2012-05-23 17:04:46 +10:00
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/*
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2015-04-13 18:05:28 +10:00
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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2012-05-23 17:04:46 +10:00
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*
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2015-04-13 18:05:28 +10:00
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* http://www.apache.org/licenses/LICENSE-2.0
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2014-08-18 22:14:31 +10:00
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*
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2015-04-13 18:05:28 +10:00
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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2012-05-23 17:04:46 +10:00
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*
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2015-10-30 23:40:13 +11:00
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* Copyright 2011-2015 Danny Robson <danny@nerdcruft.net>
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2012-05-23 17:04:46 +10:00
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*/
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2011-05-23 17:18:52 +10:00
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#ifndef __UTIL_MATRIX_HPP
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#define __UTIL_MATRIX_HPP
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2011-10-18 21:45:55 +11:00
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#include "point.hpp"
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2015-12-02 10:03:25 +11:00
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#include "range.hpp"
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2017-11-22 17:03:00 +11:00
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#include "vector.hpp"
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2011-05-23 17:18:52 +10:00
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2016-03-17 18:10:27 +11:00
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#include <ostream>
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2017-02-21 21:19:28 +11:00
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#include <cstdlib>
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2011-05-23 17:18:52 +10:00
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2011-10-18 21:45:55 +11:00
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namespace util {
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template <std::size_t Rows, std::size_t Cols, typename T>
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2011-10-18 21:45:55 +11:00
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struct matrix {
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2017-02-21 21:19:28 +11:00
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static constexpr auto rows = Rows;
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static constexpr auto cols = Cols;
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2011-05-23 17:18:52 +10:00
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2017-11-22 17:03:00 +11:00
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constexpr matrix () noexcept = default;
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constexpr matrix (const T(&_data)[Rows][Cols]) noexcept:
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values {}
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{
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for (std::size_t r = 0; r < Rows; ++r)
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for (std::size_t c = 0; c < Cols; ++c)
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values[r][c] = _data[r][c];
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}
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template <std::size_t S, typename SelfT>
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constexpr matrix (const util::coord::base<S,T,SelfT> (&_data)[Rows]) noexcept
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{
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for (std::size_t r = 0; r < Rows; ++r)
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for (std::size_t c = 0; c < Cols; ++c)
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values[r][c] = _data[r][c];
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}
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T values[rows][cols];
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2016-08-15 17:33:53 +10:00
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// index operators return a pointer into the data array so that
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// multidimensional array syntax can be used transparently on this
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// type.
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2017-11-22 17:03:00 +11:00
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constexpr auto& operator[] (std::size_t idx) { return values[idx]; }
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constexpr const auto& operator[] (std::size_t idx) const { return values[idx]; }
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2015-11-04 23:23:46 +11:00
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2017-01-05 19:49:43 +11:00
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T* data (void);
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const T* data (void) const;
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2016-08-15 17:33:53 +10:00
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const T* begin (void) const;
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const T* end (void) const;
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T* begin (void);
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T* end (void);
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const T* cbegin (void) const;
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const T* cend (void) const;
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2015-11-04 23:23:46 +11:00
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T determinant (void) const;
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2015-10-30 23:40:13 +11:00
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matrix inverse (void) const;
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matrix& invert (void);
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matrix inverse_affine (void) const;
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matrix& invert_affine (void);
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2014-08-19 20:45:28 +10:00
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2017-11-22 17:03:00 +11:00
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template <typename VectorT>
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std::enable_if_t<is_coord_v<VectorT>, VectorT>
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operator* (const VectorT &rhs) const
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{
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VectorT out;
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for (std::size_t i = 0; i < Rows; ++i)
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out[i] = dot (rhs, values[i]);
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return out;
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}
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2014-08-19 20:46:00 +10:00
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2011-10-18 21:45:55 +11:00
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bool is_affine (void) const;
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2011-05-23 17:18:52 +10:00
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2015-02-19 13:24:37 +11:00
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template <typename U>
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2017-02-21 21:19:28 +11:00
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matrix<Rows,Cols,U>
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cast (void) const;
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2015-02-19 13:24:37 +11:00
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2014-12-15 13:44:33 +11:00
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// Constant matrices
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2016-10-17 22:34:53 +11:00
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static constexpr matrix identity ();
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static constexpr matrix zeroes ();
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2011-05-23 17:18:52 +10:00
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};
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2014-08-19 20:46:15 +10:00
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2015-11-04 23:23:46 +11:00
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2017-11-22 17:03:00 +11:00
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// Perspective matrices
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template <typename T> matrix<4,4,T> ortho (T left, T right, T bottom, T top, T near, T far);
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template <typename T> matrix<4,4,T> ortho2D (T left, T right, T bottom, T top);
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template <typename T> matrix<4,4,T> perspective (T fov, T aspect, range<T> Z);
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template <typename T> matrix<4,4,T> look_at (point<3,T> eye, point<3,T> target, vector<3,T> up);
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// Affine matrices
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template <typename T> matrix<4,4,T> translation (util::vector<3,T>);
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template <typename T> matrix<4,4,T> scale (util::vector<3,T>);
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template <typename T> matrix<4,4,T> scale (T);
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template <typename T> matrix<4,4,T> rotation (T angle, util::vector<3,T> about);
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2016-09-14 17:53:34 +10:00
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///////////////////////////////////////////////////////////////////////////
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// Convert an affine rotation matrix to euler angles.
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//
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// Results are undefined if the matrix is not purely a rotation matrix,
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// or if the dimension is not 3x3 or 4x4.
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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2016-09-14 17:53:34 +10:00
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vector<3,T>
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2017-02-21 21:19:28 +11:00
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to_euler (const matrix<Rows, Cols, T>&);
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2016-09-14 17:53:34 +10:00
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2016-08-15 20:32:24 +10:00
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///////////////////////////////////////////////////////////////////////////
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// logical operations
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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2016-08-15 20:32:24 +10:00
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constexpr
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bool
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2017-02-21 21:19:28 +11:00
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operator== (const matrix<Rows,Cols,T>&, const matrix<Rows,Cols,T>&);
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2016-08-15 20:32:24 +10:00
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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2016-08-15 20:32:24 +10:00
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constexpr
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bool
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2017-02-21 21:19:28 +11:00
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operator!= (const matrix<Rows,Cols,T>&, const matrix<Rows,Cols,T>&);
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2016-08-15 20:32:24 +10:00
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///////////////////////////////////////////////////////////////////////////
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// element operations
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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2016-08-15 18:53:52 +10:00
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constexpr
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2017-02-21 21:19:28 +11:00
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matrix<Rows,Cols,T>
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operator+ (const matrix<Rows,Cols,T>&, const matrix<Rows,Cols,T>&);
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2016-08-15 18:53:52 +10:00
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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2016-08-15 18:53:52 +10:00
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constexpr
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2017-02-21 21:19:28 +11:00
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matrix<Rows,Cols,T>
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operator- (const matrix<Rows,Cols,T>&, const matrix<Rows,Cols,T>&);
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2016-08-15 18:53:52 +10:00
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2016-08-15 20:32:24 +10:00
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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constexpr
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matrix<Rows,Cols,T>
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div (const matrix<Rows,Cols,T> &a, const matrix<Rows,Cols,T> &b)
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{
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matrix<Rows,Cols,T> out {};
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for (std::size_t r = 0; r < Rows; ++r)
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for (std::size_t c = 0; c < Cols; ++c)
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out[r][c] = a[r][c] / b[r][c];
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return out;
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}
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template <std::size_t Rows, std::size_t Cols, typename T>
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constexpr T
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max (const matrix<Rows,Cols,T> &m)
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{
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T val = m[0][0];
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for (std::size_t r = 0; r < Rows; ++r)
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for (std::size_t c = 0; c < Cols; ++c)
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val = max (val, m[r][c]);
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return val;
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}
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2016-08-15 20:32:24 +10:00
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///////////////////////////////////////////////////////////////////////////
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// scalar operations
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2017-11-22 17:03:00 +11:00
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T> operator* (const matrix<R,C,T>&, T);
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T> operator/ (const matrix<R,C,T>&, T);
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T> operator+ (const matrix<R,C,T>&, T);
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T> operator- (const matrix<R,C,T>&, T);
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2017-02-21 21:19:28 +11:00
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2017-11-22 17:03:00 +11:00
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T> operator* (T, const matrix<R,C,T>&);
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T> operator/ (T, const matrix<R,C,T>&);
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T> operator+ (T, const matrix<R,C,T>&);
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T> operator- (T, const matrix<R,C,T>&);
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2016-08-15 20:32:24 +10:00
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2017-11-22 17:03:00 +11:00
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T>& operator*= (matrix<R,C,T>&, T);
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T>& operator/= (matrix<R,C,T>&, T);
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T>& operator+= (matrix<R,C,T>&, T);
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template <std::size_t R, std::size_t C, typename T> constexpr matrix<R,C,T>& operator-= (matrix<R,C,T>&, T);
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2016-08-15 20:32:24 +10:00
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2017-02-21 21:19:28 +11:00
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///////////////////////////////////////////////////////////////////////////
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// matrix operations
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template <
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2017-11-22 17:03:00 +11:00
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std::size_t R1, //int C1,
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std::size_t RC, //int R2,
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std::size_t C2,
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2017-02-21 21:19:28 +11:00
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typename T
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2017-03-06 21:36:04 +11:00
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>
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constexpr
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matrix<R1,C2,T>
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2017-11-22 17:03:00 +11:00
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operator* (const matrix<R1,RC,T>&a, const matrix<RC,C2,T>&b)
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{
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matrix<R1,C2,T> res {};
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// we use a column first iteration approach because otherwise we risk
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// triggering clang#????
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for (std::size_t c = 0; c < C2; ++c) {
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for (std::size_t r = 0; r < R1; ++r) {
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T accum {0};
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for (std::size_t i = 0; i < RC; ++i)
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accum += a[r][i] * b[i][c];
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res[r][c] = accum;
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}
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}
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return res;
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}
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2017-03-06 21:36:04 +11:00
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//-------------------------------------------------------------------------
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template <
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2017-11-22 17:03:00 +11:00
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std::size_t R1, std::size_t C1,
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std::size_t R2, std::size_t C2,
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2017-03-06 21:36:04 +11:00
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typename T
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>
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constexpr
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matrix<R1,C2,T>&
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operator*= (matrix<R1,C1,T> &a, const matrix<R2,C2,T> &b)
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{ return a = a * b; };
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2016-08-15 20:32:24 +10:00
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///////////////////////////////////////////////////////////////////////////
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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2016-08-15 18:53:52 +10:00
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T
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determinant (const matrix<Rows,Cols,T>&);
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2015-11-04 23:23:46 +11:00
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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2017-02-21 21:19:28 +11:00
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matrix<Rows,Cols,T>
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inverse (const matrix<Rows,Cols,T>&);
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2015-11-04 23:23:46 +11:00
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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2017-02-21 21:19:28 +11:00
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matrix<Cols,Rows,T>
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transposed (const matrix<Rows,Cols,T>&);
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2016-09-14 17:46:03 +10:00
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///////////////////////////////////////////////////////////////////////////
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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2017-02-21 21:19:28 +11:00
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matrix<Rows,Cols,T>
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abs (const matrix<Rows,Cols,T>&);
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2016-08-15 18:44:27 +10:00
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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2016-08-15 18:45:25 +10:00
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constexpr
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T
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sum (const matrix<Rows,Cols,T>&);
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2016-08-15 18:45:25 +10:00
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2016-09-14 17:53:34 +10:00
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///////////////////////////////////////////////////////////////////////////
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2017-02-21 21:19:28 +11:00
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template <typename T> using matrix3 = matrix<3,3,T>;
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template <typename T> using matrix4 = matrix<4,4,T>;
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2015-07-13 16:27:54 +10:00
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols> using matrixf = matrix<Rows,Cols,float>;
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template <std::size_t Rows, std::size_t Cols> using matrixd = matrix<Rows,Cols,double>;
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2014-08-19 20:46:15 +10:00
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2017-02-21 21:19:28 +11:00
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typedef matrix<2,2,float> matrix2f;
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typedef matrix<2,2,double> matrix2d;
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2015-11-04 23:23:46 +11:00
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2017-02-21 21:19:28 +11:00
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typedef matrix<3,3,float> matrix3f;
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typedef matrix<3,3,double> matrix3d;
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2015-11-04 23:23:46 +11:00
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2017-02-21 21:19:28 +11:00
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typedef matrix<4,4,float> matrix4f;
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typedef matrix<4,4,double> matrix4d;
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2015-10-30 23:40:13 +11:00
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2016-09-14 17:53:34 +10:00
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///////////////////////////////////////////////////////////////////////////
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2017-11-22 17:03:00 +11:00
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template <std::size_t Rows, std::size_t Cols, typename T>
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2017-02-21 21:19:28 +11:00
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std::ostream& operator<< (std::ostream&, const matrix<Rows,Cols,T>&);
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2011-05-23 17:18:52 +10:00
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}
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2015-02-19 13:24:37 +11:00
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#include "matrix.ipp"
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2011-05-23 17:18:52 +10:00
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#endif
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