add cglm as 3rd-party library

1 files changed, 459 insertions, 0 deletions

diff --git a/libs/cglm/include/cglm/struct/mat4.h b/libs/cglm/include/cglm/struct/mat4.h
new file mode 100644
index 0000000..28f80a3
--- /dev/null
+++ b/libs/cglm/include/cglm/struct/mat4.h
@@ -0,0 +1,459 @@
+/*
+ * Copyright (c), Recep Aslantas.
+ *
+ * MIT License (MIT), http://opensource.org/licenses/MIT
+ * Full license can be found in the LICENSE file
+ */
+
+/*!
+ * Most of functions in this header are optimized manually with SIMD
+ * if available. You dont need to call/incude SIMD headers manually
+ */
+
+/*
+ Macros:
+   GLMS_MAT4_IDENTITY_INIT
+   GLMS_MAT4_ZERO_INIT
+   GLMS_MAT4_IDENTITY
+   GLMS_MAT4_ZERO
+
+ Functions:
+   CGLM_INLINE mat4s   glms_mat4_ucopy(mat4s mat);
+   CGLM_INLINE mat4s   glms_mat4_copy(mat4s mat);
+   CGLM_INLINE mat4s   glms_mat4_identity(void);
+   CGLM_INLINE void    glms_mat4_identity_array(mat4s * __restrict mat, size_t count);
+   CGLM_INLINE mat4s   glms_mat4_zero(void);
+   CGLM_INLINE mat3s   glms_mat4_pick3(mat4s mat);
+   CGLM_INLINE mat3s   glms_mat4_pick3t(mat4s mat);
+   CGLM_INLINE mat4s   glms_mat4_ins3(mat3s mat);
+   CGLM_INLINE mat4s   glms_mat4_mul(mat4s m1, mat4s m2);
+   CGLM_INLINE mat4s   glms_mat4_mulN(mat4s * __restrict matrices[], uint32_t len);
+   CGLM_INLINE vec4s   glms_mat4_mulv(mat4s m, vec4s v);
+   CGLM_INLINE float   glms_mat4_trace(mat4s m);
+   CGLM_INLINE float   glms_mat4_trace3(mat4s m);
+   CGLM_INLINE versors glms_mat4_quat(mat4s m);
+   CGLM_INLINE vec3s   glms_mat4_mulv3(mat4s m, vec3s v, float last);
+   CGLM_INLINE mat4s   glms_mat4_transpose(mat4s m);
+   CGLM_INLINE mat4s   glms_mat4_scale_p(mat4s m, float s);
+   CGLM_INLINE mat4s   glms_mat4_scale(mat4s m, float s);
+   CGLM_INLINE float   glms_mat4_det(mat4s mat);
+   CGLM_INLINE mat4s   glms_mat4_inv(mat4s mat);
+   CGLM_INLINE mat4s   glms_mat4_inv_fast(mat4s mat);
+   CGLM_INLINE mat4s   glms_mat4_swap_col(mat4s mat, int col1, int col2);
+   CGLM_INLINE mat4s   glms_mat4_swap_row(mat4s mat, int row1, int row2);
+   CGLM_INLINE float   glms_mat4_rmc(vec4s r, mat4s m, vec4s c);
+ */
+
+#ifndef cglms_mat4s_h
+#define cglms_mat4s_h
+
+#include "../common.h"
+#include "../types-struct.h"
+#include "../mat4.h"
+#include "vec4.h"
+#include "vec3.h"
+
+#define GLMS_MAT4_IDENTITY_INIT  {GLM_MAT4_IDENTITY_INIT}
+#define GLMS_MAT4_ZERO_INIT      {GLM_MAT4_ZERO_INIT}
+
+/* for C only */
+#define GLMS_MAT4_IDENTITY ((mat4s)GLMS_MAT4_IDENTITY_INIT)
+#define GLMS_MAT4_ZERO     ((mat4s)GLMS_MAT4_ZERO_INIT)
+
+/*!
+ * @brief copy all members of [mat] to [dest]
+ *
+ * matrix may not be aligned, u stands for unaligned, this may be useful when
+ * copying a matrix from external source e.g. asset importer...
+ *
+ * @param[in]  mat  source
+ * @returns         destination
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_ucopy(mat4s mat) {
+  mat4s r;
+  glm_mat4_ucopy(mat.raw, r.raw);
+  return r;
+}
+
+/*!
+ * @brief copy all members of [mat] to [dest]
+ *
+ * @param[in]  mat  source
+ * @returns         destination
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_copy(mat4s mat) {
+  mat4s r;
+  glm_mat4_copy(mat.raw, r.raw);
+  return r;
+}
+
+/*!
+ * @brief make given matrix identity. It is identical with below, 
+ *        but it is more easy to do that with this func especially for members
+ *        e.g. glm_mat4_identity(aStruct->aMatrix);
+ *
+ * @code
+ * glm_mat4_copy(GLM_MAT4_IDENTITY, mat); // C only
+ *
+ * // or
+ * mat4 mat = GLM_MAT4_IDENTITY_INIT;
+ * @endcode
+ *
+ * @retuns  destination
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_identity(void) {
+  mat4s r;
+  glm_mat4_identity(r.raw);
+  return r;
+}
+
+/*!
+ * @brief make given matrix array's each element identity matrix
+ *
+ * @param[in, out]  mat   matrix array (must be aligned (16/32)
+ *                        if alignment is not disabled)
+ *
+ * @param[in]       count count of matrices
+ */
+CGLM_INLINE
+void
+glms_mat4_identity_array(mat4s * __restrict mat, size_t count) {
+  CGLM_ALIGN_MAT mat4s t = GLMS_MAT4_IDENTITY_INIT;
+  size_t i;
+
+  for (i = 0; i < count; i++) {
+    glm_mat4_copy(t.raw, mat[i].raw);
+  }
+}
+
+/*!
+ * @brief make given matrix zero.
+ *
+ * @returns  matrix
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_zero(void) {
+  mat4s r;
+  glm_mat4_zero(r.raw);
+  return r;
+}
+
+/*!
+ * @brief copy upper-left of mat4 to mat3
+ *
+ * @param[in]  mat  source
+ * @returns         destination
+ */
+CGLM_INLINE
+mat3s
+glms_mat4_pick3(mat4s mat) {
+  mat3s r;
+  glm_mat4_pick3(mat.raw, r.raw);
+  return r;
+}
+
+/*!
+ * @brief copy upper-left of mat4 to mat3 (transposed)
+ *
+ * the postfix t stands for transpose
+ *
+ * @param[in]  mat  source
+ * @returns         destination
+ */
+CGLM_INLINE
+mat3s
+glms_mat4_pick3t(mat4s mat) {
+  mat3s r;
+  glm_mat4_pick3t(mat.raw, r.raw);
+  return r;
+}
+
+/*!
+ * @brief copy mat3 to mat4's upper-left
+ *
+ * @param[in]  mat  source
+ * @returns         destination
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_ins3(mat3s mat) {
+  mat4s r;
+  glm_mat4_ins3(mat.raw, r.raw);
+  return r;
+}
+
+/*!
+ * @brief multiply m1 and m2 to dest
+ *
+ * m1, m2 and dest matrices can be same matrix, it is possible to write this:
+ *
+ * @code
+ * mat4 m = GLM_MAT4_IDENTITY_INIT;
+ * glm_mat4_mul(m, m, m);
+ * @endcode
+ *
+ * @param[in]  m1   left matrix
+ * @param[in]  m2   right matrix
+ * @returns         destination matrix
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_mul(mat4s m1, mat4s m2) {
+  mat4s r;
+  glm_mat4_mul(m1.raw, m2.raw, r.raw);
+  return r;
+}
+
+/*!
+ * @brief mupliply N mat4 matrices and store result in dest
+ *
+ * this function lets you multiply multiple (more than two or more...) matrices
+ * <br><br>multiplication will be done in loop, this may reduce instructions
+ * size but if <b>len</b> is too small then compiler may unroll whole loop,
+ * usage:
+ * @code
+ * mat m1, m2, m3, m4, res;
+ *
+ * res = glm_mat4_mulN((mat4 *[]){&m1, &m2, &m3, &m4}, 4);
+ * @endcode
+ *
+ * @warning matrices parameter is pointer array not mat4 array!
+ *
+ * @param[in]  matrices mat4 * array
+ * @param[in]  len      matrices count
+ * @returns             result matrix
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_mulN(mat4s * __restrict matrices[], uint32_t len) {
+  CGLM_ALIGN_MAT mat4s r = GLMS_MAT4_IDENTITY_INIT;
+  size_t i;
+
+  for (i = 0; i < len; i++) {
+    r = glms_mat4_mul(r, *matrices[i]);
+  }
+  
+  return r;
+}
+
+/*!
+ * @brief multiply mat4 with vec4 (column vector) and store in dest vector
+ *
+ * @param[in]  m    mat4 (left)
+ * @param[in]  v    vec4 (right, column vector)
+ * @returns         vec4 (result, column vector)
+ */
+CGLM_INLINE
+vec4s
+glms_mat4_mulv(mat4s m, vec4s v) {
+  vec4s r;
+  glm_mat4_mulv(m.raw, v.raw, r.raw);
+  return r;
+}
+
+/*!
+ * @brief trace of matrix
+ *
+ * sum of the elements on the main diagonal from upper left to the lower right
+ *
+ * @param[in]  m matrix
+ */
+CGLM_INLINE
+float
+glms_mat4_trace(mat4s m) {
+  return glm_mat4_trace(m.raw);
+}
+
+/*!
+ * @brief trace of matrix (rotation part)
+ *
+ * sum of the elements on the main diagonal from upper left to the lower right
+ *
+ * @param[in]  m matrix
+ */
+CGLM_INLINE
+float
+glms_mat4_trace3(mat4s m) {
+  return glm_mat4_trace3(m.raw);
+}
+
+/*!
+ * @brief convert mat4's rotation part to quaternion
+ *
+ * @param[in]  m    affine matrix
+ * @returns         destination quaternion
+ */
+CGLM_INLINE
+versors
+glms_mat4_quat(mat4s m) {
+  versors r;
+  glm_mat4_quat(m.raw, r.raw);
+  return r;
+}
+
+/*!
+ * @brief multiply vector with mat4
+ *
+ * @param[in]  m    mat4(affine transform)
+ * @param[in]  v    vec3
+ * @param[in]  last 4th item to make it vec4
+ * @returns         result vector (vec3)
+ */
+CGLM_INLINE
+vec3s
+glms_mat4_mulv3(mat4s m, vec3s v, float last) {
+  vec3s r;
+  glm_mat4_mulv3(m.raw, v.raw, last, r.raw);
+  return r;
+}
+
+/*!
+ * @brief tranpose mat4 and store result in same matrix
+ *
+ * @param[in] m source
+ * @returns     result
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_transpose(mat4s m) {
+  glm_mat4_transpose(m.raw);
+  return m;
+}
+
+/*!
+ * @brief scale (multiply with scalar) matrix without simd optimization
+ *
+ * multiply matrix with scalar
+ *
+ * @param[in] m matrix
+ * @param[in] s scalar
+ * @returns     matrix    
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_scale_p(mat4s m, float s) {
+  glm_mat4_scale_p(m.raw, s);
+  return m;
+}
+
+/*!
+ * @brief scale (multiply with scalar) matrix
+ *
+ * multiply matrix with scalar
+ *
+ * @param[in] m matrix
+ * @param[in] s scalar
+ * @returns     matrix
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_scale(mat4s m, float s) {
+  glm_mat4_scale(m.raw, s);
+  return m;
+}
+
+/*!
+ * @brief mat4 determinant
+ *
+ * @param[in] mat matrix
+ *
+ * @return determinant
+ */
+CGLM_INLINE
+float
+glms_mat4_det(mat4s mat) {
+  return glm_mat4_det(mat.raw);
+}
+
+/*!
+ * @brief inverse mat4 and store in dest
+ *
+ * @param[in]  mat  matrix
+ * @returns         inverse matrix
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_inv(mat4s mat) {
+  mat4s r;
+  glm_mat4_inv(mat.raw, r.raw);
+  return r;
+}
+
+/*!
+ * @brief inverse mat4 and store in dest
+ *
+ * this func uses reciprocal approximation without extra corrections
+ * e.g Newton-Raphson. this should work faster than normal,
+ * to get more precise use glm_mat4_inv version.
+ *
+ * NOTE: You will lose precision, glm_mat4_inv is more accurate
+ *
+ * @param[in]  mat  matrix
+ * @returns         inverse matrix
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_inv_fast(mat4s mat) {
+  mat4s r;
+  glm_mat4_inv_fast(mat.raw, r.raw);
+  return r;
+}
+
+/*!
+ * @brief swap two matrix columns
+ *
+ * @param[in] mat  matrix
+ * @param[in] col1 col1
+ * @param[in] col2 col2
+ * @returns        matrix
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_swap_col(mat4s mat, int col1, int col2) {
+  glm_mat4_swap_col(mat.raw, col1, col2);
+  return mat;
+}
+
+/*!
+ * @brief swap two matrix rows
+ *
+ * @param[in] mat  matrix
+ * @param[in] row1 row1
+ * @param[in] row2 row2
+ * @returns        matrix
+ */
+CGLM_INLINE
+mat4s
+glms_mat4_swap_row(mat4s mat, int row1, int row2) {
+  glm_mat4_swap_row(mat.raw, row1, row2);
+  return mat;
+}
+
+/*!
+ * @brief helper for  R (row vector) * M (matrix) * C (column vector)
+ *
+ * rmc stands for Row * Matrix * Column
+ *
+ * the result is scalar because R * M = Matrix1x4 (row vector),
+ * then Matrix1x4 * Vec4 (column vector) = Matrix1x1 (Scalar)
+ *
+ * @param[in]  r   row vector or matrix1x4
+ * @param[in]  m   matrix4x4
+ * @param[in]  c   column vector or matrix4x1
+ *
+ * @return scalar value e.g. B(s)
+ */
+CGLM_INLINE
+float
+glms_mat4_rmc(vec4s r, mat4s m, vec4s c) {
+  return glm_mat4_rmc(r.raw, m.raw, c.raw);
+}
+
+#endif /* cglms_mat4s_h */