191 lines
6.2 KiB
C++
191 lines
6.2 KiB
C++
/*
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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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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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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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*
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* Copyright 2011-2015 Danny Robson <danny@nerdcruft.net>
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*/
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#ifndef __UTIL_MATRIX_HPP
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#define __UTIL_MATRIX_HPP
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#include "point.hpp"
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#include "range.hpp"
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#include <ostream>
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namespace util {
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template <size_t S, typename T>
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struct matrix {
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T values[S][S];
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static constexpr size_t rows = S;
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static constexpr size_t cols = S;
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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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T* operator[] (size_t);
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const T* operator[] (size_t) const;
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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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matrix& transpose (void);
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matrix transposed (void) const;
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T determinant (void) const;
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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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matrix operator* (const matrix&) const;
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matrix& operator*=(const matrix&);
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vector<S,T> operator* (const vector<S,T>&) const;
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point<S,T> operator* (const point<S,T> &) const;
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bool is_affine (void) const;
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template <typename U>
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matrix<S,U> cast (void) const;
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// Perspective matrices
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static matrix<4,T> ortho (T left, T right, T bottom, T top, T near, T far);
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static matrix<4,T> ortho2D (T left, T right, T bottom, T top);
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static matrix<4,T> perspective (T fov, T aspect, range<T> Z);
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static matrix<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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static matrix<4,T> translation (util::vector<2,T>);
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static matrix<4,T> translation (util::vector<3,T>);
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static matrix<4,T> scale (util::vector<3,T>);
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static matrix<4,T> scale (T);
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static matrix<4,T> rotation (T angle, util::vector<3,T> about);
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// Constant matrices
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static constexpr matrix identity ();
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static constexpr matrix zeroes ();
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};
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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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template <size_t S, typename T>
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vector<3,T>
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to_euler (const matrix<S,T>&);
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///////////////////////////////////////////////////////////////////////////
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// logical operations
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template <size_t S, typename T>
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constexpr
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bool
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operator== (const matrix<S,T>&, const matrix<S,T>&);
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template <size_t S, typename T>
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constexpr
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bool
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operator!= (const matrix<S,T>&, const matrix<S,T>&);
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///////////////////////////////////////////////////////////////////////////
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// element operations
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template <size_t S, typename T>
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constexpr
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matrix<S,T>
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operator+ (const matrix<S,T>&, const matrix<S,T>&);
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template <size_t S, typename T>
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constexpr
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matrix<S,T>
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operator- (const matrix<S,T>&, const matrix<S,T>&);
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///////////////////////////////////////////////////////////////////////////
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// scalar operations
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template <size_t S, typename T> constexpr matrix<S,T> operator* (const matrix<S,T>&, T);
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template <size_t S, typename T> constexpr matrix<S,T> operator/ (const matrix<S,T>&, T);
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template <size_t S, typename T> constexpr matrix<S,T> operator+ (const matrix<S,T>&, T);
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template <size_t S, typename T> constexpr matrix<S,T> operator- (const matrix<S,T>&, T);
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template <size_t S, typename T> constexpr matrix<S,T> operator* (T, const matrix<S,T>&);
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template <size_t S, typename T> constexpr matrix<S,T> operator/ (T, const matrix<S,T>&);
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template <size_t S, typename T> constexpr matrix<S,T> operator+ (T, const matrix<S,T>&);
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template <size_t S, typename T> constexpr matrix<S,T> operator- (T, const matrix<S,T>&);
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template <size_t S, typename T> constexpr matrix<S,T>& operator*= (matrix<S,T>&, T);
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template <size_t S, typename T> constexpr matrix<S,T>& operator/= (matrix<S,T>&, T);
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template <size_t S, typename T> constexpr matrix<S,T>& operator+= (matrix<S,T>&, T);
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template <size_t S, typename T> constexpr matrix<S,T>& operator-= (matrix<S,T>&, T);
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///////////////////////////////////////////////////////////////////////////
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template <size_t S, typename T>
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T
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determinant (const matrix<S,T>&);
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template <size_t S, typename T>
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matrix<S,T>
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inverse (const matrix<S,T>&);
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template <size_t S, typename T>
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matrix<S,T>
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transposed (const matrix<S,T>&);
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///////////////////////////////////////////////////////////////////////////
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template <size_t S, typename T>
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matrix<S,T>
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abs (const matrix<S,T>&);
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template <size_t S, typename T>
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constexpr
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T
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sum (const matrix<S,T>&);
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///////////////////////////////////////////////////////////////////////////
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template <typename T> using matrix3 = matrix<3,T>;
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template <typename T> using matrix4 = matrix<4,T>;
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template <size_t S> using matrixf = matrix<S,float>;
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template <size_t S> using matrixd = matrix<S,double>;
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typedef matrix<2,float> matrix2f;
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typedef matrix<2,double> matrix2d;
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typedef matrix<3,float> matrix3f;
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typedef matrix<3,double> matrix3d;
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typedef matrix<4,float> matrix4f;
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typedef matrix<4,double> matrix4d;
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///////////////////////////////////////////////////////////////////////////
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template <size_t S, typename T>
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std::ostream& operator<< (std::ostream&, const matrix<S,T>&);
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}
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#include "matrix.ipp"
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#endif
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