Move template-parameterized matrix operations to Matrices.inl (excluding SetMatrixRotatePart(T, Quaternion) due to symbol resolution error)

include/J3ML/LinearAlgebra/Matrices.inl

@@ -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;
+    }
+
+
+
+}