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mat2x3: fix multiplication functions #403

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Mar 31, 2024
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mat2x3: fix multiplication functions #403

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050bc95
mat2x3: fix multiplication functions
EasyIP2023 Mar 30, 2024
c5dcb93
docs: mat2x3 account for latest mulitplication changes
EasyIP2023 Mar 30, 2024
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60 changes: 55 additions & 5 deletions docs/source/mat2x3.rst
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Expand Up @@ -23,6 +23,16 @@ Functions:
#. :c:func:`glm_mat2x3_transpose`
#. :c:func:`glm_mat2x3_scale`

Represented
~~~~~~~~~~~

.. csv-table:: mat2x3
:header: "", "column 1", "column 2"

"row 1", "m00", "m10"
"row 2", "m01", "m11"
"row 3", "m02", "m12"

Functions documentation
~~~~~~~~~~~~~~~~~~~~~~~

Expand Down Expand Up @@ -51,28 +61,68 @@ Functions documentation
| *[in]* **src** pointer to an array of floats
| *[out]* **dest** destination matrix2x3

.. c:function:: void glm_mat2x3_mul(mat2x3 m1, mat3x2 m2, mat2 dest)
.. c:function:: void glm_mat2x3_mul(mat2x3 m1, mat3x2 m2, mat3 dest)

multiply m1 and m2 to dest

.. code-block:: c

glm_mat2x3_mul(mat2x3, mat3x2, mat2);
glm_mat2x3_mul(mat2x3, mat3x2, mat3);

Parameters:
| *[in]* **m1** left matrix (mat2x3)
| *[in]* **m2** right matrix (mat3x2)
| *[out]* **dest** destination matrix (mat2)
| *[out]* **dest** destination matrix (mat3)

.. csv-table:: mat2x3
:header: "", "column 1", "column 2"

"row 1", "a00", "a10"
"row 2", "a01", "a11"
"row 3", "a02", "a12"

.. csv-table:: mat3x2
:header: "", "column 1", "column 2", "column 3"

"row 1", "b00", "b10", "b20"
"row 2", "b01", "b11", "b21"

.. csv-table:: mat3x3
:header: "", "column 1", "column 2", "column 3"

.. c:function:: void glm_mat2x3_mulv(mat2x3 m, vec3 v, vec2 dest)
"row 1", "a00 * b00 + a10 * b01", "a00 * b10 + a10 * b11", "a00 * b20 + a10 * b21"
"row 2", "a01 * b00 + a11 * b01", "a01 * b10 + a11 * b11", "a01 * b20 + a11 * b21"
"row 3", "a02 * b00 + a12 * b01", "a02 * b10 + a12 * b11", "a02 * b20 + a12 * b21"

multiply mat2x3 with vec3 (column vector) and store in dest vector
.. c:function:: void glm_mat2x3_mulv(mat2x3 m, vec2 v, vec3 dest)

multiply mat2x3 with vec2 (column vector) and store in dest column vector

Parameters:
| *[in]* **m** mat2x3 (left)
| *[in]* **v** vec3 (right, column vector)
| *[out]* **dest** destination (result, column vector)

.. csv-table:: mat2x3
:header: "", "column 1", "column 2"

"row 1", "m00", "m10"
"row 2", "m01", "m11"
"row 3", "m02", "m12"

.. csv-table:: column vec2 (1x2)
:header: "", "column 1"

"row 1", "v0"
"row 2", "v1"

.. csv-table:: column vec3 (1x3)
:header: "", "column 1"

"row 1", "m00 * v0 + m10 * v1"
"row 2", "m01 * v0 + m11 * v1"
"row 3", "m02 * v0 + m12 * v1"

.. c:function:: void glm_mat2x3_transpose(mat2x3 m, mat3x2 dest)

transpose matrix and store in dest
Expand Down
4 changes: 2 additions & 2 deletions include/cglm/call/mat2x3.h
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Expand Up @@ -27,11 +27,11 @@ glmc_mat2x3_make(const float * __restrict src, mat2x3 dest);

CGLM_EXPORT
void
glmc_mat2x3_mul(mat2x3 m1, mat3x2 m2, mat2 dest);
glmc_mat2x3_mul(mat2x3 m1, mat3x2 m2, mat3 dest);

CGLM_EXPORT
void
glmc_mat2x3_mulv(mat2x3 m, vec3 v, vec2 dest);
glmc_mat2x3_mulv(mat2x3 m, vec2 v, vec3 dest);

CGLM_EXPORT
void
Expand Down
35 changes: 22 additions & 13 deletions include/cglm/mat2x3.h
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Expand Up @@ -14,8 +14,8 @@
CGLM_INLINE void glm_mat2x3_copy(mat2x3 mat, mat2x3 dest);
CGLM_INLINE void glm_mat2x3_zero(mat2x3 mat);
CGLM_INLINE void glm_mat2x3_make(const float * __restrict src, mat2x3 dest);
CGLM_INLINE void glm_mat2x3_mul(mat2x3 m1, mat3x2 m2, mat2 dest);
CGLM_INLINE void glm_mat2x3_mulv(mat2x3 m, vec3 v, vec2 dest);
CGLM_INLINE void glm_mat2x3_mul(mat2x3 m1, mat3x2 m2, mat3 dest);
CGLM_INLINE void glm_mat2x3_mulv(mat2x3 m, vec2 v, vec3 dest);
CGLM_INLINE void glm_mat2x3_transpose(mat2x3 m, mat3x2 dest);
CGLM_INLINE void glm_mat2x3_scale(mat2x3 m, float s);
*/
Expand Down Expand Up @@ -82,7 +82,7 @@ glm_mat2x3_make(const float * __restrict src, mat2x3 dest) {
* @brief multiply m1 and m2 to dest
*
* @code
* glm_mat2x3_mul(mat2x3, mat3x2, mat2);
* glm_mat2x3_mul(mat2x3, mat3x2, mat3);
* @endcode
*
* @param[in] m1 left matrix (mat2x3)
Expand All @@ -91,19 +91,25 @@ glm_mat2x3_make(const float * __restrict src, mat2x3 dest) {
*/
CGLM_INLINE
void
glm_mat2x3_mul(mat2x3 m1, mat3x2 m2, mat2 dest) {
float a00 = m1[0][0], a01 = m1[0][1], a02 = m1[0][2],
glm_mat2x3_mul(mat2x3 m1, mat3x2 m2, mat3 dest) {
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],

b00 = m2[0][0], b01 = m2[0][1],
b10 = m2[1][0], b11 = m2[1][1],
b20 = m2[2][0], b21 = m2[2][1];

dest[0][0] = a00 * b00 + a01 * b10 + a02 * b20;
dest[0][1] = a00 * b01 + a01 * b11 + a02 * b21;
dest[0][0] = a00 * b00 + a10 * b01;
dest[0][1] = a01 * b00 + a11 * b01;
dest[0][2] = a02 * b00 + a12 * b01;

dest[1][0] = a10 * b00 + a11 * b10 + a12 * b20;
dest[1][1] = a10 * b01 + a11 * b11 + a12 * b21;
dest[1][0] = a00 * b10 + a10 * b11;
dest[1][1] = a01 * b10 + a11 * b11;
dest[1][2] = a02 * b10 + a12 * b11;

dest[2][0] = a00 * b20 + a10 * b21;
dest[2][1] = a01 * b20 + a11 * b21;
dest[2][2] = a02 * b20 + a12 * b21;
}

/*!
Expand All @@ -115,11 +121,14 @@ glm_mat2x3_mul(mat2x3 m1, mat3x2 m2, mat2 dest) {
*/
CGLM_INLINE
void
glm_mat2x3_mulv(mat2x3 m, vec3 v, vec2 dest) {
float v0 = v[0], v1 = v[1], v2 = v[2];
glm_mat2x3_mulv(mat2x3 m, vec2 v, vec3 dest) {
float v0, v1;

v0 = v[0]; v1 = v[1];

dest[0] = m[0][0] * v0 + m[0][1] * v1 + m[0][2] * v2;
dest[1] = m[1][0] * v0 + m[1][1] * v1 + m[1][2] * v2;
dest[0] = m[0][0] * v0 + m[1][0] * v1;
dest[1] = m[0][1] * v0 + m[1][1] * v1;
dest[2] = m[0][2] * v0 + m[1][2] * v1;
}

/*!
Expand Down
14 changes: 7 additions & 7 deletions include/cglm/struct/mat2x3.h
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Expand Up @@ -14,7 +14,7 @@
CGLM_INLINE mat2x3s glms_mat2x3_zero(void);
CGLM_INLINE mat2x3s glms_mat2x3_make(const float * __restrict src);
CGLM_INLINE mat2s glms_mat2x3_mul(mat2x3s m1, mat3x2s m2);
CGLM_INLINE vec2s glms_mat2x3_mulv(mat2x3s m, vec3s v);
CGLM_INLINE vec3s glms_mat2x3_mulv(mat2x3s m, vec2s v);
CGLM_INLINE mat3x2s glms_mat2x3_transpose(mat2x3s m);
CGLM_INLINE mat2x3s glms_mat2x3_scale(mat2x3s m, float s);
*/
Expand Down Expand Up @@ -73,9 +73,9 @@ glms_mat2x3_(make)(const float * __restrict src) {
* @returns destination matrix (mat2s)
*/
CGLM_INLINE
mat2s
mat3s
glms_mat2x3_(mul)(mat2x3s m1, mat3x2s m2) {
mat2s r;
mat3s r;
glm_mat2x3_mul(m1.raw, m2.raw, r.raw);
return r;
}
Expand All @@ -85,12 +85,12 @@ glms_mat2x3_(mul)(mat2x3s m1, mat3x2s m2) {
*
* @param[in] m matrix (left)
* @param[in] v vector (right, column vector)
* @param[out] dest result vector
* @returns destination vector (vec3s)
*/
CGLM_INLINE
vec2s
glms_mat2x3_(mulv)(mat2x3s m, vec3s v) {
vec2s r;
vec3s
glms_mat2x3_(mulv)(mat2x3s m, vec2s v) {
vec3s r;
glm_mat2x3_mulv(m.raw, v.raw, r.raw);
return r;
}
Expand Down
4 changes: 2 additions & 2 deletions src/mat2x3.c
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Expand Up @@ -28,13 +28,13 @@ glmc_mat2x3_make(const float * __restrict src, mat2x3 dest) {

CGLM_EXPORT
void
glmc_mat2x3_mul(mat2x3 m1, mat3x2 m2, mat2 dest) {
glmc_mat2x3_mul(mat2x3 m1, mat3x2 m2, mat3 dest) {
glm_mat2x3_mul(m1, m2, dest);
}

CGLM_EXPORT
void
glmc_mat2x3_mulv(mat2x3 m, vec3 v, vec2 dest) {
glmc_mat2x3_mulv(mat2x3 m, vec2 v, vec3 dest) {
glm_mat2x3_mulv(m, v, dest);
}

Expand Down
24 changes: 12 additions & 12 deletions test/src/test_mat2x3.h
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Expand Up @@ -83,42 +83,42 @@ TEST_IMPL(GLM_PREFIX, mat2x3_mul) {
mat2x3 m1 = GLM_MAT2X3_ZERO_INIT;
mat3x2 m2 = GLM_MAT3X2_ZERO_INIT;

mat2 m3 = GLM_MAT2_ZERO_INIT;
mat2 m4 = GLM_MAT2_ZERO_INIT;
mat3 m3 = GLM_MAT3_ZERO_INIT;
mat3 m4 = GLM_MAT3_ZERO_INIT;

int i, j, k;
int c, r, k;

/* test random matrices */
/* random matrices */
test_rand_mat2x3(m1);
test_rand_mat3x2(m2);

for (i = 0; i < 2; i++) {
for (j = 0; j < 2; j++) {
for (k = 0; k < 3; k++) {
m4[i][j] += m1[i][k] * m2[k][j];
for (r = 0; r < 3; r++) {
for (c = 0; c < 3; c++) {
for (k = 0; k < 2; k++) {
m4[c][r] += m1[k][r] * m2[c][k];
}
}
}

GLM(mat2x3_mul)(m1, m2, m3);
ASSERTIFY(test_assert_mat2_eq(m3, m4))
ASSERTIFY(test_assert_mat3_eq(m3, m4))

TEST_SUCCESS
}

TEST_IMPL(GLM_PREFIX, mat2x3_mulv) {
mat2x3 mat = A_MATRIX2X3;
vec3 v = {11.0f, 21.0f, 31.0f};
vec2 v = {11.0f, 21.0f};

int i;
vec2 dest;
vec3 dest;
float res = 0.0;

GLM(mat2x3_mulv)(mat, v, dest);

for (i = 0; i < 2; i++) {
res = mat[i][0] * v[0] + mat[i][1] * v[1] + mat[i][2] * v[2];
for (i = 0; i < 3; i++) {
res = mat[0][i] * v[0] + mat[1][i] * v[1];
ASSERT(test_eq(dest[i], res))
}

Expand Down
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