libcruft-util/matrix.hpp

199 lines
7.0 KiB
C++

/*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Copyright 2011-2015 Danny Robson <danny@nerdcruft.net>
*/
#ifndef __UTIL_MATRIX_HPP
#define __UTIL_MATRIX_HPP
#include "point.hpp"
#include "range.hpp"
#include <ostream>
#include <cstdlib>
namespace util {
template <size_t Rows, size_t Cols, typename T>
struct matrix {
static constexpr auto rows = Rows;
static constexpr auto cols = Cols;
T values[Rows][Cols];
// index operators return a pointer into the data array so that
// multidimensional array syntax can be used transparently on this
// type.
T* operator[] (size_t);
const T* operator[] (size_t) const;
T* data (void);
const T* data (void) const;
const T* begin (void) const;
const T* end (void) const;
T* begin (void);
T* end (void);
const T* cbegin (void) const;
const T* cend (void) const;
T determinant (void) const;
matrix inverse (void) const;
matrix& invert (void);
matrix inverse_affine (void) const;
matrix& invert_affine (void);
vector<Rows,T> operator* (const vector<Rows,T>&) const;
point<Rows,T> operator* (const point<Rows,T> &) const;
bool is_affine (void) const;
template <typename U>
matrix<Rows,Cols,U>
cast (void) const;
// Perspective matrices
static matrix<4,4,T> ortho (T left, T right, T bottom, T top, T near, T far);
static matrix<4,4,T> ortho2D (T left, T right, T bottom, T top);
static matrix<4,4,T> perspective (T fov, T aspect, range<T> Z);
static matrix<4,4,T> look_at (point<3,T> eye, point<3,T> target, vector<3,T> up);
// Affine matrices
static matrix<4,4,T> translation (util::vector<2,T>);
static matrix<4,4,T> translation (util::vector<3,T>);
static matrix<4,4,T> scale (util::vector<3,T>);
static matrix<4,4,T> scale (T);
static matrix<4,4,T> rotation (T angle, util::vector<3,T> about);
// Constant matrices
static constexpr matrix identity ();
static constexpr matrix zeroes ();
};
///////////////////////////////////////////////////////////////////////////
// Convert an affine rotation matrix to euler angles.
//
// Results are undefined if the matrix is not purely a rotation matrix,
// or if the dimension is not 3x3 or 4x4.
template <size_t Rows, size_t Cols, typename T>
vector<3,T>
to_euler (const matrix<Rows, Cols, T>&);
///////////////////////////////////////////////////////////////////////////
// logical operations
template <size_t Rows, size_t Cols, typename T>
constexpr
bool
operator== (const matrix<Rows,Cols,T>&, const matrix<Rows,Cols,T>&);
template <size_t Rows, size_t Cols, typename T>
constexpr
bool
operator!= (const matrix<Rows,Cols,T>&, const matrix<Rows,Cols,T>&);
///////////////////////////////////////////////////////////////////////////
// element operations
template <size_t Rows, size_t Cols, typename T>
constexpr
matrix<Rows,Cols,T>
operator+ (const matrix<Rows,Cols,T>&, const matrix<Rows,Cols,T>&);
template <size_t Rows, size_t Cols, typename T>
constexpr
matrix<Rows,Cols,T>
operator- (const matrix<Rows,Cols,T>&, const matrix<Rows,Cols,T>&);
///////////////////////////////////////////////////////////////////////////
// scalar operations
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator* (const matrix<R,C,T>&, T);
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator/ (const matrix<R,C,T>&, T);
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator+ (const matrix<R,C,T>&, T);
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator- (const matrix<R,C,T>&, T);
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator* (T, const matrix<R,C,T>&);
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator/ (T, const matrix<R,C,T>&);
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator+ (T, const matrix<R,C,T>&);
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T> operator- (T, const matrix<R,C,T>&);
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T>& operator*= (matrix<R,C,T>&, T);
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T>& operator/= (matrix<R,C,T>&, T);
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T>& operator+= (matrix<R,C,T>&, T);
template <size_t R, size_t C, typename T> constexpr matrix<R,C,T>& operator-= (matrix<R,C,T>&, T);
///////////////////////////////////////////////////////////////////////////
// matrix operations
template <
size_t R1, size_t C1,
size_t R2, size_t C2,
typename T
> constexpr matrix<R1,C2,T> operator* (const matrix<R1,C1,T>&, const matrix<R2,C2,T>&);
///////////////////////////////////////////////////////////////////////////
template <size_t Rows, size_t Cols, typename T>
T
determinant (const matrix<Rows,Cols,T>&);
template <size_t Rows, size_t Cols, typename T>
matrix<Rows,Cols,T>
inverse (const matrix<Rows,Cols,T>&);
template <size_t Rows, size_t Cols, typename T>
matrix<Cols,Rows,T>
transposed (const matrix<Rows,Cols,T>&);
///////////////////////////////////////////////////////////////////////////
template <size_t Rows, size_t Cols, typename T>
matrix<Rows,Cols,T>
abs (const matrix<Rows,Cols,T>&);
template <size_t Rows, size_t Cols, typename T>
constexpr
T
sum (const matrix<Rows,Cols,T>&);
///////////////////////////////////////////////////////////////////////////
template <typename T> using matrix3 = matrix<3,3,T>;
template <typename T> using matrix4 = matrix<4,4,T>;
template <size_t Rows, size_t Cols> using matrixf = matrix<Rows,Cols,float>;
template <size_t Rows, size_t Cols> using matrixd = matrix<Rows,Cols,double>;
typedef matrix<2,2,float> matrix2f;
typedef matrix<2,2,double> matrix2d;
typedef matrix<3,3,float> matrix3f;
typedef matrix<3,3,double> matrix3d;
typedef matrix<4,4,float> matrix4f;
typedef matrix<4,4,double> matrix4d;
///////////////////////////////////////////////////////////////////////////
template <size_t Rows, size_t Cols, typename T>
std::ostream& operator<< (std::ostream&, const matrix<Rows,Cols,T>&);
}
#include "matrix.ipp"
#endif