Working on adding Eigen

src/Game.cpp

@@ -19,12 +19,12 @@ namespace ZL
 
 	
 
-	Vector4f generateRandomQuaternion(std::mt19937& gen)
+	Eigen::Quaternionf generateRandomQuaternion(std::mt19937& gen)
 	{
 
 		std::normal_distribution<> distrib(0.0, 1.0);
 
-		Vector4f randomQuat = {
+		Eigen::Quaternionf randomQuat = {
 			(float)distrib(gen),
 			(float)distrib(gen),
 			(float)distrib(gen),
@@ -81,7 +81,7 @@ namespace ZL
 
 				if (accepted)
 				{
-					Vector4f randomQuat = generateRandomQuaternion(gen);
+					Eigen::Quaternionf randomQuat = generateRandomQuaternion(gen);
 
 					Matrix3f randomMatrix = QuatToMatrix(randomQuat);
 
@@ -92,7 +92,6 @@ namespace ZL
 			}
 
 			if (!accepted) {
-				std::cerr << "Ïðåäóïðåæäåíèå: Íå óäàëîñü ñãåíåðèðîâàòü " << N << " îáúåêòîâ. Ñãåíåðèðîâàíî: " << generatedCount << std::endl;
 				break;
 			}
 		}
@@ -556,27 +555,21 @@ namespace ZL
 
 			if (Environment::tapDownHold) {
 
-				float diffx = Environment::tapDownCurrentPos.v[0] - Environment::tapDownStartPos.v[0];
-				float diffy = Environment::tapDownCurrentPos.v[1] - Environment::tapDownStartPos.v[1];
+				float diffx = Environment::tapDownCurrentPos(0) - Environment::tapDownStartPos(0);
+				float diffy = Environment::tapDownCurrentPos(1) - Environment::tapDownStartPos(1);
 
 				if (abs(diffy) > 5.0 || abs(diffx) > 5.0) //threshold
 				{
 
 					float rotationPower = sqrtf(diffx * diffx + diffy * diffy);
+					float deltaAlpha = rotationPower * delta * static_cast<float>(M_PI) / 500000.f;
 
-					//std::cout << rotationPower << std::endl;
+					Eigen::Vector3f rotationDirection(diffy, diffx, 0.0f);
+					rotationDirection.normalize(); // Eigen-way нормализация
 
-					float deltaAlpha = rotationPower * delta * M_PI / 500000.f;
-
-					Vector3f rotationDirection = { diffy, diffx, 0 };
-
-					rotationDirection = rotationDirection.normalized();
-
-					Vector4f rotateQuat = {
-						rotationDirection.v[0] * sin(deltaAlpha * 0.5f),
-						rotationDirection.v[1] * sin(deltaAlpha * 0.5f),
-						rotationDirection.v[2] * sin(deltaAlpha * 0.5f),
-						cos(deltaAlpha * 0.5f) };
+					// Создаем кватернион через AngleAxis
+					// Конструктор принимает (угол_в_радианах, ось_вращения)
+					Eigen::Quaternionf rotateQuat(Eigen::AngleAxisf(deltaAlpha, rotationDirection));
 
 					Matrix3f rotateMat = QuatToMatrix(rotateQuat);
 
@@ -677,8 +670,6 @@ namespace ZL
 				Environment::exitGameLoop = true;
 			}
 			else if (event.type == SDL_MOUSEBUTTONDOWN) {
-				// 1. Îáðàáîòêà íàæàòèÿ êíîïêè ìûøè
-
 				int mx = event.button.x;
 				int my = event.button.y;
 				int uiX = mx;
@@ -709,16 +700,16 @@ namespace ZL
 
 				if (!uiManager.isUiInteraction()) {
 					Environment::tapDownHold = true;
-					// Êîîðäèíàòû íà÷àëüíîãî íàæàòèÿ
-					Environment::tapDownStartPos.v[0] = mx;
-					Environment::tapDownStartPos.v[1] = my;
-					// Íà÷àëüíàÿ ïîçèöèÿ òàêæå ñòàíîâèòñÿ òåêóùåé
-					Environment::tapDownCurrentPos.v[0] = mx;
-					Environment::tapDownCurrentPos.v[1] = my;
+
+					Environment::tapDownStartPos(0) = mx;
+					Environment::tapDownStartPos(1) = my;
+
+					Environment::tapDownCurrentPos(0) = mx;
+					Environment::tapDownCurrentPos(1) = my;
 				}
 			}
 			else if (event.type == SDL_MOUSEBUTTONUP) {
-				// 2. Îáðàáîòêà îòïóñêàíèÿ êíîïêè ìûøè
+
 				int mx = event.button.x;
 				int my = event.button.y;
 				int uiX = mx;
@@ -731,7 +722,7 @@ namespace ZL
 				}
 			}
 			else if (event.type == SDL_MOUSEMOTION) {
-				// 3. Îáðàáîòêà ïåðåìåùåíèÿ ìûøè
+
 				int mx = event.motion.x;
 				int my = event.motion.y;
 				int uiX = mx;
@@ -740,8 +731,8 @@ namespace ZL
 				uiManager.onMouseMove(uiX, uiY);
 
 				if (Environment::tapDownHold && !uiManager.isUiInteraction()) {
-					Environment::tapDownCurrentPos.v[0] = mx;
-					Environment::tapDownCurrentPos.v[1] = my;
+					Environment::tapDownCurrentPos(0) = mx;
+					Environment::tapDownCurrentPos(1) = my;
 				}
 			}
 			else if (event.type == SDL_MOUSEWHEEL) {