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Move template-parameterized matrix operations to Matrices.inl (excluding SetMatrixRotatePart(T, Quaternion) due to symbol resolution error)
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josh
2024-05-29 11:14:12 -04:00
parent 201fb4a28d
commit 5e253e0b2c
5 changed files with 128 additions and 87 deletions
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105
include/J3ML/LinearAlgebra/Matrices.inl Normal file
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@@ -0,0 +1,105 @@
#pragma once
/// Template Parameterized (Generic) Matrix Functions.
#include <J3ML/LinearAlgebra/Quaternion.h>
namespace J3ML::LinearAlgebra {
/** Sets the top-left 3x3 area of the matrix to the rotation matrix about the X-axis. Elements
outside the top-left 3x3 area are ignored. This matrix rotates counterclockwise if multiplied
in the order M*v, and clockwise if rotated in the order v*M.
@param m The matrix to store the result.
@param angle the rotation angle in radians. */
template<typename Matrix>
void Set3x3PartRotateX(Matrix &m, float angle) {
float sinz, cosz;
sinz = std::sin(angle);
cosz = std::cos(angle);
m[0][0] = 1.f;
m[0][1] = 0.f;
m[0][2] = 0.f;
m[1][0] = 0.f;
m[1][1] = cosz;
m[1][2] = -sinz;
m[2][0] = 0.f;
m[2][1] = sinz;
m[2][2] = cosz;
}
/** Sets the top-left 3x3 area of the matrix to the rotation matrix about the Y-axis. Elements
outside the top-left 3x3 area are ignored. This matrix rotates counterclockwise if multiplied
in the order M*v, and clockwise if rotated in the order v*M.
@param m The matrix to store the result
@param angle The rotation angle in radians. */
template<typename Matrix>
void Set3x3PartRotateY(Matrix &m, float angle) {
float sinz, cosz;
sinz = std::sin(angle);
cosz = std::cos(angle);
m[0][0] = cosz;
m[0][1] = 0.f;
m[0][2] = sinz;
m[1][0] = 0.f;
m[1][1] = 1.f;
m[1][2] = 0.f;
m[2][0] = -sinz;
m[2][1] = 0.f;
m[2][2] = cosz;
}
/** Sets the top-left 3x3 area of the matrix to the rotation matrix about the Z-axis. Elements
outside the top-left 3x3 area are ignored. This matrix rotates counterclockwise if multiplied
in the order of M*v, and clockwise if rotated in the order v*M.
@param m The matrix to store the result.
@param angle The rotation angle in radians. */
template<typename Matrix>
void Set3x3PartRotateZ(Matrix &m, float angle) {
float sinz, cosz;
sinz = std::sin(angle);
cosz = std::cos(angle);
m[0][0] = cosz;
m[0][1] = -sinz;
m[0][2] = 0.f;
m[1][0] = sinz;
m[1][1] = cosz;
m[1][2] = 0.f;
m[2][0] = 0.f;
m[2][1] = 0.f;
m[2][2] = 1.f;
}
/** Computes the matrix M = R_x * R_y * R_z, where R_d is the cardinal rotation matrix
about the axis +d, rotating counterclockwise.
This function was adapted from https://www.geometrictools.com/Documentation/EulerAngles.pdf .
Parameters x y and z are the angles of rotation, in radians. */
template<typename Matrix>
void Set3x3PartRotateEulerXYZ(Matrix &m, float x, float y, float z) {
// TODO: vectorize to compute 4 sines + cosines at one time;
float cx = std::cos(x);
float sx = std::sin(x);
float cy = std::cos(y);
float sy = std::sin(y);
float cz = std::cos(z);
float sz = std::sin(z);
m[0][0] = cy * cz;
m[0][1] = -cy * sz;
m[0][2] = sy;
m[1][0] = cz * sx * sy + cx * sz;
m[1][1] = cx * cz - sx * sy * sz;
m[1][2] = -cy * sx;
m[2][0] = -cx * cz * sy + sx * sz;
m[2][1] = cz * sx + cx * sy * sz;
m[2][2] = cx * cy;
}
}

2
include/J3ML/LinearAlgebra/Matrix2x2.h
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@@ -2,6 +2,8 @@
#include <J3ML/LinearAlgebra/Vector2.h>
#include <J3ML/LinearAlgebra/Common.h>
#include <J3ML/LinearAlgebra/Matrices.inl>
namespace J3ML::LinearAlgebra {
class Matrix2x2 {

99
include/J3ML/LinearAlgebra/Matrix3x3.h
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@@ -1,100 +1,35 @@
#pragma once
#include <J3ML/LinearAlgebra/Common.h>
#include <J3ML/LinearAlgebra/Vector2.h>
#include <J3ML/LinearAlgebra/Vector3.h>
#include <J3ML/LinearAlgebra/Quaternion.h>
#include <J3ML/LinearAlgebra/Matrices.inl>
#include <cstring>
namespace J3ML::LinearAlgebra {
/** Sets the top-left 3x3 area of the matrix to the rotation matrix about the X-axis. Elements
outside the top-left 3x3 area are ignored. This matrix rotates counterclockwise if multiplied
in the order M*v, and clockwise if rotated in the order v*M.
@param m The matrix to store the result.
@param angle the rotation angle in radians. */
template <typename Matrix>
void Set3x3PartRotateX(Matrix &m, float angle)
{
float sinz, cosz;
sinz = std::sin(angle);
cosz = std::cos(angle);
m[0][0] = 1.f; m[0][1] = 0.f; m[0][2] = 0.f;
m[1][0] = 0.f; m[1][1] = cosz; m[1][2] = -sinz;
m[2][0] = 0.f; m[2][1] = sinz; m[2][2] = cosz;
}
/** Sets the top-left 3x3 area of the matrix to the rotation matrix about the Y-axis. Elements
outside the top-left 3x3 area are ignored. This matrix rotates counterclockwise if multiplied
in the order M*v, and clockwise if rotated in the order v*M.
@param m The matrix to store the result
@param angle The rotation angle in radians. */
template <typename Matrix>
void Set3x3PartRotateY(Matrix &m, float angle)
{
float sinz, cosz;
sinz = std::sin(angle);
cosz = std::cos(angle);
m[0][0] = cosz; m[0][1] = 0.f; m[0][2] = sinz;
m[1][0] = 0.f; m[1][1] = 1.f; m[1][2] = 0.f;
m[2][0] = -sinz; m[2][1] = 0.f; m[2][2] = cosz;
}
/** Sets the top-left 3x3 area of the matrix to the rotation matrix about the Z-axis. Elements
outside the top-left 3x3 area are ignored. This matrix rotates counterclockwise if multiplied
in the order of M*v, and clockwise if rotated in the order v*M.
@param m The matrix to store the result.
@param angle The rotation angle in radians. */
template <typename Matrix>
void Set3x3PartRotateZ(Matrix &m, float angle)
{
float sinz, cosz;
sinz = std::sin(angle);
cosz = std::cos(angle);
m[0][0] = cosz; m[0][1] = -sinz; m[0][2] = 0.f;
m[1][0] = sinz; m[1][1] = cosz; m[1][2] = 0.f;
m[2][0] = 0.f; m[2][1] = 0.f; m[2][2] = 1.f;
}
/** Computes the matrix M = R_x * R_y * R_z, where R_d is the cardinal rotation matrix
about the axis +d, rotating counterclockwise.
This function was adapted from https://www.geometrictools.com/Documentation/EulerAngles.pdf .
Parameters x y and z are the angles of rotation, in radians. */
template <typename Matrix>
void Set3x3PartRotateEulerXYZ(Matrix &m, float x, float y, float z)
{
// TODO: vectorize to compute 4 sines + cosines at one time;
float cx = std::cos(x);
float sx = std::sin(x);
float cy = std::cos(y);
float sy = std::sin(y);
float cz = std::cos(z);
float sz = std::sin(z);
m[0][0] = cy * cz; m[0][1] = -cy * sz; m[0][2] = sy;
m[1][0] = cz*sx*sy + cx*sz; m[1][1] = cx*cz - sx*sy*sz; m[1][2] = -cy*sx;
m[2][0] = -cx*cz*sy + sx*sz; m[2][1] = cz*sx + cx*sy*sz; m[2][2] = cx*cy;
}
template <typename Matrix>
void SetMatrixRotatePart(Matrix &m, const Quaternion &q)
{
template<typename Matrix>
void SetMatrixRotatePart(Matrix &m, const Quaternion &q) {
// See https://www.geometrictools.com/Documentation/LinearAlgebraicQuaternions.pdf .
assert(q.IsNormalized(1e-3f));
const float x = q.x; const float y = q.y; const float z = q.z; const float w = q.w;
m[0][0] = 1 - 2*(y*y + z*z); m[0][1] = 2*(x*y - z*w); m[0][2] = 2*(x*y + y*w);
m[1][0] = 2*(x*y + z*w); m[1][1] = 1 - 2*(x*x + z*z); m[1][2] = 2*(y*z - x*w);
m[2][0] = 2*(x*z - y*w); m[2][1] = 2*(y*z + x*w); m[2][2] = 1 - 2*(x*x + y*y);
const float x = q.x;
const float y = q.y;
const float z = q.z;
const float w = q.w;
m[0][0] = 1 - 2 * (y * y + z * z);
m[0][1] = 2 * (x * y - z * w);
m[0][2] = 2 * (x * y + y * w);
m[1][0] = 2 * (x * y + z * w);
m[1][1] = 1 - 2 * (x * x + z * z);
m[1][2] = 2 * (y * z - x * w);
m[2][0] = 2 * (x * z - y * w);
m[2][1] = 2 * (y * z + x * w);
m[2][2] = 1 - 2 * (x * x + y * y);
}
class Quaternion;
/// A 3-by-3 matrix for linear transformations of 3D geometry.
/* This can represent any kind of linear transformations of 3D geometry, which include
* rotation, scale, shear, mirroring, and orthographic projection.

5
include/J3ML/LinearAlgebra/Matrix4x4.h
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@@ -4,9 +4,10 @@
#include <J3ML/LinearAlgebra/Matrix3x3.h>
#include <J3ML/LinearAlgebra/Quaternion.h>
#include <J3ML/LinearAlgebra/Vector4.h>
#include <J3ML/LinearAlgebra/Matrices.inl>
#include <algorithm>
namespace J3ML::LinearAlgebra {

4
include/J3ML/LinearAlgebra/Quaternion.h
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@@ -1,8 +1,6 @@
#pragma once
#include <J3ML/LinearAlgebra/Common.h>
#include <J3ML/LinearAlgebra/Matrix3x3.h>
#include <J3ML/LinearAlgebra/Matrix4x4.h>
#include <J3ML/LinearAlgebra/Vector4.h>