386 lines
13 KiB
C++
386 lines
13 KiB
C++
/**
|
|
This file is a part of the rexy/r0nk/atlas project
|
|
Copyright (C) 2020 rexy712
|
|
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef REXY_MAT_TPP
|
|
#define REXY_MAT_TPP
|
|
|
|
#include <cstdlib> //size_t
|
|
#include <cmath> //sin, cos
|
|
#include <type_traits> //decay_t, declval
|
|
#include "detail/matrix.hpp"
|
|
|
|
namespace math{
|
|
|
|
template<typename T, size_t W, size_t H>
|
|
template<size_t... Ss>
|
|
constexpr matrix_base<T,W,H>::matrix_base(std::integer_sequence<size_type,Ss...>):
|
|
m_data{Ss...}{}
|
|
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr matrix_base<T,W,H>::matrix_base():
|
|
matrix_base(typename detail::default_initialization_matrix<Columns,Rows>::tuple{}){}
|
|
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr matrix_base<T,W,H>::matrix_base(detail::zero_initialize_t):
|
|
m_data{}{}
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr matrix_base<T,W,H>::matrix_base(detail::no_initialize_t){}
|
|
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr matrix_base<T,W,H>::matrix_base(value_type v){
|
|
for(size_type i = 0;i < Columns*Rows;++i)
|
|
m_data[i] = v;
|
|
}
|
|
template<typename T, size_t W, size_t H>
|
|
template<typename... Args>
|
|
constexpr matrix_base<T,W,H>::matrix_base(Args&&... args):
|
|
m_data{std::forward<Args>(args)...}{}
|
|
|
|
template<typename T, size_t W, size_t H>
|
|
template<typename U>
|
|
constexpr matrix_base<T,W,H>::matrix_base(const matrix_base<U,Columns,Rows>& m){
|
|
using mat = decltype(m);
|
|
for(typename mat::size_type i = 0;i < mat::Columns*mat::Rows;++i)
|
|
m_data[i] = m.get(i);
|
|
}
|
|
|
|
template<typename T, size_t W, size_t H>
|
|
template<typename U>
|
|
constexpr matrix_base<T,W,H>& matrix_base<T,W,H>::operator=(const matrix_base<U,Columns,Rows>& m){
|
|
using mat = decltype(m);
|
|
for(typename mat::size_type i = 0;i < mat::Columns*mat::Rows;++i)
|
|
m_data[i] = m.get(i);
|
|
return *this;
|
|
}
|
|
|
|
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr auto matrix_base<T,W,H>::operator[](size_type x){
|
|
return detail::mat_ref_obj<value_type,Rows>{m_data, x};
|
|
}
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr auto matrix_base<T,W,H>::operator[](size_type x)const{
|
|
return detail::mat_ref_obj<const value_type,Rows>{m_data, x};
|
|
}
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr auto matrix_base<T,W,H>::get(size_type x, size_type y) -> reference{
|
|
return m_data[x+(y*Rows)];
|
|
}
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr auto matrix_base<T,W,H>::get(size_type x, size_type y)const -> const_reference{
|
|
return m_data[x+(y*Rows)];
|
|
}
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr auto matrix_base<T,W,H>::get(size_type i) -> reference{
|
|
return m_data[i];
|
|
}
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr auto matrix_base<T,W,H>::get(size_type i)const -> const_reference{
|
|
return m_data[i];
|
|
}
|
|
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr auto matrix_base<T,W,H>::columns()const -> size_type{
|
|
return Columns;
|
|
}
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr auto matrix_base<T,W,H>::rows()const -> size_type{
|
|
return Rows;
|
|
}
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr auto matrix_base<T,W,H>::size()const -> size_type{
|
|
return Columns*Rows;
|
|
}
|
|
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr auto matrix_base<T,W,H>::raw() -> pointer{
|
|
return m_data;
|
|
}
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr auto matrix_base<T,W,H>::raw()const -> const_pointer{
|
|
return m_data;
|
|
}
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr matrix_base<T,W,H>::operator pointer(){
|
|
return m_data;
|
|
}
|
|
template<typename T, size_t W, size_t H>
|
|
constexpr matrix_base<T,W,H>::operator const_pointer()const{
|
|
return m_data;
|
|
}
|
|
|
|
template<typename T, size_t W, size_t H>
|
|
template<typename U>
|
|
constexpr matrix<T,W,H>& matrix<T,W,H>::operator=(const matrix<U,W,H>& m){
|
|
base::operator=(m);
|
|
return *this;
|
|
}
|
|
|
|
template<typename T, size_t W>
|
|
constexpr matrix<T,W,W>::matrix(detail::id_initialize_t):
|
|
base(){}
|
|
template<typename T, size_t W>
|
|
template<typename U>
|
|
constexpr matrix<T,W,W>& matrix<T,W,W>::operator=(const matrix<U,W,W>& m){
|
|
base::operator=(m);
|
|
return *this;
|
|
}
|
|
|
|
template<typename T, size_t W>
|
|
constexpr auto matrix<T,W,W>::determinate()const -> value_type{
|
|
return math::determinate(*this);
|
|
}
|
|
template<typename T, size_t W>
|
|
constexpr auto matrix<T,W,W>::trace()const -> value_type{
|
|
value_type sum = 0;
|
|
for(size_type i = 0;i < W;++i){
|
|
sum += get(i, i);
|
|
}
|
|
}
|
|
template<typename T, size_t W>
|
|
constexpr matrix<T,W,W> matrix<T,W,W>::transpose()const{
|
|
matrix m(no_initialize);
|
|
for(size_type i = 0;i < W;++i){
|
|
for(size_type j = 0;j < W;++j){
|
|
m.get(j, i) = get(i, j);
|
|
}
|
|
}
|
|
return m;
|
|
}
|
|
template<typename T, size_t W>
|
|
constexpr matrix<T,W,W> matrix<T,W,W>::inverse()const{
|
|
return math::inverse(*this);
|
|
}
|
|
|
|
|
|
template<typename T, size_t R>
|
|
constexpr T determinate(const matrix<T,R,R>& m){
|
|
return detail::determinate_helper<T,R>::perform(m);
|
|
}
|
|
template<typename T, size_t R>
|
|
constexpr matrix<T,R,R> inverse(const matrix<T,R,R>& m){
|
|
return detail::inverse_helper<T,R>::perform(m);
|
|
}
|
|
|
|
template<typename T>
|
|
matrix<T,2,2> rotation2d_pure(T angle){
|
|
return rotation2d_pure(std::sin(angle), std::cos(angle));
|
|
}
|
|
template<typename T>
|
|
constexpr matrix<T,2,2> rotation2d_pure(T sin, T cos){
|
|
return matrix<T,2,2>(cos, sin, -sin, cos);
|
|
}
|
|
template<typename T>
|
|
constexpr matrix<T,2,2> scale2d(T x, T y){
|
|
return matrix<T,2,2>(x, 0, 0, y);
|
|
}
|
|
|
|
template<typename T>
|
|
matrix<T,3,3> rotation2d(T angle){
|
|
return rotation2d(std::sin(angle), std::cos(angle));
|
|
}
|
|
template<typename T>
|
|
constexpr matrix<T,3,3> rotation2d(T sin, T cos){
|
|
return matrix<T,3,3>(cos, -sin, 0,
|
|
sin, cos, 0,
|
|
0, 0, 1);
|
|
}
|
|
template<typename T>
|
|
matrix<T,3,3> rotation2d(T x, T y, T z){
|
|
//TODO
|
|
return {};
|
|
}
|
|
|
|
template<typename T>
|
|
matrix<T,4,4> fov_projection(T fov, T asp, T near, T far){
|
|
T r = near * std::tan(fov / T{2.0});
|
|
return matrix<T,4,4>((near / r) / asp, 0, 0, 0,
|
|
0, (near / r), 0, 0,
|
|
0, 0, (far + near) / (near - far), -1,
|
|
0, 0, (2 * near * far) / (near - far), 0);
|
|
}
|
|
template<typename T>
|
|
matrix<T,4,4> fov_asymetric_projection(T fovl, T fovr, T fovb, T fovt, T asp, T n, T f){
|
|
T l = n * std::tan(fovl);
|
|
T r = n * std::tan(fovr);
|
|
T b = n * std::tan(fovb);
|
|
T t = n * std::tan(fovt);
|
|
|
|
return matrix<T,4,4>(((2 * n) / (r - l)) * asp, 0, 0, 0,
|
|
0, (2 * n) / (t - b), 0, 0,
|
|
(r + l) / (r - l), (t + b) / (t - b), (f + n) / (n - f), -1,
|
|
0, 0, (2 * n * f) / (n - f), 0);
|
|
}
|
|
template<typename T>
|
|
matrix<T,4,4> ortho_projection(T w, T h, T n, T f){
|
|
return matrix<T,4,4>(2 / w, 0, 0, 0,
|
|
0, 2 / h, 0, 0,
|
|
0, 0, 2 / (n - f), 0,
|
|
0, 0, (n + f) / (n - f), 1);
|
|
}
|
|
template<typename T>
|
|
matrix<T,4,4> ortho_asymetric_projection(T l, T r, T b, T t, T n, T f){
|
|
return matrix<T,4,4>(2 / (r - l), 0, 0, 0,
|
|
0, 2 / (t - b), 0, 0,
|
|
0, 0, 2 / (n - f), 0,
|
|
(r + l) / (l - r), (t + b) / (b - t), (n + f) / (n - f), 1);
|
|
}
|
|
template<typename T>
|
|
constexpr matrix<T,4,4> rotation3d(T angle_x, T angle_y, T angle_z){
|
|
//TODO
|
|
return {};
|
|
}
|
|
template<typename T>
|
|
constexpr matrix<T,4,4> translation3d(T x, T y, T z){
|
|
return matrix<T,4,4>(1, 0, 0, 0,
|
|
0, 1, 0, 0,
|
|
0, 0, 1, 0,
|
|
x, y, z, 1);
|
|
}
|
|
template<typename T>
|
|
constexpr matrix<T,4,4> scale3d(T x, T y, T z){
|
|
return matrix<T,4,4>(x, 0, 0, 0,
|
|
0, y, 0, 0,
|
|
0, 0, z, 0,
|
|
0, 0, 0, 1);
|
|
}
|
|
|
|
|
|
template<typename T, typename U, size_t W, size_t H>
|
|
constexpr bool operator==(const matrix<T,W,H>& left, const matrix<U,W,H> right){
|
|
for(size_t i = 0;i < left.size();++i){
|
|
if(left.get(i) != right.get(i))
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
template<typename T, typename U, size_t W, size_t H>
|
|
constexpr bool operator!=(const matrix<T,W,H>& left, const matrix<U,W,H> right){
|
|
return !(left == right);
|
|
}
|
|
|
|
template<typename T, typename U, size_t R1, size_t C1, size_t C2>
|
|
constexpr auto operator*(const matrix<T,C1,R1>& left, const matrix<U,C2,C1>& right){
|
|
using res_t = decltype(std::declval<T>() * std::declval<U>());
|
|
matrix<res_t,C2,R1> res(no_initialize);
|
|
size_t index = 0;
|
|
for(size_t i = 0;i < right.rows();++i){
|
|
for(size_t j = 0;j < left.rows();++j){
|
|
for(size_t k = 0;k < left.columns();++k){
|
|
res.get(index) += left[j][k] * right[i][k];
|
|
}
|
|
++index;
|
|
}
|
|
}
|
|
return res;
|
|
}
|
|
template<typename T, typename U, size_t C, size_t R>
|
|
constexpr auto operator*(const matrix<T,C,R>& left, U&& right){
|
|
using res_t = decltype(std::declval<T>() * std::declval<U>());
|
|
matrix<res_t,C,R> res(no_initialize);
|
|
for(size_t i = 0;i < left.size();++i){
|
|
res.get(i) = left.get(i) * std::forward<U>(right);
|
|
}
|
|
return res;
|
|
}
|
|
template<typename T, typename U, size_t C, size_t R>
|
|
constexpr auto operator*(U&& left, const matrix<T,C,R>& right){
|
|
using res_t = decltype(std::declval<T>() * std::declval<U>());
|
|
matrix<res_t,C,R> res(no_initialize);
|
|
for(size_t i = 0;i < right.size();++i){
|
|
res.get(i) = std::forward<U>(left) * right.get(i);
|
|
}
|
|
return res;
|
|
}
|
|
template<typename T, typename U, size_t C, size_t R>
|
|
constexpr auto operator/(const matrix<T,C,R>& left, U&& right){
|
|
using res_t = decltype(std::declval<T>() / std::declval<U>());
|
|
matrix<res_t,C,R> res(no_initialize);
|
|
for(size_t i = 0;i < left.size();++i){
|
|
res.get(i) = left.get(i) / std::forward<U>(right);
|
|
}
|
|
return res;
|
|
}
|
|
template<typename T, typename U, size_t C, size_t R>
|
|
constexpr auto operator+(const matrix<T,C,R>& left, const matrix<U,C,R>& right){
|
|
using res_t = decltype(std::declval<T>() + std::declval<U>());
|
|
matrix<res_t,C,R> res(no_initialize);
|
|
for(size_t i = 0;i < left.size();++i){
|
|
res.get(i) = left.get(i) + right.get(i);
|
|
}
|
|
return res;
|
|
}
|
|
template<typename T, typename U, size_t C, size_t R>
|
|
constexpr auto operator-(const matrix<T,C,R>& left, const matrix<U,C,R>& right){
|
|
using res_t = decltype(std::declval<T>() - std::declval<U>());
|
|
matrix<res_t,C,R> res(no_initialize);
|
|
for(size_t i = 0;i < left.size();++i){
|
|
res.get(i) = left.get(i) - right.get(i);
|
|
}
|
|
return res;
|
|
}
|
|
template<typename T, typename U, size_t C, size_t R>
|
|
constexpr auto operator-(const matrix<T,C,R>& left){
|
|
using res_t = decltype(std::declval<T>() - std::declval<U>());
|
|
matrix<res_t,C,R> res(no_initialize);
|
|
for(size_t i = 0;i < left.size();++i){
|
|
res.get(i) = -left.get(i);
|
|
}
|
|
return res;
|
|
}
|
|
|
|
|
|
template<typename T, typename U, size_t R1, size_t C1, size_t C2>
|
|
constexpr decltype(auto) operator*=(matrix<T,C1,R1>& left, const matrix<U,C2,C1>& right){
|
|
//have to evaluate entire expression first since matrix multiplication depends on reusing many elements
|
|
//cannot be expression templatized, TODO
|
|
return (left = (left * right));
|
|
}
|
|
template<typename T, typename U, size_t C, size_t R>
|
|
constexpr decltype(auto) operator*=(matrix<T,C,R>& left, U&& right){
|
|
for(size_t i = 0;i < left.size();++i){
|
|
left.get(i) = left.get(i) * std::forward<U>(right);
|
|
}
|
|
return left;
|
|
}
|
|
template<typename T, typename U, size_t C, size_t R>
|
|
constexpr decltype(auto) operator/=(matrix<T,C,R>& left, U&& right){
|
|
for(size_t i = 0;i < left.size();++i){
|
|
left.get(i) = left.get(i) / std::forward<U>(right);
|
|
}
|
|
return left;
|
|
}
|
|
template<typename T, typename U, size_t C, size_t R>
|
|
constexpr decltype(auto) operator+=(matrix<T,C,R>& left, const matrix<U,C,R>& right){
|
|
for(size_t i = 0;i < left.size();++i){
|
|
left.get(i) = left.get(i) + right.get(i);
|
|
}
|
|
return left;
|
|
}
|
|
template<typename T, typename U, size_t C, size_t R>
|
|
constexpr decltype(auto) operator-=(matrix<T,C,R>& left, const matrix<U,C,R>& right){
|
|
for(size_t i = 0;i < left.size();++i){
|
|
left.get(i) = left.get(i) - right.get(i);
|
|
}
|
|
return left;
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|