Minor refactoring
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Vladislav Khorev committed
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@@ -0,0 +1,73 @@
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#include "Perlin.h"
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#include <cmath>
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#include <numeric>
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#include <random>
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#include <algorithm>
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namespace ZL {
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PerlinNoise::PerlinNoise() {
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p.resize(256);
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std::iota(p.begin(), p.end(), 0);
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// Ïåðåìåøèâàåì äëÿ ñëó÷àéíîñòè (ìîæíî çàäàòü seed)
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std::default_random_engine engine(77777);
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std::shuffle(p.begin(), p.end(), engine);
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p.insert(p.end(), p.begin(), p.end()); // Äóáëèðóåì äëÿ ïåðåïîëíåíèÿ
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}
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PerlinNoise::PerlinNoise(uint64_t seed) {
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p.resize(256);
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std::iota(p.begin(), p.end(), 0);
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// Ïåðåìåøèâàåì äëÿ ñëó÷àéíîñòè (èñïîëüçóåì ïåðåäàííûé seed)
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std::default_random_engine engine(static_cast<unsigned int>(seed));
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std::shuffle(p.begin(), p.end(), engine);
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p.insert(p.end(), p.begin(), p.end()); // Äóáëèðóåì äëÿ ïåðåïîëíåíèÿ
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}
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float PerlinNoise::fade(float t) { return t * t * t * (t * (t * 6 - 15) + 10); }
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float PerlinNoise::lerp(float t, float a, float b) { return a + t * (b - a); }
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float PerlinNoise::grad(int hash, float x, float y, float z) {
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int h = hash & 15;
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float u = h < 8 ? x : y;
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float v = h < 4 ? y : (h == 12 || h == 14 ? x : z);
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return ((h & 1) == 0 ? u : -u) + ((h & 2) == 0 ? v : -v);
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}
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float PerlinNoise::noise(float x, float y, float z) {
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int X = (int)floor(x) & 255;
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int Y = (int)floor(y) & 255;
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int Z = (int)floor(z) & 255;
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x -= floor(x);
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y -= floor(y);
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z -= floor(z);
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float u = fade(x);
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float v = fade(y);
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float w = fade(z);
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int A = p[X] + Y, AA = p[A] + Z, AB = p[A + 1] + Z;
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int B = p[X + 1] + Y, BA = p[B] + Z, BB = p[B + 1] + Z;
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return lerp(w, lerp(v, lerp(u, grad(p[AA], x, y, z), grad(p[BA], x - 1, y, z)),
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lerp(u, grad(p[AB], x, y - 1, z), grad(p[BB], x - 1, y - 1, z))),
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lerp(v, lerp(u, grad(p[AA + 1], x, y, z - 1), grad(p[BA + 1], x - 1, y, z - 1)),
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lerp(u, grad(p[AB + 1], x, y - 1, z - 1), grad(p[BB + 1], x - 1, y - 1, z - 1))));
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}
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float PerlinNoise::getSurfaceHeight(Vector3f pos, float noiseCoeff) {
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// ×àñòîòà øóìà (÷åì áîëüøå, òåì áîëüøå "õîëìîâ")
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float frequency = 7.0f;
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// Ïîëó÷àåì çíà÷åíèå øóìà (îáû÷íî îò -1 äî 1)
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float noiseValue = noise(pos.v[0] * frequency, pos.v[1] * frequency, pos.v[2] * frequency);
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// Ìàñøòàáèðóåì: õîòèì îòêëîíåíèå îò 1.0 äî 1.1 (ïðèìåðíî)
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float height = 1.0f + (noiseValue * noiseCoeff);
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return height;
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}
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} // namespace ZL
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@@ -0,0 +1,24 @@
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#pragma once
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#include <vector>
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#include <cstdint>
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#include "utils/ZLMath.h"
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namespace ZL {
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class PerlinNoise {
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std::vector<int> p;
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public:
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PerlinNoise();
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PerlinNoise(uint64_t seed);
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float fade(float t);
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float lerp(float t, float a, float b);
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float grad(int hash, float x, float y, float z);
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float noise(float x, float y, float z);
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float getSurfaceHeight(Vector3f pos, float noiseCoeff);
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};
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} // namespace ZL
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@@ -0,0 +1,105 @@
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#include "utils/Utils.h"
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#include <cstring>
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#include <iterator>
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#include <vector>
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#include <iostream>
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#include <algorithm>
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#include <fstream>
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#ifdef EMSCRIPTEN
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#include <zip.h>
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#endif
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namespace ZL
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{
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std::string readTextFile(const std::string& filename)
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{
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std::ifstream f(filename);
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std::string str((std::istreambuf_iterator<char>(f)), std::istreambuf_iterator<char>());
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return str;
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}
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std::vector<char> readFile(const std::string& filename)
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{
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std::ifstream file(filename, std::ios::binary);
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file.unsetf(std::ios::skipws);
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std::streampos fileSize;
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file.seekg(0, std::ios::end);
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fileSize = file.tellg();
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file.seekg(0, std::ios::beg);
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std::vector<char> vec;
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vec.reserve(fileSize);
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vec.insert(vec.begin(),
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std::istream_iterator<char>(file),
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std::istream_iterator<char>());
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return vec;
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}
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std::vector<char> readFileFromZIP(const std::string& filename, const std::string& zipfilename) {
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#ifdef EMSCRIPTEN
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const std::string zipPath = zipfilename;
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int zipErr;
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zip_t* archive = zip_open(zipPath.c_str(), ZIP_RDONLY, &zipErr);
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if (!archive) {
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throw std::runtime_error("Ошибка открытия ZIP: " + zipPath);
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}
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std::string cleanFilename = filename;
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if (cleanFilename.rfind("./", 0) == 0) {
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cleanFilename = cleanFilename.substr(2);
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}
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std::cout << "Ищем в ZIP: " << cleanFilename << std::endl;
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zip_file_t* zipFile = zip_fopen(archive, cleanFilename.c_str(), 0);
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if (!zipFile) {
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zip_close(archive);
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throw std::runtime_error("Файл не найден в ZIP: " + cleanFilename);
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}
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zip_stat_t fileStat;
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if (zip_stat(archive, cleanFilename.c_str(), 0, &fileStat) != 0) {
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zip_fclose(zipFile);
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zip_close(archive);
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throw std::runtime_error("Ошибка чтения ZIP-статистики.");
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}
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std::vector<char> fileData;
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fileData.resize(fileStat.size);
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zip_fread(zipFile, fileData.data(), fileData.size());
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zip_fclose(zipFile);
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zip_close(archive);
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return fileData;
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#else
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return {};
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#endif
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}
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bool findString(const char* in, char* list)
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{
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size_t thisLength = strlen(in);
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while (*list != 0)
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{
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size_t length = strcspn(list, " ");
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if (thisLength == length)
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if (!strncmp(in, list, length))
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return true;
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list += length;
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list += 1;
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}
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return false;
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}
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};
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@@ -0,0 +1,20 @@
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#pragma once
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#include <string>
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#include <vector>
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#include <exception>
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#include <map>
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#include <stack>
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#include <memory>
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#include <unordered_map>
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namespace ZL
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{
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std::string readTextFile(const std::string& filename);
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std::vector<char> readFile(const std::string& filename);
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std::vector<char> readFileFromZIP(const std::string& filename, const std::string& zipfilename);
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bool findString(const char* in, char* list);
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}
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@@ -0,0 +1,799 @@
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#include "utils/ZLMath.h"
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#include <exception>
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#include <cmath>
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namespace ZL {
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Vector2f operator+(const Vector2f& x, const Vector2f& y)
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{
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Vector2f result;
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result.v[0] = x.v[0] + y.v[0];
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result.v[1] = x.v[1] + y.v[1];
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return result;
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}
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Vector2f operator-(const Vector2f& x, const Vector2f& y)
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{
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Vector2f result;
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result.v[0] = x.v[0] - y.v[0];
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result.v[1] = x.v[1] - y.v[1];
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return result;
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}
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Vector3f operator+(const Vector3f& x, const Vector3f& y)
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{
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Vector3f result;
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result.v[0] = x.v[0] + y.v[0];
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result.v[1] = x.v[1] + y.v[1];
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result.v[2] = x.v[2] + y.v[2];
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return result;
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}
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Vector3f operator-(const Vector3f& x, const Vector3f& y)
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{
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Vector3f result;
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result.v[0] = x.v[0] - y.v[0];
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result.v[1] = x.v[1] - y.v[1];
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result.v[2] = x.v[2] - y.v[2];
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return result;
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}
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Vector3f operator-(const Vector3f& x)
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{
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Vector3f result;
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result.v[0] = -x.v[0];
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result.v[1] = -x.v[1];
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result.v[2] = -x.v[2];
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return result;
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}
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Vector4f operator+(const Vector4f& x, const Vector4f& y)
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{
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Vector4f result;
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result.v[0] = x.v[0] + y.v[0];
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result.v[1] = x.v[1] + y.v[1];
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result.v[2] = x.v[2] + y.v[2];
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result.v[3] = x.v[3] + y.v[3];
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return result;
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}
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Vector4f operator-(const Vector4f& x, const Vector4f& y)
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{
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Vector4f result;
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result.v[0] = x.v[0] - y.v[0];
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result.v[1] = x.v[1] - y.v[1];
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result.v[2] = x.v[2] - y.v[2];
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result.v[3] = x.v[3] - y.v[3];
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return result;
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}
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Matrix3f Matrix3f::Identity()
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{
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Matrix3f r;
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r.m[0] = 1.f;
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r.m[1] = 0.f;
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r.m[2] = 0.f;
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r.m[3] = 0.f;
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r.m[4] = 1.f;
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r.m[5] = 0.f;
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r.m[6] = 0.f;
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r.m[7] = 0.f;
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r.m[8] = 1.f;
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return r;
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}
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Matrix4f Matrix4f::Identity()
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{
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Matrix4f r;
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r.m[0] = 1.f;
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r.m[1] = 0.f;
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r.m[2] = 0.f;
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r.m[3] = 0.f;
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r.m[4] = 0.f;
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r.m[5] = 1.f;
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r.m[6] = 0.f;
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r.m[7] = 0.f;
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r.m[8] = 0.f;
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r.m[9] = 0.f;
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r.m[10] = 1.f;
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r.m[11] = 0.f;
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r.m[12] = 0.f;
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r.m[13] = 0.f;
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r.m[14] = 0.f;
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r.m[15] = 1.f;
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return r;
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}
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Matrix4f operator*(const Matrix4f& m1, const Matrix4f& m2)
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{
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Matrix4f r;
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r.m[0] = m1.m[0] * m2.m[0] + m1.m[4] * m2.m[1] + m1.m[8] * m2.m[2] + m1.m[12] * m2.m[3];
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r.m[1] = m1.m[1] * m2.m[0] + m1.m[5] * m2.m[1] + m1.m[9] * m2.m[2] + m1.m[13] * m2.m[3];
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r.m[2] = m1.m[2] * m2.m[0] + m1.m[6] * m2.m[1] + m1.m[10] * m2.m[2] + m1.m[14] * m2.m[3];
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r.m[3] = m1.m[3] * m2.m[0] + m1.m[7] * m2.m[1] + m1.m[11] * m2.m[2] + m1.m[15] * m2.m[3];
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r.m[4] = m1.m[0] * m2.m[4] + m1.m[4] * m2.m[5] + m1.m[8] * m2.m[6] + m1.m[12] * m2.m[7];
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r.m[5] = m1.m[1] * m2.m[4] + m1.m[5] * m2.m[5] + m1.m[9] * m2.m[6] + m1.m[13] * m2.m[7];
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r.m[6] = m1.m[2] * m2.m[4] + m1.m[6] * m2.m[5] + m1.m[10] * m2.m[6] + m1.m[14] * m2.m[7];
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r.m[7] = m1.m[3] * m2.m[4] + m1.m[7] * m2.m[5] + m1.m[11] * m2.m[6] + m1.m[15] * m2.m[7];
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r.m[8] = m1.m[0] * m2.m[8] + m1.m[4] * m2.m[9] + m1.m[8] * m2.m[10] + m1.m[12] * m2.m[11];
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r.m[9] = m1.m[1] * m2.m[8] + m1.m[5] * m2.m[9] + m1.m[9] * m2.m[10] + m1.m[13] * m2.m[11];
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r.m[10] = m1.m[2] * m2.m[8] + m1.m[6] * m2.m[9] + m1.m[10] * m2.m[10] + m1.m[14] * m2.m[11];
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r.m[11] = m1.m[3] * m2.m[8] + m1.m[7] * m2.m[9] + m1.m[11] * m2.m[10] + m1.m[15] * m2.m[11];
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r.m[12] = m1.m[0] * m2.m[12] + m1.m[4] * m2.m[13] + m1.m[8] * m2.m[14] + m1.m[12] * m2.m[15];
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r.m[13] = m1.m[1] * m2.m[12] + m1.m[5] * m2.m[13] + m1.m[9] * m2.m[14] + m1.m[13] * m2.m[15];
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r.m[14] = m1.m[2] * m2.m[12] + m1.m[6] * m2.m[13] + m1.m[10] * m2.m[14] + m1.m[14] * m2.m[15];
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r.m[15] = m1.m[3] * m2.m[12] + m1.m[7] * m2.m[13] + m1.m[11] * m2.m[14] + m1.m[15] * m2.m[15];
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return r;
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}
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Matrix4f MakeOrthoMatrix(float width, float height, float zNear, float zFar)
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{
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float depthRange = zFar - zNear;
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if (depthRange <= 0)
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{
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throw std::runtime_error("zFar must be greater than zNear");
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}
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Matrix4f r;
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r.m[0] = 2.f / width;
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r.m[1] = 0;
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r.m[2] = 0;
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r.m[3] = 0;
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r.m[4] = 0;
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r.m[5] = 2.f / height;
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r.m[6] = 0;
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r.m[7] = 0;
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r.m[8] = 0;
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r.m[9] = 0;
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r.m[10] = -1 / depthRange;
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r.m[11] = 0;
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r.m[12] = -1;
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r.m[13] = -1;
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r.m[14] = zNear / depthRange;
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r.m[15] = 1;
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return r;
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}
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Matrix4f MakeOrthoMatrix(float xmin, float xmax, float ymin, float ymax, float zNear, float zFar)
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{
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float width = xmax - xmin;
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float height = ymax - ymin;
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float depthRange = zFar - zNear;
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if (width <= 0 || height <= 0 || depthRange <= 0)
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{
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throw std::runtime_error("Invalid dimensions for orthogonal matrix");
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}
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Matrix4f r;
|
||||
|
||||
// Масштабирование
|
||||
r.m[0] = 2.f / width;
|
||||
r.m[5] = 2.f / height;
|
||||
r.m[10] = -1.f / depthRange;
|
||||
|
||||
// Обнуление неиспользуемых компонентов
|
||||
r.m[1] = r.m[2] = r.m[3] = 0;
|
||||
r.m[4] = r.m[6] = r.m[7] = 0;
|
||||
r.m[8] = r.m[9] = r.m[11] = 0;
|
||||
|
||||
// Трансляция (смещение)
|
||||
r.m[12] = -(xmax + xmin) / width;
|
||||
r.m[13] = -(ymax + ymin) / height;
|
||||
r.m[14] = zNear / depthRange;
|
||||
r.m[15] = 1.f;
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Matrix4f MakePerspectiveMatrix(float fovY, float aspectRatio, float zNear, float zFar)
|
||||
{
|
||||
float tanHalfFovy = tan(fovY / 2.f);
|
||||
Matrix4f r;
|
||||
|
||||
if (zNear >= zFar || aspectRatio == 0)
|
||||
{
|
||||
throw std::runtime_error("Invalid perspective parameters");
|
||||
}
|
||||
|
||||
r.m[0] = 1.f / (aspectRatio * tanHalfFovy);
|
||||
r.m[1] = 0;
|
||||
r.m[2] = 0;
|
||||
r.m[3] = 0;
|
||||
|
||||
r.m[4] = 0;
|
||||
r.m[5] = 1.f / (tanHalfFovy);
|
||||
r.m[6] = 0;
|
||||
r.m[7] = 0;
|
||||
|
||||
r.m[8] = 0;
|
||||
r.m[9] = 0;
|
||||
r.m[10] = -(zFar + zNear) / (zFar - zNear);
|
||||
r.m[11] = -1;
|
||||
|
||||
r.m[12] = 0;
|
||||
r.m[13] = 0;
|
||||
r.m[14] = -(2.f * zFar * zNear) / (zFar - zNear);
|
||||
r.m[15] = 0;
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Matrix3f QuatToMatrix(const Vector4f& q)
|
||||
{
|
||||
Matrix3f m;
|
||||
|
||||
float wx, wy, wz, xx, yy, yz, xy, xz, zz, s, x2, y2, z2;
|
||||
|
||||
s = 2.0f / (q.v[0] * q.v[0] + q.v[1] * q.v[1] + q.v[2] * q.v[2] + q.v[3] * q.v[3]);
|
||||
|
||||
|
||||
x2 = q.v[0] * s;
|
||||
y2 = q.v[1] * s;
|
||||
z2 = q.v[2] * s;
|
||||
|
||||
wx = q.v[3] * x2; wy = q.v[3] * y2; wz = q.v[3] * z2;
|
||||
xx = q.v[0] * x2; xy = q.v[1] * x2; xz = q.v[2] * x2;
|
||||
yy = q.v[1] * y2; yz = q.v[2] * y2;
|
||||
zz = q.v[2] * z2;
|
||||
|
||||
m.m[0] = 1.0f - (yy + zz);
|
||||
m.m[1] = xy + wz;
|
||||
m.m[2] = xz - wy;
|
||||
|
||||
m.m[3] = xy - wz;
|
||||
m.m[4] = 1.0f - (xx + zz);
|
||||
m.m[5] = yz + wx;
|
||||
|
||||
m.m[6] = xz + wy;
|
||||
m.m[7] = yz - wx;
|
||||
m.m[8] = 1.0f - (xx + yy);
|
||||
|
||||
return m;
|
||||
|
||||
}
|
||||
|
||||
Vector4f MatrixToQuat(const Matrix3f& m)
|
||||
{
|
||||
Vector4f r;
|
||||
float trace = m.m[0] + m.m[4] + m.m[8];
|
||||
|
||||
if (trace > 0)
|
||||
{
|
||||
float s = 0.5f / sqrtf(trace + 1.0f);
|
||||
r.v[3] = 0.25f / s;
|
||||
r.v[0] = (m.m[5] - m.m[7]) * s;
|
||||
r.v[1] = (m.m[6] - m.m[2]) * s;
|
||||
r.v[2] = (m.m[1] - m.m[3]) * s;
|
||||
}
|
||||
else if (m.m[0] > m.m[4] && m.m[0] > m.m[8])
|
||||
{
|
||||
float s = 2.0f * sqrtf(1.0f + m.m[0] - m.m[4] - m.m[8]);
|
||||
r.v[3] = (m.m[5] - m.m[7]) / s;
|
||||
r.v[0] = 0.25f * s;
|
||||
r.v[1] = (m.m[1] + m.m[3]) / s;
|
||||
r.v[2] = (m.m[6] + m.m[2]) / s;
|
||||
}
|
||||
else if (m.m[4] > m.m[8])
|
||||
{
|
||||
float s = 2.0f * sqrtf(1.0f + m.m[4] - m.m[0] - m.m[8]);
|
||||
r.v[3] = (m.m[6] - m.m[2]) / s;
|
||||
r.v[0] = (m.m[1] + m.m[3]) / s;
|
||||
r.v[1] = 0.25f * s;
|
||||
r.v[2] = (m.m[5] + m.m[7]) / s;
|
||||
}
|
||||
else
|
||||
{
|
||||
float s = 2.0f * sqrtf(1.0f + m.m[8] - m.m[0] - m.m[4]);
|
||||
r.v[3] = (m.m[1] - m.m[3]) / s;
|
||||
r.v[0] = (m.m[6] + m.m[2]) / s;
|
||||
r.v[1] = (m.m[5] + m.m[7]) / s;
|
||||
r.v[2] = 0.25f * s;
|
||||
}
|
||||
|
||||
return r.normalized();
|
||||
}
|
||||
|
||||
Vector4f QuatFromRotateAroundX(float angle)
|
||||
{
|
||||
Vector4f result;
|
||||
|
||||
result.v[0] = sinf(angle * 0.5f);
|
||||
result.v[1] = 0.f;
|
||||
result.v[2] = 0.f;
|
||||
result.v[3] = cosf(angle * 0.5f);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
Vector4f QuatFromRotateAroundY(float angle)
|
||||
{
|
||||
Vector4f result;
|
||||
|
||||
result.v[0] = 0.f;
|
||||
result.v[1] = sinf(angle * 0.5f);
|
||||
result.v[2] = 0.f;
|
||||
result.v[3] = cosf(angle * 0.5f);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
Vector4f QuatFromRotateAroundZ(float angle)
|
||||
{
|
||||
Vector4f result;
|
||||
|
||||
result.v[0] = 0.f;
|
||||
result.v[1] = 0.f;
|
||||
result.v[2] = sinf(angle * 0.5f);
|
||||
result.v[3] = cosf(angle * 0.5f);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
Matrix3f TransposeMatrix(const Matrix3f& m)
|
||||
{
|
||||
Matrix3f r;
|
||||
r.m[0] = m.m[0];
|
||||
r.m[1] = m.m[3];
|
||||
r.m[2] = m.m[6];
|
||||
r.m[3] = m.m[1];
|
||||
r.m[4] = m.m[4];
|
||||
r.m[5] = m.m[7];
|
||||
r.m[6] = m.m[2];
|
||||
r.m[7] = m.m[5];
|
||||
r.m[8] = m.m[8];
|
||||
return r;
|
||||
}
|
||||
|
||||
Matrix3f InverseMatrix(const Matrix3f& m)
|
||||
{
|
||||
float d;
|
||||
Matrix3f r;
|
||||
|
||||
d = m.m[0] * (m.m[4] * m.m[8] - m.m[5] * m.m[7]);
|
||||
d -= m.m[1] * (m.m[3] * m.m[8] - m.m[6] * m.m[5]);
|
||||
d += m.m[2] * (m.m[3] * m.m[7] - m.m[6] * m.m[4]);
|
||||
|
||||
if (fabs(d) < 0.01f)
|
||||
{
|
||||
throw std::runtime_error("Error: matrix cannot be inversed!");
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
r.m[0] = (m.m[4] * m.m[8] - m.m[5] * m.m[7]) / d;
|
||||
r.m[1] = -(m.m[1] * m.m[8] - m.m[2] * m.m[7]) / d;
|
||||
r.m[2] = (m.m[1] * m.m[5] - m.m[2] * m.m[4]) / d;
|
||||
|
||||
r.m[3] = -(m.m[3] * m.m[8] - m.m[5] * m.m[6]) / d;
|
||||
r.m[4] = (m.m[0] * m.m[8] - m.m[2] * m.m[6]) / d;
|
||||
r.m[5] = -(m.m[0] * m.m[5] - m.m[2] * m.m[3]) / d;
|
||||
|
||||
r.m[6] = (m.m[3] * m.m[7] - m.m[6] * m.m[4]) / d;
|
||||
r.m[7] = -(m.m[0] * m.m[7] - m.m[6] * m.m[1]) / d;
|
||||
r.m[8] = (m.m[0] * m.m[4] - m.m[1] * m.m[3]) / d;
|
||||
|
||||
};
|
||||
return r;
|
||||
}
|
||||
|
||||
|
||||
Matrix4f InverseMatrix(const Matrix4f& mat)
|
||||
{
|
||||
Matrix4f inv;
|
||||
float det;
|
||||
|
||||
inv.m[0] = mat.m[5] * mat.m[10] * mat.m[15] -
|
||||
mat.m[5] * mat.m[11] * mat.m[14] -
|
||||
mat.m[9] * mat.m[6] * mat.m[15] +
|
||||
mat.m[9] * mat.m[7] * mat.m[14] +
|
||||
mat.m[13] * mat.m[6] * mat.m[11] -
|
||||
mat.m[13] * mat.m[7] * mat.m[10];
|
||||
|
||||
inv.m[4] = -mat.m[4] * mat.m[10] * mat.m[15] +
|
||||
mat.m[4] * mat.m[11] * mat.m[14] +
|
||||
mat.m[8] * mat.m[6] * mat.m[15] -
|
||||
mat.m[8] * mat.m[7] * mat.m[14] -
|
||||
mat.m[12] * mat.m[6] * mat.m[11] +
|
||||
mat.m[12] * mat.m[7] * mat.m[10];
|
||||
|
||||
inv.m[8] = mat.m[4] * mat.m[9] * mat.m[15] -
|
||||
mat.m[4] * mat.m[11] * mat.m[13] -
|
||||
mat.m[8] * mat.m[5] * mat.m[15] +
|
||||
mat.m[8] * mat.m[7] * mat.m[13] +
|
||||
mat.m[12] * mat.m[5] * mat.m[11] -
|
||||
mat.m[12] * mat.m[7] * mat.m[9];
|
||||
|
||||
inv.m[12] = -mat.m[4] * mat.m[9] * mat.m[14] +
|
||||
mat.m[4] * mat.m[10] * mat.m[13] +
|
||||
mat.m[8] * mat.m[5] * mat.m[14] -
|
||||
mat.m[8] * mat.m[6] * mat.m[13] -
|
||||
mat.m[12] * mat.m[5] * mat.m[10] +
|
||||
mat.m[12] * mat.m[6] * mat.m[9];
|
||||
|
||||
inv.m[1] = -mat.m[1] * mat.m[10] * mat.m[15] +
|
||||
mat.m[1] * mat.m[11] * mat.m[14] +
|
||||
mat.m[9] * mat.m[2] * mat.m[15] -
|
||||
mat.m[9] * mat.m[3] * mat.m[14] -
|
||||
mat.m[13] * mat.m[2] * mat.m[11] +
|
||||
mat.m[13] * mat.m[3] * mat.m[10];
|
||||
|
||||
inv.m[5] = mat.m[0] * mat.m[10] * mat.m[15] -
|
||||
mat.m[0] * mat.m[11] * mat.m[14] -
|
||||
mat.m[8] * mat.m[2] * mat.m[15] +
|
||||
mat.m[8] * mat.m[3] * mat.m[14] +
|
||||
mat.m[12] * mat.m[2] * mat.m[11] -
|
||||
mat.m[12] * mat.m[3] * mat.m[10];
|
||||
|
||||
inv.m[9] = -mat.m[0] * mat.m[9] * mat.m[15] +
|
||||
mat.m[0] * mat.m[11] * mat.m[13] +
|
||||
mat.m[8] * mat.m[1] * mat.m[15] -
|
||||
mat.m[8] * mat.m[3] * mat.m[13] -
|
||||
mat.m[12] * mat.m[1] * mat.m[11] +
|
||||
mat.m[12] * mat.m[3] * mat.m[9];
|
||||
|
||||
inv.m[13] = mat.m[0] * mat.m[9] * mat.m[14] -
|
||||
mat.m[0] * mat.m[10] * mat.m[13] -
|
||||
mat.m[8] * mat.m[1] * mat.m[14] +
|
||||
mat.m[8] * mat.m[2] * mat.m[13] +
|
||||
mat.m[12] * mat.m[1] * mat.m[10] -
|
||||
mat.m[12] * mat.m[2] * mat.m[9];
|
||||
|
||||
inv.m[2] = mat.m[1] * mat.m[6] * mat.m[15] -
|
||||
mat.m[1] * mat.m[7] * mat.m[14] -
|
||||
mat.m[5] * mat.m[2] * mat.m[15] +
|
||||
mat.m[5] * mat.m[3] * mat.m[14] +
|
||||
mat.m[13] * mat.m[2] * mat.m[7] -
|
||||
mat.m[13] * mat.m[3] * mat.m[6];
|
||||
|
||||
inv.m[6] = -mat.m[0] * mat.m[6] * mat.m[15] +
|
||||
mat.m[0] * mat.m[7] * mat.m[14] +
|
||||
mat.m[4] * mat.m[2] * mat.m[15] -
|
||||
mat.m[4] * mat.m[3] * mat.m[14] -
|
||||
mat.m[12] * mat.m[2] * mat.m[7] +
|
||||
mat.m[12] * mat.m[3] * mat.m[6];
|
||||
|
||||
inv.m[10] = mat.m[0] * mat.m[5] * mat.m[15] -
|
||||
mat.m[0] * mat.m[7] * mat.m[13] -
|
||||
mat.m[4] * mat.m[1] * mat.m[15] +
|
||||
mat.m[4] * mat.m[3] * mat.m[13] +
|
||||
mat.m[12] * mat.m[1] * mat.m[7] -
|
||||
mat.m[12] * mat.m[3] * mat.m[5];
|
||||
|
||||
inv.m[14] = -mat.m[0] * mat.m[5] * mat.m[14] +
|
||||
mat.m[0] * mat.m[6] * mat.m[13] +
|
||||
mat.m[4] * mat.m[1] * mat.m[14] -
|
||||
mat.m[4] * mat.m[2] * mat.m[13] -
|
||||
mat.m[12] * mat.m[1] * mat.m[6] +
|
||||
mat.m[12] * mat.m[2] * mat.m[5];
|
||||
|
||||
inv.m[3] = -mat.m[1] * mat.m[6] * mat.m[11] +
|
||||
mat.m[1] * mat.m[7] * mat.m[10] +
|
||||
mat.m[5] * mat.m[2] * mat.m[11] -
|
||||
mat.m[5] * mat.m[3] * mat.m[10] -
|
||||
mat.m[9] * mat.m[2] * mat.m[7] +
|
||||
mat.m[9] * mat.m[3] * mat.m[6];
|
||||
|
||||
inv.m[7] = mat.m[0] * mat.m[6] * mat.m[11] -
|
||||
mat.m[0] * mat.m[7] * mat.m[10] -
|
||||
mat.m[4] * mat.m[2] * mat.m[11] +
|
||||
mat.m[4] * mat.m[3] * mat.m[10] +
|
||||
mat.m[8] * mat.m[2] * mat.m[7] -
|
||||
mat.m[8] * mat.m[3] * mat.m[6];
|
||||
|
||||
inv.m[11] = -mat.m[0] * mat.m[5] * mat.m[11] +
|
||||
mat.m[0] * mat.m[7] * mat.m[9] +
|
||||
mat.m[4] * mat.m[1] * mat.m[11] -
|
||||
mat.m[4] * mat.m[3] * mat.m[9] -
|
||||
mat.m[8] * mat.m[1] * mat.m[7] +
|
||||
mat.m[8] * mat.m[3] * mat.m[5];
|
||||
|
||||
inv.m[15] = mat.m[0] * mat.m[5] * mat.m[10] -
|
||||
mat.m[0] * mat.m[6] * mat.m[9] -
|
||||
mat.m[4] * mat.m[1] * mat.m[10] +
|
||||
mat.m[4] * mat.m[2] * mat.m[9] +
|
||||
mat.m[8] * mat.m[1] * mat.m[6] -
|
||||
mat.m[8] * mat.m[2] * mat.m[5];
|
||||
|
||||
// ��������� �����������
|
||||
det = mat.m[0] * inv.m[0] + mat.m[1] * inv.m[4] + mat.m[2] * inv.m[8] + mat.m[3] * inv.m[12];
|
||||
|
||||
if (std::fabs(det) < 0.01f)
|
||||
{
|
||||
throw std::runtime_error("Error: matrix cannot be inversed!");
|
||||
}
|
||||
|
||||
// ����� ��� �������� �� �����������
|
||||
det = 1.0f / det;
|
||||
for (int i = 0; i < 16; i++)
|
||||
{
|
||||
inv.m[i] *= det;
|
||||
}
|
||||
|
||||
return inv;
|
||||
}
|
||||
|
||||
Matrix3f CreateZRotationMatrix(float angle)
|
||||
{
|
||||
Matrix3f result = Matrix3f::Identity();
|
||||
|
||||
result.m[0] = cosf(angle);
|
||||
result.m[1] = -sinf(angle);
|
||||
result.m[3] = sinf(angle);
|
||||
result.m[4] = cosf(angle);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
Matrix4f MultMatrixMatrix(const Matrix4f& m1, const Matrix4f& m2)
|
||||
{
|
||||
Matrix4f rx;
|
||||
|
||||
rx.m[0] = m1.m[0] * m2.m[0] + m1.m[4] * m2.m[1] + m1.m[8] * m2.m[2] + m1.m[12] * m2.m[3];
|
||||
rx.m[1] = m1.m[1] * m2.m[0] + m1.m[5] * m2.m[1] + m1.m[9] * m2.m[2] + m1.m[13] * m2.m[3];
|
||||
rx.m[2] = m1.m[2] * m2.m[0] + m1.m[6] * m2.m[1] + m1.m[10] * m2.m[2] + m1.m[14] * m2.m[3];
|
||||
rx.m[3] = m1.m[3] * m2.m[0] + m1.m[7] * m2.m[1] + m1.m[11] * m2.m[2] + m1.m[15] * m2.m[3];
|
||||
|
||||
rx.m[4] = m1.m[0] * m2.m[4] + m1.m[4] * m2.m[5] + m1.m[8] * m2.m[6] + m1.m[12] * m2.m[7];
|
||||
rx.m[5] = m1.m[1] * m2.m[4] + m1.m[5] * m2.m[5] + m1.m[9] * m2.m[6] + m1.m[13] * m2.m[7];
|
||||
rx.m[6] = m1.m[2] * m2.m[4] + m1.m[6] * m2.m[5] + m1.m[10] * m2.m[6] + m1.m[14] * m2.m[7];
|
||||
rx.m[7] = m1.m[3] * m2.m[4] + m1.m[7] * m2.m[5] + m1.m[11] * m2.m[6] + m1.m[15] * m2.m[7];
|
||||
|
||||
|
||||
rx.m[8] = m1.m[0] * m2.m[8] + m1.m[4] * m2.m[9] + m1.m[8] * m2.m[10] + m1.m[12] * m2.m[11];
|
||||
rx.m[9] = m1.m[1] * m2.m[8] + m1.m[5] * m2.m[9] + m1.m[9] * m2.m[10] + m1.m[13] * m2.m[11];
|
||||
rx.m[10] = m1.m[2] * m2.m[8] + m1.m[6] * m2.m[9] + m1.m[10] * m2.m[10] + m1.m[14] * m2.m[11];
|
||||
rx.m[11] = m1.m[3] * m2.m[8] + m1.m[7] * m2.m[9] + m1.m[11] * m2.m[10] + m1.m[15] * m2.m[11];
|
||||
|
||||
rx.m[12] = m1.m[0] * m2.m[12] + m1.m[4] * m2.m[13] + m1.m[8] * m2.m[14] + m1.m[12] * m2.m[15];
|
||||
rx.m[13] = m1.m[1] * m2.m[12] + m1.m[5] * m2.m[13] + m1.m[9] * m2.m[14] + m1.m[13] * m2.m[15];
|
||||
rx.m[14] = m1.m[2] * m2.m[12] + m1.m[6] * m2.m[13] + m1.m[10] * m2.m[14] + m1.m[14] * m2.m[15];
|
||||
rx.m[15] = m1.m[3] * m2.m[12] + m1.m[7] * m2.m[13] + m1.m[11] * m2.m[14] + m1.m[15] * m2.m[15];
|
||||
|
||||
return rx;
|
||||
}
|
||||
|
||||
Matrix3f MultMatrixMatrix(const Matrix3f& m1, const Matrix3f& m2)
|
||||
{
|
||||
Matrix3f r;
|
||||
|
||||
r.m[0] = m1.m[0] * m2.m[0] + m1.m[3] * m2.m[1] + m1.m[6] * m2.m[2];
|
||||
r.m[1] = m1.m[1] * m2.m[0] + m1.m[4] * m2.m[1] + m1.m[7] * m2.m[2];
|
||||
r.m[2] = m1.m[2] * m2.m[0] + m1.m[5] * m2.m[1] + m1.m[8] * m2.m[2];
|
||||
|
||||
r.m[3] = m1.m[0] * m2.m[3] + m1.m[3] * m2.m[4] + m1.m[6] * m2.m[5];
|
||||
r.m[4] = m1.m[1] * m2.m[3] + m1.m[4] * m2.m[4] + m1.m[7] * m2.m[5];
|
||||
r.m[5] = m1.m[2] * m2.m[3] + m1.m[5] * m2.m[4] + m1.m[8] * m2.m[5];
|
||||
|
||||
r.m[6] = m1.m[0] * m2.m[6] + m1.m[3] * m2.m[7] + m1.m[6] * m2.m[8] ;
|
||||
r.m[7] = m1.m[1] * m2.m[6] + m1.m[4] * m2.m[7] + m1.m[7] * m2.m[8];
|
||||
r.m[8] = m1.m[2] * m2.m[6] + m1.m[5] * m2.m[7] + m1.m[8] * m2.m[8];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Matrix3f MakeTranslationMatrix(const Vector3f& p)
|
||||
{
|
||||
Matrix3f r = Matrix3f::Identity();
|
||||
|
||||
r.m[12] = p.v[0];
|
||||
r.m[13] = p.v[1];
|
||||
r.m[14] = p.v[2];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Matrix3f MakeScaleMatrix(float scale)
|
||||
{
|
||||
Matrix3f r = Matrix3f::Identity();
|
||||
|
||||
r.m[0] = scale;
|
||||
r.m[5] = scale;
|
||||
r.m[10] = scale;
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Matrix3f MakeRotationMatrix(const Vector3f& p)
|
||||
{
|
||||
Matrix3f r = Matrix3f::Identity();
|
||||
|
||||
r.m[12] = p.v[0];
|
||||
r.m[13] = p.v[1];
|
||||
r.m[14] = p.v[2];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector2f operator*(Vector2f v, float scale)
|
||||
{
|
||||
Vector2f r = v;
|
||||
|
||||
r.v[0] = v.v[0] * scale;
|
||||
r.v[1] = v.v[1] * scale;
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector3f operator*(Vector3f v, float scale)
|
||||
{
|
||||
Vector3f r = v;
|
||||
|
||||
r.v[0] = v.v[0] * scale;
|
||||
r.v[1] = v.v[1] * scale;
|
||||
r.v[2] = v.v[2] * scale;
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector4f operator*(Vector4f v, float scale)
|
||||
{
|
||||
Vector4f r = v;
|
||||
|
||||
r.v[0] = v.v[0] * scale;
|
||||
r.v[1] = v.v[1] * scale;
|
||||
r.v[2] = v.v[2] * scale;
|
||||
r.v[3] = v.v[3] * scale;
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector3f MultVectorMatrix(Vector3f v, Matrix3f mt)
|
||||
{
|
||||
Vector3f r;
|
||||
|
||||
r.v[0] = v.v[0] * mt.m[0] + v.v[1] * mt.m[1] + v.v[2] * mt.m[2];
|
||||
r.v[1] = v.v[0] * mt.m[3] + v.v[1] * mt.m[4] + v.v[2] * mt.m[5];
|
||||
r.v[2] = v.v[0] * mt.m[6] + v.v[1] * mt.m[7] + v.v[2] * mt.m[8];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector4f MultVectorMatrix(Vector4f v, Matrix4f mt)
|
||||
{
|
||||
Vector4f r;
|
||||
|
||||
r.v[0] = v.v[0] * mt.m[0] + v.v[1] * mt.m[1] + v.v[2] * mt.m[2] + v.v[3] * mt.m[3];
|
||||
r.v[1] = v.v[0] * mt.m[4] + v.v[1] * mt.m[5] + v.v[2] * mt.m[6] + v.v[3] * mt.m[7];
|
||||
r.v[2] = v.v[0] * mt.m[8] + v.v[1] * mt.m[9] + v.v[2] * mt.m[10] + v.v[3] * mt.m[11];
|
||||
r.v[3] = v.v[0] * mt.m[12] + v.v[1] * mt.m[13] + v.v[2] * mt.m[14] + v.v[3] * mt.m[15];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector4f MultMatrixVector(Matrix4f mt, Vector4f v)
|
||||
{
|
||||
Vector4f r;
|
||||
|
||||
r.v[0] = v.v[0] * mt.m[0] + v.v[1] * mt.m[4] + v.v[2] * mt.m[8] + v.v[3] * mt.m[12];
|
||||
r.v[1] = v.v[0] * mt.m[1] + v.v[1] * mt.m[5] + v.v[2] * mt.m[9] + v.v[3] * mt.m[13];
|
||||
r.v[2] = v.v[0] * mt.m[2] + v.v[1] * mt.m[6] + v.v[2] * mt.m[10] + v.v[3] * mt.m[14];
|
||||
r.v[3] = v.v[0] * mt.m[3] + v.v[1] * mt.m[7] + v.v[2] * mt.m[11] + v.v[3] * mt.m[15];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector3f MultMatrixVector(Matrix3f mt, Vector3f v)
|
||||
{
|
||||
Vector3f r;
|
||||
|
||||
r.v[0] = v.v[0] * mt.m[0] + v.v[1] * mt.m[3] + v.v[2] * mt.m[6];
|
||||
r.v[1] = v.v[0] * mt.m[1] + v.v[1] * mt.m[4] + v.v[2] * mt.m[7];
|
||||
r.v[2] = v.v[0] * mt.m[2] + v.v[1] * mt.m[5] + v.v[2] * mt.m[8];
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
Vector4f slerp(const Vector4f& q1, const Vector4f& q2, float t)
|
||||
{
|
||||
const float epsilon = 1e-6f;
|
||||
|
||||
// Нормализация входных кватернионов
|
||||
Vector4f q1_norm = q1.normalized();
|
||||
Vector4f q2_norm = q2.normalized();
|
||||
|
||||
float cosTheta = q1_norm.dot(q2_norm);
|
||||
|
||||
// Если q1 и q2 близки к противоположным направлениям, корректируем q2
|
||||
Vector4f q2_adjusted = q2_norm;
|
||||
if (cosTheta < 0.0f) {
|
||||
q2_adjusted.v[0] = -q2_adjusted.v[0];
|
||||
q2_adjusted.v[1] = -q2_adjusted.v[1];
|
||||
q2_adjusted.v[2] = -q2_adjusted.v[2];
|
||||
q2_adjusted.v[3] = -q2_adjusted.v[3];
|
||||
cosTheta = -cosTheta;
|
||||
}
|
||||
|
||||
// Если кватернионы близки, используем линейную интерполяцию
|
||||
if (cosTheta > 1.0f - epsilon) {
|
||||
Vector4f result;
|
||||
|
||||
result.v[0] = q1_norm.v[0] + t * (q2_adjusted.v[0] - q1_norm.v[0]);
|
||||
result.v[1] = q1_norm.v[1] + t * (q2_adjusted.v[1] - q1_norm.v[1]);
|
||||
result.v[2] = q1_norm.v[2] + t * (q2_adjusted.v[2] - q1_norm.v[2]);
|
||||
result.v[3] = q1_norm.v[3] + t * (q2_adjusted.v[3] - q1_norm.v[3]);
|
||||
|
||||
return result.normalized();
|
||||
}
|
||||
|
||||
// Иначе используем сферическую интерполяцию
|
||||
float theta = std::acos(cosTheta);
|
||||
float sinTheta = std::sin(theta);
|
||||
|
||||
float coeff1 = std::sin((1.0f - t) * theta) / sinTheta;
|
||||
float coeff2 = std::sin(t * theta) / sinTheta;
|
||||
|
||||
Vector4f result;
|
||||
|
||||
result.v[0] = coeff1 * q1_norm.v[0] + coeff2 * q2_adjusted.v[0];
|
||||
result.v[1] = coeff1 * q1_norm.v[1] + coeff2 * q2_adjusted.v[1];
|
||||
result.v[2] = coeff1 * q1_norm.v[2] + coeff2 * q2_adjusted.v[2];
|
||||
result.v[3] = coeff1 * q1_norm.v[3] + coeff2 * q2_adjusted.v[3];
|
||||
|
||||
return result.normalized();
|
||||
}
|
||||
|
||||
Matrix4f MakeMatrix4x4(const Matrix3f& m, const Vector3f pos)
|
||||
{
|
||||
Matrix4f r;
|
||||
|
||||
r.m[0] = m.m[0];
|
||||
r.m[1] = m.m[1];
|
||||
r.m[2] = m.m[2];
|
||||
r.m[3] = 0;
|
||||
|
||||
r.m[4] = m.m[3];
|
||||
r.m[5] = m.m[4];
|
||||
r.m[6] = m.m[5];
|
||||
r.m[7] = 0;
|
||||
|
||||
r.m[8] = m.m[6];
|
||||
r.m[9] = m.m[7];
|
||||
r.m[10] = m.m[8];
|
||||
r.m[11] = 0;
|
||||
|
||||
r.m[12] = pos.v[0];
|
||||
r.m[13] = pos.v[1];
|
||||
r.m[14] = pos.v[2];
|
||||
r.m[15] = 1.0;
|
||||
return r;
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
@@ -0,0 +1,179 @@
|
||||
#pragma once
|
||||
|
||||
#include <array>
|
||||
#include <exception>
|
||||
#include <stdexcept>
|
||||
#include <cmath>
|
||||
|
||||
namespace ZL {
|
||||
|
||||
struct Vector4f
|
||||
{
|
||||
std::array<float, 4> v = { 0.f, 0.f, 0.f, 0.f };
|
||||
|
||||
Vector4f normalized() const {
|
||||
double norm = std::sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2] + v[3] * v[3]);
|
||||
if (norm <= 0.000001f) {
|
||||
return { 0,0, 0, 0};
|
||||
}
|
||||
Vector4f r;
|
||||
|
||||
r.v[0] = v[0] / norm;
|
||||
r.v[1] = v[1] / norm;
|
||||
r.v[2] = v[2] / norm;
|
||||
r.v[3] = v[3] / norm;
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
double dot(const Vector4f& other) const {
|
||||
return v[0] * other.v[0] + v[1] * other.v[1] + v[2] * other.v[2] + v[3] * other.v[3];
|
||||
}
|
||||
};
|
||||
|
||||
struct Vector3f
|
||||
{
|
||||
std::array<float, 3> v = { 0.f, 0.f, 0.f };
|
||||
|
||||
Vector3f()
|
||||
{
|
||||
}
|
||||
|
||||
Vector3f(float x, float y, float z)
|
||||
: v{x,y,z}
|
||||
{
|
||||
}
|
||||
|
||||
Vector3f normalized() const {
|
||||
double norm = std::sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
|
||||
if (norm <= 0.000001f) {
|
||||
return { 0,0,0 };
|
||||
}
|
||||
Vector3f r;
|
||||
|
||||
r.v[0] = v[0] / norm;
|
||||
r.v[1] = v[1] / norm;
|
||||
r.v[2] = v[2] / norm;
|
||||
|
||||
return r;
|
||||
}
|
||||
|
||||
float squaredNorm() const {
|
||||
return v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
|
||||
}
|
||||
|
||||
float length() const
|
||||
{
|
||||
return sqrt(squaredNorm());
|
||||
}
|
||||
|
||||
float dot(const Vector3f& other) const {
|
||||
return v[0] * other.v[0] + v[1] * other.v[1] + v[2] * other.v[2];
|
||||
}
|
||||
|
||||
Vector3f cross(const Vector3f& other) const {
|
||||
return Vector3f(
|
||||
v[1] * other.v[2] - v[2] * other.v[1],
|
||||
v[2] * other.v[0] - v[0] * other.v[2],
|
||||
v[0] * other.v[1] - v[1] * other.v[0]
|
||||
);
|
||||
}
|
||||
|
||||
bool operator<(const Vector3f& other) const {
|
||||
if (v[0] != other.v[0]) return v[0] < other.v[0];
|
||||
if (v[1] != other.v[1]) return v[1] < other.v[1];
|
||||
return v[2] < other.v[2];
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
struct Vector2f
|
||||
{
|
||||
std::array<float, 2> v = {0.f, 0.f};
|
||||
|
||||
Vector2f()
|
||||
{
|
||||
}
|
||||
|
||||
Vector2f(float x, float y)
|
||||
: v{ x,y }
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
Vector2f operator+(const Vector2f& x, const Vector2f& y);
|
||||
|
||||
Vector2f operator-(const Vector2f& x, const Vector2f& y);
|
||||
|
||||
Vector3f operator+(const Vector3f& x, const Vector3f& y);
|
||||
|
||||
Vector3f operator-(const Vector3f& x, const Vector3f& y);
|
||||
Vector4f operator+(const Vector4f& x, const Vector4f& y);
|
||||
|
||||
Vector4f operator-(const Vector4f& x, const Vector4f& y);
|
||||
|
||||
Vector3f operator-(const Vector3f& x);
|
||||
|
||||
|
||||
struct Matrix3f
|
||||
{
|
||||
std::array<float, 9> m = { 0.f, 0.f, 0.f,
|
||||
0.f, 0.f, 0.f,
|
||||
0.f, 0.f, 0.f, };
|
||||
|
||||
static Matrix3f Identity();
|
||||
};
|
||||
|
||||
struct Matrix4f
|
||||
{
|
||||
std::array<float, 16> m = { 0.f, 0.f, 0.f, 0.f,
|
||||
0.f, 0.f, 0.f, 0.f,
|
||||
0.f, 0.f, 0.f, 0.f,
|
||||
0.f, 0.f, 0.f, 0.f };
|
||||
|
||||
static Matrix4f Identity();
|
||||
|
||||
float& operator()(int row, int col) {
|
||||
//return m[row * 4 + col]; //OpenGL specific
|
||||
return m[col * 4 + row];
|
||||
}
|
||||
|
||||
const float& operator()(int row, int col) const {
|
||||
//return m[row * 4 + col];
|
||||
return m[col * 4 + row];
|
||||
}
|
||||
};
|
||||
|
||||
Matrix4f operator*(const Matrix4f& m1, const Matrix4f& m2);
|
||||
|
||||
Matrix4f MakeOrthoMatrix(float width, float height, float zNear, float zFar);
|
||||
Matrix4f MakeOrthoMatrix(float xmin, float xmax, float ymin, float ymax, float zNear, float zFar);
|
||||
|
||||
Matrix4f MakePerspectiveMatrix(float fovY, float aspectRatio, float zNear, float zFar);
|
||||
|
||||
Matrix3f QuatToMatrix(const Vector4f& q);
|
||||
|
||||
Vector4f MatrixToQuat(const Matrix3f& m);
|
||||
|
||||
Vector4f QuatFromRotateAroundX(float angle);
|
||||
Vector4f QuatFromRotateAroundY(float angle);
|
||||
Vector4f QuatFromRotateAroundZ(float angle);
|
||||
|
||||
Vector2f operator*(Vector2f v, float scale);
|
||||
Vector3f operator*(Vector3f v, float scale);
|
||||
Vector4f operator*(Vector4f v, float scale);
|
||||
|
||||
Vector3f MultVectorMatrix(Vector3f v, Matrix3f mt);
|
||||
Vector4f MultVectorMatrix(Vector4f v, Matrix4f mt);
|
||||
Vector4f MultMatrixVector(Matrix4f mt, Vector4f v);
|
||||
Vector3f MultMatrixVector(Matrix3f mt, Vector3f v);
|
||||
|
||||
Vector4f slerp(const Vector4f& q1, const Vector4f& q2, float t);
|
||||
Matrix3f InverseMatrix(const Matrix3f& m);
|
||||
Matrix4f InverseMatrix(const Matrix4f& m);
|
||||
Matrix3f MultMatrixMatrix(const Matrix3f& m1, const Matrix3f& m2);
|
||||
Matrix4f MultMatrixMatrix(const Matrix4f& m1, const Matrix4f& m2);
|
||||
Matrix4f MakeMatrix4x4(const Matrix3f& m, const Vector3f pos);
|
||||
|
||||
};
|
||||
Reference in new issue
Block a user