Initial commit with this as a separate library
This commit is contained in:
commit
7bb80382d2
14
.gitignore
vendored
Normal file
14
.gitignore
vendored
Normal file
@ -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
|
||||
73
CMakeLists.txt
Normal file
73
CMakeLists.txt
Normal file
@ -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"
|
||||
"${CMAKE_CURRENT_SOURCE_DIR}/pc/librml.pc"
|
||||
@ONLY
|
||||
)
|
||||
configure_file(
|
||||
"${INCLUDE_PATH}/rml/rml.hpp.in"
|
||||
"${INCLUDE_PATH}/rml/rml.hpp"
|
||||
)
|
||||
|
||||
add_custom_target(uninstall cat install_manifest.txt | xargs rm)
|
||||
674
LICENSE
Normal file
674
LICENSE
Normal file
@ -0,0 +1,674 @@
|
||||
GNU GENERAL PUBLIC LICENSE
|
||||
Version 3, 29 June 2007
|
||||
|
||||
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
|
||||
Everyone is permitted to copy and distribute verbatim copies
|
||||
of this license document, but changing it is not allowed.
|
||||
|
||||
Preamble
|
||||
|
||||
The GNU General Public License is a free, copyleft license for
|
||||
software and other kinds of works.
|
||||
|
||||
The licenses for most software and other practical works are designed
|
||||
to take away your freedom to share and change the works. By contrast,
|
||||
the GNU General Public License is intended to guarantee your freedom to
|
||||
share and change all versions of a program--to make sure it remains free
|
||||
software for all its users. We, the Free Software Foundation, use the
|
||||
GNU General Public License for most of our software; it applies also to
|
||||
any other work released this way by its authors. You can apply it to
|
||||
your programs, too.
|
||||
|
||||
When we speak of free software, we are referring to freedom, not
|
||||
price. Our General Public Licenses are designed to make sure that you
|
||||
have the freedom to distribute copies of free software (and charge for
|
||||
them if you wish), that you receive source code or can get it if you
|
||||
want it, that you can change the software or use pieces of it in new
|
||||
free programs, and that you know you can do these things.
|
||||
|
||||
To protect your rights, we need to prevent others from denying you
|
||||
these rights or asking you to surrender the rights. Therefore, you have
|
||||
certain responsibilities if you distribute copies of the software, or if
|
||||
you modify it: responsibilities to respect the freedom of others.
|
||||
|
||||
For example, if you distribute copies of such a program, whether
|
||||
gratis or for a fee, you must pass on to the recipients the same
|
||||
freedoms that you received. You must make sure that they, too, receive
|
||||
or can get the source code. And you must show them these terms so they
|
||||
know their rights.
|
||||
|
||||
Developers that use the GNU GPL protect your rights with two steps:
|
||||
(1) assert copyright on the software, and (2) offer you this License
|
||||
giving you legal permission to copy, distribute and/or modify it.
|
||||
|
||||
For the developers' and authors' protection, the GPL clearly explains
|
||||
that there is no warranty for this free software. For both users' and
|
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authors' sake, the GPL requires that modified versions be marked as
|
||||
changed, so that their problems will not be attributed erroneously to
|
||||
authors of previous versions.
|
||||
|
||||
Some devices are designed to deny users access to install or run
|
||||
modified versions of the software inside them, although the manufacturer
|
||||
can do so. This is fundamentally incompatible with the aim of
|
||||
protecting users' freedom to change the software. The systematic
|
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pattern of such abuse occurs in the area of products for individuals to
|
||||
use, which is precisely where it is most unacceptable. Therefore, we
|
||||
have designed this version of the GPL to prohibit the practice for those
|
||||
products. If such problems arise substantially in other domains, we
|
||||
stand ready to extend this provision to those domains in future versions
|
||||
of the GPL, as needed to protect the freedom of users.
|
||||
|
||||
Finally, every program is threatened constantly by software patents.
|
||||
States should not allow patents to restrict development and use of
|
||||
software on general-purpose computers, but in those that do, we wish to
|
||||
avoid the special danger that patents applied to a free program could
|
||||
make it effectively proprietary. To prevent this, the GPL assures that
|
||||
patents cannot be used to render the program non-free.
|
||||
|
||||
The precise terms and conditions for copying, distribution and
|
||||
modification follow.
|
||||
|
||||
TERMS AND CONDITIONS
|
||||
|
||||
0. Definitions.
|
||||
|
||||
"This License" refers to version 3 of the GNU General Public License.
|
||||
|
||||
"Copyright" also means copyright-like laws that apply to other kinds of
|
||||
works, such as semiconductor masks.
|
||||
|
||||
"The Program" refers to any copyrightable work licensed under this
|
||||
License. Each licensee is addressed as "you". "Licensees" and
|
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|
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To "modify" a work means to copy from or adapt all or part of the work
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A "covered work" means either the unmodified Program or a work based
|
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|
||||
To "propagate" a work means to do anything with it that, without
|
||||
permission, would make you directly or secondarily liable for
|
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infringement under applicable copyright law, except executing it on a
|
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To "convey" a work means any kind of propagation that enables other
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An interactive user interface displays "Appropriate Legal Notices"
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The "source code" for a work means the preferred form of the work
|
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The "System Libraries" of an executable work include anything, other
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The Corresponding Source need not include anything that users
|
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|
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The Corresponding Source for a work in source code form is that
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|
||||
2. Basic Permissions.
|
||||
|
||||
All rights granted under this License are granted for the term of
|
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|
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|
||||
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|
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You may make, run and propagate covered works that you do not
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Conveying under any other circumstances is permitted solely under
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When you convey a covered work, you waive any legal power to forbid
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You may convey verbatim copies of the Program's source code as you
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for a work that has been modified or installed by the recipient, or for
|
||||
the User Product in which it has been modified or installed. Access to a
|
||||
network may be denied when the modification itself materially and
|
||||
adversely affects the operation of the network or violates the rules and
|
||||
protocols for communication across the network.
|
||||
|
||||
Corresponding Source conveyed, and Installation Information provided,
|
||||
in accord with this section must be in a format that is publicly
|
||||
documented (and with an implementation available to the public in
|
||||
source code form), and must require no special password or key for
|
||||
unpacking, reading or copying.
|
||||
|
||||
7. Additional Terms.
|
||||
|
||||
"Additional permissions" are terms that supplement the terms of this
|
||||
License by making exceptions from one or more of its conditions.
|
||||
Additional permissions that are applicable to the entire Program shall
|
||||
be treated as though they were included in this License, to the extent
|
||||
that they are valid under applicable law. If additional permissions
|
||||
apply only to part of the Program, that part may be used separately
|
||||
under those permissions, but the entire Program remains governed by
|
||||
this License without regard to the additional permissions.
|
||||
|
||||
When you convey a copy of a covered work, you may at your option
|
||||
remove any additional permissions from that copy, or from any part of
|
||||
it. (Additional permissions may be written to require their own
|
||||
removal in certain cases when you modify the work.) You may place
|
||||
additional permissions on material, added by you to a covered work,
|
||||
for which you have or can give appropriate copyright permission.
|
||||
|
||||
Notwithstanding any other provision of this License, for material you
|
||||
add to a covered work, you may (if authorized by the copyright holders of
|
||||
that material) supplement the terms of this License with terms:
|
||||
|
||||
a) Disclaiming warranty or limiting liability differently from the
|
||||
terms of sections 15 and 16 of this License; or
|
||||
|
||||
b) Requiring preservation of specified reasonable legal notices or
|
||||
author attributions in that material or in the Appropriate Legal
|
||||
Notices displayed by works containing it; or
|
||||
|
||||
c) Prohibiting misrepresentation of the origin of that material, or
|
||||
requiring that modified versions of such material be marked in
|
||||
reasonable ways as different from the original version; or
|
||||
|
||||
d) Limiting the use for publicity purposes of names of licensors or
|
||||
authors of the material; or
|
||||
|
||||
e) Declining to grant rights under trademark law for use of some
|
||||
trade names, trademarks, or service marks; or
|
||||
|
||||
f) Requiring indemnification of licensors and authors of that
|
||||
material by anyone who conveys the material (or modified versions of
|
||||
it) with contractual assumptions of liability to the recipient, for
|
||||
any liability that these contractual assumptions directly impose on
|
||||
those licensors and authors.
|
||||
|
||||
All other non-permissive additional terms are considered "further
|
||||
restrictions" within the meaning of section 10. If the Program as you
|
||||
received it, or any part of it, contains a notice stating that it is
|
||||
governed by this License along with a term that is a further
|
||||
restriction, you may remove that term. If a license document contains
|
||||
a further restriction but permits relicensing or conveying under this
|
||||
License, you may add to a covered work material governed by the terms
|
||||
of that license document, provided that the further restriction does
|
||||
not survive such relicensing or conveying.
|
||||
|
||||
If you add terms to a covered work in accord with this section, you
|
||||
must place, in the relevant source files, a statement of the
|
||||
additional terms that apply to those files, or a notice indicating
|
||||
where to find the applicable terms.
|
||||
|
||||
Additional terms, permissive or non-permissive, may be stated in the
|
||||
form of a separately written license, or stated as exceptions;
|
||||
the above requirements apply either way.
|
||||
|
||||
8. Termination.
|
||||
|
||||
You may not propagate or modify a covered work except as expressly
|
||||
provided under this License. Any attempt otherwise to propagate or
|
||||
modify it is void, and will automatically terminate your rights under
|
||||
this License (including any patent licenses granted under the third
|
||||
paragraph of section 11).
|
||||
|
||||
However, if you cease all violation of this License, then your
|
||||
license from a particular copyright holder is reinstated (a)
|
||||
provisionally, unless and until the copyright holder explicitly and
|
||||
finally terminates your license, and (b) permanently, if the copyright
|
||||
holder fails to notify you of the violation by some reasonable means
|
||||
prior to 60 days after the cessation.
|
||||
|
||||
Moreover, your license from a particular copyright holder is
|
||||
reinstated permanently if the copyright holder notifies you of the
|
||||
violation by some reasonable means, this is the first time you have
|
||||
received notice of violation of this License (for any work) from that
|
||||
copyright holder, and you cure the violation prior to 30 days after
|
||||
your receipt of the notice.
|
||||
|
||||
Termination of your rights under this section does not terminate the
|
||||
licenses of parties who have received copies or rights from you under
|
||||
this License. If your rights have been terminated and not permanently
|
||||
reinstated, you do not qualify to receive new licenses for the same
|
||||
material under section 10.
|
||||
|
||||
9. Acceptance Not Required for Having Copies.
|
||||
|
||||
You are not required to accept this License in order to receive or
|
||||
run a copy of the Program. Ancillary propagation of a covered work
|
||||
occurring solely as a consequence of using peer-to-peer transmission
|
||||
to receive a copy likewise does not require acceptance. However,
|
||||
nothing other than this License grants you permission to propagate or
|
||||
modify any covered work. These actions infringe copyright if you do
|
||||
not accept this License. Therefore, by modifying or propagating a
|
||||
covered work, you indicate your acceptance of this License to do so.
|
||||
|
||||
10. Automatic Licensing of Downstream Recipients.
|
||||
|
||||
Each time you convey a covered work, the recipient automatically
|
||||
receives a license from the original licensors, to run, modify and
|
||||
propagate that work, subject to this License. You are not responsible
|
||||
for enforcing compliance by third parties with this License.
|
||||
|
||||
An "entity transaction" is a transaction transferring control of an
|
||||
organization, or substantially all assets of one, or subdividing an
|
||||
organization, or merging organizations. If propagation of a covered
|
||||
work results from an entity transaction, each party to that
|
||||
transaction who receives a copy of the work also receives whatever
|
||||
licenses to the work the party's predecessor in interest had or could
|
||||
give under the previous paragraph, plus a right to possession of the
|
||||
Corresponding Source of the work from the predecessor in interest, if
|
||||
the predecessor has it or can get it with reasonable efforts.
|
||||
|
||||
You may not impose any further restrictions on the exercise of the
|
||||
rights granted or affirmed under this License. For example, you may
|
||||
not impose a license fee, royalty, or other charge for exercise of
|
||||
rights granted under this License, and you may not initiate litigation
|
||||
(including a cross-claim or counterclaim in a lawsuit) alleging that
|
||||
any patent claim is infringed by making, using, selling, offering for
|
||||
sale, or importing the Program or any portion of it.
|
||||
|
||||
11. Patents.
|
||||
|
||||
A "contributor" is a copyright holder who authorizes use under this
|
||||
License of the Program or a work on which the Program is based. The
|
||||
work thus licensed is called the contributor's "contributor version".
|
||||
|
||||
A contributor's "essential patent claims" are all patent claims
|
||||
owned or controlled by the contributor, whether already acquired or
|
||||
hereafter acquired, that would be infringed by some manner, permitted
|
||||
by this License, of making, using, or selling its contributor version,
|
||||
but do not include claims that would be infringed only as a
|
||||
consequence of further modification of the contributor version. For
|
||||
purposes of this definition, "control" includes the right to grant
|
||||
patent sublicenses in a manner consistent with the requirements of
|
||||
this License.
|
||||
|
||||
Each contributor grants you a non-exclusive, worldwide, royalty-free
|
||||
patent license under the contributor's essential patent claims, to
|
||||
make, use, sell, offer for sale, import and otherwise run, modify and
|
||||
propagate the contents of its contributor version.
|
||||
|
||||
In the following three paragraphs, a "patent license" is any express
|
||||
agreement or commitment, however denominated, not to enforce a patent
|
||||
(such as an express permission to practice a patent or covenant not to
|
||||
sue for patent infringement). To "grant" such a patent license to a
|
||||
party means to make such an agreement or commitment not to enforce a
|
||||
patent against the party.
|
||||
|
||||
If you convey a covered work, knowingly relying on a patent license,
|
||||
and the Corresponding Source of the work is not available for anyone
|
||||
to copy, free of charge and under the terms of this License, through a
|
||||
publicly available network server or other readily accessible means,
|
||||
then you must either (1) cause the Corresponding Source to be so
|
||||
available, or (2) arrange to deprive yourself of the benefit of the
|
||||
patent license for this particular work, or (3) arrange, in a manner
|
||||
consistent with the requirements of this License, to extend the patent
|
||||
license to downstream recipients. "Knowingly relying" means you have
|
||||
actual knowledge that, but for the patent license, your conveying the
|
||||
covered work in a country, or your recipient's use of the covered work
|
||||
in a country, would infringe one or more identifiable patents in that
|
||||
country that you have reason to believe are valid.
|
||||
|
||||
If, pursuant to or in connection with a single transaction or
|
||||
arrangement, you convey, or propagate by procuring conveyance of, a
|
||||
covered work, and grant a patent license to some of the parties
|
||||
receiving the covered work authorizing them to use, propagate, modify
|
||||
or convey a specific copy of the covered work, then the patent license
|
||||
you grant is automatically extended to all recipients of the covered
|
||||
work and works based on it.
|
||||
|
||||
A patent license is "discriminatory" if it does not include within
|
||||
the scope of its coverage, prohibits the exercise of, or is
|
||||
conditioned on the non-exercise of one or more of the rights that are
|
||||
specifically granted under this License. You may not convey a covered
|
||||
work if you are a party to an arrangement with a third party that is
|
||||
in the business of distributing software, under which you make payment
|
||||
to the third party based on the extent of your activity of conveying
|
||||
the work, and under which the third party grants, to any of the
|
||||
parties who would receive the covered work from you, a discriminatory
|
||||
patent license (a) in connection with copies of the covered work
|
||||
conveyed by you (or copies made from those copies), or (b) primarily
|
||||
for and in connection with specific products or compilations that
|
||||
contain the covered work, unless you entered into that arrangement,
|
||||
or that patent license was granted, prior to 28 March 2007.
|
||||
|
||||
Nothing in this License shall be construed as excluding or limiting
|
||||
any implied license or other defenses to infringement that may
|
||||
otherwise be available to you under applicable patent law.
|
||||
|
||||
12. No Surrender of Others' Freedom.
|
||||
|
||||
If conditions are imposed on you (whether by court order, agreement or
|
||||
otherwise) that contradict the conditions of this License, they do not
|
||||
excuse you from the conditions of this License. If you cannot convey a
|
||||
covered work so as to satisfy simultaneously your obligations under this
|
||||
License and any other pertinent obligations, then as a consequence you may
|
||||
not convey it at all. For example, if you agree to terms that obligate you
|
||||
to collect a royalty for further conveying from those to whom you convey
|
||||
the Program, the only way you could satisfy both those terms and this
|
||||
License would be to refrain entirely from conveying the Program.
|
||||
|
||||
13. Use with the GNU Affero General Public License.
|
||||
|
||||
Notwithstanding any other provision of this License, you have
|
||||
permission to link or combine any covered work with a work licensed
|
||||
under version 3 of the GNU Affero General Public License into a single
|
||||
combined work, and to convey the resulting work. The terms of this
|
||||
License will continue to apply to the part which is the covered work,
|
||||
but the special requirements of the GNU Affero General Public License,
|
||||
section 13, concerning interaction through a network will apply to the
|
||||
combination as such.
|
||||
|
||||
14. Revised Versions of this License.
|
||||
|
||||
The Free Software Foundation may publish revised and/or new versions of
|
||||
the GNU General Public License from time to time. Such new versions will
|
||||
be similar in spirit to the present version, but may differ in detail to
|
||||
address new problems or concerns.
|
||||
|
||||
Each version is given a distinguishing version number. If the
|
||||
Program specifies that a certain numbered version of the GNU General
|
||||
Public License "or any later version" applies to it, you have the
|
||||
option of following the terms and conditions either of that numbered
|
||||
version or of any later version published by the Free Software
|
||||
Foundation. If the Program does not specify a version number of the
|
||||
GNU General Public License, you may choose any version ever published
|
||||
by the Free Software Foundation.
|
||||
|
||||
If the Program specifies that a proxy can decide which future
|
||||
versions of the GNU General Public License can be used, that proxy's
|
||||
public statement of acceptance of a version permanently authorizes you
|
||||
to choose that version for the Program.
|
||||
|
||||
Later license versions may give you additional or different
|
||||
permissions. However, no additional obligations are imposed on any
|
||||
author or copyright holder as a result of your choosing to follow a
|
||||
later version.
|
||||
|
||||
15. Disclaimer of Warranty.
|
||||
|
||||
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
|
||||
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
|
||||
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
|
||||
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
|
||||
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
|
||||
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
|
||||
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
|
||||
|
||||
16. Limitation of Liability.
|
||||
|
||||
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
|
||||
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
|
||||
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
|
||||
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
|
||||
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
|
||||
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
|
||||
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
|
||||
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
|
||||
SUCH DAMAGES.
|
||||
|
||||
17. Interpretation of Sections 15 and 16.
|
||||
|
||||
If the disclaimer of warranty and limitation of liability provided
|
||||
above cannot be given local legal effect according to their terms,
|
||||
reviewing courts shall apply local law that most closely approximates
|
||||
an absolute waiver of all civil liability in connection with the
|
||||
Program, unless a warranty or assumption of liability accompanies a
|
||||
copy of the Program in return for a fee.
|
||||
|
||||
END OF TERMS AND CONDITIONS
|
||||
|
||||
How to Apply These Terms to Your New Programs
|
||||
|
||||
If you develop a new program, and you want it to be of the greatest
|
||||
possible use to the public, the best way to achieve this is to make it
|
||||
free software which everyone can redistribute and change under these terms.
|
||||
|
||||
To do so, attach the following notices to the program. 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.
|
||||
|
||||
<one line to give the program's name and a brief idea of what it does.>
|
||||
Copyright (C) <year> <name of author>
|
||||
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/>.
|
||||
|
||||
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:
|
||||
|
||||
<program> Copyright (C) <year> <name of author>
|
||||
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
|
||||
<http://www.gnu.org/licenses/>.
|
||||
|
||||
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
|
||||
<http://www.gnu.org/philosophy/why-not-lgpl.html>.
|
||||
|
||||
75
include/rml/debug.hpp
Normal file
75
include/rml/debug.hpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_DEBUG_HPP
|
||||
#define RML_DEBUG_HPP
|
||||
|
||||
#include <cstdio> //printf
|
||||
#include <cstdlib> //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<Scalar T, size_t R, size_t C>
|
||||
void dump_matrix(const matrix_base<T,R,C>& 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<Scalar T>
|
||||
void dump_quaternion(const quaternion<T>& q){
|
||||
for(size_t i = 0;i < 4;++i){
|
||||
detail::print_integral(q[i]);
|
||||
printf(" ");
|
||||
}
|
||||
printf("\n");
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
117
include/rml/detail/matrix.hpp
Normal file
117
include/rml/detail/matrix.hpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_DETAIL_MATRIX_HPP
|
||||
#define RML_DETAIL_MATRIX_HPP
|
||||
|
||||
#include <cstdlib> //size_t
|
||||
#include <utility> //integer_sequence
|
||||
#include "../fwd_declare.hpp"
|
||||
|
||||
namespace rml::detail{
|
||||
|
||||
template<size_t SW, size_t W = SW, size_t H = SW-1, size_t... Args>
|
||||
struct gen_id_tup {
|
||||
using tup = typename gen_id_tup<SW, W-1, H, Args..., 0>::tup;
|
||||
};
|
||||
template<size_t SW, size_t H, size_t... Args>
|
||||
struct gen_id_tup<SW,SW,H,Args...> {
|
||||
using tup = typename gen_id_tup<SW, SW-1, H, Args..., 1>::tup;
|
||||
};
|
||||
template<size_t SW, size_t H, size_t... Args>
|
||||
struct gen_id_tup<SW,0,H,Args...> {
|
||||
using tup = typename gen_id_tup<SW, SW, H-1, Args..., 0>::tup;
|
||||
};
|
||||
template<size_t SW, size_t... Args>
|
||||
struct gen_id_tup<SW,SW,0,Args...> {
|
||||
using tup = std::integer_sequence<size_t,Args...,1>;
|
||||
};
|
||||
|
||||
|
||||
template<size_t N, size_t... Args>
|
||||
struct gen_zero_tup {
|
||||
using tup = typename gen_zero_tup<N-1,Args...,0>::tup;
|
||||
};
|
||||
template<size_t... Args>
|
||||
struct gen_zero_tup<0,Args...> {
|
||||
using tup = std::integer_sequence<size_t,Args...>;
|
||||
};
|
||||
|
||||
template<size_t W>
|
||||
struct id_initialization_matrix {
|
||||
using tuple = typename gen_id_tup<W>::tup;
|
||||
};
|
||||
|
||||
|
||||
template<size_t W, size_t H>
|
||||
struct default_initialization_matrix {
|
||||
using tuple = typename gen_zero_tup<W>::tup;
|
||||
};
|
||||
template<size_t W>
|
||||
struct default_initialization_matrix<W,W> {
|
||||
using tuple = typename id_initialization_matrix<W>::tuple;
|
||||
};
|
||||
|
||||
template<Scalar T, size_t R>
|
||||
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<Scalar T, size_t R>
|
||||
struct determinate_helper {
|
||||
static constexpr T perform(const matrix<T,R,R>& m);
|
||||
};
|
||||
template<Scalar T>
|
||||
struct determinate_helper<T,3> {
|
||||
static constexpr T perform(const matrix<T,3,3>& m);
|
||||
};
|
||||
template<Scalar T>
|
||||
struct determinate_helper<T,2> {
|
||||
static constexpr T perform(const matrix<T,2,2>& m);
|
||||
};
|
||||
|
||||
template<Scalar T, size_t R>
|
||||
struct inverse_helper {
|
||||
//TODO generalized inverse
|
||||
};
|
||||
template<Scalar T>
|
||||
struct inverse_helper<T,2> {
|
||||
static constexpr matrix<T,2,2> perform(const matrix<T,2,2>& m);
|
||||
};
|
||||
template<Scalar T>
|
||||
struct inverse_helper<T,3> {
|
||||
static constexpr matrix<T,3,3> perform(const matrix<T,3,3>& m);
|
||||
};
|
||||
template<Scalar T>
|
||||
struct inverse_helper<T,4> {
|
||||
static constexpr matrix<T,4,4> perform(const matrix<T,4,4>& m);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#include "matrix.tpp"
|
||||
|
||||
#endif
|
||||
151
include/rml/detail/matrix.tpp
Normal file
151
include/rml/detail/matrix.tpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_DETAIL_MATRIX_TPP
|
||||
#define RML_DETAIL_MATRIX_TPP
|
||||
|
||||
#include <cstdlib> //size_t
|
||||
#include <utility> //integer_sequence
|
||||
|
||||
namespace rml::detail{
|
||||
|
||||
template<Scalar T, size_t R>
|
||||
constexpr mat_ref_obj<T,R>::mat_ref_obj(T* d, size_type i):
|
||||
m_data(d+(i*R)){}
|
||||
|
||||
template<Scalar T, size_t R>
|
||||
constexpr T& mat_ref_obj<T,R>::operator[](size_type i){
|
||||
return m_data[i];
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
constexpr const T& mat_ref_obj<T,R>::operator[](size_type i)const{
|
||||
return m_data[i];
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
constexpr T determinate_helper<T,R>::perform(const matrix<T,R,R>& m){
|
||||
T sum = 0;
|
||||
T op = 1;
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
T item = op * m[0][i];
|
||||
matrix<T,R-1,R-1> 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<T,R-1>::perform(mul);
|
||||
op = -op;
|
||||
}
|
||||
return sum;
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr T determinate_helper<T,3>::perform(const matrix<T,3,3>& 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<Scalar T>
|
||||
constexpr T determinate_helper<T,2>::perform(const matrix<T,2,2>& m){
|
||||
return m.get(0) * m.get(3) - m.get(1) * m.get(2);
|
||||
}
|
||||
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,2,2> inverse_helper<T,2>::perform(const matrix<T,2,2>& m){
|
||||
T det = m.determinate();
|
||||
if(!det)
|
||||
return matrix<T,2,2>(zero_initialize);
|
||||
return matrix<T,2,2>(m.get(3) / det, -(m.get(1)) / det, -(m.get(2)) / det, m.get(0) / det);
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,3,3> inverse_helper<T,3>::perform(const matrix<T,3,3>& m){
|
||||
T det = m.determinate();
|
||||
if(!det)
|
||||
return matrix<T,3,3>(zero_initialize);
|
||||
return matrix<T,3,3>(((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<Scalar T>
|
||||
constexpr matrix<T,4,4> inverse_helper<T,4>::perform(const matrix<T,4,4>& m){
|
||||
//barely over 50 lines, can be made slightly shorter by making the return statement unreadable
|
||||
T det = m.determinate();
|
||||
if(!det)
|
||||
return matrix<T,4,4>(zero_initialize);
|
||||
return matrix<T,4,4>((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
|
||||
196
include/rml/fwd_declare.hpp
Normal file
196
include/rml/fwd_declare.hpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_FWD_DECLARE_HPP
|
||||
#define RML_FWD_DECLARE_HPP
|
||||
|
||||
#include <cstdlib> //size_t
|
||||
#include <type_traits>
|
||||
#ifdef __cpp_lib_concepts
|
||||
#include <concepts>
|
||||
namespace detail{
|
||||
template<class T, class U>
|
||||
concept convertible_to = std::convertible_to<T,U>;
|
||||
}
|
||||
#else
|
||||
namespace detail{
|
||||
template<class T, class U>
|
||||
concept convertible_to = std::is_convertible_v<T,U>;
|
||||
}
|
||||
#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<class... Ms>
|
||||
struct is_vector;
|
||||
template<class... Qs>
|
||||
struct is_quaternion;
|
||||
template<class... Ms>
|
||||
struct is_matrix;
|
||||
|
||||
//Create concepts that depend on the type traits
|
||||
template<class T>
|
||||
concept Quaternion = is_quaternion<T>::value;
|
||||
template<class T>
|
||||
concept Matrix = is_matrix<T>::value;
|
||||
template<class T>
|
||||
concept Vector = is_vector<T>::value;
|
||||
|
||||
template<class T>
|
||||
concept Scalar = !Matrix<T> && !Vector<T> && !Quaternion<T> && requires(std::decay_t<T> t){
|
||||
{t += t} -> detail::convertible_to<T>;
|
||||
{t -= t} -> detail::convertible_to<T>;
|
||||
{t /= t} -> detail::convertible_to<T>;
|
||||
{t *= t} -> detail::convertible_to<T>;
|
||||
{t + t} -> detail::convertible_to<std::decay_t<T>>;
|
||||
{t - t} -> detail::convertible_to<std::decay_t<T>>;
|
||||
{t / t} -> detail::convertible_to<std::decay_t<T>>;
|
||||
{t * t} -> detail::convertible_to<std::decay_t<T>>;
|
||||
{-t} -> detail::convertible_to<std::decay_t<T>>;
|
||||
{t > t} -> detail::convertible_to<bool>;
|
||||
{t < t} -> detail::convertible_to<bool>;
|
||||
{t >= t} -> detail::convertible_to<bool>;
|
||||
{t <= t} -> detail::convertible_to<bool>;
|
||||
{t == t} -> detail::convertible_to<bool>;
|
||||
{t != t} -> detail::convertible_to<bool>;
|
||||
};
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
class matrix_base;
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
class matrix;
|
||||
template<Scalar T, size_t R>
|
||||
class vector;
|
||||
template<Scalar T>
|
||||
class quaternion;
|
||||
|
||||
template<Scalar T>
|
||||
using mat2 = matrix<T,2,2>;
|
||||
template<Scalar T>
|
||||
using mat3 = matrix<T,3,3>;
|
||||
template<Scalar T>
|
||||
using mat4 = matrix<T,4,4>;
|
||||
|
||||
template<Scalar T>
|
||||
using vec2 = vector<T,2>;
|
||||
template<Scalar T>
|
||||
using vec3 = vector<T,3>;
|
||||
template<Scalar T>
|
||||
using vec4 = vector<T,4>;
|
||||
|
||||
using vec2f = vec2<float>;
|
||||
using vec2i = vec2<int>;
|
||||
using vec2u = vec2<unsigned int>;
|
||||
using vec2d = vec2<double>;
|
||||
using vec2s = vec2<size_t>;
|
||||
using vec2b = vec2<int>;
|
||||
|
||||
using vec3f = vec3<float>;
|
||||
using vec3i = vec3<int>;
|
||||
using vec3u = vec3<unsigned int>;
|
||||
using vec3d = vec3<double>;
|
||||
using vec3s = vec3<size_t>;
|
||||
using vec3b = vec3<int>;
|
||||
|
||||
using vec4f = vec4<float>;
|
||||
using vec4i = vec4<int>;
|
||||
using vec4u = vec4<unsigned int>;
|
||||
using vec4d = vec4<double>;
|
||||
using vec4s = vec4<size_t>;
|
||||
using vec4b = vec4<int>;
|
||||
|
||||
using mat2f = mat2<float>;
|
||||
using mat2i = mat2<int>;
|
||||
using mat2u = mat2<unsigned int>;
|
||||
using mat2d = mat2<double>;
|
||||
using mat2s = mat2<size_t>;
|
||||
using mat2b = mat2<int>;
|
||||
|
||||
using mat3f = mat3<float>;
|
||||
using mat3i = mat3<int>;
|
||||
using mat3u = mat3<unsigned int>;
|
||||
using mat3d = mat3<double>;
|
||||
using mat3s = mat3<size_t>;
|
||||
|
||||
using mat4f = mat4<float>;
|
||||
using mat4i = mat4<int>;
|
||||
using mat4u = mat4<unsigned int>;
|
||||
using mat4d = mat4<double>;
|
||||
using mat4s = mat4<size_t>;
|
||||
using mat4b = mat4<int>;
|
||||
|
||||
template<Scalar T>
|
||||
using quat = quaternion<T>;
|
||||
|
||||
using quat_f = quat<float>;
|
||||
using quat_i = quat<int>;
|
||||
using quat_u = quat<unsigned int>;
|
||||
using quat_d = quat<double>;
|
||||
using quat_s = quat<size_t>;
|
||||
using quat_b = quat<int>;
|
||||
|
||||
namespace detail{
|
||||
|
||||
template<class T>
|
||||
struct is_matrix_helper {
|
||||
template<class U, size_t R, size_t C>
|
||||
static std::true_type test(matrix_base<U,R,C>*);
|
||||
static std::false_type test(void*);
|
||||
|
||||
static constexpr bool value = std::is_same<std::true_type,decltype(test(static_cast<std::decay_t<T>*>(nullptr)))>::value;
|
||||
};
|
||||
|
||||
template<class T>
|
||||
struct is_quat_helper {
|
||||
template<class U>
|
||||
static std::true_type test(quaternion<U>*);
|
||||
static std::false_type test(void*);
|
||||
static constexpr bool value = std::is_same<std::true_type,decltype(test(static_cast<std::decay_t<T>*>(nullptr)))>::value;
|
||||
};
|
||||
|
||||
template<class T>
|
||||
struct is_vector_helper {
|
||||
template<class U, size_t R>
|
||||
static std::true_type test(vector<U,R>*);
|
||||
static std::false_type test(void*);
|
||||
|
||||
static constexpr bool value = std::is_same<std::true_type,decltype(test(static_cast<std::decay_t<T>*>(nullptr)))>::value;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
template<class... Ms>
|
||||
struct is_vector{
|
||||
static constexpr bool value = (detail::is_vector_helper<Ms>::value && ...);
|
||||
};
|
||||
template<class... Qs>
|
||||
struct is_quaternion {
|
||||
static constexpr bool value = (detail::is_quat_helper<Qs>::value && ...);
|
||||
};
|
||||
template<class... Ms>
|
||||
struct is_matrix {
|
||||
static constexpr bool value = (detail::is_matrix_helper<Ms>::value && ...);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
254
include/rml/mat.hpp
Normal file
254
include/rml/mat.hpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_MAT_HPP
|
||||
#define RML_MAT_HPP
|
||||
|
||||
#include <cstdlib> //size_t
|
||||
#include <utility> //integer_sequence
|
||||
#include <type_traits> //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<Scalar T, size_t R, size_t C>
|
||||
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<size_t... Ss>
|
||||
constexpr matrix_base(std::integer_sequence<size_type,Ss...>);
|
||||
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<Scalar... Args, std::enable_if_t<(std::is_convertible_v<Args,T> && ...),int> = 0>
|
||||
constexpr matrix_base(Args&&... args);
|
||||
|
||||
//Copying constructors
|
||||
constexpr matrix_base(const matrix_base&) = default;
|
||||
constexpr matrix_base(matrix_base&&) = default;
|
||||
template<Scalar U>
|
||||
constexpr matrix_base(const matrix_base<U,Columns,Rows>& m);
|
||||
~matrix_base(void) = default;
|
||||
|
||||
constexpr matrix_base& operator=(const matrix_base&) = default;
|
||||
constexpr matrix_base& operator=(matrix_base&&) = default;
|
||||
template<Scalar U, size_t TR, size_t TC>
|
||||
constexpr matrix_base& operator=(const matrix_base<U,TR,TC>& 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<Scalar T, size_t R, size_t C>
|
||||
class matrix : public matrix_base<T,R,C>
|
||||
{
|
||||
private:
|
||||
using base = matrix_base<T,R,C>;
|
||||
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<size_t TR, size_t TC, std::enable_if_t<TR <= R && TC <= C,int> = 0>
|
||||
constexpr matrix(const matrix_base<value_type,TR,TC>& other);
|
||||
template<Scalar U>
|
||||
constexpr matrix(const matrix<U,R,C>& 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<Scalar U>
|
||||
constexpr matrix& operator=(const matrix<U,R,C>& m);
|
||||
};
|
||||
|
||||
//Square matrices
|
||||
template<Scalar T, size_t R>
|
||||
class matrix<T,R,R> : public matrix_base<T,R,R>
|
||||
{
|
||||
private:
|
||||
using base = matrix_base<T,R,R>;
|
||||
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<size_t TR, size_t TC, std::enable_if_t<TR <= R && TC <= R,int> = 0>
|
||||
constexpr matrix(const matrix_base<value_type,TR,TC>& other);
|
||||
template<Scalar U>
|
||||
constexpr matrix(const matrix<U,R,R>& other);
|
||||
~matrix(void) = default;
|
||||
|
||||
//Assignement
|
||||
constexpr matrix& operator=(const matrix&) = default;
|
||||
constexpr matrix& operator=(matrix&&) = default;
|
||||
template<Scalar U>
|
||||
constexpr matrix& operator=(const matrix<U,R,R>& 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<Scalar T, size_t R>
|
||||
constexpr T determinate(const matrix<T,R,R>& m);
|
||||
template<Scalar T, size_t R>
|
||||
constexpr matrix<T,R,R> inverse(const matrix<T,R,R>& m);
|
||||
|
||||
template<Scalar T>
|
||||
matrix<T,2,2> rotation2d_pure(T angle);
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,2,2> rotation2d_pure(T sin, T cos);
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,2,2> scale2d(T x, T y);
|
||||
|
||||
template<Scalar T>
|
||||
matrix<T,3,3> rotation2d(T angle);
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,3,3> rotation2d(T sin, T cos);
|
||||
template<Scalar T>
|
||||
matrix<T,3,3> rotation2d(T x, T y, T z);
|
||||
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,4,4> rotation3d(T angle_x, T angle_y, T angle_z);
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,4,4> translation3d(T x, T y, T z);
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,4,4> scale3d(T x, T y, T z);
|
||||
|
||||
//Logic operators
|
||||
template<Scalar T, Scalar U, size_t R, size_t C>
|
||||
constexpr bool operator==(const matrix_base<T,R,C>& left, const matrix_base<U,R,C> right);
|
||||
template<Scalar T, Scalar U, size_t R, size_t C>
|
||||
constexpr bool operator!=(const matrix_base<T,R,C>& left, const matrix_base<U,R,C> right);
|
||||
|
||||
//Arithmetic operators
|
||||
template<Scalar T, Scalar U, size_t R1, size_t C1, size_t R2>
|
||||
constexpr auto operator*(const matrix<T,R1,C1>& left, const matrix<U,C1,R2>& right);
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator*(const matrix<T,R,C>& left, U&& right);
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator*(U&& left, const matrix<T,R,C>& right);
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator/(const matrix<T,R,C>& left, U&& right);
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator+(const matrix<T,R,C>& left, const matrix<U,R,C>& right);
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator-(const matrix<T,R,C>& left, const matrix<U,R,C>& right);
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator-(const matrix<T,R,C>& left);
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto abs(const matrix_base<T,R,C>& left);
|
||||
template<Scalar T, Scalar U, Scalar V, size_t R, size_t C>
|
||||
constexpr bool fuzzy_eq(const matrix_base<T,R,C>& left, const matrix_base<U,R,C>& right, const V& epsilon);
|
||||
template<Scalar T, Scalar U, Scalar V, size_t R, size_t C>
|
||||
constexpr bool fuzzy_neq(const matrix_base<T,R,C>& left, const matrix_base<U,R,C>& right, const V& epsilon);
|
||||
|
||||
//Arithmetic assignment operators
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr decltype(auto) operator*=(matrix<T,R,R>& left, const matrix<U,R,R>& right);
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr decltype(auto) operator*=(matrix<T,R,C>& left, U&& right);
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr decltype(auto) operator/=(matrix<T,R,C>& left, U&& right);
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr decltype(auto) operator+=(matrix<T,R,C>& left, const matrix<U,R,C>& right);
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr decltype(auto) operator-=(matrix<T,R,C>& left, const matrix<U,R,C>& right);
|
||||
|
||||
#if RML_INSTANTIATIONS_ENABLED
|
||||
extern template class matrix<float,2,2>;
|
||||
extern template class matrix<float,3,3>;
|
||||
extern template class matrix<float,4,4>;
|
||||
|
||||
extern template class matrix<int,2,2>;
|
||||
extern template class matrix<int,3,3>;
|
||||
extern template class matrix<int,4,4>;
|
||||
|
||||
extern template class matrix<double,2,2>;
|
||||
extern template class matrix<double,3,3>;
|
||||
extern template class matrix<double,4,4>;
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
#include "mat.tpp"
|
||||
|
||||
#endif
|
||||
424
include/rml/mat.tpp
Normal file
424
include/rml/mat.tpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_MAT_TPP
|
||||
#define RML_MAT_TPP
|
||||
|
||||
#include <cstdlib> //size_t
|
||||
#include <cmath> //sin, cos, abs
|
||||
#include <type_traits> //decay_t, declval
|
||||
#include "detail/matrix.hpp"
|
||||
#include "quat.hpp"
|
||||
|
||||
namespace rml{
|
||||
|
||||
namespace detail{
|
||||
template<class T>
|
||||
static constexpr const T& min(const T& l, const T& r){
|
||||
return l < r ? l : r;
|
||||
}
|
||||
}
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
template<size_t... Ss>
|
||||
constexpr matrix_base<T,R,C>::matrix_base(std::integer_sequence<size_type,Ss...>):
|
||||
m_data{Ss...}{}
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr matrix_base<T,R,C>::matrix_base(void):
|
||||
matrix_base(typename detail::default_initialization_matrix<Columns,Rows>::tuple{}){}
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr matrix_base<T,R,C>::matrix_base(detail::zero_initialize_t):
|
||||
m_data{}{}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr matrix_base<T,R,C>::matrix_base(detail::no_initialize_t){}
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr matrix_base<T,R,C>::matrix_base(value_type v){
|
||||
for(size_type i = 0; i < Columns*Rows; ++i)
|
||||
m_data[i] = v;
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
template<Scalar... Args, std::enable_if_t<(std::is_convertible_v<Args,T> && ...),int>>
|
||||
constexpr matrix_base<T,R,C>::matrix_base(Args&&... args):
|
||||
m_data{static_cast<value_type>(std::forward<Args>(args))...}{}
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
template<Scalar U>
|
||||
constexpr matrix_base<T,R,C>::matrix_base(const matrix_base<U,Columns,Rows>& m){
|
||||
using mat = matrix_base<U,Columns,Rows>;
|
||||
for(typename mat::size_type i = 0; i < mat::Columns*mat::Rows; ++i)
|
||||
m_data[i] = m.get(i);
|
||||
}
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
template<Scalar U, size_t TR, size_t TC>
|
||||
constexpr matrix_base<T,R,C>& matrix_base<T,R,C>::operator=(const matrix_base<U,TR,TC>& 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<Scalar T, size_t R, size_t C>
|
||||
constexpr auto matrix_base<T,R,C>::operator[](size_type x){
|
||||
return detail::mat_ref_obj<value_type,Rows>{m_data, x};
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto matrix_base<T,R,C>::operator[](size_type x)const{
|
||||
return detail::mat_ref_obj<const value_type,Rows>{m_data, x};
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto matrix_base<T,R,C>::get(size_type x, size_type y) -> reference{
|
||||
return m_data[(x*Rows)+y];
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto matrix_base<T,R,C>::get(size_type x, size_type y)const -> const_reference{
|
||||
return m_data[(x*Rows)+y];
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto matrix_base<T,R,C>::get(size_type i) -> reference{
|
||||
return m_data[i];
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto matrix_base<T,R,C>::get(size_type i)const -> const_reference{
|
||||
return m_data[i];
|
||||
}
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto matrix_base<T,R,C>::columns(void)const -> size_type{
|
||||
return Columns;
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto matrix_base<T,R,C>::rows(void)const -> size_type{
|
||||
return Rows;
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto matrix_base<T,R,C>::size(void)const -> size_type{
|
||||
return Columns*Rows;
|
||||
}
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto matrix_base<T,R,C>::raw(void) -> pointer{
|
||||
return m_data;
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto matrix_base<T,R,C>::raw(void)const -> const_pointer{
|
||||
return m_data;
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr matrix_base<T,R,C>::operator pointer(void){
|
||||
return m_data;
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr matrix_base<T,R,C>::operator const_pointer(void)const{
|
||||
return m_data;
|
||||
}
|
||||
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
template<size_t TR, size_t TC, std::enable_if_t<TR <= R && TC <= C,int>>
|
||||
constexpr matrix<T,R,C>::matrix(const matrix_base<value_type,TR,TC>& 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<Scalar T, size_t R, size_t C>
|
||||
template<Scalar U>
|
||||
constexpr matrix<T,R,C>::matrix(const matrix<U,R,C>& 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<Scalar T, size_t R, size_t C>
|
||||
template<Scalar U>
|
||||
constexpr matrix<T,R,C>& matrix<T,R,C>::operator=(const matrix<U,R,C>& m){
|
||||
base::operator=(m);
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<Scalar T, size_t R>
|
||||
constexpr matrix<T,R,R>::matrix(detail::id_initialize_t):
|
||||
base(){}
|
||||
template<Scalar T, size_t R>
|
||||
template<size_t TR, size_t TC, std::enable_if_t<TR <= R && TC <= R,int>>
|
||||
constexpr matrix<T,R,R>::matrix(const matrix_base<value_type,TR,TC>& 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<Scalar T, size_t R>
|
||||
template<Scalar U>
|
||||
constexpr matrix<T,R,R>::matrix(const matrix<U,R,R>& 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<Scalar T, size_t R>
|
||||
template<Scalar U>
|
||||
constexpr matrix<T,R,R>& matrix<T,R,R>::operator=(const matrix<U,R,R>& m){
|
||||
base::operator=(m);
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<Scalar T, size_t R>
|
||||
constexpr auto matrix<T,R,R>::determinate(void)const -> value_type{
|
||||
return rml::determinate(*this);
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
constexpr auto matrix<T,R,R>::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<Scalar T, size_t R>
|
||||
constexpr matrix<T,R,R> matrix<T,R,R>::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<Scalar T, size_t R>
|
||||
constexpr matrix<T,R,R> matrix<T,R,R>::inverse(void)const{
|
||||
return rml::inverse(*this);
|
||||
}
|
||||
|
||||
|
||||
template<Scalar T, size_t R>
|
||||
constexpr T determinate(const matrix<T,R,R>& m){
|
||||
return detail::determinate_helper<T,R>::perform(m);
|
||||
}
|
||||
template<Scalar 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<Scalar T>
|
||||
matrix<T,2,2> rotation2d_pure(T angle){
|
||||
return rotation2d_pure(std::sin(angle), std::cos(angle));
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,2,2> rotation2d_pure(T sin, T cos){
|
||||
return matrix<T,2,2>(cos, sin, -sin, cos);
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,2,2> scale2d(T x, T y){
|
||||
return matrix<T,2,2>(x, T{0}, T{0}, y);
|
||||
}
|
||||
|
||||
template<Scalar T>
|
||||
matrix<T,3,3> rotation2d(T angle){
|
||||
return rotation2d(std::sin(angle), std::cos(angle));
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,3,3> rotation2d(T sin, T cos){
|
||||
return matrix<T,3,3>(cos, -sin, T{0},
|
||||
sin, cos, T{0},
|
||||
T{0}, T{0}, T{1});
|
||||
}
|
||||
template<Scalar T>
|
||||
matrix<T,3,3> rotation2d(T x, T y, T z){
|
||||
quaternion<T> q(x, y, z);
|
||||
return q.to_mat3();
|
||||
}
|
||||
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,4,4> rotation3d(T angle_x, T angle_y, T angle_z){
|
||||
quaternion<T> q(angle_x, angle_y, angle_z);
|
||||
return q.to_mat4();
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr matrix<T,4,4> translation3d(T x, T y, T z){
|
||||
return matrix<T,4,4>(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<Scalar T>
|
||||
constexpr matrix<T,4,4> scale3d(T x, T y, T z){
|
||||
return matrix<T,4,4>(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<Scalar T, Scalar U, size_t R, size_t C>
|
||||
constexpr bool operator==(const matrix_base<T,R,C>& left, const matrix_base<U,R,C> right){
|
||||
for(size_t i = 0; i < left.size(); ++i){
|
||||
if(left.get(i) != right.get(i))
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t R, size_t C>
|
||||
constexpr bool operator!=(const matrix_base<T,R,C>& left, const matrix_base<U,R,C> right){
|
||||
return !(left == right);
|
||||
}
|
||||
|
||||
template<Scalar T, Scalar U, size_t R1, size_t C1, size_t C2>
|
||||
constexpr auto operator*(const matrix<T,R1,C1>& left, const matrix<U,C1,C2>& right){
|
||||
using res_t = decltype(std::declval<T>() * std::declval<U>());
|
||||
matrix<res_t,R1,C2> 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<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator*(const matrix<T,R,C>& left, U&& right){
|
||||
using res_t = decltype(std::declval<T>() * std::declval<U>());
|
||||
matrix<res_t,R,C> 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<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator*(U&& left, const matrix<T,R,C>& right){
|
||||
using res_t = decltype(std::declval<T>() * std::declval<U>());
|
||||
matrix<res_t,R,C> 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<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator/(const matrix<T,R,C>& left, U&& right){
|
||||
using res_t = decltype(std::declval<T>() / std::declval<U>());
|
||||
matrix<res_t,R,C> 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<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator+(const matrix<T,R,C>& left, const matrix<U,R,C>& right){
|
||||
using res_t = decltype(std::declval<T>() + std::declval<U>());
|
||||
matrix<res_t,R,C> res(no_initialize);
|
||||
for(size_t i = 0; i < left.size(); ++i){
|
||||
res.get(i) = left.get(i) + right.get(i);
|
||||
}
|
||||
return res;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator-(const matrix<T,R,C>& left, const matrix<U,R,C>& right){
|
||||
using res_t = decltype(std::declval<T>() - std::declval<U>());
|
||||
matrix<res_t,R,C> res(no_initialize);
|
||||
for(size_t i = 0; i < left.size(); ++i){
|
||||
res.get(i) = left.get(i) - right.get(i);
|
||||
}
|
||||
return res;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator-(const matrix<T,R,C>& left){
|
||||
using res_t = decltype(-std::declval<U>());
|
||||
matrix<res_t,R,C> res(no_initialize);
|
||||
for(size_t i = 0; i < left.size(); ++i){
|
||||
res.get(i) = -left.get(i);
|
||||
}
|
||||
return res;
|
||||
}
|
||||
template<Scalar T, size_t R, size_t C>
|
||||
constexpr auto abs(const matrix_base<T,R,C>& left){
|
||||
matrix<T,R,C> res(no_initialize);
|
||||
for(size_t i = 0; i < left.size(); ++i){
|
||||
res.get(i) = std::abs(left.get(i));
|
||||
}
|
||||
return res;
|
||||
}
|
||||
template<Scalar T, Scalar U, Scalar V, size_t R, size_t C>
|
||||
constexpr bool fuzzy_eq(const matrix_base<T,R,C>& left, const matrix_base<U,R,C>& 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<Scalar T, Scalar U, Scalar V, size_t R, size_t C>
|
||||
constexpr bool fuzzy_neq(const matrix_base<T,R,C>& left, const matrix_base<U,R,C>& right, const V& epsilon){
|
||||
return !fuzzy_eq(left, right, epsilon);
|
||||
}
|
||||
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr decltype(auto) operator*=(matrix<T,R,R>& left, const matrix<U,R,R>& 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<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr decltype(auto) operator*=(matrix<T,R,C>& 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<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr decltype(auto) operator/=(matrix<T,R,C>& 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<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr decltype(auto) operator+=(matrix<T,R,C>& left, const matrix<U,R,C>& right){
|
||||
for(size_t i = 0; i < left.size(); ++i){
|
||||
left.get(i) = left.get(i) + right.get(i);
|
||||
}
|
||||
return left;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr decltype(auto) operator-=(matrix<T,R,C>& left, const matrix<U,R,C>& right){
|
||||
for(size_t i = 0; i < left.size(); ++i){
|
||||
left.get(i) = left.get(i) - right.get(i);
|
||||
}
|
||||
return left;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
31
include/rml/math.hpp
Normal file
31
include/rml/math.hpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#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
|
||||
83
include/rml/math_common.hpp
Normal file
83
include/rml/math_common.hpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#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<Scalar T>
|
||||
static constexpr T pi(void){
|
||||
return static_cast<T>(3.1415926535897932384626433832795028841971693993751058209749445923078164062862089986280348253421170679821);
|
||||
}
|
||||
template<Scalar T>
|
||||
static constexpr T to_degrees(T t){
|
||||
return (t * 180.0) / pi<T>();
|
||||
}
|
||||
template<Scalar T>
|
||||
static constexpr T to_radians(T t){
|
||||
return (t * pi<T>()) / 180.0;
|
||||
}
|
||||
|
||||
template<Scalar T>
|
||||
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<Scalar T>
|
||||
static constexpr T clamp_min(const T& t, const T& min){
|
||||
if(t < min)
|
||||
return min;
|
||||
return t;
|
||||
}
|
||||
template<Scalar T>
|
||||
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
|
||||
46
include/rml/projection.hpp
Normal file
46
include/rml/projection.hpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_PROJECTION_HPP
|
||||
#define RML_PROJECTION_HPP
|
||||
|
||||
#include "mat.hpp"
|
||||
#include "vec.hpp"
|
||||
#include "math_common.hpp"
|
||||
|
||||
namespace rml{
|
||||
|
||||
template<Scalar T>
|
||||
matrix<T,4,4> fov_projection(T fov, T asp, T near, T far);
|
||||
template<Scalar T>
|
||||
matrix<T,4,4> fov_asymetric_projection(T fovl, T fovr, T fovb, T fovt, T asp, T near, T far);
|
||||
template<Scalar T>
|
||||
matrix<T,4,4> ortho_projection(T w, T h, T n, T f);
|
||||
template<Scalar T>
|
||||
matrix<T,4,4> ortho_asymetric_projection(T l, T r, T b, T t, T n, T f);
|
||||
|
||||
template<Scalar T>
|
||||
vec3<T> project(const mat4<T>& viewproj_mat, const vec3<T>& world_coords, const vec4<T>& viewport);
|
||||
template<Scalar T>
|
||||
vec3<T> unproject(const mat4<T>& viewproj_mat, const vec3<T>& viewport_coords, const vec4<T>& viewport);
|
||||
|
||||
}
|
||||
|
||||
#include "projection.tpp"
|
||||
|
||||
#endif
|
||||
98
include/rml/projection.tpp
Normal file
98
include/rml/projection.tpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_PROJECTION_TPP
|
||||
#define RML_PROJECTION_TPP
|
||||
|
||||
#include "mat.hpp"
|
||||
#include "vec.hpp"
|
||||
#include <cmath> //sin, cos, tan
|
||||
|
||||
namespace rml{
|
||||
|
||||
template<Scalar 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, 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<Scalar 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>(((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<Scalar T>
|
||||
matrix<T,4,4> ortho_projection(T w, T h, T n, T f){
|
||||
return matrix<T,4,4>(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<Scalar 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>(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<Scalar T>
|
||||
vec3<T> project(const mat4<T>& viewproj_mat, const vec3<T>& w_coords, const vec4<T>& viewport){
|
||||
//project world coordinates to ndc coordinates
|
||||
vec4<T> world_coords{w_coords[0], w_coords[1], w_coords[2], T{1.0}};
|
||||
vec4<T> ndc_coords = viewproj_mat * world_coords;
|
||||
|
||||
//perspective_division
|
||||
ndc_coords /= ndc_coords[3];
|
||||
|
||||
//project ndc coordinates to viewport coordinates
|
||||
return vec3<T>{((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<Scalar T>
|
||||
vec3<T> unproject(const mat4<T>& viewproj_mat, const vec3<T>& viewport_coords, const vec4<T>& viewport){
|
||||
//project viewport coordinates to ndc coordinates
|
||||
vec4<T> 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<T> inv_viewproj_mat = viewproj_mat.inverse();
|
||||
vec4<T> 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
|
||||
153
include/rml/quat.hpp
Normal file
153
include/rml/quat.hpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_QUAT_HPP
|
||||
#define RML_QUAT_HPP
|
||||
|
||||
#include <cstdlib> //size_t
|
||||
#include <utility> //pair
|
||||
#include <type_traits> //is_same, is_arithmetic, integral_constant
|
||||
|
||||
#include "math_common.hpp"
|
||||
#include "fwd_declare.hpp"
|
||||
|
||||
namespace rml{
|
||||
|
||||
//( ͡° ͜ʖ ͡°)
|
||||
template<Scalar T>
|
||||
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<T>& rotmat);
|
||||
quaternion(const mat4<T>& rotmat);
|
||||
quaternion(value_type bank, value_type heading, value_type attitude);
|
||||
quaternion(const vec3<value_type>& angles);
|
||||
//Construct from axis-angle
|
||||
quaternion(value_type angle, const vec3<value_type>& 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<value_type>& axis);
|
||||
vec3<value_type> 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<value_type> get_right(void)const;
|
||||
vec3<value_type> get_up(void)const;
|
||||
vec3<value_type> get_forward(void)const;
|
||||
|
||||
//Explicit Conversion1
|
||||
vec3<value_type> to_vec3(void)const;
|
||||
vec4<value_type> to_vec4(void)const;
|
||||
mat3<value_type> to_mat3(void)const;
|
||||
mat4<value_type> to_mat4(void)const;
|
||||
vec3<value_type> to_euler_angles(void)const;
|
||||
std::pair<value_type,vec3<value_type>> to_axis_angle(void)const;
|
||||
};
|
||||
|
||||
template<Scalar T, Scalar U>
|
||||
bool operator==(const quaternion<T>& left, const quaternion<U>& right);
|
||||
template<Scalar T, Scalar U>
|
||||
bool operator!=(const quaternion<T>& left, const quaternion<U>& right);
|
||||
template<Scalar T>
|
||||
auto operator-(const quaternion<T>& left);
|
||||
template<Scalar T, Scalar U>
|
||||
auto operator-(const quaternion<T>& left, const quaternion<U>& right);
|
||||
template<Scalar T, Scalar U>
|
||||
auto operator+(const quaternion<T>& left, const quaternion<U>& right);
|
||||
template<Scalar T, Scalar U>
|
||||
auto operator*(const quaternion<T>& left, const quaternion<U>& right);
|
||||
template<Scalar T, Scalar U>
|
||||
auto operator*(const quaternion<T>& left, const vec3<U>& right);
|
||||
template<Scalar T, Scalar U>
|
||||
auto operator*(const quaternion<T>& left, U&& right);
|
||||
template<Scalar T, Scalar U>
|
||||
auto operator/(const quaternion<T>& left, U&& right);
|
||||
|
||||
template<Scalar T, Scalar U>
|
||||
decltype(auto) operator+=(quaternion<T>& left, const quaternion<U>& right);
|
||||
template<Scalar T, Scalar U>
|
||||
decltype(auto) operator-=(quaternion<T>& left, const quaternion<U>& right);
|
||||
template<Scalar T, Scalar U>
|
||||
decltype(auto) operator*=(quaternion<T>& left, const quaternion<U>& right);
|
||||
template<Scalar T, Scalar U>
|
||||
decltype(auto) operator*=(quaternion<T>& left, U&& right);
|
||||
template<Scalar T, Scalar U>
|
||||
decltype(auto) operator/=(quaternion<T>& left, U&& right);
|
||||
|
||||
#if RML_INSTANTIATIONS_ENABLED
|
||||
extern template class quaternion<float>;
|
||||
extern template class quaternion<int>;
|
||||
extern template class quaternion<double>;
|
||||
#endif
|
||||
}
|
||||
|
||||
#include "quat.tpp"
|
||||
|
||||
#endif
|
||||
437
include/rml/quat.tpp
Normal file
437
include/rml/quat.tpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_QUAT_TPP
|
||||
#define RML_QUAT_TPP
|
||||
|
||||
#include <cmath> //sin, cos, tan, sqrt, etc
|
||||
#include "mat.hpp"
|
||||
#include "vec.hpp"
|
||||
|
||||
namespace rml{
|
||||
|
||||
template<Scalar T>
|
||||
constexpr quaternion<T>::quaternion(void):
|
||||
quaternion(id_initialize){}
|
||||
template<Scalar T>
|
||||
constexpr quaternion<T>::quaternion(detail::zero_initialize_t):
|
||||
m_data{0, 0, 0, 0}{}
|
||||
template<Scalar T>
|
||||
constexpr quaternion<T>::quaternion(detail::id_initialize_t):
|
||||
m_data{1, 0, 0, 0}{}
|
||||
template<Scalar T>
|
||||
constexpr quaternion<T>::quaternion(detail::no_initialize_t){}
|
||||
|
||||
template<Scalar T>
|
||||
constexpr quaternion<T>::quaternion(detail::manual_initialize_t,
|
||||
value_type w, value_type x,
|
||||
value_type y, value_type z):
|
||||
m_data{w, x, y, z}{}
|
||||
|
||||
template<Scalar T>
|
||||
quaternion<T>::quaternion(const mat3<T>& 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<Scalar T>
|
||||
quaternion<T>::quaternion(const mat4<T>& rotmat):
|
||||
quaternion(mat3<T>{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<Scalar T>
|
||||
quaternion<T>::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<Scalar T>
|
||||
quaternion<T>::quaternion(const vec3<T>& angles):
|
||||
quaternion(angles.x(), angles.y(), angles.z()){}
|
||||
template<Scalar T>
|
||||
quaternion<T>::quaternion(value_type angle, const vec3<value_type>& axis):
|
||||
quaternion(angle, axis.x(), axis.y(), axis.z()){}
|
||||
template<Scalar T>
|
||||
quaternion<T>::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<Scalar T>
|
||||
constexpr quaternion<T>::operator pointer(void){
|
||||
return m_data;
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr quaternion<T>::operator const_pointer(void)const{
|
||||
return m_data;
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::operator[](size_type i) -> reference{
|
||||
return m_data[i];
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::operator[](size_type i)const -> const_reference{
|
||||
return m_data[i];
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::get(size_type i) -> reference{
|
||||
return m_data[i];
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::get(size_type i)const -> const_reference{
|
||||
return m_data[i];
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::w(void) -> reference{
|
||||
return m_data[0];
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::w(void)const -> const_reference{
|
||||
return m_data[0];
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::x(void) -> reference{
|
||||
return m_data[1];
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::x(void)const -> const_reference{
|
||||
return m_data[1];
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::y(void) -> reference{
|
||||
return m_data[2];
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::y(void)const -> const_reference{
|
||||
return m_data[2];
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::z(void) -> reference{
|
||||
return m_data[3];
|
||||
}
|
||||
template<Scalar T>
|
||||
constexpr auto quaternion<T>::z(void)const -> const_reference{
|
||||
return m_data[3];
|
||||
}
|
||||
template<Scalar T>
|
||||
void quaternion<T>::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<Scalar T>
|
||||
void quaternion<T>::set_axis(const vec3<value_type>& v){
|
||||
set_axis(v.x(), v.y(), v.z());
|
||||
}
|
||||
template<Scalar T>
|
||||
auto quaternion<T>::get_axis(void)const -> vec3<value_type>{
|
||||
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<T>(1, 0, 0);
|
||||
return vec3<T>(tmp.m_data[1] / s, tmp.m_data[2] / s, tmp.m_data[3] / s);
|
||||
}
|
||||
template<Scalar T>
|
||||
void quaternion<T>::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<Scalar T>
|
||||
auto quaternion<T>::get_angle(void)const -> value_type{
|
||||
return 2.0 * std::acos(m_data[0]);
|
||||
}
|
||||
template<Scalar T>
|
||||
auto quaternion<T>::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<Scalar T>
|
||||
quaternion<T> quaternion<T>::conjugate(void)const{
|
||||
return quaternion(manual_initialize, m_data[0], -m_data[1], -m_data[2], -m_data[3]);
|
||||
}
|
||||
template<Scalar T>
|
||||
quaternion<T> quaternion<T>::inverse(void)const{
|
||||
return conjugate() / norm();
|
||||
}
|
||||
template<Scalar T>
|
||||
auto quaternion<T>::magnitude(void)const -> value_type{
|
||||
return std::sqrt(norm());
|
||||
}
|
||||
template<Scalar T>
|
||||
quaternion<T> quaternion<T>::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<Scalar T>
|
||||
auto quaternion<T>::get_right(void)const -> vec3<value_type>{
|
||||
return vec3<value_type>(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<Scalar T>
|
||||
auto quaternion<T>::get_up(void)const -> vec3<value_type>{
|
||||
return vec3<value_type>( 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<Scalar T>
|
||||
auto quaternion<T>::get_forward(void)const -> vec3<value_type>{
|
||||
return vec3<value_type>( 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<Scalar T>
|
||||
auto quaternion<T>::to_vec3(void)const -> vec3<value_type>{
|
||||
return vec3<value_type>(m_data[1], m_data[2], m_data[3]);
|
||||
}
|
||||
template<Scalar T>
|
||||
auto quaternion<T>::to_vec4(void)const -> vec4<value_type>{
|
||||
return vec4<value_type>(m_data[1], m_data[2], m_data[3]);
|
||||
}
|
||||
template<Scalar T>
|
||||
auto quaternion<T>::to_mat3(void)const -> mat3<value_type>{
|
||||
mat3<value_type> 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<Scalar T>
|
||||
auto quaternion<T>::to_mat4(void)const -> mat4<value_type>{
|
||||
mat4<value_type> 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<Scalar T>
|
||||
auto quaternion<T>::to_euler_angles(void)const -> vec3<value_type>{
|
||||
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<value_type>(0, 2 * std::atan2(m_data[1], m_data[0]), pi<value_type>() / 2.0);
|
||||
}else if(test < -0.499 * correction){
|
||||
return vec3<value_type>(0, -2 * std::atan2(m_data[1], m_data[0]), -pi<value_type>() / 2.0);
|
||||
}
|
||||
return vec3<value_type>(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<Scalar T>
|
||||
auto quaternion<T>::to_axis_angle(void)const -> std::pair<value_type,vec3<value_type>>{
|
||||
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<Scalar T, Scalar U>
|
||||
bool operator==(const quaternion<T>& left, const quaternion<U>& right){
|
||||
return left.w() == right.w() &&
|
||||
left.x() == right.x() &&
|
||||
left.y() == right.y() &&
|
||||
left.z() == right.z();
|
||||
}
|
||||
template<Scalar T, Scalar U>
|
||||
bool operator!=(const quaternion<T>& left, const quaternion<U>& right){
|
||||
return !(left == right);
|
||||
}
|
||||
template<Scalar T>
|
||||
auto operator-(const quaternion<T>& left){
|
||||
using res_t = T;
|
||||
return quaternion<res_t>(manual_initialize, -left.w(), -left.x(), -left.y(), -left.z());
|
||||
}
|
||||
template<Scalar T, Scalar U>
|
||||
auto operator-(const quaternion<T>& left, const quaternion<U>& right){
|
||||
using res_t = decltype(std::declval<T>() - std::declval<U>());
|
||||
return quaternion<res_t>(manual_initialize, left.w() - right.w(), left.x() - right.x(),
|
||||
left.y() - right.y(), left.z() - right.z());
|
||||
}
|
||||
template<Scalar T, Scalar U>
|
||||
auto operator+(const quaternion<T>& left, const quaternion<U>& right){
|
||||
using res_t = decltype(std::declval<T>() + std::declval<U>());
|
||||
return quaternion<res_t>(manual_initialize, left.w() + right.w(), left.x() + right.x(),
|
||||
left.y() + right.y(), left.z() + right.z());
|
||||
}
|
||||
template<Scalar T, Scalar U>
|
||||
auto operator*(const quaternion<T>& left, const quaternion<U>& right){
|
||||
using res_t = decltype(std::declval<T>() * std::declval<U>());
|
||||
return quaternion<res_t>(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<Scalar T, Scalar U>
|
||||
auto operator*(const quaternion<T>& left, const vec3<U>& right){
|
||||
return left.to_mat3() * right;
|
||||
}
|
||||
template<Scalar T, Scalar U>
|
||||
auto operator*(const quaternion<T>& left, U&& right){
|
||||
using res_t = decltype(std::declval<T>() * std::declval<U>());
|
||||
return quaternion<res_t>(manual_initialize, left.w() * right, left.x() * right, left.y() * right, left.z() * right);
|
||||
}
|
||||
template<Scalar T, Scalar U>
|
||||
auto operator/(const quaternion<T>& left, U&& right){
|
||||
using res_t = decltype(std::declval<T>() / std::declval<U>());
|
||||
return quaternion<res_t>(manual_initialize, left.w() / right, left.x() / right, left.y() / right, left.z() / right);
|
||||
}
|
||||
template<Scalar T, Scalar U>
|
||||
decltype(auto) operator+=(quaternion<T>& left, const quaternion<U>& right){
|
||||
left.w() += right.w();
|
||||
left.x() += right.x();
|
||||
left.y() += right.y();
|
||||
left.z() += right.z();
|
||||
return left;
|
||||
}
|
||||
template<Scalar T, Scalar U>
|
||||
decltype(auto) operator-=(quaternion<T>& left, const quaternion<U>& right){
|
||||
left.w() -= right.w();
|
||||
left.x() -= right.x();
|
||||
left.y() -= right.y();
|
||||
left.z() -= right.z();
|
||||
return left;
|
||||
}
|
||||
template<Scalar T, Scalar U>
|
||||
decltype(auto) operator*=(quaternion<T>& left, const quaternion<U>& right){
|
||||
left = left * right;
|
||||
return left;
|
||||
}
|
||||
|
||||
template<Scalar T, Scalar U>
|
||||
decltype(auto) operator*=(quaternion<T>& left, U&& right){
|
||||
left.w() *= right;
|
||||
left.x() *= right;
|
||||
left.y() *= right;
|
||||
left.z() *= right;
|
||||
return left;
|
||||
}
|
||||
template<Scalar T, Scalar U>
|
||||
decltype(auto) operator/=(quaternion<T>& left, U&& right){
|
||||
left.w() /= right;
|
||||
left.x() /= right;
|
||||
left.y() /= right;
|
||||
left.z() /= right;
|
||||
return left;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
25
include/rml/rml.hpp.in
Normal file
25
include/rml/rml.hpp.in
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_RML_HPP
|
||||
#define RML_RML_HPP
|
||||
|
||||
#define LIBRML_VERSION @librml_VERSION_STRING@
|
||||
#define LIBRML_INSTANTIATIONS_ENABLED @LIBRML_INSTANTIATIONS_ENABLED@
|
||||
|
||||
#endif
|
||||
143
include/rml/vec.hpp
Normal file
143
include/rml/vec.hpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_VEC_HPP
|
||||
#define RML_VEC_HPP
|
||||
|
||||
#include <cstdlib> //size_t
|
||||
#include <type_traits> //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<Scalar T, size_t R>
|
||||
class vector : public matrix_base<T,R,1>
|
||||
{
|
||||
private:
|
||||
using base = matrix_base<T,R,1>;
|
||||
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<size_t TR,Scalar... Args,std::enable_if_t<TR <= R && (std::is_convertible_v<Args,T> && ...),int> = 0>
|
||||
constexpr vector(const vector<T,TR>& other, Args&&... args);
|
||||
template<Scalar U>
|
||||
constexpr vector(const vector<U,R>& 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<Scalar U, size_t TR>
|
||||
constexpr vector& operator=(const vector<U,TR>& 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<Scalar U = T>
|
||||
constexpr reference y(void);
|
||||
template<Scalar U = T>
|
||||
constexpr const_reference y(void)const;
|
||||
template<Scalar U = T>
|
||||
constexpr reference z(void);
|
||||
template<Scalar U = T>
|
||||
constexpr const_reference z(void)const;
|
||||
template<Scalar U = T>
|
||||
constexpr reference w(void);
|
||||
template<Scalar U = T>
|
||||
constexpr const_reference w(void)const;
|
||||
|
||||
value_type magnitude(void)const;
|
||||
vector normalize(void);
|
||||
protected:
|
||||
template<Scalar U, Scalar... Args>
|
||||
constexpr void assign_(size_type offset, U&& u, Args&&... args);
|
||||
};
|
||||
|
||||
template<Scalar T>
|
||||
constexpr auto perp(const vector<T,2>& v);
|
||||
template<Scalar T, Scalar U, size_t R1, size_t R2>
|
||||
constexpr auto perp(const vector<T,R1>& left, const vector<U,R2>& right);
|
||||
template<Scalar T, Scalar U>
|
||||
constexpr auto cross(const vector<T,3>& left, const vector<U,3>& right);
|
||||
|
||||
template<Scalar T, size_t R>
|
||||
constexpr auto magnitude(const vector<T,R>& v);
|
||||
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator*(const matrix<U,R,C>& left, const vector<T,C>& right);
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator*(const vector<T,R>& left, const vector<U,R>& right);
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator*(const vector<T,R>& left, U&& right);
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator*(U&& left, const vector<T,R>& right);
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator/(const vector<T,R>& left, U&& right);
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator+(const vector<T,R>& left, const vector<U,R>& right);
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator-(const vector<T,R>& left, const vector<U,R>& right);
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator-(const vector<T,R>& left);
|
||||
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr decltype(auto) operator*=(vector<T,R>& left, U&& right);
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr decltype(auto) operator/=(vector<T,R>& left, U&& right);
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr decltype(auto) operator+=(vector<T,R>& left, const vector<U,R>& right);
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr decltype(auto) operator-=(vector<T,R>& left, const vector<U,R>& right);
|
||||
|
||||
#if RML_INSTANTIATIONS_ENABLED
|
||||
extern template class vector<float,2>;
|
||||
extern template class vector<float,3>;
|
||||
extern template class vector<float,4>;
|
||||
|
||||
extern template class vector<int,2>;
|
||||
extern template class vector<int,3>;
|
||||
extern template class vector<int,4>;
|
||||
|
||||
extern template class vector<double,2>;
|
||||
extern template class vector<double,3>;
|
||||
extern template class vector<double,4>;
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
#include "vec.tpp"
|
||||
|
||||
#endif
|
||||
254
include/rml/vec.tpp
Normal file
254
include/rml/vec.tpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef RML_VEC_TPP
|
||||
#define RML_VEC_TPP
|
||||
|
||||
#include <cmath> //sqrt
|
||||
|
||||
namespace rml{
|
||||
|
||||
template<Scalar T, size_t R>
|
||||
template<size_t TR,Scalar... Args,std::enable_if_t<TR <= R && (std::is_convertible_v<Args,T> && ...),int>>
|
||||
constexpr vector<T,R>::vector(const vector<T,TR>& 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>(args)...);
|
||||
}
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
template<Scalar U>
|
||||
constexpr vector<T,R>::vector(const vector<U,R>& other){
|
||||
for(size_type i = 0;i < R;++i){
|
||||
this->m_data[i] = other[i];
|
||||
}
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
template<Scalar U, Scalar... Args>
|
||||
constexpr void vector<T,R>::assign_(size_type offset, U&& u, Args&&... args){
|
||||
this->m_data[offset] = std::forward<U>(u);
|
||||
if constexpr(sizeof...(args) > 0){
|
||||
assign_(offset + 1, std::forward<Args>(args)...);
|
||||
}
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
template<Scalar U, size_t TR>
|
||||
constexpr vector<T,R>& vector<T,R>::operator=(const vector<U,TR>& m){
|
||||
base::operator=(m);
|
||||
return *this;
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
constexpr auto vector<T,R>::operator[](size_type i) -> reference{
|
||||
return this->m_data[i];
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
constexpr auto vector<T,R>::operator[](size_type i)const -> const_reference{
|
||||
return this->m_data[i];
|
||||
}
|
||||
|
||||
template<Scalar T, size_t R>
|
||||
constexpr auto vector<T,R>::x(void) -> reference{
|
||||
return this->m_data[0];
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
constexpr auto vector<T,R>::x(void)const -> const_reference{
|
||||
return this->m_data[0];
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
template<Scalar U>
|
||||
constexpr auto vector<T,R>::y(void) -> reference{
|
||||
static_assert(R > 1, "Vector does not contain a 2nd element");
|
||||
return this->m_data[1];
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
template<Scalar U>
|
||||
constexpr auto vector<T,R>::y(void)const -> const_reference{
|
||||
static_assert(R > 1, "Vector does not contain a 2nd element");
|
||||
return this->m_data[1];
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
template<Scalar U>
|
||||
constexpr auto vector<T,R>::z(void) -> reference{
|
||||
static_assert(R > 2, "Vector does not contain a 3rd element");
|
||||
return this->m_data[2];
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
template<Scalar U>
|
||||
constexpr auto vector<T,R>::z(void)const -> const_reference{
|
||||
static_assert(R > 2, "Vector does not contain a 3rd element");
|
||||
return this->m_data[2];
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
template<Scalar U>
|
||||
constexpr auto vector<T,R>::w(void) -> reference{
|
||||
static_assert(R > 3, "Vector does not contain a 4th element");
|
||||
return this->m_data[3];
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
template<Scalar U>
|
||||
constexpr auto vector<T,R>::w(void)const -> const_reference{
|
||||
static_assert(R > 3, "Vector does not contain a 4th element");
|
||||
return this->m_data[3];
|
||||
}
|
||||
template<Scalar T, size_t R>
|
||||
auto vector<T,R>::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<Scalar T, size_t R>
|
||||
vector<T,R> vector<T,R>::normalize(void){
|
||||
return (*this) / magnitude();
|
||||
}
|
||||
|
||||
template<Scalar T>
|
||||
constexpr auto perp(const vector<T,2>& v){
|
||||
return vec2<T>(-v[1], v[0]);
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t R1, size_t R2>
|
||||
constexpr auto perp(const vector<T,R1>& left, const vector<U,R2>& right){
|
||||
return (left[0] * right[1]) - (left[1] * right[0]);
|
||||
}
|
||||
template<Scalar T, Scalar U>
|
||||
constexpr auto cross(const vector<T,3>& left, const vector<U,3>& right){
|
||||
using res_t = decltype(left[0] * right[0]);
|
||||
return vec3<res_t>((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<Scalar T, size_t R>
|
||||
constexpr auto magnitude(const vector<T,R>& v){
|
||||
return v.magnitude();
|
||||
}
|
||||
|
||||
template<Scalar T, Scalar U, size_t C, size_t R>
|
||||
constexpr auto operator*(const matrix<U,R,C>& left, const vector<T,C>& right){
|
||||
using res_t = decltype(std::declval<T>() * std::declval<U>());
|
||||
vector<res_t,R> 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<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator*(const vector<T,R>& left, const vector<U,R>& right){
|
||||
using res_t = decltype(std::declval<T>() * std::declval<U>());
|
||||
res_t res = 0;
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
res += left[i] * right[i];
|
||||
}
|
||||
return res;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator*(const vector<T,R>& left, U&& right){
|
||||
using res_t = decltype(std::declval<T>() * std::declval<U>());
|
||||
vector<res_t,R> res(zero_initialize);
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
res[i] = left[i] * std::forward<U>(right);
|
||||
}
|
||||
return res;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator*(U&& left, const vector<T,R>& right){
|
||||
using res_t = decltype(std::declval<U>() * std::declval<T>());
|
||||
vector<res_t,R> res(zero_initialize);
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
res[i] = std::forward<U>(left) * right[i];
|
||||
}
|
||||
return res;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator/(const vector<T,R>& left, U&& right){
|
||||
using res_t = decltype(std::declval<T>() / std::declval<U>());
|
||||
vector<res_t,R> res(zero_initialize);
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
res[i] = left[i] / std::forward<U>(right);
|
||||
}
|
||||
return res;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator+(const vector<T,R>& left, const vector<U,R>& right){
|
||||
using res_t = decltype(std::declval<T>() + std::declval<U>());
|
||||
vector<res_t,R> res(zero_initialize);
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
res[i] = left[i] + right[i];
|
||||
}
|
||||
return res;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator-(const vector<T,R>& left, const vector<U,R>& right){
|
||||
using res_t = decltype(std::declval<T>() - std::declval<U>());
|
||||
vector<res_t,R> res(zero_initialize);
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
res[i] = left[i] - right[i];
|
||||
}
|
||||
return res;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr auto operator-(const vector<T,R>& left){
|
||||
using res_t = decltype(-std::declval<U>());
|
||||
vector<res_t,R> res(zero_initialize);
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
res[i] = -left[i];
|
||||
}
|
||||
return res;
|
||||
}
|
||||
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr decltype(auto) operator*=(vector<T,R>& left, U&& right){
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
left[i] *= right;
|
||||
}
|
||||
return left;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr decltype(auto) operator/=(vector<T,R>& left, U&& right){
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
left[i] /= right;
|
||||
}
|
||||
return left;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr decltype(auto) operator+=(vector<T,R>& left, const vector<U,R>& right){
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
left[i] += right[i];
|
||||
}
|
||||
return left;
|
||||
}
|
||||
template<Scalar T, Scalar U, size_t R>
|
||||
constexpr decltype(auto) operator-=(vector<T,R>& left, const vector<U,R>& right){
|
||||
for(size_t i = 0; i < R; ++i){
|
||||
left[i] -= right[i];
|
||||
}
|
||||
return left;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
9
pc/librml.pc.cmake.in
Normal file
9
pc/librml.pc.cmake.in
Normal file
@ -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}
|
||||
12
src/ensure.cpp
Normal file
12
src/ensure.cpp
Normal file
@ -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"
|
||||
51
src/instantiations.cpp
Normal file
51
src/instantiations.cpp
Normal file
@ -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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include "rml/mat.hpp"
|
||||
#include "rml/vec.hpp"
|
||||
#include "rml/quat.hpp"
|
||||
|
||||
namespace rml{
|
||||
template class matrix<float,2,2>;
|
||||
template class matrix<float,3,3>;
|
||||
template class matrix<float,4,4>;
|
||||
|
||||
template class matrix<int,2,2>;
|
||||
template class matrix<int,3,3>;
|
||||
template class matrix<int,4,4>;
|
||||
|
||||
template class matrix<double,2,2>;
|
||||
template class matrix<double,3,3>;
|
||||
template class matrix<double,4,4>;
|
||||
|
||||
template class vector<float,2>;
|
||||
template class vector<float,3>;
|
||||
template class vector<float,4>;
|
||||
|
||||
template class vector<int,2>;
|
||||
template class vector<int,3>;
|
||||
template class vector<int,4>;
|
||||
|
||||
template class vector<double,2>;
|
||||
template class vector<double,3>;
|
||||
template class vector<double,4>;
|
||||
|
||||
template class quaternion<float>;
|
||||
template class quaternion<int>;
|
||||
template class quaternion<double>;
|
||||
}
|
||||
Loading…
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Reference in New Issue
Block a user