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[maths] get explicit about the dimensionality of transform matrices
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@grouse
grouse committed Feb 26, 2025
1 parent b795fad commit b7e0911
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Showing 2 changed files with 69 additions and 60 deletions.
37 changes: 19 additions & 18 deletions generated/maths.h
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Original file line number Diff line number Diff line change
Expand Up @@ -59,38 +59,39 @@ extern Quaternion operator/(Quaternion q, f32 scalar);
extern Matrix3 mat3_identity();
extern Matrix3 mat3_rows(Vector3 r0, Vector3 r1, Vector3 r2);
extern Matrix3 mat3_orthographic(f32 left, f32 right, f32 bottom, f32 top, f32 ratio =1);
extern Matrix3 mat3_rotate_x(f32 theta);
extern Matrix3 mat3_rotate_y(f32 theta);
extern Matrix3 mat3_rotate_z(f32 theta);
extern Matrix3 mat3_rotate(Vector3 axis, f32 theta);
extern Matrix3 mat3_rotate_quat(Quaternion q);
extern Matrix3 mat3_translate(Vector2 v);
extern Matrix3 mat3_scale(f32 scalar);
extern Matrix3 mat3_scale_axis(Vector3 axis, f32 scalar);
extern Matrix3 mat3_skew(f32 t, Vector3 a, Vector3 b);
extern Matrix3 mat3_rotate3_x(f32 theta);
extern Matrix3 mat3_rotate3_y(f32 theta);
extern Matrix3 mat3_rotate3_z(f32 theta);
extern Matrix3 mat3_rotate3(Vector3 axis, f32 theta);
extern Matrix3 mat3_rotate3_quat(Quaternion q);
extern Matrix3 mat3_translate2(Vector2 v);
extern Matrix3 mat3_scale3(f32 scalar);
extern Matrix3 mat3_scale2(f32 scalar);
extern Matrix3 mat3_scale3_axis(Vector3 axis, f32 scalar);
extern Matrix3 mat3_skew3(f32 t, Vector3 a, Vector3 b);
extern Matrix3 mat3_reflect(Vector3 a);
extern Matrix3 mat3_transform(Matrix3 projection, Vector2 position);
extern Matrix3 mat3_transform(Matrix3 projection, Vector2 position, f32 uni_scale);
extern Matrix3 mat3_transform2(Matrix3 projection, Vector2 position);
extern Matrix3 mat3_transform2(Matrix3 projection, Vector2 position, f32 uni_scale);
extern Matrix3 mat3_transpose(Matrix3 m);
extern Matrix3 mat3_inverse(Matrix3 M);
extern f32 mat3_determinant(Matrix3 M);
extern Matrix4 mat4_identity();
extern Matrix4 mat4_transform_mat3(const Matrix3 & m0);
extern Matrix4 mat4_transform2(const Matrix3 & m0);
extern Matrix4 mat4_rows(Vector4 r0, Vector4 r1, Vector4 r2, Vector4 r3);
extern Matrix4 mat4_mat3_extend(Matrix3 m);
extern Matrix4 mat4_rotate_quat(Quaternion q);
extern Matrix4 mat4_translate(Vector3 v);
extern Matrix4 mat4_scale(Vector3 v);
extern Matrix4 mat4_transform(Quaternion rotation, Vector3 position);
extern Matrix4 mat4_transform(Quaternion rotation, Vector3 position, Vector3 scale);
extern Matrix4 mat4_rotate3_quat(Quaternion q);
extern Matrix4 mat4_translate3(Vector3 v);
extern Matrix4 mat4_scale3(Vector3 v);
extern Matrix4 mat4_transform3(Quaternion rotation, Vector3 position);
extern Matrix4 mat4_transform3(Quaternion rotation, Vector3 position, Vector3 scale);
extern void mat4_trs_decompose(Matrix4 trs, Vector3 *pos, Quaternion *rot, Vector3 *scale);
extern Matrix4 mat4_look_at(Vector3 eye, Vector3 center, Vector3 up);
extern Matrix4 mat4_orthographic(f32 min_x, f32 max_x, f32 min_y, f32 max_y, f32 near_z, f32 far_z);
extern Matrix4 mat4_perspective(f32 fov, f32 aspect, f32 near_z, f32 far_z);
extern Matrix4 mat4_inf_perspective(f32 fov, f32 aspect, f32 near_z, f32 epsilon =1e-5);
extern Matrix4 mat4_rev_perspective(f32 fov, f32 aspect, f32 near_z, f32 far_z);
extern Matrix4 mat4_rev_inf_perspective(f32 fov, f32 aspect, f32 near_z, f32 epsilon =1e-5);
extern Matrix4 mat4_inv_transform(Vector3 eye, Vector3 forward, Vector3 up);
extern Matrix4 mat4_inv_transform3(Vector3 eye, Vector3 forward, Vector3 up);
extern Matrix4 mat4_transpose(Matrix4 m0);
extern Matrix4 mat4_inverse(Matrix4 M);
extern Matrix4 mat34_inverse(Matrix4 M);
Expand Down
92 changes: 50 additions & 42 deletions maths.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -714,7 +714,7 @@ Matrix3 mat3_orthographic(f32 left, f32 right, f32 bottom, f32 top, f32 ratio /*
return M;
}

Matrix3 mat3_rotate_x(f32 theta) EXPORT
Matrix3 mat3_rotate3_x(f32 theta) EXPORT
{
f32 cos_t = cosf(theta);
f32 sin_t = sinf(theta);
Expand All @@ -726,7 +726,7 @@ Matrix3 mat3_rotate_x(f32 theta) EXPORT
}};
}

Matrix3 mat3_rotate_y(f32 theta) EXPORT
Matrix3 mat3_rotate3_y(f32 theta) EXPORT
{
f32 cos_t = cosf(theta);
f32 sin_t = sinf(theta);
Expand All @@ -738,7 +738,7 @@ Matrix3 mat3_rotate_y(f32 theta) EXPORT
}};
}

Matrix3 mat3_rotate_z(f32 theta) EXPORT
Matrix3 mat3_rotate3_z(f32 theta) EXPORT
{
f32 cos_t = cosf(theta);
f32 sin_t = sinf(theta);
Expand All @@ -750,7 +750,7 @@ Matrix3 mat3_rotate_z(f32 theta) EXPORT
}};
}

Matrix3 mat3_rotate(Vector3 axis, f32 theta) EXPORT
Matrix3 mat3_rotate3(Vector3 axis, f32 theta) EXPORT
{
f32 cos_t = cosf(theta);
f32 sin_t = sinf(theta);
Expand All @@ -771,7 +771,7 @@ Matrix3 mat3_rotate(Vector3 axis, f32 theta) EXPORT
}};
}

Matrix3 mat3_rotate_quat(Quaternion q) EXPORT
Matrix3 mat3_rotate3_quat(Quaternion q) EXPORT
{
f32 xx = q.x*q.x;
f32 yy = q.y*q.y;
Expand All @@ -791,14 +791,14 @@ Matrix3 mat3_rotate_quat(Quaternion q) EXPORT
}};
}

Matrix3 mat3_translate(Vector2 v) EXPORT
Matrix3 mat3_translate2(Vector2 v) EXPORT
{
Matrix3 M = mat3_identity();
M[2].xy = v;
return M;
}

Matrix3 mat3_scale(f32 scalar) EXPORT
Matrix3 mat3_scale3(f32 scalar) EXPORT
{
Matrix3 M{};
M.m00 = scalar;
Expand All @@ -807,7 +807,15 @@ Matrix3 mat3_scale(f32 scalar) EXPORT
return M;
}

Matrix3 mat3_scale_axis(Vector3 axis, f32 scalar) EXPORT
Matrix3 mat3_scale2(f32 scalar) EXPORT
{
Matrix3 M{};
M.m00 = scalar;
M.m11 = scalar;
return M;
}

Matrix3 mat3_scale3_axis(Vector3 axis, f32 scalar) EXPORT
{
scalar -= 1.0f;
f32 x = axis.x*scalar;
Expand All @@ -824,7 +832,7 @@ Matrix3 mat3_scale_axis(Vector3 axis, f32 scalar) EXPORT
{ axaz, ayaz, z*axis.z + 1.0f });
}

Matrix3 mat3_skew(f32 t, Vector3 a, Vector3 b) EXPORT
Matrix3 mat3_skew3(f32 t, Vector3 a, Vector3 b) EXPORT
{
t = tanf(t);
f32 x = a.x*t;
Expand Down Expand Up @@ -853,16 +861,16 @@ Matrix3 mat3_reflect(Vector3 a) EXPORT
{ axaz, ayaz, z*a.z + 1.0f });
}

Matrix3 mat3_transform(Matrix3 projection, Vector2 position) EXPORT
Matrix3 mat3_transform2(Matrix3 projection, Vector2 position) EXPORT
{
Matrix3 view = mat3_translate(-position);
Matrix3 view = mat3_translate2(-position);
return projection*view;
}

Matrix3 mat3_transform(Matrix3 projection, Vector2 position, f32 uni_scale) EXPORT
Matrix3 mat3_transform2(Matrix3 projection, Vector2 position, f32 uni_scale) EXPORT
{
Matrix3 mview = mat3_translate(-position);
Matrix3 mscale = mat3_scale(uni_scale);
Matrix3 mview = mat3_translate2(-position);
Matrix3 mscale = mat3_scale2(uni_scale);
return projection*mview*mscale;
}

Expand Down Expand Up @@ -936,7 +944,7 @@ Matrix4 mat4_identity() EXPORT
return r;
}

Matrix4 mat4_transform_mat3(const Matrix3 &m0) EXPORT
Matrix4 mat4_transform2(const Matrix3 &m0) EXPORT
{
Matrix4 M = mat4_identity();
M[0].xy = m0[0].xy;
Expand Down Expand Up @@ -965,7 +973,7 @@ Matrix4 mat4_mat3_extend(Matrix3 m) EXPORT
}};
}

Matrix4 mat4_rotate_quat(Quaternion q) EXPORT
Matrix4 mat4_rotate3_quat(Quaternion q) EXPORT
{
f32 xx = q.x*q.x;
f32 yy = q.y*q.y;
Expand All @@ -986,14 +994,14 @@ Matrix4 mat4_rotate_quat(Quaternion q) EXPORT
}};
}

Matrix4 mat4_translate(Vector3 v) EXPORT
Matrix4 mat4_translate3(Vector3 v) EXPORT
{
Matrix4 r = mat4_identity();
r[3] = { .xyz = v, 1 };
return r;
}

Matrix4 mat4_scale(Vector3 v) EXPORT
Matrix4 mat4_scale3(Vector3 v) EXPORT
{
Matrix4 r = mat4_identity();
r[0][0] = v.x;
Expand All @@ -1002,21 +1010,21 @@ Matrix4 mat4_scale(Vector3 v) EXPORT
return r;
}

Matrix4 mat4_transform(Quaternion rotation, Vector3 position) EXPORT
Matrix4 mat4_transform3(Quaternion rotation, Vector3 position) EXPORT
{
Matrix4 T = mat4_translate(position);
Matrix4 R = mat4_rotate_quat(rotation);
Matrix4 T = mat4_translate3(position);
Matrix4 R = mat4_rotate3_quat(rotation);
return T*R;
}

Matrix4 mat4_transform(
Matrix4 mat4_transform3(
Quaternion rotation,
Vector3 position,
Vector3 scale) EXPORT
{
Matrix4 T = mat4_translate(position);
Matrix4 R = mat4_rotate_quat(rotation);
Matrix4 S = mat4_scale(scale);
Matrix4 T = mat4_translate3(position);
Matrix4 R = mat4_rotate3_quat(rotation);
Matrix4 S = mat4_scale3(scale);
return T*R*S;
}

Expand Down Expand Up @@ -1127,7 +1135,7 @@ Matrix4 mat4_rev_inf_perspective(f32 fov, f32 aspect, f32 near_z, f32 epsilon /*
}};
}

Matrix4 mat4_inv_transform(Vector3 eye, Vector3 forward, Vector3 up) EXPORT
Matrix4 mat4_inv_transform3(Vector3 eye, Vector3 forward, Vector3 up) EXPORT
{
Vector3 Z = normalise(forward);
Vector3 X = normalise(cross(Z, up));
Expand Down Expand Up @@ -2773,7 +2781,7 @@ TEST_PROC(maths__vector4__swizzle)
TEST_PROC(maths__mat3__rotate_x)
{
{ // 0 degree rotation
Matrix3 m = mat3_rotate_x(0.0f);
Matrix3 m = mat3_rotate3_x(0.0f);
ASSERT(m.m00 == 1.0f);
ASSERT(m.m01 == 0.0f);
ASSERT(m.m02 == 0.0f);
Expand All @@ -2788,7 +2796,7 @@ TEST_PROC(maths__mat3__rotate_x)
}

{ // 90 degree rotation
Matrix3 m = mat3_rotate_x(f32_PI/2);
Matrix3 m = mat3_rotate3_x(f32_PI/2);
ASSERT(m.m00 == 1.0f);
ASSERT(m.m01 == 0.0f);
ASSERT(m.m02 == 0.0f);
Expand All @@ -2803,7 +2811,7 @@ TEST_PROC(maths__mat3__rotate_x)
}

{ // 180 degree rotation
Matrix3 m = mat3_rotate_x(f32_PI);
Matrix3 m = mat3_rotate3_x(f32_PI);
ASSERT(m.m00 == 1.0f);
ASSERT(m.m01 == 0.0f);
ASSERT(m.m02 == 0.0f);
Expand All @@ -2818,7 +2826,7 @@ TEST_PROC(maths__mat3__rotate_x)
}

{ // 360 degree rotation
Matrix3 m = mat3_rotate_x(2*f32_PI);
Matrix3 m = mat3_rotate3_x(2*f32_PI);
ASSERT(m.m00 == 1.0f);
ASSERT(m.m01 == 0.0f);
ASSERT(m.m02 == 0.0f);
Expand All @@ -2837,7 +2845,7 @@ TEST_PROC(maths__mat3__rotate_x)
TEST_PROC(maths__mat3__rotate_y)
{
{ // 0 degree rotation
Matrix3 m = mat3_rotate_y(0.0f);
Matrix3 m = mat3_rotate3_y(0.0f);
ASSERT(almost_equal(m.m00, 1.0f));
ASSERT(m.m01 == 0.0f);
ASSERT(almost_equal(m.m02, 0.0f));
Expand All @@ -2852,7 +2860,7 @@ TEST_PROC(maths__mat3__rotate_y)
}

{ // 90 degree rotation
Matrix3 m = mat3_rotate_y(f32_PI/2);
Matrix3 m = mat3_rotate3_y(f32_PI/2);
ASSERT(almost_equal(m.m00, 0.0f));
ASSERT(m.m01 == 0.0f);
ASSERT(almost_equal(m.m02, 1.0f));
Expand All @@ -2867,7 +2875,7 @@ TEST_PROC(maths__mat3__rotate_y)
}

{ // 180 degree rotation
Matrix3 m = mat3_rotate_y(f32_PI);
Matrix3 m = mat3_rotate3_y(f32_PI);
ASSERT(almost_equal(m.m00, -1.0f));
ASSERT(m.m01 == 0.0f);
ASSERT(almost_equal(m.m02, 0.0f));
Expand All @@ -2885,7 +2893,7 @@ TEST_PROC(maths__mat3__rotate_y)
TEST_PROC(maths__mat3__rotate_z)
{
{ // 0 degree rotation
Matrix3 m = mat3_rotate_z(0.0f);
Matrix3 m = mat3_rotate3_z(0.0f);
ASSERT(m.m00 == 1.0f);
ASSERT(m.m01 == 0.0f);
ASSERT(m.m02 == 0.0f);
Expand All @@ -2900,7 +2908,7 @@ TEST_PROC(maths__mat3__rotate_z)
}

{ // 90 degree rotation
Matrix3 m = mat3_rotate_z(f32_PI/2);
Matrix3 m = mat3_rotate3_z(f32_PI/2);
ASSERT(almost_equal(m.m00, 0.0f));
ASSERT(almost_equal(m.m01, -1.0f));
ASSERT(m.m02 == 0.0f);
Expand All @@ -2915,7 +2923,7 @@ TEST_PROC(maths__mat3__rotate_z)
}

{ // 180 degree rotation
Matrix3 m = mat3_rotate_z(f32_PI);
Matrix3 m = mat3_rotate3_z(f32_PI);
ASSERT(almost_equal(m.m00, -1.0f));
ASSERT(almost_equal(m.m01, 0.0f));
ASSERT(m.m02 == 0.0f);
Expand All @@ -2934,8 +2942,8 @@ TEST_PROC(maths__mat3__rotate_axis)
{
{ // rotation around x-axis (same as mat3_rotate_x)
Vector3 x_axis = {1.0f, 0.0f, 0.0f};
Matrix3 m = mat3_rotate(x_axis, f32_PI/2);
ASSERT(almost_equal(m, mat3_rotate_x(f32_PI/2)));
Matrix3 m = mat3_rotate3(x_axis, f32_PI/2);
ASSERT(almost_equal(m, mat3_rotate3_x(f32_PI/2)));

ASSERT(almost_equal(m.m00, 1.0f));
ASSERT(almost_equal(m.m01, 0.0f));
Expand All @@ -2952,8 +2960,8 @@ TEST_PROC(maths__mat3__rotate_axis)

{ // rotation around y-axis (same as mat3_rotate_y)
Vector3 y_axis = {0.0f, 1.0f, 0.0f};
Matrix3 m = mat3_rotate(y_axis, f32_PI/2);
ASSERT(almost_equal(m, mat3_rotate_y(f32_PI/2)));
Matrix3 m = mat3_rotate3(y_axis, f32_PI/2);
ASSERT(almost_equal(m, mat3_rotate3_y(f32_PI/2)));

ASSERT(almost_equal(m.m00, 0.0f));
ASSERT(almost_equal(m.m01, 0.0f));
Expand All @@ -2970,8 +2978,8 @@ TEST_PROC(maths__mat3__rotate_axis)

{ // rotation around z-axis (same as mat3_rotate_z)
Vector3 z_axis = {0.0f, 0.0f, 1.0f};
Matrix3 m = mat3_rotate(z_axis, f32_PI/2);
ASSERT(almost_equal(m, mat3_rotate_z(f32_PI/2)));
Matrix3 m = mat3_rotate3(z_axis, f32_PI/2);
ASSERT(almost_equal(m, mat3_rotate3_z(f32_PI/2)));

ASSERT(almost_equal(m.m00, 0.0f));
ASSERT(almost_equal(m.m01, -1.0f));
Expand Down

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