mat3x4: fix multiplication functions

docs/source/mat3x4.rst

@@ -23,6 +23,17 @@ Functions:
 #. :c:func:`glm_mat3x4_transpose`
 #. :c:func:`glm_mat3x4_scale`
 
+Represented
+~~~~~~~~~~~
+
+.. csv-table:: mat3x4
+   :header: "", "column 1", "column 2", "column 3"
+
+   "row 1", "m00", "m10", "m20"
+   "row 2", "m01", "m11", "m21"
+   "row 3", "m02", "m12", "m22"
+   "row 4", "m03", "m13", "m23"
+
 Functions documentation
 ~~~~~~~~~~~~~~~~~~~~~~~
 
@@ -51,28 +62,74 @@ Functions documentation
       | *[in]*  **src**  pointer to an array of floats
       | *[out]* **dest** destination matrix3x4
 
-.. c:function:: void glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest)
+.. c:function:: void glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest)
 
     multiply m1 and m2 to dest
 
     .. code-block:: c
 
-       glm_mat3x4_mul(mat3x4, mat4x3, mat3);
+       glm_mat3x4_mul(mat3x4, mat4x3, mat4);
 
     Parameters:
       | *[in]*  **m1**    left matrix (mat3x4)
       | *[in]*  **m2**    right matrix (mat4x3)
-      | *[out]* **dest**  destination matrix (mat3)
+      | *[out]* **dest**  destination matrix (mat4)
+
+    .. csv-table:: mat3x4
+        :header: "", "column 1", "column 2", "column 3"
+
+        "row 1", "a00", "a10", "a20"
+        "row 2", "a01", "a11", "a21"
+        "row 3", "a02", "a12", "a22"
+        "row 4", "a03", "a13", "a23"
+
+    .. csv-table:: mat4x3
+        :header: "", "column 1", "column 2", "column 3", "column 4"
+
+        "row 1", "b00", "b10", "b20", "b30"
+        "row 2", "b01", "b11", "b21", "b31"
+        "row 3", "b02", "b12", "b22", "b32"
+
+    .. csv-table:: mat4x4
+        :header: "", "column 1", "column 2", "column 3", "column 4"
 
-.. c:function:: void glm_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest)
+        "row 1", "a00 * b00 + a10 * b01 + a20 * b02", "a00 * b10 + a10 * b11 + a20 * b12", "a00 * b20 + a10 * b21 + a20 * b22", "a00 * b30 + a10 * b31 + a20 * b32"
+        "row 2", "a01 * b00 + a11 * b01 + a21 * b02", "a01 * b10 + a11 * b11 + a21 * b12", "a01 * b20 + a11 * b21 + a21 * b22", "a01 * b30 + a11 * b31 + a21 * b32"
+        "row 3", "a02 * b00 + a12 * b01 + a22 * b02", "a02 * b10 + a12 * b11 + a22 * b12", "a02 * b20 + a12 * b21 + a22 * b22", "a02 * b30 + a12 * b31 + a22 * b32"
+        "row 4", "a03 * b00 + a13 * b01 + a23 * b02", "a03 * b10 + a13 * b11 + a23 * b12", "a03 * b20 + a13 * b21 + a23 * b22", "a03 * b30 + a13 * b31 + a23 * b32"
 
-    multiply mat3x4 with vec4 (column vector) and store in dest vector
+.. c:function:: void glm_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest)
+
+    multiply mat3x4 with vec3 (column vector) and store in dest vector
 
     Parameters:
       | *[in]*  **m**     mat3x4 (left)
-      | *[in]*  **v**     vec4 (right, column vector)
+      | *[in]*  **v**     vec3 (right, column vector)
       | *[out]* **dest**  destination (result, column vector)
 
+    .. csv-table:: mat3x4
+        :header: "", "column 1", "column 2", "column 3"
+
+        "row 1", "m00", "m10", "m20"
+        "row 2", "m01", "m11", "m21"
+        "row 3", "m02", "m12", "m22"
+        "row 4", "m03", "m13", "m23"
+
+    .. csv-table:: column vec3 (1x3)
+        :header: "", "column 1"
+
+        "row 1", "v0"
+        "row 2", "v1"
+        "row 3", "v2"
+
+    .. csv-table:: column vec4 (1x4)
+        :header: "", "column 1"
+
+        "row 1", "m00 * v0 + m10 * v1 + m20 * v2"
+        "row 2", "m01 * v0 + m11 * v1 + m21 * v2"
+        "row 3", "m02 * v0 + m12 * v1 + m22 * v2"
+        "row 4", "m03 * v0 + m13 * v1 + m23 * v2"
+
 .. c:function:: void glm_mat3x4_transpose(mat3x4 m, mat4x3 dest)
 
     transpose matrix and store in dest

include/cglm/call/mat3x4.h

@@ -27,11 +27,11 @@ glmc_mat3x4_make(const float * __restrict src, mat3x4 dest);
 
 CGLM_EXPORT
 void
-glmc_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest);
+glmc_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest);
 
 CGLM_EXPORT
 void
-glmc_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest);
+glmc_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest);
 
 CGLM_EXPORT
 void

include/cglm/mat3x4.h

@@ -14,8 +14,8 @@
    CGLM_INLINE void glm_mat3x4_copy(mat3x4 mat, mat3x4 dest);
    CGLM_INLINE void glm_mat3x4_zero(mat3x4 mat);
    CGLM_INLINE void glm_mat3x4_make(const float * __restrict src, mat3x4 dest);
-   CGLM_INLINE void glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest);
-   CGLM_INLINE void glm_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest);
+   CGLM_INLINE void glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest);
+   CGLM_INLINE void glm_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest);
    CGLM_INLINE void glm_mat3x4_transpose(mat3x4 m, mat4x3 dest);
    CGLM_INLINE void glm_mat3x4_scale(mat3x4 m, float s);
  */
@@ -87,16 +87,16 @@ glm_mat3x4_make(const float * __restrict src, mat3x4 dest) {
  * @brief multiply m1 and m2 to dest
  *
  * @code
- * glm_mat3x4_mul(mat3x4, mat4x3, mat3);
+ * glm_mat3x4_mul(mat3x4, mat4x3, mat4);
  * @endcode
  *
  * @param[in]  m1   left matrix (mat3x4)
  * @param[in]  m2   right matrix (mat4x3)
- * @param[out] dest destination matrix (mat3)
+ * @param[out] dest destination matrix (mat4)
  */
 CGLM_INLINE
 void
-glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest) {
+glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest) {
   float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2], a03 = m1[0][3],
         a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2], a13 = m1[1][3],
         a20 = m1[2][0], a21 = m1[2][1], a22 = m1[2][2], a23 = m1[2][3],
@@ -106,34 +106,43 @@ glm_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest) {
         b20 = m2[2][0], b21 = m2[2][1], b22 = m2[2][2],
         b30 = m2[3][0], b31 = m2[3][1], b32 = m2[3][2];
 
-  dest[0][0] = a00 * b00 + a01 * b10 + a02 * b20 + a03 * b30;
-  dest[0][1] = a00 * b01 + a01 * b11 + a02 * b21 + a03 * b31;
-  dest[0][2] = a00 * b02 + a01 * b12 + a02 * b22 + a03 * b32;
-
-  dest[1][0] = a10 * b00 + a11 * b10 + a12 * b20 + a13 * b30;
-  dest[1][1] = a10 * b01 + a11 * b11 + a12 * b21 + a13 * b31;
-  dest[1][2] = a10 * b02 + a11 * b12 + a12 * b22 + a13 * b32;
-
-  dest[2][0] = a20 * b00 + a21 * b10 + a22 * b20 + a23 * b30;
-  dest[2][1] = a20 * b01 + a21 * b11 + a22 * b21 + a23 * b31;
-  dest[2][2] = a20 * b02 + a21 * b12 + a22 * b22 + a23 * b32;
+  dest[0][0] = a00 * b00 + a10 * b01 + a20 * b02;
+  dest[0][1] = a01 * b00 + a11 * b01 + a21 * b02;
+  dest[0][2] = a02 * b00 + a12 * b01 + a22 * b02;
+  dest[0][3] = a03 * b00 + a13 * b01 + a23 * b02;
+
+  dest[1][0] = a00 * b10 + a10 * b11 + a20 * b12;
+  dest[1][1] = a01 * b10 + a11 * b11 + a21 * b12;
+  dest[1][2] = a02 * b10 + a12 * b11 + a22 * b12;
+  dest[1][3] = a03 * b10 + a13 * b11 + a23 * b12;
+
+  dest[2][0] = a00 * b20 + a10 * b21 + a20 * b22;
+  dest[2][1] = a01 * b20 + a11 * b21 + a21 * b22;
+  dest[2][2] = a02 * b20 + a12 * b21 + a22 * b22;
+  dest[2][3] = a03 * b20 + a13 * b21 + a23 * b22;
+
+  dest[3][0] = a00 * b30 + a10 * b31 + a20 * b32;
+  dest[3][1] = a01 * b30 + a11 * b31 + a21 * b32;
+  dest[3][2] = a02 * b30 + a12 * b31 + a22 * b32;
+  dest[3][3] = a03 * b30 + a13 * b31 + a23 * b32;
 }
 
 /*!
- * @brief multiply matrix with column vector and store in dest vector
+ * @brief multiply matrix with column vector and store in dest column vector
  *
  * @param[in]  m    matrix (left)
  * @param[in]  v    vector (right, column vector)
  * @param[out] dest result vector
  */
 CGLM_INLINE
 void
-glm_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest) {
-  float v0 = v[0], v1 = v[1], v2 = v[2], v3 = v[3];
+glm_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest) {
+  float v0 = v[0], v1 = v[1], v2 = v[2];
 
-  dest[0] = m[0][0] * v0 + m[0][1] * v1 + m[0][2] * v2 + m[0][3] * v3;
-  dest[1] = m[1][0] * v0 + m[1][1] * v1 + m[1][2] * v2 + m[1][3] * v3;
-  dest[2] = m[2][0] * v0 + m[2][1] * v1 + m[2][2] * v2 + m[2][3] * v3;
+  dest[0] = m[0][0] * v0 + m[1][0] * v1 + m[2][0] * v2;
+  dest[1] = m[0][1] * v0 + m[1][1] * v1 + m[2][1] * v2;
+  dest[2] = m[0][2] * v0 + m[1][2] * v1 + m[2][2] * v2;
+  dest[3] = m[0][3] * v0 + m[1][3] * v1 + m[2][3] * v2;
 }
 
 /*!
@@ -162,10 +171,9 @@ glm_mat3x4_transpose(mat3x4 m, mat4x3 dest) {
 CGLM_INLINE
 void
 glm_mat3x4_scale(mat3x4 m, float s) {
-  m[0][0] *= s;  m[1][0] *= s;   m[2][0] *= s;
-  m[0][1] *= s;  m[1][1] *= s;   m[2][1] *= s;
-  m[0][2] *= s;  m[1][2] *= s;   m[2][2] *= s;
-  m[0][3] *= s;  m[1][3] *= s;   m[2][3] *= s;
+  m[0][0] *= s; m[0][1] *= s; m[0][2] *= s; m[0][3] *= s;
+  m[1][0] *= s; m[1][1] *= s; m[1][2] *= s; m[1][3] *= s;
+  m[2][0] *= s; m[2][1] *= s; m[2][2] *= s; m[2][3] *= s;
 }
 
 #endif

include/cglm/struct/mat3x4.h

@@ -13,8 +13,8 @@
  Functions:
    CGLM_INLINE mat3x4s glms_mat3x4_zero(void);
    CGLM_INLINE mat3x4s glms_mat3x4_make(const float * __restrict src);
-   CGLM_INLINE mat3s   glms_mat3x4_mul(mat3x4s m1, mat4x3s m2);
-   CGLM_INLINE vec3s   glms_mat3x4_mulv(mat3x4s m, vec4s v);
+   CGLM_INLINE mat4s   glms_mat3x4_mul(mat3x4s m1, mat4x3s m2);
+   CGLM_INLINE vec4s   glms_mat3x4_mulv(mat3x4s m, vec3s v);
    CGLM_INLINE mat4x3s glms_mat3x4_transpose(mat3x4s m);
    CGLM_INLINE mat3x4s glms_mat3x4_scale(mat3x4s m, float s);
  */
@@ -70,27 +70,27 @@ glms_mat3x4_(make)(const float * __restrict src) {
  *
  * @param[in]  m1   left matrix (mat3x4s)
  * @param[in]  m2   right matrix (mat4x3s)
- * @returns destination matrix (mat3s)
+ * @returns destination matrix (mat4s)
  */
 CGLM_INLINE
-mat3s
+mat4s
 glms_mat3x4_(mul)(mat3x4s m1, mat4x3s m2) {
-  mat3s r;
+  mat4s r;
   glm_mat3x4_mul(m1.raw, m2.raw, r.raw);
   return r;
 }
 
 /*!
- * @brief multiply matrix with column vector and store in dest vector
+ * @brief multiply matrix with column vector and store in dest column vector
  *
  * @param[in]  m    matrix (left)
  * @param[in]  v    vector (right, column vector)
- * @param[out] dest result vector
+ * @returns destination vector (vec4s)
  */
 CGLM_INLINE
-vec3s
-glms_mat3x4_(mulv)(mat3x4s m, vec4s v) {
-  vec3s r;
+vec4s
+glms_mat3x4_(mulv)(mat3x4s m, vec3s v) {
+  vec4s r;
   glm_mat3x4_mulv(m.raw, v.raw, r.raw);
   return r;
 }

src/mat3x4.c

@@ -28,13 +28,13 @@ glmc_mat3x4_make(const float * __restrict src, mat3x4 dest) {
 
 CGLM_EXPORT
 void
-glmc_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat3 dest) {
+glmc_mat3x4_mul(mat3x4 m1, mat4x3 m2, mat4 dest) {
   glm_mat3x4_mul(m1, m2, dest);
 }
 
 CGLM_EXPORT
 void
-glmc_mat3x4_mulv(mat3x4 m, vec4 v, vec3 dest) {
+glmc_mat3x4_mulv(mat3x4 m, vec3 v, vec4 dest) {
   glm_mat3x4_mulv(m, v, dest);
 }
 

test/src/test_mat3x4.h

@@ -90,40 +90,40 @@ TEST_IMPL(GLM_PREFIX, mat3x4_mul) {
   mat3x4 m1 = GLM_MAT3X4_ZERO_INIT;
   mat4x3 m2 = GLM_MAT4X3_ZERO_INIT;
 
-  mat3 m3 = GLM_MAT3_ZERO_INIT;
-  mat3 m4 = GLM_MAT3_ZERO_INIT;
+  mat4 m3 = GLM_MAT4_ZERO_INIT;
+  mat4 m4 = GLM_MAT4_ZERO_INIT;
 
-  int i, j, k;
+  int c, r, k;
 
   test_rand_mat3x4(m1);
   test_rand_mat4x3(m2);
 
-  for (i = 0; i < 3; i++) {
-    for (j = 0; j < 3; j++) {
-      for (k = 0; k < 4; k++) {
-        m4[i][j] += m1[i][k] * m2[k][j];
+  for (r = 0; r < 4; r++) {
+    for (c = 0; c < 4; c++) {
+      for (k = 0; k < 3; k++) {
+        m4[c][r] += m1[k][r] * m2[c][k];
       }
     }
   }
 
   GLM(mat3x4_mul)(m1, m2, m3);
-  ASSERTIFY(test_assert_mat3_eq(m3, m4))
+  ASSERTIFY(test_assert_mat4_eq(m3, m4))
 
   TEST_SUCCESS
 }
 
 TEST_IMPL(GLM_PREFIX, mat3x4_mulv) {
   mat3x4 mat = A_MATRIX3X4;
-  vec4 v = {11.0f, 21.0f, 31.0f, 41.0f};
+  vec4 v = {11.0f, 21.0f, 31.0f};
 
   int  i;
-  vec3 dest;
+  vec4 dest;
   float res = 0.0;
 
   GLM(mat3x4_mulv)(mat, v, dest);
 
-  for (i = 0; i < 3; i++) {
-    res = mat[i][0] * v[0] + mat[i][1] * v[1] + mat[i][2] * v[2];
+  for (i = 0; i < 4; i++) {
+    res = mat[0][i] * v[0] + mat[1][i] * v[1] + mat[2][i] * v[2];
     ASSERT(test_eq(dest[i], res))
   }