239 lines
6.0 KiB
C
239 lines
6.0 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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/*
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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_translate_make(mat4 m, vec3 v);
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CGLM_INLINE void glm_scale_to(mat4 m, vec3 v, mat4 dest);
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CGLM_INLINE void glm_scale_make(mat4 m, vec3 v);
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CGLM_INLINE void glm_scale(mat4 m, vec3 v);
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CGLM_INLINE void glm_scale_uni(mat4 m, float s);
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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_make(mat4 m, float angle, vec3 axis);
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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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CGLM_INLINE void glm_decompose_scalev(mat4 m, vec3 s);
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CGLM_INLINE bool glm_uniscaled(mat4 m);
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CGLM_INLINE void glm_decompose_rs(mat4 m, mat4 r, vec3 s);
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CGLM_INLINE void glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s);
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*/
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#ifndef cglm_affine_h
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#define cglm_affine_h
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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 creates NEW translate transform matrix by v vector
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*
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* @param[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_make(mat4 m, vec3 v) {
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glm_mat4_identity(m);
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glm_vec3_copy(v, m[3]);
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}
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/*!
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* @brief scale existing transform matrix by v vector
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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] v scale vector [x, y, z]
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* @param[out] dest scaled matrix
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*/
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CGLM_INLINE
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void
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glm_scale_to(mat4 m, vec3 v, mat4 dest) {
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glm_vec4_scale(m[0], v[0], dest[0]);
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glm_vec4_scale(m[1], v[1], dest[1]);
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glm_vec4_scale(m[2], v[2], dest[2]);
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glm_vec4_copy(m[3], dest[3]);
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}
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/*!
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* @brief creates NEW scale matrix by v vector
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*
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* @param[out] m affine transfrom
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* @param[in] v scale vector [x, y, z]
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*/
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CGLM_INLINE
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void
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glm_scale_make(mat4 m, vec3 v) {
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glm_mat4_identity(m);
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m[0][0] = v[0];
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m[1][1] = v[1];
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m[2][2] = v[2];
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}
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/*!
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* @brief scales 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 scale vector [x, y, z]
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*/
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CGLM_INLINE
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void
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glm_scale(mat4 m, vec3 v) {
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glm_scale_to(m, v, m);
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}
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/*!
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* @brief applies uniform scale to existing transform matrix v = [s, s, s]
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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] s scale factor
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*/
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CGLM_INLINE
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void
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glm_scale_uni(mat4 m, float s) {
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CGLM_ALIGN(8) vec3 v = { s, s, s };
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glm_scale_to(m, v, m);
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}
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/*!
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* @brief creates NEW rotation matrix by angle and axis
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*
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* axis will be normalized so you don't need to normalize it
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*
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* @param[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_make(mat4 m, float angle, vec3 axis) {
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CGLM_ALIGN(8) vec3 axisn, v, vs;
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float c;
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c = cosf(angle);
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glm_vec3_normalize_to(axis, axisn);
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glm_vec3_scale(axisn, 1.0f - c, v);
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glm_vec3_scale(axisn, sinf(angle), vs);
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glm_vec3_scale(axisn, v[0], m[0]);
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glm_vec3_scale(axisn, v[1], m[1]);
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glm_vec3_scale(axisn, v[2], m[2]);
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m[0][0] += c; m[1][0] -= vs[2]; m[2][0] += vs[1];
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m[0][1] += vs[2]; m[1][1] += c; m[2][1] -= vs[0];
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m[0][2] -= vs[1]; m[1][2] += vs[0]; m[2][2] += c;
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m[0][3] = m[1][3] = m[2][3] = m[3][0] = m[3][1] = m[3][2] = 0.0f;
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m[3][3] = 1.0f;
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}
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/*!
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* @brief decompose scale vector
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*
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* @param[in] m affine transform
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* @param[out] s scale vector (Sx, Sy, Sz)
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*/
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CGLM_INLINE
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void
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glm_decompose_scalev(mat4 m, vec3 s) {
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s[0] = glm_vec3_norm(m[0]);
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s[1] = glm_vec3_norm(m[1]);
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s[2] = glm_vec3_norm(m[2]);
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}
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/*!
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* @brief returns true if matrix is uniform scaled. This is helpful for
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* creating normal matrix.
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*
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* @param[in] m m
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*
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* @return boolean
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*/
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CGLM_INLINE
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bool
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glm_uniscaled(mat4 m) {
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CGLM_ALIGN(8) vec3 s;
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glm_decompose_scalev(m, s);
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return glm_vec3_eq_all(s);
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}
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/*!
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* @brief decompose rotation matrix (mat4) and scale vector [Sx, Sy, Sz]
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* DON'T pass projected matrix here
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*
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* @param[in] m affine transform
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* @param[out] r rotation matrix
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* @param[out] s scale matrix
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*/
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CGLM_INLINE
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void
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glm_decompose_rs(mat4 m, mat4 r, vec3 s) {
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CGLM_ALIGN(16) vec4 t = {0.0f, 0.0f, 0.0f, 1.0f};
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CGLM_ALIGN(8) vec3 v;
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glm_vec4_copy(m[0], r[0]);
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glm_vec4_copy(m[1], r[1]);
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glm_vec4_copy(m[2], r[2]);
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glm_vec4_copy(t, r[3]);
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s[0] = glm_vec3_norm(m[0]);
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s[1] = glm_vec3_norm(m[1]);
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s[2] = glm_vec3_norm(m[2]);
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glm_vec4_scale(r[0], 1.0f/s[0], r[0]);
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glm_vec4_scale(r[1], 1.0f/s[1], r[1]);
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glm_vec4_scale(r[2], 1.0f/s[2], r[2]);
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/* Note from Apple Open Source (assume that the matrix is orthonormal):
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check for a coordinate system flip. If the determinant
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is -1, then negate the matrix and the scaling factors. */
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glm_vec3_cross(m[0], m[1], v);
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if (glm_vec3_dot(v, m[2]) < 0.0f) {
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glm_vec4_negate(r[0]);
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glm_vec4_negate(r[1]);
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glm_vec4_negate(r[2]);
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glm_vec3_negate(s);
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}
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}
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/*!
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* @brief decompose affine transform, TODO: extract shear factors.
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* DON'T pass projected matrix here
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*
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* @param[in] m affine transfrom
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* @param[out] t translation vector
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* @param[out] r rotation matrix (mat4)
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* @param[out] s scaling vector [X, Y, Z]
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*/
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CGLM_INLINE
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void
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glm_decompose(mat4 m, vec4 t, mat4 r, vec3 s) {
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glm_vec4_copy(m[3], t);
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glm_decompose_rs(m, r, s);
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}
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#include "affine-pre.h"
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#include "affine-post.h"
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#endif /* cglm_affine_h */
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