diff --git a/docs/source/mat4x3.rst b/docs/source/mat4x3.rst index 574c09ab..5136e883 100644 --- a/docs/source/mat4x3.rst +++ b/docs/source/mat4x3.rst @@ -23,6 +23,16 @@ Functions: #. :c:func:`glm_mat4x3_transpose` #. :c:func:`glm_mat4x3_scale` +Represented +~~~~~~~~~~~ + +.. csv-table:: mat4x3 + :header: "", "column 1", "column 2", "column 3", "column4" + + "row 1", "m00", "m10", "m20", "m30" + "row 2", "m01", "m11", "m21", "m31" + "row 3", "m02", "m12", "m22", "m32" + Functions documentation ~~~~~~~~~~~~~~~~~~~~~~~ @@ -51,28 +61,72 @@ Functions documentation | *[in]* **src** pointer to an array of floats | *[out]* **dest** destination matrix4x3 -.. c:function:: void glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest) +.. c:function:: void glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest) multiply m1 and m2 to dest .. code-block:: c - glm_mat4x3_mul(mat4x3, mat3x4, mat4); + glm_mat4x3_mul(mat4x3, mat3x4, mat3); Parameters: | *[in]* **m1** left matrix (mat4x3) | *[in]* **m2** right matrix (mat3x4) - | *[out]* **dest** destination matrix (mat4) + | *[out]* **dest** destination matrix (mat3) + + .. csv-table:: mat4x3 + :header: "", "column 1", "column 2", "column 3", "column 4" + + "row 1", "a00", "a10", "a20", "a30" + "row 2", "a01", "a11", "a21", "a31" + "row 3", "a02", "a12", "a22", "a32" + + .. csv-table:: mat3x4 + :header: "", "column 1", "column 2", "column 3" + + "row 1", "b00", "b10", "b20" + "row 2", "b01", "b11", "b21" + "row 3", "b02", "b12", "b22" + "row 4", "b03", "b13", "b23" + + .. csv-table:: mat3x3 + :header: "", "column 1", "column 2", "column 3" -.. c:function:: void glm_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest) + "row 1", "a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03", "a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13", "a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23" + "row 2", "a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03", "a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13", "a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23" + "row 3", "a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03", "a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13", "a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23" - multiply mat4x3 with vec3 (column vector) and store in dest vector +.. c:function:: void glm_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest) + + multiply mat4x3 with vec4 (column vector) and store in dest column vector Parameters: | *[in]* **m** mat4x3 (left) - | *[in]* **v** vec3 (right, column vector) + | *[in]* **v** vec4 (right, column vector) | *[out]* **dest** destination (result, column vector) + .. csv-table:: mat4x3 + :header: "", "column 1", "column 2", "column 3", "column 4" + + "row 1", "m00", "m10", "m20", "m30" + "row 2", "m01", "m11", "m21", "m31" + "row 3", "m02", "m12", "m22", "m32" + + .. csv-table:: column vec4 (1x4) + :header: "", "column 1" + + "row 1", "v0" + "row 2", "v1" + "row 3", "v2" + "row 4", "v3" + + .. csv-table:: column vec3 (1x3) + :header: "", "column 1" + + "row 1", "m00 * v0 + m10 * v1 + m20 * v2 + m30 * v3" + "row 2", "m01 * v0 + m11 * v1 + m21 * v2 + m31 * v3" + "row 3", "m02 * v0 + m12 * v1 + m22 * v2 + m32 * v3" + .. c:function:: void glm_mat4x3_transpose(mat4x3 m, mat3x4 dest) transpose matrix and store in dest diff --git a/include/cglm/call/mat4x3.h b/include/cglm/call/mat4x3.h index 131cf517..bb5c0a88 100644 --- a/include/cglm/call/mat4x3.h +++ b/include/cglm/call/mat4x3.h @@ -27,11 +27,11 @@ glmc_mat4x3_make(const float * __restrict src, mat4x3 dest); CGLM_EXPORT void -glmc_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest); +glmc_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest); CGLM_EXPORT void -glmc_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest); +glmc_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest); CGLM_EXPORT void diff --git a/include/cglm/mat4x3.h b/include/cglm/mat4x3.h index 42662780..2ef05c1e 100644 --- a/include/cglm/mat4x3.h +++ b/include/cglm/mat4x3.h @@ -14,8 +14,8 @@ CGLM_INLINE void glm_mat4x3_copy(mat4x3 mat, mat4x3 dest); CGLM_INLINE void glm_mat4x3_zero(mat4x3 mat); CGLM_INLINE void glm_mat4x3_make(const float * __restrict src, mat4x3 dest); - CGLM_INLINE void glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest); - CGLM_INLINE void glm_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest); + CGLM_INLINE void glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest); + CGLM_INLINE void glm_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest); CGLM_INLINE void glm_mat4x3_transpose(mat4x3 m, mat3x4 dest); CGLM_INLINE void glm_mat4x3_scale(mat4x3 m, float s); */ @@ -99,16 +99,16 @@ glm_mat4x3_make(const float * __restrict src, mat4x3 dest) { * @brief multiply m1 and m2 to dest * * @code - * glm_mat4x3_mul(mat4x3, mat3x4, mat4); + * glm_mat4x3_mul(mat4x3, mat3x4, mat3); * @endcode * * @param[in] m1 left matrix (mat4x3) * @param[in] m2 right matrix (mat3x4) - * @param[out] dest destination matrix (mat4) + * @param[out] dest destination matrix (mat3) */ CGLM_INLINE void -glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest) { +glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest) { float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2], a10 = m1[1][0], a11 = m1[1][1], a12 = m1[1][2], a20 = m1[2][0], a21 = m1[2][1], a22 = m1[2][2], @@ -118,29 +118,21 @@ glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest) { b10 = m2[1][0], b11 = m2[1][1], b12 = m2[1][2], b13 = m2[1][3], b20 = m2[2][0], b21 = m2[2][1], b22 = m2[2][2], b23 = m2[2][3]; - dest[0][0] = a00 * b00 + a01 * b10 + a02 * b20; - dest[0][1] = a00 * b01 + a01 * b11 + a02 * b21; - dest[0][2] = a00 * b02 + a01 * b12 + a02 * b22; - dest[0][3] = a00 * b03 + a01 * b13 + a02 * b23; - - dest[1][0] = a10 * b00 + a11 * b10 + a12 * b20; - dest[1][1] = a10 * b01 + a11 * b11 + a12 * b21; - dest[1][2] = a10 * b02 + a11 * b12 + a12 * b22; - dest[1][3] = a10 * b03 + a11 * b13 + a12 * b23; - - dest[2][0] = a20 * b00 + a21 * b10 + a22 * b20; - dest[2][1] = a20 * b01 + a21 * b11 + a22 * b21; - dest[2][2] = a20 * b02 + a21 * b12 + a22 * b22; - dest[2][3] = a20 * b03 + a21 * b13 + a22 * b23; - - dest[3][0] = a30 * b00 + a31 * b10 + a32 * b20; - dest[3][1] = a30 * b01 + a31 * b11 + a32 * b21; - dest[3][2] = a30 * b02 + a31 * b12 + a32 * b22; - dest[3][3] = a30 * b03 + a31 * b13 + a32 * b23; + dest[0][0] = a00 * b00 + a10 * b01 + a20 * b02 + a30 * b03; + dest[0][1] = a01 * b00 + a11 * b01 + a21 * b02 + a31 * b03; + dest[0][2] = a02 * b00 + a12 * b01 + a22 * b02 + a32 * b03; + + dest[1][0] = a00 * b10 + a10 * b11 + a20 * b12 + a30 * b13; + dest[1][1] = a01 * b10 + a11 * b11 + a21 * b12 + a31 * b13; + dest[1][2] = a02 * b10 + a12 * b11 + a22 * b12 + a32 * b13; + + dest[2][0] = a00 * b20 + a10 * b21 + a20 * b22 + a30 * b23; + dest[2][1] = a01 * b20 + a11 * b21 + a21 * b22 + a31 * b23; + dest[2][2] = a02 * b20 + a12 * b21 + a22 * b22 + a32 * b23; } /*! - * @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) @@ -148,13 +140,12 @@ glm_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest) { */ CGLM_INLINE void -glm_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest) { - float v0 = v[0], v1 = v[1], v2 = v[2]; +glm_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest) { + float v0 = v[0], v1 = v[1], v2 = v[2], v3 = v[3]; - dest[0] = m[0][0] * v0 + m[0][1] * v1 + m[0][2] * v2; - dest[1] = m[1][0] * v0 + m[1][1] * v1 + m[1][2] * v2; - dest[2] = m[2][0] * v0 + m[2][1] * v1 + m[2][2] * v2; - dest[3] = m[3][0] * v0 + m[3][1] * v1 + m[3][2] * v2; + dest[0] = m[0][0] * v0 + m[1][0] * v1 + m[2][0] * v2 + m[3][0] * v3; + dest[1] = m[0][1] * v0 + m[1][1] * v1 + m[2][1] * v2 + m[3][1] * v3; + dest[2] = m[0][2] * v0 + m[1][2] * v1 + m[2][2] * v2 + m[3][2] * v3; } /*! diff --git a/include/cglm/struct/mat4x3.h b/include/cglm/struct/mat4x3.h index f2cc7bbc..37a68e10 100644 --- a/include/cglm/struct/mat4x3.h +++ b/include/cglm/struct/mat4x3.h @@ -13,8 +13,8 @@ Functions: CGLM_INLINE mat4x3s glms_mat4x3_zero(void); CGLM_INLINE mat4x3s glms_mat4x3_make(const float * __restrict src); - CGLM_INLINE mat4s glms_mat4x3_mul(mat4x3s m1, mat3x4s m2); - CGLM_INLINE vec4s glms_mat4x3_mulv(mat4x3s m, vec3s v); + CGLM_INLINE mat3s glms_mat4x3_mul(mat4x3s m1, mat3x4s m2); + CGLM_INLINE vec3s glms_mat4x3_mulv(mat4x3s m, vec4s v); CGLM_INLINE mat3x4s glms_mat4x3_transpose(mat4x3s m); CGLM_INLINE mat4x3s glms_mat4x3_scale(mat4x3s m, float s); */ @@ -70,12 +70,12 @@ glms_mat4x3_(make)(const float * __restrict src) { * * @param[in] m1 left matrix (mat4x3s) * @param[in] m2 right matrix (mat3x4s) - * @returns destination matrix (mat4s) + * @returns destination matrix (mat3s) */ CGLM_INLINE -mat4s +mat3s glms_mat4x3_(mul)(mat4x3s m1, mat3x4s m2) { - mat4s r; + mat3s r; glm_mat4x3_mul(m1.raw, m2.raw, r.raw); return r; } @@ -85,12 +85,12 @@ glms_mat4x3_(mul)(mat4x3s m1, mat3x4s m2) { * * @param[in] m matrix (left) * @param[in] v vector (right, column vector) - * @param[out] dest result vector + * @returns destination vector (vec3s) */ CGLM_INLINE -vec4s -glms_mat4x3_(mulv)(mat4x3s m, vec3s v) { - vec4s r; +vec3s +glms_mat4x3_(mulv)(mat4x3s m, vec4s v) { + vec3s r; glm_mat4x3_mulv(m.raw, v.raw, r.raw); return r; } diff --git a/src/mat4x3.c b/src/mat4x3.c index a50b9836..82854248 100644 --- a/src/mat4x3.c +++ b/src/mat4x3.c @@ -28,13 +28,13 @@ glmc_mat4x3_make(const float * __restrict src, mat4x3 dest) { CGLM_EXPORT void -glmc_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat4 dest) { +glmc_mat4x3_mul(mat4x3 m1, mat3x4 m2, mat3 dest) { glm_mat4x3_mul(m1, m2, dest); } CGLM_EXPORT void -glmc_mat4x3_mulv(mat4x3 m, vec3 v, vec4 dest) { +glmc_mat4x3_mulv(mat4x3 m, vec4 v, vec3 dest) { glm_mat4x3_mulv(m, v, dest); } diff --git a/test/src/test_mat4x3.h b/test/src/test_mat4x3.h index b760405b..dc7c28ea 100644 --- a/test/src/test_mat4x3.h +++ b/test/src/test_mat4x3.h @@ -91,40 +91,40 @@ TEST_IMPL(GLM_PREFIX, mat4x3_mul) { mat4x3 m1 = GLM_MAT4X3_ZERO_INIT; mat3x4 m2 = GLM_MAT3X4_ZERO_INIT; - mat4 m3 = GLM_MAT4_ZERO_INIT; - mat4 m4 = GLM_MAT4_ZERO_INIT; + mat3 m3 = GLM_MAT3_ZERO_INIT; + mat3 m4 = GLM_MAT3_ZERO_INIT; - int i, j, k; + int c, r, k; test_rand_mat4x3(m1); test_rand_mat3x4(m2); - for (i = 0; i < 4; i++) { - for (j = 0; j < 4; j++) { - for (k = 0; k < 3; k++) { - m4[i][j] += m1[i][k] * m2[k][j]; + for (r = 0; r < 3; r++) { + for (c = 0; c < 3; c++) { + for (k = 0; k < 4; k++) { + m4[c][r] += m1[k][r] * m2[c][k]; } } } GLM(mat4x3_mul)(m1, m2, m3); - ASSERTIFY(test_assert_mat4_eq(m3, m4)) + ASSERTIFY(test_assert_mat3_eq(m3, m4)) TEST_SUCCESS } TEST_IMPL(GLM_PREFIX, mat4x3_mulv) { mat4x3 mat = A_MATRIX4X3; - vec3 v = {11.0f, 21.0f, 31.0f}; + vec4 v = {11.0f, 21.0f, 31.0f, 41.0f}; int i; - vec4 dest; + vec3 dest; float res = 0.0; GLM(mat4x3_mulv)(mat, v, dest); - for (i = 0; i < 4; i++) { - res = mat[i][0] * v[0] + mat[i][1] * v[1] + mat[i][2] * v[2]; + for (i = 0; i < 3; i++) { + res = mat[0][i] * v[0] + mat[1][i] * v[1] + mat[2][i] * v[2] + mat[3][i] * v[3]; ASSERT(test_eq(dest[i], res)) }