Added Eigen, replacing ZMath

src/Game.cpp

@@ -83,7 +83,7 @@ namespace ZL
 				{
 					Eigen::Quaternionf randomQuat = generateRandomQuaternion(gen);
 
-					Matrix3f randomMatrix = QuatToMatrix(randomQuat);
+					Matrix3f randomMatrix = randomQuat.toRotationMatrix();
 
 					boxCoordsArr.emplace_back(BoxCoords{ newPos, randomMatrix });
 					generatedCount++;
@@ -205,7 +205,7 @@ namespace ZL
 		//Load texture
 		spaceshipTexture = std::make_unique<Texture>(CreateTextureDataFromPng("./resources/DefaultMaterial_BaseColor_shine.png", CONST_ZIP_FILE));
 		spaceshipBase = LoadFromTextFile02("./resources/spaceship006.txt", CONST_ZIP_FILE);
-		spaceshipBase.RotateByMatrix(QuatToMatrix(QuatFromRotateAroundY(M_PI / 2.0)));
+		spaceshipBase.RotateByMatrix(Eigen::Quaternionf(Eigen::AngleAxisf(M_PI / 2.0, Eigen::Vector3f::UnitY())).toRotationMatrix());// QuatFromRotateAroundY(M_PI / 2.0).toRotationMatrix());
 		//spaceshipBase.Move(Vector3f{ -0.52998, -13, 0 });
 		//spaceshipBase.Move(Vector3f{ -0.52998, -10, 10 });
 
@@ -571,10 +571,10 @@ namespace ZL
 					// Конструктор принимает (угол_в_радианах, ось_вращения)
 					Eigen::Quaternionf rotateQuat(Eigen::AngleAxisf(deltaAlpha, rotationDirection));
 
-					Matrix3f rotateMat = QuatToMatrix(rotateQuat);
+					Matrix3f rotateMat = rotateQuat.toRotationMatrix();
 
-					Environment::shipMatrix = MultMatrixMatrix(Environment::shipMatrix, rotateMat);
-					Environment::inverseShipMatrix = InverseMatrix(Environment::shipMatrix);
+					Environment::shipMatrix = Environment::shipMatrix * rotateMat;
+					Environment::inverseShipMatrix = Environment::shipMatrix.inverse();
 
 				}
 			}
@@ -582,7 +582,7 @@ namespace ZL
 			if (fabs(Environment::shipVelocity) > 0.01f)
 			{
 				Vector3f velocityDirection = { 0,0, -Environment::shipVelocity * delta / 1000.f };
-				Vector3f velocityDirectionAdjusted = MultMatrixVector(Environment::shipMatrix, velocityDirection);
+				Vector3f velocityDirectionAdjusted = Environment::shipMatrix * velocityDirection;
 				Environment::shipPosition = Environment::shipPosition + velocityDirectionAdjusted;
 			}
 
@@ -597,7 +597,7 @@ namespace ZL
 				if (p && p->isActive()) {
 					Vector3f worldPos = p->getPosition();
 					Vector3f rel = worldPos - Environment::shipPosition;
-					Vector3f camPos = MultMatrixVector(Environment::inverseShipMatrix, rel);
+					Vector3f camPos = Environment::inverseShipMatrix * rel;
 					projCameraPoints.push_back(camPos);
 				}
 			}
@@ -636,10 +636,10 @@ namespace ZL
 		const float size = 0.5f;
 
 		Vector3f localForward = { 0,0,-1 };
-		Vector3f worldForward = MultMatrixVector(Environment::shipMatrix, localForward).normalized();
+		Vector3f worldForward = (Environment::shipMatrix * localForward).normalized();
 
 		for (const auto& lo : localOffsets) {
-			Vector3f worldPos = Environment::shipPosition + MultMatrixVector(Environment::shipMatrix, lo);
+			Vector3f worldPos = Environment::shipPosition + Environment::shipMatrix * lo;
 			Vector3f worldVel = worldForward * projectileSpeed;
 
 			for (auto& p : projectiles) {