BlackMATov/vmath.hpp
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add some code references

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BlackMATov
2021-01-29 01:35:28 +07:00
parent 2d42a2069a
commit 0b1955ce49
2 changed files with 134 additions and 34 deletions
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110
headers/vmath.hpp/vmath_ext.hpp
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@@ -205,6 +205,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] constexpr mat<T, 4> translate(T x, T y, T z) {
/// REFERENCE:
/// https://en.wikipedia.org/wiki/Translation_(geometry)
return {
{1, 0, 0, 0},
{0, 1, 0, 0},
@@ -293,12 +296,18 @@ namespace vmath_hpp
return m * rotate(angle, axis);
}
template < typename T >
[[nodiscard]] mat<T, 4> rotate(const mat<T, 4>& m, const qua<T>& q) {
return m * rotate(q);
}
template < typename T >
[[nodiscard]] mat<T, 4> rotate_x(T angle) {
/// REFERENCE:
/// http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/
const auto [s, c] = sincos(angle);
return {
1, 0, 0, 0,
0, c, s, 0,
@@ -317,6 +326,7 @@ namespace vmath_hpp
/// http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/
const auto [s, c] = sincos(angle);
return {
c, 0, -s, 0,
0, 1, 0, 0,
@@ -335,6 +345,7 @@ namespace vmath_hpp
/// http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/
const auto [s, c] = sincos(angle);
return {
c, s, 0, 0,
-s, c, 0, 0,
@@ -351,6 +362,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] constexpr mat<T, 4> scale(T x, T y, T z) {
/// REFERENCE:
/// https://en.wikipedia.org/wiki/Scaling_(geometry)
return {
{x, 0, 0, 0},
{0, y, 0, 0},
@@ -377,6 +391,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] mat<T, 4> look_at_lh(const vec<T, 3>& eye, const vec<T, 3>& at, const vec<T, 3>& up) {
/// REFERENCE:
/// https://www.euclideanspace.com/maths/algebra/vectors/lookat/
const vec az = normalize(at - eye);
const vec ax = normalize(cross(up, az));
const vec ay = cross(az, ax);
@@ -394,6 +411,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] mat<T, 4> look_at_rh(const vec<T, 3>& eye, const vec<T, 3>& at, const vec<T, 3>& up) {
/// REFERENCE:
/// https://www.euclideanspace.com/maths/algebra/vectors/lookat/
const vec az = normalize(eye - at);
const vec ax = normalize(cross(up, az));
const vec ay = cross(az, ax);
@@ -420,6 +440,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] constexpr mat<T, 3> translate(T x, T y) {
/// REFERENCE:
/// https://en.wikipedia.org/wiki/Translation_(geometry)
return {
{1, 0, 0},
{0, 1, 0},
@@ -445,7 +468,11 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] mat<T, 3> rotate(T angle) {
/// REFERENCE:
/// http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/
const auto [s, c] = sincos(angle);
return {
c, s, 0,
-s, c, 0,
@@ -461,6 +488,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] constexpr mat<T, 3> scale(T x, T y) {
/// REFERENCE:
/// https://en.wikipedia.org/wiki/Scaling_(geometry)
return {
{x, 0, 0},
{0, y, 0},
@@ -486,6 +516,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] constexpr mat<T, 3> shear(T x, T y) {
/// REFERENCE:
/// https://en.wikipedia.org/wiki/Shear_matrix
return {
{1, y, 0},
{x, 1, 0},
@@ -508,29 +541,35 @@ namespace vmath_hpp
}
template < typename T >
[[nodiscard]] constexpr mat<T, 3> shear_x(T y) {
[[nodiscard]] constexpr mat<T, 3> shear_x(T x) {
/// REFERENCE:
/// https://en.wikipedia.org/wiki/Shear_matrix
return {
{1, 0, 0},
{y, 1, 0},
{x, 1, 0},
{0, 0, 1}};
}
template < typename T >
[[nodiscard]] constexpr mat<T, 3> shear_x(const mat<T, 3>& m, T y) {
return m * shear_x(y);
[[nodiscard]] constexpr mat<T, 3> shear_x(const mat<T, 3>& m, T x) {
return m * shear_x(x);
}
template < typename T >
[[nodiscard]] constexpr mat<T, 3> shear_y(T x) {
[[nodiscard]] constexpr mat<T, 3> shear_y(T y) {
/// REFERENCE:
/// https://en.wikipedia.org/wiki/Shear_matrix
return {
{1, x, 0},
{1, y, 0},
{0, 1, 0},
{0, 0, 1}};
}
template < typename T >
[[nodiscard]] constexpr mat<T, 3> shear_y(const mat<T, 3>& m, T x) {
return m * shear_y(x);
[[nodiscard]] constexpr mat<T, 3> shear_y(const mat<T, 3>& m, T y) {
return m * shear_y(y);
}
}
@@ -544,13 +583,16 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] mat<T, 4> orthographic_lh_zo(T left, T right, T bottom, T top, T znear, T zfar) {
/// REFERENCE:
/// https://en.wikipedia.org/wiki/Orthographic_projection
const T sx = T(2) * rcp(right - left);
const T sy = T(2) * rcp(top - bottom);
const T sz = T(1) * rcp(zfar - znear);
const T tx = - (right + left) / (right - left);
const T ty = - (top + bottom) / (top - bottom);
const T tz = - znear / (zfar - znear);
const T tx = - (right + left) * rcp(right - left);
const T ty = - (top + bottom) * rcp(top - bottom);
const T tz = - znear * rcp(zfar - znear);
return {
sx, 0, 0, 0,
@@ -561,13 +603,16 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] mat<T, 4> orthographic_lh_no(T left, T right, T bottom, T top, T znear, T zfar) {
/// REFERENCE:
/// https://en.wikipedia.org/wiki/Orthographic_projection
const T sx = T(2) * rcp(right - left);
const T sy = T(2) * rcp(top - bottom);
const T sz = T(2) * rcp(zfar - znear);
const T tx = - (right + left) / (right - left);
const T ty = - (top + bottom) / (top - bottom);
const T tz = - (zfar + znear) / (zfar - znear);
const T tx = - (right + left) * rcp(right - left);
const T ty = - (top + bottom) * rcp(top - bottom);
const T tz = - (zfar + znear) * rcp(zfar - znear);
return {
sx, 0, 0, 0,
@@ -578,13 +623,16 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] mat<T, 4> orthographic_rh_zo(T left, T right, T bottom, T top, T znear, T zfar) {
/// REFERENCE:
/// https://en.wikipedia.org/wiki/Orthographic_projection
const T sx = T(2) * rcp(right - left);
const T sy = T(2) * rcp(top - bottom);
const T sz = -T(1) * rcp(zfar - znear);
const T tx = - (right + left) / (right - left);
const T ty = - (top + bottom) / (top - bottom);
const T tz = - znear / (zfar - znear);
const T tx = - (right + left) * rcp(right - left);
const T ty = - (top + bottom) * rcp(top - bottom);
const T tz = - znear * rcp(zfar - znear);
return {
sx, 0, 0, 0,
@@ -595,13 +643,16 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] mat<T, 4> orthographic_rh_no(T left, T right, T bottom, T top, T znear, T zfar) {
/// REFERENCE:
/// https://en.wikipedia.org/wiki/Orthographic_projection
const T sx = T(2) * rcp(right - left);
const T sy = T(2) * rcp(top - bottom);
const T sz = -T(2) * rcp(zfar - znear);
const T tx = - (right + left) / (right - left);
const T ty = - (top + bottom) / (top - bottom);
const T tz = - (zfar + znear) / (zfar - znear);
const T tx = - (right + left) * rcp(right - left);
const T ty = - (top + bottom) * rcp(top - bottom);
const T tz = - (zfar + znear) * rcp(zfar - znear);
return {
sx, 0, 0, 0,
@@ -824,6 +875,7 @@ namespace vmath_hpp
const auto [s, c] = sincos(angle * T(0.5));
const auto [x, y, z] = normalize(axis);
return {vec{x,y,z} * s, c};
}
@@ -834,7 +886,11 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] qua<T> qrotate_x(T angle) {
/// REFERENCE:
/// http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/
const auto [s, c] = sincos(angle * T(0.5));
return {s, T(0), T(0), c};
}
@@ -845,7 +901,11 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] qua<T> qrotate_y(T angle) {
/// REFERENCE:
/// http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/
const auto [s, c] = sincos(angle * T(0.5));
return {T(0), s, T(0), c};
}
@@ -856,7 +916,11 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] qua<T> qrotate_z(T angle) {
/// REFERENCE:
/// http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/
const auto [s, c] = sincos(angle * T(0.5));
return {T(0), T(0), s, c};
}
@@ -869,6 +933,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] qua<T> qlook_at_lh(const vec<T, 3>& dir, const vec<T, 3>& up) {
/// REFERENCE:
/// https://www.euclideanspace.com/maths/algebra/vectors/lookat/
const vec az = normalize(dir);
const vec ax = normalize(cross(up, az));
const vec ay = cross(az, ax);
@@ -881,6 +948,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] qua<T> qlook_at_rh(const vec<T, 3>& dir, const vec<T, 3>& up) {
/// REFERENCE:
/// https://www.euclideanspace.com/maths/algebra/vectors/lookat/
const vec az = normalize(-dir);
const vec ax = normalize(cross(up, az));
const vec ay = cross(az, ax);