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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_mul(mat4 m1, mat4 m2, mat4 dest);
CGLM_INLINE void glm_inv_tr(mat4 mat);
*/
#ifndef cglm_affine_mat_h
#define cglm_affine_mat_h
#include "common.h"
#include "mat4.h"
#include "mat3.h"
#ifdef CGLM_SSE_FP
# include "simd/sse2/affine.h"
#endif
#ifdef CGLM_AVX_FP
# include "simd/avx/affine.h"
#endif
#ifdef CGLM_NEON_FP
# include "simd/neon/affine.h"
#endif
/*!
* @brief this is similar to glm_mat4_mul but specialized to affine transform
*
* Matrix format should be:
* R R R X
* R R R Y
* R R R Z
* 0 0 0 W
*
* 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(mat4 m1, mat4 m2, mat4 dest) {
#ifdef __AVX__
glm_mul_avx(m1, m2, dest);
#elif defined( __SSE__ ) || defined( __SSE2__ )
glm_mul_sse2(m1, m2, dest);
#elif defined(CGLM_NEON_FP)
glm_mul_neon(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],
b30 = m2[3][0], b31 = m2[3][1], b32 = m2[3][2], b33 = m2[3][3];
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 + a30 * b33;
dest[3][1] = a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33;
dest[3][2] = a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33;
dest[3][3] = a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33;
#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);
#elif defined(CGLM_NEON_FP)
glm_mul_rot_neon(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)
*
* @code
* X = | R T | X' = | R' -R'T |
* | 0 1 | | 0 1 |
* @endcode
*
* @param[in,out] mat matrix
*/
CGLM_INLINE
void
glm_inv_tr(mat4 mat) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_inv_tr_sse2(mat);
#elif defined(CGLM_NEON_FP)
glm_inv_tr_neon(mat);
#else
CGLM_ALIGN_MAT mat3 r;
CGLM_ALIGN(8) vec3 t;
/* rotate */
glm_mat4_pick3t(mat, r);
glm_mat4_ins3(r, mat);
/* translate */
glm_mat3_mulv(r, mat[3], t);
glm_vec3_negate(t);
glm_vec3_copy(t, mat[3]);
#endif
}
#endif /* cglm_affine_mat_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_affine_post_h
#define cglm_affine_post_h
/*
Functions:
CGLM_INLINE void glm_translated_to(mat4 m, vec3 v, mat4 dest);
CGLM_INLINE void glm_translated(mat4 m, vec3 v);
CGLM_INLINE void glm_translated_x(mat4 m, float to);
CGLM_INLINE void glm_translated_y(mat4 m, float to);
CGLM_INLINE void glm_translated_z(mat4 m, float to);
CGLM_INLINE void glm_rotated_x(mat4 m, float angle, mat4 dest);
CGLM_INLINE void glm_rotated_y(mat4 m, float angle, mat4 dest);
CGLM_INLINE void glm_rotated_z(mat4 m, float angle, mat4 dest);
CGLM_INLINE void glm_rotated(mat4 m, float angle, vec3 axis);
CGLM_INLINE void glm_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis);
CGLM_INLINE void glm_spinned(mat4 m, float angle, vec3 axis);
*/
#include "common.h"
#include "util.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
#include "affine-mat.h"
/*!
* @brief translate existing transform matrix by v vector
* and stores result in same matrix
*
* this is POST transform, applies to existing transform as last transfrom
*
* @param[in, out] m affine transfrom
* @param[in] v translate vector [x, y, z]
*/
CGLM_INLINE
void
glm_translated(mat4 m, vec3 v) {
glm_vec3_add(m[3], v, m[3]);
}
/*!
* @brief translate existing transform matrix by v vector
* and store result in dest
*
* source matrix will remain same
*
* this is POST transform, applies to existing transform as last transfrom
*
* @param[in] m affine transfrom
* @param[in] v translate vector [x, y, z]
* @param[out] dest translated matrix
*/
CGLM_INLINE
void
glm_translated_to(mat4 m, vec3 v, mat4 dest) {
glm_mat4_copy(m, dest);
glm_translated(dest, v);
}
/*!
* @brief translate existing transform matrix by x factor
*
* this is POST transform, applies to existing transform as last transfrom
*
* @param[in, out] m affine transfrom
* @param[in] x x factor
*/
CGLM_INLINE
void
glm_translated_x(mat4 m, float x) {
m[3][0] += x;
}
/*!
* @brief translate existing transform matrix by y factor
*
* this is POST transform, applies to existing transform as last transfrom
*
* @param[in, out] m affine transfrom
* @param[in] y y factor
*/
CGLM_INLINE
void
glm_translated_y(mat4 m, float y) {
m[3][1] += y;
}
/*!
* @brief translate existing transform matrix by z factor
*
* this is POST transform, applies to existing transform as last transfrom
*
* @param[in, out] m affine transfrom
* @param[in] z z factor
*/
CGLM_INLINE
void
glm_translated_z(mat4 m, float z) {
m[3][2] += z;
}
/*!
* @brief rotate existing transform matrix around X axis by angle
* and store result in dest
*
* this is POST transform, applies to existing transform as last transfrom
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotated_x(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[1][1] = c;
t[1][2] = s;
t[2][1] = -s;
t[2][2] = c;
glm_mul_rot(t, m, dest);
}
/*!
* @brief rotate existing transform matrix around Y axis by angle
* and store result in dest
*
* this is POST transform, applies to existing transform as last transfrom
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotated_y(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[0][0] = c;
t[0][2] = -s;
t[2][0] = s;
t[2][2] = c;
glm_mul_rot(t, m, dest);
}
/*!
* @brief rotate existing transform matrix around Z axis by angle
* and store result in dest
*
* this is POST transform, applies to existing transform as last transfrom
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotated_z(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[0][0] = c;
t[0][1] = s;
t[1][0] = -s;
t[1][1] = c;
glm_mul_rot(t, m, dest);
}
/*!
* @brief rotate existing transform matrix around given axis by angle
*
* this is POST transform, applies to existing transform as last transfrom
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotated(mat4 m, float angle, vec3 axis) {
CGLM_ALIGN_MAT mat4 rot;
glm_rotate_make(rot, angle, axis);
glm_mul_rot(rot, m, m);
}
/*!
* @brief rotate existing transform
* around given axis by angle at given pivot point (rotation center)
*
* this is POST transform, applies to existing transform as last transfrom
*
* @param[in, out] m affine transfrom
* @param[in] pivot rotation center
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis) {
CGLM_ALIGN(8) vec3 pivotInv;
glm_vec3_negate_to(pivot, pivotInv);
glm_translated(m, pivot);
glm_rotated(m, angle, axis);
glm_translated(m, pivotInv);
}
/*!
* @brief rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
*
* this is POST transform, applies to existing transform as last transfrom
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_spinned(mat4 m, float angle, vec3 axis) {
CGLM_ALIGN_MAT mat4 rot;
glm_rotate_atm(rot, m[3], angle, axis);
glm_mat4_mul(rot, m, m);
}
#endif /* cglm_affine_post_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_affine_pre_h
#define cglm_affine_pre_h
/*
Functions:
CGLM_INLINE void glm_translate_to(mat4 m, vec3 v, mat4 dest);
CGLM_INLINE void glm_translate(mat4 m, vec3 v);
CGLM_INLINE void glm_translate_x(mat4 m, float to);
CGLM_INLINE void glm_translate_y(mat4 m, float to);
CGLM_INLINE void glm_translate_z(mat4 m, float to);
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(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_spin(mat4 m, float angle, vec3 axis);
*/
#include "common.h"
#include "util.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
#include "affine-mat.h"
/*!
* @brief translate existing transform matrix by v vector
* and stores result in same matrix
*
* @param[in, out] m affine transfrom
* @param[in] v translate vector [x, y, z]
*/
CGLM_INLINE
void
glm_translate(mat4 m, vec3 v) {
#if defined(CGLM_SIMD)
glmm_128 m0, m1, m2, m3;
m0 = glmm_load(m[0]);
m1 = glmm_load(m[1]);
m2 = glmm_load(m[2]);
m3 = glmm_load(m[3]);
glmm_store(m[3],
glmm_fmadd(m0, glmm_set1(v[0]),
glmm_fmadd(m1, glmm_set1(v[1]),
glmm_fmadd(m2, glmm_set1(v[2]), m3))));
#else
glm_vec4_muladds(m[0], v[0], m[3]);
glm_vec4_muladds(m[1], v[1], m[3]);
glm_vec4_muladds(m[2], v[2], m[3]);
#endif
}
/*!
* @brief translate existing transform matrix by v vector
* and store result in dest
*
* source matrix will remain same
*
* @param[in] m affine transfrom
* @param[in] v translate vector [x, y, z]
* @param[out] dest translated matrix
*/
CGLM_INLINE
void
glm_translate_to(mat4 m, vec3 v, mat4 dest) {
glm_mat4_copy(m, dest);
glm_translate(dest, v);
}
/*!
* @brief translate existing transform matrix by x factor
*
* @param[in, out] m affine transfrom
* @param[in] x x factor
*/
CGLM_INLINE
void
glm_translate_x(mat4 m, float x) {
#if defined(CGLM_SIMD)
glmm_store(m[3], glmm_fmadd(glmm_load(m[0]), glmm_set1(x), glmm_load(m[3])));
#else
vec4 v1;
glm_vec4_scale(m[0], x, v1);
glm_vec4_add(v1, m[3], m[3]);
#endif
}
/*!
* @brief translate existing transform matrix by y factor
*
* @param[in, out] m affine transfrom
* @param[in] y y factor
*/
CGLM_INLINE
void
glm_translate_y(mat4 m, float y) {
#if defined(CGLM_SIMD)
glmm_store(m[3], glmm_fmadd(glmm_load(m[1]), glmm_set1(y), glmm_load(m[3])));
#else
vec4 v1;
glm_vec4_scale(m[1], y, v1);
glm_vec4_add(v1, m[3], m[3]);
#endif
}
/*!
* @brief translate existing transform matrix by z factor
*
* @param[in, out] m affine transfrom
* @param[in] z z factor
*/
CGLM_INLINE
void
glm_translate_z(mat4 m, float z) {
#if defined(CGLM_SIMD)
glmm_store(m[3], glmm_fmadd(glmm_load(m[2]), glmm_set1(z), glmm_load(m[3])));
#else
vec4 v1;
glm_vec4_scale(m[2], z, v1);
glm_vec4_add(v1, m[3], m[3]);
#endif
}
/*!
* @brief rotate existing transform matrix around X axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotate_x(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[1][1] = c;
t[1][2] = s;
t[2][1] = -s;
t[2][2] = c;
glm_mul_rot(m, t, dest);
}
/*!
* @brief rotate existing transform matrix around Y axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotate_y(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[0][0] = c;
t[0][2] = -s;
t[2][0] = s;
t[2][2] = c;
glm_mul_rot(m, t, dest);
}
/*!
* @brief rotate existing transform matrix around Z axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest rotated matrix
*/
CGLM_INLINE
void
glm_rotate_z(mat4 m, float angle, mat4 dest) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
float c, s;
c = cosf(angle);
s = sinf(angle);
t[0][0] = c;
t[0][1] = s;
t[1][0] = -s;
t[1][1] = c;
glm_mul_rot(m, t, dest);
}
/*!
* @brief rotate existing transform matrix around given axis by angle
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotate(mat4 m, float angle, vec3 axis) {
CGLM_ALIGN_MAT mat4 rot;
glm_rotate_make(rot, angle, axis);
glm_mul_rot(m, rot, m);
}
/*!
* @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) {
CGLM_ALIGN(8) vec3 pivotInv;
glm_vec3_negate_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) {
CGLM_ALIGN(8) vec3 pivotInv;
glm_vec3_negate_to(pivot, pivotInv);
glm_translate_make(m, pivot);
glm_rotate(m, angle, axis);
glm_translate(m, pivotInv);
}
/*!
* @brief rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_spin(mat4 m, float angle, vec3 axis) {
CGLM_ALIGN_MAT mat4 rot;
glm_rotate_atm(rot, m[3], angle, axis);
glm_mat4_mul(m, rot, m);
}
#endif /* cglm_affine_pre_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_translate_to(mat4 m, vec3 v, mat4 dest);
CGLM_INLINE void glm_translate(mat4 m, vec3 v);
CGLM_INLINE void glm_translate_x(mat4 m, float to);
CGLM_INLINE void glm_translate_y(mat4 m, float to);
CGLM_INLINE void glm_translate_z(mat4 m, float to);
CGLM_INLINE void glm_translate_make(mat4 m, vec3 v);
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_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_make(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_spin(mat4 m, 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);
CGLM_INLINE void glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s);
*/
#ifndef cglm_affine_h
#define cglm_affine_h
#include "common.h"
#include "util.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
#include "affine-mat.h"
/*!
* @brief creates NEW translate transform matrix by v vector
*
* @param[out] m affine transfrom
* @param[in] v translate vector [x, y, z]
*/
CGLM_INLINE
void
glm_translate_make(mat4 m, vec3 v) {
glm_mat4_identity(m);
glm_vec3_copy(v, m[3]);
}
/*!
* @brief scale existing transform matrix by v vector
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] v scale vector [x, y, z]
* @param[out] dest scaled matrix
*/
CGLM_INLINE
void
glm_scale_to(mat4 m, vec3 v, mat4 dest) {
glm_vec4_scale(m[0], v[0], dest[0]);
glm_vec4_scale(m[1], v[1], dest[1]);
glm_vec4_scale(m[2], v[2], dest[2]);
glm_vec4_copy(m[3], dest[3]);
}
/*!
* @brief creates NEW scale matrix by v vector
*
* @param[out] m affine transfrom
* @param[in] v scale vector [x, y, z]
*/
CGLM_INLINE
void
glm_scale_make(mat4 m, vec3 v) {
glm_mat4_identity(m);
m[0][0] = v[0];
m[1][1] = v[1];
m[2][2] = v[2];
}
/*!
* @brief scales existing transform matrix by v vector
* and stores result in same matrix
*
* @param[in, out] m affine transfrom
* @param[in] v scale vector [x, y, z]
*/
CGLM_INLINE
void
glm_scale(mat4 m, vec3 v) {
glm_scale_to(m, v, m);
}
/*!
* @brief applies uniform scale to existing transform matrix v = [s, s, s]
* and stores result in same matrix
*
* @param[in, out] m affine transfrom
* @param[in] s scale factor
*/
CGLM_INLINE
void
glm_scale_uni(mat4 m, float s) {
CGLM_ALIGN(8) vec3 v = { s, s, s };
glm_scale_to(m, v, m);
}
/*!
* @brief creates NEW rotation matrix by angle and axis
*
* axis will be normalized so you don't need to normalize it
*
* @param[out] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
*/
CGLM_INLINE
void
glm_rotate_make(mat4 m, float angle, vec3 axis) {
CGLM_ALIGN(8) vec3 axisn, v, vs;
float c;
c = cosf(angle);
glm_vec3_normalize_to(axis, axisn);
glm_vec3_scale(axisn, 1.0f - c, v);
glm_vec3_scale(axisn, sinf(angle), vs);
glm_vec3_scale(axisn, v[0], m[0]);
glm_vec3_scale(axisn, v[1], m[1]);
glm_vec3_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 decompose scale vector
*
* @param[in] m affine transform
* @param[out] s scale vector (Sx, Sy, Sz)
*/
CGLM_INLINE
void
glm_decompose_scalev(mat4 m, vec3 s) {
s[0] = glm_vec3_norm(m[0]);
s[1] = glm_vec3_norm(m[1]);
s[2] = glm_vec3_norm(m[2]);
}
/*!
* @brief returns true if matrix is uniform scaled. This is helpful for
* creating normal matrix.
*
* @param[in] m m
*
* @return boolean
*/
CGLM_INLINE
bool
glm_uniscaled(mat4 m) {
CGLM_ALIGN(8) vec3 s;
glm_decompose_scalev(m, s);
return glm_vec3_eq_all(s);
}
/*!
* @brief decompose rotation matrix (mat4) and scale vector [Sx, Sy, Sz]
* DON'T pass projected matrix here
*
* @param[in] m affine transform
* @param[out] r rotation matrix
* @param[out] s scale matrix
*/
CGLM_INLINE
void
glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
CGLM_ALIGN(16) vec4 t = {0.0f, 0.0f, 0.0f, 1.0f};
CGLM_ALIGN(8) vec3 v;
glm_vec4_copy(m[0], r[0]);
glm_vec4_copy(m[1], r[1]);
glm_vec4_copy(m[2], r[2]);
glm_vec4_copy(t, r[3]);
s[0] = glm_vec3_norm(m[0]);
s[1] = glm_vec3_norm(m[1]);
s[2] = glm_vec3_norm(m[2]);
glm_vec4_scale(r[0], 1.0f/s[0], r[0]);
glm_vec4_scale(r[1], 1.0f/s[1], r[1]);
glm_vec4_scale(r[2], 1.0f/s[2], r[2]);
/* Note from Apple Open Source (assume that the matrix is orthonormal):
check for a coordinate system flip. If the determinant
is -1, then negate the matrix and the scaling factors. */
glm_vec3_cross(m[0], m[1], v);
if (glm_vec3_dot(v, m[2]) < 0.0f) {
glm_vec4_negate(r[0]);
glm_vec4_negate(r[1]);
glm_vec4_negate(r[2]);
glm_vec3_negate(s);
}
}
/*!
* @brief decompose affine transform, TODO: extract shear factors.
* DON'T pass projected matrix here
*
* @param[in] m affine transfrom
* @param[out] t translation vector
* @param[out] r rotation matrix (mat4)
* @param[out] s scaling vector [X, Y, Z]
*/
CGLM_INLINE
void
glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s) {
glm_vec4_copy(m[3], t);
glm_decompose_rs(m, r, s);
}
#include "affine-pre.h"
#include "affine-post.h"
#endif /* cglm_affine_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_translate2d(mat3 m, vec2 v)
CGLM_INLINE void glm_translate2d_to(mat3 m, vec2 v, mat3 dest)
CGLM_INLINE void glm_translate2d_x(mat3 m, float x)
CGLM_INLINE void glm_translate2d_y(mat3 m, float y)
CGLM_INLINE void glm_translate2d_make(mat3 m, vec2 v)
CGLM_INLINE void glm_scale2d_to(mat3 m, vec2 v, mat3 dest)
CGLM_INLINE void glm_scale2d_make(mat3 m, vec2 v)
CGLM_INLINE void glm_scale2d(mat3 m, vec2 v)
CGLM_INLINE void glm_scale2d_uni(mat3 m, float s)
CGLM_INLINE void glm_rotate2d_make(mat3 m, float angle)
CGLM_INLINE void glm_rotate2d(mat3 m, float angle)
CGLM_INLINE void glm_rotate2d_to(mat3 m, float angle, mat3 dest)
*/
#ifndef cglm_affine2d_h
#define cglm_affine2d_h
#include "common.h"
#include "util.h"
#include "vec2.h"
#include "mat3.h"
/*!
* @brief translate existing 2d transform matrix by v vector
* and stores result in same matrix
*
* @param[in, out] m affine transfrom
* @param[in] v translate vector [x, y]
*/
CGLM_INLINE
void
glm_translate2d(mat3 m, vec2 v) {
m[2][0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0];
m[2][1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1];
m[2][2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2];
}
/*!
* @brief translate existing 2d transform matrix by v vector
* and store result in dest
*
* source matrix will remain same
*
* @param[in] m affine transfrom
* @param[in] v translate vector [x, y]
* @param[out] dest translated matrix
*/
CGLM_INLINE
void
glm_translate2d_to(mat3 m, vec2 v, mat3 dest) {
glm_mat3_copy(m, dest);
glm_translate2d(dest, v);
}
/*!
* @brief translate existing 2d transform matrix by x factor
*
* @param[in, out] m affine transfrom
* @param[in] x x factor
*/
CGLM_INLINE
void
glm_translate2d_x(mat3 m, float x) {
m[2][0] = m[0][0] * x + m[2][0];
m[2][1] = m[0][1] * x + m[2][1];
m[2][2] = m[0][2] * x + m[2][2];
}
/*!
* @brief translate existing 2d transform matrix by y factor
*
* @param[in, out] m affine transfrom
* @param[in] y y factor
*/
CGLM_INLINE
void
glm_translate2d_y(mat3 m, float y) {
m[2][0] = m[1][0] * y + m[2][0];
m[2][1] = m[1][1] * y + m[2][1];
m[2][2] = m[1][2] * y + m[2][2];
}
/*!
* @brief creates NEW translate 2d transform matrix by v vector
*
* @param[out] m affine transfrom
* @param[in] v translate vector [x, y]
*/
CGLM_INLINE
void
glm_translate2d_make(mat3 m, vec2 v) {
glm_mat3_identity(m);
m[2][0] = v[0];
m[2][1] = v[1];
}
/*!
* @brief scale existing 2d transform matrix by v vector
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] v scale vector [x, y]
* @param[out] dest scaled matrix
*/
CGLM_INLINE
void
glm_scale2d_to(mat3 m, vec2 v, mat3 dest) {
dest[0][0] = m[0][0] * v[0];
dest[0][1] = m[0][1] * v[0];
dest[0][2] = m[0][2] * v[0];
dest[1][0] = m[1][0] * v[1];
dest[1][1] = m[1][1] * v[1];
dest[1][2] = m[1][2] * v[1];
dest[2][0] = m[2][0];
dest[2][1] = m[2][1];
dest[2][2] = m[2][2];
}
/*!
* @brief creates NEW 2d scale matrix by v vector
*
* @param[out] m affine transfrom
* @param[in] v scale vector [x, y]
*/
CGLM_INLINE
void
glm_scale2d_make(mat3 m, vec2 v) {
glm_mat3_identity(m);
m[0][0] = v[0];
m[1][1] = v[1];
}
/*!
* @brief scales existing 2d transform matrix by v vector
* and stores result in same matrix
*
* @param[in, out] m affine transfrom
* @param[in] v scale vector [x, y]
*/
CGLM_INLINE
void
glm_scale2d(mat3 m, vec2 v) {
m[0][0] = m[0][0] * v[0];
m[0][1] = m[0][1] * v[0];
m[0][2] = m[0][2] * v[0];
m[1][0] = m[1][0] * v[1];
m[1][1] = m[1][1] * v[1];
m[1][2] = m[1][2] * v[1];
}
/*!
* @brief applies uniform scale to existing 2d transform matrix v = [s, s]
* and stores result in same matrix
*
* @param[in, out] m affine transfrom
* @param[in] s scale factor
*/
CGLM_INLINE
void
glm_scale2d_uni(mat3 m, float s) {
m[0][0] = m[0][0] * s;
m[0][1] = m[0][1] * s;
m[0][2] = m[0][2] * s;
m[1][0] = m[1][0] * s;
m[1][1] = m[1][1] * s;
m[1][2] = m[1][2] * s;
}
/*!
* @brief creates NEW rotation matrix by angle around Z axis
*
* @param[out] m affine transfrom
* @param[in] angle angle (radians)
*/
CGLM_INLINE
void
glm_rotate2d_make(mat3 m, float angle) {
float c, s;
s = sinf(angle);
c = cosf(angle);
m[0][0] = c;
m[0][1] = s;
m[0][2] = 0;
m[1][0] = -s;
m[1][1] = c;
m[1][2] = 0;
m[2][0] = 0.0f;
m[2][1] = 0.0f;
m[2][2] = 1.0f;
}
/*!
* @brief rotate existing 2d transform matrix around Z axis by angle
* and store result in same matrix
*
* @param[in, out] m affine transfrom
* @param[in] angle angle (radians)
*/
CGLM_INLINE
void
glm_rotate2d(mat3 m, float angle) {
float m00 = m[0][0], m10 = m[1][0],
m01 = m[0][1], m11 = m[1][1],
m02 = m[0][2], m12 = m[1][2];
float c, s;
s = sinf(angle);
c = cosf(angle);
m[0][0] = m00 * c + m10 * s;
m[0][1] = m01 * c + m11 * s;
m[0][2] = m02 * c + m12 * s;
m[1][0] = m00 * -s + m10 * c;
m[1][1] = m01 * -s + m11 * c;
m[1][2] = m02 * -s + m12 * c;
}
/*!
* @brief rotate existing 2d transform matrix around Z axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_rotate2d_to(mat3 m, float angle, mat3 dest) {
float m00 = m[0][0], m10 = m[1][0],
m01 = m[0][1], m11 = m[1][1],
m02 = m[0][2], m12 = m[1][2];
float c, s;
s = sinf(angle);
c = cosf(angle);
dest[0][0] = m00 * c + m10 * s;
dest[0][1] = m01 * c + m11 * s;
dest[0][2] = m02 * c + m12 * s;
dest[1][0] = m00 * -s + m10 * c;
dest[1][1] = m01 * -s + m11 * c;
dest[1][2] = m02 * -s + m12 * c;
dest[2][0] = m[2][0];
dest[2][1] = m[2][1];
dest[2][2] = m[2][2];
}
#endif /* cglm_affine2d_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_applesimd_h
#define cglm_applesimd_h
#if defined(__APPLE__) \
&& defined(SIMD_COMPILER_HAS_REQUIRED_FEATURES) \
&& defined(SIMD_BASE) \
&& defined(SIMD_TYPES) \
&& defined(SIMD_VECTOR_TYPES)
#include "common.h"
/*!
* @brief converts mat4 to Apple's simd type simd_float4x4
* @return simd_float4x4
*/
CGLM_INLINE
simd_float4x4
glm_mat4_applesimd(mat4 m) {
simd_float4x4 t;
t.columns[0][0] = m[0][0];
t.columns[0][1] = m[0][1];
t.columns[0][2] = m[0][2];
t.columns[0][3] = m[0][3];
t.columns[1][0] = m[1][0];
t.columns[1][1] = m[1][1];
t.columns[1][2] = m[1][2];
t.columns[1][3] = m[1][3];
t.columns[2][0] = m[2][0];
t.columns[2][1] = m[2][1];
t.columns[2][2] = m[2][2];
t.columns[2][3] = m[2][3];
t.columns[3][0] = m[3][0];
t.columns[3][1] = m[3][1];
t.columns[3][2] = m[3][2];
t.columns[3][3] = m[3][3];
return t;
}
/*!
* @brief converts mat3 to Apple's simd type simd_float3x3
* @return simd_float3x3
*/
CGLM_INLINE
simd_float3x3
glm_mat3_applesimd(mat3 m) {
simd_float3x3 t;
t.columns[0][0] = m[0][0];
t.columns[0][1] = m[0][1];
t.columns[0][2] = m[0][2];
t.columns[1][0] = m[1][0];
t.columns[1][1] = m[1][1];
t.columns[1][2] = m[1][2];
t.columns[2][0] = m[2][0];
t.columns[2][1] = m[2][1];
t.columns[2][2] = m[2][2];
return t;
}
/*!
* @brief converts vec4 to Apple's simd type simd_float4
* @return simd_float4
*/
CGLM_INLINE
simd_float4
glm_vec4_applesimd(vec4 v) {
return (simd_float4){v[0], v[1], v[2], v[3]};
}
/*!
* @brief converts vec3 to Apple's simd type simd_float3
* @return v
*/
CGLM_INLINE
simd_float3
glm_vec3_applesimd(vec3 v) {
return (simd_float3){v[0], v[1], v[2]};
}
#endif
#endif /* cglm_applesimd_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_bezier_h
#define cglm_bezier_h
#include "common.h"
#define GLM_BEZIER_MAT_INIT {{-1.0f, 3.0f, -3.0f, 1.0f}, \
{ 3.0f, -6.0f, 3.0f, 0.0f}, \
{-3.0f, 3.0f, 0.0f, 0.0f}, \
{ 1.0f, 0.0f, 0.0f, 0.0f}}
#define GLM_HERMITE_MAT_INIT {{ 2.0f, -3.0f, 0.0f, 1.0f}, \
{-2.0f, 3.0f, 0.0f, 0.0f}, \
{ 1.0f, -2.0f, 1.0f, 0.0f}, \
{ 1.0f, -1.0f, 0.0f, 0.0f}}
/* for C only */
#define GLM_BEZIER_MAT ((mat4)GLM_BEZIER_MAT_INIT)
#define GLM_HERMITE_MAT ((mat4)GLM_HERMITE_MAT_INIT)
#define CGLM_DECASTEL_EPS 1e-9f
#define CGLM_DECASTEL_MAX 1000.0f
#define CGLM_DECASTEL_SMALL 1e-20f
/*!
* @brief cubic bezier interpolation
*
* Formula:
* B(s) = P0*(1-s)^3 + 3*C0*s*(1-s)^2 + 3*C1*s^2*(1-s) + P1*s^3
*
* similar result using matrix:
* B(s) = glm_smc(t, GLM_BEZIER_MAT, (vec4){p0, c0, c1, p1})
*
* glm_eq(glm_smc(...), glm_bezier(...)) should return TRUE
*
* @param[in] s parameter between 0 and 1
* @param[in] p0 begin point
* @param[in] c0 control point 1
* @param[in] c1 control point 2
* @param[in] p1 end point
*
* @return B(s)
*/
CGLM_INLINE
float
glm_bezier(float s, float p0, float c0, float c1, float p1) {
float x, xx, ss, xs3, a;
x = 1.0f - s;
xx = x * x;
ss = s * s;
xs3 = (s - ss) * 3.0f;
a = p0 * xx + c0 * xs3;
return a + s * (c1 * xs3 + p1 * ss - a);
}
/*!
* @brief cubic hermite interpolation
*
* Formula:
* H(s) = P0*(2*s^3 - 3*s^2 + 1) + T0*(s^3 - 2*s^2 + s)
* + P1*(-2*s^3 + 3*s^2) + T1*(s^3 - s^2)
*
* similar result using matrix:
* H(s) = glm_smc(t, GLM_HERMITE_MAT, (vec4){p0, p1, c0, c1})
*
* glm_eq(glm_smc(...), glm_hermite(...)) should return TRUE
*
* @param[in] s parameter between 0 and 1
* @param[in] p0 begin point
* @param[in] t0 tangent 1
* @param[in] t1 tangent 2
* @param[in] p1 end point
*
* @return H(s)
*/
CGLM_INLINE
float
glm_hermite(float s, float p0, float t0, float t1, float p1) {
float ss, d, a, b, c, e, f;
ss = s * s;
a = ss + ss;
c = a + ss;
b = a * s;
d = s * ss;
f = d - ss;
e = b - c;
return p0 * (e + 1.0f) + t0 * (f - ss + s) + t1 * f - p1 * e;
}
/*!
* @brief iterative way to solve cubic equation
*
* @param[in] prm parameter between 0 and 1
* @param[in] p0 begin point
* @param[in] c0 control point 1
* @param[in] c1 control point 2
* @param[in] p1 end point
*
* @return parameter to use in cubic equation
*/
CGLM_INLINE
float
glm_decasteljau(float prm, float p0, float c0, float c1, float p1) {
float u, v, a, b, c, d, e, f;
int i;
if (prm - p0 < CGLM_DECASTEL_SMALL)
return 0.0f;
if (p1 - prm < CGLM_DECASTEL_SMALL)
return 1.0f;
u = 0.0f;
v = 1.0f;
for (i = 0; i < CGLM_DECASTEL_MAX; i++) {
/* de Casteljau Subdivision */
a = (p0 + c0) * 0.5f;
b = (c0 + c1) * 0.5f;
c = (c1 + p1) * 0.5f;
d = (a + b) * 0.5f;
e = (b + c) * 0.5f;
f = (d + e) * 0.5f; /* this one is on the curve! */
/* The curve point is close enough to our wanted t */
if (fabsf(f - prm) < CGLM_DECASTEL_EPS)
return glm_clamp_zo((u + v) * 0.5f);
/* dichotomy */
if (f < prm) {
p0 = f;
c0 = e;
c1 = c;
u = (u + v) * 0.5f;
} else {
c0 = a;
c1 = d;
p1 = f;
v = (u + v) * 0.5f;
}
}
return glm_clamp_zo((u + v) * 0.5f);
}
#endif /* cglm_bezier_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_box_h
#define cglm_box_h
#include "common.h"
#include "vec3.h"
#include "vec4.h"
#include "util.h"
/*!
* @brief apply transform to Axis-Aligned Bounding Box
*
* @param[in] box bounding box
* @param[in] m transform matrix
* @param[out] dest transformed bounding box
*/
CGLM_INLINE
void
glm_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2]) {
vec3 v[2], xa, xb, ya, yb, za, zb;
glm_vec3_scale(m[0], box[0][0], xa);
glm_vec3_scale(m[0], box[1][0], xb);
glm_vec3_scale(m[1], box[0][1], ya);
glm_vec3_scale(m[1], box[1][1], yb);
glm_vec3_scale(m[2], box[0][2], za);
glm_vec3_scale(m[2], box[1][2], zb);
/* translation + min(xa, xb) + min(ya, yb) + min(za, zb) */
glm_vec3(m[3], v[0]);
glm_vec3_minadd(xa, xb, v[0]);
glm_vec3_minadd(ya, yb, v[0]);
glm_vec3_minadd(za, zb, v[0]);
/* translation + max(xa, xb) + max(ya, yb) + max(za, zb) */
glm_vec3(m[3], v[1]);
glm_vec3_maxadd(xa, xb, v[1]);
glm_vec3_maxadd(ya, yb, v[1]);
glm_vec3_maxadd(za, zb, v[1]);
glm_vec3_copy(v[0], dest[0]);
glm_vec3_copy(v[1], dest[1]);
}
/*!
* @brief merges two AABB bounding box and creates new one
*
* two box must be in same space, if one of box is in different space then
* you should consider to convert it's space by glm_box_space
*
* @param[in] box1 bounding box 1
* @param[in] box2 bounding box 2
* @param[out] dest merged bounding box
*/
CGLM_INLINE
void
glm_aabb_merge(vec3 box1[2], vec3 box2[2], vec3 dest[2]) {
dest[0][0] = glm_min(box1[0][0], box2[0][0]);
dest[0][1] = glm_min(box1[0][1], box2[0][1]);
dest[0][2] = glm_min(box1[0][2], box2[0][2]);
dest[1][0] = glm_max(box1[1][0], box2[1][0]);
dest[1][1] = glm_max(box1[1][1], box2[1][1]);
dest[1][2] = glm_max(box1[1][2], box2[1][2]);
}
/*!
* @brief crops a bounding box with another one.
*
* this could be useful for gettng a bbox which fits with view frustum and
* object bounding boxes. In this case you crop view frustum box with objects
* box
*
* @param[in] box bounding box 1
* @param[in] cropBox crop box
* @param[out] dest cropped bounding box
*/
CGLM_INLINE
void
glm_aabb_crop(vec3 box[2], vec3 cropBox[2], vec3 dest[2]) {
dest[0][0] = glm_max(box[0][0], cropBox[0][0]);
dest[0][1] = glm_max(box[0][1], cropBox[0][1]);
dest[0][2] = glm_max(box[0][2], cropBox[0][2]);
dest[1][0] = glm_min(box[1][0], cropBox[1][0]);
dest[1][1] = glm_min(box[1][1], cropBox[1][1]);
dest[1][2] = glm_min(box[1][2], cropBox[1][2]);
}
/*!
* @brief crops a bounding box with another one.
*
* this could be useful for gettng a bbox which fits with view frustum and
* object bounding boxes. In this case you crop view frustum box with objects
* box
*
* @param[in] box bounding box
* @param[in] cropBox crop box
* @param[in] clampBox miniumum box
* @param[out] dest cropped bounding box
*/
CGLM_INLINE
void
glm_aabb_crop_until(vec3 box[2],
vec3 cropBox[2],
vec3 clampBox[2],
vec3 dest[2]) {
glm_aabb_crop(box, cropBox, dest);
glm_aabb_merge(clampBox, dest, dest);
}
/*!
* @brief check if AABB intersects with frustum planes
*
* this could be useful for frustum culling using AABB.
*
* OPTIMIZATION HINT:
* if planes order is similar to LEFT, RIGHT, BOTTOM, TOP, NEAR, FAR
* then this method should run even faster because it would only use two
* planes if object is not inside the two planes
* fortunately cglm extracts planes as this order! just pass what you got!
*
* @param[in] box bounding box
* @param[in] planes frustum planes
*/
CGLM_INLINE
bool
glm_aabb_frustum(vec3 box[2], vec4 planes[6]) {
float *p, dp;
int i;
for (i = 0; i < 6; i++) {
p = planes[i];
dp = p[0] * box[p[0] > 0.0f][0]
+ p[1] * box[p[1] > 0.0f][1]
+ p[2] * box[p[2] > 0.0f][2];
if (dp < -p[3])
return false;
}
return true;
}
/*!
* @brief invalidate AABB min and max values
*
* @param[in, out] box bounding box
*/
CGLM_INLINE
void
glm_aabb_invalidate(vec3 box[2]) {
glm_vec3_broadcast(FLT_MAX, box[0]);
glm_vec3_broadcast(-FLT_MAX, box[1]);
}
/*!
* @brief check if AABB is valid or not
*
* @param[in] box bounding box
*/
CGLM_INLINE
bool
glm_aabb_isvalid(vec3 box[2]) {
return glm_vec3_max(box[0]) != FLT_MAX
&& glm_vec3_min(box[1]) != -FLT_MAX;
}
/*!
* @brief distance between of min and max
*
* @param[in] box bounding box
*/
CGLM_INLINE
float
glm_aabb_size(vec3 box[2]) {
return glm_vec3_distance(box[0], box[1]);
}
/*!
* @brief radius of sphere which surrounds AABB
*
* @param[in] box bounding box
*/
CGLM_INLINE
float
glm_aabb_radius(vec3 box[2]) {
return glm_aabb_size(box) * 0.5f;
}
/*!
* @brief computes center point of AABB
*
* @param[in] box bounding box
* @param[out] dest center of bounding box
*/
CGLM_INLINE
void
glm_aabb_center(vec3 box[2], vec3 dest) {
glm_vec3_center(box[0], box[1], dest);
}
/*!
* @brief check if two AABB intersects
*
* @param[in] box bounding box
* @param[in] other other bounding box
*/
CGLM_INLINE
bool
glm_aabb_aabb(vec3 box[2], vec3 other[2]) {
return (box[0][0] <= other[1][0] && box[1][0] >= other[0][0])
&& (box[0][1] <= other[1][1] && box[1][1] >= other[0][1])
&& (box[0][2] <= other[1][2] && box[1][2] >= other[0][2]);
}
/*!
* @brief check if AABB intersects with sphere
*
* https://github.com/erich666/GraphicsGems/blob/master/gems/BoxSphere.c
* Solid Box - Solid Sphere test.
*
* Sphere Representation in cglm: [center.x, center.y, center.z, radii]
*
* @param[in] box solid bounding box
* @param[in] s solid sphere
*/
CGLM_INLINE
bool
glm_aabb_sphere(vec3 box[2], vec4 s) {
float dmin;
int a, b, c;
a = (s[0] < box[0][0]) + (s[0] > box[1][0]);
b = (s[1] < box[0][1]) + (s[1] > box[1][1]);
c = (s[2] < box[0][2]) + (s[2] > box[1][2]);
dmin = glm_pow2((s[0] - box[!(a - 1)][0]) * (a != 0))
+ glm_pow2((s[1] - box[!(b - 1)][1]) * (b != 0))
+ glm_pow2((s[2] - box[!(c - 1)][2]) * (c != 0));
return dmin <= glm_pow2(s[3]);
}
/*!
* @brief check if point is inside of AABB
*
* @param[in] box bounding box
* @param[in] point point
*/
CGLM_INLINE
bool
glm_aabb_point(vec3 box[2], vec3 point) {
return (point[0] >= box[0][0] && point[0] <= box[1][0])
&& (point[1] >= box[0][1] && point[1] <= box[1][1])
&& (point[2] >= box[0][2] && point[2] <= box[1][2]);
}
/*!
* @brief check if AABB contains other AABB
*
* @param[in] box bounding box
* @param[in] other other bounding box
*/
CGLM_INLINE
bool
glm_aabb_contains(vec3 box[2], vec3 other[2]) {
return (box[0][0] <= other[0][0] && box[1][0] >= other[1][0])
&& (box[0][1] <= other[0][1] && box[1][1] >= other[1][1])
&& (box[0][2] <= other[0][2] && box[1][2] >= other[1][2]);
}
#endif /* cglm_box_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_call_h
#define cglm_call_h
#ifdef __cplusplus
extern "C" {
#endif
#include "cglm.h"
#include "call/vec2.h"
#include "call/vec3.h"
#include "call/vec4.h"
#include "call/ivec2.h"
#include "call/ivec3.h"
#include "call/ivec4.h"
#include "call/mat2.h"
#include "call/mat3.h"
#include "call/mat4.h"
#include "call/affine.h"
#include "call/cam.h"
#include "call/quat.h"
#include "call/euler.h"
#include "call/plane.h"
#include "call/frustum.h"
#include "call/box.h"
#include "call/io.h"
#include "call/project.h"
#include "call/sphere.h"
#include "call/ease.h"
#include "call/curve.h"
#include "call/bezier.h"
#include "call/ray.h"
#include "call/affine2d.h"
#ifdef __cplusplus
}
#endif
#endif /* cglm_call_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_affine_h
#define cglmc_affine_h
#ifdef __cplusplus
extern "C" {
#endif
#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);
CGLM_EXPORT
void
glmc_translate(mat4 m, vec3 v);
CGLM_EXPORT
void
glmc_translate_x(mat4 m, float to);
CGLM_EXPORT
void
glmc_translate_y(mat4 m, float to);
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);
CGLM_EXPORT
void
glmc_scale(mat4 m, vec3 v);
CGLM_EXPORT
void
glmc_scale_uni(mat4 m, float s);
CGLM_EXPORT
void
glmc_rotate_x(mat4 m, float rad, mat4 dest);
CGLM_EXPORT
void
glmc_rotate_y(mat4 m, float rad, mat4 dest);
CGLM_EXPORT
void
glmc_rotate_z(mat4 m, float rad, mat4 dest);
CGLM_EXPORT
void
glmc_rotate_make(mat4 m, float angle, vec3 axis);
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_spin(mat4 m, 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);
CGLM_EXPORT
void
glmc_decompose(mat4 m, vec4 t, mat4 r, vec3 s);
/* affine-post */
CGLM_EXPORT
void
glmc_translated(mat4 m, vec3 v);
CGLM_EXPORT
void
glmc_translated_to(mat4 m, vec3 v, mat4 dest);
CGLM_EXPORT
void
glmc_translated_x(mat4 m, float x);
CGLM_EXPORT
void
glmc_translated_y(mat4 m, float y);
CGLM_EXPORT
void
glmc_translated_z(mat4 m, float z);
CGLM_EXPORT
void
glmc_rotated_x(mat4 m, float angle, mat4 dest);
CGLM_EXPORT
void
glmc_rotated_y(mat4 m, float angle, mat4 dest);
CGLM_EXPORT
void
glmc_rotated_z(mat4 m, float angle, mat4 dest);
CGLM_EXPORT
void
glmc_rotated(mat4 m, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_rotated_at(mat4 m, vec3 pivot, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_spinned(mat4 m, float angle, vec3 axis);
/* affine-mat */
CGLM_EXPORT
void
glmc_mul(mat4 m1, mat4 m2, mat4 dest);
CGLM_EXPORT
void
glmc_mul_rot(mat4 m1, mat4 m2, mat4 dest);
CGLM_EXPORT
void
glmc_inv_tr(mat4 mat);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_affine_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_affine2d_h
#define cglmc_affine2d_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_translate2d_make(mat3 m, vec2 v);
CGLM_EXPORT
void
glmc_translate2d_to(mat3 m, vec2 v, mat3 dest);
CGLM_EXPORT
void
glmc_translate2d(mat3 m, vec2 v);
CGLM_EXPORT
void
glmc_translate2d_x(mat3 m, float to);
CGLM_EXPORT
void
glmc_translate2d_y(mat3 m, float to);
CGLM_EXPORT
void
glmc_scale2d_to(mat3 m, vec2 v, mat3 dest);
CGLM_EXPORT
void
glmc_scale2d_make(mat3 m, vec2 v);
CGLM_EXPORT
void
glmc_scale2d(mat3 m, vec2 v);
CGLM_EXPORT
void
glmc_scale2d_uni(mat3 m, float s);
CGLM_EXPORT
void
glmc_rotate2d_make(mat3 m, float angle);
CGLM_EXPORT
void
glmc_rotate2d(mat3 m, float angle);
CGLM_EXPORT
void
glmc_rotate2d_to(mat3 m, float angle, mat3 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_affine2d_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_bezier_h
#define cglmc_bezier_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
float
glmc_bezier(float s, float p0, float c0, float c1, float p1);
CGLM_EXPORT
float
glmc_hermite(float s, float p0, float t0, float t1, float p1);
CGLM_EXPORT
float
glmc_decasteljau(float prm, float p0, float c0, float c1, float p1);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_bezier_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_box_h
#define cglmc_box_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_aabb_transform(vec3 box[2], mat4 m, vec3 dest[2]);
CGLM_EXPORT
void
glmc_aabb_merge(vec3 box1[2], vec3 box2[2], vec3 dest[2]);
CGLM_EXPORT
void
glmc_aabb_crop(vec3 box[2], vec3 cropBox[2], vec3 dest[2]);
CGLM_EXPORT
void
glmc_aabb_crop_until(vec3 box[2],
vec3 cropBox[2],
vec3 clampBox[2],
vec3 dest[2]);
CGLM_EXPORT
bool
glmc_aabb_frustum(vec3 box[2], vec4 planes[6]);
CGLM_EXPORT
void
glmc_aabb_invalidate(vec3 box[2]);
CGLM_EXPORT
bool
glmc_aabb_isvalid(vec3 box[2]);
CGLM_EXPORT
float
glmc_aabb_size(vec3 box[2]);
CGLM_EXPORT
float
glmc_aabb_radius(vec3 box[2]);
CGLM_EXPORT
void
glmc_aabb_center(vec3 box[2], vec3 dest);
CGLM_EXPORT
bool
glmc_aabb_aabb(vec3 box[2], vec3 other[2]);
CGLM_EXPORT
bool
glmc_aabb_point(vec3 box[2], vec3 point);
CGLM_EXPORT
bool
glmc_aabb_contains(vec3 box[2], vec3 other[2]);
CGLM_EXPORT
bool
glmc_aabb_sphere(vec3 box[2], vec4 s);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_box_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_cam_h
#define cglmc_cam_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_frustum(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest);
CGLM_EXPORT
void
glmc_ortho(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb(vec3 box[2], mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_p(vec3 box[2], float padding, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_default(float aspect, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_default_s(float aspect, float size, mat4 dest);
CGLM_EXPORT
void
glmc_perspective(float fovy, float aspect, float nearZ, float farZ, mat4 dest);
CGLM_EXPORT
void
glmc_persp_move_far(mat4 proj, float deltaFar);
CGLM_EXPORT
void
glmc_perspective_default(float aspect, mat4 dest);
CGLM_EXPORT
void
glmc_perspective_resize(float aspect, mat4 proj);
CGLM_EXPORT
void
glmc_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest);
CGLM_EXPORT
void
glmc_look(vec3 eye, vec3 dir, vec3 up, mat4 dest);
CGLM_EXPORT
void
glmc_look_anyup(vec3 eye, vec3 dir, mat4 dest);
CGLM_EXPORT
void
glmc_persp_decomp(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ,
float * __restrict top,
float * __restrict bottom,
float * __restrict left,
float * __restrict right);
CGLM_EXPORT
void
glmc_persp_decompv(mat4 proj, float dest[6]);
CGLM_EXPORT
void
glmc_persp_decomp_x(mat4 proj,
float * __restrict left,
float * __restrict right);
CGLM_EXPORT
void
glmc_persp_decomp_y(mat4 proj,
float * __restrict top,
float * __restrict bottom);
CGLM_EXPORT
void
glmc_persp_decomp_z(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ);
CGLM_EXPORT
void
glmc_persp_decomp_far(mat4 proj, float * __restrict farZ);
CGLM_EXPORT
void
glmc_persp_decomp_near(mat4 proj, float * __restrict nearZ);
CGLM_EXPORT
float
glmc_persp_fovy(mat4 proj);
CGLM_EXPORT
float
glmc_persp_aspect(mat4 proj);
CGLM_EXPORT
void
glmc_persp_sizes(mat4 proj, float fovy, vec4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_cam_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_ortho_lh_no_h
#define cglmc_ortho_lh_no_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_ortho_lh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_lh_no(vec3 box[2], mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_p_lh_no(vec3 box[2], float padding, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_pz_lh_no(vec3 box[2], float padding, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_default_lh_no(float aspect, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_default_s_lh_no(float aspect, float size, mat4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_ortho_lh_no_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_ortho_lh_zo_h
#define cglmc_ortho_lh_zo_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_ortho_lh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_lh_zo(vec3 box[2], mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_p_lh_zo(vec3 box[2], float padding, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_pz_lh_zo(vec3 box[2], float padding, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_default_lh_zo(float aspect, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_default_s_lh_zo(float aspect, float size, mat4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_ortho_lh_zo_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_ortho_rh_no_h
#define cglmc_ortho_rh_no_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_ortho_rh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_rh_no(vec3 box[2], mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_p_rh_no(vec3 box[2], float padding, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_pz_rh_no(vec3 box[2], float padding, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_default_rh_no(float aspect, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_default_s_rh_no(float aspect, float size, mat4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_ortho_rh_no_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_ortho_rh_zo_h
#define cglmc_ortho_rh_zo_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_ortho_rh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_rh_zo(vec3 box[2], mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_p_rh_zo(vec3 box[2], float padding, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_aabb_pz_rh_zo(vec3 box[2], float padding, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_default_rh_zo(float aspect, mat4 dest);
CGLM_EXPORT
void
glmc_ortho_default_s_rh_zo(float aspect, float size, mat4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_ortho_rh_zo_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_persp_lh_no_h
#define cglmc_persp_lh_no_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_frustum_lh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest);
CGLM_EXPORT
void
glmc_perspective_lh_no(float fovy,
float aspect,
float nearVal,
float farVal,
mat4 dest);
CGLM_EXPORT
void
glmc_persp_move_far_lh_no(mat4 proj, float deltaFar);
CGLM_EXPORT
void
glmc_persp_decomp_lh_no(mat4 proj,
float * __restrict nearZ, float * __restrict farZ,
float * __restrict top, float * __restrict bottom,
float * __restrict left, float * __restrict right);
CGLM_EXPORT
void
glmc_persp_decompv_lh_no(mat4 proj, float dest[6]);
CGLM_EXPORT
void
glmc_persp_decomp_x_lh_no(mat4 proj,
float * __restrict left,
float * __restrict right);
CGLM_EXPORT
void
glmc_persp_decomp_y_lh_no(mat4 proj,
float * __restrict top,
float * __restrict bottom);
CGLM_EXPORT
void
glmc_persp_decomp_z_lh_no(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ);
CGLM_EXPORT
void
glmc_persp_decomp_far_lh_no(mat4 proj, float * __restrict farZ);
CGLM_EXPORT
void
glmc_persp_decomp_near_lh_no(mat4 proj, float * __restrict nearZ);
CGLM_EXPORT
void
glmc_persp_sizes_lh_no(mat4 proj, float fovy, vec4 dest);
CGLM_EXPORT
float
glmc_persp_fovy_lh_no(mat4 proj);
CGLM_EXPORT
float
glmc_persp_aspect_lh_no(mat4 proj);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_persp_lh_no_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_persp_lh_zo_h
#define cglmc_persp_lh_zo_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_frustum_lh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest);
CGLM_EXPORT
void
glmc_perspective_lh_zo(float fovy,
float aspect,
float nearVal,
float farVal,
mat4 dest);
CGLM_EXPORT
void
glmc_persp_move_far_lh_zo(mat4 proj, float deltaFar);
CGLM_EXPORT
void
glmc_persp_decomp_lh_zo(mat4 proj,
float * __restrict nearZ, float * __restrict farZ,
float * __restrict top, float * __restrict bottom,
float * __restrict left, float * __restrict right);
CGLM_EXPORT
void
glmc_persp_decompv_lh_zo(mat4 proj, float dest[6]);
CGLM_EXPORT
void
glmc_persp_decomp_x_lh_zo(mat4 proj,
float * __restrict left,
float * __restrict right);
CGLM_EXPORT
void
glmc_persp_decomp_y_lh_zo(mat4 proj,
float * __restrict top,
float * __restrict bottom);
CGLM_EXPORT
void
glmc_persp_decomp_z_lh_zo(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ);
CGLM_EXPORT
void
glmc_persp_decomp_far_lh_zo(mat4 proj, float * __restrict farZ);
CGLM_EXPORT
void
glmc_persp_decomp_near_lh_zo(mat4 proj, float * __restrict nearZ);
CGLM_EXPORT
void
glmc_persp_sizes_lh_zo(mat4 proj, float fovy, vec4 dest);
CGLM_EXPORT
float
glmc_persp_fovy_lh_zo(mat4 proj);
CGLM_EXPORT
float
glmc_persp_aspect_lh_zo(mat4 proj);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_persp_lh_zo_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_persp_rh_no_h
#define cglmc_persp_rh_no_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_frustum_rh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest);
CGLM_EXPORT
void
glmc_perspective_rh_no(float fovy,
float aspect,
float nearVal,
float farVal,
mat4 dest);
CGLM_EXPORT
void
glmc_persp_move_far_rh_no(mat4 proj, float deltaFar);
CGLM_EXPORT
void
glmc_persp_decomp_rh_no(mat4 proj,
float * __restrict nearZ, float * __restrict farZ,
float * __restrict top, float * __restrict bottom,
float * __restrict left, float * __restrict right);
CGLM_EXPORT
void
glmc_persp_decompv_rh_no(mat4 proj, float dest[6]);
CGLM_EXPORT
void
glmc_persp_decomp_x_rh_no(mat4 proj,
float * __restrict left,
float * __restrict right);
CGLM_EXPORT
void
glmc_persp_decomp_y_rh_no(mat4 proj,
float * __restrict top,
float * __restrict bottom);
CGLM_EXPORT
void
glmc_persp_decomp_z_rh_no(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ);
CGLM_EXPORT
void
glmc_persp_decomp_far_rh_no(mat4 proj, float * __restrict farZ);
CGLM_EXPORT
void
glmc_persp_decomp_near_rh_no(mat4 proj, float * __restrict nearZ);
CGLM_EXPORT
void
glmc_persp_sizes_rh_no(mat4 proj, float fovy, vec4 dest);
CGLM_EXPORT
float
glmc_persp_fovy_rh_no(mat4 proj);
CGLM_EXPORT
float
glmc_persp_aspect_rh_no(mat4 proj);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_persp_rh_no_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_persp_rh_zo_h
#define cglmc_persp_rh_zo_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_frustum_rh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest);
CGLM_EXPORT
void
glmc_perspective_rh_zo(float fovy,
float aspect,
float nearVal,
float farVal,
mat4 dest);
CGLM_EXPORT
void
glmc_persp_move_far_rh_zo(mat4 proj, float deltaFar);
CGLM_EXPORT
void
glmc_persp_decomp_rh_zo(mat4 proj,
float * __restrict nearZ, float * __restrict farZ,
float * __restrict top, float * __restrict bottom,
float * __restrict left, float * __restrict right);
CGLM_EXPORT
void
glmc_persp_decompv_rh_zo(mat4 proj, float dest[6]);
CGLM_EXPORT
void
glmc_persp_decomp_x_rh_zo(mat4 proj,
float * __restrict left,
float * __restrict right);
CGLM_EXPORT
void
glmc_persp_decomp_y_rh_zo(mat4 proj,
float * __restrict top,
float * __restrict bottom);
CGLM_EXPORT
void
glmc_persp_decomp_z_rh_zo(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ);
CGLM_EXPORT
void
glmc_persp_decomp_far_rh_zo(mat4 proj, float * __restrict farZ);
CGLM_EXPORT
void
glmc_persp_decomp_near_rh_zo(mat4 proj, float * __restrict nearZ);
CGLM_EXPORT
void
glmc_persp_sizes_rh_zo(mat4 proj, float fovy, vec4 dest);
CGLM_EXPORT
float
glmc_persp_fovy_rh_zo(mat4 proj);
CGLM_EXPORT
float
glmc_persp_aspect_rh_zo(mat4 proj);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_persp_rh_zo_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_project_no_h
#define cglmc_project_no_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_unprojecti_no(vec3 pos, mat4 invMat, vec4 vp, vec3 dest);
CGLM_EXPORT
void
glmc_project_no(vec3 pos, mat4 m, vec4 vp, vec3 dest);
CGLM_EXPORT
float
glmc_project_z_no(vec3 pos, mat4 m);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_project_no_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_project_zo_h
#define cglmc_project_zo_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_unprojecti_zo(vec3 pos, mat4 invMat, vec4 vp, vec3 dest);
CGLM_EXPORT
void
glmc_project_zo(vec3 pos, mat4 m, vec4 vp, vec3 dest);
CGLM_EXPORT
float
glmc_project_z_zo(vec3 pos, mat4 m);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_project_zo_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_view_lh_no_h
#define cglmc_view_lh_no_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_lookat_lh_no(vec3 eye, vec3 center, vec3 up, mat4 dest);
CGLM_EXPORT
void
glmc_look_lh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest);
CGLM_EXPORT
void
glmc_look_anyup_lh_no(vec3 eye, vec3 dir, mat4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_view_lh_no_h */

31
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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_view_lh_zo_h
#define cglmc_view_lh_zo_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_lookat_lh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest);
CGLM_EXPORT
void
glmc_look_lh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest);
CGLM_EXPORT
void
glmc_look_anyup_lh_zo(vec3 eye, vec3 dir, mat4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_view_lh_zo_h */

31
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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_view_rh_no_h
#define cglmc_view_rh_no_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_lookat_rh_no(vec3 eye, vec3 center, vec3 up, mat4 dest);
CGLM_EXPORT
void
glmc_look_rh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest);
CGLM_EXPORT
void
glmc_look_anyup_rh_no(vec3 eye, vec3 dir, mat4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_view_rh_no_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_view_rh_zo_h
#define cglmc_view_rh_zo_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../../cglm.h"
CGLM_EXPORT
void
glmc_lookat_rh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest);
CGLM_EXPORT
void
glmc_look_rh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest);
CGLM_EXPORT
void
glmc_look_anyup_rh_zo(vec3 eye, vec3 dir, mat4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_view_rh_zo_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_curve_h
#define cglmc_curve_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
float
glmc_smc(float s, mat4 m, vec4 c);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_curve_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_ease_h
#define cglmc_ease_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
float
glmc_ease_linear(float t);
CGLM_EXPORT
float
glmc_ease_sine_in(float t);
CGLM_EXPORT
float
glmc_ease_sine_out(float t);
CGLM_EXPORT
float
glmc_ease_sine_inout(float t);
CGLM_EXPORT
float
glmc_ease_quad_in(float t);
CGLM_EXPORT
float
glmc_ease_quad_out(float t);
CGLM_EXPORT
float
glmc_ease_quad_inout(float t);
CGLM_EXPORT
float
glmc_ease_cubic_in(float t);
CGLM_EXPORT
float
glmc_ease_cubic_out(float t);
CGLM_EXPORT
float
glmc_ease_cubic_inout(float t);
CGLM_EXPORT
float
glmc_ease_quart_in(float t);
CGLM_EXPORT
float
glmc_ease_quart_out(float t);
CGLM_EXPORT
float
glmc_ease_quart_inout(float t);
CGLM_EXPORT
float
glmc_ease_quint_in(float t);
CGLM_EXPORT
float
glmc_ease_quint_out(float t);
CGLM_EXPORT
float
glmc_ease_quint_inout(float t);
CGLM_EXPORT
float
glmc_ease_exp_in(float t);
CGLM_EXPORT
float
glmc_ease_exp_out(float t);
CGLM_EXPORT
float
glmc_ease_exp_inout(float t);
CGLM_EXPORT
float
glmc_ease_circ_in(float t);
CGLM_EXPORT
float
glmc_ease_circ_out(float t);
CGLM_EXPORT
float
glmc_ease_circ_inout(float t);
CGLM_EXPORT
float
glmc_ease_back_in(float t);
CGLM_EXPORT
float
glmc_ease_back_out(float t);
CGLM_EXPORT
float
glmc_ease_back_inout(float t);
CGLM_EXPORT
float
glmc_ease_elast_in(float t);
CGLM_EXPORT
float
glmc_ease_elast_out(float t);
CGLM_EXPORT
float
glmc_ease_elast_inout(float t);
CGLM_EXPORT
float
glmc_ease_bounce_out(float t);
CGLM_EXPORT
float
glmc_ease_bounce_in(float t);
CGLM_EXPORT
float
glmc_ease_bounce_inout(float t);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_ease_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_euler_h
#define cglmc_euler_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_euler_angles(mat4 m, vec3 dest);
CGLM_EXPORT
void
glmc_euler(vec3 angles, mat4 dest);
CGLM_EXPORT
void
glmc_euler_xyz(vec3 angles, mat4 dest);
CGLM_EXPORT
void
glmc_euler_zyx(vec3 angles, mat4 dest);
CGLM_EXPORT
void
glmc_euler_zxy(vec3 angles, mat4 dest);
CGLM_EXPORT
void
glmc_euler_xzy(vec3 angles, mat4 dest);
CGLM_EXPORT
void
glmc_euler_yzx(vec3 angles, mat4 dest);
CGLM_EXPORT
void
glmc_euler_yxz(vec3 angles, mat4 dest);
CGLM_EXPORT
void
glmc_euler_by_order(vec3 angles, glm_euler_seq axis, mat4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_euler_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_frustum_h
#define cglmc_frustum_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_frustum_planes(mat4 m, vec4 dest[6]);
CGLM_EXPORT
void
glmc_frustum_corners(mat4 invMat, vec4 dest[8]);
CGLM_EXPORT
void
glmc_frustum_center(vec4 corners[8], vec4 dest);
CGLM_EXPORT
void
glmc_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]);
CGLM_EXPORT
void
glmc_frustum_corners_at(vec4 corners[8],
float splitDist,
float farDist,
vec4 planeCorners[4]);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_frustum_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_io_h
#define cglmc_io_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_mat4_print(mat4 matrix,
FILE * __restrict ostream);
CGLM_EXPORT
void
glmc_mat3_print(mat3 matrix,
FILE * __restrict ostream);
CGLM_EXPORT
void
glmc_vec4_print(vec4 vec,
FILE * __restrict ostream);
CGLM_EXPORT
void
glmc_vec3_print(vec3 vec,
FILE * __restrict ostream);
CGLM_EXPORT
void
glmc_versor_print(versor vec,
FILE * __restrict ostream);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_io_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_ivec2_h
#define cglmc_ivec2_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_ivec2(int * __restrict v, ivec2 dest);
CGLM_EXPORT
void
glmc_ivec2_copy(ivec2 a, ivec2 dest);
CGLM_EXPORT
void
glmc_ivec2_zero(ivec2 v);
CGLM_EXPORT
void
glmc_ivec2_one(ivec2 v);
CGLM_EXPORT
void
glmc_ivec2_add(ivec2 a, ivec2 b, ivec2 dest);
CGLM_EXPORT
void
glmc_ivec2_adds(ivec2 v, int s, ivec2 dest);
CGLM_EXPORT
void
glmc_ivec2_sub(ivec2 a, ivec2 b, ivec2 dest);
CGLM_EXPORT
void
glmc_ivec2_subs(ivec2 v, int s, ivec2 dest);
CGLM_EXPORT
void
glmc_ivec2_mul(ivec2 a, ivec2 b, ivec2 dest);
CGLM_EXPORT
void
glmc_ivec2_scale(ivec2 v, int s, ivec2 dest);
CGLM_EXPORT
int
glmc_ivec2_distance2(ivec2 a, ivec2 b);
CGLM_EXPORT
float
glmc_ivec2_distance(ivec2 a, ivec2 b);
CGLM_EXPORT
void
glmc_ivec2_maxv(ivec2 a, ivec2 b, ivec2 dest);
CGLM_EXPORT
void
glmc_ivec2_minv(ivec2 a, ivec2 b, ivec2 dest);
CGLM_EXPORT
void
glmc_ivec2_clamp(ivec2 v, int minVal, int maxVal);
CGLM_EXPORT
void
glmc_ivec2_abs(ivec2 v, ivec2 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_ivec2_h */

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/*
* Copyright (c);, Recep Aslantas.
*
* MIT License (MIT);, http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_ivec3_h
#define cglmc_ivec3_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_ivec3(ivec4 v4, ivec3 dest);
CGLM_EXPORT
void
glmc_ivec3_copy(ivec3 a, ivec3 dest);
CGLM_EXPORT
void
glmc_ivec3_zero(ivec3 v);
CGLM_EXPORT
void
glmc_ivec3_one(ivec3 v);
CGLM_EXPORT
void
glmc_ivec3_add(ivec3 a, ivec3 b, ivec3 dest);
CGLM_EXPORT
void
glmc_ivec3_adds(ivec3 v, int s, ivec3 dest);
CGLM_EXPORT
void
glmc_ivec3_sub(ivec3 a, ivec3 b, ivec3 dest);
CGLM_EXPORT
void
glmc_ivec3_subs(ivec3 v, int s, ivec3 dest);
CGLM_EXPORT
void
glmc_ivec3_mul(ivec3 a, ivec3 b, ivec3 dest);
CGLM_EXPORT
void
glmc_ivec3_scale(ivec3 v, int s, ivec3 dest);
CGLM_EXPORT
int
glmc_ivec3_distance2(ivec3 a, ivec3 b);
CGLM_EXPORT
float
glmc_ivec3_distance(ivec3 a, ivec3 b);
CGLM_EXPORT
void
glmc_ivec3_maxv(ivec3 a, ivec3 b, ivec3 dest);
CGLM_EXPORT
void
glmc_ivec3_minv(ivec3 a, ivec3 b, ivec3 dest);
CGLM_EXPORT
void
glmc_ivec3_clamp(ivec3 v, int minVal, int maxVal);
CGLM_EXPORT
void
glmc_ivec3_abs(ivec3 v, ivec3 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_ivec3_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_ivec4_h
#define cglmc_ivec4_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_ivec4(ivec3 v3, int last, ivec4 dest);
CGLM_EXPORT
void
glmc_ivec4_copy(ivec4 a, ivec4 dest);
CGLM_EXPORT
void
glmc_ivec4_zero(ivec4 v);
CGLM_EXPORT
void
glmc_ivec4_one(ivec4 v);
CGLM_EXPORT
void
glmc_ivec4_add(ivec4 a, ivec4 b, ivec4 dest);
CGLM_EXPORT
void
glmc_ivec4_adds(ivec4 v, int s, ivec4 dest);
CGLM_EXPORT
void
glmc_ivec4_sub(ivec4 a, ivec4 b, ivec4 dest);
CGLM_EXPORT
void
glmc_ivec4_subs(ivec4 v, int s, ivec4 dest);
CGLM_EXPORT
void
glmc_ivec4_mul(ivec4 a, ivec4 b, ivec4 dest);
CGLM_EXPORT
void
glmc_ivec4_scale(ivec4 v, int s, ivec4 dest);
CGLM_EXPORT
int
glmc_ivec4_distance2(ivec4 a, ivec4 b);
CGLM_EXPORT
float
glmc_ivec4_distance(ivec4 a, ivec4 b);
CGLM_EXPORT
void
glmc_ivec4_maxv(ivec4 a, ivec4 b, ivec4 dest);
CGLM_EXPORT
void
glmc_ivec4_minv(ivec4 a, ivec4 b, ivec4 dest);
CGLM_EXPORT
void
glmc_ivec4_clamp(ivec4 v, int minVal, int maxVal);
CGLM_EXPORT
void
glmc_ivec4_abs(ivec4 v, ivec4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_ivec4_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_mat2_h
#define cglmc_mat2_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_mat2_copy(mat2 mat, mat2 dest);
CGLM_EXPORT
void
glmc_mat2_identity(mat2 mat);
CGLM_EXPORT
void
glmc_mat2_identity_array(mat2 * __restrict mat, size_t count);
CGLM_EXPORT
void
glmc_mat2_zero(mat2 mat);
CGLM_EXPORT
void
glmc_mat2_mul(mat2 m1, mat2 m2, mat2 dest);
CGLM_EXPORT
void
glmc_mat2_transpose_to(mat2 m, mat2 dest);
CGLM_EXPORT
void
glmc_mat2_transpose(mat2 m);
CGLM_EXPORT
void
glmc_mat2_mulv(mat2 m, vec2 v, vec2 dest);
CGLM_EXPORT
float
glmc_mat2_trace(mat2 m);
CGLM_EXPORT
void
glmc_mat2_scale(mat2 m, float s);
CGLM_EXPORT
float
glmc_mat2_det(mat2 mat);
CGLM_EXPORT
void
glmc_mat2_inv(mat2 mat, mat2 dest);
CGLM_EXPORT
void
glmc_mat2_swap_col(mat2 mat, int col1, int col2);
CGLM_EXPORT
void
glmc_mat2_swap_row(mat2 mat, int row1, int row2);
CGLM_EXPORT
float
glmc_mat2_rmc(vec2 r, mat2 m, vec2 c);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_mat2_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_mat3_h
#define cglmc_mat3_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
/* DEPRECATED! use _copy, _ucopy versions */
#define glmc_mat3_dup(mat, dest) glmc_mat3_copy(mat, dest)
CGLM_EXPORT
void
glmc_mat3_copy(mat3 mat, mat3 dest);
CGLM_EXPORT
void
glmc_mat3_identity(mat3 mat);
CGLM_EXPORT
void
glmc_mat3_zero(mat3 mat);
CGLM_EXPORT
void
glmc_mat3_identity_array(mat3 * __restrict mat, size_t count);
CGLM_EXPORT
void
glmc_mat3_mul(mat3 m1, mat3 m2, mat3 dest);
CGLM_EXPORT
void
glmc_mat3_transpose_to(mat3 m, mat3 dest);
CGLM_EXPORT
void
glmc_mat3_transpose(mat3 m);
CGLM_EXPORT
void
glmc_mat3_mulv(mat3 m, vec3 v, vec3 dest);
CGLM_EXPORT
float
glmc_mat3_trace(mat3 m);
CGLM_EXPORT
void
glmc_mat3_quat(mat3 m, versor dest);
CGLM_EXPORT
void
glmc_mat3_scale(mat3 m, float s);
CGLM_EXPORT
float
glmc_mat3_det(mat3 mat);
CGLM_EXPORT
void
glmc_mat3_inv(mat3 mat, mat3 dest);
CGLM_EXPORT
void
glmc_mat3_swap_col(mat3 mat, int col1, int col2);
CGLM_EXPORT
void
glmc_mat3_swap_row(mat3 mat, int row1, int row2);
CGLM_EXPORT
float
glmc_mat3_rmc(vec3 r, mat3 m, vec3 c);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_mat3_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_mat_h
#define cglmc_mat_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
/* DEPRECATED! use _copy, _ucopy versions */
#define glmc_mat4_udup(mat, dest) glmc_mat4_ucopy(mat, dest)
#define glmc_mat4_dup(mat, dest) glmc_mat4_copy(mat, dest)
CGLM_EXPORT
void
glmc_mat4_ucopy(mat4 mat, mat4 dest);
CGLM_EXPORT
void
glmc_mat4_copy(mat4 mat, mat4 dest);
CGLM_EXPORT
void
glmc_mat4_identity(mat4 mat);
CGLM_EXPORT
void
glmc_mat4_identity_array(mat4 * __restrict mat, size_t count);
CGLM_EXPORT
void
glmc_mat4_zero(mat4 mat);
CGLM_EXPORT
void
glmc_mat4_pick3(mat4 mat, mat3 dest);
CGLM_EXPORT
void
glmc_mat4_pick3t(mat4 mat, mat3 dest);
CGLM_EXPORT
void
glmc_mat4_ins3(mat3 mat, mat4 dest);
CGLM_EXPORT
void
glmc_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
CGLM_EXPORT
void
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_mulv3(mat4 m, vec3 v, float last, vec3 dest);
CGLM_EXPORT
float
glmc_mat4_trace(mat4 m);
CGLM_EXPORT
float
glmc_mat4_trace3(mat4 m);
CGLM_EXPORT
void
glmc_mat4_quat(mat4 m, versor dest);
CGLM_EXPORT
void
glmc_mat4_transpose_to(mat4 m, mat4 dest);
CGLM_EXPORT
void
glmc_mat4_transpose(mat4 m);
CGLM_EXPORT
void
glmc_mat4_scale_p(mat4 m, float s);
CGLM_EXPORT
void
glmc_mat4_scale(mat4 m, float s);
CGLM_EXPORT
float
glmc_mat4_det(mat4 mat);
CGLM_EXPORT
void
glmc_mat4_inv(mat4 mat, mat4 dest);
CGLM_EXPORT
void
glmc_mat4_inv_precise(mat4 mat, mat4 dest);
CGLM_EXPORT
void
glmc_mat4_inv_fast(mat4 mat, mat4 dest);
CGLM_EXPORT
void
glmc_mat4_swap_col(mat4 mat, int col1, int col2);
CGLM_EXPORT
void
glmc_mat4_swap_row(mat4 mat, int row1, int row2);
CGLM_EXPORT
float
glmc_mat4_rmc(vec4 r, mat4 m, vec4 c);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_mat_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_plane_h
#define cglmc_plane_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_plane_normalize(vec4 plane);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_plane_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_project_h
#define cglmc_project_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest);
CGLM_EXPORT
void
glmc_unproject(vec3 pos, mat4 m, vec4 vp, vec3 dest);
CGLM_EXPORT
void
glmc_project(vec3 pos, mat4 m, vec4 vp, vec3 dest);
CGLM_EXPORT
float
glmc_project_z(vec3 pos, mat4 m);
CGLM_EXPORT
void
glmc_pickmatrix(vec2 center, vec2 size, vec4 vp, mat4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_project_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_quat_h
#define cglmc_quat_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_quat_identity(versor q);
CGLM_EXPORT
void
glmc_quat_identity_array(versor * __restrict q, size_t count);
CGLM_EXPORT
void
glmc_quat_init(versor q, float x, float y, float z, float w);
CGLM_EXPORT
void
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
void
glmc_quat_from_vecs(vec3 a, vec3 b, 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 p, versor q);
CGLM_EXPORT
void
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, vec3 dest);
CGLM_EXPORT
void
glmc_quat_mul(versor p, versor q, versor dest);
CGLM_EXPORT
void
glmc_quat_mat4(versor q, mat4 dest);
CGLM_EXPORT
void
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_lerpc(versor from, versor to, float t, versor dest);
CGLM_EXPORT
void
glmc_quat_nlerp(versor q, versor r, 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 up, versor dest);
CGLM_EXPORT
void
glmc_quat_forp(vec3 from, vec3 to, 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
}
#endif
#endif /* cglmc_quat_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_ray_h
#define cglmc_ray_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
bool
glmc_ray_triangle(vec3 origin,
vec3 direction,
vec3 v0,
vec3 v1,
vec3 v2,
float *d);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_ray_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_sphere_h
#define cglmc_sphere_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
float
glmc_sphere_radii(vec4 s);
CGLM_EXPORT
void
glmc_sphere_transform(vec4 s, mat4 m, vec4 dest);
CGLM_EXPORT
void
glmc_sphere_merge(vec4 s1, vec4 s2, vec4 dest);
CGLM_EXPORT
bool
glmc_sphere_sphere(vec4 s1, vec4 s2);
CGLM_EXPORT
bool
glmc_sphere_point(vec4 s, vec3 point);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_sphere_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_vec2_h
#define cglmc_vec2_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
CGLM_EXPORT
void
glmc_vec2(float * __restrict v, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_copy(vec2 a, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_zero(vec2 v);
CGLM_EXPORT
void
glmc_vec2_one(vec2 v);
CGLM_EXPORT
float
glmc_vec2_dot(vec2 a, vec2 b);
CGLM_EXPORT
float
glmc_vec2_cross(vec2 a, vec2 b);
CGLM_EXPORT
float
glmc_vec2_norm2(vec2 v);
CGLM_EXPORT
float
glmc_vec2_norm(vec2 v);
CGLM_EXPORT
void
glmc_vec2_add(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_adds(vec2 v, float s, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_sub(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_subs(vec2 v, float s, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_mul(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_scale(vec2 v, float s, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_scale_as(vec2 v, float s, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_div(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_divs(vec2 v, float s, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_addadd(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_subadd(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_muladd(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_muladds(vec2 a, float s, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_maxadd(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_minadd(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_negate_to(vec2 v, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_negate(vec2 v);
CGLM_EXPORT
void
glmc_vec2_normalize(vec2 v);
CGLM_EXPORT
void
glmc_vec2_normalize_to(vec2 v, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_rotate(vec2 v, float angle, vec2 dest);
CGLM_EXPORT
float
glmc_vec2_distance2(vec2 a, vec2 b);
CGLM_EXPORT
float
glmc_vec2_distance(vec2 a, vec2 b);
CGLM_EXPORT
void
glmc_vec2_maxv(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_minv(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_clamp(vec2 v, float minval, float maxval);
CGLM_EXPORT
void
glmc_vec2_abs(vec2 v, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_lerp(vec2 from, vec2 to, float t, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_complex_mul(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_complex_div(vec2 a, vec2 b, vec2 dest);
CGLM_EXPORT
void
glmc_vec2_complex_conjugate(vec2 a, vec2 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_vec2_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_vec3_h
#define cglmc_vec3_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
/* DEPRECATED! use _copy, _ucopy versions */
#define glmc_vec_dup(v, dest) glmc_vec3_copy(v, dest)
#define glmc_vec3_flipsign(v) glmc_vec3_negate(v)
#define glmc_vec3_flipsign_to(v, dest) glmc_vec3_negate_to(v, dest)
#define glmc_vec3_inv(v) glmc_vec3_negate(v)
#define glmc_vec3_inv_to(v, dest) glmc_vec3_negate_to(v, dest)
CGLM_EXPORT
void
glmc_vec3(vec4 v4, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_copy(vec3 a, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_zero(vec3 v);
CGLM_EXPORT
void
glmc_vec3_one(vec3 v);
CGLM_EXPORT
float
glmc_vec3_dot(vec3 a, vec3 b);
CGLM_EXPORT
void
glmc_vec3_cross(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_crossn(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
float
glmc_vec3_norm(vec3 v);
CGLM_EXPORT
float
glmc_vec3_norm2(vec3 v);
CGLM_EXPORT
float
glmc_vec3_norm_one(vec3 v);
CGLM_EXPORT
float
glmc_vec3_norm_inf(vec3 v);
CGLM_EXPORT
void
glmc_vec3_normalize_to(vec3 v, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_normalize(vec3 v);
CGLM_EXPORT
void
glmc_vec3_add(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_adds(vec3 v, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_sub(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_subs(vec3 v, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_mul(vec3 a, vec3 b, vec3 d);
CGLM_EXPORT
void
glmc_vec3_scale(vec3 v, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_scale_as(vec3 v, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_div(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_divs(vec3 a, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_addadd(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_subadd(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_muladd(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_muladds(vec3 a, float s, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_maxadd(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_minadd(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_negate(vec3 v);
CGLM_EXPORT
void
glmc_vec3_negate_to(vec3 v, vec3 dest);
CGLM_EXPORT
float
glmc_vec3_angle(vec3 a, vec3 b);
CGLM_EXPORT
void
glmc_vec3_rotate(vec3 v, float angle, vec3 axis);
CGLM_EXPORT
void
glmc_vec3_rotate_m4(mat4 m, vec3 v, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_rotate_m3(mat3 m, vec3 v, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_proj(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_center(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
float
glmc_vec3_distance2(vec3 a, vec3 b);
CGLM_EXPORT
float
glmc_vec3_distance(vec3 a, vec3 b);
CGLM_EXPORT
void
glmc_vec3_maxv(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_minv(vec3 a, vec3 b, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_clamp(vec3 v, float minVal, float maxVal);
CGLM_EXPORT
void
glmc_vec3_ortho(vec3 v, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_lerp(vec3 from, vec3 to, float t, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_lerpc(vec3 from, vec3 to, float t, vec3 dest);
CGLM_INLINE
void
glmc_vec3_mix(vec3 from, vec3 to, float t, vec3 dest) {
glmc_vec3_lerp(from, to, t, dest);
}
CGLM_INLINE
void
glmc_vec3_mixc(vec3 from, vec3 to, float t, vec3 dest) {
glmc_vec3_lerpc(from, to, t, dest);
}
CGLM_EXPORT
void
glmc_vec3_step_uni(float edge, vec3 x, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_step(vec3 edge, vec3 x, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_smoothstep_uni(float edge0, float edge1, vec3 x, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_smoothstep(vec3 edge0, vec3 edge1, vec3 x, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_smoothinterp(vec3 from, vec3 to, float t, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_smoothinterpc(vec3 from, vec3 to, float t, vec3 dest);
/* ext */
CGLM_EXPORT
void
glmc_vec3_mulv(vec3 a, vec3 b, vec3 d);
CGLM_EXPORT
void
glmc_vec3_broadcast(float val, vec3 d);
CGLM_EXPORT
void
glmc_vec3_fill(vec3 v, float val);
CGLM_EXPORT
bool
glmc_vec3_eq(vec3 v, float val);
CGLM_EXPORT
bool
glmc_vec3_eq_eps(vec3 v, float val);
CGLM_EXPORT
bool
glmc_vec3_eq_all(vec3 v);
CGLM_EXPORT
bool
glmc_vec3_eqv(vec3 a, vec3 b);
CGLM_EXPORT
bool
glmc_vec3_eqv_eps(vec3 a, vec3 b);
CGLM_EXPORT
float
glmc_vec3_max(vec3 v);
CGLM_EXPORT
float
glmc_vec3_min(vec3 v);
CGLM_EXPORT
bool
glmc_vec3_isnan(vec3 v);
CGLM_EXPORT
bool
glmc_vec3_isinf(vec3 v);
CGLM_EXPORT
bool
glmc_vec3_isvalid(vec3 v);
CGLM_EXPORT
void
glmc_vec3_sign(vec3 v, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_abs(vec3 v, vec3 dest);
CGLM_EXPORT
void
glmc_vec3_fract(vec3 v, vec3 dest);
CGLM_EXPORT
float
glmc_vec3_hadd(vec3 v);
CGLM_EXPORT
void
glmc_vec3_sqrt(vec3 v, vec3 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_vec3_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglmc_vec4_h
#define cglmc_vec4_h
#ifdef __cplusplus
extern "C" {
#endif
#include "../cglm.h"
/* DEPRECATED! use _copy, _ucopy versions */
#define glmc_vec4_dup3(v, dest) glmc_vec4_copy3(v, dest)
#define glmc_vec4_dup(v, dest) glmc_vec4_copy(v, dest)
#define glmc_vec4_flipsign(v) glmc_vec4_negate(v)
#define glmc_vec4_flipsign_to(v, dest) glmc_vec4_negate_to(v, dest)
#define glmc_vec4_inv(v) glmc_vec4_negate(v)
#define glmc_vec4_inv_to(v, dest) glmc_vec4_negate_to(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 v, vec3 dest);
CGLM_EXPORT
void
glmc_vec4_copy(vec4 v, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_ucopy(vec4 v, vec4 dest);
CGLM_EXPORT
float
glmc_vec4_dot(vec4 a, vec4 b);
CGLM_EXPORT
float
glmc_vec4_norm(vec4 v);
CGLM_EXPORT
float
glmc_vec4_norm2(vec4 v);
CGLM_EXPORT
float
glmc_vec4_norm_one(vec4 v);
CGLM_EXPORT
float
glmc_vec4_norm_inf(vec4 v);
CGLM_EXPORT
void
glmc_vec4_normalize_to(vec4 v, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_normalize(vec4 v);
CGLM_EXPORT
void
glmc_vec4_add(vec4 a, vec4 b, vec4 dest);
CGLM_EXPORT
void
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
glmc_vec4_scale(vec4 v, float s, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_scale_as(vec4 v, float s, vec4 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_maxadd(vec4 a, vec4 b, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_minadd(vec4 a, vec4 b, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_negate(vec4 v);
CGLM_EXPORT
void
glmc_vec4_negate_to(vec4 v, vec4 dest);
CGLM_EXPORT
float
glmc_vec4_distance(vec4 a, vec4 b);
CGLM_EXPORT
float
glmc_vec4_distance2(vec4 a, vec4 b);
CGLM_EXPORT
void
glmc_vec4_maxv(vec4 a, vec4 b, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_minv(vec4 a, vec4 b, vec4 dest);
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);
CGLM_EXPORT
void
glmc_vec4_lerpc(vec4 from, vec4 to, float t, vec4 dest);
CGLM_INLINE
void
glmc_vec4_mix(vec4 from, vec4 to, float t, vec4 dest) {
glmc_vec4_lerp(from, to, t, dest);
}
CGLM_INLINE
void
glmc_vec4_mixc(vec4 from, vec4 to, float t, vec4 dest) {
glmc_vec4_lerpc(from, to, t, dest);
}
CGLM_EXPORT
void
glmc_vec4_step_uni(float edge, vec4 x, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_step(vec4 edge, vec4 x, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_smoothstep_uni(float edge0, float edge1, vec4 x, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_smoothstep(vec4 edge0, vec4 edge1, vec4 x, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_smoothinterp(vec4 from, vec4 to, float t, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_smoothinterpc(vec4 from, vec4 to, float t, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_cubic(float s, 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
void
glmc_vec4_fill(vec4 v, float val);
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 a, vec4 b);
CGLM_EXPORT
bool
glmc_vec4_eqv_eps(vec4 a, vec4 b);
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_abs(vec4 v, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_fract(vec4 v, vec4 dest);
CGLM_EXPORT
float
glmc_vec4_hadd(vec4 v);
CGLM_EXPORT
void
glmc_vec4_sqrt(vec4 v, vec4 dest);
#ifdef __cplusplus
}
#endif
#endif /* cglmc_vec4_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_frustum(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest)
CGLM_INLINE void glm_ortho(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest)
CGLM_INLINE void glm_ortho_aabb(vec3 box[2], mat4 dest)
CGLM_INLINE void glm_ortho_aabb_p(vec3 box[2], float padding, mat4 dest)
CGLM_INLINE void glm_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest)
CGLM_INLINE void glm_ortho_default(float aspect, mat4 dest)
CGLM_INLINE void glm_ortho_default_s(float aspect, float size, mat4 dest)
CGLM_INLINE void glm_perspective(float fovy,
float aspect,
float nearZ,
float farZ,
mat4 dest)
CGLM_INLINE void glm_perspective_default(float aspect, mat4 dest)
CGLM_INLINE void glm_perspective_resize(float aspect, mat4 proj)
CGLM_INLINE void glm_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest)
CGLM_INLINE void glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_anyup(vec3 eye, vec3 dir, mat4 dest)
CGLM_INLINE void glm_persp_decomp(mat4 proj,
float *nearZ, float *farZ,
float *top, float *bottom,
float *left, float *right)
CGLM_INLINE void glm_persp_decompv(mat4 proj, float dest[6])
CGLM_INLINE void glm_persp_decomp_x(mat4 proj, float *left, float *right)
CGLM_INLINE void glm_persp_decomp_y(mat4 proj, float *top, float *bottom)
CGLM_INLINE void glm_persp_decomp_z(mat4 proj, float *nearv, float *farv)
CGLM_INLINE void glm_persp_decomp_far(mat4 proj, float *farZ)
CGLM_INLINE void glm_persp_decomp_near(mat4 proj, float *nearZ)
CGLM_INLINE float glm_persp_fovy(mat4 proj)
CGLM_INLINE float glm_persp_aspect(mat4 proj)
CGLM_INLINE void glm_persp_sizes(mat4 proj, float fovy, vec4 dest)
*/
#ifndef cglm_cam_h
#define cglm_cam_h
#include "common.h"
#include "plane.h"
#include "clipspace/persp.h"
#ifndef CGLM_CLIPSPACE_INCLUDE_ALL
# if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
# include "clipspace/ortho_lh_zo.h"
# include "clipspace/persp_lh_zo.h"
# include "clipspace/view_lh_zo.h"
# elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
# include "clipspace/ortho_lh_no.h"
# include "clipspace/persp_lh_no.h"
# include "clipspace/view_lh_no.h"
# elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
# include "clipspace/ortho_rh_zo.h"
# include "clipspace/persp_rh_zo.h"
# include "clipspace/view_rh_zo.h"
# elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
# include "clipspace/ortho_rh_no.h"
# include "clipspace/persp_rh_no.h"
# include "clipspace/view_rh_no.h"
# endif
#else
# include "clipspace/ortho_lh_zo.h"
# include "clipspace/persp_lh_zo.h"
# include "clipspace/ortho_lh_no.h"
# include "clipspace/persp_lh_no.h"
# include "clipspace/ortho_rh_zo.h"
# include "clipspace/persp_rh_zo.h"
# include "clipspace/ortho_rh_no.h"
# include "clipspace/persp_rh_no.h"
# include "clipspace/view_lh_zo.h"
# include "clipspace/view_lh_no.h"
# include "clipspace/view_rh_zo.h"
# include "clipspace/view_rh_no.h"
#endif
/*!
* @brief set up perspective peprojection matrix
*
* @param[in] left viewport.left
* @param[in] right viewport.right
* @param[in] bottom viewport.bottom
* @param[in] top viewport.top
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping plane
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_frustum(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_frustum_lh_zo(left, right, bottom, top, nearZ, farZ, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_frustum_lh_no(left, right, bottom, top, nearZ, farZ, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_frustum_rh_zo(left, right, bottom, top, nearZ, farZ, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_frustum_rh_no(left, right, bottom, top, nearZ, farZ, dest);
#endif
}
/*!
* @brief set up orthographic projection matrix
*
* @param[in] left viewport.left
* @param[in] right viewport.right
* @param[in] bottom viewport.bottom
* @param[in] top viewport.top
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping plane
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_ortho_lh_zo(left, right, bottom, top, nearZ, farZ, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_ortho_lh_no(left, right, bottom, top, nearZ, farZ, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_ortho_rh_zo(left, right, bottom, top, nearZ, farZ, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_ortho_rh_no(left, right, bottom, top, nearZ, farZ, dest);
#endif
}
/*!
* @brief set up orthographic projection matrix using bounding box
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb(vec3 box[2], mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_ortho_aabb_lh_zo(box, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_ortho_aabb_lh_no(box, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_ortho_aabb_rh_zo(box, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_ortho_aabb_rh_no(box, dest);
#endif
}
/*!
* @brief set up orthographic projection matrix using bounding box
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[in] padding padding
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_p(vec3 box[2], float padding, mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_ortho_aabb_p_lh_zo(box, padding, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_ortho_aabb_p_lh_no(box, padding, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_ortho_aabb_p_rh_zo(box, padding, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_ortho_aabb_p_rh_no(box, padding, dest);
#endif
}
/*!
* @brief set up orthographic projection matrix using bounding box
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[in] padding padding for near and far
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_pz(vec3 box[2], float padding, mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_ortho_aabb_pz_lh_zo(box, padding, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_ortho_aabb_pz_lh_no(box, padding, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_ortho_aabb_pz_rh_zo(box, padding, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_ortho_aabb_pz_rh_no(box, padding, dest);
#endif
}
/*!
* @brief set up unit orthographic projection matrix
*
* @param[in] aspect aspect ration ( width / height )
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_default(float aspect, mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_ortho_default_lh_zo(aspect, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_ortho_default_lh_no(aspect, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_ortho_default_rh_zo(aspect, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_ortho_default_rh_no(aspect, dest);
#endif
}
/*!
* @brief set up orthographic projection matrix with given CUBE size
*
* @param[in] aspect aspect ratio ( width / height )
* @param[in] size cube size
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_default_s(float aspect, float size, mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_ortho_default_s_lh_zo(aspect, size, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_ortho_default_s_lh_no(aspect, size, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_ortho_default_s_rh_zo(aspect, size, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_ortho_default_s_rh_no(aspect, size, dest);
#endif
}
/*!
* @brief set up perspective projection matrix
*
* @param[in] fovy field of view angle
* @param[in] aspect aspect ratio ( width / height )
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping planes
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_perspective(float fovy, float aspect, float nearZ, float farZ, mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_perspective_lh_zo(fovy, aspect, nearZ, farZ, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_perspective_lh_no(fovy, aspect, nearZ, farZ, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_perspective_rh_zo(fovy, aspect, nearZ, farZ, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_perspective_rh_no(fovy, aspect, nearZ, farZ, dest);
#endif
}
/*!
* @brief extend perspective projection matrix's far distance
*
* this function does not guarantee far >= near, be aware of that!
*
* @param[in, out] proj projection matrix to extend
* @param[in] deltaFar distance from existing far (negative to shink)
*/
CGLM_INLINE
void
glm_persp_move_far(mat4 proj, float deltaFar) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_persp_move_far_lh_zo(proj, deltaFar);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_persp_move_far_lh_no(proj, deltaFar);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_persp_move_far_rh_zo(proj, deltaFar);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_persp_move_far_rh_no(proj, deltaFar);
#endif
}
/*!
* @brief set up perspective projection matrix with default near/far
* and angle values
*
* @param[in] aspect aspect ratio ( width / height )
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_perspective_default(float aspect, mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_perspective_default_lh_zo(aspect, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_perspective_default_lh_no(aspect, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_perspective_default_rh_zo(aspect, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_perspective_default_rh_no(aspect, dest);
#endif
}
/*!
* @brief resize perspective matrix by aspect ratio ( width / height )
* this makes very easy to resize proj matrix when window /viewport
* reized
*
* @param[in] aspect aspect ratio ( width / height )
* @param[in, out] proj perspective projection matrix
*/
CGLM_INLINE
void
glm_perspective_resize(float aspect, mat4 proj) {
if (proj[0][0] == 0.0f)
return;
proj[0][0] = proj[1][1] / aspect;
}
/*!
* @brief set up view matrix
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] center center vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_lookat(vec3 eye, vec3 center, vec3 up, mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_LH_BIT
glm_lookat_lh(eye, center, up, dest);
#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_RH_BIT
glm_lookat_rh(eye, center, up, dest);
#endif
}
/*!
* @brief set up view matrix
*
* convenient wrapper for lookat: if you only have direction not target self
* then this might be useful. Because you need to get target from direction.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_LH_BIT
glm_look_lh(eye, dir, up, dest);
#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_RH_BIT
glm_look_rh(eye, dir, up, dest);
#endif
}
/*!
* @brief set up view matrix
*
* convenient wrapper for look: if you only have direction and if you don't
* care what UP vector is then this might be useful to create view matrix
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_anyup(vec3 eye, vec3 dir, mat4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_LH_BIT
glm_look_anyup_lh(eye, dir, dest);
#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_RH_BIT
glm_look_anyup_rh(eye, dir, dest);
#endif
}
/*!
* @brief decomposes frustum values of perspective projection.
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
* @param[out] farZ far
* @param[out] top top
* @param[out] bottom bottom
* @param[out] left left
* @param[out] right right
*/
CGLM_INLINE
void
glm_persp_decomp(mat4 proj,
float * __restrict nearZ, float * __restrict farZ,
float * __restrict top, float * __restrict bottom,
float * __restrict left, float * __restrict right) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_persp_decomp_lh_zo(proj, nearZ, farZ, top, bottom, left, right);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_persp_decomp_lh_no(proj, nearZ, farZ, top, bottom, left, right);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_persp_decomp_rh_zo(proj, nearZ, farZ, top, bottom, left, right);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_persp_decomp_rh_no(proj, nearZ, farZ, top, bottom, left, right);
#endif
}
/*!
* @brief decomposes frustum values of perspective projection.
* this makes easy to get all values at once
*
* @param[in] proj perspective projection matrix
* @param[out] dest array
*/
CGLM_INLINE
void
glm_persp_decompv(mat4 proj, float dest[6]) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_persp_decompv_lh_zo(proj, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_persp_decompv_lh_no(proj, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_persp_decompv_rh_zo(proj, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_persp_decompv_rh_no(proj, dest);
#endif
}
/*!
* @brief decomposes left and right values of perspective projection.
* x stands for x axis (left / right axis)
*
* @param[in] proj perspective projection matrix
* @param[out] left left
* @param[out] right right
*/
CGLM_INLINE
void
glm_persp_decomp_x(mat4 proj,
float * __restrict left,
float * __restrict right) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_persp_decomp_x_lh_zo(proj, left, right);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_persp_decomp_x_lh_no(proj, left, right);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_persp_decomp_x_rh_zo(proj, left, right);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_persp_decomp_x_rh_no(proj, left, right);
#endif
}
/*!
* @brief decomposes top and bottom values of perspective projection.
* y stands for y axis (top / botom axis)
*
* @param[in] proj perspective projection matrix
* @param[out] top top
* @param[out] bottom bottom
*/
CGLM_INLINE
void
glm_persp_decomp_y(mat4 proj,
float * __restrict top,
float * __restrict bottom) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_persp_decomp_y_lh_zo(proj, top, bottom);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_persp_decomp_y_lh_no(proj, top, bottom);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_persp_decomp_y_rh_zo(proj, top, bottom);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_persp_decomp_y_rh_no(proj, top, bottom);
#endif
}
/*!
* @brief decomposes near and far values of perspective projection.
* z stands for z axis (near / far axis)
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
* @param[out] farZ far
*/
CGLM_INLINE
void
glm_persp_decomp_z(mat4 proj, float * __restrict nearZ, float * __restrict farZ) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_persp_decomp_z_lh_zo(proj, nearZ, farZ);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_persp_decomp_z_lh_no(proj, nearZ, farZ);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_persp_decomp_z_rh_zo(proj, nearZ, farZ);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_persp_decomp_z_rh_no(proj, nearZ, farZ);
#endif
}
/*!
* @brief decomposes far value of perspective projection.
*
* @param[in] proj perspective projection matrix
* @param[out] farZ far
*/
CGLM_INLINE
void
glm_persp_decomp_far(mat4 proj, float * __restrict farZ) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_persp_decomp_far_lh_zo(proj, farZ);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_persp_decomp_far_lh_no(proj, farZ);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_persp_decomp_far_rh_zo(proj, farZ);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_persp_decomp_far_rh_no(proj, farZ);
#endif
}
/*!
* @brief decomposes near value of perspective projection.
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
*/
CGLM_INLINE
void
glm_persp_decomp_near(mat4 proj, float * __restrict nearZ) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_persp_decomp_near_lh_zo(proj, nearZ);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_persp_decomp_near_lh_no(proj, nearZ);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_persp_decomp_near_rh_zo(proj, nearZ);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_persp_decomp_near_rh_no(proj, nearZ);
#endif
}
/*!
* @brief returns sizes of near and far planes of perspective projection
*
* @param[in] proj perspective projection matrix
* @param[in] fovy fovy (see brief)
* @param[out] dest sizes order: [Wnear, Hnear, Wfar, Hfar]
*/
CGLM_INLINE
void
glm_persp_sizes(mat4 proj, float fovy, vec4 dest) {
#if CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_ZO
glm_persp_sizes_lh_zo(proj, fovy, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_LH_NO
glm_persp_sizes_lh_no(proj, fovy, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_ZO
glm_persp_sizes_rh_zo(proj, fovy, dest);
#elif CGLM_CONFIG_CLIP_CONTROL == CGLM_CLIP_CONTROL_RH_NO
glm_persp_sizes_rh_no(proj, fovy, dest);
#endif
}
#endif /* cglm_cam_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_h
#define cglm_h
#include "common.h"
#include "vec2.h"
#include "vec3.h"
#include "vec4.h"
#include "ivec2.h"
#include "ivec3.h"
#include "ivec4.h"
#include "mat4.h"
#include "mat3.h"
#include "mat2.h"
#include "affine.h"
#include "cam.h"
#include "frustum.h"
#include "quat.h"
#include "euler.h"
#include "plane.h"
#include "box.h"
#include "color.h"
#include "util.h"
#include "io.h"
#include "project.h"
#include "sphere.h"
#include "ease.h"
#include "curve.h"
#include "bezier.h"
#include "ray.h"
#include "affine2d.h"
#endif /* cglm_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_ortho_lh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest)
CGLM_INLINE void glm_ortho_aabb_lh_no(vec3 box[2], mat4 dest)
CGLM_INLINE void glm_ortho_aabb_p_lh_no(vec3 box[2],
float padding,
mat4 dest)
CGLM_INLINE void glm_ortho_aabb_pz_lh_no(vec3 box[2],
float padding,
mat4 dest)
CGLM_INLINE void glm_ortho_default_lh_no(float aspect,
mat4 dest)
CGLM_INLINE void glm_ortho_default_s_lh_no(float aspect,
float size,
mat4 dest)
*/
#ifndef cglm_ortho_lh_no_h
#define cglm_ortho_lh_no_h
#include "../common.h"
#include "../plane.h"
#include "../mat4.h"
/*!
* @brief set up orthographic projection matrix
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] left viewport.left
* @param[in] right viewport.right
* @param[in] bottom viewport.bottom
* @param[in] top viewport.top
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping plane
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_lh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest) {
float rl, tb, fn;
glm_mat4_zero(dest);
rl = 1.0f / (right - left);
tb = 1.0f / (top - bottom);
fn =-1.0f / (farZ - nearZ);
dest[0][0] = 2.0f * rl;
dest[1][1] = 2.0f * tb;
dest[2][2] =-2.0f * fn;
dest[3][0] =-(right + left) * rl;
dest[3][1] =-(top + bottom) * tb;
dest[3][2] = (farZ + nearZ) * fn;
dest[3][3] = 1.0f;
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_lh_no(vec3 box[2], mat4 dest) {
glm_ortho_lh_no(box[0][0], box[1][0],
box[0][1], box[1][1],
-box[1][2], -box[0][2],
dest);
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[in] padding padding
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_p_lh_no(vec3 box[2], float padding, mat4 dest) {
glm_ortho_lh_no(box[0][0] - padding, box[1][0] + padding,
box[0][1] - padding, box[1][1] + padding,
-(box[1][2] + padding), -(box[0][2] - padding),
dest);
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[in] padding padding for near and far
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_pz_lh_no(vec3 box[2], float padding, mat4 dest) {
glm_ortho_lh_no(box[0][0], box[1][0],
box[0][1], box[1][1],
-(box[1][2] + padding), -(box[0][2] - padding),
dest);
}
/*!
* @brief set up unit orthographic projection matrix
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] aspect aspect ration ( width / height )
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_default_lh_no(float aspect, mat4 dest) {
if (aspect >= 1.0f) {
glm_ortho_lh_no(-aspect, aspect, -1.0f, 1.0f, -100.0f, 100.0f, dest);
return;
}
aspect = 1.0f / aspect;
glm_ortho_lh_no(-1.0f, 1.0f, -aspect, aspect, -100.0f, 100.0f, dest);
}
/*!
* @brief set up orthographic projection matrix with given CUBE size
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] aspect aspect ratio ( width / height )
* @param[in] size cube size
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_default_s_lh_no(float aspect, float size, mat4 dest) {
if (aspect >= 1.0f) {
glm_ortho_lh_no(-size * aspect,
size * aspect,
-size,
size,
-size - 100.0f,
size + 100.0f,
dest);
return;
}
glm_ortho_lh_no(-size,
size,
-size / aspect,
size / aspect,
-size - 100.0f,
size + 100.0f,
dest);
}
#endif /*cglm_ortho_lh_no_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_ortho_lh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest)
CGLM_INLINE void glm_ortho_aabb_lh_zo(vec3 box[2], mat4 dest)
CGLM_INLINE void glm_ortho_aabb_p_lh_zo(vec3 box[2],
float padding,
mat4 dest)
CGLM_INLINE void glm_ortho_aabb_pz_lh_zo(vec3 box[2],
float padding,
mat4 dest)
CGLM_INLINE void glm_ortho_default_lh_zo(float aspect,
mat4 dest)
CGLM_INLINE void glm_ortho_default_s_lh_zo(float aspect,
float size,
mat4 dest)
*/
#ifndef cglm_ortho_lh_zo_h
#define cglm_ortho_lh_zo_h
#include "../common.h"
#include "../plane.h"
#include "../mat4.h"
/*!
* @brief set up orthographic projection matrix with a left-hand coordinate
* system and a clip-space of [0, 1].
*
* @param[in] left viewport.left
* @param[in] right viewport.right
* @param[in] bottom viewport.bottom
* @param[in] top viewport.top
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping plane
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_lh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest) {
float rl, tb, fn;
glm_mat4_zero(dest);
rl = 1.0f / (right - left);
tb = 1.0f / (top - bottom);
fn =-1.0f / (farZ - nearZ);
dest[0][0] = 2.0f * rl;
dest[1][1] = 2.0f * tb;
dest[2][2] =-fn;
dest[3][0] =-(right + left) * rl;
dest[3][1] =-(top + bottom) * tb;
dest[3][2] = nearZ * fn;
dest[3][3] = 1.0f;
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a left-hand coordinate system and a clip-space of [0, 1].
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_lh_zo(vec3 box[2], mat4 dest) {
glm_ortho_lh_zo(box[0][0], box[1][0],
box[0][1], box[1][1],
-box[1][2], -box[0][2],
dest);
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a left-hand coordinate system and a clip-space of [0, 1].
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[in] padding padding
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_p_lh_zo(vec3 box[2], float padding, mat4 dest) {
glm_ortho_lh_zo(box[0][0] - padding, box[1][0] + padding,
box[0][1] - padding, box[1][1] + padding,
-(box[1][2] + padding), -(box[0][2] - padding),
dest);
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a left-hand coordinate system and a clip-space of [0, 1].
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[in] padding padding for near and far
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_pz_lh_zo(vec3 box[2], float padding, mat4 dest) {
glm_ortho_lh_zo(box[0][0], box[1][0],
box[0][1], box[1][1],
-(box[1][2] + padding), -(box[0][2] - padding),
dest);
}
/*!
* @brief set up unit orthographic projection matrix
* with a left-hand coordinate system and a clip-space of [0, 1].
*
* @param[in] aspect aspect ration ( width / height )
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_default_lh_zo(float aspect, mat4 dest) {
if (aspect >= 1.0f) {
glm_ortho_lh_zo(-aspect, aspect, -1.0f, 1.0f, -100.0f, 100.0f, dest);
return;
}
aspect = 1.0f / aspect;
glm_ortho_lh_zo(-1.0f, 1.0f, -aspect, aspect, -100.0f, 100.0f, dest);
}
/*!
* @brief set up orthographic projection matrix with given CUBE size
* with a left-hand coordinate system and a clip-space of [0, 1].
*
* @param[in] aspect aspect ratio ( width / height )
* @param[in] size cube size
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_default_s_lh_zo(float aspect, float size, mat4 dest) {
if (aspect >= 1.0f) {
glm_ortho_lh_zo(-size * aspect,
size * aspect,
-size,
size,
-size - 100.0f,
size + 100.0f,
dest);
return;
}
glm_ortho_lh_zo(-size,
size,
-size / aspect,
size / aspect,
-size - 100.0f,
size + 100.0f,
dest);
}
#endif /*cglm_ortho_lh_zo_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_ortho_rh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest)
CGLM_INLINE void glm_ortho_aabb_rh_no(vec3 box[2], mat4 dest)
CGLM_INLINE void glm_ortho_aabb_p_rh_no(vec3 box[2],
float padding,
mat4 dest)
CGLM_INLINE void glm_ortho_aabb_pz_rh_no(vec3 box[2],
float padding,
mat4 dest)
CGLM_INLINE void glm_ortho_default_rh_no(float aspect,
mat4 dest)
CGLM_INLINE void glm_ortho_default_s_rh_no(float aspect,
float size,
mat4 dest)
*/
#ifndef cglm_ortho_rh_no_h
#define cglm_ortho_rh_no_h
#include "../common.h"
#include "../plane.h"
#include "../mat4.h"
/*!
* @brief set up orthographic projection matrix
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] left viewport.left
* @param[in] right viewport.right
* @param[in] bottom viewport.bottom
* @param[in] top viewport.top
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping plane
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_rh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest) {
float rl, tb, fn;
glm_mat4_zero(dest);
rl = 1.0f / (right - left);
tb = 1.0f / (top - bottom);
fn =-1.0f / (farZ - nearZ);
dest[0][0] = 2.0f * rl;
dest[1][1] = 2.0f * tb;
dest[2][2] = 2.0f * fn;
dest[3][0] =-(right + left) * rl;
dest[3][1] =-(top + bottom) * tb;
dest[3][2] = (farZ + nearZ) * fn;
dest[3][3] = 1.0f;
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_rh_no(vec3 box[2], mat4 dest) {
glm_ortho_rh_no(box[0][0], box[1][0],
box[0][1], box[1][1],
-box[1][2], -box[0][2],
dest);
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[in] padding padding
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_p_rh_no(vec3 box[2], float padding, mat4 dest) {
glm_ortho_rh_no(box[0][0] - padding, box[1][0] + padding,
box[0][1] - padding, box[1][1] + padding,
-(box[1][2] + padding), -(box[0][2] - padding),
dest);
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[in] padding padding for near and far
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_pz_rh_no(vec3 box[2], float padding, mat4 dest) {
glm_ortho_rh_no(box[0][0], box[1][0],
box[0][1], box[1][1],
-(box[1][2] + padding), -(box[0][2] - padding),
dest);
}
/*!
* @brief set up unit orthographic projection matrix
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] aspect aspect ration ( width / height )
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_default_rh_no(float aspect, mat4 dest) {
if (aspect >= 1.0f) {
glm_ortho_rh_no(-aspect, aspect, -1.0f, 1.0f, -100.0f, 100.0f, dest);
return;
}
aspect = 1.0f / aspect;
glm_ortho_rh_no(-1.0f, 1.0f, -aspect, aspect, -100.0f, 100.0f, dest);
}
/*!
* @brief set up orthographic projection matrix with given CUBE size
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] aspect aspect ratio ( width / height )
* @param[in] size cube size
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_default_s_rh_no(float aspect, float size, mat4 dest) {
if (aspect >= 1.0f) {
glm_ortho_rh_no(-size * aspect,
size * aspect,
-size,
size,
-size - 100.0f,
size + 100.0f,
dest);
return;
}
glm_ortho_rh_no(-size,
size,
-size / aspect,
size / aspect,
-size - 100.0f,
size + 100.0f,
dest);
}
#endif /*cglm_ortho_rh_no_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_ortho_rh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest)
CGLM_INLINE void glm_ortho_aabb_rh_zo(vec3 box[2], mat4 dest)
CGLM_INLINE void glm_ortho_aabb_p_rh_zo(vec3 box[2],
float padding,
mat4 dest)
CGLM_INLINE void glm_ortho_aabb_pz_rh_zo(vec3 box[2],
float padding,
mat4 dest)
CGLM_INLINE void glm_ortho_default_rh_zo(float aspect,
mat4 dest)
CGLM_INLINE void glm_ortho_default_s_rh_zo(float aspect,
float size,
mat4 dest)
*/
#ifndef cglm_ortho_rh_zo_h
#define cglm_ortho_rh_zo_h
#include "../common.h"
#include "../plane.h"
#include "../mat4.h"
/*!
* @brief set up orthographic projection matrix with a right-hand coordinate
* system and a clip-space of [0, 1].
*
* @param[in] left viewport.left
* @param[in] right viewport.right
* @param[in] bottom viewport.bottom
* @param[in] top viewport.top
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping plane
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_rh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest) {
float rl, tb, fn;
glm_mat4_zero(dest);
rl = 1.0f / (right - left);
tb = 1.0f / (top - bottom);
fn =-1.0f / (farZ - nearZ);
dest[0][0] = 2.0f * rl;
dest[1][1] = 2.0f * tb;
dest[2][2] = fn;
dest[3][0] =-(right + left) * rl;
dest[3][1] =-(top + bottom) * tb;
dest[3][2] = nearZ * fn;
dest[3][3] = 1.0f;
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a right-hand coordinate system and a clip-space with depth
* values from zero to one.
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_rh_zo(vec3 box[2], mat4 dest) {
glm_ortho_rh_zo(box[0][0], box[1][0],
box[0][1], box[1][1],
-box[1][2], -box[0][2],
dest);
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a right-hand coordinate system and a clip-space with depth
* values from zero to one.
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[in] padding padding
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_p_rh_zo(vec3 box[2], float padding, mat4 dest) {
glm_ortho_rh_zo(box[0][0] - padding, box[1][0] + padding,
box[0][1] - padding, box[1][1] + padding,
-(box[1][2] + padding), -(box[0][2] - padding),
dest);
}
/*!
* @brief set up orthographic projection matrix using bounding box
* with a right-hand coordinate system and a clip-space with depth
* values from zero to one.
*
* bounding box (AABB) must be in view space
*
* @param[in] box AABB
* @param[in] padding padding for near and far
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_aabb_pz_rh_zo(vec3 box[2], float padding, mat4 dest) {
glm_ortho_rh_zo(box[0][0], box[1][0],
box[0][1], box[1][1],
-(box[1][2] + padding), -(box[0][2] - padding),
dest);
}
/*!
* @brief set up unit orthographic projection matrix with a right-hand
* coordinate system and a clip-space of [0, 1].
*
* @param[in] aspect aspect ration ( width / height )
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_default_rh_zo(float aspect, mat4 dest) {
if (aspect >= 1.0f) {
glm_ortho_rh_zo(-aspect, aspect, -1.0f, 1.0f, -100.0f, 100.0f, dest);
return;
}
aspect = 1.0f / aspect;
glm_ortho_rh_zo(-1.0f, 1.0f, -aspect, aspect, -100.0f, 100.0f, dest);
}
/*!
* @brief set up orthographic projection matrix with given CUBE size
* with a right-hand coordinate system and a clip-space with depth
* values from zero to one.
*
* @param[in] aspect aspect ratio ( width / height )
* @param[in] size cube size
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_ortho_default_s_rh_zo(float aspect, float size, mat4 dest) {
if (aspect >= 1.0f) {
glm_ortho_rh_zo(-size * aspect,
size * aspect,
-size,
size,
-size - 100.0f,
size + 100.0f,
dest);
return;
}
glm_ortho_rh_zo(-size,
size,
-size / aspect,
size / aspect,
-size - 100.0f,
size + 100.0f,
dest);
}
#endif /*cglm_ortho_rh_zo_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_persp_decomp_far(mat4 proj, float *farZ)
CGLM_INLINE float glm_persp_fovy(mat4 proj)
CGLM_INLINE float glm_persp_aspect(mat4 proj)
CGLM_INLINE void glm_persp_sizes(mat4 proj, float fovy, vec4 dest)
*/
#ifndef cglm_persp_h
#define cglm_persp_h
#include "../common.h"
#include "../plane.h"
#include "../mat4.h"
/*!
* @brief returns field of view angle along the Y-axis (in radians)
*
* if you need to degrees, use glm_deg to convert it or use this:
* fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
*
* @param[in] proj perspective projection matrix
*/
CGLM_INLINE
float
glm_persp_fovy(mat4 proj) {
return 2.0f * atanf(1.0f / proj[1][1]);
}
/*!
* @brief returns aspect ratio of perspective projection
*
* @param[in] proj perspective projection matrix
*/
CGLM_INLINE
float
glm_persp_aspect(mat4 proj) {
return proj[1][1] / proj[0][0];
}
#endif /* cglm_persp_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_frustum_lh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest)
CGLM_INLINE void glm_perspective_lh_no(float fovy,
float aspect,
float nearZ,
float farZ,
mat4 dest)
CGLM_INLINE void glm_perspective_default_lh_no(float aspect, mat4 dest)
CGLM_INLINE void glm_perspective_resize_lh_no(float aspect, mat4 proj)
CGLM_INLINE void glm_persp_move_far_lh_no(mat4 proj,
float deltaFar)
CGLM_INLINE void glm_persp_decomp_lh_no(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ,
float * __restrict top,
float * __restrict bottom,
float * __restrict left,
float * __restrict right)
CGLM_INLINE void glm_persp_decompv_lh_no(mat4 proj,
float dest[6])
CGLM_INLINE void glm_persp_decomp_x_lh_no(mat4 proj,
float * __restrict left,
float * __restrict right)
CGLM_INLINE void glm_persp_decomp_y_lh_no(mat4 proj,
float * __restrict top,
float * __restrict bottom)
CGLM_INLINE void glm_persp_decomp_z_lh_no(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ)
CGLM_INLINE void glm_persp_decomp_far_lh_no(mat4 proj, float * __restrict farZ)
CGLM_INLINE void glm_persp_decomp_near_lh_no(mat4 proj, float * __restrict nearZ)
CGLM_INLINE void glm_persp_sizes_lh_no(mat4 proj, float fovy, vec4 dest)
*/
#ifndef cglm_persp_lh_no_h
#define cglm_persp_lh_no_h
#include "../common.h"
#include "persp.h"
/*!
* @brief set up perspective peprojection matrix
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] left viewport.left
* @param[in] right viewport.right
* @param[in] bottom viewport.bottom
* @param[in] top viewport.top
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping plane
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_frustum_lh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest) {
float rl, tb, fn, nv;
glm_mat4_zero(dest);
rl = 1.0f / (right - left);
tb = 1.0f / (top - bottom);
fn =-1.0f / (farZ - nearZ);
nv = 2.0f * nearZ;
dest[0][0] = nv * rl;
dest[1][1] = nv * tb;
dest[2][0] = (right + left) * rl;
dest[2][1] = (top + bottom) * tb;
dest[2][2] =-(farZ + nearZ) * fn;
dest[2][3] = 1.0f;
dest[3][2] = farZ * nv * fn;
}
/*!
* @brief set up perspective projection matrix
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] fovy field of view angle
* @param[in] aspect aspect ratio ( width / height )
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping planes
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_perspective_lh_no(float fovy,
float aspect,
float nearZ,
float farZ,
mat4 dest) {
float f, fn;
glm_mat4_zero(dest);
f = 1.0f / tanf(fovy * 0.5f);
fn = 1.0f / (nearZ - farZ);
dest[0][0] = f / aspect;
dest[1][1] = f;
dest[2][2] =-(nearZ + farZ) * fn;
dest[2][3] = 1.0f;
dest[3][2] = 2.0f * nearZ * farZ * fn;
}
/*!
* @brief set up perspective projection matrix with default near/far
* and angle values with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] aspect aspect ratio ( width / height )
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_perspective_default_lh_no(float aspect, mat4 dest) {
glm_perspective_lh_no(GLM_PI_4f, aspect, 0.01f, 100.0f, dest);
}
/*!
* @brief resize perspective matrix by aspect ratio ( width / height )
* this makes very easy to resize proj matrix when window /viewport
* resized with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] aspect aspect ratio ( width / height )
* @param[in, out] proj perspective projection matrix
*/
CGLM_INLINE
void
glm_perspective_resize_lh_no(float aspect, mat4 proj) {
if (proj[0][0] == 0.0f)
return;
proj[0][0] = proj[1][1] / aspect;
}
/*!
* @brief extend perspective projection matrix's far distance
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* this function does not guarantee far >= near, be aware of that!
*
* @param[in, out] proj projection matrix to extend
* @param[in] deltaFar distance from existing far (negative to shink)
*/
CGLM_INLINE
void
glm_persp_move_far_lh_no(mat4 proj, float deltaFar) {
float fn, farZ, nearZ, p22, p32;
p22 = -proj[2][2];
p32 = proj[3][2];
nearZ = p32 / (p22 - 1.0f);
farZ = p32 / (p22 + 1.0f) + deltaFar;
fn = 1.0f / (nearZ - farZ);
proj[2][2] = -(farZ + nearZ) * fn;
proj[3][2] = 2.0f * nearZ * farZ * fn;
}
/*!
* @brief decomposes frustum values of perspective projection
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
* @param[out] farZ far
* @param[out] top top
* @param[out] bottom bottom
* @param[out] left left
* @param[out] right right
*/
CGLM_INLINE
void
glm_persp_decomp_lh_no(mat4 proj,
float * __restrict nearZ, float * __restrict farZ,
float * __restrict top, float * __restrict bottom,
float * __restrict left, float * __restrict right) {
float m00, m11, m20, m21, m22, m32, n, f;
float n_m11, n_m00;
m00 = proj[0][0];
m11 = proj[1][1];
m20 = proj[2][0];
m21 = proj[2][1];
m22 =-proj[2][2];
m32 = proj[3][2];
n = m32 / (m22 - 1.0f);
f = m32 / (m22 + 1.0f);
n_m11 = n / m11;
n_m00 = n / m00;
*nearZ = n;
*farZ = f;
*bottom = n_m11 * (m21 - 1.0f);
*top = n_m11 * (m21 + 1.0f);
*left = n_m00 * (m20 - 1.0f);
*right = n_m00 * (m20 + 1.0f);
}
/*!
* @brief decomposes frustum values of perspective projection
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
* this makes easy to get all values at once
*
* @param[in] proj perspective projection matrix
* @param[out] dest array
*/
CGLM_INLINE
void
glm_persp_decompv_lh_no(mat4 proj, float dest[6]) {
glm_persp_decomp_lh_no(proj, &dest[0], &dest[1], &dest[2],
&dest[3], &dest[4], &dest[5]);
}
/*!
* @brief decomposes left and right values of perspective projection
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
* x stands for x axis (left / right axis)
*
* @param[in] proj perspective projection matrix
* @param[out] left left
* @param[out] right right
*/
CGLM_INLINE
void
glm_persp_decomp_x_lh_no(mat4 proj,
float * __restrict left,
float * __restrict right) {
float nearZ, m20, m00, m22;
m00 = proj[0][0];
m20 = proj[2][0];
m22 =-proj[2][2];
nearZ = proj[3][2] / (m22 - 1.0f);
*left = nearZ * (m20 - 1.0f) / m00;
*right = nearZ * (m20 + 1.0f) / m00;
}
/*!
* @brief decomposes top and bottom values of perspective projection
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
* y stands for y axis (top / botom axis)
*
* @param[in] proj perspective projection matrix
* @param[out] top top
* @param[out] bottom bottom
*/
CGLM_INLINE
void
glm_persp_decomp_y_lh_no(mat4 proj,
float * __restrict top,
float * __restrict bottom) {
float nearZ, m21, m11, m22;
m21 = proj[2][1];
m11 = proj[1][1];
m22 =-proj[2][2];
nearZ = proj[3][2] / (m22 - 1.0f);
*bottom = nearZ * (m21 - 1.0f) / m11;
*top = nearZ * (m21 + 1.0f) / m11;
}
/*!
* @brief decomposes near and far values of perspective projection
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
* z stands for z axis (near / far axis)
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
* @param[out] farZ far
*/
CGLM_INLINE
void
glm_persp_decomp_z_lh_no(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ) {
float m32, m22;
m32 = proj[3][2];
m22 =-proj[2][2];
*nearZ = m32 / (m22 - 1.0f);
*farZ = m32 / (m22 + 1.0f);
}
/*!
* @brief decomposes far value of perspective projection
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] farZ far
*/
CGLM_INLINE
void
glm_persp_decomp_far_lh_no(mat4 proj, float * __restrict farZ) {
*farZ = proj[3][2] / (-proj[2][2] + 1.0f);
}
/*!
* @brief decomposes near value of perspective projection
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
*/
CGLM_INLINE
void
glm_persp_decomp_near_lh_no(mat4 proj, float * __restrict nearZ) {
*nearZ = proj[3][2] / (-proj[2][2] - 1.0f);
}
/*!
* @brief returns sizes of near and far planes of perspective projection
* with a left-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] proj perspective projection matrix
* @param[in] fovy fovy (see brief)
* @param[out] dest sizes order: [Wnear, Hnear, Wfar, Hfar]
*/
CGLM_INLINE
void
glm_persp_sizes_lh_no(mat4 proj, float fovy, vec4 dest) {
float t, a, nearZ, farZ;
t = 2.0f * tanf(fovy * 0.5f);
a = glm_persp_aspect(proj);
glm_persp_decomp_z_lh_no(proj, &nearZ, &farZ);
dest[1] = t * nearZ;
dest[3] = t * farZ;
dest[0] = a * dest[1];
dest[2] = a * dest[3];
}
/*!
* @brief returns field of view angle along the Y-axis (in radians)
* with a left-hand coordinate system and a clip-space of [-1, 1].
*
* if you need to degrees, use glm_deg to convert it or use this:
* fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
*
* @param[in] proj perspective projection matrix
*/
CGLM_INLINE
float
glm_persp_fovy_lh_no(mat4 proj) {
return glm_persp_fovy(proj);
}
/*!
* @brief returns aspect ratio of perspective projection
* with a left-hand coordinate system and a clip-space of [-1, 1].
*
* @param[in] proj perspective projection matrix
*/
CGLM_INLINE
float
glm_persp_aspect_lh_no(mat4 proj) {
return glm_persp_aspect(proj);
}
#endif /*cglm_cam_lh_no_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_frustum_lh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest)
CGLM_INLINE void glm_perspective_lh_zo(float fovy,
float aspect,
float nearZ,
float farZ,
mat4 dest)
CGLM_INLINE void glm_perspective_default_lh_zo(float aspect, mat4 dest)
CGLM_INLINE void glm_perspective_resize_lh_zo(float aspect, mat4 proj)
CGLM_INLINE void glm_persp_move_far_lh_zo(mat4 proj,
float deltaFar)
CGLM_INLINE void glm_persp_decomp_lh_zo(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ,
float * __restrict top,
float * __restrict bottom,
float * __restrict left,
float * __restrict right)
CGLM_INLINE void glm_persp_decompv_lh_zo(mat4 proj,
float dest[6])
CGLM_INLINE void glm_persp_decomp_x_lh_zo(mat4 proj,
float * __restrict left,
float * __restrict right)
CGLM_INLINE void glm_persp_decomp_y_lh_zo(mat4 proj,
float * __restrict top,
float * __restrict bottom)
CGLM_INLINE void glm_persp_decomp_z_lh_zo(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ)
CGLM_INLINE void glm_persp_decomp_far_lh_zo(mat4 proj, float * __restrict farZ)
CGLM_INLINE void glm_persp_decomp_near_lh_zo(mat4 proj, float * __restrict nearZ)
CGLM_INLINE void glm_persp_sizes_lh_zo(mat4 proj, float fovy, vec4 dest)
*/
#ifndef cglm_persp_lh_zo_h
#define cglm_persp_lh_zo_h
#include "../common.h"
#include "persp.h"
/*!
* @brief set up perspective peprojection matrix with a left-hand coordinate
* system and a clip-space of [0, 1].
*
* @param[in] left viewport.left
* @param[in] right viewport.right
* @param[in] bottom viewport.bottom
* @param[in] top viewport.top
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping plane
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_frustum_lh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest) {
float rl, tb, fn, nv;
glm_mat4_zero(dest);
rl = 1.0f / (right - left);
tb = 1.0f / (top - bottom);
fn =-1.0f / (farZ - nearZ);
nv = 2.0f * nearZ;
dest[0][0] = nv * rl;
dest[1][1] = nv * tb;
dest[2][0] = (right + left) * rl;
dest[2][1] = (top + bottom) * tb;
dest[2][2] =-farZ * fn;
dest[2][3] = 1.0f;
dest[3][2] = farZ * nearZ * fn;
}
/*!
* @brief set up perspective projection matrix with a left-hand coordinate
* system and a clip-space of [0, 1].
*
* @param[in] fovy field of view angle
* @param[in] aspect aspect ratio ( width / height )
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping planes
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_perspective_lh_zo(float fovy,
float aspect,
float nearZ,
float farZ,
mat4 dest) {
float f, fn;
glm_mat4_zero(dest);
f = 1.0f / tanf(fovy * 0.5f);
fn = 1.0f / (nearZ - farZ);
dest[0][0] = f / aspect;
dest[1][1] = f;
dest[2][2] =-farZ * fn;
dest[2][3] = 1.0f;
dest[3][2] = nearZ * farZ * fn;
}
/*!
* @brief extend perspective projection matrix's far distance with a
* left-hand coordinate system and a clip-space with depth values
* from zero to one.
*
* this function does not guarantee far >= near, be aware of that!
*
* @param[in, out] proj projection matrix to extend
* @param[in] deltaFar distance from existing far (negative to shink)
*/
CGLM_INLINE
void
glm_persp_move_far_lh_zo(mat4 proj, float deltaFar) {
float fn, farZ, nearZ, p22, p32;
p22 = -proj[2][2];
p32 = proj[3][2];
nearZ = p32 / p22;
farZ = p32 / (p22 + 1.0f) + deltaFar;
fn = 1.0f / (nearZ - farZ);
proj[2][2] = -farZ * fn;
proj[3][2] = nearZ * farZ * fn;
}
/*!
* @brief set up perspective projection matrix with default near/far
* and angle values with a left-hand coordinate system and a
* clip-space of [0, 1].
*
* @param[in] aspect aspect ratio ( width / height )
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_perspective_default_lh_zo(float aspect, mat4 dest) {
glm_perspective_lh_zo(GLM_PI_4f, aspect, 0.01f, 100.0f, dest);
}
/*!
* @brief resize perspective matrix by aspect ratio ( width / height )
* this makes very easy to resize proj matrix when window /viewport
* reized
*
* @param[in] aspect aspect ratio ( width / height )
* @param[in, out] proj perspective projection matrix
*/
CGLM_INLINE
void
glm_perspective_resize_lh_zo(float aspect, mat4 proj) {
if (proj[0][0] == 0.0f)
return;
proj[0][0] = proj[1][1] / aspect;
}
/*!
* @brief decomposes frustum values of perspective projection
* with angle values with a left-hand coordinate system and a
* clip-space of [0, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
* @param[out] farZ far
* @param[out] top top
* @param[out] bottom bottom
* @param[out] left left
* @param[out] right right
*/
CGLM_INLINE
void
glm_persp_decomp_lh_zo(mat4 proj,
float * __restrict nearZ, float * __restrict farZ,
float * __restrict top, float * __restrict bottom,
float * __restrict left, float * __restrict right) {
float m00, m11, m20, m21, m22, m32, n, f;
float n_m11, n_m00;
m00 = proj[0][0];
m11 = proj[1][1];
m20 = proj[2][0];
m21 = proj[2][1];
m22 =-proj[2][2];
m32 = proj[3][2];
n = m32 / m22;
f = m32 / (m22 + 1.0f);
n_m11 = n / m11;
n_m00 = n / m00;
*nearZ = n;
*farZ = f;
*bottom = n_m11 * (m21 - 1.0f);
*top = n_m11 * (m21 + 1.0f);
*left = n_m00 * (m20 - 1.0f);
*right = n_m00 * (m20 + 1.0f);
}
/*!
* @brief decomposes frustum values of perspective projection
* with angle values with a left-hand coordinate system and a
* clip-space of [0, 1].
* this makes easy to get all values at once
*
* @param[in] proj perspective projection matrix
* @param[out] dest array
*/
CGLM_INLINE
void
glm_persp_decompv_lh_zo(mat4 proj, float dest[6]) {
glm_persp_decomp_lh_zo(proj, &dest[0], &dest[1], &dest[2],
&dest[3], &dest[4], &dest[5]);
}
/*!
* @brief decomposes left and right values of perspective projection (ZO).
* x stands for x axis (left / right axis)
*
* @param[in] proj perspective projection matrix
* @param[out] left left
* @param[out] right right
*/
CGLM_INLINE
void
glm_persp_decomp_x_lh_zo(mat4 proj,
float * __restrict left,
float * __restrict right) {
float nearZ, m20, m00;
m00 = proj[0][0];
m20 = proj[2][0];
nearZ = proj[3][2] / (proj[3][3]);
*left = nearZ * (m20 - 1.0f) / m00;
*right = nearZ * (m20 + 1.0f) / m00;
}
/*!
* @brief decomposes top and bottom values of perspective projection
* with angle values with a left-hand coordinate system and a
* clip-space of [0, 1].
* y stands for y axis (top / bottom axis)
*
* @param[in] proj perspective projection matrix
* @param[out] top top
* @param[out] bottom bottom
*/
CGLM_INLINE
void
glm_persp_decomp_y_lh_zo(mat4 proj,
float * __restrict top,
float * __restrict bottom) {
float nearZ, m21, m11;
m21 = proj[2][1];
m11 = proj[1][1];
nearZ = proj[3][2] / (proj[3][3]);
*bottom = nearZ * (m21 - 1) / m11;
*top = nearZ * (m21 + 1) / m11;
}
/*!
* @brief decomposes near and far values of perspective projection
* with angle values with a left-hand coordinate system and a
* clip-space of [0, 1].
* z stands for z axis (near / far axis)
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
* @param[out] farZ far
*/
CGLM_INLINE
void
glm_persp_decomp_z_lh_zo(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ) {
float m32, m22;
m32 = proj[3][2];
m22 = -proj[2][2];
*nearZ = m32 / m22;
*farZ = m32 / (m22 + 1.0f);
}
/*!
* @brief decomposes far value of perspective projection
* with angle values with a left-hand coordinate system and a
* clip-space of [0, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] farZ far
*/
CGLM_INLINE
void
glm_persp_decomp_far_lh_zo(mat4 proj, float * __restrict farZ) {
*farZ = proj[3][2] / (-proj[2][2] + 1.0f);
}
/*!
* @brief decomposes near value of perspective projection
* with angle values with a left-hand coordinate system and a
* clip-space of [0, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
*/
CGLM_INLINE
void
glm_persp_decomp_near_lh_zo(mat4 proj, float * __restrict nearZ) {
*nearZ = proj[3][2] / -proj[2][2];
}
/*!
* @brief returns sizes of near and far planes of perspective projection
* with a left-hand coordinate system and a
* clip-space of [0, 1].
*
* @param[in] proj perspective projection matrix
* @param[in] fovy fovy (see brief)
* @param[out] dest sizes order: [Wnear, Hnear, Wfar, Hfar]
*/
CGLM_INLINE
void
glm_persp_sizes_lh_zo(mat4 proj, float fovy, vec4 dest) {
float t, a, nearZ, farZ;
t = 2.0f * tanf(fovy * 0.5f);
a = glm_persp_aspect(proj);
glm_persp_decomp_z_lh_zo(proj, &nearZ, &farZ);
dest[1] = t * nearZ;
dest[3] = t * farZ;
dest[0] = a * dest[1];
dest[2] = a * dest[3];
}
/*!
* @brief returns field of view angle along the Y-axis (in radians)
* with a left-hand coordinate system and a clip-space of [0, 1].
*
* if you need to degrees, use glm_deg to convert it or use this:
* fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
*
* @param[in] proj perspective projection matrix
*/
CGLM_INLINE
float
glm_persp_fovy_lh_zo(mat4 proj) {
return glm_persp_fovy(proj);
}
/*!
* @brief returns aspect ratio of perspective projection
* with a left-hand coordinate system and a clip-space of [0, 1].
*
* @param[in] proj perspective projection matrix
*/
CGLM_INLINE
float
glm_persp_aspect_lh_zo(mat4 proj) {
return glm_persp_aspect(proj);
}
#endif /*cglm_persp_lh_zo_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_frustum_rh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest)
CGLM_INLINE void glm_perspective_rh_no(float fovy,
float aspect,
float nearZ,
float farZ,
mat4 dest)
CGLM_INLINE void glm_perspective_default_rh_no(float aspect, mat4 dest)
CGLM_INLINE void glm_perspective_resize_rh_no(float aspect, mat4 proj)
CGLM_INLINE void glm_persp_move_far_rh_no(mat4 proj,
float deltaFar)
CGLM_INLINE void glm_persp_decomp_rh_no(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ,
float * __restrict top,
float * __restrict bottom,
float * __restrict left,
float * __restrict right)
CGLM_INLINE void glm_persp_decompv_rh_no(mat4 proj,
float dest[6])
CGLM_INLINE void glm_persp_decomp_x_rh_no(mat4 proj,
float * __restrict left,
float * __restrict right)
CGLM_INLINE void glm_persp_decomp_y_rh_no(mat4 proj,
float * __restrict top,
float * __restrict bottom)
CGLM_INLINE void glm_persp_decomp_z_rh_no(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ)
CGLM_INLINE void glm_persp_decomp_far_rh_no(mat4 proj, float * __restrict farZ)
CGLM_INLINE void glm_persp_decomp_near_rh_no(mat4 proj, float * __restrict nearZ)
CGLM_INLINE void glm_persp_sizes_rh_no(mat4 proj, float fovy, vec4 dest)
*/
#ifndef cglm_persp_rh_no_h
#define cglm_persp_rh_no_h
#include "../common.h"
#include "persp.h"
/*!
* @brief set up perspective peprojection matrix
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] left viewport.left
* @param[in] right viewport.right
* @param[in] bottom viewport.bottom
* @param[in] top viewport.top
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping plane
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_frustum_rh_no(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest) {
float rl, tb, fn, nv;
glm_mat4_zero(dest);
rl = 1.0f / (right - left);
tb = 1.0f / (top - bottom);
fn =-1.0f / (farZ - nearZ);
nv = 2.0f * nearZ;
dest[0][0] = nv * rl;
dest[1][1] = nv * tb;
dest[2][0] = (right + left) * rl;
dest[2][1] = (top + bottom) * tb;
dest[2][2] = (farZ + nearZ) * fn;
dest[2][3] =-1.0f;
dest[3][2] = farZ * nv * fn;
}
/*!
* @brief set up perspective projection matrix
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] fovy field of view angle
* @param[in] aspect aspect ratio ( width / height )
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping planes
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_perspective_rh_no(float fovy,
float aspect,
float nearZ,
float farZ,
mat4 dest) {
float f, fn;
glm_mat4_zero(dest);
f = 1.0f / tanf(fovy * 0.5f);
fn = 1.0f / (nearZ - farZ);
dest[0][0] = f / aspect;
dest[1][1] = f;
dest[2][2] = (nearZ + farZ) * fn;
dest[2][3] =-1.0f;
dest[3][2] = 2.0f * nearZ * farZ * fn;
}
/*!
* @brief set up perspective projection matrix with default near/far
* and angle values with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] aspect aspect ratio ( width / height )
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_perspective_default_rh_no(float aspect, mat4 dest) {
glm_perspective_rh_no(GLM_PI_4f, aspect, 0.01f, 100.0f, dest);
}
/*!
* @brief resize perspective matrix by aspect ratio ( width / height )
* this makes very easy to resize proj matrix when window /viewport
* resized with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] aspect aspect ratio ( width / height )
* @param[in, out] proj perspective projection matrix
*/
CGLM_INLINE
void
glm_perspective_resize_rh_no(float aspect, mat4 proj) {
if (proj[0][0] == 0.0f)
return;
proj[0][0] = proj[1][1] / aspect;
}
/*!
* @brief extend perspective projection matrix's far distance
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* this function does not guarantee far >= near, be aware of that!
*
* @param[in, out] proj projection matrix to extend
* @param[in] deltaFar distance from existing far (negative to shink)
*/
CGLM_INLINE
void
glm_persp_move_far_rh_no(mat4 proj, float deltaFar) {
float fn, farZ, nearZ, p22, p32;
p22 = proj[2][2];
p32 = proj[3][2];
nearZ = p32 / (p22 - 1.0f);
farZ = p32 / (p22 + 1.0f) + deltaFar;
fn = 1.0f / (nearZ - farZ);
proj[2][2] = (farZ + nearZ) * fn;
proj[3][2] = 2.0f * nearZ * farZ * fn;
}
/*!
* @brief decomposes frustum values of perspective projection
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
* @param[out] farZ far
* @param[out] top top
* @param[out] bottom bottom
* @param[out] left left
* @param[out] right right
*/
CGLM_INLINE
void
glm_persp_decomp_rh_no(mat4 proj,
float * __restrict nearZ, float * __restrict farZ,
float * __restrict top, float * __restrict bottom,
float * __restrict left, float * __restrict right) {
float m00, m11, m20, m21, m22, m32, n, f;
float n_m11, n_m00;
m00 = proj[0][0];
m11 = proj[1][1];
m20 = proj[2][0];
m21 = proj[2][1];
m22 = proj[2][2];
m32 = proj[3][2];
n = m32 / (m22 - 1.0f);
f = m32 / (m22 + 1.0f);
n_m11 = n / m11;
n_m00 = n / m00;
*nearZ = n;
*farZ = f;
*bottom = n_m11 * (m21 - 1.0f);
*top = n_m11 * (m21 + 1.0f);
*left = n_m00 * (m20 - 1.0f);
*right = n_m00 * (m20 + 1.0f);
}
/*!
* @brief decomposes frustum values of perspective projection
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
* this makes easy to get all values at once
*
* @param[in] proj perspective projection matrix
* @param[out] dest array
*/
CGLM_INLINE
void
glm_persp_decompv_rh_no(mat4 proj, float dest[6]) {
glm_persp_decomp_rh_no(proj, &dest[0], &dest[1], &dest[2],
&dest[3], &dest[4], &dest[5]);
}
/*!
* @brief decomposes left and right values of perspective projection
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
* x stands for x axis (left / right axis)
*
* @param[in] proj perspective projection matrix
* @param[out] left left
* @param[out] right right
*/
CGLM_INLINE
void
glm_persp_decomp_x_rh_no(mat4 proj,
float * __restrict left,
float * __restrict right) {
float nearZ, m20, m00, m22;
m00 = proj[0][0];
m20 = proj[2][0];
m22 = proj[2][2];
nearZ = proj[3][2] / (m22 - 1.0f);
*left = nearZ * (m20 - 1.0f) / m00;
*right = nearZ * (m20 + 1.0f) / m00;
}
/*!
* @brief decomposes top and bottom values of perspective projection
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
* y stands for y axis (top / botom axis)
*
* @param[in] proj perspective projection matrix
* @param[out] top top
* @param[out] bottom bottom
*/
CGLM_INLINE
void
glm_persp_decomp_y_rh_no(mat4 proj,
float * __restrict top,
float * __restrict bottom) {
float nearZ, m21, m11, m22;
m21 = proj[2][1];
m11 = proj[1][1];
m22 = proj[2][2];
nearZ = proj[3][2] / (m22 - 1.0f);
*bottom = nearZ * (m21 - 1.0f) / m11;
*top = nearZ * (m21 + 1.0f) / m11;
}
/*!
* @brief decomposes near and far values of perspective projection
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
* z stands for z axis (near / far axis)
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
* @param[out] farZ far
*/
CGLM_INLINE
void
glm_persp_decomp_z_rh_no(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ) {
float m32, m22;
m32 = proj[3][2];
m22 = proj[2][2];
*nearZ = m32 / (m22 - 1.0f);
*farZ = m32 / (m22 + 1.0f);
}
/*!
* @brief decomposes far value of perspective projection
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] farZ far
*/
CGLM_INLINE
void
glm_persp_decomp_far_rh_no(mat4 proj, float * __restrict farZ) {
*farZ = proj[3][2] / (proj[2][2] + 1.0f);
}
/*!
* @brief decomposes near value of perspective projection
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
*/
CGLM_INLINE
void
glm_persp_decomp_near_rh_no(mat4 proj, float * __restrict nearZ) {
*nearZ = proj[3][2] / (proj[2][2] - 1.0f);
}
/*!
* @brief returns sizes of near and far planes of perspective projection
* with a right-hand coordinate system and a
* clip-space of [-1, 1].
*
* @param[in] proj perspective projection matrix
* @param[in] fovy fovy (see brief)
* @param[out] dest sizes order: [Wnear, Hnear, Wfar, Hfar]
*/
CGLM_INLINE
void
glm_persp_sizes_rh_no(mat4 proj, float fovy, vec4 dest) {
float t, a, nearZ, farZ;
t = 2.0f * tanf(fovy * 0.5f);
a = glm_persp_aspect(proj);
glm_persp_decomp_z_rh_no(proj, &nearZ, &farZ);
dest[1] = t * nearZ;
dest[3] = t * farZ;
dest[0] = a * dest[1];
dest[2] = a * dest[3];
}
/*!
* @brief returns field of view angle along the Y-axis (in radians)
* with a right-hand coordinate system and a clip-space of [-1, 1].
*
* if you need to degrees, use glm_deg to convert it or use this:
* fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
*
* @param[in] proj perspective projection matrix
*/
CGLM_INLINE
float
glm_persp_fovy_rh_no(mat4 proj) {
return glm_persp_fovy(proj);
}
/*!
* @brief returns aspect ratio of perspective projection
* with a right-hand coordinate system and a clip-space of [-1, 1].
*
* @param[in] proj perspective projection matrix
*/
CGLM_INLINE
float
glm_persp_aspect_rh_no(mat4 proj) {
return glm_persp_aspect(proj);
}
#endif /*cglm_cam_rh_no_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_frustum_rh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest)
CGLM_INLINE void glm_perspective_rh_zo(float fovy,
float aspect,
float nearZ,
float farZ,
mat4 dest)
CGLM_INLINE void glm_perspective_default_rh_zo(float aspect, mat4 dest)
CGLM_INLINE void glm_perspective_resize_rh_zo(float aspect, mat4 proj)
CGLM_INLINE void glm_persp_move_far_rh_zo(mat4 proj,
float deltaFar)
CGLM_INLINE void glm_persp_decomp_rh_zo(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ,
float * __restrict top,
float * __restrict bottom,
float * __restrict left,
float * __restrict right)
CGLM_INLINE void glm_persp_decompv_rh_zo(mat4 proj,
float dest[6])
CGLM_INLINE void glm_persp_decomp_x_rh_zo(mat4 proj,
float * __restrict left,
float * __restrict right)
CGLM_INLINE void glm_persp_decomp_y_rh_zo(mat4 proj,
float * __restrict top,
float * __restrict bottom)
CGLM_INLINE void glm_persp_decomp_z_rh_zo(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ)
CGLM_INLINE void glm_persp_decomp_far_rh_zo(mat4 proj, float * __restrict farZ)
CGLM_INLINE void glm_persp_decomp_near_rh_zo(mat4 proj, float * __restrict nearZ)
CGLM_INLINE void glm_persp_sizes_rh_zo(mat4 proj, float fovy, vec4 dest)
*/
#ifndef cglm_persp_rh_zo_h
#define cglm_persp_rh_zo_h
#include "../common.h"
#include "persp.h"
/*!
* @brief set up perspective peprojection matrix with a right-hand coordinate
* system and a clip-space of [0, 1].
*
* @param[in] left viewport.left
* @param[in] right viewport.right
* @param[in] bottom viewport.bottom
* @param[in] top viewport.top
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping plane
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_frustum_rh_zo(float left, float right,
float bottom, float top,
float nearZ, float farZ,
mat4 dest) {
float rl, tb, fn, nv;
glm_mat4_zero(dest);
rl = 1.0f / (right - left);
tb = 1.0f / (top - bottom);
fn =-1.0f / (farZ - nearZ);
nv = 2.0f * nearZ;
dest[0][0] = nv * rl;
dest[1][1] = nv * tb;
dest[2][0] = (right + left) * rl;
dest[2][1] = (top + bottom) * tb;
dest[2][2] = farZ * fn;
dest[2][3] =-1.0f;
dest[3][2] = farZ * nearZ * fn;
}
/*!
* @brief set up perspective projection matrix with a right-hand coordinate
* system and a clip-space of [0, 1].
*
* @param[in] fovy field of view angle
* @param[in] aspect aspect ratio ( width / height )
* @param[in] nearZ near clipping plane
* @param[in] farZ far clipping planes
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_perspective_rh_zo(float fovy,
float aspect,
float nearZ,
float farZ,
mat4 dest) {
float f, fn;
glm_mat4_zero(dest);
f = 1.0f / tanf(fovy * 0.5f);
fn = 1.0f / (nearZ - farZ);
dest[0][0] = f / aspect;
dest[1][1] = f;
dest[2][2] = farZ * fn;
dest[2][3] =-1.0f;
dest[3][2] = nearZ * farZ * fn;
}
/*!
* @brief set up perspective projection matrix with default near/far
* and angle values with a right-hand coordinate system and a
* clip-space of [0, 1].
*
* @param[in] aspect aspect ratio ( width / height )
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_perspective_default_rh_zo(float aspect, mat4 dest) {
glm_perspective_rh_zo(GLM_PI_4f, aspect, 0.01f, 100.0f, dest);
}
/*!
* @brief resize perspective matrix by aspect ratio ( width / height )
* this makes very easy to resize proj matrix when window /viewport
* resized with a right-hand coordinate system and a clip-space of
* [0, 1].
*
* @param[in] aspect aspect ratio ( width / height )
* @param[in, out] proj perspective projection matrix
*/
CGLM_INLINE
void
glm_perspective_resize_rh_zo(float aspect, mat4 proj) {
if (proj[0][0] == 0.0f)
return;
proj[0][0] = proj[1][1] / aspect;
}
/*!
* @brief extend perspective projection matrix's far distance with a
* right-hand coordinate system and a clip-space of [0, 1].
*
* this function does not guarantee far >= near, be aware of that!
*
* @param[in, out] proj projection matrix to extend
* @param[in] deltaFar distance from existing far (negative to shink)
*/
CGLM_INLINE
void
glm_persp_move_far_rh_zo(mat4 proj, float deltaFar) {
float fn, farZ, nearZ, p22, p32;
p22 = proj[2][2];
p32 = proj[3][2];
nearZ = p32 / p22;
farZ = p32 / (p22 + 1.0f) + deltaFar;
fn = 1.0f / (nearZ - farZ);
proj[2][2] = farZ * fn;
proj[3][2] = nearZ * farZ * fn;
}
/*!
* @brief decomposes frustum values of perspective projection
* with angle values with a right-hand coordinate system and a
* clip-space of [0, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
* @param[out] farZ far
* @param[out] top top
* @param[out] bottom bottom
* @param[out] left left
* @param[out] right right
*/
CGLM_INLINE
void
glm_persp_decomp_rh_zo(mat4 proj,
float * __restrict nearZ, float * __restrict farZ,
float * __restrict top, float * __restrict bottom,
float * __restrict left, float * __restrict right) {
float m00, m11, m20, m21, m22, m32, n, f;
float n_m11, n_m00;
m00 = proj[0][0];
m11 = proj[1][1];
m20 = proj[2][0];
m21 = proj[2][1];
m22 = proj[2][2];
m32 = proj[3][2];
n = m32 / m22;
f = m32 / (m22 + 1.0f);
n_m11 = n / m11;
n_m00 = n / m00;
*nearZ = n;
*farZ = f;
*bottom = n_m11 * (m21 - 1.0f);
*top = n_m11 * (m21 + 1.0f);
*left = n_m00 * (m20 - 1.0f);
*right = n_m00 * (m20 + 1.0f);
}
/*!
* @brief decomposes frustum values of perspective projection
* with angle values with a right-hand coordinate system and a
* clip-space of [0, 1].
* this makes easy to get all values at once
*
* @param[in] proj perspective projection matrix
* @param[out] dest array
*/
CGLM_INLINE
void
glm_persp_decompv_rh_zo(mat4 proj, float dest[6]) {
glm_persp_decomp_rh_zo(proj, &dest[0], &dest[1], &dest[2],
&dest[3], &dest[4], &dest[5]);
}
/*!
* @brief decomposes left and right values of perspective projection (ZO).
* x stands for x axis (left / right axis)
*
* @param[in] proj perspective projection matrix
* @param[out] left left
* @param[out] right right
*/
CGLM_INLINE
void
glm_persp_decomp_x_rh_zo(mat4 proj,
float * __restrict left,
float * __restrict right) {
float nearZ, m20, m00, m22;
m00 = proj[0][0];
m20 = proj[2][0];
m22 = proj[2][2];
nearZ = proj[3][2] / m22;
*left = nearZ * (m20 - 1.0f) / m00;
*right = nearZ * (m20 + 1.0f) / m00;
}
/*!
* @brief decomposes top and bottom values of perspective projection
* with angle values with a right-hand coordinate system and a
* clip-space of [0, 1].
* y stands for y axis (top / bottom axis)
*
* @param[in] proj perspective projection matrix
* @param[out] top top
* @param[out] bottom bottom
*/
CGLM_INLINE
void
glm_persp_decomp_y_rh_zo(mat4 proj,
float * __restrict top,
float * __restrict bottom) {
float nearZ, m21, m11, m22;
m21 = proj[2][1];
m11 = proj[1][1];
m22 = proj[2][2];
nearZ = proj[3][2] / m22;
*bottom = nearZ * (m21 - 1) / m11;
*top = nearZ * (m21 + 1) / m11;
}
/*!
* @brief decomposes near and far values of perspective projection
* with angle values with a right-hand coordinate system and a
* clip-space of [0, 1].
* z stands for z axis (near / far axis)
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
* @param[out] farZ far
*/
CGLM_INLINE
void
glm_persp_decomp_z_rh_zo(mat4 proj,
float * __restrict nearZ,
float * __restrict farZ) {
float m32, m22;
m32 = proj[3][2];
m22 = proj[2][2];
*nearZ = m32 / m22;
*farZ = m32 / (m22 + 1.0f);
}
/*!
* @brief decomposes far value of perspective projection
* with angle values with a right-hand coordinate system and a
* clip-space of [0, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] farZ far
*/
CGLM_INLINE
void
glm_persp_decomp_far_rh_zo(mat4 proj, float * __restrict farZ) {
*farZ = proj[3][2] / (proj[2][2] + 1.0f);
}
/*!
* @brief decomposes near value of perspective projection
* with angle values with a right-hand coordinate system and a
* clip-space of [0, 1].
*
* @param[in] proj perspective projection matrix
* @param[out] nearZ near
*/
CGLM_INLINE
void
glm_persp_decomp_near_rh_zo(mat4 proj, float * __restrict nearZ) {
*nearZ = proj[3][2] / proj[2][2];
}
/*!
* @brief returns sizes of near and far planes of perspective projection
* with a right-hand coordinate system and a
* clip-space of [0, 1].
*
* @param[in] proj perspective projection matrix
* @param[in] fovy fovy (see brief)
* @param[out] dest sizes order: [Wnear, Hnear, Wfar, Hfar]
*/
CGLM_INLINE
void
glm_persp_sizes_rh_zo(mat4 proj, float fovy, vec4 dest) {
float t, a, nearZ, farZ;
t = 2.0f * tanf(fovy * 0.5f);
a = glm_persp_aspect(proj);
glm_persp_decomp_z_rh_zo(proj, &nearZ, &farZ);
dest[1] = t * nearZ;
dest[3] = t * farZ;
dest[0] = a * dest[1];
dest[2] = a * dest[3];
}
/*!
* @brief returns field of view angle along the Y-axis (in radians)
* with a right-hand coordinate system and a clip-space of [0, 1].
*
* if you need to degrees, use glm_deg to convert it or use this:
* fovy_deg = glm_deg(glm_persp_fovy(projMatrix))
*
* @param[in] proj perspective projection matrix
*/
CGLM_INLINE
float
glm_persp_fovy_rh_zo(mat4 proj) {
return glm_persp_fovy(proj);
}
/*!
* @brief returns aspect ratio of perspective projection
* with a right-hand coordinate system and a clip-space of [0, 1].
*
* @param[in] proj perspective projection matrix
*/
CGLM_INLINE
float
glm_persp_aspect_rh_zo(mat4 proj) {
return glm_persp_aspect(proj);
}
#endif /*cglm_persp_rh_zo_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_project_no_h
#define cglm_project_no_h
#include "../common.h"
#include "../vec3.h"
#include "../vec4.h"
#include "../mat4.h"
/*!
* @brief maps the specified viewport coordinates into specified space [1]
* the matrix should contain projection matrix.
*
* if you don't have ( and don't want to have ) an inverse matrix then use
* glm_unproject version. You may use existing inverse of matrix in somewhere
* else, this is why glm_unprojecti exists to save save inversion cost
*
* [1] space:
* 1- if m = invProj: View Space
* 2- if m = invViewProj: World Space
* 3- if m = invMVP: Object Space
*
* You probably want to map the coordinates into object space
* so use invMVP as m
*
* Computing viewProj:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
* glm_mat4_inv(viewProj, invMVP);
*
* @param[in] pos point/position in viewport coordinates
* @param[in] invMat matrix (see brief)
* @param[in] vp viewport as [x, y, width, height]
* @param[out] dest unprojected coordinates
*/
CGLM_INLINE
void
glm_unprojecti_no(vec3 pos, mat4 invMat, vec4 vp, vec3 dest) {
vec4 v;
v[0] = 2.0f * (pos[0] - vp[0]) / vp[2] - 1.0f;
v[1] = 2.0f * (pos[1] - vp[1]) / vp[3] - 1.0f;
v[2] = 2.0f * pos[2] - 1.0f;
v[3] = 1.0f;
glm_mat4_mulv(invMat, v, v);
glm_vec4_scale(v, 1.0f / v[3], v);
glm_vec3(v, dest);
}
/*!
* @brief map object coordinates to window coordinates
*
* Computing MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] pos object coordinates
* @param[in] m MVP matrix
* @param[in] vp viewport as [x, y, width, height]
* @param[out] dest projected coordinates
*/
CGLM_INLINE
void
glm_project_no(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
CGLM_ALIGN(16) vec4 pos4;
glm_vec4(pos, 1.0f, pos4);
glm_mat4_mulv(m, pos4, pos4);
glm_vec4_scale(pos4, 1.0f / pos4[3], pos4); /* pos = pos / pos.w */
glm_vec4_scale(pos4, 0.5f, pos4);
glm_vec4_adds(pos4, 0.5f, pos4);
dest[0] = pos4[0] * vp[2] + vp[0];
dest[1] = pos4[1] * vp[3] + vp[1];
dest[2] = pos4[2];
}
/*!
* @brief map object's z coordinate to window coordinates
*
* Computing MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] v object coordinates
* @param[in] m MVP matrix
*
* @returns projected z coordinate
*/
CGLM_INLINE
float
glm_project_z_no(vec3 v, mat4 m) {
float z, w;
z = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2] + m[3][2];
w = m[0][3] * v[0] + m[1][3] * v[1] + m[2][3] * v[2] + m[3][3];
return 0.5f * (z / w) + 0.5f;
}
#endif /* cglm_project_no_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_project_zo_h
#define cglm_project_zo_h
#include "../common.h"
#include "../vec3.h"
#include "../vec4.h"
#include "../mat4.h"
/*!
* @brief maps the specified viewport coordinates into specified space [1]
* the matrix should contain projection matrix.
*
* if you don't have ( and don't want to have ) an inverse matrix then use
* glm_unproject version. You may use existing inverse of matrix in somewhere
* else, this is why glm_unprojecti exists to save save inversion cost
*
* [1] space:
* 1- if m = invProj: View Space
* 2- if m = invViewProj: World Space
* 3- if m = invMVP: Object Space
*
* You probably want to map the coordinates into object space
* so use invMVP as m
*
* Computing viewProj:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
* glm_mat4_inv(viewProj, invMVP);
*
* @param[in] pos point/position in viewport coordinates
* @param[in] invMat matrix (see brief)
* @param[in] vp viewport as [x, y, width, height]
* @param[out] dest unprojected coordinates
*/
CGLM_INLINE
void
glm_unprojecti_zo(vec3 pos, mat4 invMat, vec4 vp, vec3 dest) {
vec4 v;
v[0] = 2.0f * (pos[0] - vp[0]) / vp[2] - 1.0f;
v[1] = 2.0f * (pos[1] - vp[1]) / vp[3] - 1.0f;
v[2] = pos[2];
v[3] = 1.0f;
glm_mat4_mulv(invMat, v, v);
glm_vec4_scale(v, 1.0f / v[3], v);
glm_vec3(v, dest);
}
/*!
* @brief map object coordinates to window coordinates
*
* Computing MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] pos object coordinates
* @param[in] m MVP matrix
* @param[in] vp viewport as [x, y, width, height]
* @param[out] dest projected coordinates
*/
CGLM_INLINE
void
glm_project_zo(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
CGLM_ALIGN(16) vec4 pos4;
glm_vec4(pos, 1.0f, pos4);
glm_mat4_mulv(m, pos4, pos4);
glm_vec4_scale(pos4, 1.0f / pos4[3], pos4); /* pos = pos / pos.w */
dest[2] = pos4[2];
glm_vec4_scale(pos4, 0.5f, pos4);
glm_vec4_adds(pos4, 0.5f, pos4);
dest[0] = pos4[0] * vp[2] + vp[0];
dest[1] = pos4[1] * vp[3] + vp[1];
}
/*!
* @brief map object's z coordinate to window coordinates
*
* Computing MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] v object coordinates
* @param[in] m MVP matrix
*
* @returns projected z coordinate
*/
CGLM_INLINE
float
glm_project_z_zo(vec3 v, mat4 m) {
float z, w;
z = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2] + m[3][2];
w = m[0][3] * v[0] + m[1][3] * v[1] + m[2][3] * v[2] + m[3][3];
return z / w;
}
#endif /* cglm_project_zo_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_lookat_lh(vec3 eye, vec3 center, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_lh(vec3 eye, vec3 dir, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_anyup_lh(vec3 eye, vec3 dir, mat4 dest)
*/
#ifndef cglm_view_lh_h
#define cglm_view_lh_h
#include "../common.h"
#include "../plane.h"
/*!
* @brief set up view matrix (LH)
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] center center vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_lookat_lh(vec3 eye, vec3 center, vec3 up, mat4 dest) {
CGLM_ALIGN(8) vec3 f, u, s;
glm_vec3_sub(center, eye, f);
glm_vec3_normalize(f);
glm_vec3_crossn(up, f, s);
glm_vec3_cross(f, s, u);
dest[0][0] = s[0];
dest[0][1] = u[0];
dest[0][2] = f[0];
dest[1][0] = s[1];
dest[1][1] = u[1];
dest[1][2] = f[1];
dest[2][0] = s[2];
dest[2][1] = u[2];
dest[2][2] = f[2];
dest[3][0] =-glm_vec3_dot(s, eye);
dest[3][1] =-glm_vec3_dot(u, eye);
dest[3][2] =-glm_vec3_dot(f, eye);
dest[0][3] = dest[1][3] = dest[2][3] = 0.0f;
dest[3][3] = 1.0f;
}
/*!
* @brief set up view matrix with left handed coordinate system
*
* convenient wrapper for lookat: if you only have direction not target self
* then this might be useful. Because you need to get target from direction.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_lh(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
CGLM_ALIGN(8) vec3 target;
glm_vec3_add(eye, dir, target);
glm_lookat_lh(eye, target, up, dest);
}
/*!
* @brief set up view matrix with left handed coordinate system
*
* convenient wrapper for look: if you only have direction and if you don't
* care what UP vector is then this might be useful to create view matrix
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_anyup_lh(vec3 eye, vec3 dir, mat4 dest) {
CGLM_ALIGN(8) vec3 up;
glm_vec3_ortho(dir, up);
glm_look_lh(eye, dir, up, dest);
}
#endif /*cglm_view_lh_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_lookat_lh_no(vec3 eye, vec3 center, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_lh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_anyup_lh_no(vec3 eye, vec3 dir, mat4 dest)
*/
#ifndef cglm_view_lh_no_h
#define cglm_view_lh_no_h
#include "../common.h"
#include "view_lh.h"
/*!
* @brief set up view matrix with left handed coordinate system.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] center center vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_lookat_lh_no(vec3 eye, vec3 center, vec3 up, mat4 dest) {
glm_lookat_lh(eye, center, up, dest);
}
/*!
* @brief set up view matrix with left handed coordinate system.
*
* convenient wrapper for lookat: if you only have direction not target self
* then this might be useful. Because you need to get target from direction.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_lh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
glm_look_lh(eye, dir, up, dest);
}
/*!
* @brief set up view matrix with left handed coordinate system.
*
* convenient wrapper for look: if you only have direction and if you don't
* care what UP vector is then this might be useful to create view matrix
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_anyup_lh_no(vec3 eye, vec3 dir, mat4 dest) {
glm_look_anyup_lh(eye, dir, dest);
}
#endif /*cglm_view_lh_no_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_lookat_lh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_lh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_anyup_lh_zo(vec3 eye, vec3 dir, mat4 dest)
*/
#ifndef cglm_view_lh_zo_h
#define cglm_view_lh_zo_h
#include "../common.h"
#include "view_lh.h"
/*!
* @brief set up view matrix with left handed coordinate system.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] center center vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_lookat_lh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest) {
glm_lookat_lh(eye, center, up, dest);
}
/*!
* @brief set up view matrix with left handed coordinate system.
*
* convenient wrapper for lookat: if you only have direction not target self
* then this might be useful. Because you need to get target from direction.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_lh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
glm_look_lh(eye, dir, up, dest);
}
/*!
* @brief set up view matrix with left handed coordinate system.
*
* convenient wrapper for look: if you only have direction and if you don't
* care what UP vector is then this might be useful to create view matrix
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_anyup_lh_zo(vec3 eye, vec3 dir, mat4 dest) {
glm_look_anyup_lh(eye, dir, dest);
}
#endif /*cglm_view_lh_zo_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_lookat_rh(vec3 eye, vec3 center, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_rh(vec3 eye, vec3 dir, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_anyup_rh(vec3 eye, vec3 dir, mat4 dest)
*/
#ifndef cglm_view_rh_h
#define cglm_view_rh_h
#include "../common.h"
#include "../plane.h"
/*!
* @brief set up view matrix with right handed coordinate system.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] center center vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_lookat_rh(vec3 eye, vec3 center, vec3 up, mat4 dest) {
CGLM_ALIGN(8) vec3 f, u, s;
glm_vec3_sub(center, eye, f);
glm_vec3_normalize(f);
glm_vec3_crossn(f, up, s);
glm_vec3_cross(s, f, u);
dest[0][0] = s[0];
dest[0][1] = u[0];
dest[0][2] =-f[0];
dest[1][0] = s[1];
dest[1][1] = u[1];
dest[1][2] =-f[1];
dest[2][0] = s[2];
dest[2][1] = u[2];
dest[2][2] =-f[2];
dest[3][0] =-glm_vec3_dot(s, eye);
dest[3][1] =-glm_vec3_dot(u, eye);
dest[3][2] = glm_vec3_dot(f, eye);
dest[0][3] = dest[1][3] = dest[2][3] = 0.0f;
dest[3][3] = 1.0f;
}
/*!
* @brief set up view matrix with right handed coordinate system.
*
* convenient wrapper for lookat: if you only have direction not target self
* then this might be useful. Because you need to get target from direction.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_rh(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
CGLM_ALIGN(8) vec3 target;
glm_vec3_add(eye, dir, target);
glm_lookat_rh(eye, target, up, dest);
}
/*!
* @brief set up view matrix with right handed coordinate system.
*
* convenient wrapper for look: if you only have direction and if you don't
* care what UP vector is then this might be useful to create view matrix
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_anyup_rh(vec3 eye, vec3 dir, mat4 dest) {
CGLM_ALIGN(8) vec3 up;
glm_vec3_ortho(dir, up);
glm_look_rh(eye, dir, up, dest);
}
#endif /*cglm_view_rh_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_lookat_rh_no(vec3 eye, vec3 center, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_rh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_anyup_rh_no(vec3 eye, vec3 dir, mat4 dest)
*/
#ifndef cglm_view_rh_no_h
#define cglm_view_rh_no_h
#include "../common.h"
#include "view_rh.h"
/*!
* @brief set up view matrix with right handed coordinate system.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] center center vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_lookat_rh_no(vec3 eye, vec3 center, vec3 up, mat4 dest) {
glm_lookat_rh(eye, center, up, dest);
}
/*!
* @brief set up view matrix with right handed coordinate system.
*
* convenient wrapper for lookat: if you only have direction not target self
* then this might be useful. Because you need to get target from direction.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_rh_no(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
glm_look_rh(eye, dir, up, dest);
}
/*!
* @brief set up view matrix with right handed coordinate system.
*
* convenient wrapper for look: if you only have direction and if you don't
* care what UP vector is then this might be useful to create view matrix
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_anyup_rh_no(vec3 eye, vec3 dir, mat4 dest) {
glm_look_anyup_rh(eye, dir, dest);
}
#endif /*cglm_view_rh_no_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_lookat_rh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_rh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest)
CGLM_INLINE void glm_look_anyup_rh_zo(vec3 eye, vec3 dir, mat4 dest)
*/
#ifndef cglm_view_rh_zo_h
#define cglm_view_rh_zo_h
#include "../common.h"
#include "view_rh.h"
/*!
* @brief set up view matrix with right handed coordinate system.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] center center vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_lookat_rh_zo(vec3 eye, vec3 center, vec3 up, mat4 dest) {
glm_lookat_rh(eye, center, up, dest);
}
/*!
* @brief set up view matrix with right handed coordinate system.
*
* convenient wrapper for lookat: if you only have direction not target self
* then this might be useful. Because you need to get target from direction.
*
* NOTE: The UP vector must not be parallel to the line of sight from
* the eye point to the reference point
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[in] up up vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_rh_zo(vec3 eye, vec3 dir, vec3 up, mat4 dest) {
glm_look_rh(eye, dir, up, dest);
}
/*!
* @brief set up view matrix with right handed coordinate system.
*
* convenient wrapper for look: if you only have direction and if you don't
* care what UP vector is then this might be useful to create view matrix
*
* @param[in] eye eye vector
* @param[in] dir direction vector
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_look_anyup_rh_zo(vec3 eye, vec3 dir, mat4 dest) {
glm_look_anyup_rh(eye, dir, dest);
}
#endif /*cglm_view_rh_zo_h*/

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_color_h
#define cglm_color_h
#include "common.h"
#include "vec3.h"
/*!
* @brief averages the color channels into one value
*
* @param[in] rgb RGB color
*/
CGLM_INLINE
float
glm_luminance(vec3 rgb) {
vec3 l = {0.212671f, 0.715160f, 0.072169f};
return glm_dot(rgb, l);
}
#endif /* cglm_color_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_common_h
#define cglm_common_h
#ifndef _USE_MATH_DEFINES
# define _USE_MATH_DEFINES /* for windows */
#endif
#ifndef _CRT_SECURE_NO_WARNINGS
# define _CRT_SECURE_NO_WARNINGS /* for windows */
#endif
#include <stdint.h>
#include <stddef.h>
#include <stdlib.h>
#include <math.h>
#include <float.h>
#include <stdbool.h>
#if defined(_MSC_VER)
# ifdef CGLM_STATIC
# define CGLM_EXPORT
# elif defined(CGLM_EXPORTS)
# define CGLM_EXPORT __declspec(dllexport)
# else
# define CGLM_EXPORT __declspec(dllimport)
# endif
# define CGLM_INLINE __forceinline
#else
# define CGLM_EXPORT __attribute__((visibility("default")))
# define CGLM_INLINE static inline __attribute((always_inline))
#endif
#define GLM_SHUFFLE4(z, y, x, w) (((z) << 6) | ((y) << 4) | ((x) << 2) | (w))
#define GLM_SHUFFLE3(z, y, x) (((z) << 4) | ((y) << 2) | (x))
#include "types.h"
#include "simd/intrin.h"
#ifndef CGLM_USE_DEFAULT_EPSILON
# ifndef GLM_FLT_EPSILON
# define GLM_FLT_EPSILON 1e-5f
# endif
#else
# define GLM_FLT_EPSILON FLT_EPSILON
#endif
/*
* Clip control: define CGLM_FORCE_DEPTH_ZERO_TO_ONE before including
* CGLM to use a clip space between 0 to 1.
* Coordinate system: define CGLM_FORCE_LEFT_HANDED before including
* CGLM to use the left handed coordinate system by default.
*/
#define CGLM_CLIP_CONTROL_ZO_BIT (1 << 0) /* ZERO_TO_ONE */
#define CGLM_CLIP_CONTROL_NO_BIT (1 << 1) /* NEGATIVE_ONE_TO_ONE */
#define CGLM_CLIP_CONTROL_LH_BIT (1 << 2) /* LEFT_HANDED, For DirectX, Metal, Vulkan */
#define CGLM_CLIP_CONTROL_RH_BIT (1 << 3) /* RIGHT_HANDED, For OpenGL, default in GLM */
#define CGLM_CLIP_CONTROL_LH_ZO (CGLM_CLIP_CONTROL_LH_BIT | CGLM_CLIP_CONTROL_ZO_BIT)
#define CGLM_CLIP_CONTROL_LH_NO (CGLM_CLIP_CONTROL_LH_BIT | CGLM_CLIP_CONTROL_NO_BIT)
#define CGLM_CLIP_CONTROL_RH_ZO (CGLM_CLIP_CONTROL_RH_BIT | CGLM_CLIP_CONTROL_ZO_BIT)
#define CGLM_CLIP_CONTROL_RH_NO (CGLM_CLIP_CONTROL_RH_BIT | CGLM_CLIP_CONTROL_NO_BIT)
#ifdef CGLM_FORCE_DEPTH_ZERO_TO_ONE
# ifdef CGLM_FORCE_LEFT_HANDED
# define CGLM_CONFIG_CLIP_CONTROL CGLM_CLIP_CONTROL_LH_ZO
# else
# define CGLM_CONFIG_CLIP_CONTROL CGLM_CLIP_CONTROL_RH_ZO
# endif
#else
# ifdef CGLM_FORCE_LEFT_HANDED
# define CGLM_CONFIG_CLIP_CONTROL CGLM_CLIP_CONTROL_LH_NO
# else
# define CGLM_CONFIG_CLIP_CONTROL CGLM_CLIP_CONTROL_RH_NO
# endif
#endif
#endif /* cglm_common_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_curve_h
#define cglm_curve_h
#include "common.h"
#include "vec4.h"
#include "mat4.h"
/*!
* @brief helper function to calculate S*M*C multiplication for curves
*
* This function does not encourage you to use SMC,
* instead it is a helper if you use SMC.
*
* if you want to specify S as vector then use more generic glm_mat4_rmc() func.
*
* Example usage:
* B(s) = glm_smc(s, GLM_BEZIER_MAT, (vec4){p0, c0, c1, p1})
*
* @param[in] s parameter between 0 and 1 (this will be [s3, s2, s, 1])
* @param[in] m basis matrix
* @param[in] c position/control vector
*
* @return B(s)
*/
CGLM_INLINE
float
glm_smc(float s, mat4 m, vec4 c) {
vec4 vs;
glm_vec4_cubic(s, vs);
return glm_mat4_rmc(vs, m, c);
}
#endif /* cglm_curve_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_ease_h
#define cglm_ease_h
#include "common.h"
CGLM_INLINE
float
glm_ease_linear(float t) {
return t;
}
CGLM_INLINE
float
glm_ease_sine_in(float t) {
return sinf((t - 1.0f) * GLM_PI_2f) + 1.0f;
}
CGLM_INLINE
float
glm_ease_sine_out(float t) {
return sinf(t * GLM_PI_2f);
}
CGLM_INLINE
float
glm_ease_sine_inout(float t) {
return 0.5f * (1.0f - cosf(t * GLM_PIf));
}
CGLM_INLINE
float
glm_ease_quad_in(float t) {
return t * t;
}
CGLM_INLINE
float
glm_ease_quad_out(float t) {
return -(t * (t - 2.0f));
}
CGLM_INLINE
float
glm_ease_quad_inout(float t) {
float tt;
tt = t * t;
if (t < 0.5f)
return 2.0f * tt;
return (-2.0f * tt) + (4.0f * t) - 1.0f;
}
CGLM_INLINE
float
glm_ease_cubic_in(float t) {
return t * t * t;
}
CGLM_INLINE
float
glm_ease_cubic_out(float t) {
float f;
f = t - 1.0f;
return f * f * f + 1.0f;
}
CGLM_INLINE
float
glm_ease_cubic_inout(float t) {
float f;
if (t < 0.5f)
return 4.0f * t * t * t;
f = 2.0f * t - 2.0f;
return 0.5f * f * f * f + 1.0f;
}
CGLM_INLINE
float
glm_ease_quart_in(float t) {
float f;
f = t * t;
return f * f;
}
CGLM_INLINE
float
glm_ease_quart_out(float t) {
float f;
f = t - 1.0f;
return f * f * f * (1.0f - t) + 1.0f;
}
CGLM_INLINE
float
glm_ease_quart_inout(float t) {
float f, g;
if (t < 0.5f) {
f = t * t;
return 8.0f * f * f;
}
f = t - 1.0f;
g = f * f;
return -8.0f * g * g + 1.0f;
}
CGLM_INLINE
float
glm_ease_quint_in(float t) {
float f;
f = t * t;
return f * f * t;
}
CGLM_INLINE
float
glm_ease_quint_out(float t) {
float f, g;
f = t - 1.0f;
g = f * f;
return g * g * f + 1.0f;
}
CGLM_INLINE
float
glm_ease_quint_inout(float t) {
float f, g;
if (t < 0.5f) {
f = t * t;
return 16.0f * f * f * t;
}
f = 2.0f * t - 2.0f;
g = f * f;
return 0.5f * g * g * f + 1.0f;
}
CGLM_INLINE
float
glm_ease_exp_in(float t) {
if (t == 0.0f)
return t;
return powf(2.0f, 10.0f * (t - 1.0f));
}
CGLM_INLINE
float
glm_ease_exp_out(float t) {
if (t == 1.0f)
return t;
return 1.0f - powf(2.0f, -10.0f * t);
}
CGLM_INLINE
float
glm_ease_exp_inout(float t) {
if (t == 0.0f || t == 1.0f)
return t;
if (t < 0.5f)
return 0.5f * powf(2.0f, (20.0f * t) - 10.0f);
return -0.5f * powf(2.0f, (-20.0f * t) + 10.0f) + 1.0f;
}
CGLM_INLINE
float
glm_ease_circ_in(float t) {
return 1.0f - sqrtf(1.0f - (t * t));
}
CGLM_INLINE
float
glm_ease_circ_out(float t) {
return sqrtf((2.0f - t) * t);
}
CGLM_INLINE
float
glm_ease_circ_inout(float t) {
if (t < 0.5f)
return 0.5f * (1.0f - sqrtf(1.0f - 4.0f * (t * t)));
return 0.5f * (sqrtf(-((2.0f * t) - 3.0f) * ((2.0f * t) - 1.0f)) + 1.0f);
}
CGLM_INLINE
float
glm_ease_back_in(float t) {
float o, z;
o = 1.70158f;
z = ((o + 1.0f) * t) - o;
return t * t * z;
}
CGLM_INLINE
float
glm_ease_back_out(float t) {
float o, z, n;
o = 1.70158f;
n = t - 1.0f;
z = (o + 1.0f) * n + o;
return n * n * z + 1.0f;
}
CGLM_INLINE
float
glm_ease_back_inout(float t) {
float o, z, n, m, s, x;
o = 1.70158f;
s = o * 1.525f;
x = 0.5;
n = t / 0.5f;
if (n < 1.0f) {
z = (s + 1) * n - s;
m = n * n * z;
return x * m;
}
n -= 2.0f;
z = (s + 1.0f) * n + s;
m = (n * n * z) + 2;
return x * m;
}
CGLM_INLINE
float
glm_ease_elast_in(float t) {
return sinf(13.0f * GLM_PI_2f * t) * powf(2.0f, 10.0f * (t - 1.0f));
}
CGLM_INLINE
float
glm_ease_elast_out(float t) {
return sinf(-13.0f * GLM_PI_2f * (t + 1.0f)) * powf(2.0f, -10.0f * t) + 1.0f;
}
CGLM_INLINE
float
glm_ease_elast_inout(float t) {
float a;
a = 2.0f * t;
if (t < 0.5f)
return 0.5f * sinf(13.0f * GLM_PI_2f * a)
* powf(2.0f, 10.0f * (a - 1.0f));
return 0.5f * (sinf(-13.0f * GLM_PI_2f * a)
* powf(2.0f, -10.0f * (a - 1.0f)) + 2.0f);
}
CGLM_INLINE
float
glm_ease_bounce_out(float t) {
float tt;
tt = t * t;
if (t < (4.0f / 11.0f))
return (121.0f * tt) / 16.0f;
if (t < 8.0f / 11.0f)
return ((363.0f / 40.0f) * tt) - ((99.0f / 10.0f) * t) + (17.0f / 5.0f);
if (t < (9.0f / 10.0f))
return (4356.0f / 361.0f) * tt
- (35442.0f / 1805.0f) * t
+ (16061.0f / 1805.0f);
return ((54.0f / 5.0f) * tt) - ((513.0f / 25.0f) * t) + (268.0f / 25.0f);
}
CGLM_INLINE
float
glm_ease_bounce_in(float t) {
return 1.0f - glm_ease_bounce_out(1.0f - t);
}
CGLM_INLINE
float
glm_ease_bounce_inout(float t) {
if (t < 0.5f)
return 0.5f * (1.0f - glm_ease_bounce_out(t * 2.0f));
return 0.5f * glm_ease_bounce_out(t * 2.0f - 1.0f) + 0.5f;
}
#endif /* cglm_ease_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
NOTE:
angles must be passed as [X-Angle, Y-Angle, Z-angle] order
For instance you don't pass angles as [Z-Angle, X-Angle, Y-angle] to
glm_euler_zxy funciton, All RELATED functions accept angles same order
which is [X, Y, Z].
*/
/*
Types:
enum glm_euler_seq
Functions:
CGLM_INLINE glm_euler_seq glm_euler_order(int newOrder[3]);
CGLM_INLINE void glm_euler_angles(mat4 m, vec3 dest);
CGLM_INLINE void glm_euler(vec3 angles, mat4 dest);
CGLM_INLINE void glm_euler_xyz(vec3 angles, mat4 dest);
CGLM_INLINE void glm_euler_zyx(vec3 angles, mat4 dest);
CGLM_INLINE void glm_euler_zxy(vec3 angles, mat4 dest);
CGLM_INLINE void glm_euler_xzy(vec3 angles, mat4 dest);
CGLM_INLINE void glm_euler_yzx(vec3 angles, mat4 dest);
CGLM_INLINE void glm_euler_yxz(vec3 angles, mat4 dest);
CGLM_INLINE void glm_euler_by_order(vec3 angles,
glm_euler_seq ord,
mat4 dest);
*/
#ifndef cglm_euler_h
#define cglm_euler_h
#include "common.h"
/*!
* if you have axis order like vec3 orderVec = [0, 1, 2] or [0, 2, 1]...
* vector then you can convert it to this enum by doing this:
* @code
* glm_euler_seq order;
* order = orderVec[0] | orderVec[1] << 2 | orderVec[2] << 4;
* @endcode
* you may need to explicit cast if required
*/
typedef enum glm_euler_seq {
GLM_EULER_XYZ = 0 << 0 | 1 << 2 | 2 << 4,
GLM_EULER_XZY = 0 << 0 | 2 << 2 | 1 << 4,
GLM_EULER_YZX = 1 << 0 | 2 << 2 | 0 << 4,
GLM_EULER_YXZ = 1 << 0 | 0 << 2 | 2 << 4,
GLM_EULER_ZXY = 2 << 0 | 0 << 2 | 1 << 4,
GLM_EULER_ZYX = 2 << 0 | 1 << 2 | 0 << 4
} glm_euler_seq;
CGLM_INLINE
glm_euler_seq
glm_euler_order(int ord[3]) {
return (glm_euler_seq)(ord[0] << 0 | ord[1] << 2 | ord[2] << 4);
}
/*!
* @brief extract euler angles (in radians) using xyz order
*
* @param[in] m affine transform
* @param[out] dest angles vector [x, y, z]
*/
CGLM_INLINE
void
glm_euler_angles(mat4 m, vec3 dest) {
float m00, m01, m10, m11, m20, m21, m22;
float thetaX, thetaY, thetaZ;
m00 = m[0][0]; m10 = m[1][0]; m20 = m[2][0];
m01 = m[0][1]; m11 = m[1][1]; m21 = m[2][1];
m22 = m[2][2];
if (m20 < 1.0f) {
if (m20 > -1.0f) {
thetaY = asinf(m20);
thetaX = atan2f(-m21, m22);
thetaZ = atan2f(-m10, m00);
} else { /* m20 == -1 */
/* Not a unique solution */
thetaY = -GLM_PI_2f;
thetaX = -atan2f(m01, m11);
thetaZ = 0.0f;
}
} else { /* m20 == +1 */
thetaY = GLM_PI_2f;
thetaX = atan2f(m01, m11);
thetaZ = 0.0f;
}
dest[0] = thetaX;
dest[1] = thetaY;
dest[2] = thetaZ;
}
/*!
* @brief build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_xyz(vec3 angles, mat4 dest) {
float cx, cy, cz,
sx, sy, sz, czsx, cxcz, sysz;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
czsx = cz * sx;
cxcz = cx * cz;
sysz = sy * sz;
dest[0][0] = cy * cz;
dest[0][1] = czsx * sy + cx * sz;
dest[0][2] = -cxcz * sy + sx * sz;
dest[1][0] = -cy * sz;
dest[1][1] = cxcz - sx * sysz;
dest[1][2] = czsx + cx * sysz;
dest[2][0] = sy;
dest[2][1] = -cy * sx;
dest[2][2] = cx * cy;
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 build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler(vec3 angles, mat4 dest) {
glm_euler_xyz(angles, dest);
}
/*!
* @brief build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_xzy(vec3 angles, mat4 dest) {
float cx, cy, cz,
sx, sy, sz, sxsy, cysx, cxsy, cxcy;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
sxsy = sx * sy;
cysx = cy * sx;
cxsy = cx * sy;
cxcy = cx * cy;
dest[0][0] = cy * cz;
dest[0][1] = sxsy + cxcy * sz;
dest[0][2] = -cxsy + cysx * sz;
dest[1][0] = -sz;
dest[1][1] = cx * cz;
dest[1][2] = cz * sx;
dest[2][0] = cz * sy;
dest[2][1] = -cysx + cxsy * sz;
dest[2][2] = cxcy + sxsy * sz;
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 build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_yxz(vec3 angles, mat4 dest) {
float cx, cy, cz,
sx, sy, sz, cycz, sysz, czsy, cysz;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
cycz = cy * cz;
sysz = sy * sz;
czsy = cz * sy;
cysz = cy * sz;
dest[0][0] = cycz + sx * sysz;
dest[0][1] = cx * sz;
dest[0][2] = -czsy + cysz * sx;
dest[1][0] = -cysz + czsy * sx;
dest[1][1] = cx * cz;
dest[1][2] = cycz * sx + sysz;
dest[2][0] = cx * sy;
dest[2][1] = -sx;
dest[2][2] = cx * cy;
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 build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_yzx(vec3 angles, mat4 dest) {
float cx, cy, cz,
sx, sy, sz, sxsy, cxcy, cysx, cxsy;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
sxsy = sx * sy;
cxcy = cx * cy;
cysx = cy * sx;
cxsy = cx * sy;
dest[0][0] = cy * cz;
dest[0][1] = sz;
dest[0][2] = -cz * sy;
dest[1][0] = sxsy - cxcy * sz;
dest[1][1] = cx * cz;
dest[1][2] = cysx + cxsy * sz;
dest[2][0] = cxsy + cysx * sz;
dest[2][1] = -cz * sx;
dest[2][2] = cxcy - sxsy * sz;
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 build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_zxy(vec3 angles, mat4 dest) {
float cx, cy, cz,
sx, sy, sz, cycz, sxsy, cysz;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
cycz = cy * cz;
sxsy = sx * sy;
cysz = cy * sz;
dest[0][0] = cycz - sxsy * sz;
dest[0][1] = cz * sxsy + cysz;
dest[0][2] = -cx * sy;
dest[1][0] = -cx * sz;
dest[1][1] = cx * cz;
dest[1][2] = sx;
dest[2][0] = cz * sy + cysz * sx;
dest[2][1] = -cycz * sx + sy * sz;
dest[2][2] = cx * cy;
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 build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_zyx(vec3 angles, mat4 dest) {
float cx, cy, cz,
sx, sy, sz, czsx, cxcz, sysz;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
czsx = cz * sx;
cxcz = cx * cz;
sysz = sy * sz;
dest[0][0] = cy * cz;
dest[0][1] = cy * sz;
dest[0][2] = -sy;
dest[1][0] = czsx * sy - cx * sz;
dest[1][1] = cxcz + sx * sysz;
dest[1][2] = cy * sx;
dest[2][0] = cxcz * sy + sx * sz;
dest[2][1] = -czsx + cx * sysz;
dest[2][2] = cx * cy;
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 build rotation matrix from euler angles
*
* @param[in] angles angles as vector [Xangle, Yangle, Zangle]
* @param[in] ord euler order
* @param[out] dest rotation matrix
*/
CGLM_INLINE
void
glm_euler_by_order(vec3 angles, glm_euler_seq ord, mat4 dest) {
float cx, cy, cz,
sx, sy, sz;
float cycz, cysz, cysx, cxcy,
czsy, cxcz, czsx, cxsz,
sysz;
sx = sinf(angles[0]); cx = cosf(angles[0]);
sy = sinf(angles[1]); cy = cosf(angles[1]);
sz = sinf(angles[2]); cz = cosf(angles[2]);
cycz = cy * cz; cysz = cy * sz;
cysx = cy * sx; cxcy = cx * cy;
czsy = cz * sy; cxcz = cx * cz;
czsx = cz * sx; cxsz = cx * sz;
sysz = sy * sz;
switch (ord) {
case GLM_EULER_XZY:
dest[0][0] = cycz;
dest[0][1] = sx * sy + cx * cysz;
dest[0][2] = -cx * sy + cysx * sz;
dest[1][0] = -sz;
dest[1][1] = cxcz;
dest[1][2] = czsx;
dest[2][0] = czsy;
dest[2][1] = -cysx + cx * sysz;
dest[2][2] = cxcy + sx * sysz;
break;
case GLM_EULER_XYZ:
dest[0][0] = cycz;
dest[0][1] = czsx * sy + cxsz;
dest[0][2] = -cx * czsy + sx * sz;
dest[1][0] = -cysz;
dest[1][1] = cxcz - sx * sysz;
dest[1][2] = czsx + cx * sysz;
dest[2][0] = sy;
dest[2][1] = -cysx;
dest[2][2] = cxcy;
break;
case GLM_EULER_YXZ:
dest[0][0] = cycz + sx * sysz;
dest[0][1] = cxsz;
dest[0][2] = -czsy + cysx * sz;
dest[1][0] = czsx * sy - cysz;
dest[1][1] = cxcz;
dest[1][2] = cycz * sx + sysz;
dest[2][0] = cx * sy;
dest[2][1] = -sx;
dest[2][2] = cxcy;
break;
case GLM_EULER_YZX:
dest[0][0] = cycz;
dest[0][1] = sz;
dest[0][2] = -czsy;
dest[1][0] = sx * sy - cx * cysz;
dest[1][1] = cxcz;
dest[1][2] = cysx + cx * sysz;
dest[2][0] = cx * sy + cysx * sz;
dest[2][1] = -czsx;
dest[2][2] = cxcy - sx * sysz;
break;
case GLM_EULER_ZXY:
dest[0][0] = cycz - sx * sysz;
dest[0][1] = czsx * sy + cysz;
dest[0][2] = -cx * sy;
dest[1][0] = -cxsz;
dest[1][1] = cxcz;
dest[1][2] = sx;
dest[2][0] = czsy + cysx * sz;
dest[2][1] = -cycz * sx + sysz;
dest[2][2] = cxcy;
break;
case GLM_EULER_ZYX:
dest[0][0] = cycz;
dest[0][1] = cysz;
dest[0][2] = -sy;
dest[1][0] = czsx * sy - cxsz;
dest[1][1] = cxcz + sx * sysz;
dest[1][2] = cysx;
dest[2][0] = cx * czsy + sx * sz;
dest[2][1] = -czsx + cx * sysz;
dest[2][2] = cxcy;
break;
}
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;
}
#endif /* cglm_euler_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_frustum_h
#define cglm_frustum_h
#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 */
#define GLM_RTN 2 /* right top near */
#define GLM_RBN 3 /* right bottom near */
#define GLM_LBF 4 /* left bottom far */
#define GLM_LTF 5 /* left top far */
#define GLM_RTF 6 /* right top far */
#define GLM_RBF 7 /* right bottom far */
#define GLM_LEFT 0
#define GLM_RIGHT 1
#define GLM_BOTTOM 2
#define GLM_TOP 3
#define GLM_NEAR 4
#define GLM_FAR 5
/* you can override clip space coords
but you have to provide all with same name
e.g.: define GLM_CSCOORD_LBN {0.0f, 0.0f, 1.0f, 1.0f} */
#ifndef GLM_CUSTOM_CLIPSPACE
/* near */
#define GLM_CSCOORD_LBN {-1.0f, -1.0f, -1.0f, 1.0f}
#define GLM_CSCOORD_LTN {-1.0f, 1.0f, -1.0f, 1.0f}
#define GLM_CSCOORD_RTN { 1.0f, 1.0f, -1.0f, 1.0f}
#define GLM_CSCOORD_RBN { 1.0f, -1.0f, -1.0f, 1.0f}
/* far */
#define GLM_CSCOORD_LBF {-1.0f, -1.0f, 1.0f, 1.0f}
#define GLM_CSCOORD_LTF {-1.0f, 1.0f, 1.0f, 1.0f}
#define GLM_CSCOORD_RTF { 1.0f, 1.0f, 1.0f, 1.0f}
#define GLM_CSCOORD_RBF { 1.0f, -1.0f, 1.0f, 1.0f}
#endif
/*!
* @brief extracts view frustum planes
*
* planes' space:
* 1- if m = proj: View Space
* 2- if m = viewProj: World Space
* 3- if m = MVP: Object Space
*
* You probably want to extract planes in world space so use viewProj as m
* Computing viewProj:
* glm_mat4_mul(proj, view, viewProj);
*
* Exracted planes order: [left, right, bottom, top, near, far]
*
* @param[in] m matrix (see brief)
* @param[out] dest extracted view frustum planes (see brief)
*/
CGLM_INLINE
void
glm_frustum_planes(mat4 m, vec4 dest[6]) {
mat4 t;
glm_mat4_transpose_to(m, t);
glm_vec4_add(t[3], t[0], dest[0]); /* left */
glm_vec4_sub(t[3], t[0], dest[1]); /* right */
glm_vec4_add(t[3], t[1], dest[2]); /* bottom */
glm_vec4_sub(t[3], t[1], dest[3]); /* top */
glm_vec4_add(t[3], t[2], dest[4]); /* near */
glm_vec4_sub(t[3], t[2], dest[5]); /* far */
glm_plane_normalize(dest[0]);
glm_plane_normalize(dest[1]);
glm_plane_normalize(dest[2]);
glm_plane_normalize(dest[3]);
glm_plane_normalize(dest[4]);
glm_plane_normalize(dest[5]);
}
/*!
* @brief extracts view frustum corners using clip-space coordinates
*
* corners' space:
* 1- if m = invViewProj: World Space
* 2- if m = invMVP: Object Space
*
* You probably want to extract corners in world space so use invViewProj
* Computing invViewProj:
* glm_mat4_mul(proj, view, viewProj);
* ...
* glm_mat4_inv(viewProj, invViewProj);
*
* if you have a near coord at i index, you can get it's far coord by i + 4
*
* Find center coordinates:
* for (j = 0; j < 4; j++) {
* glm_vec3_center(corners[i], corners[i + 4], centerCorners[i]);
* }
*
* @param[in] invMat matrix (see brief)
* @param[out] dest exracted view frustum corners (see brief)
*/
CGLM_INLINE
void
glm_frustum_corners(mat4 invMat, vec4 dest[8]) {
vec4 c[8];
/* indexOf(nearCoord) = indexOf(farCoord) + 4 */
vec4 csCoords[8] = {
GLM_CSCOORD_LBN,
GLM_CSCOORD_LTN,
GLM_CSCOORD_RTN,
GLM_CSCOORD_RBN,
GLM_CSCOORD_LBF,
GLM_CSCOORD_LTF,
GLM_CSCOORD_RTF,
GLM_CSCOORD_RBF
};
glm_mat4_mulv(invMat, csCoords[0], c[0]);
glm_mat4_mulv(invMat, csCoords[1], c[1]);
glm_mat4_mulv(invMat, csCoords[2], c[2]);
glm_mat4_mulv(invMat, csCoords[3], c[3]);
glm_mat4_mulv(invMat, csCoords[4], c[4]);
glm_mat4_mulv(invMat, csCoords[5], c[5]);
glm_mat4_mulv(invMat, csCoords[6], c[6]);
glm_mat4_mulv(invMat, csCoords[7], c[7]);
glm_vec4_scale(c[0], 1.0f / c[0][3], dest[0]);
glm_vec4_scale(c[1], 1.0f / c[1][3], dest[1]);
glm_vec4_scale(c[2], 1.0f / c[2][3], dest[2]);
glm_vec4_scale(c[3], 1.0f / c[3][3], dest[3]);
glm_vec4_scale(c[4], 1.0f / c[4][3], dest[4]);
glm_vec4_scale(c[5], 1.0f / c[5][3], dest[5]);
glm_vec4_scale(c[6], 1.0f / c[6][3], dest[6]);
glm_vec4_scale(c[7], 1.0f / c[7][3], dest[7]);
}
/*!
* @brief finds center of view frustum
*
* @param[in] corners view frustum corners
* @param[out] dest view frustum center
*/
CGLM_INLINE
void
glm_frustum_center(vec4 corners[8], vec4 dest) {
vec4 center;
glm_vec4_copy(corners[0], center);
glm_vec4_add(corners[1], center, center);
glm_vec4_add(corners[2], center, center);
glm_vec4_add(corners[3], center, center);
glm_vec4_add(corners[4], center, center);
glm_vec4_add(corners[5], center, center);
glm_vec4_add(corners[6], center, center);
glm_vec4_add(corners[7], center, center);
glm_vec4_scale(center, 0.125f, dest);
}
/*!
* @brief finds bounding box of frustum relative to given matrix e.g. view mat
*
* @param[in] corners view frustum corners
* @param[in] m matrix to convert existing conners
* @param[out] box bounding box as array [min, max]
*/
CGLM_INLINE
void
glm_frustum_box(vec4 corners[8], mat4 m, vec3 box[2]) {
vec4 v;
vec3 min, max;
int i;
glm_vec3_broadcast(FLT_MAX, min);
glm_vec3_broadcast(-FLT_MAX, max);
for (i = 0; i < 8; i++) {
glm_mat4_mulv(m, corners[i], v);
min[0] = glm_min(min[0], v[0]);
min[1] = glm_min(min[1], v[1]);
min[2] = glm_min(min[2], v[2]);
max[0] = glm_max(max[0], v[0]);
max[1] = glm_max(max[1], v[1]);
max[2] = glm_max(max[2], v[2]);
}
glm_vec3_copy(min, box[0]);
glm_vec3_copy(max, box[1]);
}
/*!
* @brief finds planes corners which is between near and far planes (parallel)
*
* this will be helpful if you want to split a frustum e.g. CSM/PSSM. This will
* find planes' corners but you will need to one more plane.
* Actually you have it, it is near, far or created previously with this func ;)
*
* @param[in] corners view frustum corners
* @param[in] splitDist split distance
* @param[in] farDist far distance (zFar)
* @param[out] planeCorners plane corners [LB, LT, RT, RB]
*/
CGLM_INLINE
void
glm_frustum_corners_at(vec4 corners[8],
float splitDist,
float farDist,
vec4 planeCorners[4]) {
vec4 corner;
float dist, sc;
/* because distance and scale is same for all */
dist = glm_vec3_distance(corners[GLM_RTF], corners[GLM_RTN]);
sc = dist * (splitDist / farDist);
/* left bottom */
glm_vec4_sub(corners[GLM_LBF], corners[GLM_LBN], corner);
glm_vec4_scale_as(corner, sc, corner);
glm_vec4_add(corners[GLM_LBN], corner, planeCorners[0]);
/* left top */
glm_vec4_sub(corners[GLM_LTF], corners[GLM_LTN], corner);
glm_vec4_scale_as(corner, sc, corner);
glm_vec4_add(corners[GLM_LTN], corner, planeCorners[1]);
/* right top */
glm_vec4_sub(corners[GLM_RTF], corners[GLM_RTN], corner);
glm_vec4_scale_as(corner, sc, corner);
glm_vec4_add(corners[GLM_RTN], corner, planeCorners[2]);
/* right bottom */
glm_vec4_sub(corners[GLM_RBF], corners[GLM_RBN], corner);
glm_vec4_scale_as(corner, sc, corner);
glm_vec4_add(corners[GLM_RBN], corner, planeCorners[3]);
}
#endif /* cglm_frustum_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE void glm_mat4_print(mat4 matrix, FILE *ostream);
CGLM_INLINE void glm_mat3_print(mat3 matrix, FILE *ostream);
CGLM_INLINE void glm_vec4_print(vec4 vec, FILE *ostream);
CGLM_INLINE void glm_vec3_print(vec3 vec, FILE *ostream);
CGLM_INLINE void glm_ivec3_print(ivec3 vec, FILE *ostream);
CGLM_INLINE void glm_versor_print(versor vec, FILE *ostream);
*/
/*
cglm tried to enable print functions in debug mode and disable them in
release/production mode to eliminate printing costs.
if you need to force enable then define CGLM_DEFINE_PRINTS macro not DEBUG one
Print functions are enabled if:
- DEBUG or _DEBUG macro is defined (mostly defined automatically in debugging)
- CGLM_DEFINE_PRINTS macro is defined including release/production
which makes enabled printing always
- glmc_ calls for io are always prints
*/
/* DEPRECATED: CGLM_NO_PRINTS_NOOP (use CGLM_DEFINE_PRINTS) */
#ifndef cglm_io_h
#define cglm_io_h
#if defined(DEBUG) || defined(_DEBUG) \
|| defined(CGLM_DEFINE_PRINTS) || defined(CGLM_LIB_SRC) \
|| defined(CGLM_NO_PRINTS_NOOP)
#include "common.h"
#include "util.h"
#include <stdio.h>
#include <stdlib.h>
#ifndef CGLM_PRINT_PRECISION
# define CGLM_PRINT_PRECISION 5
#endif
#ifndef CGLM_PRINT_MAX_TO_SHORT
# define CGLM_PRINT_MAX_TO_SHORT 1e5f
#endif
#ifndef CGLM_PRINT_COLOR
# define CGLM_PRINT_COLOR "\033[36m"
#endif
#ifndef CGLM_PRINT_COLOR_RESET
# define CGLM_PRINT_COLOR_RESET "\033[0m"
#endif
CGLM_INLINE
void
glm_mat4_print(mat4 matrix,
FILE * __restrict ostream) {
char buff[16];
int i, j, cw[4], cwi;
#define m 4
#define n 4
fprintf(ostream, "Matrix (float%dx%d): " CGLM_PRINT_COLOR "\n" , m, n);
cw[0] = cw[1] = cw[2] = cw[3] = 0;
for (i = 0; i < m; i++) {
for (j = 0; j < n; j++) {
if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
cwi = sprintf(buff, "% .*f", CGLM_PRINT_PRECISION, (double)matrix[i][j]);
else
cwi = sprintf(buff, "% g", (double)matrix[i][j]);
cw[i] = GLM_MAX(cw[i], cwi);
}
}
for (i = 0; i < m; i++) {
fprintf(ostream, " |");
for (j = 0; j < n; j++)
if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
fprintf(ostream, " % *.*f", cw[j], CGLM_PRINT_PRECISION, (double)matrix[j][i]);
else
fprintf(ostream, " % *g", cw[j], (double)matrix[j][i]);
fprintf(ostream, " |\n");
}
fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
#undef m
#undef n
}
CGLM_INLINE
void
glm_mat3_print(mat3 matrix,
FILE * __restrict ostream) {
char buff[16];
int i, j, cw[4], cwi;
#define m 3
#define n 3
fprintf(ostream, "Matrix (float%dx%d): " CGLM_PRINT_COLOR "\n", m, n);
cw[0] = cw[1] = cw[2] = 0;
for (i = 0; i < m; i++) {
for (j = 0; j < n; j++) {
if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
cwi = sprintf(buff, "% .*f", CGLM_PRINT_PRECISION, (double)matrix[i][j]);
else
cwi = sprintf(buff, "% g", (double)matrix[i][j]);
cw[i] = GLM_MAX(cw[i], cwi);
}
}
for (i = 0; i < m; i++) {
fprintf(ostream, " |");
for (j = 0; j < n; j++)
if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
fprintf(ostream, " % *.*f", cw[j], CGLM_PRINT_PRECISION, (double)matrix[j][i]);
else
fprintf(ostream, " % *g", cw[j], (double)matrix[j][i]);
fprintf(ostream, " |\n");
}
fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
#undef m
#undef n
}
CGLM_INLINE
void
glm_mat2_print(mat2 matrix,
FILE * __restrict ostream) {
char buff[16];
int i, j, cw[4], cwi;
#define m 2
#define n 2
fprintf(ostream, "Matrix (float%dx%d): " CGLM_PRINT_COLOR "\n", m, n);
cw[0] = cw[1] = 0;
for (i = 0; i < m; i++) {
for (j = 0; j < n; j++) {
if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
cwi = sprintf(buff, "% .*f", CGLM_PRINT_PRECISION, (double)matrix[i][j]);
else
cwi = sprintf(buff, "% g", (double)matrix[i][j]);
cw[i] = GLM_MAX(cw[i], cwi);
}
}
for (i = 0; i < m; i++) {
fprintf(ostream, " |");
for (j = 0; j < n; j++)
if (matrix[i][j] < CGLM_PRINT_MAX_TO_SHORT)
fprintf(ostream, " % *.*f", cw[j], CGLM_PRINT_PRECISION, (double)matrix[j][i]);
else
fprintf(ostream, " % *g", cw[j], (double)matrix[j][i]);
fprintf(ostream, " |\n");
}
fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
#undef m
#undef n
}
CGLM_INLINE
void
glm_vec4_print(vec4 vec,
FILE * __restrict ostream) {
int i;
#define m 4
fprintf(ostream, "Vector (float%d): " CGLM_PRINT_COLOR "\n (", m);
for (i = 0; i < m; i++) {
if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, (double)vec[i]);
else
fprintf(ostream, " % g", (double)vec[i]);
}
fprintf(ostream, " )" CGLM_PRINT_COLOR_RESET "\n\n");
#undef m
}
CGLM_INLINE
void
glm_vec3_print(vec3 vec,
FILE * __restrict ostream) {
int i;
#define m 3
fprintf(ostream, "Vector (float%d): " CGLM_PRINT_COLOR "\n (", m);
for (i = 0; i < m; i++) {
if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, (double)vec[i]);
else
fprintf(ostream, " % g", (double)vec[i]);
}
fprintf(ostream, " )" CGLM_PRINT_COLOR_RESET "\n\n");
#undef m
}
CGLM_INLINE
void
glm_ivec3_print(ivec3 vec,
FILE * __restrict ostream) {
int i;
#define m 3
fprintf(ostream, "Vector (int%d): " CGLM_PRINT_COLOR "\n (", m);
for (i = 0; i < m; i++)
fprintf(ostream, " % d", vec[i]);
fprintf(ostream, " )" CGLM_PRINT_COLOR_RESET "\n\n");
#undef m
}
CGLM_INLINE
void
glm_vec2_print(vec2 vec,
FILE * __restrict ostream) {
int i;
#define m 2
fprintf(ostream, "Vector (float%d): " CGLM_PRINT_COLOR "\n (", m);
for (i = 0; i < m; i++) {
if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, (double)vec[i]);
else
fprintf(ostream, " % g", (double)vec[i]);
}
fprintf(ostream, " )" CGLM_PRINT_COLOR_RESET "\n\n");
#undef m
}
CGLM_INLINE
void
glm_versor_print(versor vec,
FILE * __restrict ostream) {
int i;
#define m 4
fprintf(ostream, "Quaternion (float%d): " CGLM_PRINT_COLOR "\n (", m);
for (i = 0; i < m; i++) {
if (vec[i] < CGLM_PRINT_MAX_TO_SHORT)
fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, (double)vec[i]);
else
fprintf(ostream, " % g", (double)vec[i]);
}
fprintf(ostream, " )" CGLM_PRINT_COLOR_RESET "\n\n");
#undef m
}
CGLM_INLINE
void
glm_aabb_print(vec3 bbox[2],
const char * __restrict tag,
FILE * __restrict ostream) {
int i, j;
#define m 3
fprintf(ostream, "AABB (%s): " CGLM_PRINT_COLOR "\n", tag ? tag: "float");
for (i = 0; i < 2; i++) {
fprintf(ostream, " (");
for (j = 0; j < m; j++) {
if (bbox[i][j] < CGLM_PRINT_MAX_TO_SHORT)
fprintf(ostream, " % .*f", CGLM_PRINT_PRECISION, (double)bbox[i][j]);
else
fprintf(ostream, " % g", (double)bbox[i][j]);
}
fprintf(ostream, " )\n");
}
fprintf(ostream, CGLM_PRINT_COLOR_RESET "\n");
#undef m
}
#else
#include "common.h"
#include <stdio.h>
#include <stdlib.h>
/* NOOP: Remove print from DEBUG */
#define glm_mat4_print(v, s) (void)v; (void)s;
#define glm_mat3_print(v, s) (void)v; (void)s;
#define glm_mat2_print(v, s) (void)v; (void)s;
#define glm_vec4_print(v, s) (void)v; (void)s;
#define glm_vec3_print(v, s) (void)v; (void)s;
#define glm_ivec3_print(v, s) (void)v; (void)s;
#define glm_vec2_print(v, s) (void)v; (void)s;
#define glm_versor_print(v, s) (void)v; (void)s;
#define glm_aabb_print(v, t, s) (void)v; (void)t; (void)s;
#endif
#endif /* cglm_io_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
FUNCTIONS:
CGLM_INLINE void glm_ivec2(int * __restrict v, ivec2 dest)
CGLM_INLINE void glm_ivec2_copy(ivec2 a, ivec2 dest)
CGLM_INLINE void glm_ivec2_zero(ivec2 v)
CGLM_INLINE void glm_ivec2_one(ivec2 v)
CGLM_INLINE void glm_ivec2_add(ivec2 a, ivec2 b, ivec2 dest)
CGLM_INLINE void glm_ivec2_adds(ivec2 v, int s, ivec2 dest)
CGLM_INLINE void glm_ivec2_sub(ivec2 a, ivec2 b, ivec2 dest)
CGLM_INLINE void glm_ivec2_subs(ivec2 v, int s, ivec2 dest)
CGLM_INLINE void glm_ivec2_mul(ivec2 a, ivec2 b, ivec2 dest)
CGLM_INLINE void glm_ivec2_scale(ivec2 v, int s, ivec2 dest)
CGLM_INLINE int glm_ivec2_distance2(ivec2 a, ivec2 b)
CGLM_INLINE float glm_ivec2_distance(ivec2 a, ivec2 b)
CGLM_INLINE void glm_ivec2_maxv(ivec2 a, ivec2 b, ivec2 dest)
CGLM_INLINE void glm_ivec2_minv(ivec2 a, ivec2 b, ivec2 dest)
CGLM_INLINE void glm_ivec2_clamp(ivec2 v, int minVal, int maxVal)
CGLM_INLINE void glm_ivec2_abs(ivec2 v, ivec2 dest)
*/
#ifndef cglm_ivec2_h
#define cglm_ivec2_h
#include "common.h"
/*!
* @brief init ivec2 using vec3 or vec4
*
* @param[in] v vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec2(int * __restrict v, ivec2 dest) {
dest[0] = v[0];
dest[1] = v[1];
}
/*!
* @brief copy all members of [a] to [dest]
*
* @param[in] a source vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec2_copy(ivec2 a, ivec2 dest) {
dest[0] = a[0];
dest[1] = a[1];
}
/*!
* @brief set all members of [v] to zero
*
* @param[out] v vector
*/
CGLM_INLINE
void
glm_ivec2_zero(ivec2 v) {
v[0] = v[1] = 0;
}
/*!
* @brief set all members of [v] to one
*
* @param[out] v vector
*/
CGLM_INLINE
void
glm_ivec2_one(ivec2 v) {
v[0] = v[1] = 1;
}
/*!
* @brief add vector [a] to vector [b] and store result in [dest]
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec2_add(ivec2 a, ivec2 b, ivec2 dest) {
dest[0] = a[0] + b[0];
dest[1] = a[1] + b[1];
}
/*!
* @brief add scalar s to vector [v] and store result in [dest]
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec2_adds(ivec2 v, int s, ivec2 dest) {
dest[0] = v[0] + s;
dest[1] = v[1] + s;
}
/*!
* @brief subtract vector [b] from vector [a] and store result in [dest]
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec2_sub(ivec2 a, ivec2 b, ivec2 dest) {
dest[0] = a[0] - b[0];
dest[1] = a[1] - b[1];
}
/*!
* @brief subtract scalar s from vector [v] and store result in [dest]
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec2_subs(ivec2 v, int s, ivec2 dest) {
dest[0] = v[0] - s;
dest[1] = v[1] - s;
}
/*!
* @brief multiply vector [a] with vector [b] and store result in [dest]
*
* @param[in] a frist vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec2_mul(ivec2 a, ivec2 b, ivec2 dest) {
dest[0] = a[0] * b[0];
dest[1] = a[1] * b[1];
}
/*!
* @brief multiply vector [a] with scalar s and store result in [dest]
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec2_scale(ivec2 v, int s, ivec2 dest) {
dest[0] = v[0] * s;
dest[1] = v[1] * s;
}
/*!
* @brief squared distance between two vectors
*
* @param[in] a first vector
* @param[in] b second vector
* @return returns squared distance (distance * distance)
*/
CGLM_INLINE
int
glm_ivec2_distance2(ivec2 a, ivec2 b) {
int xd, yd;
xd = a[0] - b[0];
yd = a[1] - b[1];
return xd * xd + yd * yd;
}
/*!
* @brief distance between two vectors
*
* @param[in] a first vector
* @param[in] b second vector
* @return returns distance
*/
CGLM_INLINE
float
glm_ivec2_distance(ivec2 a, ivec2 b) {
return sqrtf((float)glm_ivec2_distance2(a, b));
}
/*!
* @brief set each member of dest to greater of vector a and b
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec2_maxv(ivec2 a, ivec2 b, ivec2 dest) {
dest[0] = a[0] > b[0] ? a[0] : b[0];
dest[1] = a[1] > b[1] ? a[1] : b[1];
}
/*!
* @brief set each member of dest to lesser of vector a and b
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec2_minv(ivec2 a, ivec2 b, ivec2 dest) {
dest[0] = a[0] < b[0] ? a[0] : b[0];
dest[1] = a[1] < b[1] ? a[1] : b[1];
}
/*!
* @brief clamp each member of [v] between minVal and maxVal (inclusive)
*
* @param[in, out] v vector
* @param[in] minVal minimum value
* @param[in] maxVal maximum value
*/
CGLM_INLINE
void
glm_ivec2_clamp(ivec2 v, int minVal, int maxVal) {
if (v[0] < minVal)
v[0] = minVal;
else if(v[0] > maxVal)
v[0] = maxVal;
if (v[1] < minVal)
v[1] = minVal;
else if(v[1] > maxVal)
v[1] = maxVal;
}
/*!
* @brief absolute value of v
*
* @param[in] v vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec2_abs(ivec2 v, ivec2 dest) {
dest[0] = abs(v[0]);
dest[1] = abs(v[1]);
}
#endif /* cglm_ivec2_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
FUNCTIONS:
CGLM_INLINE void glm_ivec3(ivec4 v4, ivec3 dest)
CGLM_INLINE void glm_ivec3_copy(ivec3 a, ivec3 dest)
CGLM_INLINE void glm_ivec3_zero(ivec3 v)
CGLM_INLINE void glm_ivec3_one(ivec3 v)
CGLM_INLINE void glm_ivec3_add(ivec3 a, ivec3 b, ivec3 dest)
CGLM_INLINE void glm_ivec3_adds(ivec3 v, int s, ivec3 dest)
CGLM_INLINE void glm_ivec3_sub(ivec3 a, ivec3 b, ivec3 dest)
CGLM_INLINE void glm_ivec3_subs(ivec3 v, int s, ivec3 dest)
CGLM_INLINE void glm_ivec3_mul(ivec3 a, ivec3 b, ivec3 dest)
CGLM_INLINE void glm_ivec3_scale(ivec3 v, int s, ivec3 dest)
CGLM_INLINE int glm_ivec3_distance2(ivec3 a, ivec3 b)
CGLM_INLINE float glm_ivec3_distance(ivec3 a, ivec3 b)
CGLM_INLINE void glm_ivec3_maxv(ivec3 a, ivec3 b, ivec3 dest)
CGLM_INLINE void glm_ivec3_minv(ivec3 a, ivec3 b, ivec3 dest)
CGLM_INLINE void glm_ivec3_clamp(ivec3 v, int minVal, int maxVal)
CGLM_INLINE void glm_ivec3_abs(ivec3 v, ivec3 dest)
*/
#ifndef cglm_ivec3_h
#define cglm_ivec3_h
#include "common.h"
/*!
* @brief init ivec3 using ivec4
*
* @param[in] v4 vector4
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec3(ivec4 v4, ivec3 dest) {
dest[0] = v4[0];
dest[1] = v4[1];
dest[2] = v4[2];
}
/*!
* @brief copy all members of [a] to [dest]
*
* @param[in] a source vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec3_copy(ivec3 a, ivec3 dest) {
dest[0] = a[0];
dest[1] = a[1];
dest[2] = a[2];
}
/*!
* @brief set all members of [v] to zero
*
* @param[out] v vector
*/
CGLM_INLINE
void
glm_ivec3_zero(ivec3 v) {
v[0] = v[1] = v[2] = 0;
}
/*!
* @brief set all members of [v] to one
*
* @param[out] v vector
*/
CGLM_INLINE
void
glm_ivec3_one(ivec3 v) {
v[0] = v[1] = v[2] = 1;
}
/*!
* @brief add vector [a] to vector [b] and store result in [dest]
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec3_add(ivec3 a, ivec3 b, ivec3 dest) {
dest[0] = a[0] + b[0];
dest[1] = a[1] + b[1];
dest[2] = a[2] + b[2];
}
/*!
* @brief add scalar s to vector [v] and store result in [dest]
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec3_adds(ivec3 v, int s, ivec3 dest) {
dest[0] = v[0] + s;
dest[1] = v[1] + s;
dest[2] = v[2] + s;
}
/*!
* @brief subtract vector [b] from vector [a] and store result in [dest]
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec3_sub(ivec3 a, ivec3 b, ivec3 dest) {
dest[0] = a[0] - b[0];
dest[1] = a[1] - b[1];
dest[2] = a[2] - b[2];
}
/*!
* @brief subtract scalar s from vector [v] and store result in [dest]
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec3_subs(ivec3 v, int s, ivec3 dest) {
dest[0] = v[0] - s;
dest[1] = v[1] - s;
dest[2] = v[2] - s;
}
/*!
* @brief multiply vector [a] with vector [b] and store result in [dest]
*
* @param[in] a frist vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec3_mul(ivec3 a, ivec3 b, ivec3 dest) {
dest[0] = a[0] * b[0];
dest[1] = a[1] * b[1];
dest[2] = a[2] * b[2];
}
/*!
* @brief multiply vector [a] with scalar s and store result in [dest]
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec3_scale(ivec3 v, int s, ivec3 dest) {
dest[0] = v[0] * s;
dest[1] = v[1] * s;
dest[2] = v[2] * s;
}
/*!
* @brief squared distance between two vectors
*
* @param[in] a first vector
* @param[in] b second vector
* @return returns squared distance (distance * distance)
*/
CGLM_INLINE
int
glm_ivec3_distance2(ivec3 a, ivec3 b) {
int xd, yd, zd;
xd = a[0] - b[0];
yd = a[1] - b[1];
zd = a[2] - b[2];
return xd * xd + yd * yd + zd * zd;
}
/*!
* @brief distance between two vectors
*
* @param[in] a first vector
* @param[in] b second vector
* @return returns distance
*/
CGLM_INLINE
float
glm_ivec3_distance(ivec3 a, ivec3 b) {
return sqrtf((float)glm_ivec3_distance2(a, b));
}
/*!
* @brief set each member of dest to greater of vector a and b
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec3_maxv(ivec3 a, ivec3 b, ivec3 dest) {
dest[0] = a[0] > b[0] ? a[0] : b[0];
dest[1] = a[1] > b[1] ? a[1] : b[1];
dest[2] = a[2] > b[2] ? a[2] : b[2];
}
/*!
* @brief set each member of dest to lesser of vector a and b
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec3_minv(ivec3 a, ivec3 b, ivec3 dest) {
dest[0] = a[0] < b[0] ? a[0] : b[0];
dest[1] = a[1] < b[1] ? a[1] : b[1];
dest[2] = a[2] < b[2] ? a[2] : b[2];
}
/*!
* @brief clamp each member of [v] between minVal and maxVal (inclusive)
*
* @param[in, out] v vector
* @param[in] minVal minimum value
* @param[in] maxVal maximum value
*/
CGLM_INLINE
void
glm_ivec3_clamp(ivec3 v, int minVal, int maxVal) {
if (v[0] < minVal)
v[0] = minVal;
else if(v[0] > maxVal)
v[0] = maxVal;
if (v[1] < minVal)
v[1] = minVal;
else if(v[1] > maxVal)
v[1] = maxVal;
if (v[2] < minVal)
v[2] = minVal;
else if(v[2] > maxVal)
v[2] = maxVal;
}
/*!
* @brief absolute value of v
*
* @param[in] v vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec3_abs(ivec3 v, ivec3 dest) {
dest[0] = abs(v[0]);
dest[1] = abs(v[1]);
dest[2] = abs(v[2]);
}
#endif /* cglm_ivec3_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
FUNCTIONS:
CGLM_INLINE void glm_ivec4(ivec3 v3, int last, ivec4 dest)
CGLM_INLINE void glm_ivec4_copy(ivec4 a, ivec4 dest)
CGLM_INLINE void glm_ivec4_zero(ivec4 v)
CGLM_INLINE void glm_ivec4_one(ivec4 v)
CGLM_INLINE void glm_ivec4_add(ivec4 a, ivec4 b, ivec4 dest)
CGLM_INLINE void glm_ivec4_adds(ivec4 v, int s, ivec4 dest)
CGLM_INLINE void glm_ivec4_sub(ivec4 a, ivec4 b, ivec4 dest)
CGLM_INLINE void glm_ivec4_subs(ivec4 v, int s, ivec4 dest)
CGLM_INLINE void glm_ivec4_mul(ivec4 a, ivec4 b, ivec4 dest)
CGLM_INLINE void glm_ivec4_scale(ivec4 v, int s, ivec4 dest)
CGLM_INLINE int glm_ivec4_distance2(ivec4 a, ivec4 b)
CGLM_INLINE float glm_ivec4_distance(ivec4 a, ivec4 b)
CGLM_INLINE void glm_ivec4_maxv(ivec4 a, ivec4 b, ivec4 dest)
CGLM_INLINE void glm_ivec4_minv(ivec4 a, ivec4 b, ivec4 dest)
CGLM_INLINE void glm_ivec4_clamp(ivec4 v, int minVal, int maxVal)
CGLM_INLINE void glm_ivec4_abs(ivec4 v, ivec4 dest)
*/
#ifndef cglm_ivec4_h
#define cglm_ivec4_h
#include "common.h"
/*!
* @brief init ivec4 using ivec3
*
* @param[in] v3 vector3
* @param[in] last last item
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec4(ivec3 v3, int last, ivec4 dest) {
dest[0] = v3[0];
dest[1] = v3[1];
dest[2] = v3[2];
dest[3] = last;
}
/*!
* @brief copy all members of [a] to [dest]
*
* @param[in] a source vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec4_copy(ivec4 a, ivec4 dest) {
dest[0] = a[0];
dest[1] = a[1];
dest[2] = a[2];
dest[3] = a[3];
}
/*!
* @brief set all members of [v] to zero
*
* @param[out] v vector
*/
CGLM_INLINE
void
glm_ivec4_zero(ivec4 v) {
v[0] = v[1] = v[2] = v[3] = 0;
}
/*!
* @brief set all members of [v] to one
*
* @param[out] v vector
*/
CGLM_INLINE
void
glm_ivec4_one(ivec4 v) {
v[0] = v[1] = v[2] = v[3] = 1;
}
/*!
* @brief add vector [a] to vector [b] and store result in [dest]
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec4_add(ivec4 a, ivec4 b, ivec4 dest) {
dest[0] = a[0] + b[0];
dest[1] = a[1] + b[1];
dest[2] = a[2] + b[2];
dest[3] = a[3] + b[3];
}
/*!
* @brief add scalar s to vector [v] and store result in [dest]
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec4_adds(ivec4 v, int s, ivec4 dest) {
dest[0] = v[0] + s;
dest[1] = v[1] + s;
dest[2] = v[2] + s;
dest[3] = v[3] + s;
}
/*!
* @brief subtract vector [b] from vector [a] and store result in [dest]
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec4_sub(ivec4 a, ivec4 b, ivec4 dest) {
dest[0] = a[0] - b[0];
dest[1] = a[1] - b[1];
dest[2] = a[2] - b[2];
dest[3] = a[3] - b[3];
}
/*!
* @brief subtract scalar s from vector [v] and store result in [dest]
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec4_subs(ivec4 v, int s, ivec4 dest) {
dest[0] = v[0] - s;
dest[1] = v[1] - s;
dest[2] = v[2] - s;
dest[3] = v[3] - s;
}
/*!
* @brief multiply vector [a] with vector [b] and store result in [dest]
*
* @param[in] a frist vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec4_mul(ivec4 a, ivec4 b, ivec4 dest) {
dest[0] = a[0] * b[0];
dest[1] = a[1] * b[1];
dest[2] = a[2] * b[2];
dest[3] = a[3] * b[3];
}
/*!
* @brief multiply vector [a] with scalar s and store result in [dest]
*
* @param[in] v vector
* @param[in] s scalar
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec4_scale(ivec4 v, int s, ivec4 dest) {
dest[0] = v[0] * s;
dest[1] = v[1] * s;
dest[2] = v[2] * s;
dest[3] = v[3] * s;
}
/*!
* @brief squared distance between two vectors
*
* @param[in] a first vector
* @param[in] b second vector
* @return returns squared distance (distance * distance)
*/
CGLM_INLINE
int
glm_ivec4_distance2(ivec4 a, ivec4 b) {
int xd, yd, zd, wd;
xd = a[0] - b[0];
yd = a[1] - b[1];
zd = a[2] - b[2];
wd = a[3] - b[3];
return xd * xd + yd * yd + zd * zd + wd * wd;
}
/*!
* @brief distance between two vectors
*
* @param[in] a first vector
* @param[in] b second vector
* @return returns distance
*/
CGLM_INLINE
float
glm_ivec4_distance(ivec4 a, ivec4 b) {
return sqrtf((float)glm_ivec4_distance2(a, b));
}
/*!
* @brief set each member of dest to greater of vector a and b
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec4_maxv(ivec4 a, ivec4 b, ivec4 dest) {
dest[0] = a[0] > b[0] ? a[0] : b[0];
dest[1] = a[1] > b[1] ? a[1] : b[1];
dest[2] = a[2] > b[2] ? a[2] : b[2];
dest[3] = a[3] > b[3] ? a[3] : b[3];
}
/*!
* @brief set each member of dest to lesser of vector a and b
*
* @param[in] a first vector
* @param[in] b second vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec4_minv(ivec4 a, ivec4 b, ivec4 dest) {
dest[0] = a[0] < b[0] ? a[0] : b[0];
dest[1] = a[1] < b[1] ? a[1] : b[1];
dest[2] = a[2] < b[2] ? a[2] : b[2];
dest[3] = a[3] < b[3] ? a[3] : b[3];
}
/*!
* @brief clamp each member of [v] between minVal and maxVal (inclusive)
*
* @param[in, out] v vector
* @param[in] minVal minimum value
* @param[in] maxVal maximum value
*/
CGLM_INLINE
void
glm_ivec4_clamp(ivec4 v, int minVal, int maxVal) {
if (v[0] < minVal)
v[0] = minVal;
else if(v[0] > maxVal)
v[0] = maxVal;
if (v[1] < minVal)
v[1] = minVal;
else if(v[1] > maxVal)
v[1] = maxVal;
if (v[2] < minVal)
v[2] = minVal;
else if(v[2] > maxVal)
v[2] = maxVal;
if (v[3] < minVal)
v[3] = minVal;
else if(v[3] > maxVal)
v[3] = maxVal;
}
/*!
* @brief absolute value of v
*
* @param[in] v vector
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_ivec4_abs(ivec4 v, ivec4 dest) {
dest[0] = abs(v[0]);
dest[1] = abs(v[1]);
dest[2] = abs(v[2]);
dest[3] = abs(v[3]);
}
#endif /* cglm_ivec4_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Macros:
GLM_MAT2_IDENTITY_INIT
GLM_MAT2_ZERO_INIT
GLM_MAT2_IDENTITY
GLM_MAT2_ZERO
Functions:
CGLM_INLINE void glm_mat2_copy(mat2 mat, mat2 dest)
CGLM_INLINE void glm_mat2_identity(mat2 mat)
CGLM_INLINE void glm_mat2_identity_array(mat2 * restrict mat, size_t count)
CGLM_INLINE void glm_mat2_zero(mat2 mat)
CGLM_INLINE void glm_mat2_mul(mat2 m1, mat2 m2, mat2 dest)
CGLM_INLINE void glm_mat2_transpose_to(mat2 m, mat2 dest)
CGLM_INLINE void glm_mat2_transpose(mat2 m)
CGLM_INLINE void glm_mat2_mulv(mat2 m, vec2 v, vec2 dest)
CGLM_INLINE float glm_mat2_trace(mat2 m)
CGLM_INLINE void glm_mat2_scale(mat2 m, float s)
CGLM_INLINE float glm_mat2_det(mat2 mat)
CGLM_INLINE void glm_mat2_inv(mat2 mat, mat2 dest)
CGLM_INLINE void glm_mat2_swap_col(mat2 mat, int col1, int col2)
CGLM_INLINE void glm_mat2_swap_row(mat2 mat, int row1, int row2)
CGLM_INLINE float glm_mat2_rmc(vec2 r, mat2 m, vec2 c)
*/
#ifndef cglm_mat2_h
#define cglm_mat2_h
#include "common.h"
#include "vec2.h"
#ifdef CGLM_SSE_FP
# include "simd/sse2/mat2.h"
#endif
#ifdef CGLM_NEON_FP
# include "simd/neon/mat2.h"
#endif
#define GLM_MAT2_IDENTITY_INIT {{1.0f, 0.0f}, {0.0f, 1.0f}}
#define GLM_MAT2_ZERO_INIT {{0.0f, 0.0f}, {0.0f, 0.0f}}
/* for C only */
#define GLM_MAT2_IDENTITY ((mat2)GLM_MAT2_IDENTITY_INIT)
#define GLM_MAT2_ZERO ((mat2)GLM_MAT2_ZERO_INIT)
/*!
* @brief copy all members of [mat] to [dest]
*
* @param[in] mat source
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat2_copy(mat2 mat, mat2 dest) {
glm_vec4_ucopy(mat[0], dest[0]);
}
/*!
* @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_mat2_identity(aStruct->aMatrix);
*
* @code
* glm_mat2_copy(GLM_MAT2_IDENTITY, mat); // C only
*
* // or
* mat2 mat = GLM_MAT2_IDENTITY_INIT;
* @endcode
*
* @param[in, out] mat destination
*/
CGLM_INLINE
void
glm_mat2_identity(mat2 mat) {
CGLM_ALIGN_MAT mat2 t = GLM_MAT2_IDENTITY_INIT;
glm_mat2_copy(t, mat);
}
/*!
* @brief make given matrix array's each element identity matrix
*
* @param[in, out] mat matrix array (must be aligned (16)
* if alignment is not disabled)
*
* @param[in] count count of matrices
*/
CGLM_INLINE
void
glm_mat2_identity_array(mat2 * __restrict mat, size_t count) {
CGLM_ALIGN_MAT mat2 t = GLM_MAT2_IDENTITY_INIT;
size_t i;
for (i = 0; i < count; i++) {
glm_mat2_copy(t, mat[i]);
}
}
/*!
* @brief make given matrix zero.
*
* @param[in, out] mat matrix
*/
CGLM_INLINE
void
glm_mat2_zero(mat2 mat) {
CGLM_ALIGN_MAT mat2 t = GLM_MAT2_ZERO_INIT;
glm_mat2_copy(t, mat);
}
/*!
* @brief multiply m1 and m2 to dest
*
* m1, m2 and dest matrices can be same matrix, it is possible to write this:
*
* @code
* mat2 m = GLM_MAT2_IDENTITY_INIT;
* glm_mat2_mul(m, m, m);
* @endcode
*
* @param[in] m1 left matrix
* @param[in] m2 right matrix
* @param[out] dest destination matrix
*/
CGLM_INLINE
void
glm_mat2_mul(mat2 m1, mat2 m2, mat2 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat2_mul_sse2(m1, m2, dest);
#elif defined(CGLM_NEON_FP)
glm_mat2_mul_neon(m1, m2, dest);
#else
float a00 = m1[0][0], a01 = m1[0][1],
a10 = m1[1][0], a11 = m1[1][1],
b00 = m2[0][0], b01 = m2[0][1],
b10 = m2[1][0], b11 = m2[1][1];
dest[0][0] = a00 * b00 + a10 * b01;
dest[0][1] = a01 * b00 + a11 * b01;
dest[1][0] = a00 * b10 + a10 * b11;
dest[1][1] = a01 * b10 + a11 * b11;
#endif
}
/*!
* @brief transpose mat2 and store in dest
*
* source matrix will not be transposed unless dest is m
*
* @param[in] m matrix
* @param[out] dest result
*/
CGLM_INLINE
void
glm_mat2_transpose_to(mat2 m, mat2 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat2_transp_sse2(m, dest);
#else
dest[0][0] = m[0][0];
dest[0][1] = m[1][0];
dest[1][0] = m[0][1];
dest[1][1] = m[1][1];
#endif
}
/*!
* @brief tranpose mat2 and store result in same matrix
*
* @param[in, out] m source and dest
*/
CGLM_INLINE
void
glm_mat2_transpose(mat2 m) {
float tmp;
tmp = m[0][1];
m[0][1] = m[1][0];
m[1][0] = tmp;
}
/*!
* @brief multiply mat2 with vec2 (column vector) and store in dest vector
*
* @param[in] m mat2 (left)
* @param[in] v vec2 (right, column vector)
* @param[out] dest vec2 (result, column vector)
*/
CGLM_INLINE
void
glm_mat2_mulv(mat2 m, vec2 v, vec2 dest) {
dest[0] = m[0][0] * v[0] + m[1][0] * v[1];
dest[1] = m[0][1] * v[0] + m[1][1] * v[1];
}
/*!
* @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
glm_mat2_trace(mat2 m) {
return m[0][0] + m[1][1];
}
/*!
* @brief scale (multiply with scalar) matrix
*
* multiply matrix with scalar
*
* @param[in, out] m matrix
* @param[in] s scalar
*/
CGLM_INLINE
void
glm_mat2_scale(mat2 m, float s) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glmm_store(m[0], _mm_mul_ps(_mm_loadu_ps(m[0]), _mm_set1_ps(s)));
#elif defined(CGLM_NEON_FP)
vst1q_f32(m[0], vmulq_f32(vld1q_f32(m[0]), vdupq_n_f32(s)));
#else
m[0][0] = m[0][0] * s;
m[0][1] = m[0][1] * s;
m[1][0] = m[1][0] * s;
m[1][1] = m[1][1] * s;
#endif
}
/*!
* @brief mat2 determinant
*
* @param[in] mat matrix
*
* @return determinant
*/
CGLM_INLINE
float
glm_mat2_det(mat2 mat) {
return mat[0][0] * mat[1][1] - mat[1][0] * mat[0][1];
}
/*!
* @brief inverse mat2 and store in dest
*
* @param[in] mat matrix
* @param[out] dest inverse matrix
*/
CGLM_INLINE
void
glm_mat2_inv(mat2 mat, mat2 dest) {
float det;
float a = mat[0][0], b = mat[0][1],
c = mat[1][0], d = mat[1][1];
det = 1.0f / (a * d - b * c);
dest[0][0] = d * det;
dest[0][1] = -b * det;
dest[1][0] = -c * det;
dest[1][1] = a * det;
}
/*!
* @brief swap two matrix columns
*
* @param[in,out] mat matrix
* @param[in] col1 col1
* @param[in] col2 col2
*/
CGLM_INLINE
void
glm_mat2_swap_col(mat2 mat, int col1, int col2) {
float a, b;
a = mat[col1][0];
b = mat[col1][1];
mat[col1][0] = mat[col2][0];
mat[col1][1] = mat[col2][1];
mat[col2][0] = a;
mat[col2][1] = b;
}
/*!
* @brief swap two matrix rows
*
* @param[in,out] mat matrix
* @param[in] row1 row1
* @param[in] row2 row2
*/
CGLM_INLINE
void
glm_mat2_swap_row(mat2 mat, int row1, int row2) {
float a, b;
a = mat[0][row1];
b = mat[1][row1];
mat[0][row1] = mat[0][row2];
mat[1][row1] = mat[1][row2];
mat[0][row2] = a;
mat[1][row2] = b;
}
/*!
* @brief helper for R (row vector) * M (matrix) * C (column vector)
*
* rmc stands for Row * Matrix * Column
*
* the result is scalar because R * M = Matrix1x2 (row vector),
* then Matrix1x2 * Vec2 (column vector) = Matrix1x1 (Scalar)
*
* @param[in] r row vector or matrix1x2
* @param[in] m matrix2x2
* @param[in] c column vector or matrix2x1
*
* @return scalar value e.g. Matrix1x1
*/
CGLM_INLINE
float
glm_mat2_rmc(vec2 r, mat2 m, vec2 c) {
vec2 tmp;
glm_mat2_mulv(m, c, tmp);
return glm_vec2_dot(r, tmp);
}
#endif /* cglm_mat2_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Macros:
GLM_MAT3_IDENTITY_INIT
GLM_MAT3_ZERO_INIT
GLM_MAT3_IDENTITY
GLM_MAT3_ZERO
glm_mat3_dup(mat, dest)
Functions:
CGLM_INLINE void glm_mat3_copy(mat3 mat, mat3 dest);
CGLM_INLINE void glm_mat3_identity(mat3 mat);
CGLM_INLINE void glm_mat3_identity_array(mat3 * restrict mat, size_t count);
CGLM_INLINE void glm_mat3_zero(mat3 mat);
CGLM_INLINE void glm_mat3_mul(mat3 m1, mat3 m2, mat3 dest);
CGLM_INLINE void glm_mat3_transpose_to(mat3 m, mat3 dest);
CGLM_INLINE void glm_mat3_transpose(mat3 m);
CGLM_INLINE void glm_mat3_mulv(mat3 m, vec3 v, vec3 dest);
CGLM_INLINE float glm_mat3_trace(mat3 m);
CGLM_INLINE void glm_mat3_quat(mat3 m, versor dest);
CGLM_INLINE void glm_mat3_scale(mat3 m, float s);
CGLM_INLINE float glm_mat3_det(mat3 mat);
CGLM_INLINE void glm_mat3_inv(mat3 mat, mat3 dest);
CGLM_INLINE void glm_mat3_swap_col(mat3 mat, int col1, int col2);
CGLM_INLINE void glm_mat3_swap_row(mat3 mat, int row1, int row2);
CGLM_INLINE float glm_mat3_rmc(vec3 r, mat3 m, vec3 c);
*/
#ifndef cglm_mat3_h
#define cglm_mat3_h
#include "common.h"
#include "vec3.h"
#ifdef CGLM_SSE_FP
# include "simd/sse2/mat3.h"
#endif
#define GLM_MAT3_IDENTITY_INIT {{1.0f, 0.0f, 0.0f}, \
{0.0f, 1.0f, 0.0f}, \
{0.0f, 0.0f, 1.0f}}
#define GLM_MAT3_ZERO_INIT {{0.0f, 0.0f, 0.0f}, \
{0.0f, 0.0f, 0.0f}, \
{0.0f, 0.0f, 0.0f}}
/* for C only */
#define GLM_MAT3_IDENTITY ((mat3)GLM_MAT3_IDENTITY_INIT)
#define GLM_MAT3_ZERO ((mat3)GLM_MAT3_ZERO_INIT)
/* DEPRECATED! use _copy, _ucopy versions */
#define glm_mat3_dup(mat, dest) glm_mat3_copy(mat, dest)
/*!
* @brief copy all members of [mat] to [dest]
*
* @param[in] mat source
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat3_copy(mat3 mat, mat3 dest) {
dest[0][0] = mat[0][0];
dest[0][1] = mat[0][1];
dest[0][2] = mat[0][2];
dest[1][0] = mat[1][0];
dest[1][1] = mat[1][1];
dest[1][2] = mat[1][2];
dest[2][0] = mat[2][0];
dest[2][1] = mat[2][1];
dest[2][2] = mat[2][2];
}
/*!
* @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_mat3_identity(aStruct->aMatrix);
*
* @code
* glm_mat3_copy(GLM_MAT3_IDENTITY, mat); // C only
*
* // or
* mat3 mat = GLM_MAT3_IDENTITY_INIT;
* @endcode
*
* @param[in, out] mat destination
*/
CGLM_INLINE
void
glm_mat3_identity(mat3 mat) {
CGLM_ALIGN_MAT mat3 t = GLM_MAT3_IDENTITY_INIT;
glm_mat3_copy(t, mat);
}
/*!
* @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
glm_mat3_identity_array(mat3 * __restrict mat, size_t count) {
CGLM_ALIGN_MAT mat3 t = GLM_MAT3_IDENTITY_INIT;
size_t i;
for (i = 0; i < count; i++) {
glm_mat3_copy(t, mat[i]);
}
}
/*!
* @brief make given matrix zero.
*
* @param[in, out] mat matrix
*/
CGLM_INLINE
void
glm_mat3_zero(mat3 mat) {
CGLM_ALIGN_MAT mat3 t = GLM_MAT3_ZERO_INIT;
glm_mat3_copy(t, mat);
}
/*!
* @brief multiply m1 and m2 to dest
*
* m1, m2 and dest matrices can be same matrix, it is possible to write this:
*
* @code
* mat3 m = GLM_MAT3_IDENTITY_INIT;
* glm_mat3_mul(m, m, m);
* @endcode
*
* @param[in] m1 left matrix
* @param[in] m2 right matrix
* @param[out] dest destination matrix
*/
CGLM_INLINE
void
glm_mat3_mul(mat3 m1, mat3 m2, mat3 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat3_mul_sse2(m1, m2, dest);
#else
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],
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[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[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;
#endif
}
/*!
* @brief transpose mat3 and store in dest
*
* source matrix will not be transposed unless dest is m
*
* @param[in] m matrix
* @param[out] dest result
*/
CGLM_INLINE
void
glm_mat3_transpose_to(mat3 m, mat3 dest) {
dest[0][0] = m[0][0];
dest[0][1] = m[1][0];
dest[0][2] = m[2][0];
dest[1][0] = m[0][1];
dest[1][1] = m[1][1];
dest[1][2] = m[2][1];
dest[2][0] = m[0][2];
dest[2][1] = m[1][2];
dest[2][2] = m[2][2];
}
/*!
* @brief tranpose mat3 and store result in same matrix
*
* @param[in, out] m source and dest
*/
CGLM_INLINE
void
glm_mat3_transpose(mat3 m) {
CGLM_ALIGN_MAT mat3 tmp;
tmp[0][1] = m[1][0];
tmp[0][2] = m[2][0];
tmp[1][0] = m[0][1];
tmp[1][2] = m[2][1];
tmp[2][0] = m[0][2];
tmp[2][1] = m[1][2];
m[0][1] = tmp[0][1];
m[0][2] = tmp[0][2];
m[1][0] = tmp[1][0];
m[1][2] = tmp[1][2];
m[2][0] = tmp[2][0];
m[2][1] = tmp[2][1];
}
/*!
* @brief multiply mat3 with vec3 (column vector) and store in dest vector
*
* @param[in] m mat3 (left)
* @param[in] v vec3 (right, column vector)
* @param[out] dest vec3 (result, column vector)
*/
CGLM_INLINE
void
glm_mat3_mulv(mat3 m, vec3 v, vec3 dest) {
vec3 res;
res[0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0] * v[2];
res[1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1] * v[2];
res[2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2];
glm_vec3_copy(res, dest);
}
/*!
* @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
glm_mat3_trace(mat3 m) {
return m[0][0] + m[1][1] + m[2][2];
}
/*!
* @brief convert mat3 to quaternion
*
* @param[in] m rotation 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
*
* multiply matrix with scalar
*
* @param[in, out] m matrix
* @param[in] s scalar
*/
CGLM_INLINE
void
glm_mat3_scale(mat3 m, float s) {
m[0][0] *= s; m[0][1] *= s; m[0][2] *= s;
m[1][0] *= s; m[1][1] *= s; m[1][2] *= s;
m[2][0] *= s; m[2][1] *= s; m[2][2] *= s;
}
/*!
* @brief mat3 determinant
*
* @param[in] mat matrix
*
* @return determinant
*/
CGLM_INLINE
float
glm_mat3_det(mat3 mat) {
float a = mat[0][0], b = mat[0][1], c = mat[0][2],
d = mat[1][0], e = mat[1][1], f = mat[1][2],
g = mat[2][0], h = mat[2][1], i = mat[2][2];
return a * (e * i - h * f) - d * (b * i - c * h) + g * (b * f - c * e);
}
/*!
* @brief inverse mat3 and store in dest
*
* @param[in] mat matrix
* @param[out] dest inverse matrix
*/
CGLM_INLINE
void
glm_mat3_inv(mat3 mat, mat3 dest) {
float det;
float a = mat[0][0], b = mat[0][1], c = mat[0][2],
d = mat[1][0], e = mat[1][1], f = mat[1][2],
g = mat[2][0], h = mat[2][1], i = mat[2][2];
dest[0][0] = e * i - f * h;
dest[0][1] = -(b * i - h * c);
dest[0][2] = b * f - e * c;
dest[1][0] = -(d * i - g * f);
dest[1][1] = a * i - c * g;
dest[1][2] = -(a * f - d * c);
dest[2][0] = d * h - g * e;
dest[2][1] = -(a * h - g * b);
dest[2][2] = a * e - b * d;
det = 1.0f / (a * dest[0][0] + b * dest[1][0] + c * dest[2][0]);
glm_mat3_scale(dest, det);
}
/*!
* @brief swap two matrix columns
*
* @param[in,out] mat matrix
* @param[in] col1 col1
* @param[in] col2 col2
*/
CGLM_INLINE
void
glm_mat3_swap_col(mat3 mat, int col1, int col2) {
vec3 tmp;
glm_vec3_copy(mat[col1], tmp);
glm_vec3_copy(mat[col2], mat[col1]);
glm_vec3_copy(tmp, mat[col2]);
}
/*!
* @brief swap two matrix rows
*
* @param[in,out] mat matrix
* @param[in] row1 row1
* @param[in] row2 row2
*/
CGLM_INLINE
void
glm_mat3_swap_row(mat3 mat, int row1, int row2) {
vec3 tmp;
tmp[0] = mat[0][row1];
tmp[1] = mat[1][row1];
tmp[2] = mat[2][row1];
mat[0][row1] = mat[0][row2];
mat[1][row1] = mat[1][row2];
mat[2][row1] = mat[2][row2];
mat[0][row2] = tmp[0];
mat[1][row2] = tmp[1];
mat[2][row2] = tmp[2];
}
/*!
* @brief helper for R (row vector) * M (matrix) * C (column vector)
*
* rmc stands for Row * Matrix * Column
*
* the result is scalar because R * M = Matrix1x3 (row vector),
* then Matrix1x3 * Vec3 (column vector) = Matrix1x1 (Scalar)
*
* @param[in] r row vector or matrix1x3
* @param[in] m matrix3x3
* @param[in] c column vector or matrix3x1
*
* @return scalar value e.g. Matrix1x1
*/
CGLM_INLINE
float
glm_mat3_rmc(vec3 r, mat3 m, vec3 c) {
vec3 tmp;
glm_mat3_mulv(m, c, tmp);
return glm_vec3_dot(r, tmp);
}
#endif /* cglm_mat3_h */

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/*
* 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:
GLM_MAT4_IDENTITY_INIT
GLM_MAT4_ZERO_INIT
GLM_MAT4_IDENTITY
GLM_MAT4_ZERO
Functions:
CGLM_INLINE void glm_mat4_ucopy(mat4 mat, mat4 dest);
CGLM_INLINE void glm_mat4_copy(mat4 mat, mat4 dest);
CGLM_INLINE void glm_mat4_identity(mat4 mat);
CGLM_INLINE void glm_mat4_identity_array(mat4 * restrict mat, size_t count);
CGLM_INLINE void glm_mat4_zero(mat4 mat);
CGLM_INLINE void glm_mat4_pick3(mat4 mat, mat3 dest);
CGLM_INLINE void glm_mat4_pick3t(mat4 mat, mat3 dest);
CGLM_INLINE void glm_mat4_ins3(mat3 mat, mat4 dest);
CGLM_INLINE void glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest);
CGLM_INLINE void glm_mat4_mulN(mat4 *matrices[], int len, mat4 dest);
CGLM_INLINE void glm_mat4_mulv(mat4 m, vec4 v, vec4 dest);
CGLM_INLINE void glm_mat4_mulv3(mat4 m, vec3 v, vec3 dest);
CGLM_INLINE float glm_mat4_trace(mat4 m);
CGLM_INLINE float glm_mat4_trace3(mat4 m);
CGLM_INLINE void glm_mat4_quat(mat4 m, versor dest) ;
CGLM_INLINE void glm_mat4_transpose_to(mat4 m, mat4 dest);
CGLM_INLINE void glm_mat4_transpose(mat4 m);
CGLM_INLINE void glm_mat4_scale_p(mat4 m, float s);
CGLM_INLINE void glm_mat4_scale(mat4 m, float s);
CGLM_INLINE float glm_mat4_det(mat4 mat);
CGLM_INLINE void glm_mat4_inv(mat4 mat, mat4 dest);
CGLM_INLINE void glm_mat4_inv_fast(mat4 mat, mat4 dest);
CGLM_INLINE void glm_mat4_swap_col(mat4 mat, int col1, int col2);
CGLM_INLINE void glm_mat4_swap_row(mat4 mat, int row1, int row2);
CGLM_INLINE float glm_mat4_rmc(vec4 r, mat4 m, vec4 c);
*/
#ifndef cglm_mat_h
#define cglm_mat_h
#include "common.h"
#include "vec4.h"
#include "vec3.h"
#ifdef CGLM_SSE_FP
# include "simd/sse2/mat4.h"
#endif
#ifdef CGLM_AVX_FP
# include "simd/avx/mat4.h"
#endif
#ifdef CGLM_NEON_FP
# include "simd/neon/mat4.h"
#endif
#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}, \
{0.0f, 0.0f, 1.0f, 0.0f}, \
{0.0f, 0.0f, 0.0f, 1.0f}}
#define GLM_MAT4_ZERO_INIT {{0.0f, 0.0f, 0.0f, 0.0f}, \
{0.0f, 0.0f, 0.0f, 0.0f}, \
{0.0f, 0.0f, 0.0f, 0.0f}, \
{0.0f, 0.0f, 0.0f, 0.0f}}
/* for C only */
#define GLM_MAT4_IDENTITY ((mat4)GLM_MAT4_IDENTITY_INIT)
#define GLM_MAT4_ZERO ((mat4)GLM_MAT4_ZERO_INIT)
/* DEPRECATED! use _copy, _ucopy versions */
#define glm_mat4_udup(mat, dest) glm_mat4_ucopy(mat, dest)
#define glm_mat4_dup(mat, dest) glm_mat4_copy(mat, dest)
/* DEPRECATED! default is precise now. */
#define glm_mat4_inv_precise(mat, dest) glm_mat4_inv(mat, dest)
/*!
* @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
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat4_ucopy(mat4 mat, mat4 dest) {
dest[0][0] = mat[0][0]; dest[1][0] = mat[1][0];
dest[0][1] = mat[0][1]; dest[1][1] = mat[1][1];
dest[0][2] = mat[0][2]; dest[1][2] = mat[1][2];
dest[0][3] = mat[0][3]; dest[1][3] = mat[1][3];
dest[2][0] = mat[2][0]; dest[3][0] = mat[3][0];
dest[2][1] = mat[2][1]; dest[3][1] = mat[3][1];
dest[2][2] = mat[2][2]; dest[3][2] = mat[3][2];
dest[2][3] = mat[2][3]; dest[3][3] = mat[3][3];
}
/*!
* @brief copy all members of [mat] to [dest]
*
* @param[in] mat source
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat4_copy(mat4 mat, mat4 dest) {
#ifdef __AVX__
glmm_store256(dest[0], glmm_load256(mat[0]));
glmm_store256(dest[2], glmm_load256(mat[2]));
#elif defined( __SSE__ ) || defined( __SSE2__ )
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]));
#elif defined(CGLM_NEON_FP)
vst1q_f32(dest[0], vld1q_f32(mat[0]));
vst1q_f32(dest[1], vld1q_f32(mat[1]));
vst1q_f32(dest[2], vld1q_f32(mat[2]));
vst1q_f32(dest[3], vld1q_f32(mat[3]));
#else
glm_mat4_ucopy(mat, dest);
#endif
}
/*!
* @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
*
* @param[in, out] mat destination
*/
CGLM_INLINE
void
glm_mat4_identity(mat4 mat) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
glm_mat4_copy(t, mat);
}
/*!
* @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
glm_mat4_identity_array(mat4 * __restrict mat, size_t count) {
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_IDENTITY_INIT;
size_t i;
for (i = 0; i < count; i++) {
glm_mat4_copy(t, mat[i]);
}
}
/*!
* @brief make given matrix zero.
*
* @param[in, out] mat matrix
*/
CGLM_INLINE
void
glm_mat4_zero(mat4 mat) {
#ifdef __AVX__
__m256 y0;
y0 = _mm256_setzero_ps();
glmm_store256(mat[0], y0);
glmm_store256(mat[2], y0);
#elif defined( __SSE__ ) || defined( __SSE2__ )
glmm_128 x0;
x0 = _mm_setzero_ps();
glmm_store(mat[0], x0);
glmm_store(mat[1], x0);
glmm_store(mat[2], x0);
glmm_store(mat[3], x0);
#elif defined(CGLM_NEON_FP)
glmm_128 x0;
x0 = vdupq_n_f32(0.0f);
vst1q_f32(mat[0], x0);
vst1q_f32(mat[1], x0);
vst1q_f32(mat[2], x0);
vst1q_f32(mat[3], x0);
#else
CGLM_ALIGN_MAT mat4 t = GLM_MAT4_ZERO_INIT;
glm_mat4_copy(t, mat);
#endif
}
/*!
* @brief copy upper-left of mat4 to mat3
*
* @param[in] mat source
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat4_pick3(mat4 mat, mat3 dest) {
dest[0][0] = mat[0][0];
dest[0][1] = mat[0][1];
dest[0][2] = mat[0][2];
dest[1][0] = mat[1][0];
dest[1][1] = mat[1][1];
dest[1][2] = mat[1][2];
dest[2][0] = mat[2][0];
dest[2][1] = mat[2][1];
dest[2][2] = mat[2][2];
}
/*!
* @brief copy upper-left of mat4 to mat3 (transposed)
*
* the postfix t stands for transpose
*
* @param[in] mat source
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat4_pick3t(mat4 mat, mat3 dest) {
dest[0][0] = mat[0][0];
dest[0][1] = mat[1][0];
dest[0][2] = mat[2][0];
dest[1][0] = mat[0][1];
dest[1][1] = mat[1][1];
dest[1][2] = mat[2][1];
dest[2][0] = mat[0][2];
dest[2][1] = mat[1][2];
dest[2][2] = mat[2][2];
}
/*!
* @brief copy mat3 to mat4's upper-left
*
* @param[in] mat source
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_mat4_ins3(mat3 mat, mat4 dest) {
dest[0][0] = mat[0][0];
dest[0][1] = mat[0][1];
dest[0][2] = mat[0][2];
dest[1][0] = mat[1][0];
dest[1][1] = mat[1][1];
dest[1][2] = mat[1][2];
dest[2][0] = mat[2][0];
dest[2][1] = mat[2][1];
dest[2][2] = mat[2][2];
}
/*!
* @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
* @param[out] dest destination matrix
*/
CGLM_INLINE
void
glm_mat4_mul(mat4 m1, mat4 m2, mat4 dest) {
#ifdef __AVX__
glm_mat4_mul_avx(m1, m2, dest);
#elif defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_mul_sse2(m1, m2, dest);
#elif defined(CGLM_NEON_FP)
glm_mat4_mul_neon(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], b03 = m2[0][3],
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],
b30 = m2[3][0], b31 = m2[3][1], b32 = m2[3][2], b33 = m2[3][3];
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[0][3] = a03 * b00 + a13 * b01 + a23 * b02 + a33 * 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[1][3] = a03 * b10 + a13 * b11 + a23 * b12 + a33 * 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;
dest[2][3] = a03 * b20 + a13 * b21 + a23 * b22 + a33 * b23;
dest[3][0] = a00 * b30 + a10 * b31 + a20 * b32 + a30 * b33;
dest[3][1] = a01 * b30 + a11 * b31 + a21 * b32 + a31 * b33;
dest[3][2] = a02 * b30 + a12 * b31 + a22 * b32 + a32 * b33;
dest[3][3] = a03 * b30 + a13 * b31 + a23 * b32 + a33 * b33;
#endif
}
/*!
* @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;
*
* glm_mat4_mulN((mat4 *[]){&m1, &m2, &m3, &m4}, 4, res);
* @endcode
*
* @warning matrices parameter is pointer array not mat4 array!
*
* @param[in] matrices mat4 * array
* @param[in] len matrices count
* @param[out] dest result
*/
CGLM_INLINE
void
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);
for (i = 2; i < len; i++)
glm_mat4_mul(dest, *matrices[i], dest);
}
/*!
* @brief multiply mat4 with vec4 (column vector) and store in dest vector
*
* @param[in] m mat4 (left)
* @param[in] v vec4 (right, column vector)
* @param[out] dest vec4 (result, column vector)
*/
CGLM_INLINE
void
glm_mat4_mulv(mat4 m, vec4 v, vec4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_mulv_sse2(m, v, dest);
#elif defined(CGLM_NEON_FP)
glm_mat4_mulv_neon(m, v, dest);
#else
vec4 res;
res[0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0] * v[2] + m[3][0] * v[3];
res[1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1] * v[2] + m[3][1] * v[3];
res[2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2] + m[3][2] * v[3];
res[3] = m[0][3] * v[0] + m[1][3] * v[1] + m[2][3] * v[2] + m[3][3] * v[3];
glm_vec4_copy(res, dest);
#endif
}
/*!
* @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
glm_mat4_trace(mat4 m) {
return m[0][0] + m[1][1] + m[2][2] + m[3][3];
}
/*!
* @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
glm_mat4_trace3(mat4 m) {
return m[0][0] + m[1][1] + m[2][2];
}
/*!
* @brief convert mat4's rotation part to quaternion
*
* @param[in] m affine 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
*
* actually the result is vec4, after multiplication the last component
* is trimmed. if you need it don't use this func.
*
* @param[in] m mat4(affine transform)
* @param[in] v vec3
* @param[in] last 4th item to make it vec4
* @param[out] dest result vector (vec3)
*/
CGLM_INLINE
void
glm_mat4_mulv3(mat4 m, vec3 v, float last, vec3 dest) {
vec4 res;
glm_vec4(v, last, res);
glm_mat4_mulv(m, res, res);
glm_vec3(res, dest);
}
/*!
* @brief transpose mat4 and store in dest
*
* source matrix will not be transposed unless dest is m
*
* @param[in] m matrix
* @param[out] dest result
*/
CGLM_INLINE
void
glm_mat4_transpose_to(mat4 m, mat4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_transp_sse2(m, dest);
#elif defined(CGLM_NEON_FP)
glm_mat4_transp_neon(m, dest);
#else
dest[0][0] = m[0][0]; dest[1][0] = m[0][1];
dest[0][1] = m[1][0]; dest[1][1] = m[1][1];
dest[0][2] = m[2][0]; dest[1][2] = m[2][1];
dest[0][3] = m[3][0]; dest[1][3] = m[3][1];
dest[2][0] = m[0][2]; dest[3][0] = m[0][3];
dest[2][1] = m[1][2]; dest[3][1] = m[1][3];
dest[2][2] = m[2][2]; dest[3][2] = m[2][3];
dest[2][3] = m[3][2]; dest[3][3] = m[3][3];
#endif
}
/*!
* @brief tranpose mat4 and store result in same matrix
*
* @param[in, out] m source and dest
*/
CGLM_INLINE
void
glm_mat4_transpose(mat4 m) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_transp_sse2(m, m);
#elif defined(CGLM_NEON_FP)
glm_mat4_transp_neon(m, m);
#else
mat4 d;
glm_mat4_transpose_to(m, d);
glm_mat4_ucopy(d, m);
#endif
}
/*!
* @brief scale (multiply with scalar) matrix without simd optimization
*
* multiply matrix with scalar
*
* @param[in, out] m matrix
* @param[in] s scalar
*/
CGLM_INLINE
void
glm_mat4_scale_p(mat4 m, float 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;
m[3][0] *= s; m[3][1] *= s; m[3][2] *= s; m[3][3] *= s;
}
/*!
* @brief scale (multiply with scalar) matrix
*
* multiply matrix with scalar
*
* @param[in, out] m matrix
* @param[in] s scalar
*/
CGLM_INLINE
void
glm_mat4_scale(mat4 m, float s) {
#ifdef __AVX__
glm_mat4_scale_avx(m, s);
#elif defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_scale_sse2(m, s);
#elif defined(CGLM_NEON_FP)
glm_mat4_scale_neon(m, s);
#else
glm_mat4_scale_p(m, s);
#endif
}
/*!
* @brief mat4 determinant
*
* @param[in] mat matrix
*
* @return determinant
*/
CGLM_INLINE
float
glm_mat4_det(mat4 mat) {
#if defined( __SSE__ ) || defined( __SSE2__ )
return glm_mat4_det_sse2(mat);
#elif defined(CGLM_NEON_FP)
return glm_mat4_det_neon(mat);
#else
/* [square] det(A) = det(At) */
float t[6];
float a = mat[0][0], b = mat[0][1], c = mat[0][2], d = mat[0][3],
e = mat[1][0], f = mat[1][1], g = mat[1][2], h = mat[1][3],
i = mat[2][0], j = mat[2][1], k = mat[2][2], l = mat[2][3],
m = mat[3][0], n = mat[3][1], o = mat[3][2], p = mat[3][3];
t[0] = k * p - o * l;
t[1] = j * p - n * l;
t[2] = j * o - n * k;
t[3] = i * p - m * l;
t[4] = i * o - m * k;
t[5] = i * n - m * j;
return a * (f * t[0] - g * t[1] + h * t[2])
- b * (e * t[0] - g * t[3] + h * t[4])
+ c * (e * t[1] - f * t[3] + h * t[5])
- d * (e * t[2] - f * t[4] + g * t[5]);
#endif
}
/*!
* @brief inverse mat4 and store in dest
*
* @param[in] mat matrix
* @param[out] dest inverse matrix
*/
CGLM_INLINE
void
glm_mat4_inv(mat4 mat, mat4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_inv_sse2(mat, dest);
#elif defined(CGLM_NEON_FP)
glm_mat4_inv_neon(mat, dest);
#else
float t[6];
float det;
float a = mat[0][0], b = mat[0][1], c = mat[0][2], d = mat[0][3],
e = mat[1][0], f = mat[1][1], g = mat[1][2], h = mat[1][3],
i = mat[2][0], j = mat[2][1], k = mat[2][2], l = mat[2][3],
m = mat[3][0], n = mat[3][1], o = mat[3][2], p = mat[3][3];
t[0] = k * p - o * l; t[1] = j * p - n * l; t[2] = j * o - n * k;
t[3] = i * p - m * l; t[4] = i * o - m * k; t[5] = i * n - m * j;
dest[0][0] = f * t[0] - g * t[1] + h * t[2];
dest[1][0] =-(e * t[0] - g * t[3] + h * t[4]);
dest[2][0] = e * t[1] - f * t[3] + h * t[5];
dest[3][0] =-(e * t[2] - f * t[4] + g * t[5]);
dest[0][1] =-(b * t[0] - c * t[1] + d * t[2]);
dest[1][1] = a * t[0] - c * t[3] + d * t[4];
dest[2][1] =-(a * t[1] - b * t[3] + d * t[5]);
dest[3][1] = a * t[2] - b * t[4] + c * t[5];
t[0] = g * p - o * h; t[1] = f * p - n * h; t[2] = f * o - n * g;
t[3] = e * p - m * h; t[4] = e * o - m * g; t[5] = e * n - m * f;
dest[0][2] = b * t[0] - c * t[1] + d * t[2];
dest[1][2] =-(a * t[0] - c * t[3] + d * t[4]);
dest[2][2] = a * t[1] - b * t[3] + d * t[5];
dest[3][2] =-(a * t[2] - b * t[4] + c * t[5]);
t[0] = g * l - k * h; t[1] = f * l - j * h; t[2] = f * k - j * g;
t[3] = e * l - i * h; t[4] = e * k - i * g; t[5] = e * j - i * f;
dest[0][3] =-(b * t[0] - c * t[1] + d * t[2]);
dest[1][3] = a * t[0] - c * t[3] + d * t[4];
dest[2][3] =-(a * t[1] - b * t[3] + d * t[5]);
dest[3][3] = a * t[2] - b * t[4] + c * t[5];
det = 1.0f / (a * dest[0][0] + b * dest[1][0]
+ c * dest[2][0] + d * dest[3][0]);
glm_mat4_scale_p(dest, det);
#endif
}
/*!
* @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
* @param[out] dest inverse matrix
*/
CGLM_INLINE
void
glm_mat4_inv_fast(mat4 mat, mat4 dest) {
#if defined( __SSE__ ) || defined( __SSE2__ )
glm_mat4_inv_fast_sse2(mat, dest);
#else
glm_mat4_inv(mat, dest);
#endif
}
/*!
* @brief swap two matrix columns
*
* @param[in,out] mat matrix
* @param[in] col1 col1
* @param[in] col2 col2
*/
CGLM_INLINE
void
glm_mat4_swap_col(mat4 mat, int col1, int col2) {
CGLM_ALIGN(16) vec4 tmp;
glm_vec4_copy(mat[col1], tmp);
glm_vec4_copy(mat[col2], mat[col1]);
glm_vec4_copy(tmp, mat[col2]);
}
/*!
* @brief swap two matrix rows
*
* @param[in,out] mat matrix
* @param[in] row1 row1
* @param[in] row2 row2
*/
CGLM_INLINE
void
glm_mat4_swap_row(mat4 mat, int row1, int row2) {
CGLM_ALIGN(16) vec4 tmp;
tmp[0] = mat[0][row1];
tmp[1] = mat[1][row1];
tmp[2] = mat[2][row1];
tmp[3] = mat[3][row1];
mat[0][row1] = mat[0][row2];
mat[1][row1] = mat[1][row2];
mat[2][row1] = mat[2][row2];
mat[3][row1] = mat[3][row2];
mat[0][row2] = tmp[0];
mat[1][row2] = tmp[1];
mat[2][row2] = tmp[2];
mat[3][row2] = tmp[3];
}
/*!
* @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
glm_mat4_rmc(vec4 r, mat4 m, vec4 c) {
vec4 tmp;
glm_mat4_mulv(m, c, tmp);
return glm_vec4_dot(r, tmp);
}
#endif /* cglm_mat_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_plane_h
#define cglm_plane_h
#include "common.h"
#include "vec3.h"
#include "vec4.h"
/*
Plane equation: Ax + By + Cz + D = 0;
It stored in vec4 as [A, B, C, D]. (A, B, C) is normal and D is distance
*/
/*
Functions:
CGLM_INLINE void glm_plane_normalize(vec4 plane);
*/
/*!
* @brief normalizes a plane
*
* @param[in, out] plane plane to normalize
*/
CGLM_INLINE
void
glm_plane_normalize(vec4 plane) {
float norm;
if ((norm = glm_vec3_norm(plane)) == 0.0f) {
glm_vec4_zero(plane);
return;
}
glm_vec4_scale(plane, 1.0f / norm, plane);
}
#endif /* cglm_plane_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_project_h
#define cglm_project_h
#include "common.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
#ifndef CGLM_CLIPSPACE_INCLUDE_ALL
# if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_ZO_BIT
# include "clipspace/project_zo.h"
# elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_NO_BIT
# include "clipspace/project_no.h"
# endif
#else
# include "clipspace/project_zo.h"
# include "clipspace/project_no.h"
#endif
/*!
* @brief maps the specified viewport coordinates into specified space [1]
* the matrix should contain projection matrix.
*
* if you don't have ( and don't want to have ) an inverse matrix then use
* glm_unproject version. You may use existing inverse of matrix in somewhere
* else, this is why glm_unprojecti exists to save save inversion cost
*
* [1] space:
* 1- if m = invProj: View Space
* 2- if m = invViewProj: World Space
* 3- if m = invMVP: Object Space
*
* You probably want to map the coordinates into object space
* so use invMVP as m
*
* Computing viewProj:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
* glm_mat4_inv(viewProj, invMVP);
*
* @param[in] pos point/position in viewport coordinates
* @param[in] invMat matrix (see brief)
* @param[in] vp viewport as [x, y, width, height]
* @param[out] dest unprojected coordinates
*/
CGLM_INLINE
void
glm_unprojecti(vec3 pos, mat4 invMat, vec4 vp, vec3 dest) {
#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_ZO_BIT
glm_unprojecti_zo(pos, invMat, vp, dest);
#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_NO_BIT
glm_unprojecti_no(pos, invMat, vp, dest);
#endif
}
/*!
* @brief maps the specified viewport coordinates into specified space [1]
* the matrix should contain projection matrix.
*
* this is same as glm_unprojecti except this function get inverse matrix for
* you.
*
* [1] space:
* 1- if m = proj: View Space
* 2- if m = viewProj: World Space
* 3- if m = MVP: Object Space
*
* You probably want to map the coordinates into object space
* so use MVP as m
*
* Computing viewProj and MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] pos point/position in viewport coordinates
* @param[in] m matrix (see brief)
* @param[in] vp viewport as [x, y, width, height]
* @param[out] dest unprojected coordinates
*/
CGLM_INLINE
void
glm_unproject(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
mat4 inv;
glm_mat4_inv(m, inv);
glm_unprojecti(pos, inv, vp, dest);
}
/*!
* @brief map object coordinates to window coordinates
*
* Computing MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] pos object coordinates
* @param[in] m MVP matrix
* @param[in] vp viewport as [x, y, width, height]
* @param[out] dest projected coordinates
*/
CGLM_INLINE
void
glm_project(vec3 pos, mat4 m, vec4 vp, vec3 dest) {
#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_ZO_BIT
glm_project_zo(pos, m, vp, dest);
#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_NO_BIT
glm_project_no(pos, m, vp, dest);
#endif
}
/*!
* @brief map object's z coordinate to window coordinates
*
* Computing MVP:
* glm_mat4_mul(proj, view, viewProj);
* glm_mat4_mul(viewProj, model, MVP);
*
* @param[in] v object coordinates
* @param[in] m MVP matrix
*
* @returns projected z coordinate
*/
CGLM_INLINE
float
glm_project_z(vec3 v, mat4 m) {
#if CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_ZO_BIT
return glm_project_z_zo(v, m);
#elif CGLM_CONFIG_CLIP_CONTROL & CGLM_CLIP_CONTROL_NO_BIT
return glm_project_z_no(v, m);
#endif
}
/*!
* @brief define a picking region
*
* @param[in] center center [x, y] of a picking region in window coordinates
* @param[in] size size [width, height] of the picking region in window coordinates
* @param[in] vp viewport as [x, y, width, height]
* @param[out] dest projected coordinates
*/
CGLM_INLINE
void
glm_pickmatrix(vec2 center, vec2 size, vec4 vp, mat4 dest) {
mat4 res;
vec3 v;
if (size[0] <= 0.0f || size[1] <= 0.0f)
return;
/* Translate and scale the picked region to the entire window */
v[0] = (vp[2] - 2.0f * (center[0] - vp[0])) / size[0];
v[1] = (vp[3] - 2.0f * (center[1] - vp[1])) / size[1];
v[2] = 0.0f;
glm_translate_make(res, v);
v[0] = vp[2] / size[0];
v[1] = vp[3] / size[1];
v[2] = 1.0f;
glm_scale(res, v);
glm_mat4_copy(res, dest);
}
#endif /* cglm_project_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Macros:
GLM_QUAT_IDENTITY_INIT
GLM_QUAT_IDENTITY
Functions:
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 void glm_quat_from_vecs(vec3 a, vec3 b, versor dest);
CGLM_INLINE float glm_quat_norm(versor q);
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 p, versor q);
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, vec3 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_lerpc(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_nlerp(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"
#include "affine.h"
#ifdef CGLM_SSE_FP
# include "simd/sse2/quat.h"
#endif
#ifdef CGLM_NEON_FP
# include "simd/neon/quat.h"
#endif
CGLM_INLINE void glm_quat_normalize(versor q);
/*
* IMPORTANT:
* ----------------------------------------------------------------------------
* cglm stores quat as [x, y, z, w] since v0.3.6
*
* 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 {0.0f, 0.0f, 0.0f, 1.0f}
#define GLM_QUAT_IDENTITY ((versor)GLM_QUAT_IDENTITY_INIT)
/*!
* @brief makes given quat to identity
*
* @param[in, out] q quaternion
*/
CGLM_INLINE
void
glm_quat_identity(versor q) {
CGLM_ALIGN(16) versor v = GLM_QUAT_IDENTITY_INIT;
glm_vec4_copy(v, q);
}
/*!
* @brief make given quaternion array's each element identity quaternion
*
* @param[in, out] q quat array (must be aligned (16)
* if alignment is not disabled)
*
* @param[in] count count of quaternions
*/
CGLM_INLINE
void
glm_quat_identity_array(versor * __restrict q, size_t count) {
CGLM_ALIGN(16) versor v = GLM_QUAT_IDENTITY_INIT;
size_t i;
for (i = 0; i < count; i++) {
glm_vec4_copy(v, q[i]);
}
}
/*!
* @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) {
CGLM_ALIGN(8) 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
*
* @param[out] q quaternion
* @param[in] angle angle (radians)
* @param[in] x axis.x
* @param[in] y axis.y
* @param[in] z axis.z
*/
CGLM_INLINE
void
glm_quat(versor q, float angle, float x, float y, float z) {
CGLM_ALIGN(8) vec3 axis = {x, y, z};
glm_quatv(q, angle, axis);
}
/*!
* @brief copy quaternion to another one
*
* @param[in] q quaternion
* @param[out] dest destination
*/
CGLM_INLINE
void
glm_quat_copy(versor q, versor dest) {
glm_vec4_copy(q, dest);
}
/*!
* @brief compute quaternion rotating vector A to vector B
*
* @param[in] a vec3 (must have unit length)
* @param[in] b vec3 (must have unit length)
* @param[out] dest quaternion (of unit length)
*/
CGLM_INLINE
void
glm_quat_from_vecs(vec3 a, vec3 b, versor dest) {
CGLM_ALIGN(8) vec3 axis;
float cos_theta;
float cos_half_theta;
cos_theta = glm_vec3_dot(a, b);
if (cos_theta >= 1.f - GLM_FLT_EPSILON) { /* a ∥ b */
glm_quat_identity(dest);
return;
}
if (cos_theta < -1.f + GLM_FLT_EPSILON) { /* angle(a, b) = π */
glm_vec3_ortho(a, axis);
cos_half_theta = 0.f; /* cos π/2 */
} else {
glm_vec3_cross(a, b, axis);
cos_half_theta = 1.0f + cos_theta; /* cos 0 + cos θ */
}
glm_quat_init(dest, axis[0], axis[1], axis[2], cos_half_theta);
glm_quat_normalize(dest);
}
/*!
* @brief returns norm (magnitude) of quaternion
*
* @param[in] q quaternion
*/
CGLM_INLINE
float
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_vdot(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(dest);
return;
}
glm_vec4_scale(q, 1.0f / sqrtf(dot), dest);
#endif
}
/*!
* @brief normalize quaternion
*
* @param[in, out] q quaternion
*/
CGLM_INLINE
void
glm_quat_normalize(versor q) {
glm_quat_normalize_to(q, q);
}
/*!
* @brief dot product of two quaternion
*
* @param[in] p quaternion 1
* @param[in] q quaternion 2
*/
CGLM_INLINE
float
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_negate_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) {
CGLM_ALIGN(16) 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_vec3_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, vec3 dest) {
glm_quat_imagn(q, dest);
}
/*!
* @brief 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
*
* @param[in] p quaternion 1
* @param[in] q quaternion 2
* @param[out] dest result quaternion
*/
CGLM_INLINE
void
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);
#elif defined(CGLM_NEON_FP)
glm_quat_mul_neon(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
}
/*!
* @brief convert quaternion to mat4
*
* @param[in] q quaternion
* @param[out] dest result matrix
*/
CGLM_INLINE
void
glm_quat_mat4(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[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;
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 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)
* @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 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_lerpc(versor from, versor to, float t, versor dest) {
glm_vec4_lerpc(from, to, t, dest);
}
/*!
* @brief interpolates between two quaternions
* taking the shortest rotation path using
* normalized linear interpolation (NLERP)
*
* @param[in] from from
* @param[in] to to
* @param[in] t interpolant (amount)
* @param[out] dest result quaternion
*/
CGLM_INLINE
void
glm_quat_nlerp(versor from, versor to, float t, versor dest) {
versor target;
float dot;
dot = glm_vec4_dot(from, to);
glm_vec4_scale(to, (dot >= 0) ? 1.0f : -1.0f, target);
glm_quat_lerp(from, target, t, dest);
glm_quat_normalize(dest);
}
/*!
* @brief interpolates between two quaternions
* using spherical linear interpolation (SLERP)
*
* @param[in] from from
* @param[in] to to
* @param[in] t amout
* @param[out] dest result quaternion
*/
CGLM_INLINE
void
glm_quat_slerp(versor from, versor to, float t, versor dest) {
CGLM_ALIGN(16) vec4 q1, q2;
float cosTheta, sinTheta, angle;
cosTheta = glm_quat_dot(from, to);
glm_quat_copy(from, q1);
if (fabsf(cosTheta) >= 1.0f) {
glm_quat_copy(q1, dest);
return;
}
if (cosTheta < 0.0f) {
glm_vec4_negate(q1);
cosTheta = -cosTheta;
}
sinTheta = sqrtf(1.0f - cosTheta * cosTheta);
/* LERP to avoid zero division */
if (fabsf(sinTheta) < 0.001f) {
glm_quat_lerp(from, to, t, dest);
return;
}
/* SLERP */
angle = acosf(cosTheta);
glm_vec4_scale(q1, sinf((1.0f - t) * angle), q1);
glm_vec4_scale(to, sinf(t * angle), q2);
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) {
/* orientation */
glm_quat_mat4t(ori, dest);
/* translate */
glm_mat4_mulv3(dest, eye, 1.0f, dest[3]);
glm_vec3_negate(dest[3]);
}
/*!
* @brief creates look rotation quaternion
*
* @param[in] dir direction to look
* @param[in] up up vector
* @param[out] dest destination quaternion
*/
CGLM_INLINE
void
glm_quat_for(vec3 dir, vec3 up, versor dest) {
CGLM_ALIGN_MAT mat3 m;
glm_vec3_normalize_to(dir, m[2]);
/* No need to negate in LH, but we use RH here */
glm_vec3_negate(m[2]);
glm_vec3_crossn(up, m[2], m[0]);
glm_vec3_cross(m[2], m[0], m[1]);
glm_mat3_quat(m, dest);
}
/*!
* @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] up up vector
* @param[out] dest destination quaternion
*/
CGLM_INLINE
void
glm_quat_forp(vec3 from, vec3 to, vec3 up, versor dest) {
CGLM_ALIGN(8) vec3 dir;
glm_vec3_sub(to, from, dir);
glm_quat_for(dir, 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) {
CGLM_ALIGN(16) versor p;
CGLM_ALIGN(8) vec3 u, v1, v2;
float s;
glm_quat_normalize_to(q, p);
glm_quat_imag(p, u);
s = glm_quat_real(p);
glm_vec3_scale(u, 2.0f * glm_vec3_dot(u, v), v1);
glm_vec3_scale(v, s * s - glm_vec3_dot(u, u), v2);
glm_vec3_add(v1, v2, v1);
glm_vec3_cross(u, v, v2);
glm_vec3_scale(v2, 2.0f * s, v2);
glm_vec3_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) {
CGLM_ALIGN_MAT 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) {
CGLM_ALIGN(8) vec3 pivotInv;
glm_vec3_negate_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) {
CGLM_ALIGN(8) vec3 pivotInv;
glm_vec3_negate_to(pivot, pivotInv);
glm_translate_make(m, pivot);
glm_quat_rotate(m, q, m);
glm_translate(m, pivotInv);
}
#endif /* cglm_quat_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE bool glm_line_triangle_intersect(vec3 origin,
vec3 direction,
vec3 v0,
vec3 v1,
vec3 v2,
float *d);
*/
#ifndef cglm_ray_h
#define cglm_ray_h
#include "vec3.h"
/*!
* @brief Möller–Trumbore ray-triangle intersection algorithm
*
* @param[in] origin origin of ray
* @param[in] direction direction of ray
* @param[in] v0 first vertex of triangle
* @param[in] v1 second vertex of triangle
* @param[in] v2 third vertex of triangle
* @param[in, out] d distance to intersection
* @return whether there is intersection
*/
CGLM_INLINE
bool
glm_ray_triangle(vec3 origin,
vec3 direction,
vec3 v0,
vec3 v1,
vec3 v2,
float *d) {
vec3 edge1, edge2, p, t, q;
float det, inv_det, u, v, dist;
const float epsilon = 0.000001f;
glm_vec3_sub(v1, v0, edge1);
glm_vec3_sub(v2, v0, edge2);
glm_vec3_cross(direction, edge2, p);
det = glm_vec3_dot(edge1, p);
if (det > -epsilon && det < epsilon)
return false;
inv_det = 1.0f / det;
glm_vec3_sub(origin, v0, t);
u = inv_det * glm_vec3_dot(t, p);
if (u < 0.0f || u > 1.0f)
return false;
glm_vec3_cross(t, edge1, q);
v = inv_det * glm_vec3_dot(direction, q);
if (v < 0.0f || u + v > 1.0f)
return false;
dist = inv_det * glm_vec3_dot(edge2, q);
if (d)
*d = dist;
return dist > epsilon;
}
#endif

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_simd_arm_h
#define cglm_simd_arm_h
#include "intrin.h"
#ifdef CGLM_SIMD_ARM
#if defined(_M_ARM64) || defined(_M_HYBRID_X86_ARM64) || defined(_M_ARM64EC) || defined(__aarch64__)
# define CGLM_ARM64 1
#endif
#define glmm_load(p) vld1q_f32(p)
#define glmm_store(p, a) vst1q_f32(p, a)
#define glmm_set1(x) vdupq_n_f32(x)
#define glmm_128 float32x4_t
#define glmm_splat_x(x) vdupq_lane_f32(vget_low_f32(x), 0)
#define glmm_splat_y(x) vdupq_lane_f32(vget_low_f32(x), 1)
#define glmm_splat_z(x) vdupq_lane_f32(vget_high_f32(x), 0)
#define glmm_splat_w(x) vdupq_lane_f32(vget_high_f32(x), 1)
#define glmm_xor(a, b) \
vreinterpretq_f32_s32(veorq_s32(vreinterpretq_s32_f32(a), \
vreinterpretq_s32_f32(b)))
#define glmm_swplane(v) vextq_f32(v, v, 2)
#define glmm_low(x) vget_low_f32(x)
#define glmm_high(x) vget_high_f32(x)
#define glmm_combine_ll(x, y) vcombine_f32(vget_low_f32(x), vget_low_f32(y))
#define glmm_combine_hl(x, y) vcombine_f32(vget_high_f32(x), vget_low_f32(y))
#define glmm_combine_lh(x, y) vcombine_f32(vget_low_f32(x), vget_high_f32(y))
#define glmm_combine_hh(x, y) vcombine_f32(vget_high_f32(x), vget_high_f32(y))
static inline
float32x4_t
glmm_abs(float32x4_t v) {
return vabsq_f32(v);
}
static inline
float32x4_t
glmm_vhadd(float32x4_t v) {
return vaddq_f32(vaddq_f32(glmm_splat_x(v), glmm_splat_y(v)),
vaddq_f32(glmm_splat_z(v), glmm_splat_w(v)));
/*
this seems slower:
v = vaddq_f32(v, vrev64q_f32(v));
return vaddq_f32(v, vcombine_f32(vget_high_f32(v), vget_low_f32(v)));
*/
}
static inline
float
glmm_hadd(float32x4_t v) {
#if CGLM_ARM64
return vaddvq_f32(v);
#else
v = vaddq_f32(v, vrev64q_f32(v));
v = vaddq_f32(v, vcombine_f32(vget_high_f32(v), vget_low_f32(v)));
return vgetq_lane_f32(v, 0);
#endif
}
static inline
float
glmm_hmin(float32x4_t v) {
float32x2_t t;
t = vpmin_f32(vget_low_f32(v), vget_high_f32(v));
t = vpmin_f32(t, t);
return vget_lane_f32(t, 0);
}
static inline
float
glmm_hmax(float32x4_t v) {
float32x2_t t;
t = vpmax_f32(vget_low_f32(v), vget_high_f32(v));
t = vpmax_f32(t, t);
return vget_lane_f32(t, 0);
}
static inline
float
glmm_dot(float32x4_t a, float32x4_t b) {
return glmm_hadd(vmulq_f32(a, b));
}
static inline
float
glmm_norm(float32x4_t a) {
return sqrtf(glmm_dot(a, a));
}
static inline
float
glmm_norm2(float32x4_t a) {
return glmm_dot(a, a);
}
static inline
float
glmm_norm_one(float32x4_t a) {
return glmm_hadd(glmm_abs(a));
}
static inline
float
glmm_norm_inf(float32x4_t a) {
return glmm_hmax(glmm_abs(a));
}
static inline
float32x4_t
glmm_div(float32x4_t a, float32x4_t b) {
#if CGLM_ARM64
return vdivq_f32(a, b);
#else
/* 2 iterations of Newton-Raphson refinement of reciprocal */
float32x4_t r0, r1;
r0 = vrecpeq_f32(b);
r1 = vrecpsq_f32(r0, b);
r0 = vmulq_f32(r1, r0);
r1 = vrecpsq_f32(r0, b);
r0 = vmulq_f32(r1, r0);
return vmulq_f32(a, r0);
#endif
}
static inline
float32x4_t
glmm_fmadd(float32x4_t a, float32x4_t b, float32x4_t c) {
#if CGLM_ARM64
return vfmaq_f32(c, a, b); /* why vfmaq_f32 is slower than vmlaq_f32 ??? */
#else
return vmlaq_f32(c, a, b);
#endif
}
static inline
float32x4_t
glmm_fnmadd(float32x4_t a, float32x4_t b, float32x4_t c) {
#if CGLM_ARM64
return vfmsq_f32(c, a, b);
#else
return vmlsq_f32(c, a, b);
#endif
}
static inline
float32x4_t
glmm_fmsub(float32x4_t a, float32x4_t b, float32x4_t c) {
#if CGLM_ARM64
return vfmsq_f32(c, a, b);
#else
return vmlsq_f32(c, a, b);
#endif
}
static inline
float32x4_t
glmm_fnmsub(float32x4_t a, float32x4_t b, float32x4_t c) {
return vsubq_f32(vdupq_n_f32(0.0f), glmm_fmadd(a, b, c));
}
#endif
#endif /* cglm_simd_arm_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_affine_mat_avx_h
#define cglm_affine_mat_avx_h
#ifdef __AVX__
#include "../../common.h"
#include "../intrin.h"
#include <immintrin.h>
CGLM_INLINE
void
glm_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
__m256 y0, y1, y2, y3, y4, y5, y6, y7, y8, y9;
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 = 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 */
/* 0x03: 0b00000011 */
y4 = _mm256_permute2f128_ps(y2, y2, 0x03); /* d c b a h g f e */
y5 = _mm256_permute2f128_ps(y3, y3, 0x03); /* l k j i p o n m */
/* f f f f a a a a */
/* h h h h c c c c */
/* e e e e b b b b */
/* g g g g d d d d */
y6 = _mm256_permutevar_ps(y0, _mm256_set_epi32(1, 1, 1, 1, 0, 0, 0, 0));
y7 = _mm256_permutevar_ps(y0, _mm256_set_epi32(3, 3, 3, 3, 2, 2, 2, 2));
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));
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 */
/* m m m m j j j j */
/* o o o o l l l l */
y6 = _mm256_permutevar_ps(y1, _mm256_set_epi32(1, 1, 1, 1, 0, 0, 0, 0));
y7 = _mm256_permutevar_ps(y1, _mm256_set_epi32(3, 3, 3, 3, 2, 2, 2, 2));
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));
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
#endif /* cglm_affine_mat_avx_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_mat_simd_avx_h
#define cglm_mat_simd_avx_h
#ifdef __AVX__
#include "../../common.h"
#include "../intrin.h"
#include <immintrin.h>
CGLM_INLINE
void
glm_mat4_scale_avx(mat4 m, float s) {
__m256 y0;
y0 = _mm256_set1_ps(s);
glmm_store256(m[0], _mm256_mul_ps(y0, glmm_load256(m[0])));
glmm_store256(m[2], _mm256_mul_ps(y0, glmm_load256(m[2])));
}
CGLM_INLINE
void
glm_mat4_mul_avx(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
__m256 y0, y1, y2, y3, y4, y5, y6, y7, y8, y9;
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 = 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 */
/* 0x03: 0b00000011 */
y4 = _mm256_permute2f128_ps(y2, y2, 0x03); /* d c b a h g f e */
y5 = _mm256_permute2f128_ps(y3, y3, 0x03); /* l k j i p o n m */
/* f f f f a a a a */
/* h h h h c c c c */
/* e e e e b b b b */
/* g g g g d d d d */
y6 = _mm256_permutevar_ps(y0, _mm256_set_epi32(1, 1, 1, 1, 0, 0, 0, 0));
y7 = _mm256_permutevar_ps(y0, _mm256_set_epi32(3, 3, 3, 3, 2, 2, 2, 2));
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));
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 */
/* m m m m j j j j */
/* o o o o l l l l */
y6 = _mm256_permutevar_ps(y1, _mm256_set_epi32(1, 1, 1, 1, 0, 0, 0, 0));
y7 = _mm256_permutevar_ps(y1, _mm256_set_epi32(3, 3, 3, 3, 2, 2, 2, 2));
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));
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
#endif /* cglm_mat_simd_avx_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_intrin_h
#define cglm_intrin_h
#if defined( _MSC_VER )
# if (defined(_M_AMD64) || defined(_M_X64)) || _M_IX86_FP == 2
# ifndef __SSE2__
# define __SSE2__
# endif
# elif _M_IX86_FP == 1
# 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
#if defined( __SSE__ ) || defined( __SSE2__ )
# include <xmmintrin.h>
# include <emmintrin.h>
# define CGLM_SSE_FP 1
# ifndef CGLM_SIMD_x86
# define CGLM_SIMD_x86
# endif
#endif
#if defined(__SSE3__)
# include <pmmintrin.h>
# ifndef CGLM_SIMD_x86
# define CGLM_SIMD_x86
# endif
#endif
#if defined(__SSE4_1__)
# include <smmintrin.h>
# ifndef CGLM_SIMD_x86
# define CGLM_SIMD_x86
# endif
#endif
#if defined(__SSE4_2__)
# include <nmmintrin.h>
# ifndef CGLM_SIMD_x86
# define CGLM_SIMD_x86
# endif
#endif
#ifdef __AVX__
# include <immintrin.h>
# define CGLM_AVX_FP 1
# ifndef CGLM_SIMD_x86
# define CGLM_SIMD_x86
# endif
#endif
/* ARM Neon */
#if defined(__ARM_NEON)
# include <arm_neon.h>
# if defined(__ARM_NEON_FP)
# define CGLM_NEON_FP 1
# ifndef CGLM_SIMD_ARM
# define CGLM_SIMD_ARM
# endif
# endif
#endif
#if defined(CGLM_SIMD_x86) || defined(CGLM_NEON_FP)
# ifndef CGLM_SIMD
# define CGLM_SIMD
# endif
#endif
#if defined(CGLM_SIMD_x86)
# include "x86.h"
#endif
#if defined(CGLM_SIMD_ARM)
# include "arm.h"
#endif
#endif /* cglm_intrin_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_affine_neon_h
#define cglm_affine_neon_h
#if defined(__ARM_NEON_FP)
#include "../../common.h"
#include "../intrin.h"
CGLM_INLINE
void
glm_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
l = glmm_load(m1[0]);
r0 = glmm_load(m2[0]);
r1 = glmm_load(m2[1]);
r2 = glmm_load(m2[2]);
r3 = glmm_load(m2[3]);
v0 = vmulq_f32(glmm_splat_x(r0), l);
v1 = vmulq_f32(glmm_splat_x(r1), l);
v2 = vmulq_f32(glmm_splat_x(r2), l);
v3 = vmulq_f32(glmm_splat_x(r3), l);
l = glmm_load(m1[1]);
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
l = glmm_load(m1[2]);
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
v3 = glmm_fmadd(glmm_splat_w(r3), glmm_load(m1[3]), v3);
glmm_store(dest[0], v0);
glmm_store(dest[1], v1);
glmm_store(dest[2], v2);
glmm_store(dest[3], v3);
}
CGLM_INLINE
void
glm_mul_rot_neon(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
glmm_128 l, r0, r1, r2, v0, v1, v2;
l = glmm_load(m1[0]);
r0 = glmm_load(m2[0]);
r1 = glmm_load(m2[1]);
r2 = glmm_load(m2[2]);
v0 = vmulq_f32(glmm_splat_x(r0), l);
v1 = vmulq_f32(glmm_splat_x(r1), l);
v2 = vmulq_f32(glmm_splat_x(r2), l);
l = glmm_load(m1[1]);
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
l = glmm_load(m1[2]);
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
glmm_store(dest[0], v0);
glmm_store(dest[1], v1);
glmm_store(dest[2], v2);
glmm_store(dest[3], glmm_load(m1[3]));
}
CGLM_INLINE
void
glm_inv_tr_neon(mat4 mat) {
float32x4x4_t vmat;
glmm_128 r0, r1, r2, x0;
vmat = vld4q_f32(mat[0]);
r0 = vmat.val[0];
r1 = vmat.val[1];
r2 = vmat.val[2];
x0 = glmm_fmadd(r0, glmm_splat_w(r0),
glmm_fmadd(r1, glmm_splat_w(r1),
vmulq_f32(r2, glmm_splat_w(r2))));
x0 = vnegq_f32(x0);
glmm_store(mat[0], r0);
glmm_store(mat[1], r1);
glmm_store(mat[2], r2);
glmm_store(mat[3], x0);
mat[0][3] = 0.0f;
mat[1][3] = 0.0f;
mat[2][3] = 0.0f;
mat[3][3] = 1.0f;
/* TODO: ?
zo = vget_high_f32(r3);
vst1_lane_f32(&mat[0][3], zo, 0);
vst1_lane_f32(&mat[1][3], zo, 0);
vst1_lane_f32(&mat[2][3], zo, 0);
vst1_lane_f32(&mat[3][3], zo, 1);
*/
}
#endif
#endif /* cglm_affine_neon_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_mat2_neon_h
#define cglm_mat2_neon_h
#if defined(__ARM_NEON_FP)
#include "../../common.h"
#include "../intrin.h"
CGLM_INLINE
void
glm_mat2_mul_neon(mat2 m1, mat2 m2, mat2 dest) {
float32x4x2_t a1;
glmm_128 x0, x1, x2;
float32x2_t dc, ba;
x1 = glmm_load(m1[0]); /* d c b a */
x2 = glmm_load(m2[0]); /* h g f e */
dc = vget_high_f32(x1);
ba = vget_low_f32(x1);
/* g g e e, h h f f */
a1 = vtrnq_f32(x2, x2);
/*
dest[0][0] = a * e + c * f;
dest[0][1] = b * e + d * f;
dest[1][0] = a * g + c * h;
dest[1][1] = b * g + d * h;
*/
x0 = glmm_fmadd(vcombine_f32(ba, ba), a1.val[0],
vmulq_f32(vcombine_f32(dc, dc), a1.val[1]));
glmm_store(dest[0], x0);
}
#endif
#endif /* cglm_mat2_neon_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_mat4_neon_h
#define cglm_mat4_neon_h
#if defined(__ARM_NEON_FP)
#include "../../common.h"
#include "../intrin.h"
CGLM_INLINE
void
glm_mat4_scale_neon(mat4 m, float s) {
float32x4_t v0;
v0 = vdupq_n_f32(s);
vst1q_f32(m[0], vmulq_f32(vld1q_f32(m[0]), v0));
vst1q_f32(m[1], vmulq_f32(vld1q_f32(m[1]), v0));
vst1q_f32(m[2], vmulq_f32(vld1q_f32(m[2]), v0));
vst1q_f32(m[3], vmulq_f32(vld1q_f32(m[3]), v0));
}
CGLM_INLINE
void
glm_mat4_transp_neon(mat4 m, mat4 dest) {
float32x4x4_t vmat;
vmat = vld4q_f32(m[0]);
vst1q_f32(dest[0], vmat.val[0]);
vst1q_f32(dest[1], vmat.val[1]);
vst1q_f32(dest[2], vmat.val[2]);
vst1q_f32(dest[3], vmat.val[3]);
}
CGLM_INLINE
void
glm_mat4_mul_neon(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
l = glmm_load(m1[0]);
r0 = glmm_load(m2[0]);
r1 = glmm_load(m2[1]);
r2 = glmm_load(m2[2]);
r3 = glmm_load(m2[3]);
v0 = vmulq_f32(glmm_splat_x(r0), l);
v1 = vmulq_f32(glmm_splat_x(r1), l);
v2 = vmulq_f32(glmm_splat_x(r2), l);
v3 = vmulq_f32(glmm_splat_x(r3), l);
l = glmm_load(m1[1]);
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
l = glmm_load(m1[2]);
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
l = glmm_load(m1[3]);
v0 = glmm_fmadd(glmm_splat_w(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_w(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_w(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_w(r3), l, v3);
glmm_store(dest[0], v0);
glmm_store(dest[1], v1);
glmm_store(dest[2], v2);
glmm_store(dest[3], v3);
}
CGLM_INLINE
void
glm_mat4_mulv_neon(mat4 m, vec4 v, vec4 dest) {
float32x4_t l0, l1, l2, l3;
float32x2_t vlo, vhi;
l0 = vld1q_f32(m[0]);
l1 = vld1q_f32(m[1]);
l2 = vld1q_f32(m[2]);
l3 = vld1q_f32(m[3]);
vlo = vld1_f32(&v[0]);
vhi = vld1_f32(&v[2]);
l0 = vmulq_lane_f32(l0, vlo, 0);
l0 = vmlaq_lane_f32(l0, l1, vlo, 1);
l0 = vmlaq_lane_f32(l0, l2, vhi, 0);
l0 = vmlaq_lane_f32(l0, l3, vhi, 1);
vst1q_f32(dest, l0);
}
CGLM_INLINE
float
glm_mat4_det_neon(mat4 mat) {
float32x4_t r0, r1, r2, r3, x0, x1, x2;
float32x2_t ij, op, mn, kl, nn, mm, jj, ii, gh, ef, t12, t34;
float32x4x2_t a1;
float32x4_t x3 = { 0.f, -0.f, 0.f, -0.f };
/* 127 <- 0, [square] det(A) = det(At) */
r0 = glmm_load(mat[0]); /* d c b a */
r1 = vrev64q_f32(glmm_load(mat[1])); /* g h e f */
r2 = vrev64q_f32(glmm_load(mat[2])); /* l k i j */
r3 = vrev64q_f32(glmm_load(mat[3])); /* o p m n */
gh = vget_high_f32(r1);
ef = vget_low_f32(r1);
kl = vget_high_f32(r2);
ij = vget_low_f32(r2);
op = vget_high_f32(r3);
mn = vget_low_f32(r3);
mm = vdup_lane_f32(mn, 1);
nn = vdup_lane_f32(mn, 0);
ii = vdup_lane_f32(ij, 1);
jj = vdup_lane_f32(ij, 0);
/*
t[1] = j * p - n * l;
t[2] = j * o - n * k;
t[3] = i * p - m * l;
t[4] = i * o - m * k;
*/
x0 = glmm_fnmadd(vcombine_f32(kl, kl), vcombine_f32(nn, mm),
vmulq_f32(vcombine_f32(op, op), vcombine_f32(jj, ii)));
t12 = vget_low_f32(x0);
t34 = vget_high_f32(x0);
/* 1 3 1 3 2 4 2 4 */
a1 = vuzpq_f32(x0, x0);
/*
t[0] = k * p - o * l;
t[0] = k * p - o * l;
t[5] = i * n - m * j;
t[5] = i * n - m * j;
*/
x1 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(kl, 0), jj),
vcombine_f32(vdup_lane_f32(op, 1), mm),
vmulq_f32(vcombine_f32(vdup_lane_f32(op, 0), nn),
vcombine_f32(vdup_lane_f32(kl, 1), ii)));
/*
a * (f * t[0] - g * t[1] + h * t[2])
- b * (e * t[0] - g * t[3] + h * t[4])
+ c * (e * t[1] - f * t[3] + h * t[5])
- d * (e * t[2] - f * t[4] + g * t[5])
*/
x2 = glmm_fnmadd(vcombine_f32(vdup_lane_f32(gh, 1), vdup_lane_f32(ef, 0)),
vcombine_f32(vget_low_f32(a1.val[0]), t34),
vmulq_f32(vcombine_f32(ef, vdup_lane_f32(ef, 1)),
vcombine_f32(vget_low_f32(x1), t12)));
x2 = glmm_fmadd(vcombine_f32(vdup_lane_f32(gh, 0), gh),
vcombine_f32(vget_low_f32(a1.val[1]), vget_high_f32(x1)), x2);
x2 = glmm_xor(x2, x3);
return glmm_hadd(vmulq_f32(x2, r0));
}
CGLM_INLINE
void
glm_mat4_inv_neon(mat4 mat, mat4 dest) {
float32x4_t r0, r1, r2, r3,
v0, v1, v2, v3,
t0, t1, t2, t3, t4, t5,
x0, x1, x2, x3, x4, x5, x6, x7, x8;
float32x4x2_t a1;
float32x2_t lp, ko, hg, jn, im, fe, ae, bf, cg, dh;
float32x4_t x9 = { -0.f, 0.f, -0.f, 0.f };
x8 = vrev64q_f32(x9);
/* 127 <- 0 */
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 */
/* l p k o, j n i m */
a1 = vzipq_f32(r3, r2);
jn = vget_high_f32(a1.val[0]);
im = vget_low_f32(a1.val[0]);
lp = vget_high_f32(a1.val[1]);
ko = vget_low_f32(a1.val[1]);
hg = vget_high_f32(r1);
x1 = vcombine_f32(vdup_lane_f32(lp, 0), lp); /* l p p p */
x2 = vcombine_f32(vdup_lane_f32(ko, 0), ko); /* k o o o */
x0 = vcombine_f32(vdup_lane_f32(lp, 1), vdup_lane_f32(hg, 1)); /* h h l l */
x3 = vcombine_f32(vdup_lane_f32(ko, 1), vdup_lane_f32(hg, 0)); /* g g k k */
/* t1[0] = k * p - o * l;
t1[0] = k * p - o * l;
t2[0] = g * p - o * h;
t3[0] = g * l - k * h; */
t0 = glmm_fnmadd(x2, x0, vmulq_f32(x3, x1));
fe = vget_low_f32(r1);
x4 = vcombine_f32(vdup_lane_f32(jn, 0), jn); /* j n n n */
x5 = vcombine_f32(vdup_lane_f32(jn, 1), vdup_lane_f32(fe, 1)); /* f f j j */
/* t1[1] = j * p - n * l;
t1[1] = j * p - n * l;
t2[1] = f * p - n * h;
t3[1] = f * l - j * h; */
t1 = glmm_fnmadd(x4, x0, vmulq_f32(x5, x1));
/* t1[2] = j * o - n * k
t1[2] = j * o - n * k;
t2[2] = f * o - n * g;
t3[2] = f * k - j * g; */
t2 = glmm_fnmadd(x4, x3, vmulq_f32(x5, x2));
x6 = vcombine_f32(vdup_lane_f32(im, 1), vdup_lane_f32(fe, 0)); /* e e i i */
x7 = vcombine_f32(vdup_lane_f32(im, 0), im); /* i m m m */
/* t1[3] = i * p - m * l;
t1[3] = i * p - m * l;
t2[3] = e * p - m * h;
t3[3] = e * l - i * h; */
t3 = glmm_fnmadd(x7, x0, vmulq_f32(x6, x1));
/* t1[4] = i * o - m * k;
t1[4] = i * o - m * k;
t2[4] = e * o - m * g;
t3[4] = e * k - i * g; */
t4 = glmm_fnmadd(x7, x3, vmulq_f32(x6, x2));
/* t1[5] = i * n - m * j;
t1[5] = i * n - m * j;
t2[5] = e * n - m * f;
t3[5] = e * j - i * f; */
t5 = glmm_fnmadd(x7, x5, vmulq_f32(x6, x4));
/* h d f b, g c e a */
a1 = vtrnq_f32(r0, r1);
x4 = vrev64q_f32(a1.val[0]); /* c g a e */
x5 = vrev64q_f32(a1.val[1]); /* d h b f */
ae = vget_low_f32(x4);
cg = vget_high_f32(x4);
bf = vget_low_f32(x5);
dh = vget_high_f32(x5);
x0 = vcombine_f32(ae, vdup_lane_f32(ae, 1)); /* a a a e */
x1 = vcombine_f32(bf, vdup_lane_f32(bf, 1)); /* b b b f */
x2 = vcombine_f32(cg, vdup_lane_f32(cg, 1)); /* c c c g */
x3 = vcombine_f32(dh, vdup_lane_f32(dh, 1)); /* d d d h */
/*
dest[0][0] = f * t1[0] - g * t1[1] + h * t1[2];
dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
dest[0][2] = b * t2[0] - c * t2[1] + d * t2[2];
dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
v0 = glmm_xor(glmm_fmadd(x3, t2, glmm_fnmadd(x2, t1, vmulq_f32(x1, t0))), x8);
/*
dest[2][0] = e * t1[1] - f * t1[3] + h * t1[5];
dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
dest[2][2] = a * t2[1] - b * t2[3] + d * t2[5];
dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
v2 = glmm_xor(glmm_fmadd(x3, t5, glmm_fnmadd(x1, t3, vmulq_f32(x0, t1))), x8);
/*
dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
dest[1][1] = a * t1[0] - c * t1[3] + d * t1[4];
dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
dest[1][3] = a * t3[0] - c * t3[3] + d * t3[4]; */
v1 = glmm_xor(glmm_fmadd(x3, t4, glmm_fnmadd(x2, t3, vmulq_f32(x0, t0))), x9);
/*
dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
dest[3][1] = a * t1[2] - b * t1[4] + c * t1[5];
dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
dest[3][3] = a * t3[2] - b * t3[4] + c * t3[5]; */
v3 = glmm_xor(glmm_fmadd(x2, t5, glmm_fnmadd(x1, t4, vmulq_f32(x0, t2))), x9);
/* determinant */
x0 = vcombine_f32(vget_low_f32(vzipq_f32(v0, v1).val[0]),
vget_low_f32(vzipq_f32(v2, v3).val[0]));
/*
x0 = glmm_div(glmm_set1(1.0f), glmm_vhadd(vmulq_f32(x0, r0)));
glmm_store(dest[0], vmulq_f32(v0, x0));
glmm_store(dest[1], vmulq_f32(v1, x0));
glmm_store(dest[2], vmulq_f32(v2, x0));
glmm_store(dest[3], vmulq_f32(v3, x0));
*/
x0 = glmm_vhadd(vmulq_f32(x0, r0));
glmm_store(dest[0], glmm_div(v0, x0));
glmm_store(dest[1], glmm_div(v1, x0));
glmm_store(dest[2], glmm_div(v2, x0));
glmm_store(dest[3], glmm_div(v3, x0));
}
#endif
#endif /* cglm_mat4_neon_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_quat_neon_h
#define cglm_quat_neon_h
#if defined(__ARM_NEON_FP)
#include "../../common.h"
#include "../intrin.h"
CGLM_INLINE
void
glm_quat_mul_neon(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
*/
glmm_128 xp, xq, xqr, r, x, y, z, s2, s3;
glmm_128 s1 = {-0.f, 0.f, 0.f, -0.f};
float32x2_t qh, ql;
xp = glmm_load(p); /* 3 2 1 0 */
xq = glmm_load(q);
r = vmulq_f32(glmm_splat_w(xp), xq);
x = glmm_splat_x(xp);
y = glmm_splat_y(xp);
z = glmm_splat_z(xp);
ql = vget_high_f32(s1);
s3 = vcombine_f32(ql, ql);
s2 = vzipq_f32(s3, s3).val[0];
xqr = vrev64q_f32(xq);
qh = vget_high_f32(xqr);
ql = vget_low_f32(xqr);
r = glmm_fmadd(glmm_xor(x, s3), vcombine_f32(qh, ql), r);
r = glmm_fmadd(glmm_xor(y, s2), vcombine_f32(vget_high_f32(xq),
vget_low_f32(xq)), r);
r = glmm_fmadd(glmm_xor(z, s1), vcombine_f32(ql, qh), r);
glmm_store(dest, r);
}
#endif
#endif /* cglm_quat_neon_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_affine_mat_sse2_h
#define cglm_affine_mat_sse2_h
#if defined( __SSE__ ) || defined( __SSE2__ )
#include "../../common.h"
#include "../intrin.h"
CGLM_INLINE
void
glm_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
l = glmm_load(m1[0]);
r0 = glmm_load(m2[0]);
r1 = glmm_load(m2[1]);
r2 = glmm_load(m2[2]);
r3 = glmm_load(m2[3]);
v0 = _mm_mul_ps(glmm_splat_x(r0), l);
v1 = _mm_mul_ps(glmm_splat_x(r1), l);
v2 = _mm_mul_ps(glmm_splat_x(r2), l);
v3 = _mm_mul_ps(glmm_splat_x(r3), l);
l = glmm_load(m1[1]);
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
l = glmm_load(m1[2]);
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
l = glmm_load(m1[3]);
v3 = glmm_fmadd(glmm_splat_w(r3), l, v3);
glmm_store(dest[0], v0);
glmm_store(dest[1], v1);
glmm_store(dest[2], v2);
glmm_store(dest[3], v3);
}
CGLM_INLINE
void
glm_mul_rot_sse2(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
glmm_128 l, r0, r1, r2, v0, v1, v2;
l = glmm_load(m1[0]);
r0 = glmm_load(m2[0]);
r1 = glmm_load(m2[1]);
r2 = glmm_load(m2[2]);
v0 = _mm_mul_ps(glmm_splat_x(r0), l);
v1 = _mm_mul_ps(glmm_splat_x(r1), l);
v2 = _mm_mul_ps(glmm_splat_x(r2), l);
l = glmm_load(m1[1]);
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
l = glmm_load(m1[2]);
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
glmm_store(dest[0], v0);
glmm_store(dest[1], v1);
glmm_store(dest[2], v2);
glmm_store(dest[3], glmm_load(m1[3]));
}
CGLM_INLINE
void
glm_inv_tr_sse2(mat4 mat) {
__m128 r0, r1, r2, r3, x0, x1, x2, x3, x4, x5;
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);
x2 = glmm_shuff1(r3, 0, 0, 0, 0);
x3 = glmm_shuff1(r3, 1, 1, 1, 1);
x4 = glmm_shuff1(r3, 2, 2, 2, 2);
x5 = _mm_set1_ps(-0.f);
x0 = glmm_fmadd(r0, x2, glmm_fmadd(r1, x3, _mm_mul_ps(r2, x4)));
x0 = _mm_xor_ps(x0, x5);
x0 = _mm_add_ps(x0, x1);
glmm_store(mat[0], r0);
glmm_store(mat[1], r1);
glmm_store(mat[2], r2);
glmm_store(mat[3], x0);
}
#endif
#endif /* cglm_affine_mat_sse2_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_mat2_sse_h
#define cglm_mat2_sse_h
#if defined( __SSE__ ) || defined( __SSE2__ )
#include "../../common.h"
#include "../intrin.h"
CGLM_INLINE
void
glm_mat2_mul_sse2(mat2 m1, mat2 m2, mat2 dest) {
__m128 x0, x1, x2, x3, x4;
x1 = glmm_load(m1[0]); /* d c b a */
x2 = glmm_load(m2[0]); /* h g f e */
x3 = glmm_shuff1(x2, 2, 2, 0, 0);
x4 = glmm_shuff1(x2, 3, 3, 1, 1);
x0 = _mm_movelh_ps(x1, x1);
x2 = _mm_movehl_ps(x1, x1);
/*
dest[0][0] = a * e + c * f;
dest[0][1] = b * e + d * f;
dest[1][0] = a * g + c * h;
dest[1][1] = b * g + d * h;
*/
x0 = glmm_fmadd(x0, x3, _mm_mul_ps(x2, x4));
glmm_store(dest[0], x0);
}
CGLM_INLINE
void
glm_mat2_transp_sse2(mat2 m, mat2 dest) {
/* d c b a */
/* d b c a */
glmm_store(dest[0], glmm_shuff1(glmm_load(m[0]), 3, 1, 2, 0));
}
#endif
#endif /* cglm_mat2_sse_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_mat3_sse_h
#define cglm_mat3_sse_h
#if defined( __SSE__ ) || defined( __SSE2__ )
#include "../../common.h"
#include "../intrin.h"
CGLM_INLINE
void
glm_mat3_mul_sse2(mat3 m1, mat3 m2, mat3 dest) {
__m128 l0, l1, l2, r0, r1, r2, x0, x1, x2, x3, x4, x5, x6, x7, x8, x9;
l0 = _mm_loadu_ps(m1[0]);
l1 = _mm_loadu_ps(&m1[1][1]);
r0 = _mm_loadu_ps(m2[0]);
r1 = _mm_loadu_ps(&m2[1][1]);
x8 = glmm_shuff1(l0, 0, 2, 1, 0); /* a00 a02 a01 a00 */
x1 = glmm_shuff1(r0, 3, 0, 0, 0); /* b10 b00 b00 b00 */
x2 = _mm_shuffle_ps(l0, l1, _MM_SHUFFLE(1, 0, 3, 3)); /* a12 a11 a10 a10 */
x3 = _mm_shuffle_ps(r0, r1, _MM_SHUFFLE(2, 0, 3, 1)); /* b20 b11 b10 b01 */
x0 = _mm_mul_ps(x8, x1);
x6 = glmm_shuff1(l0, 1, 0, 2, 1); /* a01 a00 a02 a01 */
x7 = glmm_shuff1(x3, 3, 3, 1, 1); /* b20 b20 b10 b10 */
l2 = _mm_load_ss(&m1[2][2]);
r2 = _mm_load_ss(&m2[2][2]);
x1 = _mm_mul_ps(x6, x7);
l2 = glmm_shuff1(l2, 0, 0, 1, 0); /* a22 a22 0.f a22 */
r2 = glmm_shuff1(r2, 0, 0, 1, 0); /* b22 b22 0.f b22 */
x4 = glmm_shuff1(x2, 0, 3, 2, 0); /* a10 a12 a11 a10 */
x5 = glmm_shuff1(x2, 2, 0, 3, 2); /* a11 a10 a12 a11 */
x6 = glmm_shuff1(x3, 2, 0, 0, 0); /* b11 b01 b01 b01 */
x2 = glmm_shuff1(r1, 3, 3, 0, 0); /* b21 b21 b11 b11 */
x8 = _mm_unpackhi_ps(x8, x4); /* a10 a00 a12 a02 */
x9 = _mm_unpackhi_ps(x7, x2); /* b21 b20 b21 b20 */
x0 = glmm_fmadd(x4, x6, x0);
x1 = glmm_fmadd(x5, x2, x1);
x2 = _mm_movehl_ps(l2, l1); /* a22 a22 a21 a20 */
x3 = glmm_shuff1(x2, 0, 2, 1, 0); /* a20 a22 a21 a20 */
x2 = glmm_shuff1(x2, 1, 0, 2, 1); /* a21 a20 a22 a21 */
x4 = _mm_shuffle_ps(r0, r1, _MM_SHUFFLE(1, 1, 2, 2)); /* b12 b12 b02 b02 */
x5 = glmm_shuff1(x4, 3, 0, 0, 0); /* b12 b02 b02 b02 */
x4 = _mm_movehl_ps(r2, x4); /* b22 b22 b12 b12 */
x0 = glmm_fmadd(x3, x5, x0);
x1 = glmm_fmadd(x2, x4, x1);
/*
Dot Product : dest[2][2] = a02 * b20 +
a12 * b21 +
a22 * b22 +
0 * 00 */
x2 = _mm_movelh_ps(x8, l2); /* 0.f a22 a12 a02 */
x3 = _mm_movelh_ps(x9, r2); /* 0.f b22 b21 b20 */
x2 = glmm_vdots(x2, x3);
_mm_storeu_ps(&dest[0][0], x0);
_mm_storeu_ps(&dest[1][1], x1);
_mm_store_ss (&dest[2][2], x2);
}
#endif
#endif /* cglm_mat3_sse_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_mat_sse_h
#define cglm_mat_sse_h
#if defined( __SSE__ ) || defined( __SSE2__ )
#include "../../common.h"
#include "../intrin.h"
#define glm_mat4_inv_precise_sse2(mat, dest) glm_mat4_inv_sse2(mat, dest)
CGLM_INLINE
void
glm_mat4_scale_sse2(mat4 m, float s) {
__m128 x0;
x0 = _mm_set1_ps(s);
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
void
glm_mat4_transp_sse2(mat4 m, mat4 dest) {
__m128 r0, r1, r2, r3;
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);
glmm_store(dest[0], r0);
glmm_store(dest[1], r1);
glmm_store(dest[2], r2);
glmm_store(dest[3], r3);
}
CGLM_INLINE
void
glm_mat4_mul_sse2(mat4 m1, mat4 m2, mat4 dest) {
/* D = R * L (Column-Major) */
glmm_128 l, r0, r1, r2, r3, v0, v1, v2, v3;
l = glmm_load(m1[0]);
r0 = glmm_load(m2[0]);
r1 = glmm_load(m2[1]);
r2 = glmm_load(m2[2]);
r3 = glmm_load(m2[3]);
v0 = _mm_mul_ps(glmm_splat_x(r0), l);
v1 = _mm_mul_ps(glmm_splat_x(r1), l);
v2 = _mm_mul_ps(glmm_splat_x(r2), l);
v3 = _mm_mul_ps(glmm_splat_x(r3), l);
l = glmm_load(m1[1]);
v0 = glmm_fmadd(glmm_splat_y(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_y(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_y(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_y(r3), l, v3);
l = glmm_load(m1[2]);
v0 = glmm_fmadd(glmm_splat_z(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_z(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_z(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_z(r3), l, v3);
l = glmm_load(m1[3]);
v0 = glmm_fmadd(glmm_splat_w(r0), l, v0);
v1 = glmm_fmadd(glmm_splat_w(r1), l, v1);
v2 = glmm_fmadd(glmm_splat_w(r2), l, v2);
v3 = glmm_fmadd(glmm_splat_w(r3), l, v3);
glmm_store(dest[0], v0);
glmm_store(dest[1], v1);
glmm_store(dest[2], v2);
glmm_store(dest[3], v3);
}
CGLM_INLINE
void
glm_mat4_mulv_sse2(mat4 m, vec4 v, vec4 dest) {
__m128 x0, x1, m0, m1, m2, m3, v0, v1, v2, v3;
m0 = glmm_load(m[0]);
m1 = glmm_load(m[1]);
m2 = glmm_load(m[2]);
m3 = glmm_load(m[3]);
x0 = glmm_load(v);
v0 = glmm_splat_x(x0);
v1 = glmm_splat_y(x0);
v2 = glmm_splat_z(x0);
v3 = glmm_splat_w(x0);
x1 = _mm_mul_ps(m3, v3);
x1 = glmm_fmadd(m2, v2, x1);
x1 = glmm_fmadd(m1, v1, x1);
x1 = glmm_fmadd(m0, v0, x1);
glmm_store(dest, x1);
}
CGLM_INLINE
float
glm_mat4_det_sse2(mat4 mat) {
__m128 r0, r1, r2, r3, x0, x1, x2;
/* 127 <- 0, [square] det(A) = det(At) */
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;
t[2] = j * o - n * k;
t[3] = i * p - m * l;
t[4] = i * o - m * k;
*/
x0 = glmm_fnmadd(glmm_shuff1(r3, 0, 0, 1, 1), glmm_shuff1(r2, 2, 3, 2, 3),
_mm_mul_ps(glmm_shuff1(r2, 0, 0, 1, 1),
glmm_shuff1(r3, 2, 3, 2, 3)));
/*
t[0] = k * p - o * l;
t[0] = k * p - o * l;
t[5] = i * n - m * j;
t[5] = i * n - m * j;
*/
x1 = glmm_fnmadd(glmm_shuff1(r3, 0, 0, 2, 2), glmm_shuff1(r2, 1, 1, 3, 3),
_mm_mul_ps(glmm_shuff1(r2, 0, 0, 2, 2),
glmm_shuff1(r3, 1, 1, 3, 3)));
/*
a * (f * t[0] - g * t[1] + h * t[2])
- b * (e * t[0] - g * t[3] + h * t[4])
+ c * (e * t[1] - f * t[3] + h * t[5])
- d * (e * t[2] - f * t[4] + g * t[5])
*/
x2 = glmm_fnmadd(glmm_shuff1(r1, 1, 1, 2, 2), glmm_shuff1(x0, 3, 2, 2, 0),
_mm_mul_ps(glmm_shuff1(r1, 0, 0, 0, 1),
_mm_shuffle_ps(x1, x0, _MM_SHUFFLE(1, 0, 0, 0))));
x2 = glmm_fmadd(glmm_shuff1(r1, 2, 3, 3, 3),
_mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 2, 3, 1)),
x2);
x2 = _mm_xor_ps(x2, _mm_set_ps(-0.f, 0.f, -0.f, 0.f));
return glmm_hadd(_mm_mul_ps(x2, r0));
}
CGLM_INLINE
void
glm_mat4_inv_fast_sse2(mat4 mat, mat4 dest) {
__m128 r0, r1, r2, r3,
v0, v1, v2, v3,
t0, t1, t2, t3, t4, t5,
x0, x1, x2, x3, x4, x5, x6, x7, x8, x9;
x8 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f);
x9 = glmm_shuff1(x8, 2, 1, 2, 1);
/* 127 <- 0 */
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_movehl_ps(r3, r2); /* p o l k */
x3 = _mm_movelh_ps(r2, r3); /* n m j i */
x1 = glmm_shuff1(x0, 1, 3, 3 ,3); /* l p p p */
x2 = glmm_shuff1(x0, 0, 2, 2, 2); /* k o o o */
x4 = glmm_shuff1(x3, 1, 3, 3, 3); /* j n n n */
x7 = glmm_shuff1(x3, 0, 2, 2, 2); /* i m m m */
x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0)); /* e e i i */
x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1)); /* f f j j */
x3 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(2, 2, 2, 2)); /* g g k k */
x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3)); /* h h l l */
t0 = _mm_mul_ps(x3, x1);
t1 = _mm_mul_ps(x5, x1);
t2 = _mm_mul_ps(x5, x2);
t3 = _mm_mul_ps(x6, x1);
t4 = _mm_mul_ps(x6, x2);
t5 = _mm_mul_ps(x6, x4);
/* t1[0] = k * p - o * l;
t1[0] = k * p - o * l;
t2[0] = g * p - o * h;
t3[0] = g * l - k * h; */
t0 = glmm_fnmadd(x2, x0, t0);
/* t1[1] = j * p - n * l;
t1[1] = j * p - n * l;
t2[1] = f * p - n * h;
t3[1] = f * l - j * h; */
t1 = glmm_fnmadd(x4, x0, t1);
/* t1[2] = j * o - n * k
t1[2] = j * o - n * k;
t2[2] = f * o - n * g;
t3[2] = f * k - j * g; */
t2 = glmm_fnmadd(x4, x3, t2);
/* t1[3] = i * p - m * l;
t1[3] = i * p - m * l;
t2[3] = e * p - m * h;
t3[3] = e * l - i * h; */
t3 = glmm_fnmadd(x7, x0, t3);
/* t1[4] = i * o - m * k;
t1[4] = i * o - m * k;
t2[4] = e * o - m * g;
t3[4] = e * k - i * g; */
t4 = glmm_fnmadd(x7, x3, t4);
/* t1[5] = i * n - m * j;
t1[5] = i * n - m * j;
t2[5] = e * n - m * f;
t3[5] = e * j - i * f; */
t5 = glmm_fnmadd(x7, x5, t5);
x4 = _mm_movelh_ps(r0, r1); /* f e b a */
x5 = _mm_movehl_ps(r1, r0); /* h g d c */
x0 = glmm_shuff1(x4, 0, 0, 0, 2); /* a a a e */
x1 = glmm_shuff1(x4, 1, 1, 1, 3); /* b b b f */
x2 = glmm_shuff1(x5, 0, 0, 0, 2); /* c c c g */
x3 = glmm_shuff1(x5, 1, 1, 1, 3); /* d d d h */
v2 = _mm_mul_ps(x0, t1);
v1 = _mm_mul_ps(x0, t0);
v3 = _mm_mul_ps(x0, t2);
v0 = _mm_mul_ps(x1, t0);
v2 = glmm_fnmadd(x1, t3, v2);
v3 = glmm_fnmadd(x1, t4, v3);
v0 = glmm_fnmadd(x2, t1, v0);
v1 = glmm_fnmadd(x2, t3, v1);
v3 = glmm_fmadd(x2, t5, v3);
v0 = glmm_fmadd(x3, t2, v0);
v2 = glmm_fmadd(x3, t5, v2);
v1 = glmm_fmadd(x3, t4, v1);
/*
dest[0][0] = f * t1[0] - g * t1[1] + h * t1[2];
dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
dest[0][2] = b * t2[0] - c * t2[1] + d * t2[2];
dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
v0 = _mm_xor_ps(v0, x8);
/*
dest[2][0] = e * t1[1] - f * t1[3] + h * t1[5];
dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
dest[2][2] = a * t2[1] - b * t2[3] + d * t2[5];
dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
v2 = _mm_xor_ps(v2, x8);
/*
dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
dest[1][1] = a * t1[0] - c * t1[3] + d * t1[4];
dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
dest[1][3] = a * t3[0] - c * t3[3] + d * t3[4]; */
v1 = _mm_xor_ps(v1, x9);
/*
dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
dest[3][1] = a * t1[2] - b * t1[4] + c * t1[5];
dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
dest[3][3] = a * t3[2] - b * t3[4] + c * t3[5]; */
v3 = _mm_xor_ps(v3, x9);
/* determinant */
x0 = _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(0, 0, 0, 0));
x1 = _mm_shuffle_ps(v2, v3, _MM_SHUFFLE(0, 0, 0, 0));
x0 = _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 0, 2, 0));
x0 = _mm_rcp_ps(glmm_vhadd(_mm_mul_ps(x0, r0)));
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
void
glm_mat4_inv_sse2(mat4 mat, mat4 dest) {
__m128 r0, r1, r2, r3,
v0, v1, v2, v3,
t0, t1, t2, t3, t4, t5,
x0, x1, x2, x3, x4, x5, x6, x7, x8, x9;
x8 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f);
x9 = glmm_shuff1(x8, 2, 1, 2, 1);
/* 127 <- 0 */
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_movehl_ps(r3, r2); /* p o l k */
x3 = _mm_movelh_ps(r2, r3); /* n m j i */
x1 = glmm_shuff1(x0, 1, 3, 3 ,3); /* l p p p */
x2 = glmm_shuff1(x0, 0, 2, 2, 2); /* k o o o */
x4 = glmm_shuff1(x3, 1, 3, 3, 3); /* j n n n */
x7 = glmm_shuff1(x3, 0, 2, 2, 2); /* i m m m */
x6 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(0, 0, 0, 0)); /* e e i i */
x5 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(1, 1, 1, 1)); /* f f j j */
x3 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(2, 2, 2, 2)); /* g g k k */
x0 = _mm_shuffle_ps(r2, r1, _MM_SHUFFLE(3, 3, 3, 3)); /* h h l l */
t0 = _mm_mul_ps(x3, x1);
t1 = _mm_mul_ps(x5, x1);
t2 = _mm_mul_ps(x5, x2);
t3 = _mm_mul_ps(x6, x1);
t4 = _mm_mul_ps(x6, x2);
t5 = _mm_mul_ps(x6, x4);
/* t1[0] = k * p - o * l;
t1[0] = k * p - o * l;
t2[0] = g * p - o * h;
t3[0] = g * l - k * h; */
t0 = glmm_fnmadd(x2, x0, t0);
/* t1[1] = j * p - n * l;
t1[1] = j * p - n * l;
t2[1] = f * p - n * h;
t3[1] = f * l - j * h; */
t1 = glmm_fnmadd(x4, x0, t1);
/* t1[2] = j * o - n * k
t1[2] = j * o - n * k;
t2[2] = f * o - n * g;
t3[2] = f * k - j * g; */
t2 = glmm_fnmadd(x4, x3, t2);
/* t1[3] = i * p - m * l;
t1[3] = i * p - m * l;
t2[3] = e * p - m * h;
t3[3] = e * l - i * h; */
t3 = glmm_fnmadd(x7, x0, t3);
/* t1[4] = i * o - m * k;
t1[4] = i * o - m * k;
t2[4] = e * o - m * g;
t3[4] = e * k - i * g; */
t4 = glmm_fnmadd(x7, x3, t4);
/* t1[5] = i * n - m * j;
t1[5] = i * n - m * j;
t2[5] = e * n - m * f;
t3[5] = e * j - i * f; */
t5 = glmm_fnmadd(x7, x5, t5);
x4 = _mm_movelh_ps(r0, r1); /* f e b a */
x5 = _mm_movehl_ps(r1, r0); /* h g d c */
x0 = glmm_shuff1(x4, 0, 0, 0, 2); /* a a a e */
x1 = glmm_shuff1(x4, 1, 1, 1, 3); /* b b b f */
x2 = glmm_shuff1(x5, 0, 0, 0, 2); /* c c c g */
x3 = glmm_shuff1(x5, 1, 1, 1, 3); /* d d d h */
v2 = _mm_mul_ps(x0, t1);
v1 = _mm_mul_ps(x0, t0);
v3 = _mm_mul_ps(x0, t2);
v0 = _mm_mul_ps(x1, t0);
v2 = glmm_fnmadd(x1, t3, v2);
v3 = glmm_fnmadd(x1, t4, v3);
v0 = glmm_fnmadd(x2, t1, v0);
v1 = glmm_fnmadd(x2, t3, v1);
v3 = glmm_fmadd(x2, t5, v3);
v0 = glmm_fmadd(x3, t2, v0);
v2 = glmm_fmadd(x3, t5, v2);
v1 = glmm_fmadd(x3, t4, v1);
/*
dest[0][0] = f * t1[0] - g * t1[1] + h * t1[2];
dest[0][1] =-(b * t1[0] - c * t1[1] + d * t1[2]);
dest[0][2] = b * t2[0] - c * t2[1] + d * t2[2];
dest[0][3] =-(b * t3[0] - c * t3[1] + d * t3[2]); */
v0 = _mm_xor_ps(v0, x8);
/*
dest[2][0] = e * t1[1] - f * t1[3] + h * t1[5];
dest[2][1] =-(a * t1[1] - b * t1[3] + d * t1[5]);
dest[2][2] = a * t2[1] - b * t2[3] + d * t2[5];
dest[2][3] =-(a * t3[1] - b * t3[3] + d * t3[5]);*/
v2 = _mm_xor_ps(v2, x8);
/*
dest[1][0] =-(e * t1[0] - g * t1[3] + h * t1[4]);
dest[1][1] = a * t1[0] - c * t1[3] + d * t1[4];
dest[1][2] =-(a * t2[0] - c * t2[3] + d * t2[4]);
dest[1][3] = a * t3[0] - c * t3[3] + d * t3[4]; */
v1 = _mm_xor_ps(v1, x9);
/*
dest[3][0] =-(e * t1[2] - f * t1[4] + g * t1[5]);
dest[3][1] = a * t1[2] - b * t1[4] + c * t1[5];
dest[3][2] =-(a * t2[2] - b * t2[4] + c * t2[5]);
dest[3][3] = a * t3[2] - b * t3[4] + c * t3[5]; */
v3 = _mm_xor_ps(v3, x9);
/* determinant */
x0 = _mm_shuffle_ps(v0, v1, _MM_SHUFFLE(0, 0, 0, 0));
x1 = _mm_shuffle_ps(v2, v3, _MM_SHUFFLE(0, 0, 0, 0));
x0 = _mm_shuffle_ps(x0, x1, _MM_SHUFFLE(2, 0, 2, 0));
x0 = _mm_div_ps(_mm_set1_ps(1.0f), glmm_vhadd(_mm_mul_ps(x0, r0)));
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
#endif /* cglm_mat_sse_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_quat_simd_h
#define cglm_quat_simd_h
#if defined( __SSE__ ) || defined( __SSE2__ )
#include "../../common.h"
#include "../intrin.h"
CGLM_INLINE
void
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 xp, xq, x1, x2, x3, r, x, y, z;
xp = glmm_load(p); /* 3 2 1 0 */
xq = glmm_load(q);
x1 = _mm_set_ps(-0.f, 0.f, -0.f, 0.f); /* TODO: _mm_set1_ss() + shuff ? */
r = _mm_mul_ps(glmm_splat_w(xp), xq);
x2 = _mm_unpackhi_ps(x1, x1);
x3 = glmm_shuff1(x1, 3, 2, 0, 1);
x = glmm_splat_x(xp);
y = glmm_splat_y(xp);
z = glmm_splat_z(xp);
x = _mm_xor_ps(x, x1);
y = _mm_xor_ps(y, x2);
z = _mm_xor_ps(z, x3);
x1 = glmm_shuff1(xq, 0, 1, 2, 3);
x2 = glmm_shuff1(xq, 1, 0, 3, 2);
x3 = glmm_shuff1(xq, 2, 3, 0, 1);
r = glmm_fmadd(x, x1, r);
r = glmm_fmadd(y, x2, r);
r = glmm_fmadd(z, x3, r);
glmm_store(dest, r);
}
#endif
#endif /* cglm_quat_simd_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_simd_x86_h
#define cglm_simd_x86_h
#include "intrin.h"
#ifdef CGLM_SIMD_x86
#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
#define glmm_set1(x) _mm_set1_ps(x)
#define glmm_128 __m128
#ifdef CGLM_USE_INT_DOMAIN
# define glmm_shuff1(xmm, z, y, x, w) \
_mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(xmm), \
_MM_SHUFFLE(z, y, x, w)))
#else
# define glmm_shuff1(xmm, z, y, x, w) \
_mm_shuffle_ps(xmm, xmm, _MM_SHUFFLE(z, y, x, w))
#endif
#define glmm_splat(x, lane) glmm_shuff1(x, lane, lane, lane, lane)
#define glmm_splat_x(x) glmm_splat(x, 0)
#define glmm_splat_y(x) glmm_splat(x, 1)
#define glmm_splat_z(x) glmm_splat(x, 2)
#define glmm_splat_w(x) glmm_splat(x, 3)
/* glmm_shuff1x() is DEPRECATED!, use glmm_splat() */
#define glmm_shuff1x(xmm, x) glmm_shuff1(xmm, x, x, x, x)
#define glmm_shuff2(a, b, z0, y0, x0, w0, z1, y1, x1, w1) \
glmm_shuff1(_mm_shuffle_ps(a, b, _MM_SHUFFLE(z0, y0, x0, w0)), \
z1, y1, x1, w1)
#ifdef __AVX__
# 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
static inline
__m128
glmm_abs(__m128 x) {
return _mm_andnot_ps(_mm_set1_ps(-0.0f), x);
}
static inline
__m128
glmm_vhadd(__m128 v) {
__m128 x0;
x0 = _mm_add_ps(v, glmm_shuff1(v, 0, 1, 2, 3));
x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 0, 1));
return x0;
}
static inline
__m128
glmm_vhadds(__m128 v) {
#if defined(__SSE3__)
__m128 shuf, sums;
shuf = _mm_movehdup_ps(v);
sums = _mm_add_ps(v, shuf);
shuf = _mm_movehl_ps(shuf, sums);
sums = _mm_add_ss(sums, shuf);
return sums;
#else
__m128 shuf, sums;
shuf = glmm_shuff1(v, 2, 3, 0, 1);
sums = _mm_add_ps(v, shuf);
shuf = _mm_movehl_ps(shuf, sums);
sums = _mm_add_ss(sums, shuf);
return sums;
#endif
}
static inline
float
glmm_hadd(__m128 v) {
return _mm_cvtss_f32(glmm_vhadds(v));
}
static inline
__m128
glmm_vhmin(__m128 v) {
__m128 x0, x1, x2;
x0 = _mm_movehl_ps(v, v); /* [2, 3, 2, 3] */
x1 = _mm_min_ps(x0, v); /* [0|2, 1|3, 2|2, 3|3] */
x2 = glmm_splat(x1, 1); /* [1|3, 1|3, 1|3, 1|3] */
return _mm_min_ss(x1, x2);
}
static inline
float
glmm_hmin(__m128 v) {
return _mm_cvtss_f32(glmm_vhmin(v));
}
static inline
__m128
glmm_vhmax(__m128 v) {
__m128 x0, x1, x2;
x0 = _mm_movehl_ps(v, v); /* [2, 3, 2, 3] */
x1 = _mm_max_ps(x0, v); /* [0|2, 1|3, 2|2, 3|3] */
x2 = glmm_splat(x1, 1); /* [1|3, 1|3, 1|3, 1|3] */
return _mm_max_ss(x1, x2);
}
static inline
float
glmm_hmax(__m128 v) {
return _mm_cvtss_f32(glmm_vhmax(v));
}
static inline
__m128
glmm_vdots(__m128 a, __m128 b) {
#if (defined(__SSE4_1__) || defined(__SSE4_2__)) && defined(CGLM_SSE4_DOT)
return _mm_dp_ps(a, b, 0xFF);
#elif defined(__SSE3__) && defined(CGLM_SSE3_DOT)
__m128 x0, x1;
x0 = _mm_mul_ps(a, b);
x1 = _mm_hadd_ps(x0, x0);
return _mm_hadd_ps(x1, x1);
#else
return glmm_vhadds(_mm_mul_ps(a, b));
#endif
}
static inline
__m128
glmm_vdot(__m128 a, __m128 b) {
#if (defined(__SSE4_1__) || defined(__SSE4_2__)) && defined(CGLM_SSE4_DOT)
return _mm_dp_ps(a, b, 0xFF);
#elif defined(__SSE3__) && defined(CGLM_SSE3_DOT)
__m128 x0, x1;
x0 = _mm_mul_ps(a, b);
x1 = _mm_hadd_ps(x0, x0);
return _mm_hadd_ps(x1, x1);
#else
__m128 x0;
x0 = _mm_mul_ps(a, b);
x0 = _mm_add_ps(x0, glmm_shuff1(x0, 1, 0, 3, 2));
return _mm_add_ps(x0, glmm_shuff1(x0, 0, 1, 0, 1));
#endif
}
static inline
float
glmm_dot(__m128 a, __m128 b) {
return _mm_cvtss_f32(glmm_vdots(a, b));
}
static inline
float
glmm_norm(__m128 a) {
return _mm_cvtss_f32(_mm_sqrt_ss(glmm_vhadds(_mm_mul_ps(a, a))));
}
static inline
float
glmm_norm2(__m128 a) {
return _mm_cvtss_f32(glmm_vhadds(_mm_mul_ps(a, a)));
}
static inline
float
glmm_norm_one(__m128 a) {
return _mm_cvtss_f32(glmm_vhadds(glmm_abs(a)));
}
static inline
float
glmm_norm_inf(__m128 a) {
return _mm_cvtss_f32(glmm_vhmax(glmm_abs(a)));
}
static inline
__m128
glmm_load3(float v[3]) {
__m128i xy;
__m128 z;
xy = _mm_loadl_epi64(CGLM_CASTPTR_ASSUME_ALIGNED(v, const __m128i));
z = _mm_load_ss(&v[2]);
return _mm_movelh_ps(_mm_castsi128_ps(xy), z);
}
static inline
void
glmm_store3(float v[3], __m128 vx) {
_mm_storel_pi(CGLM_CASTPTR_ASSUME_ALIGNED(v, __m64), vx);
_mm_store_ss(&v[2], glmm_shuff1(vx, 2, 2, 2, 2));
}
static inline
__m128
glmm_div(__m128 a, __m128 b) {
return _mm_div_ps(a, b);
}
/* enable FMA macro for MSVC? */
#if defined(_MSC_VER) && !defined(__FMA__) && defined(__AVX2__)
# define __FMA__ 1
#endif
static inline
__m128
glmm_fmadd(__m128 a, __m128 b, __m128 c) {
#ifdef __FMA__
return _mm_fmadd_ps(a, b, c);
#else
return _mm_add_ps(c, _mm_mul_ps(a, b));
#endif
}
static inline
__m128
glmm_fnmadd(__m128 a, __m128 b, __m128 c) {
#ifdef __FMA__
return _mm_fnmadd_ps(a, b, c);
#else
return _mm_sub_ps(c, _mm_mul_ps(a, b));
#endif
}
static inline
__m128
glmm_fmsub(__m128 a, __m128 b, __m128 c) {
#ifdef __FMA__
return _mm_fmsub_ps(a, b, c);
#else
return _mm_sub_ps(_mm_mul_ps(a, b), c);
#endif
}
static inline
__m128
glmm_fnmsub(__m128 a, __m128 b, __m128 c) {
#ifdef __FMA__
return _mm_fnmsub_ps(a, b, c);
#else
return _mm_xor_ps(_mm_add_ps(_mm_mul_ps(a, b), c), _mm_set1_ps(-0.0f));
#endif
}
#if defined(__AVX__)
static inline
__m256
glmm256_fmadd(__m256 a, __m256 b, __m256 c) {
#ifdef __FMA__
return _mm256_fmadd_ps(a, b, c);
#else
return _mm256_add_ps(c, _mm256_mul_ps(a, b));
#endif
}
static inline
__m256
glmm256_fnmadd(__m256 a, __m256 b, __m256 c) {
#ifdef __FMA__
return _mm256_fnmadd_ps(a, b, c);
#else
return _mm256_sub_ps(c, _mm256_mul_ps(a, b));
#endif
}
static inline
__m256
glmm256_fmsub(__m256 a, __m256 b, __m256 c) {
#ifdef __FMA__
return _mm256_fmsub_ps(a, b, c);
#else
return _mm256_sub_ps(_mm256_mul_ps(a, b), c);
#endif
}
static inline
__m256
glmm256_fnmsub(__m256 a, __m256 b, __m256 c) {
#ifdef __FMA__
return _mm256_fmsub_ps(a, b, c);
#else
return _mm256_xor_ps(_mm256_sub_ps(_mm256_mul_ps(a, b), c),
_mm256_set1_ps(-0.0f));
#endif
}
#endif
#endif
#endif /* cglm_simd_x86_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_sphere_h
#define cglm_sphere_h
#include "common.h"
#include "mat4.h"
/*
Sphere Representation in cglm: [center.x, center.y, center.z, radii]
You could use this representation or you can convert it to vec4 before call
any function
*/
/*!
* @brief helper for getting sphere radius
*
* @param[in] s sphere
*
* @return returns radii
*/
CGLM_INLINE
float
glm_sphere_radii(vec4 s) {
return s[3];
}
/*!
* @brief apply transform to sphere, it is just wrapper for glm_mat4_mulv3
*
* @param[in] s sphere
* @param[in] m transform matrix
* @param[out] dest transformed sphere
*/
CGLM_INLINE
void
glm_sphere_transform(vec4 s, mat4 m, vec4 dest) {
glm_mat4_mulv3(m, s, 1.0f, dest);
dest[3] = s[3];
}
/*!
* @brief merges two spheres and creates a new one
*
* two sphere must be in same space, for instance if one in world space then
* the other must be in world space too, not in local space.
*
* @param[in] s1 sphere 1
* @param[in] s2 sphere 2
* @param[out] dest merged/extended sphere
*/
CGLM_INLINE
void
glm_sphere_merge(vec4 s1, vec4 s2, vec4 dest) {
float dist, radii;
dist = glm_vec3_distance(s1, s2);
radii = dist + s1[3] + s2[3];
radii = glm_max(radii, s1[3]);
radii = glm_max(radii, s2[3]);
glm_vec3_center(s1, s2, dest);
dest[3] = radii;
}
/*!
* @brief check if two sphere intersects
*
* @param[in] s1 sphere
* @param[in] s2 other sphere
*/
CGLM_INLINE
bool
glm_sphere_sphere(vec4 s1, vec4 s2) {
return glm_vec3_distance2(s1, s2) <= glm_pow2(s1[3] + s2[3]);
}
/*!
* @brief check if sphere intersects with point
*
* @param[in] s sphere
* @param[in] point point
*/
CGLM_INLINE
bool
glm_sphere_point(vec4 s, vec3 point) {
float rr;
rr = s[3] * s[3];
return glm_vec3_distance2(point, s) <= rr;
}
#endif /* cglm_sphere_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
#ifndef cglm_structs_h
#define cglm_structs_h
#ifdef __cplusplus
extern "C" {
#endif
#include "cglm.h"
#include "types-struct.h"
#include "struct/vec2.h"
#include "struct/vec3.h"
#include "struct/vec4.h"
#include "struct/mat2.h"
#include "struct/mat3.h"
#include "struct/mat4.h"
#include "struct/affine.h"
#include "struct/frustum.h"
#include "struct/plane.h"
#include "struct/box.h"
#include "struct/color.h"
#include "struct/io.h"
#include "struct/cam.h"
#include "struct/quat.h"
#include "struct/euler.h"
#include "struct/project.h"
#include "struct/sphere.h"
#include "struct/curve.h"
#include "struct/affine2d.h"
#ifdef __cplusplus
}
#endif
#endif /* cglm_structs_h */

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/*
* Copyright (c), Recep Aslantas.
*
* MIT License (MIT), http://opensource.org/licenses/MIT
* Full license can be found in the LICENSE file
*/
/*
Functions:
CGLM_INLINE mat4s glms_translated(mat4s m, vec3s v);
CGLM_INLINE mat4s glms_translated_x(mat4s m, float x);
CGLM_INLINE mat4s glms_translated_y(mat4s m, float y);
CGLM_INLINE mat4s glms_translated_z(mat4s m, float z);
CGLM_INLINE mat4s glms_rotated_x(mat4s m, float angle);
CGLM_INLINE mat4s glms_rotated_y(mat4s m, float angle);
CGLM_INLINE mat4s glms_rotated_z(mat4s m, float angle);
CGLM_INLINE mat4s glms_rotated(mat4s m, float angle, vec3s axis);
CGLM_INLINE mat4s glms_rotated_at(mat4s m, vec3s pivot, float angle, vec3s axis);
CGLM_INLINE mat4s glms_spinned(mat4s m, float angle, vec3s axis);
*/
#ifndef cglms_affines_post_h
#define cglms_affines_post_h
#include "../common.h"
#include "../types-struct.h"
#include "../affine.h"
#include "vec3.h"
#include "vec4.h"
#include "mat4.h"
/*!
* @brief translate existing transform matrix by v vector
* and stores result in same matrix
*
* @param[in] m affine transfrom
* @param[in] v translate vector [x, y, z]
* @returns affine transfrom
*/
CGLM_INLINE
mat4s
glms_translated(mat4s m, vec3s v) {
glm_translated(m.raw, v.raw);
return m;
}
/*!
* @brief translate existing transform matrix by x factor
*
* @param[in] m affine transfrom
* @param[in] x x factor
* @returns affine transfrom
*/
CGLM_INLINE
mat4s
glms_translated_x(mat4s m, float x) {
glm_translated_x(m.raw, x);
return m;
}
/*!
* @brief translate existing transform matrix by y factor
*
* @param[in] m affine transfrom
* @param[in] y y factor
* @returns affine transfrom
*/
CGLM_INLINE
mat4s
glms_translated_y(mat4s m, float y) {
glm_translated_y(m.raw, y);
return m;
}
/*!
* @brief translate existing transform matrix by z factor
*
* @param[in] m affine transfrom
* @param[in] z z factor
* @returns affine transfrom
*/
CGLM_INLINE
mat4s
glms_translated_z(mat4s m, float z) {
glm_translated_z(m.raw, z);
return m;
}
/*!
* @brief rotate existing transform matrix around X axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @returns rotated matrix
*/
CGLM_INLINE
mat4s
glms_rotated_x(mat4s m, float angle) {
mat4s r;
glm_rotated_x(m.raw, angle, r.raw);
return r;
}
/*!
* @brief rotate existing transform matrix around Y axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @returns rotated matrix
*/
CGLM_INLINE
mat4s
glms_rotated_y(mat4s m, float angle) {
mat4s r;
glm_rotated_y(m.raw, angle, r.raw);
return r;
}
/*!
* @brief rotate existing transform matrix around Z axis by angle
* and store result in dest
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @returns rotated matrix
*/
CGLM_INLINE
mat4s
glms_rotated_z(mat4s m, float angle) {
mat4s r;
glm_rotated_z(m.raw, angle, r.raw);
return r;
}
/*!
* @brief rotate existing transform matrix around given axis by angle
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
* @returns affine transfrom
*/
CGLM_INLINE
mat4s
glms_rotated(mat4s m, float angle, vec3s axis) {
glm_rotated(m.raw, angle, axis.raw);
return m;
}
/*!
* @brief rotate existing transform
* around given axis by angle at given pivot point (rotation center)
*
* @param[in] m affine transfrom
* @param[in] pivot rotation center
* @param[in] angle angle (radians)
* @param[in] axis axis
* @returns affine transfrom
*/
CGLM_INLINE
mat4s
glms_rotated_at(mat4s m, vec3s pivot, float angle, vec3s axis) {
glm_rotated_at(m.raw, pivot.raw, angle, axis.raw);
return m;
}
/*!
* @brief rotate existing transform matrix around given axis by angle around self (doesn't affected by position)
*
* @param[in] m affine transfrom
* @param[in] angle angle (radians)
* @param[in] axis axis
* @returns affine transfrom
*/
CGLM_INLINE
mat4s
glms_spinned(mat4s m, float angle, vec3s axis) {
glm_spinned(m.raw, angle, axis.raw);
return m;
}
#endif /* cglms_affines_post_h */

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