145 lines
3.4 KiB
C++
Executable File
145 lines
3.4 KiB
C++
Executable File
#pragma once
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#include <array>
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#include <exception>
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#include <stdexcept>
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#include <cmath>
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namespace ZL {
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struct Vector4f
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{
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std::array<float, 4> v = { 0.f, 0.f, 0.f, 0.f };
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Vector4f normalized() const {
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double norm = std::sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2] + v[3] * v[3]);
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Vector4f r;
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r.v[0] = v[0] / norm;
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r.v[1] = v[1] / norm;
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r.v[2] = v[2] / norm;
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r.v[3] = v[3] / norm;
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return r;
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}
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double dot(const Vector4f& other) const {
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return v[0] * other.v[0] + v[1] * other.v[1] + v[2] * other.v[2] + v[3] * other.v[3];
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}
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};
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struct Vector3f
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{
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std::array<float, 3> v = { 0.f, 0.f, 0.f };
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Vector3f()
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{
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}
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Vector3f(float x, float y, float z)
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: v{x,y,z}
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{
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}
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Vector3f normalized() const {
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double norm = std::sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
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Vector3f r;
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r.v[0] = v[0] / norm;
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r.v[1] = v[1] / norm;
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r.v[2] = v[2] / norm;
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return r;
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}
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float squaredNorm() const {
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return v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
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}
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// Îïåðàòîð âû÷èòàíèÿ
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/*Vector3f operator-(const Vector3f& other) const {
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return Vector3f(v[0] - other.v[0], v[1] - other.v[1], v[2] - other.v[2]);
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}*/
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};
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struct Vector2f
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{
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std::array<float, 2> v = {0.f, 0.f};
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};
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Vector2f operator+(const Vector2f& x, const Vector2f& y);
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Vector2f operator-(const Vector2f& x, const Vector2f& y);
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Vector3f operator+(const Vector3f& x, const Vector3f& y);
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Vector3f operator-(const Vector3f& x, const Vector3f& y);
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Vector4f operator+(const Vector4f& x, const Vector4f& y);
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Vector4f operator-(const Vector4f& x, const Vector4f& y);
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Vector3f operator-(const Vector3f& x);
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struct Matrix3f
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{
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std::array<float, 9> m = { 0.f, 0.f, 0.f,
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0.f, 0.f, 0.f,
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0.f, 0.f, 0.f, };
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static Matrix3f Identity();
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};
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struct Matrix4f
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{
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std::array<float, 16> m = { 0.f, 0.f, 0.f, 0.f,
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0.f, 0.f, 0.f, 0.f,
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0.f, 0.f, 0.f, 0.f,
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0.f, 0.f, 0.f, 0.f };
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static Matrix4f Identity();
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float& operator()(int row, int col) {
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//return m[row * 4 + col]; //OpenGL specific
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return m[col * 4 + row];
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}
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const float& operator()(int row, int col) const {
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//return m[row * 4 + col];
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return m[col * 4 + row];
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}
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};
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Matrix4f operator*(const Matrix4f& m1, const Matrix4f& m2);
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Matrix4f MakeOrthoMatrix(float width, float height, float zNear, float zFar);
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Matrix4f MakePerspectiveMatrix(float fovY, float aspectRatio, float zNear, float zFar);
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Matrix3f QuatToMatrix(const Vector4f& q);
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Vector4f MatrixToQuat(const Matrix3f& m);
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Vector4f QuatFromRotateAroundX(float angle);
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Vector4f QuatFromRotateAroundY(float angle);
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Vector4f QuatFromRotateAroundZ(float angle);
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Vector3f operator*(Vector3f v, float scale);
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Vector4f operator*(Vector4f v, float scale);
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Vector3f MultVectorMatrix(Vector3f v, Matrix3f mt);
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Vector4f MultVectorMatrix(Vector4f v, Matrix4f mt);
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Vector4f MultMatrixVector(Matrix4f mt, Vector4f v);
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Vector3f MultMatrixVector(Matrix3f mt, Vector3f v);
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Vector4f slerp(const Vector4f& q1, const Vector4f& q2, float t);
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Matrix3f InverseMatrix(const Matrix3f& m);
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Matrix4f InverseMatrix(const Matrix4f& m);
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Matrix3f MultMatrixMatrix(const Matrix3f& m1, const Matrix3f& m2);
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Matrix4f MultMatrixMatrix(const Matrix4f& m1, const Matrix4f& m2);
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Matrix4f MakeMatrix4x4(const Matrix3f& m, const Vector3f pos);
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};
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