199 lines
7.0 KiB
C++
199 lines
7.0 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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#include <cstdlib>
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namespace util {
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template <size_t Rows, size_t Cols, typename T>
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struct matrix {
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static constexpr auto rows = Rows;
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static constexpr auto cols = Cols;
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T values[Rows][Cols];
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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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T* data (void);
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const T* data (void) 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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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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vector<Rows,T> operator* (const vector<Rows,T>&) const;
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point<Rows,T> operator* (const point<Rows,T> &) const;
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bool is_affine (void) const;
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template <typename U>
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matrix<Rows,Cols,U>
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cast (void) const;
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// Perspective matrices
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static matrix<4,4,T> ortho (T left, T right, T bottom, T top, T near, T far);
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static matrix<4,4,T> ortho2D (T left, T right, T bottom, T top);
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static matrix<4,4,T> perspective (T fov, T aspect, range<T> Z);
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static 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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static matrix<4,4,T> translation (util::vector<2,T>);
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static matrix<4,4,T> translation (util::vector<3,T>);
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static matrix<4,4,T> scale (util::vector<3,T>);
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static matrix<4,4,T> scale (T);
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static matrix<4,4,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 Rows, size_t Cols, typename T>
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vector<3,T>
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to_euler (const matrix<Rows, Cols, T>&);
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///////////////////////////////////////////////////////////////////////////
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// logical operations
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template <size_t Rows, size_t Cols, typename T>
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constexpr
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bool
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operator== (const matrix<Rows,Cols,T>&, const matrix<Rows,Cols,T>&);
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template <size_t Rows, size_t Cols, typename T>
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constexpr
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bool
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operator!= (const matrix<Rows,Cols,T>&, const matrix<Rows,Cols,T>&);
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///////////////////////////////////////////////////////////////////////////
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// element operations
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template <size_t Rows, size_t Cols, typename T>
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constexpr
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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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template <size_t Rows, size_t Cols, typename T>
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constexpr
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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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///////////////////////////////////////////////////////////////////////////
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// scalar operations
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator* (const matrix<R,C,T>&, T);
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator/ (const matrix<R,C,T>&, T);
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator+ (const matrix<R,C,T>&, T);
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator- (const matrix<R,C,T>&, T);
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator* (T, const matrix<R,C,T>&);
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator/ (T, const matrix<R,C,T>&);
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator+ (T, const matrix<R,C,T>&);
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator- (T, const matrix<R,C,T>&);
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T>& operator*= (matrix<R,C,T>&, T);
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T>& operator/= (matrix<R,C,T>&, T);
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T>& operator+= (matrix<R,C,T>&, T);
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template <size_t R, size_t C, typename T> constexpr matrix<R,C,T>& operator-= (matrix<R,C,T>&, T);
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///////////////////////////////////////////////////////////////////////////
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// matrix operations
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template <
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size_t R1, size_t C1,
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size_t R2, size_t C2,
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typename T
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> constexpr matrix<R1,C2,T> operator* (const matrix<R1,C1,T>&, const matrix<R2,C2,T>&);
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///////////////////////////////////////////////////////////////////////////
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template <size_t Rows, size_t Cols, typename T>
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T
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determinant (const matrix<Rows,Cols,T>&);
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template <size_t Rows, size_t Cols, typename T>
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matrix<Rows,Cols,T>
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inverse (const matrix<Rows,Cols,T>&);
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template <size_t Rows, size_t Cols, typename T>
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matrix<Cols,Rows,T>
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transposed (const matrix<Rows,Cols,T>&);
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///////////////////////////////////////////////////////////////////////////
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template <size_t Rows, size_t Cols, typename T>
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matrix<Rows,Cols,T>
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abs (const matrix<Rows,Cols,T>&);
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template <size_t Rows, size_t Cols, typename T>
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constexpr
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T
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sum (const matrix<Rows,Cols,T>&);
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///////////////////////////////////////////////////////////////////////////
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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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template <size_t Rows, size_t Cols> using matrixf = matrix<Rows,Cols,float>;
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template <size_t Rows, size_t Cols> using matrixd = matrix<Rows,Cols,double>;
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typedef matrix<2,2,float> matrix2f;
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typedef matrix<2,2,double> matrix2d;
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typedef matrix<3,3,float> matrix3f;
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typedef matrix<3,3,double> matrix3d;
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typedef matrix<4,4,float> matrix4f;
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typedef matrix<4,4,double> matrix4d;
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///////////////////////////////////////////////////////////////////////////
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template <size_t Rows, size_t Cols, typename T>
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std::ostream& operator<< (std::ostream&, const matrix<Rows,Cols,T>&);
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}
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#include "matrix.ipp"
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#endif
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