Added Eigen, replacing ZMath

CMakeLists.txt

@@ -462,8 +462,6 @@ add_executable(space-game001
     src/AudioPlayerAsync.h
     src/BoneAnimatedModel.cpp
     src/BoneAnimatedModel.h
-    src/utils/ZLMath.cpp
-    src/utils/ZLMath.h
     src/render/OpenGlExtensions.cpp
     src/render/OpenGlExtensions.h
     src/utils/Utils.cpp

src/BoneAnimatedModel.cpp

@@ -638,23 +638,30 @@ namespace ZL
 			nextFrameBonesMatrix.data()[7] = nextFrameBones[i].boneMatrixWorld.m[1 + 2 * 4];
 			nextFrameBonesMatrix.data()[8] = nextFrameBones[i].boneMatrixWorld.m[2 + 2 * 4];
 			*/
-			Eigen::Quaternionf q1 = MatrixToQuat(oneFrameBonesMatrix);
+			Eigen::Quaternionf q1 = Eigen::Quaternionf(oneFrameBonesMatrix).normalized();
-			Eigen::Quaternionf q2 = MatrixToQuat(nextFrameBonesMatrix);
+			Eigen::Quaternionf q2 = Eigen::Quaternionf(nextFrameBonesMatrix).normalized();
 			Eigen::Quaternionf q1_norm = q1.normalized();
 			Eigen::Quaternionf q2_norm = q2.normalized();
 
 			Eigen::Quaternionf result = q1_norm.slerp(t, q2_norm);
 
-			Matrix3f boneMatrixWorld3 = QuatToMatrix(result);
+			Matrix3f boneMatrixWorld3 = result.toRotationMatrix();
 
-			currentBones[i].boneMatrixWorld = MakeMatrix4x4(boneMatrixWorld3, currentBones[i].boneStartWorld);
+			currentBones[i].boneMatrixWorld = Eigen::Matrix4f::Identity();
-			
+
+			// Копируем 3x3 матрицу в верхний левый угол
+			currentBones[i].boneMatrixWorld.block<3, 3>(0, 0) = boneMatrixWorld3;
+
+			// Копируем позицию в последний столбец (первые 3 элемента)
+			currentBones[i].boneMatrixWorld.block<3, 1>(0, 3) = currentBones[i].boneStartWorld;
+
+	
 			Matrix4f currentBoneMatrixWorld4 = currentBones[i].boneMatrixWorld;
 			Matrix4f startBoneMatrixWorld4 = animations[0].keyFrames[0].bones[i].boneMatrixWorld;
 
-			Matrix4f inverstedStartBoneMatrixWorld4 = InverseMatrix(startBoneMatrixWorld4);
+			Matrix4f inverstedStartBoneMatrixWorld4 = startBoneMatrixWorld4.inverse();
 
-			skinningMatrixForEachBone[i] = MultMatrixMatrix(currentBoneMatrixWorld4, inverstedStartBoneMatrixWorld4);
+			skinningMatrixForEachBone[i] = currentBoneMatrixWorld4 * inverstedStartBoneMatrixWorld4;
 			
 		}
 		
@@ -675,7 +682,7 @@ namespace ZL
 				{
 					vMoved = true;
 					//finalPos = finalPos + MultVectorMatrix(originalPos, skinningMatrixForEachBone[verticesBoneWeight[i][j].boneIndex]) * verticesBoneWeight[i][j].weight;
-					finalPos = finalPos + MultMatrixVector(skinningMatrixForEachBone[verticesBoneWeight[i][j].boneIndex], originalPos) * verticesBoneWeight[i][j].weight;
+					finalPos = finalPos + (skinningMatrixForEachBone[verticesBoneWeight[i][j].boneIndex] * originalPos) * verticesBoneWeight[i][j].weight;
 				}
 			}
 

src/BoneAnimatedModel.h

@@ -1,5 +1,4 @@
 #pragma once
-#include "utils/ZLMath.h"
 #include "render/Renderer.h"
 #include <unordered_map>
 

src/Environment.cpp

@@ -23,15 +23,15 @@ bool Environment::showMouse = false;
 
 bool Environment::exitGameLoop = false;
 
-Matrix3f Environment::shipMatrix = Matrix3f::Identity();
+Eigen::Matrix3f Environment::shipMatrix = Eigen::Matrix3f::Identity();
-Matrix3f Environment::inverseShipMatrix = Matrix3f::Identity();
+Eigen::Matrix3f Environment::inverseShipMatrix = Eigen::Matrix3f::Identity();
 
 
 bool Environment::tapDownHold = false;
-Vector2f Environment::tapDownStartPos = { 0, 0 };
+Eigen::Vector2f Environment::tapDownStartPos = { 0, 0 };
-Vector2f Environment::tapDownCurrentPos = { 0, 0 };
+Eigen::Vector2f Environment::tapDownCurrentPos = { 0, 0 };
 
-Vector3f Environment::shipPosition = {0,0,45000.f};
+Eigen::Vector3f Environment::shipPosition = {0,0,45000.f};
 
 float Environment::shipVelocity = 0.f;
 

src/Environment.h

@@ -1,9 +1,9 @@
 #pragma once
-#include "utils/ZLMath.h"
 #ifdef __linux__
 #include <SDL2/SDL.h>
 #endif
 #include "render/OpenGlExtensions.h"
+#include <Eigen/Dense>
 
 namespace ZL {
 
@@ -21,8 +21,8 @@ public:
 
     static bool settings_inverseVertical;
 
-    static Matrix3f shipMatrix;
+    static Eigen::Matrix3f shipMatrix;
-    static Matrix3f inverseShipMatrix;
+    static Eigen::Matrix3f inverseShipMatrix;
 
     static SDL_Window* window;
 
@@ -31,10 +31,10 @@ public:
 
 
     static bool tapDownHold;
-    static Vector2f tapDownStartPos;
+    static Eigen::Vector2f tapDownStartPos;
-    static Vector2f tapDownCurrentPos;
+    static Eigen::Vector2f tapDownCurrentPos;
 
-    static Vector3f shipPosition;
+    static Eigen::Vector3f shipPosition;
     static float shipVelocity;
 
     static const float CONST_Z_NEAR;

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::shipMatrix = Environment::shipMatrix * rotateMat;
-					Environment::inverseShipMatrix = InverseMatrix(Environment::shipMatrix);
+					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) {

src/Projectile.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include "utils/ZLMath.h"
 #include "render/Renderer.h"
 #include "render/TextureManager.h"
 #include <memory>

src/SparkEmitter.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include "utils/ZLMath.h"
 #include "render/Renderer.h"
 #include "render/TextureManager.h"
 #include <vector>

src/TextModel.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include "utils/ZLMath.h"
 #include "render/Renderer.h"
 #include <unordered_map>
 

src/planet/PlanetData.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include "utils/ZLMath.h"
 #include "utils/Perlin.h"
 #include "render/Renderer.h"
 #include <vector>

src/planet/PlanetObject.cpp

@@ -124,9 +124,9 @@ namespace ZL {
 		// 2. Трансформируем вершины в локальное пространство экрана, чтобы найти габариты
 		// Используем MultMatrixVector(Matrix, Vector). 
 		// Если ваша функция считает V * M, то передайте Inverse(mr).
-		Vector3f rA = MultMatrixVector(mr, tr.data[0]);
+		Vector3f rA = mr * tr.data[0];
-		Vector3f rB = MultMatrixVector(mr, tr.data[1]);
+		Vector3f rB = mr * tr.data[1];
-		Vector3f rC = MultMatrixVector(mr, tr.data[2]);
+		Vector3f rC = mr * tr.data[2];
 
 		// 3. Вычисляем реальные границы треугольника после поворота
 		float minX = min(rA(0), min(rB(0), rC(0)));

src/planet/PlanetObject.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include "utils/ZLMath.h"
 #include "render/Renderer.h"
 #include "render/TextureManager.h"
 #include <vector>

src/planet/StoneObject.cpp

@@ -111,9 +111,9 @@ namespace ZL {
 
 		/*
 		// Случайный поворот (например, вокруг трех осей)
-		Vector4f qx = QuatFromRotateAroundX(getRandomFloat(engine, 0.0f, 360.0f));
+		Vector4f qx = Eigen::Quaternionf(Eigen::AngleAxisf(getRandomFloat(engine, 0.0f, 360.0f), Eigen::Vector3f::UnitX()));//QuatFromRotateAroundX(getRandomFloat(engine, 0.0f, 360.0f));
-		Vector4f qy = QuatFromRotateAroundY(getRandomFloat(engine, 0.0f, 360.0f));
+		Vector4f qy = Eigen::Quaternionf(Eigen::AngleAxisf(getRandomFloat(engine, 0.0f, 360.0f), Eigen::Vector3f::UnitY()));//QuatFromRotateAroundY(getRandomFloat(engine, 0.0f, 360.0f));
-		Vector4f qz = QuatFromRotateAroundZ(getRandomFloat(engine, 0.0f, 360.0f));
+		Vector4f qz = Eigen::Quaternionf(Eigen::AngleAxisf(getRandomFloat(engine, 0.0f, 360.0f), Eigen::Vector3f::UnitZ()));//QuatFromRotateAroundZ(getRandomFloat(engine, 0.0f, 360.0f));
 		Vector4f qFinal = slerp(qx, qy, 0.5f); // Простой пример комбинирования
 		qFinal = slerp(qFinal, qz, 0.5f).normalized();
 		Matrix3f rotationMatrix = QuatToMatrix(qFinal);
@@ -320,7 +320,7 @@ namespace ZL {
 
 
 			for (const auto& inst : allInstances[index]) {
-				Matrix3f rotMat = QuatToMatrix(inst.rotation);
+				Matrix3f rotMat = inst.rotation.toRotationMatrix();
 
 				for (size_t j = 0; j < baseStone.PositionData.size(); ++j) {
 					Vector3f p = baseStone.PositionData[j];
@@ -330,8 +330,8 @@ namespace ZL {
 					p(1) *= inst.scale(1) * scaleModifier;
 					p(2) *= inst.scale(2) * scaleModifier;
 
-					result.data.PositionData.push_back(MultMatrixVector(rotMat, p) + inst.position);
+					result.data.PositionData.push_back(rotMat * p + inst.position);
-					result.data.NormalData.push_back(MultMatrixVector(rotMat, n));
+					result.data.NormalData.push_back(rotMat * n);
 					result.data.TexCoordData.push_back(baseStone.TexCoordData[j]);
 
 				}

src/planet/StoneObject.h

@@ -1,5 +1,4 @@
 #pragma once
-#include "utils/ZLMath.h"
 #include "render/Renderer.h"
 #include "PlanetData.h"
 

src/render/Renderer.cpp

@@ -3,6 +3,105 @@
 
 namespace ZL {
 
+	Matrix4f MakeOrthoMatrix(float width, float height, float zNear, float zFar)
+	{
+		float depthRange = zFar - zNear;
+
+		if (depthRange <= 0)
+		{
+			throw std::runtime_error("zFar must be greater than zNear");
+		}
+
+		Matrix4f r;
+
+		r.data()[0] = 2.f / width;
+		r.data()[1] = 0;
+		r.data()[2] = 0;
+		r.data()[3] = 0;
+
+		r.data()[4] = 0;
+		r.data()[5] = 2.f / height;
+		r.data()[6] = 0;
+		r.data()[7] = 0;
+
+		r.data()[8] = 0;
+		r.data()[9] = 0;
+		r.data()[10] = -1 / depthRange;
+		r.data()[11] = 0;
+
+		r.data()[12] = -1;
+		r.data()[13] = -1;
+		r.data()[14] = zNear / depthRange;
+		r.data()[15] = 1;
+
+		return r;
+	}
+
+	Matrix4f MakeOrthoMatrix(float xmin, float xmax, float ymin, float ymax, float zNear, float zFar)
+	{
+		float width = xmax - xmin;
+		float height = ymax - ymin;
+		float depthRange = zFar - zNear;
+
+		if (width <= 0 || height <= 0 || depthRange <= 0)
+		{
+			throw std::runtime_error("Invalid dimensions for orthogonal matrix");
+		}
+
+		Matrix4f r;
+
+		// Ìàñøòàáèðîâàíèå
+		r.data()[0] = 2.f / width;
+		r.data()[5] = 2.f / height;
+		r.data()[10] = -1.f / depthRange;
+
+		// Îáíóëåíèå íåèñïîëüçóåìûõ êîìïîíåíòîâ
+		r.data()[1] = r.data()[2] = r.data()[3] = 0;
+		r.data()[4] = r.data()[6] = r.data()[7] = 0;
+		r.data()[8] = r.data()[9] = r.data()[11] = 0;
+
+		// Òðàíñëÿöèÿ (ñìåùåíèå)
+		r.data()[12] = -(xmax + xmin) / width;
+		r.data()[13] = -(ymax + ymin) / height;
+		r.data()[14] = zNear / depthRange;
+		r.data()[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.data()[0] = 1.f / (aspectRatio * tanHalfFovy);
+		r.data()[1] = 0;
+		r.data()[2] = 0;
+		r.data()[3] = 0;
+
+		r.data()[4] = 0;
+		r.data()[5] = 1.f / (tanHalfFovy);
+		r.data()[6] = 0;
+		r.data()[7] = 0;
+
+		r.data()[8] = 0;
+		r.data()[9] = 0;
+		r.data()[10] = -(zFar + zNear) / (zFar - zNear);
+		r.data()[11] = -1;
+
+		r.data()[12] = 0;
+		r.data()[13] = 0;
+		r.data()[14] = -(2.f * zFar * zNear) / (zFar - zNear);
+		r.data()[15] = 0;
+
+		return r;
+	}
+
 	VBOHolder::VBOHolder()
 	{
 		glGenBuffers(1, &Buffer);
@@ -374,22 +473,22 @@ namespace ZL {
 
 		for (int i = 0; i < PositionData.size(); i++)
 		{
-			PositionData[i] = MultVectorMatrix(PositionData[i], m);
+			PositionData[i] = PositionData[i].transpose() * m;
 		}
 
 		for (int i = 0; i < NormalData.size(); i++)
 		{
-			NormalData[i] = MultVectorMatrix(NormalData[i], m);
+			NormalData[i] = NormalData[i].transpose() * m;
 		}
 
 		for (int i = 0; i < TangentData.size(); i++)
 		{
-			TangentData[i] = MultVectorMatrix(TangentData[i], m);
+			TangentData[i] = TangentData[i].transpose() * m;
 		}
 
 		for (int i = 0; i < BinormalData.size(); i++)
 		{
-			BinormalData[i] = MultVectorMatrix(BinormalData[i], m);
+			BinormalData[i] = BinormalData[i].transpose() * m;
 		}
 	}
 
@@ -592,8 +691,8 @@ namespace ZL {
 
 	void Renderer::RotateMatrix(const Eigen::Quaternionf& q)
 	{
-		
+	
-		Matrix3f m3 = QuatToMatrix(q);
+		Matrix3f m3 = q.toRotationMatrix();
 		Matrix4f m = Matrix4f::Identity();
 
 		m.block<3, 3>(0, 0) = m3;
@@ -823,7 +922,7 @@ namespace ZL {
 		int& screenX, int& screenY) {
 
 		Vector4f inx = { objectPos(0), objectPos(1), objectPos(2), 1.0f };
-		Vector4f clipCoords = MultMatrixVector(projectionModelView, inx);
+		Vector4f clipCoords = projectionModelView * inx;
 
 		float ndcX = clipCoords(0) / clipCoords(3);
 		float ndcY = clipCoords(1) / clipCoords(3);

src/render/Renderer.h

@@ -1,13 +1,26 @@
 #pragma once
 
 #include "OpenGlExtensions.h"
-#include "utils/ZLMath.h"
 #include <exception>
 #include <stdexcept>
 #include "ShaderManager.h"
+#include <Eigen/Dense>
 
 namespace ZL {
 
+	using Eigen::Vector2f;
+	using Eigen::Vector3f;
+	using Eigen::Vector4f;
+
+	using Eigen::Matrix3f;
+	using Eigen::Matrix4f;
+
+	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);
+
+
 	constexpr size_t CONST_MATRIX_STACK_SIZE = 64;
 
 	class VBOHolder {

src/utils/Perlin.cpp

@@ -57,7 +57,7 @@ namespace ZL {
                 lerp(u, grad(p[AB + 1], x, y - 1, z - 1), grad(p[BB + 1], x - 1, y - 1, z - 1))));
     }
 
-    float PerlinNoise::getSurfaceHeight(Vector3f pos, float noiseCoeff) {
+    float PerlinNoise::getSurfaceHeight(Eigen::Vector3f pos, float noiseCoeff) {
         // ×àñòîòà øóìà (÷åì áîëüøå, òåì áîëüøå "õîëìîâ")
         float frequency = 7.0f;
 

src/utils/Perlin.h

@@ -2,7 +2,7 @@
 
 #include <vector>
 #include <cstdint>
-#include "utils/ZLMath.h" 
+#include <Eigen/Dense>
 
 namespace ZL {
 
@@ -18,7 +18,7 @@ namespace ZL {
 
         float noise(float x, float y, float z);
 
-        float getSurfaceHeight(Vector3f pos, float noiseCoeff);
+        float getSurfaceHeight(Eigen::Vector3f pos, float noiseCoeff);
     };
 
 } // namespace ZL

src/utils/ZLMath.cpp

@@ -1,682 +0,0 @@
-#include "utils/ZLMath.h"
-
-#include <exception>
-#include <cmath>
-
-namespace ZL {
-
-	/*
-	Vector2f operator+(const Vector2f& x, const Vector2f& y)
-	{
-		Vector2f result;
-
-		result.v[0] = x.v[0] + y.v[0];
-		result.v[1] = x.v[1] + y.v[1];
-
-		return result;
-	}
-
-	Vector2f operator-(const Vector2f& x, const Vector2f& y)
-	{
-		Vector2f result;
-
-		result.v[0] = x.v[0] - y.v[0];
-		result.v[1] = x.v[1] - y.v[1];
-
-		return result;
-	}
-	*/
-	/*
-	Vector3f operator+(const Vector3f& x, const Vector3f& y)
-	{
-		Vector3f result;
-
-		result.v[0] = x.v[0] + y.v[0];
-		result.v[1] = x.v[1] + y.v[1];
-		result.v[2] = x.v[2] + y.v[2];
-		return result;
-	}
-
-	Vector3f operator-(const Vector3f& x, const Vector3f& y)
-	{
-		Vector3f result;
-
-		result.v[0] = x.v[0] - y.v[0];
-		result.v[1] = x.v[1] - y.v[1];
-		result.v[2] = x.v[2] - y.v[2];
-		return result;
-	}
-
-	Vector3f operator-(const Vector3f& x)
-	{
-		Vector3f result;
-
-		result.v[0] = -x.v[0];
-		result.v[1] = -x.v[1];
-		result.v[2] = -x.v[2];
-		return result;
-	}
-	*/
-	/*
-	Vector4f operator+(const Vector4f& x, const Vector4f& y)
-	{
-		Vector4f result;
-
-		result.v[0] = x.v[0] + y.v[0];
-		result.v[1] = x.v[1] + y.v[1];
-		result.v[2] = x.v[2] + y.v[2];
-		result.v[3] = x.v[3] + y.v[3];
-		return result;
-	}
-
-	Vector4f operator-(const Vector4f& x, const Vector4f& y)
-	{
-		Vector4f result;
-
-		result.v[0] = x.v[0] - y.v[0];
-		result.v[1] = x.v[1] - y.v[1];
-		result.v[2] = x.v[2] - y.v[2];
-		result.v[3] = x.v[3] - y.v[3];
-		return result;
-	}
-
-
-	
-	Matrix3f Matrix3f::Identity()
-	{
-		Matrix3f r;
-
-		r.m[0] = 1.f;
-		r.m[1] = 0.f;
-		r.m[2] = 0.f;
-
-		r.m[3] = 0.f;
-		r.m[4] = 1.f;
-		r.m[5] = 0.f;
-
-		r.m[6] = 0.f;
-		r.m[7] = 0.f;
-		r.m[8] = 1.f;
-		
-		return r;
-
-	}*/
-	/*
-	Matrix4f Matrix4f::Identity()
-	{
-		Matrix4f r;
-
-		r.m[0] = 1.f;
-		r.m[1] = 0.f;
-		r.m[2] = 0.f;
-		r.m[3] = 0.f;
-
-		r.m[4] = 0.f;
-		r.m[5] = 1.f;
-		r.m[6] = 0.f;
-		r.m[7] = 0.f;
-
-		r.m[8] = 0.f;
-		r.m[9] = 0.f;
-		r.m[10] = 1.f;
-		r.m[11] = 0.f;
-
-		r.m[12] = 0.f;
-		r.m[13] = 0.f;
-		r.m[14] = 0.f;
-		r.m[15] = 1.f;
-
-		return r;
-
-	}*/
-	/*
-	Matrix4f operator*(const Matrix4f& m1, const Matrix4f& m2)
-	{
-		Matrix4f r;
-
-		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];
-		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];
-		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];
-		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];
-
-		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];
-		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];
-		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];
-		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];
-
-
-		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];
-		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];
-		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];
-		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];
-
-		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];
-		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];
-		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];
-		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];
-
-		return r;
-	}*/
-
-	Matrix4f MakeOrthoMatrix(float width, float height, float zNear, float zFar)
-	{
-		float depthRange = zFar - zNear;
-
-		if (depthRange <= 0)
-		{
-			throw std::runtime_error("zFar must be greater than zNear");
-		}
-
-		Matrix4f r;
-
-		r.data()[0] = 2.f / width;
-		r.data()[1] = 0;
-		r.data()[2] = 0;
-		r.data()[3] = 0;
-
-		r.data()[4] = 0;
-		r.data()[5] = 2.f / height;
-		r.data()[6] = 0;
-		r.data()[7] = 0;
-
-		r.data()[8] = 0;
-		r.data()[9] = 0;
-		r.data()[10] = -1 / depthRange;
-		r.data()[11] = 0;
-
-		r.data()[12] = -1;
-		r.data()[13] = -1;
-		r.data()[14] = zNear / depthRange;
-		r.data()[15] = 1;
-
-		return r;
-	}
-
-	Matrix4f MakeOrthoMatrix(float xmin, float xmax, float ymin, float ymax, float zNear, float zFar)
-	{
-		float width = xmax - xmin;
-		float height = ymax - ymin;
-		float depthRange = zFar - zNear;
-
-		if (width <= 0 || height <= 0 || depthRange <= 0)
-		{
-			throw std::runtime_error("Invalid dimensions for orthogonal matrix");
-		}
-
-		Matrix4f r;
-
-		// Масштабирование
-		r.data()[0] = 2.f / width;
-		r.data()[5] = 2.f / height;
-		r.data()[10] = -1.f / depthRange;
-
-		// Обнуление неиспользуемых компонентов
-		r.data()[1] = r.data()[2] = r.data()[3] = 0;
-		r.data()[4] = r.data()[6] = r.data()[7] = 0;
-		r.data()[8] = r.data()[9] = r.data()[11] = 0;
-
-		// Трансляция (смещение)
-		r.data()[12] = -(xmax + xmin) / width;
-		r.data()[13] = -(ymax + ymin) / height;
-		r.data()[14] = zNear / depthRange;
-		r.data()[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.data()[0] = 1.f / (aspectRatio * tanHalfFovy);
-		r.data()[1] = 0;
-		r.data()[2] = 0;
-		r.data()[3] = 0;
-
-		r.data()[4] = 0;
-		r.data()[5] = 1.f / (tanHalfFovy);
-		r.data()[6] = 0;
-		r.data()[7] = 0;
-
-		r.data()[8] = 0;
-		r.data()[9] = 0;
-		r.data()[10] = -(zFar + zNear) / (zFar - zNear);
-		r.data()[11] = -1;
-
-		r.data()[12] = 0;
-		r.data()[13] = 0;
-		r.data()[14] = -(2.f * zFar * zNear) / (zFar - zNear);
-		r.data()[15] = 0;
-
-		return r;
-	}
-
-	Matrix3f QuatToMatrix(const Eigen::Quaternionf& q)
-	{
-		return q.toRotationMatrix();
-
-	}
-
-	Eigen::Quaternionf MatrixToQuat(const Matrix3f& m)
-	{
-		return Eigen::Quaternionf(m).normalized();
-	}
-
-	Eigen::Quaternionf QuatFromRotateAroundX(float angle) {
-		return Eigen::Quaternionf(Eigen::AngleAxisf(angle, Eigen::Vector3f::UnitX()));
-	}
-
-	Eigen::Quaternionf QuatFromRotateAroundY(float angle) {
-		return Eigen::Quaternionf(Eigen::AngleAxisf(angle, Eigen::Vector3f::UnitY()));
-	}
-
-	Eigen::Quaternionf QuatFromRotateAroundZ(float angle) {
-		return Eigen::Quaternionf(Eigen::AngleAxisf(angle, Eigen::Vector3f::UnitZ()));
-	}
-
-	Matrix3f TransposeMatrix(const Matrix3f& m)
-	{
-		return m.transpose();
-	}
-
-	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;*/
-		return m.inverse();
-	}
-
-
-	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;*/
-
-		return mat.inverse();
-	}
-
-	Matrix3f CreateZRotationMatrix(float angle)
-	{
-		Eigen::Matrix3f m = Eigen::AngleAxisf(angle, Eigen::Vector3f::UnitZ()).toRotationMatrix();
-
-		return m;
-	}
-
-	Matrix4f MultMatrixMatrix(const Matrix4f& m1, const Matrix4f& m2)
-	{
-		return m1 * 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)
-	{
-		return m1 * m2;
-	}
-
-	/*
-	Matrix4f MakeTranslationMatrix(const Vector3f& p)
-	{
-		Matrix4f r = Matrix4f::Identity();
-
-		r.m[12] = p(0);
-		r.m[13] = p(1);
-		r.m[14] = p(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)
-	{
-		return v.transpose() * mt;
-		/*
-		Vector3f r;
-
-		r(0) = v(0) * mt.m[0] + v(1) * mt.m[1] + v(2) * mt.m[2];
-		r(1) = v(0) * mt.m[3] + v(1) * mt.m[4] + v(2) * mt.m[5];
-		r(2) = v(0) * mt.m[6] + v(1) * mt.m[7] + v(2) * mt.m[8];
-
-		return r;*/
-	}
-
-	Vector4f MultVectorMatrix(Vector4f v, Matrix4f mt)
-	{
-		/*Vector4f r;
-
-		r(0) = v(0) * mt.m[0] + v(1) * mt.m[1] + v(2) * mt.m[2] + v(3) * mt.m[3];
-		r(1) = v(0) * mt.m[4] + v(1) * mt.m[5] + v(2) * mt.m[6] + v(3) * mt.m[7];
-		r(2) = v(0) * mt.m[8] + v(1) * mt.m[9] + v(2) * mt.m[10] + v(3) * mt.m[11];
-		r(3) = v(0) * mt.m[12] + v(1) * mt.m[13] + v(2) * mt.m[14] + v(3) * mt.m[15];
-
-		return r;*/
-		return v.transpose() * mt;
-	}
-
-	Vector4f MultMatrixVector(Matrix4f mt, Vector4f v)
-	{
-		return mt * v;
-		/*Vector4f r;
-
-		r(0) = v(0) * mt.m[0] + v(1) * mt.m[4] + v(2) * mt.m[8] + v(3) * mt.m[12];
-		r(1) = v(0) * mt.m[1] + v(1) * mt.m[5] + v(2) * mt.m[9] + v(3) * mt.m[13];
-		r(2) = v(0) * mt.m[2] + v(1) * mt.m[6] + v(2) * mt.m[10] + v(3) * mt.m[14];
-		r(3) = v(0) * mt.m[3] + v(1) * mt.m[7] + v(2) * mt.m[11] + v(3) * mt.m[15];
-
-		return r;*/
-	}
-
-	Vector3f MultMatrixVector(Matrix3f mt, Vector3f v)
-	{
-		return mt * v;
-		/*Vector3f r;
-
-		r(0) = v(0) * mt.m[0] + v(1) * mt.m[3] + v(2) * mt.m[6];
-		r(1) = v(0) * mt.m[1] + v(1) * mt.m[4] + v(2) * mt.m[7];
-		r(2) = v(0) * mt.m[2] + v(1) * mt.m[5] + 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();
-	}*/
-
-	Eigen::Matrix4f MakeMatrix4x4(const Eigen::Matrix3f& m, const Eigen::Vector3f& pos) {
-		Eigen::Matrix4f r = Eigen::Matrix4f::Identity();
-
-		// Копируем 3x3 матрицу в верхний левый угол
-		r.block<3, 3>(0, 0) = m;
-
-		// Копируем позицию в последний столбец (первые 3 элемента)
-		r.block<3, 1>(0, 3) = pos;
-
-		return r;
-	}
-
-
-};

src/utils/ZLMath.h

@@ -1,197 +0,0 @@
-#pragma once
-
-#include <array>
-#include <exception>
-#include <stdexcept>
-#include <cmath>
-#include <Eigen/Dense>
-
-namespace ZL {
-
-	using Eigen::Vector2f;
-	using Eigen::Vector3f;
-	using Eigen::Vector4f;
-
-	using Eigen::Matrix3f;
-	using Eigen::Matrix4f;
-	/*
-	struct Vector4f
-	{
-		Vector4f()
-		{
-
-		}
-
-		Vector4f(float x, float y, float z, float t)
-			: v{ x,y,z,t }
-		{
-		}
-
-		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 Eigen::Quaternionf& q);
-
-	Eigen::Quaternionf MatrixToQuat(const Matrix3f& m);
-
-	Eigen::Quaternionf QuatFromRotateAroundX(float angle);
-	Eigen::Quaternionf QuatFromRotateAroundY(float angle);
-	Eigen::Quaternionf 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 Eigen::Matrix3f& m, const Eigen::Vector3f& pos);
-	
-};