1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
|
.. default-domain:: C
mat4
====
Header: cglm/mat4.h
Important: :c:func:`glm_mat4_scale` multiplies mat4 with scalar, if you need to
apply scale transform use :c:func:`glm_scale` functions.
Table of contents (click to go):
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Macros:
1. GLM_MAT4_IDENTITY_INIT
#. GLM_MAT4_ZERO_INIT
#. GLM_MAT4_IDENTITY
#. GLM_MAT4_ZERO
#. glm_mat4_udup(mat, dest)
#. glm_mat4_dup(mat, dest)
Functions:
1. :c:func:`glm_mat4_ucopy`
#. :c:func:`glm_mat4_copy`
#. :c:func:`glm_mat4_identity`
#. :c:func:`glm_mat4_identity_array`
#. :c:func:`glm_mat4_zero`
#. :c:func:`glm_mat4_pick3`
#. :c:func:`glm_mat4_pick3t`
#. :c:func:`glm_mat4_ins3`
#. :c:func:`glm_mat4_mul`
#. :c:func:`glm_mat4_mulN`
#. :c:func:`glm_mat4_mulv`
#. :c:func:`glm_mat4_mulv3`
#. :c:func:`glm_mat3_trace`
#. :c:func:`glm_mat3_trace3`
#. :c:func:`glm_mat4_quat`
#. :c:func:`glm_mat4_transpose_to`
#. :c:func:`glm_mat4_transpose`
#. :c:func:`glm_mat4_scale_p`
#. :c:func:`glm_mat4_scale`
#. :c:func:`glm_mat4_det`
#. :c:func:`glm_mat4_inv`
#. :c:func:`glm_mat4_inv_fast`
#. :c:func:`glm_mat4_swap_col`
#. :c:func:`glm_mat4_swap_row`
#. :c:func:`glm_mat4_rmc`
Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~
.. c:function:: void glm_mat4_ucopy(mat4 mat, mat4 dest)
copy mat4 to another one (dest). u means align is not required for dest
Parameters:
| *[in]* **mat** source
| *[out]* **dest** destination
.. c:function:: void glm_mat4_copy(mat4 mat, mat4 dest)
copy mat4 to another one (dest).
Parameters:
| *[in]* **mat** source
| *[out]* **dest** destination
.. c:function:: void glm_mat4_identity(mat4 mat)
copy identity mat4 to mat, or makes mat to identiy
Parameters:
| *[out]* **mat** matrix
.. c:function:: void glm_mat4_identity_array(mat4 * __restrict mat, size_t count)
make given matrix array's each element identity matrix
Parameters:
| *[in,out]* **mat** matrix array (must be aligned (16/32) if alignment is not disabled)
| *[in]* **count** count of matrices
.. c:function:: void glm_mat4_zero(mat4 mat)
make given matrix zero
Parameters:
| *[in,out]* **mat** matrix to
.. c:function:: void glm_mat4_pick3(mat4 mat, mat3 dest)
copy upper-left of mat4 to mat3
Parameters:
| *[in]* **mat** source
| *[out]* **dest** destination
.. c:function:: void glm_mat4_pick3t(mat4 mat, mat4 dest)
copy upper-left of mat4 to mat3 (transposed)
the postfix t stands for transpose
Parameters:
| *[in]* **mat** source
| *[out]* **dest** destination
.. c:function:: void glm_mat4_ins3(mat3 mat, mat4 dest)
copy mat3 to mat4's upper-left. this function does not fill mat4's other
elements. To do that use glm_mat4.
Parameters:
| *[in]* **mat** source
| *[out]* **dest** destination
.. c:function:: void glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest)
multiply m1 and m2 to dest
m1, m2 and dest matrices can be same matrix, it is possible to write this:
.. code-block:: c
mat4 m = GLM_MAT4_IDENTITY_INIT;
glm_mat4_mul(m, m, m);
Parameters:
| *[in]* **m1** left matrix
| *[in]* **m2** right matrix
| *[out]* **dest** destination matrix
.. c:function:: void glm_mat4_mulN(mat4 * __restrict matrices[], int len, mat4 dest)
mupliply N mat4 matrices and store result in dest
| this function lets you multiply multiple (more than two or more...)
| matrices
| multiplication will be done in loop, this may reduce instructions
| size but if **len** is too small then compiler may unroll whole loop
.. code-block:: c
mat m1, m2, m3, m4, res;
glm_mat4_mulN((mat4 *[]){&m1, &m2, &m3, &m4}, 4, res);
Parameters:
| *[in]* **matrices** array of mat4
| *[in]* **len** matrices count
| *[out]* **dest** destination matrix
.. c:function:: void glm_mat4_mulv(mat4 m, vec4 v, vec4 dest)
multiply mat4 with vec4 (column vector) and store in dest vector
Parameters:
| *[in]* **m** mat4 (left)
| *[in]* **v** vec4 (right, column vector)
| *[in]* **last** 4th item to make it vec4
| *[out]* **dest** vec4 (result, column vector)
.. c:function:: void glm_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest)
| multiply **vec3** with **mat4** and get **vec3** as result
|
| actually the result is **vec4**, after multiplication,
the last component is trimmed, if you need the result's last component
then don't use this function and consider to use **glm_mat4_mulv()**
Parameters:
| *[in]* **m** mat4(affine transform)
| *[in]* **v** vec3
| *[in]* **last** 4th item to make it vec4
| *[out]* **dest** result vector (vec3)
.. c:function:: void glm_mat4_trace(mat4 m)
| sum of the elements on the main diagonal from upper left to the lower right
Parameters:
| *[in]* **m** matrix
Returns:
trace of matrix
.. c:function:: void glm_mat4_trace3(mat4 m)
| trace of matrix (rotation part)
| sum of the elements on the main diagonal from upper left to the lower right
Parameters:
| *[in]* **m** matrix
Returns:
trace of matrix
.. c:function:: void glm_mat4_quat(mat4 m, versor dest)
convert mat4's rotation part to quaternion
Parameters:
| *[in]* **m** affine matrix
| *[out]* **dest** destination quaternion
.. c:function:: void glm_mat4_transpose_to(mat4 m, mat4 dest)
transpose mat4 and store in dest
source matrix will not be transposed unless dest is m
Parameters:
| *[in]* **m** matrix
| *[out]* **dest** destination matrix
.. c:function:: void glm_mat4_transpose(mat4 m)
tranpose mat4 and store result in same matrix
Parameters:
| *[in]* **m** source
| *[out]* **dest** destination matrix
.. c:function:: void glm_mat4_scale_p(mat4 m, float s)
scale (multiply with scalar) matrix without simd optimization
Parameters:
| *[in, out]* **m** matrix
| *[in]* **s** scalar
.. c:function:: void glm_mat4_scale(mat4 m, float s)
scale (multiply with scalar) matrix
THIS IS NOT SCALE TRANSFORM, use glm_scale for that.
Parameters:
| *[in, out]* **m** matrix
| *[in]* **s** scalar
.. c:function:: float glm_mat4_det(mat4 mat)
mat4 determinant
Parameters:
| *[in]* **mat** matrix
Return:
| determinant
.. c:function:: void glm_mat4_inv(mat4 mat, mat4 dest)
inverse mat4 and store in dest
Parameters:
| *[in]* **mat** source
| *[out]* **dest** destination matrix (inverse matrix)
.. c:function:: void glm_mat4_inv_fast(mat4 mat, mat4 dest)
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
Parameters:
| *[in]* **mat** source
| *[out]* **dest** destination
.. c:function:: void glm_mat4_swap_col(mat4 mat, int col1, int col2)
swap two matrix columns
Parameters:
| *[in, out]* **mat** matrix
| *[in]* **col1** col1
| *[in]* **col2** col2
.. c:function:: void glm_mat4_swap_row(mat4 mat, int row1, int row2)
swap two matrix rows
Parameters:
| *[in, out]* **mat** matrix
| *[in]* **row1** row1
| *[in]* **row2** row2
.. c:function:: float glm_mat4_rmc(vec4 r, mat4 m, vec4 c)
| **rmc** stands for **Row** * **Matrix** * **Column**
| helper for R (row vector) * M (matrix) * C (column vector)
| the result is scalar because R * M = Matrix1x4 (row vector),
| then Matrix1x4 * Vec4 (column vector) = Matrix1x1 (Scalar)
Parameters:
| *[in]* **r** row vector or matrix1x4
| *[in]* **m** matrix4x4
| *[in]* **c** column vector or matrix4x1
Returns:
scalar value e.g. Matrix1x1
|
