220 lines
10 KiB
C
220 lines
10 KiB
C
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/////////////////////////////////////////////////////////////////////
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// by Dan Andersson 2013
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/////////////////////////////////////////////////////////////////////
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#pragma once
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#ifndef OYSTER_MATH_H
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#define OYSTER_MATH_H
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#include "Utilities.h"
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#include "LinearMath.h"
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#include <limits>
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namespace Oyster { namespace Math
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{
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typedef float Float;
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typedef ::LinearAlgebra::Vector2<Float> Float2;
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typedef ::LinearAlgebra::Vector3<Float> Float3;
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typedef ::LinearAlgebra::Vector4<Float> Float4;
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typedef ::LinearAlgebra::Matrix2x2<Float> Float2x2;
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typedef ::LinearAlgebra::Matrix3x3<Float> Float3x3;
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typedef ::LinearAlgebra::Matrix4x4<Float> Float4x4;
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typedef Float4x4 Matrix;
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typedef Float2 Vector2;
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typedef Float3 Vector3;
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typedef Float4 Vector4;
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Float2 & operator *= ( Float2 &left, const Float2 &right );
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inline Float2 operator * ( const Float2 &left, const Float2 &right )
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{ return Float2(left) *= right; }
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inline Float2 operator * ( const Float &left, const Float2 &right )
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{ return Float2(right) *= left; }
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Float3 & operator *= ( Float3 &left, const Float3 &right );
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inline Float3 operator * ( const Float3 &left, const Float3 &right )
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{ return Float3(left) *= right; }
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inline Float3 operator * ( const Float &left, const Float3 &right )
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{ return Float3(right) *= left; }
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Float4 & operator *= ( Float4 &left, const Float4 &right );
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inline Float4 operator * ( const Float4 &left, const Float4 &right )
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{ return Float4(left) *= right; }
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inline Float4 operator * ( const Float &left, const Float4 &right )
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{ return Float4(right) *= left; }
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inline Float2x2 operator * ( const Float &left, const Float2x2 &right )
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{ return Float2x2(right) *= left; }
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inline Float3x3 operator * ( const Float &left, const Float3x3 &right )
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{ return Float3x3(right) *= left; }
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inline Float4x4 operator * ( const Float &left, const Float4x4 &right )
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{ return Float4x4(right) *= left; }
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// Deprecated function! Use the static const member identity instead.
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inline void identityMatrix( Float2x2 &output )
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{ output = Float2x2::identity; }
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// Deprecated function! Use the static const member identity instead.
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inline void identityMatrix( Float3x3 &output )
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{ output = Float3x3::identity; }
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// Deprecated function! Use the static const member identity instead.
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inline void identityMatrix( Float4x4 &output )
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{ output = Float4x4::identity; }
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// If rigidBody is assumed to be by all definitions a rigid body matrix. Then this is a faster inverse method.
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inline void inverseRigidBodyMatrix( Float4x4 &output, const Float4x4 &rigidBody )
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{ ::LinearAlgebra::_3D::inverseRigidBody( output, rigidBody ); }
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inline void translationMatrix( Float4x4 &output, const Float3 &position )
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{ ::LinearAlgebra::_3D::translationMatrix( output, position ); }
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// counterclockwise rotation around X axis
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inline void rotationMatrix_AxisX( Float4x4 &output, const Float &radian )
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{ ::LinearAlgebra::_3D::rotationMatrix_AxisX( output, radian ); }
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// counterclockwise rotation around Y axis
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inline void rotationMatrix_AxisY( Float4x4 &output, const Float &radian )
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{ ::LinearAlgebra::_3D::rotationMatrix_AxisY( output, radian ); }
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// counterclockwise rotation around Z axis
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inline void rotationMatrix_AxisZ( Float4x4 &output, const Float &radian )
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{ ::LinearAlgebra::_3D::rotationMatrix_AxisZ( output, radian ); }
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// counterclockwise rotation around any given Float3 vector (normalizedAxis). Please make sure it is normalized.
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inline void rotationMatrix( Float4x4 &output, const Float &radian, const Float3 &normalizedAxis )
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{ ::LinearAlgebra::_3D::rotationMatrix( output, normalizedAxis, radian ); }
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/*
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returns a deltaAngularAxis which is a vectorProduct of the particleMovementVector and leverVector.
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angular: (1/I) * L, there I is known as the "moment of inertia", L as the "angular momentum vector".
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lever: Displacement vector relative to the center of mass.
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Recommended reading: http://en.wikipedia.org/wiki/Torque
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*/
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inline Float3 deltaAngularAxis( const Float3 &movement, const Float3 &lever )
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{ return ::LinearAlgebra::_3D::deltaAngularAxis( movement, lever ); }
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inline Float3 particleRotationMovement( const Float3 &deltaRadian, const Float3 &lever )
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{ return ::LinearAlgebra::_3D::particleRotationMovement( deltaRadian, lever ); }
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inline Float3 vectorProjection( const Float3 &vector, const Float3 &axis )
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{ return ::LinearAlgebra::_3D::vectorProjection( vector, axis ); }
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/*
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output: is set to a rigibody matrix that revolve/rotate around centerOfMass and then translates.
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sumDeltaAngularAxis: sum of all ( (1/I) * ( L x D ) )-vectorproducts. There I is known as "moment of inertia", L as "angular momentum vector" and D the "lever vector".
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sumTranslation: sum of all the translation vectors.
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centerOfMass: the point the particles is to revolve around, prior to translation. Default set to null vector aka origo.
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Recommended reading: http://en.wikipedia.org/wiki/Torque
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*/
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inline void rigidBodyMatrix( Float4x4 &output, const Float3 &sumDeltaAngularAxis, const Float3 &sumTranslation, const Float3 ¢erOfMass = Float3::null )
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{ ::LinearAlgebra::_3D::rigidBodyMatrix( output, sumDeltaAngularAxis, sumTranslation, centerOfMass ); }
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/*
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output; is set to an orthographic projection matrix.
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width; of the projection sample volume.
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height; of the projection sample volume.
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near: Distance to the nearPlane.
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far: Distance to the farPlane
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*/
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inline void projectionMatrix_Orthographic( Float4x4 &output, const Float &width, const Float &height, const Float &nearClip = ::std::numeric_limits<Float>::epsilon(), const Float &farClip = ::std::numeric_limits<Float>::max() )
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{ ::LinearAlgebra::_3D::projectionMatrix_Orthographic( output, width, height, nearClip, farClip ); }
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/*
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output; is set to a perspective transform matrix.
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vertFoV; is the vertical field of vision in radians. (se FoV Hor+ )
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aspect; is the screenratio width/height (example 16/9 or 16/10 )
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near: Distance to the nearPlane
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far: Distance to the farPlane
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*/
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inline void projectionMatrix_Perspective( Float4x4 &output, const Float &verticalFoV, const Float &aspectRatio, const Float &nearClip = ::std::numeric_limits<Float>::epsilon(), const Float &farClip = ::std::numeric_limits<Float>::max() )
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{ ::LinearAlgebra::_3D::projectionMatrix_Perspective( output, verticalFoV, aspectRatio, nearClip, farClip ); }
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inline Float4x4 & viewProjectionMatrix( Float4x4 &output, const Float4x4 &view, const Float4x4 &projection )
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{ return output = (view * projection).getTranspose(); }
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inline Float4x4 & transformMatrix( Float4x4 &output, const Float4x4 &transformee, const Float4x4 &transformer )
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{ return output = transformee * transformer; }
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inline Float4x4 transformMatrix( const Float4x4 &transformee, const Float4x4 &transformer )
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{ return transformee * transformer; }
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inline Float4 & transformVector( Float4 &output, const Float4 &transformee, const Float4x4 &transformer )
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{ return output = transformer * transformee; }
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inline Float4 transformVector( const Float4 &transformee, const Float4x4 &transformer )
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{ return transformee * transformer; }
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} }
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namespace Utility { namespace Value
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{ // Utility Value Specializations
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using namespace ::Oyster::Math;
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template< > inline Float2 abs<Float2>( const Float2 &value )
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{ return Float2( abs(value.x), abs(value.y) ); }
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template< > inline Float2 max<Float2>( const Float2 &valueA, const Float2 &valueB )
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{ return Float2( max(valueA.x, valueB.x), max(valueA.y, valueB.y) ); }
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template< > inline Float2 min<Float2>( const Float2 &valueA, const Float2 &valueB )
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{ return Float2( min(valueA.x, valueB.x), min(valueA.y, valueB.y) ); }
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template< > inline Float3 abs<Float3>( const Float3 &value )
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{ return Float3( abs(value.xy), abs(value.z) ); }
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template< > inline Float3 max<Float3>( const Float3 &valueA, const Float3 &valueB )
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{ return Float3( max(valueA.xy, valueB.xy), max(valueA.z, valueB.z) ); }
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template< > inline Float3 min<Float3>( const Float3 &valueA, const Float3 &valueB )
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{ return Float3( min(valueA.xy, valueB.xy), min(valueA.z, valueB.z) ); }
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template< > inline Float4 abs<Float4>( const Float4 &value )
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{ return Float4( abs(value.xyz), abs(value.w) ); }
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template< > inline Float4 max<Float4>( const Float4 &valueA, const Float4 &valueB )
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{ return Float4( max(valueA.xyz, valueB.xyz), max(valueA.w, valueB.w) ); }
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template< > inline Float4 min<Float4>( const Float4 &valueA, const Float4 &valueB )
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{ return Float4( min(valueA.xyz, valueB.xyz), min(valueA.w, valueB.w) ); }
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template< > inline Float2x2 abs<Float2x2>( const Float2x2 &value )
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{ return Float2x2( abs(value.v[0]), abs(value.v[1]) ); }
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template< > inline Float2x2 max<Float2x2>( const Float2x2 &valueA, const Float2x2 &valueB )
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{ return Float2x2( max(valueA.v[0], valueB.v[0]), max(valueA.v[1], valueB.v[1]) ); }
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template< > inline Float2x2 min<Float2x2>( const Float2x2 &valueA, const Float2x2 &valueB )
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{ return Float2x2( min(valueA.v[0], valueB.v[0]), min(valueA.v[1], valueB.v[1]) ); }
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template< > inline Float3x3 abs<Float3x3>( const Float3x3 &value )
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{ return Float3x3( abs(value.v[0]), abs(value.v[1]), abs(value[2]) ); }
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template< > inline Float3x3 max<Float3x3>( const Float3x3 &valueA, const Float3x3 &valueB )
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{ return Float3x3( max(valueA.v[0], valueB.v[0]), max(valueA.v[1], valueB.v[1]), max(valueA.v[2], valueB.v[2]) ); }
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template< > inline Float3x3 min<Float3x3>( const Float3x3 &valueA, const Float3x3 &valueB )
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{ return Float3x3( min(valueA.v[0], valueB.v[0]), min(valueA.v[1], valueB.v[1]), min(valueA.v[2], valueB.v[2]) ); }
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template< > inline Float4x4 abs<Float4x4>( const Float4x4 &value )
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{ return Float4x4( abs(value.v[0]), abs(value.v[1]), abs(value[2]), abs(value[3]) ); }
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template< > inline Float4x4 max<Float4x4>( const Float4x4 &valueA, const Float4x4 &valueB )
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{ return Float4x4( max(valueA.v[0], valueB.v[0]), max(valueA.v[1], valueB.v[1]), max(valueA.v[2], valueB.v[2]), max(valueA.v[3], valueB.v[3]) ); }
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template< > inline Float4x4 min<Float4x4>( const Float4x4 &valueA, const Float4x4 &valueB )
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{ return Float4x4( min(valueA.v[0], valueB.v[0]), min(valueA.v[1], valueB.v[1]), min(valueA.v[2], valueB.v[2]), min(valueA.v[3], valueB.v[3]) ); }
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} }
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#endif
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