240 lines
6.8 KiB
C++
240 lines
6.8 KiB
C++
#ifndef INDOOR_MATH_MATRIX3_H
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#define INDOOR_MATH_MATRIX3_H
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#include <initializer_list>
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#include <cmath>
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#include "../Assertions.h"
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class Matrix3 {
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private:
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float data[9];
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public:
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Matrix3(std::initializer_list<float> lst) {
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int idx = 0;
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for (float f : lst) {
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data[idx] = f; ++idx;
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}
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}
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static Matrix3 identity() {
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return Matrix3( {1,0,0, 0,1,0, 0,0,1} );
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}
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static Matrix3 getRotationDeg(const float degX, const float degY, const float degZ) {
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return getRotationRad(degX/180.0f*M_PI, degY/180.0f*M_PI, degZ/180.0f*M_PI);
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}
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static Matrix3 getRotationRad(const float radX, const float radY, const float radZ) {
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const float g = radX; const float b = radY; const float a = radZ;
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const float a11 = std::cos(a)*std::cos(b);
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const float a12 = std::cos(a)*std::sin(b)*std::sin(g)-std::sin(a)*std::cos(g);
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const float a13 = std::cos(a)*std::sin(b)*std::cos(g)+std::sin(a)*std::sin(g);
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const float a21 = std::sin(a)*std::cos(b);
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const float a22 = std::sin(a)*std::sin(b)*std::sin(g)+std::cos(a)*std::cos(g);
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const float a23 = std::sin(a)*std::sin(b)*std::cos(g)-std::cos(a)*std::sin(g);
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const float a31 = -std::sin(b);
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const float a32 = std::cos(b)*std::sin(g);
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const float a33 = std::cos(b)*std::cos(g);
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return Matrix3({
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a11, a12, a13,
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a21, a22, a23,
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a31, a32, a33,
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});
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}
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static Matrix3 getRotationVec(const float nx, const float ny, const float nz, const float mag) {
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Assert::isNotNaN(nx, "detected NaN");
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Assert::isNotNaN(ny, "detected NaN");
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Assert::isNotNaN(nz, "detected NaN");
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Assert::isNotNaN(mag, "detected NaN");
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const float c = std::cos(mag);
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const float s = std::sin(mag);
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return Matrix3({
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c+nx*nx*(1-c), nx*ny*(1-c)+nz*s, nx*nz*(1-c)-ny*s,
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ny*nx*(1-c)-nz*s, c+ny*ny*(1-c), ny*nz*(1-c)+nx*s,
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nz*nx*(1-c)+ny*s, nz*ny*(1-c)-nx*s, c+nz*nz*(1-c)
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});
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}
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static Matrix3 getRotationRadX(const float x) {
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return Matrix3({
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1, 0, 0,
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0, cos(x), -sin(x),
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0, sin(x), cos(x)
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});
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}
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static Matrix3 getRotationRadY(const float y) {
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return Matrix3({
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cos(y), 0, sin(y),
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0, 1, 0,
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-sin(y),0, cos(y)
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});
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}
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static Matrix3 getRotationRadZ(const float z) {
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return Matrix3({
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cos(z), -sin(z), 0,
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sin(z), cos(z), 0,
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0, 0, 1
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});
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}
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Matrix3 transposed() const {
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return Matrix3({
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data[0], data[3], data[6],
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data[1], data[4], data[7],
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data[2], data[5], data[8]
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});
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}
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static Matrix3 getTranslation(const float x, const float y) {
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return Matrix3({
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1, 0, x,
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0, 1, y,
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0, 0, 1,
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});
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}
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static Matrix3 getScale(const float x, const float y) {
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return Matrix3({
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x, 0, 0,
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0, y, 0,
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0, 0, 1,
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});
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}
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float operator [] (const int idx) const {return data[idx];}
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bool operator == (const Matrix3& o) const {
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for (int i = 0; i < 9; ++i) {
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if (data[i] != o.data[i]) {return false;}
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}
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return true;
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}
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Matrix3 operator * (const float v) const {
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return Matrix3({
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data[0]*v, data[1]*v, data[2]*v,
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data[3]*v, data[4]*v, data[5]*v,
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data[6]*v, data[7]*v, data[8]*v,
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});
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}
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Matrix3 operator + (const Matrix3& m) const {
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return Matrix3({
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data[0]+m.data[0], data[1]+m.data[1], data[2]+m.data[2],
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data[3]+m.data[3], data[4]+m.data[4], data[5]+m.data[5],
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data[6]+m.data[6], data[7]+m.data[7], data[8]+m.data[8],
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});
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}
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Matrix3 operator * (const Matrix3& m) const {
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return Matrix3({
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data[0]*m.data[0] + data[1]*m.data[3] + data[2]*m.data[6], data[0]*m.data[1] + data[1]*m.data[4] + data[2]*m.data[7], data[0]*m.data[2] + data[1]*m.data[5] + data[2]*m.data[8],
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data[3]*m.data[0] + data[4]*m.data[3] + data[5]*m.data[6], data[3]*m.data[1] + data[4]*m.data[4] + data[5]*m.data[7], data[3]*m.data[2] + data[4]*m.data[5] + data[5]*m.data[8],
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data[6]*m.data[0] + data[7]*m.data[3] + data[8]*m.data[6], data[6]*m.data[1] + data[7]*m.data[4] + data[8]*m.data[7], data[6]*m.data[2] + data[7]*m.data[5] + data[8]*m.data[8],
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});
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}
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};
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struct Vector3 {
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float x,y,z;
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Vector3() : x(0), y(0), z(0) {;}
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Vector3(float x, float y, float z) : x(x), y(y), z(z) {;}
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Vector3 operator + (const Vector3 o) const {
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return Vector3(x+o.x, y+o.y, z+o.z);
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}
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Vector3 operator - (const Vector3 o) const {
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return Vector3(x-o.x, y-o.y, z-o.z);
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}
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Vector3 operator * (const Vector3 o) const {
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return Vector3(x*o.x, y*o.y, z*o.z);
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}
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Vector3 operator * (const float v) const {
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return Vector3(x*v, y*v, z*v);
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}
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Vector3 operator / (const float v) const {
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return Vector3(x/v, y/v, z/v);
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}
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Vector3& operator += (const Vector3 o) {
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this->x += o.x;
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this->y += o.y;
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this->z += o.z;
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return *this;
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}
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Vector3& operator -= (const Vector3 o) {
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this->x -= o.x;
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this->y -= o.y;
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this->z -= o.z;
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return *this;
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}
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// Vector& operator = (const float val) {
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// this->x = val;
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// this->y = val;
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// this->z = val;
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// return *this;
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// }
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bool operator == (const Vector3 o) const {
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return (x==o.x) && (y==o.y) && (z==o.z);
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}
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float norm() const {
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return std::sqrt(x*x + y*y + z*z);
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}
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Vector3 normalized() const {
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const float n = norm();
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return Vector3(x/n, y/n, z/n);
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}
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Vector3 cross(const Vector3 o) const {
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return Vector3(
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y*o.z - z*o.y,
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z*o.x - x*o.z,
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x*o.y - y*o.x
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);
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}
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float dot(const Vector3 o) const {
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return (x*o.x) + (y*o.y) + (z*o.z);
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}
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};
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inline Vector3 operator * (const Matrix3& mat, const Vector3& vec) {
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return Vector3(
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(mat[ 0]*vec.x + mat[ 1]*vec.y + mat[ 2]*vec.z),
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(mat[ 3]*vec.x + mat[ 4]*vec.y + mat[ 5]*vec.z),
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(mat[ 6]*vec.x + mat[ 7]*vec.y + mat[ 8]*vec.z)
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);
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}
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//inline Matrix4 operator * (const Matrix4& m1, const Matrix4& m2) {
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// return Matrix4({
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// m1[ 0]*m2[ 0] + m1[ 1]*m2[ 4] + m1[ 2]*m2[ 8] + m1[ 3]*m2[12], m1[ 0]*m2[ 1] + m1[ 1]*m2[ 5] + m1[ 2]*m2[ 9] + m1[ 3]*m2[13], m1[ 0]*m2[ 2] + m1[ 1]*m2[ 6] + m1[ 2]*m2[10] + m1[ 3]*m2[14], m1[ 0]*m2[ 3] + m1[ 1]*m2[ 7] + m1[ 2]*m2[11] + m1[ 3]*m2[15],
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// m1[ 4]*m2[ 0] + m1[ 5]*m2[ 4] + m1[ 6]*m2[ 8] + m1[ 7]*m2[12], m1[ 4]*m2[ 1] + m1[ 5]*m2[ 5] + m1[ 6]*m2[ 9] + m1[ 7]*m2[13], m1[ 4]*m2[ 2] + m1[ 5]*m2[ 6] + m1[ 6]*m2[10] + m1[ 7]*m2[14], m1[ 4]*m2[ 3] + m1[ 5]*m2[ 7] + m1[ 6]*m2[11] + m1[ 7]*m2[15],
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// m1[ 8]*m2[ 0] + m1[ 9]*m2[ 4] + m1[10]*m2[ 8] + m1[11]*m2[12], m1[ 8]*m2[ 1] + m1[ 9]*m2[ 5] + m1[10]*m2[ 9] + m1[11]*m2[13], m1[ 8]*m2[ 2] + m1[ 9]*m2[ 6] + m1[10]*m2[10] + m1[11]*m2[14], m1[ 8]*m2[ 3] + m1[ 9]*m2[ 7] + m1[10]*m2[11] + m1[11]*m2[15],
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// m1[12]*m2[ 0] + m1[13]*m2[ 4] + m1[14]*m2[ 8] + m1[15]*m2[12], m1[12]*m2[ 1] + m1[13]*m2[ 5] + m1[14]*m2[ 9] + m1[15]*m2[13], m1[12]*m2[ 2] + m1[13]*m2[ 6] + m1[14]*m2[10] + m1[15]*m2[14], m1[12]*m2[ 3] + m1[13]*m2[ 7] + m1[14]*m2[11] + m1[15]*m2[15]
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// });
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//}
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#endif // INDOOR_MATH_MATRIX3_H
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