352 lines
9.5 KiB
C++
352 lines
9.5 KiB
C++
/*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*
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* Copyright 2011-2015 Danny Robson <danny@nerdcruft.net>
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*/
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#include "matrix.hpp"
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#include "debug.hpp"
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#include "iterator/infix.hpp"
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#include "point.hpp"
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#include <cstring>
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#include <cmath>
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using cruft::matrix;
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///////////////////////////////////////////////////////////////////////////////
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//-----------------------------------------------------------------------------
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//template <std::size_t S, typename T>
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//matrix<S,T>&
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//matrix<S,T>::invert_affine (void)
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//{
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// CHECK (is_affine ());
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//
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// // inv ([ M b ] == [ inv(M) -inv(M).b ]
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// // [ 0 1 ]) [ 0 1 ]
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//
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// // Invert the 3x3 M
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// T A = (values[1][1] * values[2][2] - values[1][2] * values[2][1]);
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// T B = (values[1][2] * values[2][0] - values[1][0] * values[2][2]);
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// T C = (values[1][0] * values[2][1] - values[1][1] * values[2][0]);
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//
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// T D = (values[0][2] * values[2][1] - values[0][1] * values[2][2]);
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// T E = (values[0][0] * values[2][2] - values[0][2] * values[2][0]);
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// T F = (values[2][0] * values[0][1] - values[0][0] * values[2][1]);
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//
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// T G = (values[0][1] * values[1][2] - values[0][2] * values[1][1]);
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// T H = (values[0][2] * values[1][0] - values[0][0] * values[1][2]);
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// T K = (values[0][0] * values[1][1] - values[0][1] * values[1][0]);
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//
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// T d = values[0][0] * A + values[0][1] * B + values[0][2] * C;
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// CHECK_NEQ (d, 0.0);
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//
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// values[0][0] = A / d;
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// values[0][1] = D / d;
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// values[0][2] = G / d;
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// values[1][0] = B / d;
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// values[1][1] = E / d;
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// values[1][2] = H / d;
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// values[2][0] = C / d;
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// values[2][1] = F / d;
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// values[2][2] = K / d;
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//
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// // Multiply the b
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// T b0 = - values[0][0] * values[0][3] - values[0][1] * values[1][3] - values[0][2] * values[2][3];
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// T b1 = - values[1][0] * values[0][3] - values[1][1] * values[1][3] - values[1][2] * values[2][3];
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// T b2 = - values[2][0] * values[0][3] - values[2][1] * values[1][3] - values[2][2] * values[2][3];
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//
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// values[0][3] = b0;
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// values[1][3] = b1;
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// values[2][3] = b2;
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//
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// return *this;
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//}
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//-----------------------------------------------------------------------------
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template <std::size_t Rows, std::size_t Cols, typename T>
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T
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cruft::matrix<Rows,Cols,T>::determinant (void) const
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{
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return cruft::determinant (*this);
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}
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//-----------------------------------------------------------------------------
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template <std::size_t Rows, std::size_t Cols, typename T>
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cruft::matrix<Rows,Cols,T>
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cruft::matrix<Rows,Cols,T>::inverse (void) const
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{
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return cruft::inverse (*this);
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}
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///////////////////////////////////////////////////////////////////////////////
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template <std::size_t Rows, std::size_t Cols, typename T>
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matrix<Cols,Rows,T>
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cruft::transposed (const matrix<Rows,Cols,T> &m)
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{
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cruft::matrix<Cols,Rows,T> res;
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for (std::size_t y = 0; y < Rows; ++y)
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for (std::size_t x = 0; x < Cols; ++x)
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res[y][x] = m[x][y];
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return res;
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}
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//-----------------------------------------------------------------------------
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template cruft::matrix3f cruft::transposed (const matrix3f&);
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template cruft::matrix4f cruft::transposed (const matrix4f&);
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///////////////////////////////////////////////////////////////////////////////
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template <std::size_t Rows, std::size_t Cols, typename T>
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bool
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matrix<Rows,Cols,T>::is_affine (void) const
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{
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if (Rows != Cols)
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return false;
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for (std::size_t i = 0; i < Rows - 1; ++i)
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if (!exactly_zero (values[Rows-1][i]))
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return false;
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return equal (values[Rows-1][Rows-1], T{1});
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}
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//-----------------------------------------------------------------------------
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template <typename T>
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cruft::matrix4<T>
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cruft::ortho (T l, T r, // left, right
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T b, T t, // bottom, top
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T n, T f) // near, far
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{
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CHECK_GT (f, n);
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T tx = - (r + l) / (r - l);
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T ty = - (t + b) / (t - b);
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T tz = - (f + n) / (f - n);
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T rl = 2 / (r - l);
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T tb = 2 / (t - b);
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T fn = -2 / (f - n);
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return {{
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{ rl, 0, 0, tx },
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{ 0, tb, 0, ty },
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{ 0, 0, fn, tz },
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{ 0, 0, 0, 1 },
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}};
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}
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template cruft::matrix4f cruft::ortho (float, float, float, float, float, float);
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//-----------------------------------------------------------------------------
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template <typename T>
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cruft::matrix4<T>
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cruft::ortho2D (T left, T right,
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T bottom, T top)
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{
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return ortho (left, right, bottom, top, T{-1}, T{1});
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}
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template cruft::matrix4f cruft::ortho2D (float, float, float, float);
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//-----------------------------------------------------------------------------
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template <typename T>
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cruft::matrix4<T>
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cruft::perspective (T fov, T aspect, range<T> Z)
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{
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CHECK_LIMIT (fov, 0, 2 * cruft::pi<T>);
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CHECK_GE (Z.lo, 0);
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CHECK_GE (Z.hi, 0);
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T f = cos (T{0.5} * fov) / sin (T{0.5} * fov);
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T x = f / aspect;
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T y = f;
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T z1 = (Z.hi + Z.lo) / (Z.lo - Z.hi);
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T z2 = (2 * Z.hi * Z.lo) / (Z.lo - Z.hi);
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return { {
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{ x, 0, 0, 0 },
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{ 0, y, 0, 0 },
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{ 0, 0, z1, z2 },
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{ 0, 0, -1, 0 }
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} };
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}
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template cruft::matrix4f cruft::perspective<float> (float, float, range<float>);
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//-----------------------------------------------------------------------------
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// Emulates gluLookAt
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//
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// Translates the viewpoint to the origin, then rotates the world to point
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// along eye to centre (negative-Z).
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// Implemented for right handed world coordinates.
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//
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// Assumes 'up' is normalised.
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template <typename T>
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cruft::matrix4<T>
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cruft::look_at (const cruft::point<3,T> eye,
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const cruft::point<3,T> centre,
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const cruft::vector<3,T> up)
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{
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CHECK (is_normalised (up));
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const auto forward = normalised (centre - eye);
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const auto side = normalised (cross (forward, up));
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const auto newup = cross (side, forward);
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const auto &f = forward, &s = side, &u = newup;
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const cruft::matrix4<T> rot {{
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{ s.x, s.y, s.z, 0 },
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{ u.x, u.y, u.z, 0 },
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{-f.x,-f.y,-f.z, 0 },
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{ 0, 0, 0, 1 },
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}};
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return rot * cruft::translation (0-eye);
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}
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template cruft::matrix4f cruft::look_at (cruft::point3f, cruft::point3f, cruft::vector3f);
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//-----------------------------------------------------------------------------
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//template <typename T>
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//cruft::matrix4<T>
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//cruft::translation (cruft::vector<3,T> v)
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//{
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// return { {
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// { 1.f, 0.f, 0.f, v.x },
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// { 0.f, 1.f, 0.f, v.y },
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// { 0.f, 0.f, 1.f, v.z },
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// { 0.f, 0.f, 0.f, 1.f },
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// } };
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//}
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//
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//
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//template cruft::matrix4f cruft::translation (cruft::vector3f);
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//-----------------------------------------------------------------------------
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#if 0
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template <typename T>
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cruft::matrix4<T>
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cruft::scale (T mag)
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{
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return scale (vector<3,T> (mag));
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}
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template cruft::matrix4f cruft::scale(float);
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#endif
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//-----------------------------------------------------------------------------
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//template <typename T>
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//cruft::matrix4<T>
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//cruft::scale (cruft::vector<3,T> v)
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//{
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// return { {
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// { v.x, 0.f, 0.f, 0.f },
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// { 0.f, v.y, 0.f, 0.f },
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// { 0.f, 0.f, v.z, 0.f },
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// { 0.f, 0.f, 0.f, 1.f }
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// } };
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//}
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//template cruft::matrix4f cruft::scale(cruft::vector3f);
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//-----------------------------------------------------------------------------
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template <typename T>
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cruft::matrix4<T>
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cruft::rotation (T angle, cruft::vector<3,T> about)
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{
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CHECK (is_normalised (about));
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T c = std::cos (angle);
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T s = std::sin (angle);
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T x = about.x,
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y = about.y,
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z = about.z;
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return { {
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{ x * x * (1 - c) + c,
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x * y * (1 - c) - z * s,
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x * z * (1 - c) + y * s,
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0
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},
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{ y * x * (1 - c) + z * s,
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y * y * (1 - c) + c,
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y * z * (1 - c) - x * s,
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0
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},
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{ z * x * (1 - c) - y * s,
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z * y * (1 - c) + x * s,
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z * z * (1 - c) + c,
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0
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},
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{ 0, 0, 0, 1 }
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} };
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}
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template cruft::matrix4f cruft::rotation (float, cruft::vector3f);
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//-----------------------------------------------------------------------------
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template struct cruft::matrix<2,2,float>;
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template struct cruft::matrix<2,2,double>;
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template struct cruft::matrix<3,3,float>;
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template struct cruft::matrix<3,3,double>;
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template struct cruft::matrix<4,4,float>;
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template struct cruft::matrix<4,4,double>;
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///////////////////////////////////////////////////////////////////////////////
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// Uses the algorithm from:
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// "Extracting Euler Angles from a Rotation Matrix" by
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// Mike Day, Insomniac Games.
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template <std::size_t Rows, std::size_t Cols, typename T>
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cruft::vector<3,T>
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cruft::to_euler (const matrix<Rows,Cols,T> &m)
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{
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static_assert (Rows == Cols && (Rows == 3 || Rows == 4),
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"only defined for 3d affine transforms");
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const auto theta0 = std::atan2 (m[2][1], m[2][2]);
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const auto c1 = std::hypot (m[0][0], m[1][0]);
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const auto theta1 = std::atan2 (-m[2][0], c1);
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const auto s0 = std::sin(theta0);
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const auto c0 = std::cos(theta0);
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const auto theta2 = std::atan2(
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s0 * m[0][2] - c0 * m[0][1],
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c0 * m[1][1] - s0 * m[1][2]
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);
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return { theta0, theta1, theta2 };
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}
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//-----------------------------------------------------------------------------
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template cruft::vector<3,float> cruft::to_euler (const matrix<3,3,float>&);
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template cruft::vector<3,float> cruft::to_euler (const matrix<4,4,float>&);
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