From 7bb80382d26122c44a061a3c5cf09614146e493e Mon Sep 17 00:00:00 2001 From: rexy712 Date: Wed, 23 Feb 2022 18:13:15 -0800 Subject: [PATCH] Initial commit with this as a separate library --- .gitignore | 14 + CMakeLists.txt | 73 ++++ LICENSE | 674 ++++++++++++++++++++++++++++++++++ include/rml/debug.hpp | 75 ++++ include/rml/detail/matrix.hpp | 117 ++++++ include/rml/detail/matrix.tpp | 151 ++++++++ include/rml/fwd_declare.hpp | 196 ++++++++++ include/rml/mat.hpp | 254 +++++++++++++ include/rml/mat.tpp | 424 +++++++++++++++++++++ include/rml/math.hpp | 31 ++ include/rml/math_common.hpp | 83 +++++ include/rml/projection.hpp | 46 +++ include/rml/projection.tpp | 98 +++++ include/rml/quat.hpp | 153 ++++++++ include/rml/quat.tpp | 437 ++++++++++++++++++++++ include/rml/rml.hpp.in | 25 ++ include/rml/vec.hpp | 143 ++++++++ include/rml/vec.tpp | 254 +++++++++++++ pc/librml.pc.cmake.in | 9 + src/ensure.cpp | 12 + src/instantiations.cpp | 51 +++ 21 files changed, 3320 insertions(+) create mode 100644 .gitignore create mode 100644 CMakeLists.txt create mode 100644 LICENSE create mode 100644 include/rml/debug.hpp create mode 100644 include/rml/detail/matrix.hpp create mode 100644 include/rml/detail/matrix.tpp create mode 100644 include/rml/fwd_declare.hpp create mode 100644 include/rml/mat.hpp create mode 100644 include/rml/mat.tpp create mode 100644 include/rml/math.hpp create mode 100644 include/rml/math_common.hpp create mode 100644 include/rml/projection.hpp create mode 100644 include/rml/projection.tpp create mode 100644 include/rml/quat.hpp create mode 100644 include/rml/quat.tpp create mode 100644 include/rml/rml.hpp.in create mode 100644 include/rml/vec.hpp create mode 100644 include/rml/vec.tpp create mode 100644 pc/librml.pc.cmake.in create mode 100644 src/ensure.cpp create mode 100644 src/instantiations.cpp diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..d1e54d4 --- /dev/null +++ b/.gitignore @@ -0,0 +1,14 @@ +*.swp +*.o +*.d +obj +tester +test +src/test.cpp +src/tester.cpp +build +include/shim.hpp +*.tmp +.ycm_extra_conf.py +pc/librml.pc +include/rml/rml.hpp diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..7913015 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,73 @@ +project(librml) +cmake_minimum_required(VERSION 3.0.2) +include(GNUInstallDirs) + +set(librml_VERSION_STRING "000010000L") +set(librml_VERSION_MAJOR 0) +set(librml_VERSION_MINOR 1) +set(librml_VERSION_REVISION 0) +set(INCLUDE_PATH ${CMAKE_SOURCE_DIR}/include) +include_directories(BEFORE SYSTEM "${INCLUDE_PATH}") + + +option(ENABLE_SHARED "Build shared library" ON) +option(ENABLE_PROFILING "Enable asan" OFF) +option(BUILD_TESTS "Enable testing" OFF) +option(BUILD_COMMON_INSTANTIATIONS "Build common template instantiations into a library" OFF) +mark_as_advanced(ENABLE_PROFILING) + +if(BUILD_COMMON_INSTANTIATIONS) + set(SOURCE_LIST "src/instantiations.cpp") + if(ENABLE_SHARED) + add_library(rml SHARED ${SOURCE_LIST}) + set_target_properties(rml PROPERTIES SOVERSION "${librml_VERSION_MAJOR}.${librml_VERSION_MINOR}") + set(LIBRML_LIBFLAGS "-lrml") + target_link_libraries(rml "") + else() + add_library(rml STATIC ${SOURCE_LIST}) + set(LIBRML_LIBFLAGS "-lrml") + target_link_libraries(rml "") + endif() + set_target_properties(rml PROPERTIES VERSION "${librml_VERSION_MAJOR}.${librml_VERSION_MINOR}.${librml_VERSION_REVISION}") + target_compile_options(rml PRIVATE -Wall -Wextra -pedantic -std=c++20) + if(ENABLE_PROFILING) + target_compile_options(rml PRIVATE -fsanitize=address -fno-omit-frame-pointer -fno-optimize-sibling-calls) + target_link_options(rml PRIVATE -fsanitize=address -fno-omit-frame-pointer -fno-optimize-sibling-calls) + endif() + install(TARGETS rml + ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} + LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} + ) + set(LIBRML_INSTANTIATIONS_ENABLED "1") +else() + set(LIBRML_LIBFLAGS "") + set(LIBRML_INSTANTIATIONS_ENABLED "0") +endif() + +add_library(ensure OBJECT "src/ensure.cpp") +target_compile_options(ensure PRIVATE -Wall -Wextra -pedantic -std=c++20) + +#if(BUILD_TESTS) +# enable_testing() +# add_subdirectory(tests) +#endif() + +set(LIBRML_PUBLIC_HEADERS "include/rml/debug.hpp" "include/rml/fwd_declare.hpp" "include/rml/math_common.hpp" "include/rml/math.hpp" "include/rml/mat.hpp" "include/rml/mat.tpp" "include/rml/projection.hpp" "include/rml/projection.tpp" "include/rml/quat.hpp" "include/rml/quat.tpp" "include/rml/rml.hpp" "include/rml/vec.hpp" "include/rml/vec.tpp") + +install(FILES "${CMAKE_CURRENT_SOURCE_DIR}/pc/librml.pc" + DESTINATION "${CMAKE_INSTALL_LIBDIR}/pkgconfig" +) +install(FILES ${LIBRML_PUBLIC_HEADERS} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/rml/") +install(DIRECTORY "include/rml/detail" DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/rml" FILES_MATCHING PATTERN "*.hpp" PATTERN "*.tpp") + +configure_file( + "${CMAKE_CURRENT_SOURCE_DIR}/pc/librml.pc.cmake.in" + "${CMAKE_CURRENT_SOURCE_DIR}/pc/librml.pc" + @ONLY +) 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It is safest +to attach them to the start of each source file to most effectively +state the exclusion of warranty; and each file should have at least +the "copyright" line and a pointer to where the full notice is found. + + + Copyright (C) + 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 . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. + diff --git a/include/rml/debug.hpp b/include/rml/debug.hpp new file mode 100644 index 0000000..d5daf67 --- /dev/null +++ b/include/rml/debug.hpp @@ -0,0 +1,75 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_DEBUG_HPP +#define RML_DEBUG_HPP + +#include //printf +#include //size_t + +#include "quat.hpp" +#include "mat.hpp" + +namespace rml{ + namespace detail{ + static inline void print_integral(int i){ + printf("%d", i); + } + static inline void print_integral(float f){ + printf("%f", f); + } + static inline void print_double(double d){ + printf("%lf", d); + } + static inline void print_integral(unsigned int i){ + printf("%u", i); + } + static inline void print_integral(long int i){ + printf("%li", i); + } + static inline void print_integral(unsigned long int i){ + printf("%lu", i); + } + static inline void print_integral(long double d){ + printf("%Lf", d); + } + } + + //Debug + template + void dump_matrix(const matrix_base& mat){ + for(size_t i = 0;i < C;++i){ + for(size_t j = 0;j < R;++j){ + detail::print_integral(mat[i][j]); + printf(" "); + } + printf("\n"); + } + printf("\n"); + } + template + void dump_quaternion(const quaternion& q){ + for(size_t i = 0;i < 4;++i){ + detail::print_integral(q[i]); + printf(" "); + } + printf("\n"); + } +} + +#endif diff --git a/include/rml/detail/matrix.hpp b/include/rml/detail/matrix.hpp new file mode 100644 index 0000000..acd973c --- /dev/null +++ b/include/rml/detail/matrix.hpp @@ -0,0 +1,117 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_DETAIL_MATRIX_HPP +#define RML_DETAIL_MATRIX_HPP + +#include //size_t +#include //integer_sequence +#include "../fwd_declare.hpp" + +namespace rml::detail{ + + template + struct gen_id_tup { + using tup = typename gen_id_tup::tup; + }; + template + struct gen_id_tup { + using tup = typename gen_id_tup::tup; + }; + template + struct gen_id_tup { + using tup = typename gen_id_tup::tup; + }; + template + struct gen_id_tup { + using tup = std::integer_sequence; + }; + + + template + struct gen_zero_tup { + using tup = typename gen_zero_tup::tup; + }; + template + struct gen_zero_tup<0,Args...> { + using tup = std::integer_sequence; + }; + + template + struct id_initialization_matrix { + using tuple = typename gen_id_tup::tup; + }; + + + template + struct default_initialization_matrix { + using tuple = typename gen_zero_tup::tup; + }; + template + struct default_initialization_matrix { + using tuple = typename id_initialization_matrix::tuple; + }; + + template + class mat_ref_obj + { + public: + using size_type = size_t; + + protected: + T* m_data = nullptr; + public: + constexpr mat_ref_obj(T* d, size_type i); + constexpr T& operator[](size_type i); + constexpr const T& operator[](size_type i)const; + }; + template + struct determinate_helper { + static constexpr T perform(const matrix& m); + }; + template + struct determinate_helper { + static constexpr T perform(const matrix& m); + }; + template + struct determinate_helper { + static constexpr T perform(const matrix& m); + }; + + template + struct inverse_helper { + //TODO generalized inverse + }; + template + struct inverse_helper { + static constexpr matrix perform(const matrix& m); + }; + template + struct inverse_helper { + static constexpr matrix perform(const matrix& m); + }; + template + struct inverse_helper { + static constexpr matrix perform(const matrix& m); + }; + +} + +#include "matrix.tpp" + +#endif diff --git a/include/rml/detail/matrix.tpp b/include/rml/detail/matrix.tpp new file mode 100644 index 0000000..6907379 --- /dev/null +++ b/include/rml/detail/matrix.tpp @@ -0,0 +1,151 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_DETAIL_MATRIX_TPP +#define RML_DETAIL_MATRIX_TPP + +#include //size_t +#include //integer_sequence + +namespace rml::detail{ + + template + constexpr mat_ref_obj::mat_ref_obj(T* d, size_type i): + m_data(d+(i*R)){} + + template + constexpr T& mat_ref_obj::operator[](size_type i){ + return m_data[i]; + } + template + constexpr const T& mat_ref_obj::operator[](size_type i)const{ + return m_data[i]; + } + template + constexpr T determinate_helper::perform(const matrix& m){ + T sum = 0; + T op = 1; + for(size_t i = 0; i < R; ++i){ + T item = op * m[0][i]; + matrix mul(no_initialize); + for(size_t j = 1, mj = 0; j < R; ++j){ + for(size_t k = 0, mk = 0; k < R; ++k){ + if(k == i) + continue; + mul[mj][mk] = m[j][k]; + ++mk; + } + ++mj; + } + sum += item * determinate_helper::perform(mul); + op = -op; + } + return sum; + } + template + constexpr T determinate_helper::perform(const matrix& m){ + return (m.get(0) * ((m.get(4) * m.get(8)) - (m.get(5) * m.get(7))) - + m.get(1) * ((m.get(3) * m.get(8)) - (m.get(5) * m.get(6))) + + m.get(2) * ((m.get(3) * m.get(7)) - (m.get(4) * m.get(6)))); + } + template + constexpr T determinate_helper::perform(const matrix& m){ + return m.get(0) * m.get(3) - m.get(1) * m.get(2); + } + + template + constexpr matrix inverse_helper::perform(const matrix& m){ + T det = m.determinate(); + if(!det) + return matrix(zero_initialize); + return matrix(m.get(3) / det, -(m.get(1)) / det, -(m.get(2)) / det, m.get(0) / det); + } + template + constexpr matrix inverse_helper::perform(const matrix& m){ + T det = m.determinate(); + if(!det) + return matrix(zero_initialize); + return matrix(((m.get(4) * m.get(8)) - (m.get(5) * m.get(7))) / det, + -((m.get(1) * m.get(8)) - (m.get(2) * m.get(7))) / det, + ((m.get(1) * m.get(5)) - (m.get(2) * m.get(4))) / det, + -((m.get(3) * m.get(8)) - (m.get(5) * m.get(6))) / det, + ((m.get(0) * m.get(8)) - (m.get(2) * m.get(6))) / det, + -((m.get(0) * m.get(5)) - (m.get(2) * m.get(3))) / det, + ((m.get(3) * m.get(7)) - (m.get(4) * m.get(6))) / det, + -((m.get(0) * m.get(7)) - (m.get(1) * m.get(6))) / det, + ((m.get(0) * m.get(4)) - (m.get(1) * m.get(3))) / det); + } + template + constexpr matrix inverse_helper::perform(const matrix& m){ + //barely over 50 lines, can be made slightly shorter by making the return statement unreadable + T det = m.determinate(); + if(!det) + return matrix(zero_initialize); + return matrix((m.get(5) * ((m.get(10) * m.get(15)) - (m.get(11) * m.get(14))) - + m.get(6) * ((m.get(9) * m.get(15)) - (m.get(11) * m.get(13))) + + m.get(7) * ((m.get(9) * m.get(14)) - (m.get(10) * m.get(13)))) / det, + -(m.get(1) * ((m.get(10) * m.get(15)) - (m.get(11) * m.get(14))) - + m.get(2) * ((m.get(9) * m.get(15)) - (m.get(11) * m.get(13))) + + m.get(3) * ((m.get(9) * m.get(14)) - (m.get(10) * m.get(13)))) / det, + (m.get(1) * ((m.get(6) * m.get(15)) - (m.get(7) * m.get(14))) - + m.get(2) * ((m.get(5) * m.get(15)) - (m.get(7) * m.get(13))) + + m.get(3) * ((m.get(5) * m.get(14)) - (m.get(6) * m.get(13)))) / det, + -(m.get(1) * ((m.get(6) * m.get(11)) - (m.get(7) * m.get(10))) - + m.get(2) * ((m.get(5) * m.get(11)) - (m.get(7) * m.get(9))) + + m.get(3) * ((m.get(5) * m.get(10)) - (m.get(6) * m.get(9)))) / det, + -(m.get(4) * ((m.get(10) * m.get(15)) - (m.get(11) * m.get(14))) - + m.get(6) * ((m.get(8) * m.get(15)) - (m.get(11) * m.get(12))) + + m.get(7) * ((m.get(8) * m.get(14)) - (m.get(10) * m.get(12)))) / det, + (m.get(0) * ((m.get(10) * m.get(15)) - (m.get(11) * m.get(14))) - + m.get(2) * ((m.get(8) * m.get(15)) - (m.get(11) * m.get(12))) + + m.get(3) * ((m.get(8) * m.get(14)) - (m.get(10) * m.get(12)))) / det, + -(m.get(0) * ((m.get(6) * m.get(15)) - (m.get(7) * m.get(14))) - + m.get(2) * ((m.get(4) * m.get(15)) - (m.get(7) * m.get(12))) + + m.get(3) * ((m.get(4) * m.get(14)) - (m.get(6) * m.get(12)))) / det, + (m.get(0) * ((m.get(6) * m.get(11)) - (m.get(7) * m.get(10))) - + m.get(2) * ((m.get(4) * m.get(11)) - (m.get(7) * m.get(8))) + + m.get(3) * ((m.get(4) * m.get(10)) - (m.get(6) * m.get(8)))) / det, + (m.get(4) * ((m.get(9) * m.get(15)) - (m.get(11) * m.get(13))) - + m.get(5) * ((m.get(8) * m.get(15)) - (m.get(11) * m.get(12))) + + m.get(7) * ((m.get(8) * m.get(13)) - (m.get(9) * m.get(12)))) / det, + -(m.get(0) * ((m.get(9) * m.get(15)) - (m.get(11) * m.get(13))) - + m.get(1) * ((m.get(8) * m.get(15)) - (m.get(11) * m.get(12))) + + m.get(3) * ((m.get(8) * m.get(13)) - (m.get(9) * m.get(12)))) / det, + (m.get(0) * ((m.get(5) * m.get(15)) - (m.get(7) * m.get(13))) - + m.get(1) * ((m.get(4) * m.get(15)) - (m.get(7) * m.get(12))) + + m.get(3) * ((m.get(4) * m.get(13)) - (m.get(5) * m.get(12)))) / det, + -(m.get(0) * ((m.get(5) * m.get(11)) - (m.get(7) * m.get(9))) - + m.get(1) * ((m.get(4) * m.get(11)) - (m.get(7) * m.get(8))) + + m.get(3) * ((m.get(4) * m.get(9)) - (m.get(5) * m.get(8)))) / det, + -(m.get(4) * ((m.get(9) * m.get(14)) - (m.get(10) * m.get(13))) - + m.get(5) * ((m.get(8) * m.get(14)) - (m.get(10) * m.get(12))) + + m.get(6) * ((m.get(8) * m.get(13)) - (m.get(9) * m.get(12)))) / det, + (m.get(0) * ((m.get(9) * m.get(14)) - (m.get(10) * m.get(13))) - + m.get(1) * ((m.get(8) * m.get(14)) - (m.get(10) * m.get(12))) + + m.get(2) * ((m.get(8) * m.get(13)) - (m.get(9) * m.get(12)))) / det, + -(m.get(0) * ((m.get(5) * m.get(14)) - (m.get(6) * m.get(13))) - + m.get(1) * ((m.get(4) * m.get(14)) - (m.get(6) * m.get(12))) + + m.get(2) * ((m.get(4) * m.get(13)) - (m.get(5) * m.get(12)))) / det, + (m.get(0) * ((m.get(5) * m.get(10)) - (m.get(6) * m.get(9))) - + m.get(1) * ((m.get(4) * m.get(10)) - (m.get(6) * m.get(8))) + + m.get(2) * ((m.get(4) * m.get(9)) - (m.get(5) * m.get(8)))) / det); + } + +} + +#endif diff --git a/include/rml/fwd_declare.hpp b/include/rml/fwd_declare.hpp new file mode 100644 index 0000000..8f43730 --- /dev/null +++ b/include/rml/fwd_declare.hpp @@ -0,0 +1,196 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_FWD_DECLARE_HPP +#define RML_FWD_DECLARE_HPP + +#include //size_t +#include +#ifdef __cpp_lib_concepts +#include +namespace detail{ + template + concept convertible_to = std::convertible_to; +} +#else +namespace detail{ + template + concept convertible_to = std::is_convertible_v; +} +#endif + +//Provide aliases for common matrix, vector, and quaternion types + +namespace rml{ + + //Must forward declare type traits for use in concepts because you can't forward declare concepts + template + struct is_vector; + template + struct is_quaternion; + template + struct is_matrix; + + //Create concepts that depend on the type traits + template + concept Quaternion = is_quaternion::value; + template + concept Matrix = is_matrix::value; + template + concept Vector = is_vector::value; + + template + concept Scalar = !Matrix && !Vector && !Quaternion && requires(std::decay_t t){ + {t += t} -> detail::convertible_to; + {t -= t} -> detail::convertible_to; + {t /= t} -> detail::convertible_to; + {t *= t} -> detail::convertible_to; + {t + t} -> detail::convertible_to>; + {t - t} -> detail::convertible_to>; + {t / t} -> detail::convertible_to>; + {t * t} -> detail::convertible_to>; + {-t} -> detail::convertible_to>; + {t > t} -> detail::convertible_to; + {t < t} -> detail::convertible_to; + {t >= t} -> detail::convertible_to; + {t <= t} -> detail::convertible_to; + {t == t} -> detail::convertible_to; + {t != t} -> detail::convertible_to; + }; + + template + class matrix_base; + + template + class matrix; + template + class vector; + template + class quaternion; + + template + using mat2 = matrix; + template + using mat3 = matrix; + template + using mat4 = matrix; + + template + using vec2 = vector; + template + using vec3 = vector; + template + using vec4 = vector; + + using vec2f = vec2; + using vec2i = vec2; + using vec2u = vec2; + using vec2d = vec2; + using vec2s = vec2; + using vec2b = vec2; + + using vec3f = vec3; + using vec3i = vec3; + using vec3u = vec3; + using vec3d = vec3; + using vec3s = vec3; + using vec3b = vec3; + + using vec4f = vec4; + using vec4i = vec4; + using vec4u = vec4; + using vec4d = vec4; + using vec4s = vec4; + using vec4b = vec4; + + using mat2f = mat2; + using mat2i = mat2; + using mat2u = mat2; + using mat2d = mat2; + using mat2s = mat2; + using mat2b = mat2; + + using mat3f = mat3; + using mat3i = mat3; + using mat3u = mat3; + using mat3d = mat3; + using mat3s = mat3; + + using mat4f = mat4; + using mat4i = mat4; + using mat4u = mat4; + using mat4d = mat4; + using mat4s = mat4; + using mat4b = mat4; + + template + using quat = quaternion; + + using quat_f = quat; + using quat_i = quat; + using quat_u = quat; + using quat_d = quat; + using quat_s = quat; + using quat_b = quat; + + namespace detail{ + + template + struct is_matrix_helper { + template + static std::true_type test(matrix_base*); + static std::false_type test(void*); + + static constexpr bool value = std::is_same*>(nullptr)))>::value; + }; + + template + struct is_quat_helper { + template + static std::true_type test(quaternion*); + static std::false_type test(void*); + static constexpr bool value = std::is_same*>(nullptr)))>::value; + }; + + template + struct is_vector_helper { + template + static std::true_type test(vector*); + static std::false_type test(void*); + + static constexpr bool value = std::is_same*>(nullptr)))>::value; + }; + + } + + template + struct is_vector{ + static constexpr bool value = (detail::is_vector_helper::value && ...); + }; + template + struct is_quaternion { + static constexpr bool value = (detail::is_quat_helper::value && ...); + }; + template + struct is_matrix { + static constexpr bool value = (detail::is_matrix_helper::value && ...); + }; + +} + +#endif diff --git a/include/rml/mat.hpp b/include/rml/mat.hpp new file mode 100644 index 0000000..9c3a7a8 --- /dev/null +++ b/include/rml/mat.hpp @@ -0,0 +1,254 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_MAT_HPP +#define RML_MAT_HPP + +#include //size_t +#include //integer_sequence +#include //decay_t, is_same, integral_constant +#include "math_common.hpp" +#include "fwd_declare.hpp" + +#include "rml.hpp" + +namespace rml{ + + //Common stuff shared by all types of matrices + template + class matrix_base + { + static_assert(C > 0, "Cannot have 0 columns matrix"); + static_assert(R > 0, "Cannot have 0 rows matrix"); + public: + using value_type = T; + using size_type = size_t; + using pointer = value_type*; + using const_pointer = const value_type*; + using reference = value_type&; + using const_reference = const value_type&; + + static constexpr size_type Columns = C; + static constexpr size_type Rows = R; + + protected: + value_type m_data[R*C]; + + protected: + template + constexpr matrix_base(std::integer_sequence); + public: + //Default construct as identity when square, zero otherwise + constexpr matrix_base(void); + + //Range initializing constructors + constexpr explicit matrix_base(detail::zero_initialize_t); + constexpr explicit matrix_base(detail::no_initialize_t); + + //Value initializing constructors + constexpr explicit matrix_base(value_type v); + template && ...),int> = 0> + constexpr matrix_base(Args&&... args); + + //Copying constructors + constexpr matrix_base(const matrix_base&) = default; + constexpr matrix_base(matrix_base&&) = default; + template + constexpr matrix_base(const matrix_base& m); + ~matrix_base(void) = default; + + constexpr matrix_base& operator=(const matrix_base&) = default; + constexpr matrix_base& operator=(matrix_base&&) = default; + template + constexpr matrix_base& operator=(const matrix_base& m); + + //Getters/Setters + constexpr auto operator[](size_type x); + constexpr auto operator[](size_type x)const; + constexpr reference get(size_type x, size_type y); + constexpr const_reference get(size_type x, size_type y)const; + constexpr reference get(size_type i); + constexpr const_reference get(size_type i)const; + + constexpr size_type columns(void)const; + constexpr size_type rows(void)const; + constexpr size_type size(void)const; + + constexpr pointer raw(void); + constexpr const_pointer raw(void)const; + constexpr operator pointer(void); + constexpr operator const_pointer(void)const; + }; + + //Non square matrices + template + class matrix : public matrix_base + { + private: + using base = matrix_base; + public: + using value_type = typename base::value_type; + using size_type = typename base::size_type; + using pointer = typename base::pointer; + using const_pointer = typename base::const_pointer; + using reference = typename base::reference; + using const_reference = typename base::const_reference; + + public: + using base::base; + + template = 0> + constexpr matrix(const matrix_base& other); + template + constexpr matrix(const matrix& other); + constexpr matrix(const matrix&) = default; + constexpr matrix(matrix&&) = default; + ~matrix(void) = default; + + //Assignement + constexpr matrix& operator=(const matrix&) = default; + constexpr matrix& operator=(matrix&&) = default; + template + constexpr matrix& operator=(const matrix& m); + }; + + //Square matrices + template + class matrix : public matrix_base + { + private: + using base = matrix_base; + public: + using value_type = typename base::value_type; + using size_type = typename base::size_type; + using pointer = typename base::pointer; + using const_pointer = typename base::const_pointer; + using reference = typename base::reference; + using const_reference = typename base::const_reference; + + public: + using base::base; + + constexpr matrix(const matrix&) = default; + constexpr matrix(matrix&&) = default; + constexpr explicit matrix(detail::id_initialize_t); + template = 0> + constexpr matrix(const matrix_base& other); + template + constexpr matrix(const matrix& other); + ~matrix(void) = default; + + //Assignement + constexpr matrix& operator=(const matrix&) = default; + constexpr matrix& operator=(matrix&&) = default; + template + constexpr matrix& operator=(const matrix& m); + + //square matrix arithmetic operations + constexpr value_type determinate(void)const; + constexpr value_type trace(void)const; + constexpr matrix transpose(void)const; + constexpr matrix inverse(void)const; + }; + + template + constexpr T determinate(const matrix& m); + template + constexpr matrix inverse(const matrix& m); + + template + matrix rotation2d_pure(T angle); + template + constexpr matrix rotation2d_pure(T sin, T cos); + template + constexpr matrix scale2d(T x, T y); + + template + matrix rotation2d(T angle); + template + constexpr matrix rotation2d(T sin, T cos); + template + matrix rotation2d(T x, T y, T z); + + template + constexpr matrix rotation3d(T angle_x, T angle_y, T angle_z); + template + constexpr matrix translation3d(T x, T y, T z); + template + constexpr matrix scale3d(T x, T y, T z); + + //Logic operators + template + constexpr bool operator==(const matrix_base& left, const matrix_base right); + template + constexpr bool operator!=(const matrix_base& left, const matrix_base right); + + //Arithmetic operators + template + constexpr auto operator*(const matrix& left, const matrix& right); + template + constexpr auto operator*(const matrix& left, U&& right); + template + constexpr auto operator*(U&& left, const matrix& right); + template + constexpr auto operator/(const matrix& left, U&& right); + template + constexpr auto operator+(const matrix& left, const matrix& right); + template + constexpr auto operator-(const matrix& left, const matrix& right); + template + constexpr auto operator-(const matrix& left); + + template + constexpr auto abs(const matrix_base& left); + template + constexpr bool fuzzy_eq(const matrix_base& left, const matrix_base& right, const V& epsilon); + template + constexpr bool fuzzy_neq(const matrix_base& left, const matrix_base& right, const V& epsilon); + + //Arithmetic assignment operators + template + constexpr decltype(auto) operator*=(matrix& left, const matrix& right); + template + constexpr decltype(auto) operator*=(matrix& left, U&& right); + template + constexpr decltype(auto) operator/=(matrix& left, U&& right); + template + constexpr decltype(auto) operator+=(matrix& left, const matrix& right); + template + constexpr decltype(auto) operator-=(matrix& left, const matrix& right); + +#if RML_INSTANTIATIONS_ENABLED + extern template class matrix; + extern template class matrix; + extern template class matrix; + + extern template class matrix; + extern template class matrix; + extern template class matrix; + + extern template class matrix; + extern template class matrix; + extern template class matrix; +#endif + +} + +#include "mat.tpp" + +#endif diff --git a/include/rml/mat.tpp b/include/rml/mat.tpp new file mode 100644 index 0000000..cc5c222 --- /dev/null +++ b/include/rml/mat.tpp @@ -0,0 +1,424 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_MAT_TPP +#define RML_MAT_TPP + +#include //size_t +#include //sin, cos, abs +#include //decay_t, declval +#include "detail/matrix.hpp" +#include "quat.hpp" + +namespace rml{ + + namespace detail{ + template + static constexpr const T& min(const T& l, const T& r){ + return l < r ? l : r; + } + } + + template + template + constexpr matrix_base::matrix_base(std::integer_sequence): + m_data{Ss...}{} + + template + constexpr matrix_base::matrix_base(void): + matrix_base(typename detail::default_initialization_matrix::tuple{}){} + + template + constexpr matrix_base::matrix_base(detail::zero_initialize_t): + m_data{}{} + template + constexpr matrix_base::matrix_base(detail::no_initialize_t){} + + template + constexpr matrix_base::matrix_base(value_type v){ + for(size_type i = 0; i < Columns*Rows; ++i) + m_data[i] = v; + } + template + template && ...),int>> + constexpr matrix_base::matrix_base(Args&&... args): + m_data{static_cast(std::forward(args))...}{} + + template + template + constexpr matrix_base::matrix_base(const matrix_base& m){ + using mat = matrix_base; + for(typename mat::size_type i = 0; i < mat::Columns*mat::Rows; ++i) + m_data[i] = m.get(i); + } + + template + template + constexpr matrix_base& matrix_base::operator=(const matrix_base& m){ + constexpr auto cols = detail::min(TC, C); + constexpr auto rws = detail::min(TR, R); + for(size_type i = 0;i < cols;++i){ + for(size_type j = 0;j < rws;++j){ + get(i, j) = m.get(i, j); + } + } + return *this; + } + + + template + constexpr auto matrix_base::operator[](size_type x){ + return detail::mat_ref_obj{m_data, x}; + } + template + constexpr auto matrix_base::operator[](size_type x)const{ + return detail::mat_ref_obj{m_data, x}; + } + template + constexpr auto matrix_base::get(size_type x, size_type y) -> reference{ + return m_data[(x*Rows)+y]; + } + template + constexpr auto matrix_base::get(size_type x, size_type y)const -> const_reference{ + return m_data[(x*Rows)+y]; + } + template + constexpr auto matrix_base::get(size_type i) -> reference{ + return m_data[i]; + } + template + constexpr auto matrix_base::get(size_type i)const -> const_reference{ + return m_data[i]; + } + + template + constexpr auto matrix_base::columns(void)const -> size_type{ + return Columns; + } + template + constexpr auto matrix_base::rows(void)const -> size_type{ + return Rows; + } + template + constexpr auto matrix_base::size(void)const -> size_type{ + return Columns*Rows; + } + + template + constexpr auto matrix_base::raw(void) -> pointer{ + return m_data; + } + template + constexpr auto matrix_base::raw(void)const -> const_pointer{ + return m_data; + } + template + constexpr matrix_base::operator pointer(void){ + return m_data; + } + template + constexpr matrix_base::operator const_pointer(void)const{ + return m_data; + } + + template + template> + constexpr matrix::matrix(const matrix_base& other){ + for(size_type i = 0;i < TC;++i){ + for(size_type j = 0;j < TR;++j){ + get(i, j) = other.get(i, j); + } + } + } + template + template + constexpr matrix::matrix(const matrix& other){ + for(size_type i = 0;i < C;++i){ + for(size_type j = 0;j < R;++j){ + get(i, j) = other.get(i, j); + } + } + } + + template + template + constexpr matrix& matrix::operator=(const matrix& m){ + base::operator=(m); + return *this; + } + + template + constexpr matrix::matrix(detail::id_initialize_t): + base(){} + template + template> + constexpr matrix::matrix(const matrix_base& other): + matrix(id_initialize) + { + for(size_type i = 0;i < TC;++i){ + for(size_type j = 0;j < TR;++j){ + get(i, j) = other.get(i, j); + } + } + } + template + template + constexpr matrix::matrix(const matrix& other){ + for(size_type i = 0;i < R;++i){ + for(size_type j = 0;j < R;++j){ + get(i, j) = other.get(i, j); + } + } + } + + + template + template + constexpr matrix& matrix::operator=(const matrix& m){ + base::operator=(m); + return *this; + } + + template + constexpr auto matrix::determinate(void)const -> value_type{ + return rml::determinate(*this); + } + template + constexpr auto matrix::trace(void)const -> value_type{ + value_type sum = 0; + for(size_type i = 0; i < R; ++i){ + sum += this->get(i, i); + } + return sum; + } + template + constexpr matrix matrix::transpose(void)const{ + matrix m(no_initialize); + for(size_type i = 0; i < R; ++i){ + for(size_type j = 0; j < R; ++j){ + m.get(j, i) = this->get(i, j); + } + } + return m; + } + template + constexpr matrix matrix::inverse(void)const{ + return rml::inverse(*this); + } + + + template + constexpr T determinate(const matrix& m){ + return detail::determinate_helper::perform(m); + } + template + constexpr matrix inverse(const matrix& m){ + return detail::inverse_helper::perform(m); + } + + template + matrix rotation2d_pure(T angle){ + return rotation2d_pure(std::sin(angle), std::cos(angle)); + } + template + constexpr matrix rotation2d_pure(T sin, T cos){ + return matrix(cos, sin, -sin, cos); + } + template + constexpr matrix scale2d(T x, T y){ + return matrix(x, T{0}, T{0}, y); + } + + template + matrix rotation2d(T angle){ + return rotation2d(std::sin(angle), std::cos(angle)); + } + template + constexpr matrix rotation2d(T sin, T cos){ + return matrix(cos, -sin, T{0}, + sin, cos, T{0}, + T{0}, T{0}, T{1}); + } + template + matrix rotation2d(T x, T y, T z){ + quaternion q(x, y, z); + return q.to_mat3(); + } + + template + constexpr matrix rotation3d(T angle_x, T angle_y, T angle_z){ + quaternion q(angle_x, angle_y, angle_z); + return q.to_mat4(); + } + template + constexpr matrix translation3d(T x, T y, T z){ + return matrix(T{1}, T{0}, T{0}, T{0}, + T{0}, T{1}, T{0}, T{0}, + T{0}, T{0}, T{1}, T{0}, + x, y, z, T{1}); + } + template + constexpr matrix scale3d(T x, T y, T z){ + return matrix(x, T{0}, T{0}, T{0}, + T{0}, y, T{0}, T{0}, + T{0}, T{0}, z, T{0}, + T{0}, T{0}, T{0}, T{1}); + } + + + template + constexpr bool operator==(const matrix_base& left, const matrix_base right){ + for(size_t i = 0; i < left.size(); ++i){ + if(left.get(i) != right.get(i)) + return false; + } + return true; + } + template + constexpr bool operator!=(const matrix_base& left, const matrix_base right){ + return !(left == right); + } + + template + constexpr auto operator*(const matrix& left, const matrix& right){ + using res_t = decltype(std::declval() * std::declval()); + matrix res(zero_initialize); + size_t index = 0; + for(size_t i = 0; i < right.rows(); ++i){ + for(size_t j = 0; j < left.columns(); ++j){ + for(size_t k = 0; k < left.rows(); ++k){ + res.get(index) += right.get(i, k) * left.get(k, j); + } + ++index; + } + } + return res; + } + template + constexpr auto operator*(const matrix& left, U&& right){ + using res_t = decltype(std::declval() * std::declval()); + matrix res(no_initialize); + for(size_t i = 0; i < left.size(); ++i){ + res.get(i) = left.get(i) * std::forward(right); + } + return res; + } + template + constexpr auto operator*(U&& left, const matrix& right){ + using res_t = decltype(std::declval() * std::declval()); + matrix res(no_initialize); + for(size_t i = 0; i < right.size(); ++i){ + res.get(i) = std::forward(left) * right.get(i); + } + return res; + } + template + constexpr auto operator/(const matrix& left, U&& right){ + using res_t = decltype(std::declval() / std::declval()); + matrix res(no_initialize); + for(size_t i = 0; i < left.size(); ++i){ + res.get(i) = left.get(i) / std::forward(right); + } + return res; + } + template + constexpr auto operator+(const matrix& left, const matrix& right){ + using res_t = decltype(std::declval() + std::declval()); + matrix res(no_initialize); + for(size_t i = 0; i < left.size(); ++i){ + res.get(i) = left.get(i) + right.get(i); + } + return res; + } + template + constexpr auto operator-(const matrix& left, const matrix& right){ + using res_t = decltype(std::declval() - std::declval()); + matrix res(no_initialize); + for(size_t i = 0; i < left.size(); ++i){ + res.get(i) = left.get(i) - right.get(i); + } + return res; + } + template + constexpr auto operator-(const matrix& left){ + using res_t = decltype(-std::declval()); + matrix res(no_initialize); + for(size_t i = 0; i < left.size(); ++i){ + res.get(i) = -left.get(i); + } + return res; + } + template + constexpr auto abs(const matrix_base& left){ + matrix res(no_initialize); + for(size_t i = 0; i < left.size(); ++i){ + res.get(i) = std::abs(left.get(i)); + } + return res; + } + template + constexpr bool fuzzy_eq(const matrix_base& left, const matrix_base& right, const V& epsilon){ + for(size_t i = 0;i < left.size();++i){ + if(std::abs(left.get(i) - right.get(i)) > epsilon) + return false; + } + return true; + } + template + constexpr bool fuzzy_neq(const matrix_base& left, const matrix_base& right, const V& epsilon){ + return !fuzzy_eq(left, right, epsilon); + } + + template + constexpr decltype(auto) operator*=(matrix& left, const matrix& 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 + constexpr decltype(auto) operator*=(matrix& left, U&& right){ + for(size_t i = 0; i < left.size(); ++i){ + left.get(i) = left.get(i) * std::forward(right); + } + return left; + } + template + constexpr decltype(auto) operator/=(matrix& left, U&& right){ + for(size_t i = 0; i < left.size(); ++i){ + left.get(i) = left.get(i) / std::forward(right); + } + return left; + } + template + constexpr decltype(auto) operator+=(matrix& left, const matrix& right){ + for(size_t i = 0; i < left.size(); ++i){ + left.get(i) = left.get(i) + right.get(i); + } + return left; + } + template + constexpr decltype(auto) operator-=(matrix& left, const matrix& right){ + for(size_t i = 0; i < left.size(); ++i){ + left.get(i) = left.get(i) - right.get(i); + } + return left; + } + +} + +#endif diff --git a/include/rml/math.hpp b/include/rml/math.hpp new file mode 100644 index 0000000..1d194f7 --- /dev/null +++ b/include/rml/math.hpp @@ -0,0 +1,31 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_HPP +#define RML_HPP + +//include this file to access all the math components easily + +#include "fwd_declare.hpp" +#include "math_common.hpp" +#include "vec.hpp" +#include "mat.hpp" +#include "quat.hpp" +#include "projection.hpp" + +#endif diff --git a/include/rml/math_common.hpp b/include/rml/math_common.hpp new file mode 100644 index 0000000..bdc1e19 --- /dev/null +++ b/include/rml/math_common.hpp @@ -0,0 +1,83 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_DETAIL_MATH_HPP +#define RML_DETAIL_MATH_HPP + +#include "fwd_declare.hpp" + +namespace rml{ + + namespace detail{ + //sentinel classes saying how to initialize some math classes + struct zero_initialize_t {}; + struct no_initialize_t {}; + struct id_initialize_t {}; + struct manual_initialize_t {}; + } + + //instantiation of sentinels + static inline constexpr detail::zero_initialize_t zero_initialize; + static inline constexpr detail::no_initialize_t no_initialize; + static inline constexpr detail::id_initialize_t id_initialize; + static inline constexpr detail::manual_initialize_t manual_initialize; + + template + static constexpr T pi(void){ + return static_cast(3.1415926535897932384626433832795028841971693993751058209749445923078164062862089986280348253421170679821); + } + template + static constexpr T to_degrees(T t){ + return (t * 180.0) / pi(); + } + template + static constexpr T to_radians(T t){ + return (t * pi()) / 180.0; + } + + template + static constexpr T clamp(const T& t, const T& min, const T& max){ + if(t < min) + return min; + if(t > max) + return max; + return t; + } + template + static constexpr T clamp_min(const T& t, const T& min){ + if(t < min) + return min; + return t; + } + template + static constexpr T clamp_max(const T& t, const T& max){ + if(t > max) + return max; + return t; + } + +} +constexpr long double operator"" _rad(long double f){ + return f; +} +constexpr long double operator"" _deg(long double f){ + return rml::to_radians(f); +} + + +#endif diff --git a/include/rml/projection.hpp b/include/rml/projection.hpp new file mode 100644 index 0000000..fb6527f --- /dev/null +++ b/include/rml/projection.hpp @@ -0,0 +1,46 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_PROJECTION_HPP +#define RML_PROJECTION_HPP + +#include "mat.hpp" +#include "vec.hpp" +#include "math_common.hpp" + +namespace rml{ + + template + matrix fov_projection(T fov, T asp, T near, T far); + template + matrix fov_asymetric_projection(T fovl, T fovr, T fovb, T fovt, T asp, T near, T far); + template + matrix ortho_projection(T w, T h, T n, T f); + template + matrix ortho_asymetric_projection(T l, T r, T b, T t, T n, T f); + + template + vec3 project(const mat4& viewproj_mat, const vec3& world_coords, const vec4& viewport); + template + vec3 unproject(const mat4& viewproj_mat, const vec3& viewport_coords, const vec4& viewport); + +} + +#include "projection.tpp" + +#endif diff --git a/include/rml/projection.tpp b/include/rml/projection.tpp new file mode 100644 index 0000000..d3b7fa0 --- /dev/null +++ b/include/rml/projection.tpp @@ -0,0 +1,98 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_PROJECTION_TPP +#define RML_PROJECTION_TPP + +#include "mat.hpp" +#include "vec.hpp" +#include //sin, cos, tan + +namespace rml{ + + template + matrix fov_projection(T fov, T asp, T near, T far){ + T r = near * std::tan(fov / T{2.0}); + return matrix((near / r) / asp, T{0}, T{0}, T{0}, + T{0}, (near / r), T{0}, T{0}, + T{0}, T{0}, (far + near) / (near - far), -T{1}, + T{0}, T{0}, (T{2} * near * far) / (near - far), T{0}); + } + template + matrix 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{2} * n) / (r - l)) * asp, T{0}, T{0}, T{0}, + T{0}, (T{2} * n) / (t - b), T{0}, T{0}, + (r + l) / (r - l), (t + b) / (t - b), (f + n) / (n - f), -T{1}, + T{0}, T{0}, (T{2} * n * f) / (n - f), T{0}); + } + template + matrix ortho_projection(T w, T h, T n, T f){ + return matrix(T{2} / w, T{0}, T{0}, T{0}, + T{0}, T{2} / h, T{0}, T{0}, + T{0}, T{0}, T{1} / (n - f), T{0}, + T{0}, T{0}, (n + f) / (n - f), T{1}); + } + template + matrix ortho_asymetric_projection(T l, T r, T b, T t, T n, T f){ + return matrix(T{2} / (r - l), T{0}, T{0}, T{0}, + T{0}, T{2} / (t - b), T{0}, T{0}, + T{0}, T{0}, T{1} / (n - f), T{0}, + (r + l) / (l - r), (t + b) / (b - t), (n + f) / (n - f), T{1}); + } + + template + vec3 project(const mat4& viewproj_mat, const vec3& w_coords, const vec4& viewport){ + //project world coordinates to ndc coordinates + vec4 world_coords{w_coords[0], w_coords[1], w_coords[2], T{1.0}}; + vec4 ndc_coords = viewproj_mat * world_coords; + + //perspective_division + ndc_coords /= ndc_coords[3]; + + //project ndc coordinates to viewport coordinates + return vec3{((ndc_coords[0] + T{1.0}) * viewport[2] * T{0.5}) + viewport[0], + ((ndc_coords[1] + T{1.0}) * viewport[3] * T{0.5}) + viewport[1], + ndc_coords[2] + }; + } + template + vec3 unproject(const mat4& viewproj_mat, const vec3& viewport_coords, const vec4& viewport){ + //project viewport coordinates to ndc coordinates + vec4 ndc_coords{((viewport_coords[0] - viewport[0]) * T{2.0} / viewport[2]) - T{1.0}, + ((viewport_coords[1] - viewport[1]) * T{2.0} / viewport[3]) - T{1.0}, + viewport_coords[2], + T{1.0}}; + + //project ndc coordinates to world coordinates + mat4 inv_viewproj_mat = viewproj_mat.inverse(); + vec4 world_coords = inv_viewproj_mat * ndc_coords; + + //perspective division + world_coords /= world_coords[3]; + + return {world_coords[0], world_coords[1], world_coords[2]}; + } + +} + +#endif diff --git a/include/rml/quat.hpp b/include/rml/quat.hpp new file mode 100644 index 0000000..92f432c --- /dev/null +++ b/include/rml/quat.hpp @@ -0,0 +1,153 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_QUAT_HPP +#define RML_QUAT_HPP + +#include //size_t +#include //pair +#include //is_same, is_arithmetic, integral_constant + +#include "math_common.hpp" +#include "fwd_declare.hpp" + +namespace rml{ + + //( ͡° ͜ʖ ͡°) + template + class quaternion + { + public: + using value_type = T; + using size_type = size_t; + using pointer = value_type*; + using const_pointer = const value_type*; + using reference = value_type&; + using const_reference = const value_type&; + + private: + value_type m_data[4]; + + public: + constexpr quaternion(void); + //Construct from Euler angles + constexpr quaternion(detail::zero_initialize_t); + constexpr quaternion(detail::id_initialize_t); + constexpr quaternion(detail::no_initialize_t); + constexpr quaternion(detail::manual_initialize_t, + value_type w, value_type x, + value_type y, value_type z); + quaternion(const mat3& rotmat); + quaternion(const mat4& rotmat); + quaternion(value_type bank, value_type heading, value_type attitude); + quaternion(const vec3& angles); + //Construct from axis-angle + quaternion(value_type angle, const vec3& axis); + quaternion(value_type angle, value_type x, value_type y, value_type z); + //Copy ctor + constexpr quaternion(const quaternion&) = default; + constexpr quaternion(quaternion&&) = default; + ~quaternion(void) = default; + + //Assignment + constexpr quaternion& operator=(const quaternion&) = default; + constexpr quaternion& operator=(quaternion&&) = default; + + //Direct array access + constexpr operator pointer(void); + constexpr operator const_pointer(void)const; + constexpr reference operator[](size_type i); + constexpr const_reference operator[](size_type i)const; + constexpr reference get(size_type i); + constexpr const_reference get(size_type i)const; + + constexpr reference w(void); + constexpr const_reference w(void)const; + constexpr reference x(void); + constexpr const_reference x(void)const; + constexpr reference y(void); + constexpr const_reference y(void)const; + constexpr reference z(void); + constexpr const_reference z(void)const; + + //Assign axis from angle-axis + void set_axis(value_type x, value_type y, value_type z); + void set_axis(const vec3& axis); + vec3 get_axis(void)const; + + void set_angle(value_type a); + value_type get_angle(void)const; + value_type norm(void)const; + quaternion conjugate(void)const; + quaternion inverse(void)const; + value_type magnitude(void)const; + quaternion normalize(void)const; + + vec3 get_right(void)const; + vec3 get_up(void)const; + vec3 get_forward(void)const; + + //Explicit Conversion1 + vec3 to_vec3(void)const; + vec4 to_vec4(void)const; + mat3 to_mat3(void)const; + mat4 to_mat4(void)const; + vec3 to_euler_angles(void)const; + std::pair> to_axis_angle(void)const; + }; + + template + bool operator==(const quaternion& left, const quaternion& right); + template + bool operator!=(const quaternion& left, const quaternion& right); + template + auto operator-(const quaternion& left); + template + auto operator-(const quaternion& left, const quaternion& right); + template + auto operator+(const quaternion& left, const quaternion& right); + template + auto operator*(const quaternion& left, const quaternion& right); + template + auto operator*(const quaternion& left, const vec3& right); + template + auto operator*(const quaternion& left, U&& right); + template + auto operator/(const quaternion& left, U&& right); + + template + decltype(auto) operator+=(quaternion& left, const quaternion& right); + template + decltype(auto) operator-=(quaternion& left, const quaternion& right); + template + decltype(auto) operator*=(quaternion& left, const quaternion& right); + template + decltype(auto) operator*=(quaternion& left, U&& right); + template + decltype(auto) operator/=(quaternion& left, U&& right); + +#if RML_INSTANTIATIONS_ENABLED + extern template class quaternion; + extern template class quaternion; + extern template class quaternion; +#endif +} + +#include "quat.tpp" + +#endif diff --git a/include/rml/quat.tpp b/include/rml/quat.tpp new file mode 100644 index 0000000..1d2b070 --- /dev/null +++ b/include/rml/quat.tpp @@ -0,0 +1,437 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_QUAT_TPP +#define RML_QUAT_TPP + +#include //sin, cos, tan, sqrt, etc +#include "mat.hpp" +#include "vec.hpp" + +namespace rml{ + + template + constexpr quaternion::quaternion(void): + quaternion(id_initialize){} + template + constexpr quaternion::quaternion(detail::zero_initialize_t): + m_data{0, 0, 0, 0}{} + template + constexpr quaternion::quaternion(detail::id_initialize_t): + m_data{1, 0, 0, 0}{} + template + constexpr quaternion::quaternion(detail::no_initialize_t){} + + template + constexpr quaternion::quaternion(detail::manual_initialize_t, + value_type w, value_type x, + value_type y, value_type z): + m_data{w, x, y, z}{} + + template + quaternion::quaternion(const mat3& rotmat){ + auto tr = rotmat.trace(); + if(tr > 0){ + auto f = 0.5 / sqrt(tr + 1.0); + m_data[0] = 0.25 / f; + m_data[1] = (rotmat.get(5) - rotmat.get(7)) * f; + m_data[2] = (rotmat.get(6) - rotmat.get(2)) * f; + m_data[3] = (rotmat.get(1) - rotmat.get(3)) * f; + }else if((rotmat.get(0) > rotmat.get(4)) && (rotmat.get(0) > rotmat.get(8))){ + auto f = sqrt(1.0 + rotmat.get(0) - rotmat.get(4) - rotmat.get(8)) * 2.0; + m_data[0] = (rotmat.get(5) - rotmat.get(7)) / f; + m_data[1] = f * 0.25; + m_data[2] = (rotmat.get(3) + rotmat.get(1)) / f; + m_data[3] = (rotmat.get(6) + rotmat.get(2)) / f; + }else if(rotmat.get(4) > rotmat.get(8)){ + auto f = sqrt(1.0 + rotmat.get(4) - rotmat.get(0) - rotmat.get(8)) * 2.0; + m_data[0] = (rotmat.get(6) - rotmat.get(2)) / f; + m_data[1] = (rotmat.get(3) + rotmat.get(1)) / f; + m_data[2] = f * 0.25; + m_data[3] = (rotmat.get(7) + rotmat.get(5)) / f; + }else{ + auto f = sqrt(1.0 + rotmat.get(8) - rotmat.get(0) - rotmat.get(4)) * 2.0; + m_data[0] = (rotmat.get(1) - rotmat.get(3)) / f; + m_data[1] = (rotmat.get(6) + rotmat.get(2)) / f; + m_data[2] = (rotmat.get(7) + rotmat.get(5)) / f; + m_data[3] = f * 0.25; + } + } + template + quaternion::quaternion(const mat4& rotmat): + quaternion(mat3{rotmat.get(0), rotmat.get(1), rotmat.get(2), + rotmat.get(4), rotmat.get(5), rotmat.get(6), + rotmat.get(8), rotmat.get(9), rotmat.get(10)}){} + template + quaternion::quaternion(value_type bank, value_type heading, value_type attitude){ + bank /= value_type{2}; + heading /= value_type{2}; + attitude /= value_type{2}; + value_type cos_heading = std::cos(heading); + value_type sin_heading = std::sin(heading); + value_type cos_attitude = std::cos(attitude); + value_type sin_attitude = std::sin(attitude); + value_type cos_bank = std::cos(bank); + value_type sin_bank = std::sin(bank); + + m_data[0] = (cos_heading * cos_attitude * cos_bank) - (sin_heading * sin_attitude * sin_bank); + m_data[1] = (sin_heading * sin_attitude * cos_bank) + (cos_heading * cos_attitude * sin_bank); + m_data[2] = (sin_heading * cos_attitude * cos_bank) + (cos_heading * sin_attitude * sin_bank); + m_data[3] = (cos_heading * sin_attitude * cos_bank) - (sin_heading * cos_attitude * sin_bank); + } + template + quaternion::quaternion(const vec3& angles): + quaternion(angles.x(), angles.y(), angles.z()){} + template + quaternion::quaternion(value_type angle, const vec3& axis): + quaternion(angle, axis.x(), axis.y(), axis.z()){} + template + quaternion::quaternion(value_type angle, value_type x, value_type y, value_type z){ + angle /= value_type{2.0}; + value_type sin_angle = std::sin(angle); + m_data[0] = std::cos(angle); + m_data[1] = sin_angle * x; + m_data[2] = sin_angle * y; + m_data[3] = sin_angle * z; + } + + template + constexpr quaternion::operator pointer(void){ + return m_data; + } + template + constexpr quaternion::operator const_pointer(void)const{ + return m_data; + } + template + constexpr auto quaternion::operator[](size_type i) -> reference{ + return m_data[i]; + } + template + constexpr auto quaternion::operator[](size_type i)const -> const_reference{ + return m_data[i]; + } + template + constexpr auto quaternion::get(size_type i) -> reference{ + return m_data[i]; + } + template + constexpr auto quaternion::get(size_type i)const -> const_reference{ + return m_data[i]; + } + template + constexpr auto quaternion::w(void) -> reference{ + return m_data[0]; + } + template + constexpr auto quaternion::w(void)const -> const_reference{ + return m_data[0]; + } + template + constexpr auto quaternion::x(void) -> reference{ + return m_data[1]; + } + template + constexpr auto quaternion::x(void)const -> const_reference{ + return m_data[1]; + } + template + constexpr auto quaternion::y(void) -> reference{ + return m_data[2]; + } + template + constexpr auto quaternion::y(void)const -> const_reference{ + return m_data[2]; + } + template + constexpr auto quaternion::z(void) -> reference{ + return m_data[3]; + } + template + constexpr auto quaternion::z(void)const -> const_reference{ + return m_data[3]; + } + template + void quaternion::set_axis(value_type x, value_type y, value_type z){ + value_type sin_angle = std::sin(std::acos(m_data[0])); + m_data[1] = sin_angle * x; + m_data[2] = sin_angle * y; + m_data[3] = sin_angle * z; + } + template + void quaternion::set_axis(const vec3& v){ + set_axis(v.x(), v.y(), v.z()); + } + template + auto quaternion::get_axis(void)const -> vec3{ + quaternion tmp(*this); + if(m_data[0] > value_type{1.0}) + tmp = tmp.normalize(); + value_type s = std::sqrt(1 - tmp.m_data[0] * tmp.m_data[0]); + if(s <= value_type{0.001}) + return vec3(1, 0, 0); + return vec3(tmp.m_data[1] / s, tmp.m_data[2] / s, tmp.m_data[3] / s); + } + template + void quaternion::set_angle(value_type t){ + t /= value_type{2.0}; + value_type old_sin_angle = std::sin(std::acos(m_data[0])); + value_type sin_angle = std::sin(t); + m_data[0] = std::cos(t); + m_data[1] = (m_data[1] / old_sin_angle) * sin_angle; + m_data[2] = (m_data[2] / old_sin_angle) * sin_angle; + m_data[3] = (m_data[3] / old_sin_angle) * sin_angle; + } + template + auto quaternion::get_angle(void)const -> value_type{ + return 2.0 * std::acos(m_data[0]); + } + template + auto quaternion::norm(void)const -> value_type{ + return m_data[0] * m_data[0] + m_data[1] * m_data[1] + m_data[2] * m_data[2] + m_data[3] * m_data[3]; + } + template + quaternion quaternion::conjugate(void)const{ + return quaternion(manual_initialize, m_data[0], -m_data[1], -m_data[2], -m_data[3]); + } + template + quaternion quaternion::inverse(void)const{ + return conjugate() / norm(); + } + template + auto quaternion::magnitude(void)const -> value_type{ + return std::sqrt(norm()); + } + template + quaternion quaternion::normalize(void)const{ + value_type mag = magnitude(); + return quaternion(manual_initialize, m_data[0] / mag, m_data[1] / mag, m_data[2] / mag, m_data[3] / mag); + } + template + auto quaternion::get_right(void)const -> vec3{ + return vec3(1 - 2 * ((m_data[2] * m_data[2]) + (m_data[3] * m_data[3])), + 2 * ((m_data[1] * m_data[2]) - (m_data[3] * m_data[0])), + 2 * ((m_data[1] * m_data[3]) + (m_data[2] * m_data[0]))); + } + template + auto quaternion::get_up(void)const -> vec3{ + return vec3( 2 * ((m_data[1] * m_data[2]) + (m_data[3] * m_data[0])), + 1 - 2 * ((m_data[1] * m_data[1]) + (m_data[3] * m_data[3])), + 2 * ((m_data[2] * m_data[3]) - (m_data[1] * m_data[0]))); + } + template + auto quaternion::get_forward(void)const -> vec3{ + return vec3( 2 * ((m_data[1] * m_data[3]) - (m_data[2] * m_data[0])), + 2 * ((m_data[2] * m_data[3]) + (m_data[1] * m_data[0])), + 1 - 2 * ((m_data[1] * m_data[1]) + (m_data[2] * m_data[2]))); + } + template + auto quaternion::to_vec3(void)const -> vec3{ + return vec3(m_data[1], m_data[2], m_data[3]); + } + template + auto quaternion::to_vec4(void)const -> vec4{ + return vec4(m_data[1], m_data[2], m_data[3]); + } + template + auto quaternion::to_mat3(void)const -> mat3{ + mat3 m; + + value_type xx = m_data[1] * m_data[1]; + value_type yy = m_data[2] * m_data[2]; + value_type zz = m_data[3] * m_data[3]; + + value_type xy = m_data[1] * m_data[2]; + value_type xz = m_data[1] * m_data[3]; + value_type xw = m_data[1] * m_data[0]; + value_type yz = m_data[2] * m_data[3]; + value_type yw = m_data[2] * m_data[0]; + value_type zw = m_data[3] * m_data[0]; + + m.get(0) = 1 - 2 * (yy + zz); + m.get(1) = 2 * (xy + zw); + m.get(2) = 2 * (xz - yw); + m.get(3) = 2 * (xy - zw); + m.get(4) = 1 - 2 * (xx + zz); + m.get(5) = 2 * (yz + xw); + m.get(6) = 2 * (xz + yw); + m.get(7) = 2 * (yz - xw); + m.get(8) = 1 - 2 * (xx + yy); + return m; + } + template + auto quaternion::to_mat4(void)const -> mat4{ + mat4 m; + + value_type xx = m_data[1] * m_data[1]; + value_type yy = m_data[2] * m_data[2]; + value_type zz = m_data[3] * m_data[3]; + + value_type xy = m_data[1] * m_data[2]; + value_type xz = m_data[1] * m_data[3]; + value_type xw = m_data[1] * m_data[0]; + value_type yz = m_data[2] * m_data[3]; + value_type yw = m_data[2] * m_data[0]; + value_type zw = m_data[3] * m_data[0]; + + m.get(0) = 1 - 2 * (yy + zz); + m.get(1) = 2 * (xy + zw); + m.get(2) = 2 * (xz - yw); + m.get(3) = 0; + m.get(4) = 2 * (xy - zw); + m.get(5) = 1 - 2 * (xx + zz); + m.get(6) = 2 * (yz + xw); + m.get(7) = 0; + m.get(8) = 2 * (xz + yw); + m.get(9) = 2 * (yz - xw); + m.get(10) = 1 - 2 * (xx + yy); + m.get(11) = 0; + m.get(12) = 0; + m.get(13) = 0; + m.get(14) = 0; + m.get(15) = 1; + return m; + } + template + auto quaternion::to_euler_angles(void)const -> vec3{ + value_type ww = m_data[0] * m_data[0]; + value_type xx = m_data[1] * m_data[1]; + value_type yy = m_data[2] * m_data[2]; + value_type zz = m_data[3] * m_data[3]; + + value_type correction = ww + xx + yy + zz; + value_type test = m_data[1] * m_data[2] + m_data[3] * m_data[0]; + if(test > 0.499 * correction){ + return vec3(0, 2 * std::atan2(m_data[1], m_data[0]), pi() / 2.0); + }else if(test < -0.499 * correction){ + return vec3(0, -2 * std::atan2(m_data[1], m_data[0]), -pi() / 2.0); + } + return vec3(std::atan2((2 * m_data[1] * m_data[0]) - (2 * m_data[2] * m_data[3]), ww - xx + yy - zz), + std::atan2((2 * m_data[2] * m_data[0]) - (2 * m_data[1] * m_data[3]), xx - yy - zz + ww), + std::asin(2 * test / correction)); + } + template + auto quaternion::to_axis_angle(void)const -> std::pair>{ + quaternion q(*this); + if(m_data[0] > 1.0) + q = q.normalize(); + + value_type s = std::sqrt(1 - q.m_data[0] * q.m_data[0]); + if(s <= value_type{0.001}){ + return {2 * std::acos(q.m_data[0]), {1, 0, 0}}; + } + return {2 * std::acos(q.m_data[0]), {q.m_data[1] / s, q.m_data[2] / s, q.m_data[3] / s}}; + } + + template + bool operator==(const quaternion& left, const quaternion& right){ + return left.w() == right.w() && + left.x() == right.x() && + left.y() == right.y() && + left.z() == right.z(); + } + template + bool operator!=(const quaternion& left, const quaternion& right){ + return !(left == right); + } + template + auto operator-(const quaternion& left){ + using res_t = T; + return quaternion(manual_initialize, -left.w(), -left.x(), -left.y(), -left.z()); + } + template + auto operator-(const quaternion& left, const quaternion& right){ + using res_t = decltype(std::declval() - std::declval()); + return quaternion(manual_initialize, left.w() - right.w(), left.x() - right.x(), + left.y() - right.y(), left.z() - right.z()); + } + template + auto operator+(const quaternion& left, const quaternion& right){ + using res_t = decltype(std::declval() + std::declval()); + return quaternion(manual_initialize, left.w() + right.w(), left.x() + right.x(), + left.y() + right.y(), left.z() + right.z()); + } + template + auto operator*(const quaternion& left, const quaternion& right){ + using res_t = decltype(std::declval() * std::declval()); + return quaternion(manual_initialize, + (right.w() * left.w()) - (right.x() * left.x()) - + (right.y() * left.y()) - (right.z() * left.z()), + (right.w() * left.x()) + (right.x() * left.w()) + + (right.y() * left.z()) - (right.z() * left.y()), + (right.w() * left.y()) - (right.x() * left.z()) + + (right.y() * left.w()) + (right.z() * left.x()), + (right.w() * left.z()) + (right.x() * left.y()) - + (right.y() * left.x()) + (right.z() * left.w())); + } + template + auto operator*(const quaternion& left, const vec3& right){ + return left.to_mat3() * right; + } + template + auto operator*(const quaternion& left, U&& right){ + using res_t = decltype(std::declval() * std::declval()); + return quaternion(manual_initialize, left.w() * right, left.x() * right, left.y() * right, left.z() * right); + } + template + auto operator/(const quaternion& left, U&& right){ + using res_t = decltype(std::declval() / std::declval()); + return quaternion(manual_initialize, left.w() / right, left.x() / right, left.y() / right, left.z() / right); + } + template + decltype(auto) operator+=(quaternion& left, const quaternion& right){ + left.w() += right.w(); + left.x() += right.x(); + left.y() += right.y(); + left.z() += right.z(); + return left; + } + template + decltype(auto) operator-=(quaternion& left, const quaternion& right){ + left.w() -= right.w(); + left.x() -= right.x(); + left.y() -= right.y(); + left.z() -= right.z(); + return left; + } + template + decltype(auto) operator*=(quaternion& left, const quaternion& right){ + left = left * right; + return left; + } + + template + decltype(auto) operator*=(quaternion& left, U&& right){ + left.w() *= right; + left.x() *= right; + left.y() *= right; + left.z() *= right; + return left; + } + template + decltype(auto) operator/=(quaternion& left, U&& right){ + left.w() /= right; + left.x() /= right; + left.y() /= right; + left.z() /= right; + return left; + } + +} + +#endif diff --git a/include/rml/rml.hpp.in b/include/rml/rml.hpp.in new file mode 100644 index 0000000..936f87c --- /dev/null +++ b/include/rml/rml.hpp.in @@ -0,0 +1,25 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2022 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 . +*/ + +#ifndef RML_RML_HPP +#define RML_RML_HPP + +#define LIBRML_VERSION @librml_VERSION_STRING@ +#define LIBRML_INSTANTIATIONS_ENABLED @LIBRML_INSTANTIATIONS_ENABLED@ + +#endif diff --git a/include/rml/vec.hpp b/include/rml/vec.hpp new file mode 100644 index 0000000..5abd006 --- /dev/null +++ b/include/rml/vec.hpp @@ -0,0 +1,143 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_VEC_HPP +#define RML_VEC_HPP + +#include //size_t +#include //enable_if, convertible_to + +#include "mat.hpp" +#include "math_common.hpp" + +#include "rml.hpp" + +namespace rml{ + + //class representing vectors + //inherit from matrix base because it also shared matrix attributes + template + class vector : public matrix_base + { + private: + using base = matrix_base; + public: + using value_type = typename base::value_type; + using size_type = typename base::size_type; + using pointer = typename base::pointer; + using const_pointer = typename base::const_pointer; + using reference = typename base::reference; + using const_reference = typename base::const_reference; + + public: + using base::base; + + template && ...),int> = 0> + constexpr vector(const vector& other, Args&&... args); + template + constexpr vector(const vector& other); + constexpr vector(const vector&) = default; + constexpr vector(vector&&) = default; + ~vector(void) = default; + + //Assignement + constexpr vector& operator=(const vector&) = default; + constexpr vector& operator=(vector&&) = default; + template + constexpr vector& operator=(const vector& m); + + constexpr reference operator[](size_type i); + constexpr const_reference operator[](size_type i)const; + + constexpr reference x(void); + constexpr const_reference x(void)const; + template + constexpr reference y(void); + template + constexpr const_reference y(void)const; + template + constexpr reference z(void); + template + constexpr const_reference z(void)const; + template + constexpr reference w(void); + template + constexpr const_reference w(void)const; + + value_type magnitude(void)const; + vector normalize(void); + protected: + template + constexpr void assign_(size_type offset, U&& u, Args&&... args); + }; + + template + constexpr auto perp(const vector& v); + template + constexpr auto perp(const vector& left, const vector& right); + template + constexpr auto cross(const vector& left, const vector& right); + + template + constexpr auto magnitude(const vector& v); + + template + constexpr auto operator*(const matrix& left, const vector& right); + template + constexpr auto operator*(const vector& left, const vector& right); + template + constexpr auto operator*(const vector& left, U&& right); + template + constexpr auto operator*(U&& left, const vector& right); + template + constexpr auto operator/(const vector& left, U&& right); + template + constexpr auto operator+(const vector& left, const vector& right); + template + constexpr auto operator-(const vector& left, const vector& right); + template + constexpr auto operator-(const vector& left); + + template + constexpr decltype(auto) operator*=(vector& left, U&& right); + template + constexpr decltype(auto) operator/=(vector& left, U&& right); + template + constexpr decltype(auto) operator+=(vector& left, const vector& right); + template + constexpr decltype(auto) operator-=(vector& left, const vector& right); + +#if RML_INSTANTIATIONS_ENABLED + extern template class vector; + extern template class vector; + extern template class vector; + + extern template class vector; + extern template class vector; + extern template class vector; + + extern template class vector; + extern template class vector; + extern template class vector; +#endif + +} + +#include "vec.tpp" + +#endif diff --git a/include/rml/vec.tpp b/include/rml/vec.tpp new file mode 100644 index 0000000..493ae97 --- /dev/null +++ b/include/rml/vec.tpp @@ -0,0 +1,254 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2020-2022 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 . +*/ + +#ifndef RML_VEC_TPP +#define RML_VEC_TPP + +#include //sqrt + +namespace rml{ + + template + template && ...),int>> + constexpr vector::vector(const vector& other, Args&&... args){ + static_assert(sizeof...(args) + TR <= R); + size_type i = 0; + for(;i < TR;++i){ + this->m_data[i] = other[i]; + } + if constexpr(sizeof...(args) > 0){ + assign_(i, std::forward(args)...); + } + } + template + template + constexpr vector::vector(const vector& other){ + for(size_type i = 0;i < R;++i){ + this->m_data[i] = other[i]; + } + } + template + template + constexpr void vector::assign_(size_type offset, U&& u, Args&&... args){ + this->m_data[offset] = std::forward(u); + if constexpr(sizeof...(args) > 0){ + assign_(offset + 1, std::forward(args)...); + } + } + template + template + constexpr vector& vector::operator=(const vector& m){ + base::operator=(m); + return *this; + } + template + constexpr auto vector::operator[](size_type i) -> reference{ + return this->m_data[i]; + } + template + constexpr auto vector::operator[](size_type i)const -> const_reference{ + return this->m_data[i]; + } + + template + constexpr auto vector::x(void) -> reference{ + return this->m_data[0]; + } + template + constexpr auto vector::x(void)const -> const_reference{ + return this->m_data[0]; + } + template + template + constexpr auto vector::y(void) -> reference{ + static_assert(R > 1, "Vector does not contain a 2nd element"); + return this->m_data[1]; + } + template + template + constexpr auto vector::y(void)const -> const_reference{ + static_assert(R > 1, "Vector does not contain a 2nd element"); + return this->m_data[1]; + } + template + template + constexpr auto vector::z(void) -> reference{ + static_assert(R > 2, "Vector does not contain a 3rd element"); + return this->m_data[2]; + } + template + template + constexpr auto vector::z(void)const -> const_reference{ + static_assert(R > 2, "Vector does not contain a 3rd element"); + return this->m_data[2]; + } + template + template + constexpr auto vector::w(void) -> reference{ + static_assert(R > 3, "Vector does not contain a 4th element"); + return this->m_data[3]; + } + template + template + constexpr auto vector::w(void)const -> const_reference{ + static_assert(R > 3, "Vector does not contain a 4th element"); + return this->m_data[3]; + } + template + auto vector::magnitude(void)const -> value_type{ + value_type sum = 0; + for(size_type i = 0;i < R;++i){ + sum += (this->m_data[i] * this->m_data[i]); + } + return sqrt(sum); + } + template + vector vector::normalize(void){ + return (*this) / magnitude(); + } + + template + constexpr auto perp(const vector& v){ + return vec2(-v[1], v[0]); + } + template + constexpr auto perp(const vector& left, const vector& right){ + return (left[0] * right[1]) - (left[1] * right[0]); + } + template + constexpr auto cross(const vector& left, const vector& right){ + using res_t = decltype(left[0] * right[0]); + return vec3((left[1] * right[2]) - (left[2] * right[1]), + (left[2] * right[0]) - (left[0] * right[2]), + (left[0] * right[1]) - (left[1] * right[0])); + } + template + constexpr auto magnitude(const vector& v){ + return v.magnitude(); + } + + template + constexpr auto operator*(const matrix& left, const vector& right){ + using res_t = decltype(std::declval() * std::declval()); + vector res(zero_initialize); + size_t index = 0; + //columns == rows + for(size_t i = 0; i < R; ++i){ + for(size_t k = 0; k < C; ++k){ + res.get(index) += left.get(k, i) * right[k]; + } + ++index; + } + return res; + } + template + constexpr auto operator*(const vector& left, const vector& right){ + using res_t = decltype(std::declval() * std::declval()); + res_t res = 0; + for(size_t i = 0; i < R; ++i){ + res += left[i] * right[i]; + } + return res; + } + template + constexpr auto operator*(const vector& left, U&& right){ + using res_t = decltype(std::declval() * std::declval()); + vector res(zero_initialize); + for(size_t i = 0; i < R; ++i){ + res[i] = left[i] * std::forward(right); + } + return res; + } + template + constexpr auto operator*(U&& left, const vector& right){ + using res_t = decltype(std::declval() * std::declval()); + vector res(zero_initialize); + for(size_t i = 0; i < R; ++i){ + res[i] = std::forward(left) * right[i]; + } + return res; + } + template + constexpr auto operator/(const vector& left, U&& right){ + using res_t = decltype(std::declval() / std::declval()); + vector res(zero_initialize); + for(size_t i = 0; i < R; ++i){ + res[i] = left[i] / std::forward(right); + } + return res; + } + template + constexpr auto operator+(const vector& left, const vector& right){ + using res_t = decltype(std::declval() + std::declval()); + vector res(zero_initialize); + for(size_t i = 0; i < R; ++i){ + res[i] = left[i] + right[i]; + } + return res; + } + template + constexpr auto operator-(const vector& left, const vector& right){ + using res_t = decltype(std::declval() - std::declval()); + vector res(zero_initialize); + for(size_t i = 0; i < R; ++i){ + res[i] = left[i] - right[i]; + } + return res; + } + template + constexpr auto operator-(const vector& left){ + using res_t = decltype(-std::declval()); + vector res(zero_initialize); + for(size_t i = 0; i < R; ++i){ + res[i] = -left[i]; + } + return res; + } + + template + constexpr decltype(auto) operator*=(vector& left, U&& right){ + for(size_t i = 0; i < R; ++i){ + left[i] *= right; + } + return left; + } + template + constexpr decltype(auto) operator/=(vector& left, U&& right){ + for(size_t i = 0; i < R; ++i){ + left[i] /= right; + } + return left; + } + template + constexpr decltype(auto) operator+=(vector& left, const vector& right){ + for(size_t i = 0; i < R; ++i){ + left[i] += right[i]; + } + return left; + } + template + constexpr decltype(auto) operator-=(vector& left, const vector& right){ + for(size_t i = 0; i < R; ++i){ + left[i] -= right[i]; + } + return left; + } + +} + +#endif diff --git a/pc/librml.pc.cmake.in b/pc/librml.pc.cmake.in new file mode 100644 index 0000000..e588482 --- /dev/null +++ b/pc/librml.pc.cmake.in @@ -0,0 +1,9 @@ +libdir=@CMAKE_INSTALL_FULL_LIBDIR@ +includedir=@CMAKE_INSTALL_FULL_INCLUDEDIR@ + +Name: librml +Description: Rexy's Math Library +URL: https://gitlab.com/rexy712/rml +Version: @librml_VERSION_MAJOR@.@librml_VERSION_MINOR@.@librml_VERSION_REVISION@ +Libs: -L${libdir} @LIBRML_LIBFLAGS@ +Cflags: -I${includedir} diff --git a/src/ensure.cpp b/src/ensure.cpp new file mode 100644 index 0000000..a19cda1 --- /dev/null +++ b/src/ensure.cpp @@ -0,0 +1,12 @@ +#include "rml/debug.hpp" +#include "rml/fwd_declare.hpp" +#include "rml/math_common.hpp" +#include "rml/math.hpp" +#include "rml/mat.hpp" +#include "rml/mat.tpp" +#include "rml/projection.hpp" +#include "rml/projection.tpp" +#include "rml/quat.hpp" +#include "rml/quat.tpp" +#include "rml/vec.hpp" +#include "rml/vec.tpp" diff --git a/src/instantiations.cpp b/src/instantiations.cpp new file mode 100644 index 0000000..af6dddf --- /dev/null +++ b/src/instantiations.cpp @@ -0,0 +1,51 @@ +/** + This file is a part of rexy's math library + Copyright (C) 2022 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 . +*/ + +#include "rml/mat.hpp" +#include "rml/vec.hpp" +#include "rml/quat.hpp" + +namespace rml{ + template class matrix; + template class matrix; + template class matrix; + + template class matrix; + template class matrix; + template class matrix; + + template class matrix; + template class matrix; + template class matrix; + + template class vector; + template class vector; + template class vector; + + template class vector; + template class vector; + template class vector; + + template class vector; + template class vector; + template class vector; + + template class quaternion; + template class quaternion; + template class quaternion; +}