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