, vec4 b, vec4 dest);
CGLM_INLINE void glm_vec4_scale(vec4 v, float s, vec4 dest);
CGLM_INLINE void glm_vec4_scale_as(vec4 v, float s, vec4 dest);
CGLM_INLINE void glm_vec4_div(vec4 a, vec4 b, vec4 dest);
CGLM_INLINE void glm_vec4_divs(vec4 v, float s, vec4 dest);
CGLM_INLINE void glm_vec4_addadd(vec4 a, vec4 b, vec4 dest);
CGLM_INLINE void glm_vec4_subadd(vec4 a, vec4 b, vec4 dest);
CGLM_INLINE void glm_vec4_muladd(vec4 a, vec4 b, vec4 dest);
CGLM_INLINE void glm_vec4_flipsign(vec4 v);
CGLM_INLINE void glm_vec4_inv(vec4 v);
CGLM_INLINE void glm_vec4_inv_to(vec4 v, vec4 dest);
@@ -41,6 +49,7 @@
CGLM_INLINE void glm_vec4_maxv(vec4 v1, vec4 v2, vec4 dest);
CGLM_INLINE void glm_vec4_minv(vec4 v1, vec4 v2, vec4 dest);
CGLM_INLINE void glm_vec4_clamp(vec4 v, float minVal, float maxVal);
CGLM_INLINE void glm_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest)
*/
#ifndef cglm_vec4_h
@@ -102,7 +111,7 @@ CGLM_INLINE
void
glm_vec4_copy(vec4 v, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(dest, _mm_load_ps(v));
glmm_store(dest, glmm_load(v));
#else
dest[0] = v[0];
dest[1] = v[1];
@@ -111,6 +120,42 @@ glm_vec4_copy(vec4 v, vec4 dest) {
#endif
}
/*!
* @brief make vector zero
*
* @param[in, out] v vector
*/
CGLM_INLINE
void
glm_vec4_zero(vec4 v) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(v, _mm_setzero_ps());
#else
v[0] = 0.0f;
v[1] = 0.0f;
v[2] = 0.0f;
v[3] = 0.0f;
#endif
}
/*!
* @brief make vector one
*
* @param[in, out] v vector
*/
CGLM_INLINE
void
glm_vec4_one(vec4 v) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(v, _mm_set1_ps(1.0f));
#else
v[0] = 1.0f;
v[1] = 1.0f;
v[2] = 1.0f;
v[3] = 1.0f;
#endif
}
/*!
* @brief vec4 dot product
*
@@ -122,7 +167,14 @@ glm_vec4_copy(vec4 v, vec4 dest) {
CGLM_INLINE
float
glm_vec4_dot(vec4 a, vec4 b) {
#if defined( __SSE__ ) || defined( __SSE2__ )
__m128 x0;
x0 = _mm_mul_ps(glmm_load(a), glmm_load(b));
x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 1, 0, 3, 2));
return _mm_cvtss_f32(_mm_add_ss(x0, _mm_shuffle1_ps(x0, 0, 1, 0, 1)));
#else
return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
#endif
}
/*!
@@ -139,7 +191,15 @@ glm_vec4_dot(vec4 a, vec4 b) {
CGLM_INLINE
float
glm_vec4_norm2(vec4 v) {
#if defined( __SSE__ ) || defined( __SSE2__ )
__m128 x0;
x0 = glmm_load(v);
x0 = _mm_mul_ps(x0, x0);
x0 = _mm_add_ps(x0, _mm_shuffle1_ps(x0, 1, 0, 3, 2));
return _mm_cvtss_f32(_mm_add_ss(x0, _mm_shuffle1_ps(x0, 0, 1, 0, 1)));
#else
return v[0] * v[0] + v[1] * v[1] + v[2] * v[2] + v[3] * v[3];
#endif
}
/*!
@@ -152,50 +212,112 @@ glm_vec4_norm2(vec4 v) {
CGLM_INLINE
float
glm_vec4_norm(vec4 vec) {
#if defined( __SSE__ ) || defined( __SSE2__ )
__m128 x0;
x0 = glmm_load(vec);
return _mm_cvtss_f32(_mm_sqrt_ss(glmm_dot(x0, x0)));
#else
return sqrtf(glm_vec4_norm2(vec));
#endif
}
/*!
* @brief add v2 vector to v1 vector store result in dest
*
* @param[in] v1 vector1
* @param[in] v2 vector2
* @param[in] a vector1
* @param[in] b vector2
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_vec4_add(vec4 v1, vec4 v2, vec4 dest) {
glm_vec4_add(vec4 a, vec4 b, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(dest,
_mm_add_ps(_mm_load_ps(v1),
_mm_load_ps(v2)));
glmm_store(dest, _mm_add_ps(glmm_load(a), glmm_load(b)));
#else
dest[0] = v1[0] + v2[0];
dest[1] = v1[1] + v2[1];
dest[2] = v1[2] + v2[2];
dest[3] = v1[3] + v2[3];
dest[0] = a[0] + b[0];
dest[1] = a[1] + b[1];
dest[2] = a[2] + b[2];
dest[3] = a[3] + b[3];
#endif
}
/*!
* @brief subtract v2 vector from v1 vector store result in dest
* @brief add scalar to v vector store result in dest (d = v + vec(s))
*
* @param[in] v1 vector1
* @param[in] v2 vector2
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_vec4_sub(vec4 v1, vec4 v2, vec4 dest) {
glm_vec4_adds(vec4 v, float s, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(dest,
_mm_sub_ps(_mm_load_ps(v1),
_mm_load_ps(v2)));
glmm_store(dest, _mm_add_ps(glmm_load(v), _mm_set1_ps(s)));
#else
dest[0] = v1[0] - v2[0];
dest[1] = v1[1] - v2[1];
dest[2] = v1[2] - v2[2];
dest[3] = v1[3] - v2[3];
dest[0] = v[0] + s;
dest[1] = v[1] + s;
dest[2] = v[2] + s;
dest[3] = v[3] + s;
#endif
}
/*!
* @brief subtract b vector from a vector store result in dest (d = v1 - v2)
*
* @param[in] a vector1
* @param[in] b vector2
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_vec4_sub(vec4 a, vec4 b, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_sub_ps(glmm_load(a), glmm_load(b)));
#else
dest[0] = a[0] - b[0];
dest[1] = a[1] - b[1];
dest[2] = a[2] - b[2];
dest[3] = a[3] - b[3];
#endif
}
/*!
* @brief subtract scalar from v vector store result in dest (d = v - vec(s))
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_vec4_subs(vec4 v, float s, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_sub_ps(glmm_load(v), _mm_set1_ps(s)));
#else
dest[0] = v[0] - s;
dest[1] = v[1] - s;
dest[2] = v[2] - s;
dest[3] = v[3] - s;
#endif
}
/*!
* @brief multiply two vector (component-wise multiplication)
*
* @param a v1
* @param b v2
* @param d v3 = (a[0] * b[0], a[1] * b[1], a[2] * b[2], a[3] * b[3])
*/
CGLM_INLINE
void
glm_vec4_mul(vec4 a, vec4 b, vec4 d) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(d, _mm_mul_ps(glmm_load(a), glmm_load(b)));
#else
d[0] = a[0] * b[0];
d[1] = a[1] * b[1];
d[2] = a[2] * b[2];
d[3] = a[3] * b[3];
#endif
}
@@ -210,9 +332,7 @@ CGLM_INLINE
void
glm_vec4_scale(vec4 v, float s, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(dest,
_mm_mul_ps(_mm_load_ps(v),
_mm_set1_ps(s)));
glmm_store(dest, _mm_mul_ps(glmm_load(v), _mm_set1_ps(s)));
#else
dest[0] = v[0] * s;
dest[1] = v[1] * s;
@@ -234,14 +354,148 @@ glm_vec4_scale_as(vec4 v, float s, vec4 dest) {
float norm;
norm = glm_vec4_norm(v);
if (norm == 0) {
glm_vec4_copy(v, dest);
if (norm == 0.0f) {
glm_vec4_zero(dest);
return;
}
glm_vec4_scale(v, s / norm, dest);
}
/*!
* @brief div vector with another component-wise division: d = v1 / v2
*
* @param[in] a vector 1
* @param[in] b vector 2
* @param[out] dest result = (a[0]/b[0], a[1]/b[1], a[2]/b[2], a[3]/b[3])
*/
CGLM_INLINE
void
glm_vec4_div(vec4 a, vec4 b, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_div_ps(glmm_load(a), glmm_load(b)));
#else
dest[0] = a[0] / b[0];
dest[1] = a[1] / b[1];
dest[2] = a[2] / b[2];
dest[3] = a[3] / b[3];
#endif
}
/*!
* @brief div vec4 vector with scalar: d = v / s
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination vector
*/
CGLM_INLINE
void
glm_vec4_divs(vec4 v, float s, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_div_ps(glmm_load(v), _mm_set1_ps(s)));
#else
glm_vec4_scale(v, 1.0f / s, dest);
#endif
}
/*!
* @brief add two vectors and add result to sum
*
* it applies += operator so dest must be initialized
*
* @param[in] a vector 1
* @param[in] b vector 2
* @param[out] dest dest += (a + b)
*/
CGLM_INLINE
void
glm_vec4_addadd(vec4 a, vec4 b, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_add_ps(glmm_load(dest),
_mm_add_ps(glmm_load(a),
glmm_load(b))));
#else
dest[0] += a[0] + b[0];
dest[1] += a[1] + b[1];
dest[2] += a[2] + b[2];
dest[3] += a[3] + b[3];
#endif
}
/*!
* @brief sub two vectors and add result to dest
*
* it applies += operator so dest must be initialized
*
* @param[in] a vector 1
* @param[in] b vector 2
* @param[out] dest dest += (a - b)
*/
CGLM_INLINE
void
glm_vec4_subadd(vec4 a, vec4 b, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_add_ps(glmm_load(dest),
_mm_sub_ps(glmm_load(a),
glmm_load(b))));
#else
dest[0] += a[0] - b[0];
dest[1] += a[1] - b[1];
dest[2] += a[2] - b[2];
dest[3] += a[3] - b[3];
#endif
}
/*!
* @brief mul two vectors and add result to dest
*
* it applies += operator so dest must be initialized
*
* @param[in] a vector 1
* @param[in] b vector 2
* @param[out] dest dest += (a * b)
*/
CGLM_INLINE
void
glm_vec4_muladd(vec4 a, vec4 b, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_add_ps(glmm_load(dest),
_mm_mul_ps(glmm_load(a),
glmm_load(b))));
#else
dest[0] += a[0] * b[0];
dest[1] += a[1] * b[1];
dest[2] += a[2] * b[2];
dest[3] += a[3] * b[3];
#endif
}
/*!
* @brief mul vector with scalar and add result to sum
*
* it applies += operator so dest must be initialized
*
* @param[in] a vector
* @param[in] s scalar
* @param[out] dest dest += (a * b)
*/
CGLM_INLINE
void
glm_vec4_muladds(vec4 a, float s, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_add_ps(glmm_load(dest),
_mm_mul_ps(glmm_load(a),
_mm_set1_ps(s))));
#else
dest[0] += a[0] * s;
dest[1] += a[1] * s;
dest[2] += a[2] * s;
dest[3] += a[3] * s;
#endif
}
/*!
* @brief flip sign of all vec4 members
*
@@ -251,8 +505,7 @@ CGLM_INLINE
void
glm_vec4_flipsign(vec4 v) {
#if defined( __SSE__ ) || defined( __SSE2__ )
_mm_store_ps(v, _mm_xor_ps(_mm_load_ps(v),
_mm_set1_ps(-0.0f)));
glmm_store(v, _mm_xor_ps(glmm_load(v), _mm_set1_ps(-0.0f)));
#else
v[0] = -v[0];
v[1] = -v[1];
@@ -261,6 +514,25 @@ glm_vec4_flipsign(vec4 v) {
#endif
}
/*!
* @brief flip sign of all vec4 members and store result in dest
*
* @param[in] v vector
* @param[out] dest vector
*/
CGLM_INLINE
void
glm_vec4_flipsign_to(vec4 v, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_xor_ps(glmm_load(v), _mm_set1_ps(-0.0f)));
#else
dest[0] = -v[0];
dest[1] = -v[1];
dest[2] = -v[2];
dest[3] = -v[3];
#endif
}
/*!
* @brief make vector as inverse/opposite of itself
*
@@ -285,26 +557,6 @@ glm_vec4_inv_to(vec4 v, vec4 dest) {
glm_vec4_flipsign(dest);
}
/*!
* @brief normalize vec4 and store result in same vec
*
* @param[in, out] v vector
*/
CGLM_INLINE
void
glm_vec4_normalize(vec4 v) {
float norm;
norm = glm_vec4_norm(v);
if (norm == 0.0f) {
v[0] = v[1] = v[2] = v[3] = 0.0f;
return;
}
glm_vec4_scale(v, 1.0f / norm, v);
}
/*!
* @brief normalize vec4 to dest
*
@@ -314,16 +566,43 @@ glm_vec4_normalize(vec4 v) {
CGLM_INLINE
void
glm_vec4_normalize_to(vec4 vec, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
__m128 xdot, x0;
float dot;
x0 = glmm_load(vec);
xdot = glmm_dot(x0, x0);
dot = _mm_cvtss_f32(xdot);
if (dot == 0.0f) {
glmm_store(dest, _mm_setzero_ps());
return;
}
glmm_store(dest, _mm_div_ps(x0, _mm_sqrt_ps(xdot)));
#else
float norm;
norm = glm_vec4_norm(vec);
if (norm == 0.0f) {
dest[0] = dest[1] = dest[2] = dest[3] = 0.0f;
glm_vec4_zero(dest);
return;
}
glm_vec4_scale(vec, 1.0f / norm, dest);
#endif
}
/*!
* @brief normalize vec4 and store result in same vec
*
* @param[in, out] v vector
*/
CGLM_INLINE
void
glm_vec4_normalize(vec4 v) {
glm_vec4_normalize_to(v, v);
}
/**
@@ -352,10 +631,14 @@ glm_vec4_distance(vec4 v1, vec4 v2) {
CGLM_INLINE
void
glm_vec4_maxv(vec4 v1, vec4 v2, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_max_ps(glmm_load(v1), glmm_load(v2)));
#else
dest[0] = glm_max(v1[0], v2[0]);
dest[1] = glm_max(v1[1], v2[1]);
dest[2] = glm_max(v1[2], v2[2]);
dest[3] = glm_max(v1[3], v2[3]);
#endif
}
/*!
@@ -368,10 +651,14 @@ glm_vec4_maxv(vec4 v1, vec4 v2, vec4 dest) {
CGLM_INLINE
void
glm_vec4_minv(vec4 v1, vec4 v2, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(dest, _mm_min_ps(glmm_load(v1), glmm_load(v2)));
#else
dest[0] = glm_min(v1[0], v2[0]);
dest[1] = glm_min(v1[1], v2[1]);
dest[2] = glm_min(v1[2], v2[2]);
dest[3] = glm_min(v1[3], v2[3]);
#endif
}
/*!
@@ -384,10 +671,37 @@ glm_vec4_minv(vec4 v1, vec4 v2, vec4 dest) {
CGLM_INLINE
void
glm_vec4_clamp(vec4 v, float minVal, float maxVal) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(v, _mm_min_ps(_mm_max_ps(glmm_load(v), _mm_set1_ps(minVal)),
_mm_set1_ps(maxVal)));
#else
v[0] = glm_clamp(v[0], minVal, maxVal);
v[1] = glm_clamp(v[1], minVal, maxVal);
v[2] = glm_clamp(v[2], minVal, maxVal);
v[3] = glm_clamp(v[3], minVal, maxVal);
#endif
}
/*!
* @brief linear interpolation between two vector
*
* formula: from + s * (to - from)
*
* @param[in] from from value
* @param[in] to to value
* @param[in] t interpolant (amount) clamped between 0 and 1
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest) {
vec4 s, v;
/* from + s * (to - from) */
glm_vec4_broadcast(glm_clamp(t, 0.0f, 1.0f), s);
glm_vec4_sub(to, from, v);
glm_vec4_mulv(s, v, v);
glm_vec4_add(from, v, dest);
}
#endif /* cglm_vec4_h */

4
include/cglm/version.h
View File

@@ -9,7 +9,7 @@
#define cglm_version_h
#define CGLM_VERSION_MAJOR 0
#define CGLM_VERSION_MINOR 3
#define CGLM_VERSION_PATCH 6
#define CGLM_VERSION_MINOR 4
#define CGLM_VERSION_PATCH 5
#endif /* cglm_version_h */

13
makefile.am
View File

@@ -54,7 +54,8 @@ cglm_HEADERS = include/cglm/version.h \
include/cglm/plane.h \
include/cglm/frustum.h \
include/cglm/box.h \
include/cglm/color.h
include/cglm/color.h \
include/cglm/project.h
cglm_calldir=$(includedir)/cglm/call
cglm_call_HEADERS = include/cglm/call/mat4.h \
@@ -68,7 +69,8 @@ cglm_call_HEADERS = include/cglm/call/mat4.h \
include/cglm/call/euler.h \
include/cglm/call/plane.h \
include/cglm/call/frustum.h \
include/cglm/call/box.h
include/cglm/call/box.h \
include/cglm/call/project.h
cglm_simddir=$(includedir)/cglm/simd
cglm_simd_HEADERS = include/cglm/simd/intrin.h
@@ -108,7 +110,12 @@ test_tests_SOURCES=\
test/src/test_cam.c \
test/src/test_project.c \
test/src/test_clamp.c \
test/src/test_euler.c
test/src/test_euler.c \
test/src/test_quat.c \
test/src/test_vec4.c \
test/src/test_vec3.c \
test/src/test_mat3.c \
test/src/test_affine.c
all-local:
sh ./post-build.sh

46
src/affine.c
View File

@@ -8,6 +8,12 @@
#include "../include/cglm/cglm.h"
#include "../include/cglm/call.h"
CGLM_EXPORT
void
glmc_translate_make(mat4 m, vec3 v) {
glm_translate_make(m, v);
}
CGLM_EXPORT
void
glmc_translate_to(mat4 m, vec3 v, mat4 dest) {
@@ -38,6 +44,12 @@ glmc_translate_z(mat4 m, float to) {
glm_translate_z(m, to);
}
CGLM_EXPORT
void
glmc_scale_make(mat4 m, vec3 v) {
glm_scale_make(m, v);
}
CGLM_EXPORT
void
glmc_scale_to(mat4 m, vec3 v, mat4 dest) {
@@ -52,8 +64,8 @@ glmc_scale(mat4 m, vec3 v) {
CGLM_EXPORT
void
glmc_scale1(mat4 m, float s) {
glm_scale1(m, s);
glmc_scale_uni(mat4 m, float s) {
glm_scale_uni(m, s);
}
CGLM_EXPORT
@@ -74,36 +86,42 @@ glmc_rotate_z(mat4 m, float rad, mat4 dest) {
glm_rotate_z(m, rad, dest);
}
CGLM_EXPORT
void
glmc_rotate_ndc_make(mat4 m, float angle, vec3 axis_ndc) {
glm_rotate_ndc_make(m, angle, axis_ndc);
}
CGLM_EXPORT
void
glmc_rotate_make(mat4 m, float angle, vec3 axis) {
glm_rotate_make(m, angle, axis);
}
CGLM_EXPORT
void
glmc_rotate_ndc(mat4 m, float angle, vec3 axis_ndc) {
glm_rotate_ndc(m, angle, axis_ndc);
}
CGLM_EXPORT
void
glmc_rotate(mat4 m, float angle, vec3 axis) {
glm_rotate(m, angle, axis);
}
CGLM_EXPORT
void
glmc_rotate_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
glm_rotate_at(m, pivot, angle, axis);
}
CGLM_EXPORT
void
glmc_rotate_atm(mat4 m, vec3 pivot, float angle, vec3 axis) {
glm_rotate_atm(m, pivot, angle, axis);
}
CGLM_EXPORT
void
glmc_decompose_scalev(mat4 m, vec3 s) {
glm_decompose_scalev(m, s);
}
CGLM_EXPORT
bool
glmc_uniscaled(mat4 m) {
return glm_uniscaled(m);
}
CGLM_EXPORT
void
glmc_decompose_rs(mat4 m, mat4 r, vec3 s) {

8
src/mat4.c
View File

@@ -52,7 +52,7 @@ glmc_mat4_mul(mat4 m1, mat4 m2, mat4 dest) {
CGLM_EXPORT
void
glmc_mat4_mulN(mat4 * __restrict matrices[], int len, mat4 dest) {
glmc_mat4_mulN(mat4 * __restrict matrices[], uint32_t len, mat4 dest) {
glm_mat4_mulN(matrices, len, dest);
}
@@ -62,6 +62,12 @@ glmc_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
glm_mat4_mulv(m, v, dest);
}
CGLM_EXPORT
void
glmc_mat4_quat(mat4 m, versor dest) {
glm_mat4_quat(m, dest);
}
CGLM_EXPORT
void
glmc_mat4_transpose_to(mat4 m, mat4 dest) {

184
src/quat.c
View File

@@ -8,6 +8,7 @@
#include "../include/cglm/cglm.h"
#include "../include/cglm/call.h"
CGLM_EXPORT
void
glmc_quat_identity(versor q) {
@@ -16,20 +17,26 @@ glmc_quat_identity(versor q) {
CGLM_EXPORT
void
glmc_quat(versor q,
float angle,
float x,
float y,
float z) {
glmc_quat_init(versor q, float x, float y, float z, float w) {
glm_quat_init(q, x, y, z, w);
}
CGLM_EXPORT
void
glmc_quat(versor q, float angle, float x, float y, float z) {
glm_quat(q, angle, x, y, z);
}
CGLM_EXPORT
void
glmc_quatv(versor q,
float angle,
vec3 v) {
glm_quatv(q, angle, v);
glmc_quatv(versor q, float angle, vec3 axis) {
glm_quatv(q, angle, axis);
}
CGLM_EXPORT
void
glmc_quat_copy(versor q, versor dest) {
glm_quat_copy(q, dest);
}
CGLM_EXPORT
@@ -40,20 +47,86 @@ glmc_quat_norm(versor q) {
CGLM_EXPORT
void
glmc_quat_normalize(versor q) {
glm_quat_normalize(q);
}
CGLM_EXPORT
float
glmc_quat_dot(versor q, versor r) {
return glm_quat_dot(q, r);
glmc_quat_normalize_to(versor q, versor dest) {
glm_quat_normalize_to(q, dest);
}
CGLM_EXPORT
void
glmc_quat_mulv(versor q1, versor q2, versor dest) {
glm_quat_mulv(q1, q2, dest);
glmc_quat_normalize(versor q) {
glm_quat_norm(q);
}
CGLM_EXPORT
float
glmc_quat_dot(versor p, versor q) {
return glm_quat_dot(p, q);
}
CGLM_EXPORT
void
glmc_quat_conjugate(versor q, versor dest) {
glm_quat_conjugate(q, dest);
}
CGLM_EXPORT
void
glmc_quat_inv(versor q, versor dest) {
glm_quat_inv(q, dest);
}
CGLM_EXPORT
void
glmc_quat_add(versor p, versor q, versor dest) {
glm_quat_add(p, q, dest);
}
CGLM_EXPORT
void
glmc_quat_sub(versor p, versor q, versor dest) {
glm_quat_sub(p, q, dest);
}
CGLM_EXPORT
float
glmc_quat_real(versor q) {
return glm_quat_real(q);
}
CGLM_EXPORT
void
glmc_quat_imag(versor q, vec3 dest) {
glm_quat_imag(q, dest);
}
CGLM_EXPORT
void
glmc_quat_imagn(versor q, vec3 dest) {
glm_quat_imagn(q, dest);
}
CGLM_EXPORT
float
glmc_quat_imaglen(versor q) {
return glm_quat_imaglen(q);
}
CGLM_EXPORT
float
glmc_quat_angle(versor q) {
return glm_quat_angle(q);
}
CGLM_EXPORT
void
glmc_quat_axis(versor q, versor dest) {
glm_quat_axis(q, dest);
}
CGLM_EXPORT
void
glmc_quat_mul(versor p, versor q, versor dest) {
glm_quat_mul(p, q, dest);
}
CGLM_EXPORT
@@ -64,9 +137,72 @@ glmc_quat_mat4(versor q, mat4 dest) {
CGLM_EXPORT
void
glmc_quat_slerp(versor q,
versor r,
float t,
versor dest) {
glm_quat_slerp(q, r, t, dest);
glmc_quat_mat4t(versor q, mat4 dest) {
glm_quat_mat4t(q, dest);
}
CGLM_EXPORT
void
glmc_quat_mat3(versor q, mat3 dest) {
glm_quat_mat3(q, dest);
}
CGLM_EXPORT
void
glmc_quat_mat3t(versor q, mat3 dest) {
glm_quat_mat3t(q, dest);
}
CGLM_EXPORT
void
glmc_quat_lerp(versor from, versor to, float t, versor dest) {
glm_quat_lerp(from, to, t, dest);
}
CGLM_EXPORT
void
glmc_quat_slerp(versor from, versor to, float t, versor dest) {
glm_quat_slerp(from, to, t, dest);
}
CGLM_EXPORT
void
glmc_quat_look(vec3 eye, versor ori, mat4 dest) {
glm_quat_look(eye, ori, dest);
}
CGLM_EXPORT
void
glmc_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest) {
glm_quat_for(dir, fwd, up, dest);
}
CGLM_EXPORT
void
glmc_quat_forp(vec3 from, vec3 to, vec3 fwd, vec3 up, versor dest) {
glm_quat_forp(from, to, fwd, up, dest);
}
CGLM_EXPORT
void
glmc_quat_rotatev(versor q, vec3 v, vec3 dest) {
glm_quat_rotatev(q, v, dest);
}
CGLM_EXPORT
void
glmc_quat_rotate(mat4 m, versor q, mat4 dest) {
glm_quat_rotate(m, q, dest);
}
CGLM_EXPORT
void
glmc_quat_rotate_at(mat4 model, versor q, vec3 pivot) {
glm_quat_rotate_at(model, q, pivot);
}
CGLM_EXPORT
void
glmc_quat_rotate_atm(mat4 m, versor q, vec3 pivot) {
glm_quat_rotate_atm(m, q, pivot);
}

180
src/vec3.c
View File

@@ -8,12 +8,30 @@
#include "../include/cglm/cglm.h"
#include "../include/cglm/call.h"
CGLM_EXPORT
void
glmc_vec3(vec4 v4, vec3 dest) {
glm_vec3(v4, dest);
}
CGLM_EXPORT
void
glmc_vec_copy(vec3 a, vec3 dest) {
glm_vec_copy(a, dest);
}
CGLM_EXPORT
void
glmc_vec_zero(vec3 v) {
glm_vec_zero(v);
}
CGLM_EXPORT
void
glmc_vec_one(vec3 v) {
glm_vec_one(v);
}
CGLM_EXPORT
float
glmc_vec_dot(vec3 a, vec3 b) {
@@ -58,8 +76,26 @@ glmc_vec_add(vec3 v1, vec3 v2, vec3 dest) {
CGLM_EXPORT
void
glmc_vec_sub(vec3 v1, vec3 v2, vec3 dest) {
glm_vec_sub(v1, v2, dest);
glmc_vec_adds(vec3 v, float s, vec3 dest) {
glm_vec_adds(v, s, dest);
}
CGLM_EXPORT
void
glmc_vec_sub(vec3 a, vec3 b, vec3 dest) {
glm_vec_sub(a, b, dest);
}
CGLM_EXPORT
void
glmc_vec_subs(vec3 v, float s, vec3 dest) {
glm_vec_subs(v, s, dest);
}
CGLM_EXPORT
void
glmc_vec_mul(vec3 a, vec3 b, vec3 d) {
glm_vec_mul(a, b, d);
}
CGLM_EXPORT
@@ -74,12 +110,54 @@ glmc_vec_scale_as(vec3 v, float s, vec3 dest) {
glm_vec_scale_as(v, s, dest);
}
CGLM_EXPORT
void
glmc_vec_div(vec3 a, vec3 b, vec3 dest) {
glm_vec_div(a, b, dest);
}
CGLM_EXPORT
void
glmc_vec_divs(vec3 a, float s, vec3 dest) {
glm_vec_divs(a, s, dest);
}
CGLM_EXPORT
void
glmc_vec_addadd(vec3 a, vec3 b, vec3 dest) {
glm_vec_addadd(a, b, dest);
}
CGLM_EXPORT
void
glmc_vec_subadd(vec3 a, vec3 b, vec3 dest) {
glm_vec_subadd(a, b, dest);
}
CGLM_EXPORT
void
glmc_vec_muladd(vec3 a, vec3 b, vec3 dest) {
glm_vec_muladd(a, b, dest);
}
CGLM_EXPORT
void
glmc_vec_muladds(vec3 a, float s, vec3 dest) {
glm_vec_muladds(a, s, dest);
}
CGLM_EXPORT
void
glmc_vec_flipsign(vec3 v) {
glm_vec_flipsign(v);
}
CGLM_EXPORT
void
glmc_vec_flipsign_to(vec3 v, vec3 dest) {
glm_vec_flipsign_to(v, dest);
}
CGLM_EXPORT
void
glmc_vec_inv(vec3 v) {
@@ -145,3 +223,101 @@ void
glmc_vec_clamp(vec3 v, float minVal, float maxVal) {
glm_vec_clamp(v, minVal, maxVal);
}
CGLM_EXPORT
void
glmc_vec_ortho(vec3 v, vec3 dest) {
glm_vec_ortho(v, dest);
}
CGLM_EXPORT
void
glmc_vec_lerp(vec3 from, vec3 to, float t, vec3 dest) {
glm_vec_lerp(from, to, t, dest);
}
/* ext */
CGLM_EXPORT
void
glmc_vec_mulv(vec3 a, vec3 b, vec3 d) {
glm_vec_mulv(a, b, d);
}
CGLM_EXPORT
void
glmc_vec_broadcast(float val, vec3 d) {
glm_vec_broadcast(val, d);
}
CGLM_EXPORT
bool
glmc_vec_eq(vec3 v, float val) {
return glm_vec_eq(v, val);
}
CGLM_EXPORT
bool
glmc_vec_eq_eps(vec3 v, float val) {
return glm_vec_eq_eps(v, val);
}
CGLM_EXPORT
bool
glmc_vec_eq_all(vec3 v) {
return glm_vec_eq_all(v);
}
CGLM_EXPORT
bool
glmc_vec_eqv(vec3 v1, vec3 v2) {
return glm_vec_eqv(v1, v2);
}
CGLM_EXPORT
bool
glmc_vec_eqv_eps(vec3 v1, vec3 v2) {
return glm_vec_eqv_eps(v1, v2);
}
CGLM_EXPORT
float
glmc_vec_max(vec3 v) {
return glm_vec_max(v);
}
CGLM_EXPORT
float
glmc_vec_min(vec3 v) {
return glm_vec_min(v);
}
CGLM_EXPORT
bool
glmc_vec_isnan(vec3 v) {
return glm_vec_isnan(v);
}
CGLM_EXPORT
bool
glmc_vec_isinf(vec3 v) {
return glm_vec_isinf(v);
}
CGLM_EXPORT
bool
glmc_vec_isvalid(vec3 v) {
return glm_vec_isvalid(v);
}
CGLM_EXPORT
void
glmc_vec_sign(vec3 v, vec3 dest) {
glm_vec_sign(v, dest);
}
CGLM_EXPORT
void
glmc_vec_sqrt(vec3 v, vec3 dest) {
glm_vec_sqrt(v, dest);
}

180
src/vec4.c
View File

@@ -8,6 +8,24 @@
#include "../include/cglm/cglm.h"
#include "../include/cglm/call.h"
CGLM_EXPORT
void
glmc_vec4(vec3 v3, float last, vec4 dest) {
glm_vec4(v3, last, dest);
}
CGLM_EXPORT
void
glmc_vec4_zero(vec4 v) {
glm_vec4_zero(v);
}
CGLM_EXPORT
void
glmc_vec4_one(vec4 v) {
glm_vec4_one(v);
}
CGLM_EXPORT
void
glmc_vec4_copy3(vec4 a, vec3 dest) {
@@ -52,14 +70,32 @@ glmc_vec4_norm2(vec4 vec) {
CGLM_EXPORT
void
glmc_vec4_add(vec4 v1, vec4 v2, vec4 dest) {
glm_vec4_add(v1, v2, dest);
glmc_vec4_add(vec4 a, vec4 b, vec4 dest) {
glm_vec4_add(a, b, dest);
}
CGLM_EXPORT
void
glmc_vec4_sub(vec4 v1, vec4 v2, vec4 dest) {
glm_vec4_sub(v1, v2, dest);
glmc_vec4_adds(vec4 v, float s, vec4 dest) {
glm_vec4_adds(v, s, dest);
}
CGLM_EXPORT
void
glmc_vec4_sub(vec4 a, vec4 b, vec4 dest) {
glm_vec4_sub(a, b, dest);
}
CGLM_EXPORT
void
glmc_vec4_subs(vec4 v, float s, vec4 dest) {
glm_vec4_subs(v, s, dest);
}
CGLM_EXPORT
void
glmc_vec4_mul(vec4 a, vec4 b, vec4 d) {
glm_vec4_mul(a, b, d);
}
CGLM_EXPORT
@@ -70,16 +106,58 @@ glmc_vec4_scale(vec4 v, float s, vec4 dest) {
CGLM_EXPORT
void
glmc_vec4_scale_as(vec3 v, float s, vec3 dest) {
glmc_vec4_scale_as(vec4 v, float s, vec4 dest) {
glm_vec4_scale_as(v, s, dest);
}
CGLM_EXPORT
void
glmc_vec4_div(vec4 a, vec4 b, vec4 dest) {
glm_vec4_div(a, b, dest);
}
CGLM_EXPORT
void
glmc_vec4_divs(vec4 v, float s, vec4 dest) {
glm_vec4_divs(v, s, dest);
}
CGLM_EXPORT
void
glmc_vec4_addadd(vec4 a, vec4 b, vec4 dest) {
glm_vec4_addadd(a, b, dest);
}
CGLM_EXPORT
void
glmc_vec4_subadd(vec4 a, vec4 b, vec4 dest) {
glm_vec4_subadd(a, b, dest);
}
CGLM_EXPORT
void
glmc_vec4_muladd(vec4 a, vec4 b, vec4 dest) {
glm_vec4_muladd(a, b, dest);
}
CGLM_EXPORT
void
glmc_vec4_muladds(vec4 a, float s, vec4 dest) {
glm_vec4_muladds(a, s, dest);
}
CGLM_EXPORT
void
glmc_vec4_flipsign(vec4 v) {
glm_vec4_flipsign(v);
}
CGLM_EXPORT
void
glmc_vec4_flipsign_to(vec4 v, vec4 dest) {
glm_vec4_flipsign_to(v, dest);
}
CGLM_EXPORT
void
glmc_vec4_inv(vec4 v) {
@@ -115,3 +193,95 @@ void
glmc_vec4_clamp(vec4 v, float minVal, float maxVal) {
glm_vec4_clamp(v, minVal, maxVal);
}
CGLM_EXPORT
void
glmc_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest) {
glm_vec4_lerp(from, to, t, dest);
}
/* ext */
CGLM_EXPORT
void
glmc_vec4_mulv(vec4 a, vec4 b, vec4 d) {
glm_vec4_mulv(a, b, d);
}
CGLM_EXPORT
void
glmc_vec4_broadcast(float val, vec4 d) {
glm_vec4_broadcast(val, d);
}
CGLM_EXPORT
bool
glmc_vec4_eq(vec4 v, float val) {
return glm_vec4_eq(v, val);
}
CGLM_EXPORT
bool
glmc_vec4_eq_eps(vec4 v, float val) {
return glm_vec4_eq_eps(v, val);
}
CGLM_EXPORT
bool
glmc_vec4_eq_all(vec4 v) {
return glm_vec4_eq_all(v);
}
CGLM_EXPORT
bool
glmc_vec4_eqv(vec4 v1, vec4 v2) {
return glm_vec4_eqv(v1, v2);
}
CGLM_EXPORT
bool
glmc_vec4_eqv_eps(vec4 v1, vec4 v2) {
return glm_vec4_eqv_eps(v1, v2);
}
CGLM_EXPORT
float
glmc_vec4_max(vec4 v) {
return glm_vec4_max(v);
}
CGLM_EXPORT
float
glmc_vec4_min(vec4 v) {
return glm_vec4_min(v);
}
CGLM_EXPORT
bool
glmc_vec4_isnan(vec4 v) {
return glm_vec4_isnan(v);
}
CGLM_EXPORT
bool
glmc_vec4_isinf(vec4 v) {
return glm_vec4_isinf(v);
}
CGLM_EXPORT
bool
glmc_vec4_isvalid(vec4 v) {
return glm_vec4_isvalid(v);
}
CGLM_EXPORT
void
glmc_vec4_sign(vec4 v, vec4 dest) {
glm_vec4_sign(v, dest);
}
CGLM_EXPORT
void
glmc_vec4_sqrt(vec4 v, vec4 dest) {
glm_vec4_sqrt(v, dest);
}

113
test/src/test_affine.c Normal file
View File

@@ -0,0 +1,113 @@
/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#include "test_common.h"
void
test_affine(void **state) {
mat4 t1, t2, t3, t4, t5;
/* test translate is postmultiplied */
glmc_rotate_make(t1, M_PI_4, GLM_YUP);
glm_translate_make(t2, (vec3){34, 57, 36});
glmc_mat4_mul(t1, t2, t3); /* R * T */
glm_translate(t1, (vec3){34, 57, 36});
test_assert_mat4_eq(t1, t3);
/* test rotate is postmultiplied */
glmc_rotate_make(t1, M_PI_4, GLM_YUP);
glm_translate_make(t2, (vec3){34, 57, 36});
glmc_mat4_mul(t2, t1, t3); /* T * R */
glm_rotate(t2, M_PI_4, GLM_YUP);
test_assert_mat4_eq(t2, t3);
/* test scale is postmultiplied */
glmc_rotate_make(t1, M_PI_4, GLM_YUP);
glm_translate_make(t2, (vec3){34, 57, 36});
glm_scale_make(t4, (vec3){3, 5, 6});
glmc_mat4_mul(t2, t1, t3); /* T * R */
glmc_mat4_mul(t3, t4, t5); /* T * R * S */
glm_scale(t3, (vec3){3, 5, 6});
test_assert_mat4_eq(t3, t5);
/* test translate_x */
glmc_rotate_make(t1, M_PI_4, GLM_YUP);
glm_translate_make(t2, (vec3){34, 0, 0});
glmc_mat4_mul(t1, t2, t3); /* R * T */
glm_translate_x(t1, 34);
test_assert_mat4_eq(t1, t3);
/* test translate_y */
glmc_rotate_make(t1, M_PI_4, GLM_YUP);
glm_translate_make(t2, (vec3){0, 57, 0});
glmc_mat4_mul(t1, t2, t3); /* R * T */
glm_translate_y(t1, 57);
test_assert_mat4_eq(t1, t3);
/* test translate_z */
glmc_rotate_make(t1, M_PI_4, GLM_YUP);
glm_translate_make(t2, (vec3){0, 0, 36});
glmc_mat4_mul(t1, t2, t3); /* R * T */
glm_translate_z(t1, 36);
test_assert_mat4_eq(t1, t3);
/* test rotate_x */
glmc_rotate_make(t1, M_PI_4, (vec3){1, 0, 0});
glm_translate_make(t2, (vec3){34, 57, 36});
glmc_mat4_mul(t2, t1, t3); /* T * R */
glm_rotate_x(t2, M_PI_4, t2);
test_assert_mat4_eq(t2, t3);
/* test rotate_y */
glmc_rotate_make(t1, M_PI_4, (vec3){0, 1, 0});
glm_translate_make(t2, (vec3){34, 57, 36});
glmc_mat4_mul(t2, t1, t3); /* T * R */
glm_rotate_y(t2, M_PI_4, t2);
test_assert_mat4_eq(t2, t3);
/* test rotate_z */
glmc_rotate_make(t1, M_PI_4, (vec3){0, 0, 1});
glm_translate_make(t2, (vec3){34, 57, 36});
glmc_mat4_mul(t2, t1, t3); /* T * R */
glm_rotate_z(t2, M_PI_4, t2);
test_assert_mat4_eq(t2, t3);
/* test rotate */
glmc_rotate_make(t1, M_PI_4, (vec3){0, 0, 1});
glm_translate_make(t2, (vec3){34, 57, 36});
glmc_mat4_mul(t2, t1, t3); /* T * R */
glmc_rotate(t2, M_PI_4, (vec3){0, 0, 1});
test_assert_mat4_eq(t3, t2);
/* test scale_uni */
glmc_rotate_make(t1, M_PI_4, GLM_YUP);
glm_translate_make(t2, (vec3){34, 57, 36});
glm_scale_make(t4, (vec3){3, 3, 3});
glmc_mat4_mul(t2, t1, t3); /* T * R */
glmc_mat4_mul(t3, t4, t5); /* T * R * S */
glm_scale_uni(t3, 3);
test_assert_mat4_eq(t3, t5);
}

94
test/src/test_common.c
View File

@@ -27,6 +27,50 @@ test_rand_mat4(mat4 dest) {
/* glm_scale(dest, (vec3){drand48(), drand48(), drand48()}); */
}
void
test_rand_mat3(mat3 dest) {
mat4 m4;
srand((unsigned int)time(NULL));
/* random rotatation around random axis with random angle */
glm_rotate_make(m4, drand48(), (vec3){drand48(), drand48(), drand48()});
glm_mat4_pick3(m4, dest);
}
void
test_rand_vec3(vec3 dest) {
srand((unsigned int)time(NULL));
dest[0] = drand48();
dest[1] = drand48();
dest[2] = drand48();
}
void
test_rand_vec4(vec4 dest) {
srand((unsigned int)time(NULL));
dest[0] = drand48();
dest[1] = drand48();
dest[2] = drand48();
dest[3] = drand48();
}
float
test_rand_angle(void) {
srand((unsigned int)time(NULL));
return drand48();
}
void
test_rand_quat(versor q) {
srand((unsigned int)time(NULL));
glm_quat(q, drand48(), drand48(), drand48(), drand48());
glm_quat_normalize(q);
}
void
test_assert_mat4_eq(mat4 m1, mat4 m2) {
int i, j, k;
@@ -52,8 +96,50 @@ test_assert_mat4_eq2(mat4 m1, mat4 m2, float eps) {
}
void
test_assert_vec3_eq(vec3 v1, vec3 v2) {
assert_true(fabsf(v1[0] - v2[0]) <= 0.0000009);
assert_true(fabsf(v1[1] - v2[1]) <= 0.0000009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.0000009);
test_assert_mat3_eq(mat3 m1, mat3 m2) {
int i, j, k;
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
for (k = 0; k < 3; k++)
assert_true(fabsf(m1[i][j] - m2[i][j]) <= 0.0000009);
}
}
}
void
test_assert_eqf(float a, float b) {
assert_true(fabsf(a - b) <= 0.000009); /* rounding errors */
}
void
test_assert_vec3_eq(vec3 v1, vec3 v2) {
assert_true(fabsf(v1[0] - v2[0]) <= 0.000009); /* rounding errors */
assert_true(fabsf(v1[1] - v2[1]) <= 0.000009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.000009);
}
void
test_assert_vec4_eq(vec4 v1, vec4 v2) {
assert_true(fabsf(v1[0] - v2[0]) <= 0.000009); /* rounding errors */
assert_true(fabsf(v1[1] - v2[1]) <= 0.000009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.000009);
assert_true(fabsf(v1[3] - v2[3]) <= 0.000009);
}
void
test_assert_quat_eq_abs(versor v1, versor v2) {
assert_true(fabsf(fabsf(v1[0]) - fabsf(v2[0])) <= 0.0009); /* rounding errors */
assert_true(fabsf(fabsf(v1[1]) - fabsf(v2[1])) <= 0.0009);
assert_true(fabsf(fabsf(v1[2]) - fabsf(v2[2])) <= 0.0009);
assert_true(fabsf(fabsf(v1[3]) - fabsf(v2[3])) <= 0.0009);
}
void
test_assert_quat_eq(versor v1, versor v2) {
assert_true(fabsf(v1[0] - v2[0]) <= 0.000009); /* rounding errors */
assert_true(fabsf(v1[1] - v2[1]) <= 0.000009);
assert_true(fabsf(v1[2] - v2[2]) <= 0.000009);
assert_true(fabsf(v1[3] - v2[3]) <= 0.000009);
}

30
test/src/test_common.h
View File

@@ -25,13 +25,43 @@
void
test_rand_mat4(mat4 dest);
void
test_rand_mat3(mat3 dest);
void
test_assert_eqf(float a, float b);
void
test_assert_mat4_eq(mat4 m1, mat4 m2);
void
test_assert_mat4_eq2(mat4 m1, mat4 m2, float eps);
void
test_assert_mat3_eq(mat3 m1, mat3 m2);
void
test_assert_vec3_eq(vec3 v1, vec3 v2);
void
test_assert_vec4_eq(vec4 v1, vec4 v2);
void
test_assert_quat_eq(versor v1, versor v2);
void
test_assert_quat_eq_abs(versor v1, versor v2);
void
test_rand_vec3(vec3 dest);
void
test_rand_vec4(vec4 dest) ;
float
test_rand_angle(void);
void
test_rand_quat(versor q);
#endif /* test_common_h */

17
test/src/test_main.c
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@@ -12,6 +12,9 @@ main(int argc, const char * argv[]) {
/* mat4 */
cmocka_unit_test(test_mat4),
/* mat3 */
cmocka_unit_test(test_mat3),
/* camera */
cmocka_unit_test(test_camera_lookat),
cmocka_unit_test(test_camera_decomp),
@@ -23,7 +26,19 @@ main(int argc, const char * argv[]) {
cmocka_unit_test(test_clamp),
/* euler */
cmocka_unit_test(test_euler)
cmocka_unit_test(test_euler),
/* quaternion */
cmocka_unit_test(test_quat),
/* vec4 */
cmocka_unit_test(test_vec4),
/* vec3 */
cmocka_unit_test(test_vec3),
/* affine */
cmocka_unit_test(test_affine)
};
return cmocka_run_group_tests(tests, NULL, NULL);

58
test/src/test_mat3.c Normal file
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@@ -0,0 +1,58 @@
/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#include "test_common.h"
#define m 3
#define n 3
void
test_mat3(void **state) {
mat3 m1 = GLM_MAT3_IDENTITY_INIT;
mat3 m2 = GLM_MAT3_IDENTITY_INIT;
mat3 m3;
mat3 m4 = GLM_MAT3_ZERO_INIT;
mat3 m5;
int i, j, k;
/* test identity matrix multiplication */
glmc_mat3_mul(m1, m2, m3);
for (i = 0; i < m; i++) {
for (j = 0; j < n; j++) {
if (i == j)
assert_true(m3[i][j] == 1.0f);
else
assert_true(m3[i][j] == 0.0f);
}
}
/* test random matrices */
/* random matrices */
test_rand_mat3(m1);
test_rand_mat3(m2);
glmc_mat3_mul(m1, m2, m3);
for (i = 0; i < m; i++) {
for (j = 0; j < n; j++) {
for (k = 0; k < m; k++)
/* column-major */
m4[i][j] += m1[k][j] * m2[i][k];
}
}
test_assert_mat3_eq(m3, m4);
for (i = 0; i < 100000; i++) {
test_rand_mat3(m3);
test_rand_mat3(m4);
/* test inverse precise */
glmc_mat3_inv(m3, m4);
glmc_mat3_inv(m4, m5);
test_assert_mat3_eq(m3, m5);
}
}

199
test/src/test_quat.c Normal file
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@@ -0,0 +1,199 @@
/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#include "test_common.h"
CGLM_INLINE
void
test_quat_mul_raw(versor p, versor q, versor dest) {
dest[0] = p[3] * q[0] + p[0] * q[3] + p[1] * q[2] - p[2] * q[1];
dest[1] = p[3] * q[1] - p[0] * q[2] + p[1] * q[3] + p[2] * q[0];
dest[2] = p[3] * q[2] + p[0] * q[1] - p[1] * q[0] + p[2] * q[3];
dest[3] = p[3] * q[3] - p[0] * q[0] - p[1] * q[1] - p[2] * q[2];
}
void
test_quat(void **state) {
mat4 inRot, outRot, view1, view2, rot1, rot2;
versor inQuat, outQuat, q3, q4, q5;
vec3 eye, axis, imag, v1, v2;
int i;
/* 0. test identiy quat */
glm_quat_identity(q4);
assert_true(glm_quat_real(q4) == cosf(glm_rad(0.0f) * 0.5f));
glm_quat_mat4(q4, rot1);
test_assert_mat4_eq2(rot1, GLM_MAT4_IDENTITY, 0.000009);
/* 1. test quat to mat and mat to quat */
for (i = 0; i < 1000; i++) {
test_rand_quat(inQuat);
glmc_quat_mat4(inQuat, inRot);
glmc_mat4_quat(inRot, outQuat);
glmc_quat_mat4(outQuat, outRot);
/* 2. test first quat and generated one equality */
test_assert_quat_eq_abs(inQuat, outQuat);
/* 3. test first rot and second rotation */
test_assert_mat4_eq2(inRot, outRot, 0.000009); /* almost equal */
/* 4. test SSE mul and raw mul */
test_quat_mul_raw(inQuat, outQuat, q3);
glm_quat_mul_sse2(inQuat, outQuat, q4);
test_assert_quat_eq(q3, q4);
}
/* 5. test lookat */
test_rand_vec3(eye);
glm_quatv(q3, glm_rad(-90.0f), GLM_YUP);
/* now X axis must be forward axis, Z must be right axis */
glm_look(eye, GLM_XUP, GLM_YUP, view1);
/* create view matrix with quaternion */
glm_quat_look(eye, q3, view2);
test_assert_mat4_eq2(view1, view2, 0.000009);
/* 6. test quaternion rotation matrix result */
test_rand_quat(q3);
glm_quat_mat4(q3, rot1);
/* 6.1 test axis and angle of quat */
glm_quat_axis(q3, axis);
glm_rotate_make(rot2, glm_quat_angle(q3), axis);
test_assert_mat4_eq2(rot1, rot2, 0.000009);
/* 7. test quaternion multiplication (hamilton product),
final rotation = first rotation + second = quat1 * quat2
*/
test_rand_quat(q3);
test_rand_quat(q4);
glm_quat_mul(q3, q4, q5);
glm_quat_axis(q3, axis);
glm_rotate_make(rot1, glm_quat_angle(q3), axis);
glm_quat_axis(q4, axis);
glm_rotate(rot1, glm_quat_angle(q4), axis);
/* rot2 is combine of two rotation now test with quaternion result */
glm_quat_mat4(q5, rot2);
/* result must be same (almost) */
test_assert_mat4_eq2(rot1, rot2, 0.000009);
/* 8. test quaternion for look rotation */
/* 8.1 same direction */
/* look at from 0, 0, 1 to zero, direction = 0, 0, -1 */
glm_quat_for((vec3){0, 0, -1}, (vec3){0, 0, -1}, GLM_YUP, q3);
/* result must be identity */
glm_quat_identity(q4);
test_assert_quat_eq(q3, q4);
/* look at from 0, 0, 1 to zero, direction = 0, 0, -1 */
glm_quat_forp(GLM_ZUP, GLM_VEC3_ZERO, (vec3){0, 0, -1}, GLM_YUP, q3);
/* result must be identity */
glm_quat_identity(q4);
test_assert_quat_eq(q3, q4);
/* 8.2 perpendicular */
glm_quat_for(GLM_XUP, (vec3){0, 0, -1}, GLM_YUP, q3);
/* result must be -90 */
glm_quatv(q4, glm_rad(-90.0f), GLM_YUP);
test_assert_quat_eq(q3, q4);
/* 9. test imag, real */
/* 9.1 real */
assert_true(glm_quat_real(q4) == cosf(glm_rad(-90.0f) * 0.5f));
/* 9.1 imag */
glm_quat_imag(q4, imag);
/* axis = Y_UP * sinf(angle * 0.5), YUP = 0, 1, 0 */
axis[0] = 0.0f;
axis[1] = sinf(glm_rad(-90.0f) * 0.5f) * 1.0f;
axis[2] = 0.0f;
assert_true(glm_vec_eqv_eps(imag, axis));
/* 9.2 axis */
glm_quat_axis(q4, axis);
imag[0] = 0.0f;
imag[1] = -1.0f;
imag[2] = 0.0f;
test_assert_vec3_eq(imag, axis);
/* 10. test rotate vector using quat */
/* (0,0,-1) around (1,0,0) must give (0,1,0) */
v1[0] = 0.0f; v1[1] = 0.0f; v1[2] = -1.0f;
v2[0] = 0.0f; v2[1] = 0.0f; v2[2] = -1.0f;
glm_vec_rotate(v1, glm_rad(90.0f), (vec3){1.0f, 0.0f, 0.0f});
glm_quatv(q3, glm_rad(90.0f), (vec3){1.0f, 0.0f, 0.0f});
glm_vec4_scale(q3, 1.5, q3);
glm_quat_rotatev(q3, v2, v2);
/* result must be : (0,1,0) */
assert_true(fabsf(v1[0]) <= 0.00009f
&& fabsf(v1[1] - 1.0f) <= 0.00009f
&& fabsf(v1[2]) <= 0.00009f);
test_assert_vec3_eq(v1, v2);
/* 11. test rotate transform */
glm_translate_make(rot1, (vec3){-10.0, 45.0f, 8.0f});
glm_rotate(rot1, glm_rad(-90), GLM_ZUP);
glm_quatv(q3, glm_rad(-90.0f), GLM_ZUP);
glm_translate_make(rot2, (vec3){-10.0, 45.0f, 8.0f});
glm_quat_rotate(rot2, q3, rot2);
/* result must be same (almost) */
test_assert_mat4_eq2(rot1, rot2, 0.000009);
glm_rotate_make(rot1, glm_rad(-90), GLM_ZUP);
glm_translate(rot1, (vec3){-10.0, 45.0f, 8.0f});
glm_quatv(q3, glm_rad(-90.0f), GLM_ZUP);
glm_mat4_identity(rot2);
glm_quat_rotate(rot2, q3, rot2);
glm_translate(rot2, (vec3){-10.0, 45.0f, 8.0f});
/* result must be same (almost) */
test_assert_mat4_eq2(rot1, rot2, 0.000009);
/* reverse */
glm_rotate_make(rot1, glm_rad(-90), GLM_ZUP);
glm_quatv(q3, glm_rad(90.0f), GLM_ZUP);
glm_quat_rotate(rot1, q3, rot1);
/* result must be identity */
test_assert_mat4_eq2(rot1, GLM_MAT4_IDENTITY, 0.000009);
test_rand_quat(q3);
/* 12. inverse of quat, multiplication must be IDENTITY */
glm_quat_inv(q3, q4);
glm_quat_mul(q3, q4, q5);
glm_quat_identity(q3);
test_assert_quat_eq(q3, q5);
/* TODO: add tests for slerp, lerp */
}

15
test/src/test_tests.h
View File

@@ -9,6 +9,9 @@
/* mat4 */
void test_mat4(void **state);
/* mat3 */
void test_mat3(void **state);
/* camera */
void
test_camera_lookat(void **state);
@@ -25,4 +28,16 @@ test_clamp(void **state);
void
test_euler(void **state);
void
test_quat(void **state);
void
test_vec4(void **state);
void
test_vec3(void **state);
void
test_affine(void **state);
#endif /* test_tests_h */

78
test/src/test_vec3.c Normal file
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@@ -0,0 +1,78 @@
/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#include "test_common.h"
void
test_vec3(void **state) {
mat3 rot1m3;
mat4 rot1;
vec3 v, v1, v2;
/* test zero */
glm_vec_zero(v);
test_assert_vec3_eq(GLM_VEC3_ZERO, v);
/* test one */
glm_vec_one(v);
test_assert_vec3_eq(GLM_VEC3_ONE, v);
/* adds, subs, div, divs, mul */
glm_vec_add(v, GLM_VEC3_ONE, v);
assert_true(glmc_vec_eq_eps(v, 2));
glm_vec_adds(v, 10, v);
assert_true(glmc_vec_eq_eps(v, 12));
glm_vec_sub(v, GLM_VEC3_ONE, v);
assert_true(glmc_vec_eq_eps(v, 11));
glm_vec_subs(v, 1, v);
assert_true(glmc_vec_eq_eps(v, 10));
glm_vec_broadcast(2, v1);
glm_vec_div(v, v1, v);
assert_true(glmc_vec_eq_eps(v, 5));
glm_vec_divs(v, 0.5, v);
assert_true(glmc_vec_eq_eps(v, 10));
glm_vec_mul(v, v1, v);
assert_true(glmc_vec_eq_eps(v, 20));
glm_vec_scale(v, 0.5, v);
assert_true(glmc_vec_eq_eps(v, 10));
glm_vec_normalize_to(v, v1);
glm_vec_scale(v1, 0.8, v1);
glm_vec_scale_as(v, 0.8, v);
test_assert_vec3_eq(v1, v);
/* addadd, subadd, muladd */
glm_vec_one(v);
glm_vec_addadd(GLM_VEC3_ONE, GLM_VEC3_ONE, v);
assert_true(glmc_vec_eq_eps(v, 3));
glm_vec_subadd(GLM_VEC3_ONE, GLM_VEC3_ZERO, v);
assert_true(glmc_vec_eq_eps(v, 4));
glm_vec_broadcast(2, v1);
glm_vec_broadcast(3, v2);
glm_vec_muladd(v1, v2, v);
assert_true(glmc_vec_eq_eps(v, 10));
/* rotate */
glm_vec_copy(GLM_YUP, v);
glm_rotate_make(rot1, glm_rad(90), GLM_XUP);
glm_vec_rotate_m4(rot1, v, v1);
glm_mat4_pick3(rot1, rot1m3);
glm_vec_rotate_m3(rot1m3, v, v2);
test_assert_vec3_eq(v1, v2);
test_assert_vec3_eq(v1, GLM_ZUP);
}

178
test/src/test_vec4.c Normal file
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@@ -0,0 +1,178 @@
/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#include "test_common.h"
CGLM_INLINE
float
test_vec4_dot(vec4 a, vec4 b) {
return a[0] * b[0] + a[1] * b[1] + a[2] * b[2] + a[3] * b[3];
}
CGLM_INLINE
void
test_vec4_normalize_to(vec4 vec, vec4 dest) {
float norm;
norm = glm_vec4_norm(vec);
if (norm == 0.0f) {
dest[0] = dest[1] = dest[2] = dest[3] = 0.0f;
return;
}
glm_vec4_scale(vec, 1.0f / norm, dest);
}
float
test_vec4_norm2(vec4 vec) {
return test_vec4_dot(vec, vec);
}
float
test_vec4_norm(vec4 vec) {
return sqrtf(test_vec4_dot(vec, vec));
}
void
test_vec4_maxv(vec4 v1, vec4 v2, vec4 dest) {
dest[0] = glm_max(v1[0], v2[0]);
dest[1] = glm_max(v1[1], v2[1]);
dest[2] = glm_max(v1[2], v2[2]);
dest[3] = glm_max(v1[3], v2[3]);
}
void
test_vec4_minv(vec4 v1, vec4 v2, vec4 dest) {
dest[0] = glm_min(v1[0], v2[0]);
dest[1] = glm_min(v1[1], v2[1]);
dest[2] = glm_min(v1[2], v2[2]);
dest[3] = glm_min(v1[3], v2[3]);
}
void
test_vec4_clamp(vec4 v, float minVal, float maxVal) {
v[0] = glm_clamp(v[0], minVal, maxVal);
v[1] = glm_clamp(v[1], minVal, maxVal);
v[2] = glm_clamp(v[2], minVal, maxVal);
v[3] = glm_clamp(v[3], minVal, maxVal);
}
void
test_vec4(void **state) {
vec4 v, v1, v2, v3, v4;
int i;
float d1, d2;
for (i = 0; i < 1000; i++) {
/* 1. test SSE/SIMD dot product */
test_rand_vec4(v);
d1 = glm_vec4_dot(v, v);
d2 = test_vec4_dot(v, v);
assert_true(fabsf(d1 - d2) <= 0.000009);
/* 2. test SIMD normalize */
test_vec4_normalize_to(v, v1);
glm_vec4_normalize_to(v, v2);
glm_vec4_normalize(v);
/* all must be same */
test_assert_vec4_eq(v1, v2);
test_assert_vec4_eq(v, v2);
/* 3. test SIMD norm */
test_rand_vec4(v);
test_assert_eqf(test_vec4_norm(v), glm_vec4_norm(v));
/* 3. test SIMD norm2 */
test_rand_vec4(v);
test_assert_eqf(test_vec4_norm2(v), glm_vec4_norm2(v));
}
/* test zero */
glm_vec4_zero(v);
test_assert_vec4_eq(GLM_VEC4_ZERO, v);
/* test one */
glm_vec4_one(v);
test_assert_vec4_eq(GLM_VEC4_ONE, v);
/* adds, subs, div, divs, mul */
glm_vec4_add(v, GLM_VEC4_ONE, v);
assert_true(glmc_vec4_eq_eps(v, 2));
glm_vec4_adds(v, 10, v);
assert_true(glmc_vec4_eq_eps(v, 12));
glm_vec4_sub(v, GLM_VEC4_ONE, v);
assert_true(glmc_vec4_eq_eps(v, 11));
glm_vec4_subs(v, 1, v);
assert_true(glmc_vec4_eq_eps(v, 10));
glm_vec4_broadcast(2, v1);
glm_vec4_div(v, v1, v);
assert_true(glmc_vec4_eq_eps(v, 5));
glm_vec4_divs(v, 0.5, v);
assert_true(glmc_vec4_eq_eps(v, 10));
glm_vec4_mul(v, v1, v);
assert_true(glmc_vec4_eq_eps(v, 20));
glm_vec4_scale(v, 0.5, v);
assert_true(glmc_vec4_eq_eps(v, 10));
glm_vec4_normalize_to(v, v1);
glm_vec4_scale(v1, 0.8, v1);
glm_vec4_scale_as(v, 0.8, v);
test_assert_vec4_eq(v1, v);
/* addadd, subadd, muladd */
glm_vec4_one(v);
glm_vec4_addadd(GLM_VEC4_ONE, GLM_VEC4_ONE, v);
assert_true(glmc_vec4_eq_eps(v, 3));
glm_vec4_subadd(GLM_VEC4_ONE, GLM_VEC4_ZERO, v);
assert_true(glmc_vec4_eq_eps(v, 4));
glm_vec4_broadcast(2, v1);
glm_vec4_broadcast(3, v2);
glm_vec4_muladd(v1, v2, v);
assert_true(glmc_vec4_eq_eps(v, 10));
/* min, max */
test_rand_vec4(v1);
test_rand_vec4(v2);
glm_vec4_maxv(v1, v2, v3);
test_vec4_maxv(v1, v2, v4);
test_assert_vec4_eq(v3, v4);
glm_vec4_minv(v1, v2, v3);
test_vec4_minv(v1, v2, v4);
test_assert_vec4_eq(v3, v4);
glm_vec4_print(v3, stderr);
glm_vec4_print(v4, stderr);
/* clamp */
glm_vec4_clamp(v3, 0.1, 0.8);
test_vec4_clamp(v4, 0.1, 0.8);
test_assert_vec4_eq(v3, v4);
glm_vec4_print(v3, stderr);
glm_vec4_print(v4, stderr);
assert_true(v3[0] >= 0.0999 && v3[0] <= 0.80001); /* rounding erros */
assert_true(v3[1] >= 0.0999 && v3[1] <= 0.80001);
assert_true(v3[2] >= 0.0999 && v3[2] <= 0.80001);
assert_true(v3[3] >= 0.0999 && v3[3] <= 0.80001);
}