salmon-engine-projects/space-game001
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Working on adding Eigen

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This commit is contained in:
Vladislav Khorev 2026-01-03 19:52:44 +03:00
parent c553780b6e
commit 9bfe2bef89
16 changed files with 402 additions and 503 deletions
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33
CMakeLists.txt
View File

@ -409,6 +409,38 @@ set_target_properties(libzip_external_lib PROPERTIES
INTERFACE_LINK_LIBRARIES zlib_external_lib INTERFACE_LINK_LIBRARIES zlib_external_lib
) )
# ===========================================
# 5) Eigen (5.0.0.zip → eigen-5.0.0) - HEADER-ONLY
# ===========================================
set(EIGEN_ARCHIVE "${THIRDPARTY_DIR}/eigen-5.0.0.zip")
set(EIGEN_SRC_DIR "${THIRDPARTY_DIR}/eigen-5.0.0")
if(NOT EXISTS "${EIGEN_ARCHIVE}")
log("Downloading Eigen 5.0.0.zip ...")
file(DOWNLOAD
"https://gitlab.com/libeigen/eigen/-/archive/5.0.0/eigen-5.0.0.zip"
"${EIGEN_ARCHIVE}"
SHOW_PROGRESS
)
endif()
if(NOT EXISTS "${EIGEN_SRC_DIR}/CMakeLists.txt")
log("Extracting Eigen 5.0.0.zip ...")
execute_process(
COMMAND ${CMAKE_COMMAND} -E tar xvf "${EIGEN_ARCHIVE}"
WORKING_DIRECTORY "${THIRDPARTY_DIR}"
RESULT_VARIABLE _eigen_extract_res
)
if(NOT _eigen_extract_res EQUAL 0)
message(FATAL_ERROR "Failed to extract Eigen archive")
endif()
endif()
if(NOT TARGET eigen_external_lib)
add_library(eigen_external_lib INTERFACE)
target_include_directories(eigen_external_lib INTERFACE "${EIGEN_SRC_DIR}")
endif()
# =========================================== # ===========================================
# Основной проект space-game001 # Основной проект space-game001
# =========================================== # ===========================================
@ -484,6 +516,7 @@ target_link_libraries(space-game001 PRIVATE
libpng_external_lib libpng_external_lib
zlib_external_lib zlib_external_lib
libzip_external_lib libzip_external_lib
eigen_external_lib
) )
# Линкуем OpenGL (Windows) # Линкуем OpenGL (Windows)

144
src/BoneAnimatedModel.cpp
View File

@ -119,9 +119,9 @@ namespace ZL
b = match.suffix().first; b = match.suffix().first;
} }
bones[i].boneMatrixWorld.m[0] = floatValues[0]; bones[i].boneMatrixWorld.data()[0] = floatValues[0];
bones[i].boneMatrixWorld.m[0 + 1 * 3] = floatValues[1]; bones[i].boneMatrixWorld.data()[0 + 1 * 3] = floatValues[1];
bones[i].boneMatrixWorld.m[0 + 2 * 3] = floatValues[2]; bones[i].boneMatrixWorld.data()[0 + 2 * 3] = floatValues[2];
std::getline(f, tempLine); std::getline(f, tempLine);
@ -134,9 +134,9 @@ namespace ZL
b = match.suffix().first; b = match.suffix().first;
} }
bones[i].boneMatrixWorld.m[1] = floatValues[0]; bones[i].boneMatrixWorld.data()[1] = floatValues[0];
bones[i].boneMatrixWorld.m[1 + 1 * 3] = floatValues[1]; bones[i].boneMatrixWorld.data()[1 + 1 * 3] = floatValues[1];
bones[i].boneMatrixWorld.m[1 + 2 * 3] = floatValues[2]; bones[i].boneMatrixWorld.data()[1 + 2 * 3] = floatValues[2];
std::getline(f, tempLine); std::getline(f, tempLine);
@ -149,9 +149,9 @@ namespace ZL
b = match.suffix().first; b = match.suffix().first;
} }
bones[i].boneMatrixWorld.m[2] = floatValues[0]; bones[i].boneMatrixWorld.data()[2] = floatValues[0];
bones[i].boneMatrixWorld.m[2 + 1 * 3] = floatValues[1]; bones[i].boneMatrixWorld.data()[2 + 1 * 3] = floatValues[1];
bones[i].boneMatrixWorld.m[2 + 2 * 3] = floatValues[2]; bones[i].boneMatrixWorld.data()[2 + 2 * 3] = floatValues[2];
//----------- matrix end //----------- matrix end
std::getline(f, tempLine); //parent std::getline(f, tempLine); //parent
@ -489,10 +489,10 @@ namespace ZL
b = match.suffix().first; b = match.suffix().first;
} }
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[0] = floatValues[0]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[0] = floatValues[0];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[0 + 1 * 4] = floatValues[1]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[0 + 1 * 4] = floatValues[1];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[0 + 2 * 4] = floatValues[2]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[0 + 2 * 4] = floatValues[2];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[0 + 3 * 4] = floatValues[3]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[0 + 3 * 4] = floatValues[3];
std::getline(f, tempLine); std::getline(f, tempLine);
@ -504,10 +504,10 @@ namespace ZL
b = match.suffix().first; b = match.suffix().first;
} }
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[1] = floatValues[0]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[1] = floatValues[0];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[1 + 1 * 4] = floatValues[1]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[1 + 1 * 4] = floatValues[1];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[1 + 2 * 4] = floatValues[2]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[1 + 2 * 4] = floatValues[2];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[1 + 3 * 4] = floatValues[3]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[1 + 3 * 4] = floatValues[3];
std::getline(f, tempLine); std::getline(f, tempLine);
b = tempLine.cbegin(); b = tempLine.cbegin();
@ -518,10 +518,10 @@ namespace ZL
b = match.suffix().first; b = match.suffix().first;
} }
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[2] = floatValues[0]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[2] = floatValues[0];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[2 + 1 * 4] = floatValues[1]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[2 + 1 * 4] = floatValues[1];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[2 + 2 * 4] = floatValues[2]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[2 + 2 * 4] = floatValues[2];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[2 + 3 * 4] = floatValues[3]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[2 + 3 * 4] = floatValues[3];
std::getline(f, tempLine); std::getline(f, tempLine);
@ -533,10 +533,10 @@ namespace ZL
b = match.suffix().first; b = match.suffix().first;
} }
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[3] = floatValues[0]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[3] = floatValues[0];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[3 + 1 * 4] = floatValues[1]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[3 + 1 * 4] = floatValues[1];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[3 + 2 * 4] = floatValues[2]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[3 + 2 * 4] = floatValues[2];
animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.m[3 + 3 * 4] = floatValues[3]; animations[0].keyFrames[i].bones[boneNumber].boneMatrixWorld.data()[3 + 3 * 4] = floatValues[3];
//std::getline(f, tempLine);// ignore last matrix line //std::getline(f, tempLine);// ignore last matrix line
@ -602,44 +602,48 @@ namespace ZL
for (int i = 0; i < currentBones.size(); i++) for (int i = 0; i < currentBones.size(); i++)
{ {
currentBones[i].boneStartWorld.v[0] = oneFrameBones[i].boneStartWorld.v[0] + t * (nextFrameBones[i].boneStartWorld.v[0] - oneFrameBones[i].boneStartWorld.v[0]); currentBones[i].boneStartWorld(0) = oneFrameBones[i].boneStartWorld(0) + t * (nextFrameBones[i].boneStartWorld(0) - oneFrameBones[i].boneStartWorld(0));
currentBones[i].boneStartWorld.v[1] = oneFrameBones[i].boneStartWorld.v[1] + t * (nextFrameBones[i].boneStartWorld.v[1] - oneFrameBones[i].boneStartWorld.v[1]); currentBones[i].boneStartWorld(1) = oneFrameBones[i].boneStartWorld(1) + t * (nextFrameBones[i].boneStartWorld(1) - oneFrameBones[i].boneStartWorld(1));
currentBones[i].boneStartWorld.v[2] = oneFrameBones[i].boneStartWorld.v[2] + t * (nextFrameBones[i].boneStartWorld.v[2] - oneFrameBones[i].boneStartWorld.v[2]); currentBones[i].boneStartWorld(2) = oneFrameBones[i].boneStartWorld(2) + t * (nextFrameBones[i].boneStartWorld(2) - oneFrameBones[i].boneStartWorld(2));
Matrix3f oneFrameBonesMatrix; Matrix3f oneFrameBonesMatrix;
oneFrameBonesMatrix.m[0] = oneFrameBones[i].boneMatrixWorld.m[0]; oneFrameBonesMatrix = oneFrameBones[i].boneMatrixWorld.block<3, 3>(0, 0);
oneFrameBonesMatrix.m[1] = oneFrameBones[i].boneMatrixWorld.m[1]; /*
oneFrameBonesMatrix.m[2] = oneFrameBones[i].boneMatrixWorld.m[2]; oneFrameBonesMatrix.data()[0] = oneFrameBones[i].boneMatrixWorld.m[0];
oneFrameBonesMatrix.data()[1] = oneFrameBones[i].boneMatrixWorld.m[1];
oneFrameBonesMatrix.data()[2] = oneFrameBones[i].boneMatrixWorld.m[2];
oneFrameBonesMatrix.m[3] = oneFrameBones[i].boneMatrixWorld.m[0 + 1*4]; oneFrameBonesMatrix.data()[3] = oneFrameBones[i].boneMatrixWorld.m[0 + 1*4];
oneFrameBonesMatrix.m[4] = oneFrameBones[i].boneMatrixWorld.m[1 + 1*4]; oneFrameBonesMatrix.data()[4] = oneFrameBones[i].boneMatrixWorld.m[1 + 1*4];
oneFrameBonesMatrix.m[5] = oneFrameBones[i].boneMatrixWorld.m[2 + 1*4]; oneFrameBonesMatrix.data()[5] = oneFrameBones[i].boneMatrixWorld.m[2 + 1*4];
oneFrameBonesMatrix.m[6] = oneFrameBones[i].boneMatrixWorld.m[0 + 2*4]; oneFrameBonesMatrix.data()[6] = oneFrameBones[i].boneMatrixWorld.m[0 + 2*4];
oneFrameBonesMatrix.m[7] = oneFrameBones[i].boneMatrixWorld.m[1 + 2*4]; oneFrameBonesMatrix.data()[7] = oneFrameBones[i].boneMatrixWorld.m[1 + 2*4];
oneFrameBonesMatrix.m[8] = oneFrameBones[i].boneMatrixWorld.m[2 + 2*4]; oneFrameBonesMatrix.data()[8] = oneFrameBones[i].boneMatrixWorld.m[2 + 2*4];
*/
Matrix3f nextFrameBonesMatrix; Matrix3f nextFrameBonesMatrix;
nextFrameBonesMatrix.m[0] = nextFrameBones[i].boneMatrixWorld.m[0]; nextFrameBonesMatrix = nextFrameBones[i].boneMatrixWorld.block<3, 3>(0, 0);
nextFrameBonesMatrix.m[1] = nextFrameBones[i].boneMatrixWorld.m[1]; /*
nextFrameBonesMatrix.m[2] = nextFrameBones[i].boneMatrixWorld.m[2]; nextFrameBonesMatrix.data()[0] = nextFrameBones[i].boneMatrixWorld.m[0];
nextFrameBonesMatrix.data()[1] = nextFrameBones[i].boneMatrixWorld.m[1];
nextFrameBonesMatrix.data()[2] = nextFrameBones[i].boneMatrixWorld.m[2];
nextFrameBonesMatrix.m[3] = nextFrameBones[i].boneMatrixWorld.m[0 + 1 * 4]; nextFrameBonesMatrix.data()[3] = nextFrameBones[i].boneMatrixWorld.m[0 + 1 * 4];
nextFrameBonesMatrix.m[4] = nextFrameBones[i].boneMatrixWorld.m[1 + 1 * 4]; nextFrameBonesMatrix.data()[4] = nextFrameBones[i].boneMatrixWorld.m[1 + 1 * 4];
nextFrameBonesMatrix.m[5] = nextFrameBones[i].boneMatrixWorld.m[2 + 1 * 4]; nextFrameBonesMatrix.data()[5] = nextFrameBones[i].boneMatrixWorld.m[2 + 1 * 4];
nextFrameBonesMatrix.m[6] = nextFrameBones[i].boneMatrixWorld.m[0 + 2 * 4]; nextFrameBonesMatrix.data()[6] = nextFrameBones[i].boneMatrixWorld.m[0 + 2 * 4];
nextFrameBonesMatrix.m[7] = nextFrameBones[i].boneMatrixWorld.m[1 + 2 * 4]; nextFrameBonesMatrix.data()[7] = nextFrameBones[i].boneMatrixWorld.m[1 + 2 * 4];
nextFrameBonesMatrix.m[8] = nextFrameBones[i].boneMatrixWorld.m[2 + 2 * 4]; nextFrameBonesMatrix.data()[8] = nextFrameBones[i].boneMatrixWorld.m[2 + 2 * 4];
*/
Eigen::Quaternionf q1 = MatrixToQuat(oneFrameBonesMatrix);
Eigen::Quaternionf q2 = MatrixToQuat(nextFrameBonesMatrix);
Eigen::Quaternionf q1_norm = q1.normalized();
Eigen::Quaternionf q2_norm = q2.normalized();
Vector4f q1 = MatrixToQuat(oneFrameBonesMatrix); Eigen::Quaternionf result = q1_norm.slerp(t, q2_norm);
Vector4f q2 = MatrixToQuat(nextFrameBonesMatrix);
Vector4f q1_norm = q1.normalized();
Vector4f q2_norm = q2.normalized();
Vector4f result = slerp(q1_norm, q2_norm, t);
Matrix3f boneMatrixWorld3 = QuatToMatrix(result); Matrix3f boneMatrixWorld3 = QuatToMatrix(result);
@ -654,36 +658,16 @@ namespace ZL
} }
/*
for (int i = 0; i < currentBones.size(); i++)
{
currentBones[i].boneStartWorld = oneFrameBones[i].boneStartWorld;
currentBones[i].boneMatrixWorld = oneFrameBones[i].boneMatrixWorld;
//Matrix4f currentBoneMatrixWorld4 = MakeMatrix4x4(currentBones[i].boneMatrixWorld, currentBones[i].boneStartWorld);
//Matrix4f startBoneMatrixWorld4 = MakeMatrix4x4(animations[0].keyFrames[0].bones[i].boneMatrixWorld, animations[0].keyFrames[0].bones[i].boneStartWorld);
Matrix4f currentBoneMatrixWorld4 = currentBones[i].boneMatrixWorld;
Matrix4f startBoneMatrixWorld4 = animations[0].keyFrames[0].bones[i].boneMatrixWorld;
Matrix4f inverstedStartBoneMatrixWorld4 = InverseMatrix(startBoneMatrixWorld4);
skinningMatrixForEachBone[i] = MultMatrixMatrix(currentBoneMatrixWorld4, inverstedStartBoneMatrixWorld4);
if (i == 10)
{
std::cout << i << std::endl;
}
}*/
for (int i = 0; i < mesh.PositionData.size(); i++) for (int i = 0; i < mesh.PositionData.size(); i++)
{ {
Vector4f originalPos = { Vector4f originalPos = {
startMesh.PositionData[i].v[0], startMesh.PositionData[i](0),
startMesh.PositionData[i].v[1], startMesh.PositionData[i](1),
startMesh.PositionData[i].v[2], 1.0}; startMesh.PositionData[i](2), 1.0};
Vector4f finalPos = Vector4f{0.f, 0.f, 0.f, 0.f}; Vector4f finalPos = Vector4f{0.f, 0.f, 0.f, 0.f};
bool vMoved = false; bool vMoved = false;
//Vector3f finalPos = Vector3f{ 0.f, 0.f, 0.f };
for (int j = 0; j < MAX_BONE_COUNT; j++) for (int j = 0; j < MAX_BONE_COUNT; j++)
{ {
@ -695,7 +679,7 @@ namespace ZL
} }
} }
if (abs(finalPos.v[0] - originalPos.v[0]) > 1 || abs(finalPos.v[1] - originalPos.v[1]) > 1 || abs(finalPos.v[2] - originalPos.v[2]) > 1) if (abs(finalPos(0) - originalPos(0)) > 1 || abs(finalPos(1) - originalPos(1)) > 1 || abs(finalPos(2) - originalPos(2)) > 1)
{ {
} }
@ -705,9 +689,9 @@ namespace ZL
finalPos = originalPos; finalPos = originalPos;
} }
mesh.PositionData[i].v[0] = finalPos.v[0]; mesh.PositionData[i](0) = finalPos(0);
mesh.PositionData[i].v[1] = finalPos.v[1]; mesh.PositionData[i](1) = finalPos(1);
mesh.PositionData[i].v[2] = finalPos.v[2]; mesh.PositionData[i](2) = finalPos(2);
} }

51
src/Game.cpp
View File

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

12
src/Projectile.cpp
View File

@ -46,13 +46,13 @@ namespace ZL {
mesh.data.PositionData.clear(); mesh.data.PositionData.clear();
mesh.data.TexCoordData.clear(); mesh.data.TexCoordData.clear();
mesh.data.PositionData.push_back({ pos.v[0] - half, pos.v[1] - half, pos.v[2] }); mesh.data.PositionData.push_back({ pos(0) - half, pos(1) - half, pos(2) });
mesh.data.PositionData.push_back({ pos.v[0] - half, pos.v[1] + half, pos.v[2] }); mesh.data.PositionData.push_back({ pos(0) - half, pos(1) + half, pos(2) });
mesh.data.PositionData.push_back({ pos.v[0] + half, pos.v[1] + half, pos.v[2] }); mesh.data.PositionData.push_back({ pos(0) + half, pos(1) + half, pos(2) });
mesh.data.PositionData.push_back({ pos.v[0] - half, pos.v[1] - half, pos.v[2] }); mesh.data.PositionData.push_back({ pos(0) - half, pos(1) - half, pos(2) });
mesh.data.PositionData.push_back({ pos.v[0] + half, pos.v[1] + half, pos.v[2] }); mesh.data.PositionData.push_back({ pos(0) + half, pos(1) + half, pos(2) });
mesh.data.PositionData.push_back({ pos.v[0] + half, pos.v[1] - half, pos.v[2] }); mesh.data.PositionData.push_back({ pos(0) + half, pos(1) - half, pos(2) });
mesh.data.TexCoordData.push_back({ 0.0f, 0.0f }); mesh.data.TexCoordData.push_back({ 0.0f, 0.0f });
mesh.data.TexCoordData.push_back({ 0.0f, 1.0f }); mesh.data.TexCoordData.push_back({ 0.0f, 1.0f });

30
src/SparkEmitter.cpp
View File

@ -69,7 +69,7 @@ namespace ZL {
for (const auto& particle : particles) { for (const auto& particle : particles) {
if (particle.active) { if (particle.active) {
sortedParticles.push_back({ &particle, particle.position.v[2] }); sortedParticles.push_back({ &particle, particle.position(2) });
} }
} }
@ -83,22 +83,22 @@ namespace ZL {
Vector3f pos = particle.position; Vector3f pos = particle.position;
float size = particleSize * particle.scale; float size = particleSize * particle.scale;
drawPositions.push_back({ pos.v[0] - size, pos.v[1] - size, pos.v[2] }); drawPositions.push_back({ pos(0) - size, pos(1) - size, pos(2) });
drawTexCoords.push_back({ 0.0f, 0.0f }); drawTexCoords.push_back({ 0.0f, 0.0f });
drawPositions.push_back({ pos.v[0] - size, pos.v[1] + size, pos.v[2] }); drawPositions.push_back({ pos(0) - size, pos(1) + size, pos(2) });
drawTexCoords.push_back({ 0.0f, 1.0f }); drawTexCoords.push_back({ 0.0f, 1.0f });
drawPositions.push_back({ pos.v[0] + size, pos.v[1] + size, pos.v[2] }); drawPositions.push_back({ pos(0) + size, pos(1) + size, pos(2) });
drawTexCoords.push_back({ 1.0f, 1.0f }); drawTexCoords.push_back({ 1.0f, 1.0f });
drawPositions.push_back({ pos.v[0] - size, pos.v[1] - size, pos.v[2] }); drawPositions.push_back({ pos(0) - size, pos(1) - size, pos(2) });
drawTexCoords.push_back({ 0.0f, 0.0f }); drawTexCoords.push_back({ 0.0f, 0.0f });
drawPositions.push_back({ pos.v[0] + size, pos.v[1] + size, pos.v[2] }); drawPositions.push_back({ pos(0) + size, pos(1) + size, pos(2) });
drawTexCoords.push_back({ 1.0f, 1.0f }); drawTexCoords.push_back({ 1.0f, 1.0f });
drawPositions.push_back({ pos.v[0] + size, pos.v[1] - size, pos.v[2] }); drawPositions.push_back({ pos(0) + size, pos(1) - size, pos(2) });
drawTexCoords.push_back({ 1.0f, 0.0f }); drawTexCoords.push_back({ 1.0f, 0.0f });
} }
@ -182,9 +182,9 @@ namespace ZL {
Vector3f oldPosition = particle.position; Vector3f oldPosition = particle.position;
float oldScale = particle.scale; float oldScale = particle.scale;
particle.position.v[0] += particle.velocity.v[0] * deltaTimeMs / 1000.0f; particle.position(0) += particle.velocity(0) * deltaTimeMs / 1000.0f;
particle.position.v[1] += particle.velocity.v[1] * deltaTimeMs / 1000.0f; particle.position(1) += particle.velocity(1) * deltaTimeMs / 1000.0f;
particle.position.v[2] += particle.velocity.v[2] * deltaTimeMs / 1000.0f; particle.position(2) += particle.velocity(2) * deltaTimeMs / 1000.0f;
particle.lifeTime += deltaTimeMs; particle.lifeTime += deltaTimeMs;
@ -196,9 +196,9 @@ namespace ZL {
float lifeRatio = particle.lifeTime / particle.maxLifeTime; float lifeRatio = particle.lifeTime / particle.maxLifeTime;
particle.scale = 1.0f - lifeRatio * 0.8f; particle.scale = 1.0f - lifeRatio * 0.8f;
if (oldPosition.v[0] != particle.position.v[0] || if (oldPosition(0) != particle.position(0) ||
oldPosition.v[1] != particle.position.v[1] || oldPosition(1) != particle.position(1) ||
oldPosition.v[2] != particle.position.v[2] || oldPosition(2) != particle.position(2) ||
oldScale != particle.scale) { oldScale != particle.scale) {
anyChanged = true; anyChanged = true;
} }
@ -404,8 +404,8 @@ namespace ZL {
for (int k = 0; k < count; ++k) { for (int k = 0; k < count; ++k) {
Vector3f randomPoint{ dx(gen), dy(gen), dz(gen) }; Vector3f randomPoint{ dx(gen), dy(gen), dz(gen) };
points.push_back(randomPoint); points.push_back(randomPoint);
std::cout << "Random point " << k + 1 << ": [" << randomPoint.v[0] std::cout << "Random point " << k + 1 << ": [" << randomPoint(0)
<< ", " << randomPoint.v[1] << ", " << randomPoint.v[2] << "]" << std::endl; << ", " << randomPoint(1) << ", " << randomPoint(2) << "]" << std::endl;
} }
} }
} }

24
src/TextModel.cpp
View File

@ -211,15 +211,9 @@ namespace ZL
for (int i = 0; i < result.PositionData.size(); i++) for (int i = 0; i < result.PositionData.size(); i++)
{ {
Vector3f tempVec = result.PositionData[i]; Vector3f tempVec = result.PositionData[i];
result.PositionData[i].v[0] = tempVec.v[1]; result.PositionData[i](0) = tempVec(1);
result.PositionData[i].v[1] = tempVec.v[2]; result.PositionData[i](1) = tempVec(2);
result.PositionData[i].v[2] = tempVec.v[0]; result.PositionData[i](2) = tempVec(0);
/*
tempVec = result.NormalData[i];
result.NormalData[i].v[0] = tempVec.v[1];
result.NormalData[i].v[1] = tempVec.v[2];
result.NormalData[i].v[2] = tempVec.v[0];*/
} }
@ -369,14 +363,14 @@ namespace ZL
for (size_t i = 0; i < result.PositionData.size(); i++) for (size_t i = 0; i < result.PositionData.size(); i++)
{ {
Vector3f originalPos = result.PositionData[i]; Vector3f originalPos = result.PositionData[i];
result.PositionData[i].v[0] = originalPos.v[1]; // New X = Old Y result.PositionData[i](0) = originalPos(1); // New X = Old Y
result.PositionData[i].v[1] = originalPos.v[2]; // New Y = Old Z result.PositionData[i](1) = originalPos(2); // New Y = Old Z
result.PositionData[i].v[2] = originalPos.v[0]; // New Z = Old X result.PositionData[i](2) = originalPos(0); // New Z = Old X
Vector3f originalNorm = result.NormalData[i]; Vector3f originalNorm = result.NormalData[i];
result.NormalData[i].v[0] = originalNorm.v[1]; result.NormalData[i](0) = originalNorm(1);
result.NormalData[i].v[1] = originalNorm.v[2]; result.NormalData[i](1) = originalNorm(2);
result.NormalData[i].v[2] = originalNorm.v[0]; result.NormalData[i](2) = originalNorm(0);
} }
std::cout << "Model loaded: " << numberVertices << " verts, " << numberTriangles << " tris." << std::endl; std::cout << "Model loaded: " << numberVertices << " verts, " << numberTriangles << " tris." << std::endl;

19
src/planet/PlanetData.cpp
View File

@ -169,7 +169,7 @@ namespace ZL {
std::vector<int> PlanetData::getTrianglesUnderCameraNew2(const Vector3f& viewerPosition) { std::vector<int> PlanetData::getTrianglesUnderCameraNew2(const Vector3f& viewerPosition) {
const LodLevel& finalLod = planetMeshLods[currentLod]; const LodLevel& finalLod = planetMeshLods[currentLod];
Vector3f shipLocal = viewerPosition - PLANET_CENTER_OFFSET; Vector3f shipLocal = viewerPosition - PLANET_CENTER_OFFSET;
float currentDist = shipLocal.length(); float currentDist = shipLocal.norm();
Vector3f targetDir = shipLocal.normalized(); Vector3f targetDir = shipLocal.normalized();
// Æåëàåìûé ðàäèóñ ïîêðûòèÿ íà ïîâåðõíîñòè ïëàíåòû (â ìåòðàõ/åäèíèöàõ äâèæêà) // Æåëàåìûé ðàäèóñ ïîêðûòèÿ íà ïîâåðõíîñòè ïëàíåòû (â ìåòðàõ/åäèíèöàõ äâèæêà)
@ -318,9 +318,9 @@ namespace ZL {
// Èñïîëüçóåì îäèí øóì äëÿ âûáîðà ìåæäó ðîçîâûì è æåëòûì // Èñïîëüçóåì îäèí øóì äëÿ âûáîðà ìåæäó ðîçîâûì è æåëòûì
Vector3f dir = t.data[i].normalized(); Vector3f dir = t.data[i].normalized();
float blendFactor = colorPerlin.noise( float blendFactor = colorPerlin.noise(
dir.v[0] * colorFrequency, dir(0) * colorFrequency,
dir.v[1] * colorFrequency, dir(1) * colorFrequency,
dir.v[2] * colorFrequency dir(2) * colorFrequency
); );
// Ïðèâîäèì øóì èç äèàïàçîíà [-1, 1] â [0, 1] // Ïðèâîäèì øóì èç äèàïàçîíà [-1, 1] â [0, 1]
@ -328,9 +328,8 @@ namespace ZL {
// Ëèíåéíàÿ èíòåðïîëÿöèÿ ìåæäó äâóìÿ öâåòàìè // Ëèíåéíàÿ èíòåðïîëÿöèÿ ìåæäó äâóìÿ öâåòàìè
Vector3f finalColor; Vector3f finalColor;
finalColor.v[0] = colorPinkish.v[0] + blendFactor * (colorYellowish.v[0] - colorPinkish.v[0]);
finalColor.v[1] = colorPinkish.v[1] + blendFactor * (colorYellowish.v[1] - colorPinkish.v[1]); finalColor = colorPinkish + blendFactor * (colorYellowish - colorPinkish);
finalColor.v[2] = colorPinkish.v[2] + blendFactor * (colorYellowish.v[2] - colorPinkish.v[2]);
lod.vertexData.ColorData.push_back(finalColor); lod.vertexData.ColorData.push_back(finalColor);
} }
@ -368,9 +367,9 @@ namespace ZL {
// Ãåíåðèðóåì ID äëÿ áàçîâûõ âåðøèí (ìîæíî èñïîëüçîâàòü èõ êîîðäèíàòû) // Ãåíåðèðóåì ID äëÿ áàçîâûõ âåðøèí (ìîæíî èñïîëüçîâàòü èõ êîîðäèíàòû)
for (int i = 0; i < 3; ++i) { for (int i = 0; i < 3; ++i) {
tri.ids[i] = std::to_string(tri.data[i].v[0]) + "_" + tri.ids[i] = std::to_string(tri.data[i](0)) + "_" +
std::to_string(tri.data[i].v[1]) + "_" + std::to_string(tri.data[i](1)) + "_" +
std::to_string(tri.data[i].v[2]); std::to_string(tri.data[i](2));
} }
geometry.push_back(tri); geometry.push_back(tri);
} }

11
src/planet/PlanetData.h
View File

@ -15,6 +15,15 @@ namespace ZL {
using VertexID = std::string; using VertexID = std::string;
using V2TMap = std::map<VertexID, std::vector<int>>; using V2TMap = std::map<VertexID, std::vector<int>>;
struct Vector3fComparator {
bool operator()(const Eigen::Vector3f& a, const Eigen::Vector3f& b) const {
// Ëåêñèêîãðàôè÷åñêîå ñðàâíåíèå (x, çàòåì y, çàòåì z)
if (a.x() != b.x()) return a.x() < b.x();
if (a.y() != b.y()) return a.y() < b.y();
return a.z() < b.z();
}
};
VertexID generateEdgeID(const VertexID& id1, const VertexID& id2); VertexID generateEdgeID(const VertexID& id1, const VertexID& id2);
constexpr static int MAX_LOD_LEVELS = 6; constexpr static int MAX_LOD_LEVELS = 6;
@ -82,7 +91,7 @@ namespace ZL {
int currentLod; // Ëîãè÷åñêèé òåêóùèé óðîâåíü äåòàëèçàöèè int currentLod; // Ëîãè÷åñêèé òåêóùèé óðîâåíü äåòàëèçàöèè
std::map<Vector3f, VertexID> initialVertexMap; std::map<Vector3f, VertexID, Vector3fComparator> initialVertexMap;
// Âíóòðåííèå ìåòîäû ãåíåðàöèè // Âíóòðåííèå ìåòîäû ãåíåðàöèè
std::vector<Triangle> subdivideTriangles(const std::vector<Triangle>& inputTriangles, float noiseCoeff); std::vector<Triangle> subdivideTriangles(const std::vector<Triangle>& inputTriangles, float noiseCoeff);

36
src/planet/PlanetObject.cpp
View File

@ -31,19 +31,13 @@ namespace ZL {
Matrix3f rot; Matrix3f rot;
// Столбец 0: Ось X // Столбец 0: Ось X
rot.m[0] = x_axis.v[0]; rot.col(0) = x_axis;
rot.m[3] = x_axis.v[1];
rot.m[6] = x_axis.v[2];
// Столбец 1: Ось Y // Столбец 1: Ось Y
rot.m[1] = y_axis.v[0]; rot.col(1) = y_axis;
rot.m[4] = y_axis.v[1];
rot.m[7] = y_axis.v[2];
// Столбец 2: Ось Z // Столбец 2: Ось Z
rot.m[2] = z_axis.v[0]; rot.col(2) = z_axis;
rot.m[5] = z_axis.v[1];
rot.m[8] = z_axis.v[2];
return rot; return rot;
} }
@ -135,10 +129,10 @@ namespace ZL {
Vector3f rC = MultMatrixVector(mr, tr.data[2]); Vector3f rC = MultMatrixVector(mr, tr.data[2]);
// 3. Вычисляем реальные границы треугольника после поворота // 3. Вычисляем реальные границы треугольника после поворота
float minX = min(rA.v[0], min(rB.v[0], rC.v[0])); float minX = min(rA(0), min(rB(0), rC(0)));
float maxX = max(rA.v[0], max(rB.v[0], rC.v[0])); float maxX = max(rA(0), max(rB(0), rC(0)));
float minY = min(rA.v[1], min(rB.v[1], rC.v[1])); float minY = min(rA(1), min(rB(1), rC(1)));
float maxY = max(rA.v[1], max(rB.v[1], rC.v[1])); float maxY = max(rA(1), max(rB(1), rC(1)));
// Находим центр и размеры // Находим центр и размеры
@ -165,10 +159,10 @@ namespace ZL {
// Извлекаем нормаль треугольника (это 3-й столбец нашей матрицы вращения) // Извлекаем нормаль треугольника (это 3-й столбец нашей матрицы вращения)
Vector3f planeNormal = { mr.m[2], mr.m[5], mr.m[8] }; Vector3f planeNormal = mr.col(2);
renderer.RenderUniform3fv("uPlanePoint", &tr.data[0].v[0]); renderer.RenderUniform3fv("uPlanePoint", tr.data[0].data());
renderer.RenderUniform3fv("uPlaneNormal", &planeNormal.v[0]); renderer.RenderUniform3fv("uPlaneNormal", planeNormal.data());
renderer.RenderUniform1f("uMaxHeight", StoneParams::BASE_SCALE * 1.1f); // Соответствует BASE_SCALE + perturbation renderer.RenderUniform1f("uMaxHeight", StoneParams::BASE_SCALE * 1.1f); // Соответствует BASE_SCALE + perturbation
@ -267,7 +261,7 @@ namespace ZL {
Matrix3f mr = GetRotationForTriangle(tr); // Та же матрица, что и при запекании Matrix3f mr = GetRotationForTriangle(tr); // Та же матрица, что и при запекании
// Позиция камеры (корабля) в мире // Позиция камеры (корабля) в мире
renderer.RenderUniform3fv("uViewPos", &Environment::shipPosition.v[0]); renderer.RenderUniform3fv("uViewPos", Environment::shipPosition.data());
//renderer.RenderUniform1f("uHeightScale", 0.08f); //renderer.RenderUniform1f("uHeightScale", 0.08f);
renderer.RenderUniform1f("uHeightScale", 0.0f); renderer.RenderUniform1f("uHeightScale", 0.0f);
@ -335,7 +329,7 @@ namespace ZL {
renderer.RenderUniform1f("uDistanceToPlanetSurface", dist); renderer.RenderUniform1f("uDistanceToPlanetSurface", dist);
renderer.RenderUniform1f("uCurrentZFar", currentZFar); renderer.RenderUniform1f("uCurrentZFar", currentZFar);
renderer.RenderUniform3fv("uViewPos", &Environment::shipPosition.v[0]); renderer.RenderUniform3fv("uViewPos", Environment::shipPosition.data());
glEnable(GL_CULL_FACE); glEnable(GL_CULL_FACE);
glCullFace(GL_BACK); glCullFace(GL_BACK);
@ -399,9 +393,9 @@ namespace ZL {
Vector3f color = { 0.0, 0.5, 1.0 }; Vector3f color = { 0.0, 0.5, 1.0 };
renderer.RenderUniform3fv("uColor", &color.v[0]); renderer.RenderUniform3fv("uColor", color.data());
renderer.RenderUniformMatrix4fv("ModelViewMatrix", false, &viewMatrix.m[0]); renderer.RenderUniformMatrix4fv("ModelViewMatrix", false, viewMatrix.data());
renderer.RenderUniform1f("uDistanceToPlanetSurface", dist); renderer.RenderUniform1f("uDistanceToPlanetSurface", dist);

20
src/planet/StoneObject.cpp
View File

@ -104,9 +104,9 @@ namespace ZL {
// Применяем масштабирование // Применяем масштабирование
for (Vector3f& v : initialVertices) { for (Vector3f& v : initialVertices) {
v.v[0] *= scaleFactors.v[0]; v(0) *= scaleFactors(0);
v.v[1] *= scaleFactors.v[1]; v(1) *= scaleFactors(1);
v.v[2] *= scaleFactors.v[2]; v(2) *= scaleFactors(2);
} }
/* /*
@ -126,7 +126,7 @@ namespace ZL {
VertexDataStruct result; VertexDataStruct result;
// Карта для накопления нормалей по уникальным позициям вершин // Карта для накопления нормалей по уникальным позициям вершин
// (Требует определенного оператора < для Vector3f в ZLMath.h, который у вас есть) // (Требует определенного оператора < для Vector3f в ZLMath.h, который у вас есть)
std::map<Vector3f, Vector3f> smoothNormalsMap; std::map<Vector3f, Vector3f, Vector3fComparator> smoothNormalsMap;
// Предварительное заполнение карты нормалями // Предварительное заполнение карты нормалями
for (const auto& face : faces) { for (const auto& face : faces) {
@ -178,18 +178,18 @@ namespace ZL {
Vector3f vAxisRaw = vRaw - (uAxis * uProjLen); Vector3f vAxisRaw = vRaw - (uAxis * uProjLen);
// Длина оси V // Длина оси V
float vLen = vAxisRaw.length(); float vLen = vAxisRaw.norm();
// Нормализованная ось V // Нормализованная ось V
Vector3f vAxis = vAxisRaw.normalized(); Vector3f vAxis = vAxisRaw.normalized();
// Координаты (u, v) для p1, p2, p3 относительно p1 // Координаты (u, v) для p1, p2, p3 относительно p1
Vector2f uv1 = { 0.0f, 0.0f }; Vector2f uv1 = { 0.0f, 0.0f };
Vector2f uv2 = { (p2 - p1).length(), 0.0f }; // p2-p1 вдоль оси U Vector2f uv2 = { (p2 - p1).norm(), 0.0f }; // p2-p1 вдоль оси U
Vector2f uv3 = { uProjLen, vLen }; // p3-p1: u-компонента = uProjLen, v-компонента = vLen Vector2f uv3 = { uProjLen, vLen }; // p3-p1: u-компонента = uProjLen, v-компонента = vLen
// Находим максимальный размер, чтобы масштабировать в [0, 1] // Находим максимальный размер, чтобы масштабировать в [0, 1]
float maxUV = max(uv2.v[0], max(uv3.v[0], uv3.v[1])); float maxUV = max(uv2(0), max(uv3(0), uv3(1)));
if (maxUV > 0.000001f) { if (maxUV > 0.000001f) {
// Масштабируем: // Масштабируем:
@ -326,9 +326,9 @@ namespace ZL {
Vector3f p = baseStone.PositionData[j]; Vector3f p = baseStone.PositionData[j];
Vector3f n = baseStone.NormalData[j]; Vector3f n = baseStone.NormalData[j];
p.v[0] *= inst.scale.v[0] * scaleModifier; p(0) *= inst.scale(0) * scaleModifier;
p.v[1] *= inst.scale.v[1] * scaleModifier; p(1) *= inst.scale(1) * scaleModifier;
p.v[2] *= inst.scale.v[2] * scaleModifier; p(2) *= inst.scale(2) * scaleModifier;
result.data.PositionData.push_back(MultMatrixVector(rotMat, p) + inst.position); result.data.PositionData.push_back(MultMatrixVector(rotMat, p) + inst.position);
result.data.NormalData.push_back(MultMatrixVector(rotMat, n)); result.data.NormalData.push_back(MultMatrixVector(rotMat, n));

2
src/planet/StoneObject.h
View File

@ -20,7 +20,7 @@ namespace ZL {
uint64_t seed; uint64_t seed;
Vector3f position; Vector3f position;
Vector3f scale; Vector3f scale;
Vector4f rotation; Eigen::Quaternionf rotation;
}; };
struct StoneGroup { struct StoneGroup {

94
src/render/Renderer.cpp
View File

@ -50,10 +50,10 @@ namespace ZL {
Vector2f posTo = center + halfWidthHeight; Vector2f posTo = center + halfWidthHeight;
Vector3f pos1 = { posFrom.v[0], posFrom.v[1], zLevel }; Vector3f pos1 = { posFrom(0), posFrom(1), zLevel };
Vector3f pos2 = { posFrom.v[0], posTo.v[1], zLevel }; Vector3f pos2 = { posFrom(0), posTo(1), zLevel };
Vector3f pos3 = { posTo.v[0], posTo.v[1], zLevel }; Vector3f pos3 = { posTo(0), posTo(1), zLevel };
Vector3f pos4 = { posTo.v[0], posFrom.v[1], zLevel }; Vector3f pos4 = { posTo(0), posFrom(1), zLevel };
Vector2f texCoordPos1 = { 0.0f, 0.0f }; Vector2f texCoordPos1 = { 0.0f, 0.0f };
@ -86,16 +86,16 @@ namespace ZL {
Vector2f posTo = center + halfWidthHeight; Vector2f posTo = center + halfWidthHeight;
float sectionWidth = halfWidthHeight.v[0] * 2.f; float sectionWidth = halfWidthHeight(0) * 2.f;
VertexDataStruct result; VertexDataStruct result;
for (size_t i = 0; i < sectionCount; i++) for (size_t i = 0; i < sectionCount; i++)
{ {
Vector3f pos1 = { posFrom.v[0]+sectionWidth*i, posFrom.v[1], zLevel }; Vector3f pos1 = { posFrom(0)+sectionWidth*i, posFrom(1), zLevel };
Vector3f pos2 = { posFrom.v[0] + sectionWidth * i, posTo.v[1], zLevel }; Vector3f pos2 = { posFrom(0) + sectionWidth * i, posTo(1), zLevel };
Vector3f pos3 = { posTo.v[0] + sectionWidth * i, posTo.v[1], zLevel }; Vector3f pos3 = { posTo(0) + sectionWidth * i, posTo(1), zLevel };
Vector3f pos4 = { posTo.v[0] + sectionWidth * i, posFrom.v[1], zLevel }; Vector3f pos4 = { posTo(0) + sectionWidth * i, posFrom(1), zLevel };
result.PositionData.push_back(pos1); result.PositionData.push_back(pos1);
result.PositionData.push_back(pos2); result.PositionData.push_back(pos2);
@ -362,9 +362,9 @@ namespace ZL {
{ {
for (int i = 0; i < PositionData.size(); i++) for (int i = 0; i < PositionData.size(); i++)
{ {
auto value = PositionData[i].v[1]; auto value = PositionData[i](1);
PositionData[i].v[1] = PositionData[i].v[2]; PositionData[i](1) = PositionData[i](2);
PositionData[i].v[2] = value; PositionData[i](2) = value;
} }
} }
@ -493,11 +493,11 @@ namespace ZL {
static const std::string ProjectionModelViewMatrixName = "ProjectionModelViewMatrix"; static const std::string ProjectionModelViewMatrixName = "ProjectionModelViewMatrix";
RenderUniformMatrix4fv(ProjectionModelViewMatrixName, false, &ProjectionModelViewMatrix.m[0]); RenderUniformMatrix4fv(ProjectionModelViewMatrixName, false, ProjectionModelViewMatrix.data());
static const std::string ModelViewMatrixName = "ModelViewMatrix"; static const std::string ModelViewMatrixName = "ModelViewMatrix";
RenderUniformMatrix4fv(ModelViewMatrixName, false, &modelViewMatrix.m[0]); RenderUniformMatrix4fv(ModelViewMatrixName, false, modelViewMatrix.data());
} }
@ -533,9 +533,9 @@ namespace ZL {
{ {
Matrix4f m = Matrix4f::Identity(); Matrix4f m = Matrix4f::Identity();
m.m[12] = p.v[0]; m.data()[12] = p(0);
m.m[13] = p.v[1]; m.data()[13] = p(1);
m.m[14] = p.v[2]; m.data()[14] = p(2);
m = ModelviewMatrixStack.top() * m; m = ModelviewMatrixStack.top() * m;
@ -553,9 +553,9 @@ namespace ZL {
void Renderer::ScaleMatrix(float scale) void Renderer::ScaleMatrix(float scale)
{ {
Matrix4f m = Matrix4f::Identity(); Matrix4f m = Matrix4f::Identity();
m.m[0] = scale; m.data()[0] = scale;
m.m[5] = scale; m.data()[5] = scale;
m.m[10] = scale; m.data()[10] = scale;
m = ModelviewMatrixStack.top() * m; m = ModelviewMatrixStack.top() * m;
@ -573,9 +573,9 @@ namespace ZL {
void Renderer::ScaleMatrix(const Vector3f& scale) void Renderer::ScaleMatrix(const Vector3f& scale)
{ {
Matrix4f m = Matrix4f::Identity(); Matrix4f m = Matrix4f::Identity();
m.m[0] = scale.v[0]; m.data()[0] = scale(0);
m.m[5] = scale.v[1]; m.data()[5] = scale(1);
m.m[10] = scale.v[2]; m.data()[10] = scale(2);
m = ModelviewMatrixStack.top() * m; m = ModelviewMatrixStack.top() * m;
@ -590,23 +590,26 @@ namespace ZL {
SetMatrix(); SetMatrix();
} }
void Renderer::RotateMatrix(const Vector4f& q) void Renderer::RotateMatrix(const Eigen::Quaternionf& q)
{ {
Matrix3f m3 = QuatToMatrix(q); Matrix3f m3 = QuatToMatrix(q);
Matrix4f m = Matrix4f::Identity(); Matrix4f m = Matrix4f::Identity();
m.m[0] = m3.m[0];
m.m[1] = m3.m[1];
m.m[2] = m3.m[2];
m.m[4] = m3.m[3]; m.block<3, 3>(0, 0) = m3;
m.m[5] = m3.m[4]; /*
m.m[6] = m3.m[5]; m.m[0] = m3.data()[0];
m.m[1] = m3.data()[1];
m.m[2] = m3.data()[2];
m.m[8] = m3.m[6]; m.m[4] = m3.data()[3];
m.m[9] = m3.m[7]; m.m[5] = m3.data()[4];
m.m[10] = m3.m[8]; m.m[6] = m3.data()[5];
m.m[8] = m3.data()[6];
m.m[9] = m3.data()[7];
m.m[10] = m3.data()[8];
*/
m = ModelviewMatrixStack.top() * m; m = ModelviewMatrixStack.top() * m;
if (ModelviewMatrixStack.size() == 0) if (ModelviewMatrixStack.size() == 0)
@ -624,17 +627,18 @@ namespace ZL {
void Renderer::RotateMatrix(const Matrix3f& m3) void Renderer::RotateMatrix(const Matrix3f& m3)
{ {
Matrix4f m = Matrix4f::Identity(); Matrix4f m = Matrix4f::Identity();
m.m[0] = m3.m[0]; /*m.m[0] = m3.data()[0];
m.m[1] = m3.m[1]; m.m[1] = m3.data()[1];
m.m[2] = m3.m[2]; m.m[2] = m3.data()[2];
m.m[4] = m3.m[3]; m.m[4] = m3.data()[3];
m.m[5] = m3.m[4]; m.m[5] = m3.data()[4];
m.m[6] = m3.m[5]; m.m[6] = m3.data()[5];
m.m[8] = m3.m[6]; m.m[8] = m3.data()[6];
m.m[9] = m3.m[7]; m.m[9] = m3.data()[7];
m.m[10] = m3.m[8]; m.m[10] = m3.data()[8];*/
m.block<3, 3>(0, 0) = m3;
m = ModelviewMatrixStack.top() * m; m = ModelviewMatrixStack.top() * m;
@ -818,11 +822,11 @@ namespace ZL {
int screenWidth, int screenHeight, int screenWidth, int screenHeight,
int& screenX, int& screenY) { int& screenX, int& screenY) {
Vector4f inx = { objectPos.v[0], objectPos.v[1], objectPos.v[2], 1.0f }; Vector4f inx = { objectPos(0), objectPos(1), objectPos(2), 1.0f };
Vector4f clipCoords = MultMatrixVector(projectionModelView, inx); Vector4f clipCoords = MultMatrixVector(projectionModelView, inx);
float ndcX = clipCoords.v[0] / clipCoords.v[3]; float ndcX = clipCoords(0) / clipCoords(3);
float ndcY = clipCoords.v[1] / clipCoords.v[3]; float ndcY = clipCoords(1) / clipCoords(3);
screenX = (int)((ndcX + 1.0f) * 0.5f * screenWidth); screenX = (int)((ndcX + 1.0f) * 0.5f * screenWidth);
screenY = (int)((1.0f + ndcY) * 0.5f * screenHeight); screenY = (int)((1.0f + ndcY) * 0.5f * screenHeight);

2
src/render/Renderer.h
View File

@ -102,7 +102,7 @@ namespace ZL {
void TranslateMatrix(const Vector3f& p); void TranslateMatrix(const Vector3f& p);
void ScaleMatrix(float scale); void ScaleMatrix(float scale);
void ScaleMatrix(const Vector3f& scale); void ScaleMatrix(const Vector3f& scale);
void RotateMatrix(const Vector4f& q); void RotateMatrix(const Eigen::Quaternionf& q);
void RotateMatrix(const Matrix3f& m3); void RotateMatrix(const Matrix3f& m3);
void PushSpecialMatrix(const Matrix4f& m); void PushSpecialMatrix(const Matrix4f& m);
void PopMatrix(); void PopMatrix();

2
src/utils/Perlin.cpp
View File

@ -62,7 +62,7 @@ namespace ZL {
float frequency = 7.0f; float frequency = 7.0f;
// Получаем значение шума (обычно от -1 до 1) // Получаем значение шума (обычно от -1 до 1)
float noiseValue = noise(pos.v[0] * frequency, pos.v[1] * frequency, pos.v[2] * frequency); float noiseValue = noise(pos(0) * frequency, pos(1) * frequency, pos(2) * frequency);
// Масштабируем: хотим отклонение от 1.0 до 1.1 (примерно) // Масштабируем: хотим отклонение от 1.0 до 1.1 (примерно)
float height = 1.0f + (noiseValue * noiseCoeff); float height = 1.0f + (noiseValue * noiseCoeff);

365
src/utils/ZLMath.cpp
View File

@ -5,6 +5,7 @@
namespace ZL { namespace ZL {
/*
Vector2f operator+(const Vector2f& x, const Vector2f& y) Vector2f operator+(const Vector2f& x, const Vector2f& y)
{ {
Vector2f result; Vector2f result;
@ -24,7 +25,8 @@ namespace ZL {
return result; return result;
} }
*/
/*
Vector3f operator+(const Vector3f& x, const Vector3f& y) Vector3f operator+(const Vector3f& x, const Vector3f& y)
{ {
Vector3f result; Vector3f result;
@ -54,7 +56,8 @@ namespace ZL {
result.v[2] = -x.v[2]; result.v[2] = -x.v[2];
return result; return result;
} }
*/
/*
Vector4f operator+(const Vector4f& x, const Vector4f& y) Vector4f operator+(const Vector4f& x, const Vector4f& y)
{ {
Vector4f result; Vector4f result;
@ -78,7 +81,7 @@ namespace ZL {
} }
Matrix3f Matrix3f::Identity() Matrix3f Matrix3f::Identity()
{ {
Matrix3f r; Matrix3f r;
@ -97,8 +100,8 @@ namespace ZL {
return r; return r;
} }*/
/*
Matrix4f Matrix4f::Identity() Matrix4f Matrix4f::Identity()
{ {
Matrix4f r; Matrix4f r;
@ -125,8 +128,8 @@ namespace ZL {
return r; return r;
} }*/
/*
Matrix4f operator*(const Matrix4f& m1, const Matrix4f& m2) Matrix4f operator*(const Matrix4f& m1, const Matrix4f& m2)
{ {
Matrix4f r; Matrix4f r;
@ -153,7 +156,7 @@ namespace ZL {
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]; 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; return r;
} }*/
Matrix4f MakeOrthoMatrix(float width, float height, float zNear, float zFar) Matrix4f MakeOrthoMatrix(float width, float height, float zNear, float zFar)
{ {
@ -166,25 +169,25 @@ namespace ZL {
Matrix4f r; Matrix4f r;
r.m[0] = 2.f / width; r.data()[0] = 2.f / width;
r.m[1] = 0; r.data()[1] = 0;
r.m[2] = 0; r.data()[2] = 0;
r.m[3] = 0; r.data()[3] = 0;
r.m[4] = 0; r.data()[4] = 0;
r.m[5] = 2.f / height; r.data()[5] = 2.f / height;
r.m[6] = 0; r.data()[6] = 0;
r.m[7] = 0; r.data()[7] = 0;
r.m[8] = 0; r.data()[8] = 0;
r.m[9] = 0; r.data()[9] = 0;
r.m[10] = -1 / depthRange; r.data()[10] = -1 / depthRange;
r.m[11] = 0; r.data()[11] = 0;
r.m[12] = -1; r.data()[12] = -1;
r.m[13] = -1; r.data()[13] = -1;
r.m[14] = zNear / depthRange; r.data()[14] = zNear / depthRange;
r.m[15] = 1; r.data()[15] = 1;
return r; return r;
} }
@ -203,20 +206,20 @@ namespace ZL {
Matrix4f r; Matrix4f r;
// Масштабирование // Масштабирование
r.m[0] = 2.f / width; r.data()[0] = 2.f / width;
r.m[5] = 2.f / height; r.data()[5] = 2.f / height;
r.m[10] = -1.f / depthRange; r.data()[10] = -1.f / depthRange;
// Обнуление неиспользуемых компонентов // Обнуление неиспользуемых компонентов
r.m[1] = r.m[2] = r.m[3] = 0; r.data()[1] = r.data()[2] = r.data()[3] = 0;
r.m[4] = r.m[6] = r.m[7] = 0; r.data()[4] = r.data()[6] = r.data()[7] = 0;
r.m[8] = r.m[9] = r.m[11] = 0; r.data()[8] = r.data()[9] = r.data()[11] = 0;
// Трансляция (смещение) // Трансляция (смещение)
r.m[12] = -(xmax + xmin) / width; r.data()[12] = -(xmax + xmin) / width;
r.m[13] = -(ymax + ymin) / height; r.data()[13] = -(ymax + ymin) / height;
r.m[14] = zNear / depthRange; r.data()[14] = zNear / depthRange;
r.m[15] = 1.f; r.data()[15] = 1.f;
return r; return r;
} }
@ -231,158 +234,60 @@ namespace ZL {
throw std::runtime_error("Invalid perspective parameters"); throw std::runtime_error("Invalid perspective parameters");
} }
r.m[0] = 1.f / (aspectRatio * tanHalfFovy); r.data()[0] = 1.f / (aspectRatio * tanHalfFovy);
r.m[1] = 0; r.data()[1] = 0;
r.m[2] = 0; r.data()[2] = 0;
r.m[3] = 0; r.data()[3] = 0;
r.m[4] = 0; r.data()[4] = 0;
r.m[5] = 1.f / (tanHalfFovy); r.data()[5] = 1.f / (tanHalfFovy);
r.m[6] = 0; r.data()[6] = 0;
r.m[7] = 0; r.data()[7] = 0;
r.m[8] = 0; r.data()[8] = 0;
r.m[9] = 0; r.data()[9] = 0;
r.m[10] = -(zFar + zNear) / (zFar - zNear); r.data()[10] = -(zFar + zNear) / (zFar - zNear);
r.m[11] = -1; r.data()[11] = -1;
r.m[12] = 0; r.data()[12] = 0;
r.m[13] = 0; r.data()[13] = 0;
r.m[14] = -(2.f * zFar * zNear) / (zFar - zNear); r.data()[14] = -(2.f * zFar * zNear) / (zFar - zNear);
r.m[15] = 0; r.data()[15] = 0;
return r; return r;
} }
Matrix3f QuatToMatrix(const Vector4f& q) Matrix3f QuatToMatrix(const Eigen::Quaternionf& q)
{ {
Matrix3f m; return q.toRotationMatrix();
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) Eigen::Quaternionf MatrixToQuat(const Matrix3f& m)
{ {
Vector4f r; return Eigen::Quaternionf(m).normalized();
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) Eigen::Quaternionf QuatFromRotateAroundX(float angle) {
{ return Eigen::Quaternionf(Eigen::AngleAxisf(angle, Eigen::Vector3f::UnitX()));
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) Eigen::Quaternionf QuatFromRotateAroundY(float angle) {
{ return Eigen::Quaternionf(Eigen::AngleAxisf(angle, Eigen::Vector3f::UnitY()));
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) Eigen::Quaternionf QuatFromRotateAroundZ(float angle) {
{ return Eigen::Quaternionf(Eigen::AngleAxisf(angle, Eigen::Vector3f::UnitZ()));
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 TransposeMatrix(const Matrix3f& m)
{ {
Matrix3f r; return m.transpose();
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) Matrix3f InverseMatrix(const Matrix3f& m)
{ {
float d; /*float d;
Matrix3f r; Matrix3f r;
d = m.m[0] * (m.m[4] * m.m[8] - m.m[5] * m.m[7]); d = m.m[0] * (m.m[4] * m.m[8] - m.m[5] * m.m[7]);
@ -410,12 +315,14 @@ namespace ZL {
r.m[8] = (m.m[0] * m.m[4] - m.m[1] * m.m[3]) / d; r.m[8] = (m.m[0] * m.m[4] - m.m[1] * m.m[3]) / d;
}; };
return r; return r;*/
return m.inverse();
} }
Matrix4f InverseMatrix(const Matrix4f& mat) Matrix4f InverseMatrix(const Matrix4f& mat)
{ {
/*
Matrix4f inv; Matrix4f inv;
float det; float det;
@ -531,7 +438,6 @@ namespace ZL {
mat.m[8] * mat.m[1] * mat.m[6] - mat.m[8] * mat.m[1] * mat.m[6] -
mat.m[8] * mat.m[2] * mat.m[5]; mat.m[8] * mat.m[2] * mat.m[5];
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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]; 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) if (std::fabs(det) < 0.01f)
@ -539,30 +445,28 @@ namespace ZL {
throw std::runtime_error("Error: matrix cannot be inversed!"); throw std::runtime_error("Error: matrix cannot be inversed!");
} }
// <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
det = 1.0f / det; det = 1.0f / det;
for (int i = 0; i < 16; i++) for (int i = 0; i < 16; i++)
{ {
inv.m[i] *= det; inv.m[i] *= det;
} }
return inv; return inv;*/
return mat.inverse();
} }
Matrix3f CreateZRotationMatrix(float angle) Matrix3f CreateZRotationMatrix(float angle)
{ {
Matrix3f result = Matrix3f::Identity(); Eigen::Matrix3f m = Eigen::AngleAxisf(angle, Eigen::Vector3f::UnitZ()).toRotationMatrix();
result.m[0] = cosf(angle); return m;
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 MultMatrixMatrix(const Matrix4f& m1, const Matrix4f& m2)
{ {
return m1 * m2;
/*
Matrix4f rx; 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[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];
@ -586,35 +490,22 @@ namespace ZL {
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[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]; 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; return rx;*/
} }
Matrix3f MultMatrixMatrix(const Matrix3f& m1, const Matrix3f& m2) Matrix3f MultMatrixMatrix(const Matrix3f& m1, const Matrix3f& m2)
{ {
Matrix3f r; return m1 * m2;
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) /*
Matrix4f MakeTranslationMatrix(const Vector3f& p)
{ {
Matrix3f r = Matrix3f::Identity(); Matrix4f r = Matrix4f::Identity();
r.m[12] = p.v[0]; r.m[12] = p(0);
r.m[13] = p.v[1]; r.m[13] = p(1);
r.m[14] = p.v[2]; r.m[14] = p(2);
return r; return r;
} }
@ -639,8 +530,8 @@ namespace ZL {
r.m[14] = p.v[2]; r.m[14] = p.v[2];
return r; return r;
} }*/
/*
Vector2f operator*(Vector2f v, float scale) Vector2f operator*(Vector2f v, float scale)
{ {
Vector2f r = v; Vector2f r = v;
@ -649,8 +540,8 @@ namespace ZL {
r.v[1] = v.v[1] * scale; r.v[1] = v.v[1] * scale;
return r; return r;
} }*/
/*
Vector3f operator*(Vector3f v, float scale) Vector3f operator*(Vector3f v, float scale)
{ {
Vector3f r = v; Vector3f r = v;
@ -661,7 +552,8 @@ namespace ZL {
return r; return r;
} }
*/
/*
Vector4f operator*(Vector4f v, float scale) Vector4f operator*(Vector4f v, float scale)
{ {
Vector4f r = v; Vector4f r = v;
@ -673,53 +565,58 @@ namespace ZL {
return r; return r;
} }
*/
Vector3f MultVectorMatrix(Vector3f v, Matrix3f mt) Vector3f MultVectorMatrix(Vector3f v, Matrix3f mt)
{ {
return v.transpose() * mt;
/*
Vector3f r; Vector3f r;
r.v[0] = v.v[0] * mt.m[0] + v.v[1] * mt.m[1] + v.v[2] * mt.m[2]; r(0) = v(0) * mt.m[0] + v(1) * mt.m[1] + 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(1) = v(0) * mt.m[3] + v(1) * mt.m[4] + 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]; r(2) = v(0) * mt.m[6] + v(1) * mt.m[7] + v(2) * mt.m[8];
return r; return r;*/
} }
Vector4f MultVectorMatrix(Vector4f v, Matrix4f mt) Vector4f MultVectorMatrix(Vector4f v, Matrix4f mt)
{ {
Vector4f r; /*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(0) = v(0) * mt.m[0] + v(1) * mt.m[1] + v(2) * mt.m[2] + 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(1) = v(0) * mt.m[4] + v(1) * mt.m[5] + v(2) * mt.m[6] + 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(2) = v(0) * mt.m[8] + v(1) * mt.m[9] + v(2) * mt.m[10] + 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]; 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 r;*/
return v.transpose() * mt;
} }
Vector4f MultMatrixVector(Matrix4f mt, Vector4f v) Vector4f MultMatrixVector(Matrix4f mt, Vector4f v)
{ {
Vector4f r; return mt * 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(0) = v(0) * mt.m[0] + v(1) * mt.m[4] + v(2) * mt.m[8] + 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(1) = v(0) * mt.m[1] + v(1) * mt.m[5] + v(2) * mt.m[9] + 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(2) = v(0) * mt.m[2] + v(1) * mt.m[6] + v(2) * mt.m[10] + 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]; r(3) = v(0) * mt.m[3] + v(1) * mt.m[7] + v(2) * mt.m[11] + v(3) * mt.m[15];
return r; return r;*/
} }
Vector3f MultMatrixVector(Matrix3f mt, Vector3f v) Vector3f MultMatrixVector(Matrix3f mt, Vector3f v)
{ {
Vector3f r; return mt * 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(0) = v(0) * mt.m[0] + v(1) * mt.m[3] + 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(1) = v(0) * mt.m[1] + v(1) * mt.m[4] + 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]; r(2) = v(0) * mt.m[2] + v(1) * mt.m[5] + v(2) * mt.m[8];
return r; return r;*/
} }
/*
Vector4f slerp(const Vector4f& q1, const Vector4f& q2, float t) Vector4f slerp(const Vector4f& q1, const Vector4f& q2, float t)
{ {
const float epsilon = 1e-6f; const float epsilon = 1e-6f;
@ -767,31 +664,17 @@ namespace ZL {
result.v[3] = coeff1 * q1_norm.v[3] + coeff2 * q2_adjusted.v[3]; result.v[3] = coeff1 * q1_norm.v[3] + coeff2 * q2_adjusted.v[3];
return result.normalized(); return result.normalized();
} }*/
Matrix4f MakeMatrix4x4(const Matrix3f& m, const Vector3f pos) Eigen::Matrix4f MakeMatrix4x4(const Eigen::Matrix3f& m, const Eigen::Vector3f& pos) {
{ Eigen::Matrix4f r = Eigen::Matrix4f::Identity();
Matrix4f r;
r.m[0] = m.m[0]; // Копируем 3x3 матрицу в верхний левый угол
r.m[1] = m.m[1]; r.block<3, 3>(0, 0) = m;
r.m[2] = m.m[2];
r.m[3] = 0;
r.m[4] = m.m[3]; // Копируем позицию в последний столбец (первые 3 элемента)
r.m[5] = m.m[4]; r.block<3, 1>(0, 3) = pos;
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; return r;
} }

60
src/utils/ZLMath.h
View File

@ -4,9 +4,17 @@
#include <exception> #include <exception>
#include <stdexcept> #include <stdexcept>
#include <cmath> #include <cmath>
#include <Eigen/Dense>
namespace ZL { namespace ZL {
using Eigen::Vector2f;
using Eigen::Vector3f;
using Eigen::Vector4f;
using Eigen::Matrix3f;
using Eigen::Matrix4f;
/*
struct Vector4f struct Vector4f
{ {
Vector4f() Vector4f()
@ -39,8 +47,8 @@ namespace ZL {
double dot(const Vector4f& other) const { 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]; return v[0] * other.v[0] + v[1] * other.v[1] + v[2] * other.v[2] + v[3] * other.v[3];
} }
}; };*/
/*
struct Vector3f struct Vector3f
{ {
std::array<float, 3> v = { 0.f, 0.f, 0.f }; std::array<float, 3> v = { 0.f, 0.f, 0.f };
@ -94,10 +102,10 @@ namespace ZL {
if (v[1] != other.v[1]) return v[1] < other.v[1]; if (v[1] != other.v[1]) return v[1] < other.v[1];
return v[2] < other.v[2]; return v[2] < other.v[2];
} }
}; };*/
/*
struct Vector2f struct Vector2f
{ {
std::array<float, 2> v = {0.f, 0.f}; std::array<float, 2> v = {0.f, 0.f};
@ -115,17 +123,17 @@ namespace ZL {
Vector2f operator+(const Vector2f& x, const Vector2f& y); Vector2f operator+(const Vector2f& x, const Vector2f& 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);
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);
Vector4f operator-(const Vector4f& x, const Vector4f& y); //Vector4f operator-(const Vector4f& x, const Vector4f& y);
Vector3f operator-(const Vector3f& x);
//Vector3f operator-(const Vector3f& x);
/*
struct Matrix3f struct Matrix3f
{ {
std::array<float, 9> m = { 0.f, 0.f, 0.f, std::array<float, 9> m = { 0.f, 0.f, 0.f,
@ -133,8 +141,8 @@ namespace ZL {
0.f, 0.f, 0.f, }; 0.f, 0.f, 0.f, };
static Matrix3f Identity(); static Matrix3f Identity();
}; };*/
/*
struct Matrix4f struct Matrix4f
{ {
std::array<float, 16> m = { 0.f, 0.f, 0.f, 0.f, std::array<float, 16> m = { 0.f, 0.f, 0.f, 0.f,
@ -154,36 +162,36 @@ namespace ZL {
return m[col * 4 + row]; return m[col * 4 + row];
} }
}; };
*/
Matrix4f operator*(const Matrix4f& m1, const Matrix4f& m2); //Matrix4f operator*(const Matrix4f& m1, const Matrix4f& m2);
Matrix4f MakeOrthoMatrix(float width, float height, float zNear, float zFar); 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 MakeOrthoMatrix(float xmin, float xmax, float ymin, float ymax, float zNear, float zFar);
Matrix4f MakePerspectiveMatrix(float fovY, float aspectRatio, float zNear, float zFar); Matrix4f MakePerspectiveMatrix(float fovY, float aspectRatio, float zNear, float zFar);
Matrix3f QuatToMatrix(const Vector4f& q); Matrix3f QuatToMatrix(const Eigen::Quaternionf& q);
Vector4f MatrixToQuat(const Matrix3f& m); Eigen::Quaternionf MatrixToQuat(const Matrix3f& m);
Vector4f QuatFromRotateAroundX(float angle); Eigen::Quaternionf QuatFromRotateAroundX(float angle);
Vector4f QuatFromRotateAroundY(float angle); Eigen::Quaternionf QuatFromRotateAroundY(float angle);
Vector4f QuatFromRotateAroundZ(float angle); Eigen::Quaternionf QuatFromRotateAroundZ(float angle);
Vector2f operator*(Vector2f v, float scale); //Vector2f operator*(Vector2f v, float scale);
Vector3f operator*(Vector3f v, float scale); //Vector3f operator*(Vector3f v, float scale);
Vector4f operator*(Vector4f v, float scale); //Vector4f operator*(Vector4f v, float scale);
Vector3f MultVectorMatrix(Vector3f v, Matrix3f mt); Vector3f MultVectorMatrix(Vector3f v, Matrix3f mt);
Vector4f MultVectorMatrix(Vector4f v, Matrix4f mt); Vector4f MultVectorMatrix(Vector4f v, Matrix4f mt);
Vector4f MultMatrixVector(Matrix4f mt, Vector4f v); Vector4f MultMatrixVector(Matrix4f mt, Vector4f v);
Vector3f MultMatrixVector(Matrix3f mt, Vector3f v); Vector3f MultMatrixVector(Matrix3f mt, Vector3f v);
Vector4f slerp(const Vector4f& q1, const Vector4f& q2, float t); //Vector4f slerp(const Vector4f& q1, const Vector4f& q2, float t);
Matrix3f InverseMatrix(const Matrix3f& m); Matrix3f InverseMatrix(const Matrix3f& m);
Matrix4f InverseMatrix(const Matrix4f& m); Matrix4f InverseMatrix(const Matrix4f& m);
Matrix3f MultMatrixMatrix(const Matrix3f& m1, const Matrix3f& m2); Matrix3f MultMatrixMatrix(const Matrix3f& m1, const Matrix3f& m2);
Matrix4f MultMatrixMatrix(const Matrix4f& m1, const Matrix4f& m2); Matrix4f MultMatrixMatrix(const Matrix4f& m1, const Matrix4f& m2);
Matrix4f MakeMatrix4x4(const Matrix3f& m, const Vector3f pos); Matrix4f MakeMatrix4x4(const Eigen::Matrix3f& m, const Eigen::Vector3f& pos);
}; };