OpenGL Mathematics (GLM)

转自：http://www.c-jump.com/bcc/common/Talk3/Math/GLM/GLM.html

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OpenGL Mathematics (GLM)

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1. OpenGL Mathematics (GLM)
2. Vector and Matrix Constructors
3. Matrix transformation
4. Identity Matrix
5. Matrix transformation functions
6. Other Matrix functions
7. glm::value_ptr
8. glm::value_ptr example
9. Matrix columns
10. Scaling matrix example
11. glm::translate
12. glm::rotate
13. glm::scale
14. Matrix multiplication is not commutative
15. Scale*Transform vs. Transform*Scale

1. OpenGL Mathematics (GLM)

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• OpenGL Mathematics (GLM) is a C++ mathematics library based on the OpenGL Shading Language (GLSL) specification.

• GLM emulates GLSL's approach to vector/matrix operations whenever possible.

• To use GLM, include glm/glm.hpp. Example from GLM manual:

  #include <glm/glm.hpp>
  
  int foo()
  {
      glm::vec4 Position = glm::vec4( glm::vec3( 0.0 ), 1.0 );
      glm::mat4 Model = glm::mat4( 1.0 );
      Model[3] = glm::vec4( 1.0, 1.0, 0.0, 1.0 );
      glm::vec4 Transformed = Model * Position;
      return 0;
  }

   

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2. Vector and Matrix Constructors

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• From GLSL specification 5.4.2:

  • If there is a single scalar parameter to a vector constructor, it is used to initialize all components of the constructed vector to that scalar's value:

    glm::vec4 Position = glm::vec4( glm::vec3( 0.0 ), 1.0 );

  • If there is a single scalar parameter to a matrix constructor, it is used to initialize all the components on the matrix's diagonal, with the remaining components initialized to 0.0f

    glm::mat4 Model = glm::mat4( 1.0 );

   

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3. Matrix transformation

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• Matrix transformation is an extension of GLM. Example from GLM manual:

  #include <glm/glm.hpp>
  #include <glm/gtc/matrix_transform.hpp>
  
  int foo()
  {
      glm::vec4 Position = glm::vec4( glm::vec3( 0.0f ), 1.0f );
      glm::mat4 Model = glm::translate( glm::mat4( 1.0f ), glm::vec3( 1.0f ) );
      glm::vec4 Transformed = Model * Position;
      return 0;
  }

   

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4. Identity Matrix

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• glm::mat4 constructor that takes only a single value constructs a diagonal matrix:

  glm::mat4 m4( 1.0f ); // construct identity matrix
  

• The matrix has all zeros except for 1.0f set along the diagonal from the upper-left to the lower-right.

• The default constructor glm::mat4() creates diagonal matrix with 1.0f diagonal, that is, the identity matrix:

  glm::mat4 m4; // construct identity matrix
  

   

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5. Matrix transformation functions

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• glm::mat4 glm::rotate(
          glm::mat4 const& m,
          float angle,
          glm::vec3 const& axis
          );
  
      glm::mat4 glm::scale(
          glm::mat4 const& m,
          glm::vec3 const& factors
          );
  
      glm::mat4 glm::translate(
          glm::mat4 const& m,
          glm::vec3 const& translation
          );

   

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6. Other Matrix functions

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• See official GLM documentation for other functions:

  glm::frustum()
      glm::ortho()
      glm::lookAt()
      glm::perspective()
      glm::project(

   

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7. glm::value_ptr

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• glm::value_ptr takes any of the core template types. It returns a pointer to the memory layout of the object. For example, given

  glm::mat4 m4( 1.0f ); // construct identity matrix
  

  expressions

  glm::value_ptr( m4 )
      &m4[0][0]

  are equivalent.

• value_ptr() returns a direct pointer to the matrix data in column-major order, making it useful for uploading data to OpenGL.

   

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8. glm::value_ptr example

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• Uploading data to OpenGL example:

  #include <glm/glm.hpp>
  #include <glm/gtc/type_ptr.hpp>
  
  void f () {
      glm::vec3 aVector( 3 );
      glm::mat4 someMatrix( 1.0f );
      glUniform3fv( uniformLoc, 1, glm::value_ptr( aVector ) );
      glUniformMatrix4fv( uniformMatrixLoc, 1, GL_FALSE, glm::value_ptr( someMatrix ) );
  }

   

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9. Matrix columns

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• Each row and column in glm::mat4 is zero-based:

  glm::mat4 m4( 1.0f ); // construct identity matrix
      m4[ 0 ]     // column zero
      m4[ 0 ].x   // same as m4[ 0 ][ 0 ]
      m4[ 0 ].y   // same as m4[ 0 ][ 1 ]
      m4[ 0 ].z   // same as m4[ 0 ][ 2 ]
      m4[ 0 ].w   // same as m4[ 0 ][ 3 ]
  

• Each column of matrix glm::mat4 is a vec4.

• To set the entire column, e.g. for translation,

  glm::mat4 m4( 1.0f ); // construct identity matrix
      m4[ 3 ] = glm::vec4( vec3( x, y, z ), 1.0f );

  Related: see Chapter 6. Objects in Motion, Translation article from Learning Modern 3D Graphics Programming tutorial

   

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10. Scaling matrix example

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• Example of setting matrix m4 for scaling:

  glm::vec3 scale( sx, sy, sx );
      glm::mat4 m4( 1.0f ); // construct identity matrix
      m4[0].x = scale.x;
      m4[1].y = scale.y;
      m4[2].z = scale.z;

   

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11. glm::translate

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• When using glm::translate( X, vec3 ), you are multiplying

  X * glm::translate( Identity, vec3 )

• This means translate first, then X

   

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12. glm::rotate

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• When using glm::rotate( X, vec3 ), you are multiplying

  X * glm::rotate( Identity, vec3 )

• This means rotate first, then X

   

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13. glm::scale

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• When using glm::scale( X, vec3 ), you are multiplying

  X * glm::scale( Identity, vec3 )

• For example,

  glm::mat4 transMatrix = glm::translate(
          glm::mat4( 1.0f ),
          glm::vec3( 0.0f, -0.5f, 0.0f )
          );
  
      planeModel->mM = glm::scale(  // Scale first
          transMatrix,              // Translate second
          glm::vec3( 100.0f, 100.0f, 100.0f )
          );

• Far all GLM transformation API, see GLM_GTC_matrix_transform at glm.g-truc.net

   

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14. Matrix multiplication is not commutative

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• So the conventional Model-View-Projection should be multiplied in reverse:

  glm::mat4 MVP = Projection * View * Model;

• This means that Model transformation happens first, then View, and Projection is last.

   

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15. Scale*Transform vs. Transform*Scale

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• Those are not the same!

• See Chapter 6. Objects in Motion article from Learning Modern 3D Graphics Programming tutorial for details,