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simplify matrix operations

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BlackMATov
2023-02-28 08:35:11 +07:00
parent ed8b09e125
commit 5b9c4a5c41
3 changed files with 209 additions and 383 deletions
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207
develop/singles/headers/vmath.hpp/vmath_all.hpp
View File

@@ -2876,96 +2876,64 @@ namespace vmath_hpp
// transpose
//
namespace impl
{
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 2> transpose_2x2_impl(
T a, T c,
T b, T d)
{
[[nodiscard]] constexpr mat<T, 2> transpose(const mat<T, 2>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1],
c = _m[1][0], d = _m[1][1];
return {
a, b,
c, d};
a, c,
b, d};
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 3> transpose_3x3_impl(
T a, T d, T g,
T b, T e, T h,
T c, T f, T i)
{
[[nodiscard]] constexpr mat<T, 3> transpose(const mat<T, 3>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2],
d = _m[1][0], e = _m[1][1], f = _m[1][2],
g = _m[2][0], h = _m[2][1], i = _m[2][2];
return {
a, b, c,
d, e, f,
g, h, i};
a, d, g,
b, e, h,
c, f, i};
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 4> transpose_4x4_impl(
T a, T e, T i, T m,
T b, T f, T j, T n,
T c, T g, T k, T o,
T d, T h, T l, T p)
{
[[nodiscard]] constexpr mat<T, 4> transpose(const mat<T, 4>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2], d = _m[0][3],
e = _m[1][0], f = _m[1][1], g = _m[1][2], h = _m[1][3],
i = _m[2][0], j = _m[2][1], k = _m[2][2], l = _m[2][3],
m = _m[3][0], n = _m[3][1], o = _m[3][2], p = _m[3][3];
return {
a, b, c, d,
e, f, g, h,
i, j, k, l,
m, n, o, p};
}
}
template < typename T >
[[nodiscard]] constexpr mat<T, 2> transpose(const mat<T, 2>& m) {
return impl::transpose_2x2_impl(
m[0][0], m[0][1],
m[1][0], m[1][1]);
}
template < typename T >
[[nodiscard]] constexpr mat<T, 3> transpose(const mat<T, 3>& m) {
return impl::transpose_3x3_impl(
m[0][0], m[0][1], m[0][2],
m[1][0], m[1][1], m[1][2],
m[2][0], m[2][1], m[2][2]);
}
template < typename T >
[[nodiscard]] constexpr mat<T, 4> transpose(const mat<T, 4>& m) {
return impl::transpose_4x4_impl(
m[0][0], m[0][1], m[0][2], m[0][3],
m[1][0], m[1][1], m[1][2], m[1][3],
m[2][0], m[2][1], m[2][2], m[2][3],
m[3][0], m[3][1], m[3][2], m[3][3]);
a, e, i, m,
b, f, j, n,
c, g, k, o,
d, h, l, p};
}
//
// adjugate
//
namespace impl
{
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 2> adjugate_2x2_impl(
T a, T b,
T c, T d)
{
[[nodiscard]] constexpr mat<T, 2> adjugate(const mat<T, 2>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1],
c = _m[1][0], d = _m[1][1];
return {
+d, -b,
-c, +a};
+d,
-b,
-c,
+a};
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 3> adjugate_3x3_impl(
T a, T b, T c,
T d, T e, T f,
T g, T h, T i)
{
[[nodiscard]] constexpr mat<T, 3> adjugate(const mat<T, 3>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2],
d = _m[1][0], e = _m[1][1], f = _m[1][2],
g = _m[2][0], h = _m[2][1], i = _m[2][2];
return {
e * i - f * h,
c * h - b * i,
@@ -2979,13 +2947,12 @@ namespace vmath_hpp
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 4> adjugate_4x4_impl(
T a, T b, T c, T d,
T e, T f, T g, T h,
T i, T j, T k, T l,
T m, T n, T o, T p)
{
[[nodiscard]] constexpr mat<T, 4> adjugate(const mat<T, 4>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2], d = _m[0][3],
e = _m[1][0], f = _m[1][1], g = _m[1][2], h = _m[1][3],
i = _m[2][0], j = _m[2][1], k = _m[2][2], l = _m[2][3],
m = _m[3][0], n = _m[3][1], o = _m[3][2], p = _m[3][3];
return {
f * (k * p - l * o) + g * (l * n - j * p) + h * (j * o - k * n),
j * (c * p - d * o) + k * (d * n - b * p) + l * (b * o - c * n),
@@ -3004,54 +2971,26 @@ namespace vmath_hpp
m * (c * f - b * g) + n * (a * g - c * e) + o * (b * e - a * f),
a * (f * k - g * j) + b * (g * i - e * k) + c * (e * j - f * i)};
}
}
template < typename T >
[[nodiscard]] constexpr mat<T, 2> adjugate(const mat<T, 2>& m) {
return impl::adjugate_2x2_impl(
m[0][0], m[0][1],
m[1][0], m[1][1]);
}
template < typename T >
[[nodiscard]] constexpr mat<T, 3> adjugate(const mat<T, 3>& m) {
return impl::adjugate_3x3_impl(
m[0][0], m[0][1], m[0][2],
m[1][0], m[1][1], m[1][2],
m[2][0], m[2][1], m[2][2]);
}
template < typename T >
[[nodiscard]] constexpr mat<T, 4> adjugate(const mat<T, 4>& m) {
return impl::adjugate_4x4_impl(
m[0][0], m[0][1], m[0][2], m[0][3],
m[1][0], m[1][1], m[1][2], m[1][3],
m[2][0], m[2][1], m[2][2], m[2][3],
m[3][0], m[3][1], m[3][2], m[3][3]);
}
//
// determinant
//
namespace impl
{
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
T determinant_2x2_impl(
T a, T b,
T c, T d)
{
return a * d - b * c;
[[nodiscard]] constexpr T determinant(const mat<T, 2>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1],
c = _m[1][0], d = _m[1][1];
return
a * d - b * c;
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
T determinant_3x3_impl(
T a, T b, T c,
T d, T e, T f,
T g, T h, T i)
{
[[nodiscard]] constexpr T determinant(const mat<T, 3>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2],
d = _m[1][0], e = _m[1][1], f = _m[1][2],
g = _m[2][0], h = _m[2][1], i = _m[2][2];
return
+ a * (e * i - f * h)
- b * (d * i - f * g)
@@ -3059,44 +2998,18 @@ namespace vmath_hpp
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
T determinant_4x4_impl(
T a, T b, T c, T d,
T e, T f, T g, T h,
T i, T j, T k, T l,
T m, T n, T o, T p)
{
[[nodiscard]] constexpr T determinant(const mat<T, 4>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2], d = _m[0][3],
e = _m[1][0], f = _m[1][1], g = _m[1][2], h = _m[1][3],
i = _m[2][0], j = _m[2][1], k = _m[2][2], l = _m[2][3],
m = _m[3][0], n = _m[3][1], o = _m[3][2], p = _m[3][3];
return
+ a * (f * (k * p - l * o) - (j * (g * p - h * o)) + (n * (g * l - h * k)))
- b * (e * (k * p - l * o) - (i * (g * p - h * o)) + (m * (g * l - h * k)))
+ c * (e * (j * p - l * n) - (i * (f * p - h * n)) + (m * (f * l - h * j)))
- d * (e * (j * o - k * n) - (i * (f * o - g * n)) + (m * (f * k - g * j)));
}
}
template < typename T >
[[nodiscard]] constexpr T determinant(const mat<T, 2>& m) {
return impl::determinant_2x2_impl(
m[0][0], m[0][1],
m[1][0], m[1][1]);
}
template < typename T >
[[nodiscard]] constexpr T determinant(const mat<T, 3>& m) {
return impl::determinant_3x3_impl(
m[0][0], m[0][1], m[0][2],
m[1][0], m[1][1], m[1][2],
m[2][0], m[2][1], m[2][2]);
}
template < typename T >
[[nodiscard]] constexpr T determinant(const mat<T, 4>& m) {
return impl::determinant_4x4_impl(
m[0][0], m[0][1], m[0][2], m[0][3],
m[1][0], m[1][1], m[1][2], m[1][3],
m[2][0], m[2][1], m[2][2], m[2][3],
m[3][0], m[3][1], m[3][2], m[3][3]);
}
//
// inverse

6
develop/untests/vmath_mat_fun_tests.cpp
View File

@@ -327,7 +327,7 @@ TEST_CASE("vmath/mat_fun") {
{
const fvec3 axis2 = normalize(fvec3(1.f, 2.f, 3.f));
const fmat4 m2 = fmat4(rotate(0.5f,axis2));
const fmat4 m2 = perspective_lh(800.f, 600.f, -1.f, 1.f) * translate(fvec3(1.f, 2.f, 3.f)) * scale4(fvec3(2.f, 3.f, 4.f)) * fmat4(rotate(0.5f,axis2));
const fmat4 rm2 = inverse(m2);
CHECK(all(approx(
unit4_z<float> * m2 * rm2,
@@ -336,7 +336,7 @@ TEST_CASE("vmath/mat_fun") {
{
const fvec3 axis3 = normalize(fvec3(1.f, 2.f, 3.f));
const fmat3 m3 = fmat3(rotate(0.5f,axis3));
const fmat3 m3 = translate(fvec2(1.f, 2.f)) * scale(fvec3(2.f, 3.f, 4.f)) * fmat3(rotate(0.5f,axis3));
const fmat3 rm3 = inverse(m3);
CHECK(all(approx(
unit3_z<float> * m3 * rm3,
@@ -345,7 +345,7 @@ TEST_CASE("vmath/mat_fun") {
{
const fvec3 axis4 = normalize(fvec3(0.f, 0.f, 3.f));
const fmat2 m4 = fmat2(rotate(0.5f,axis4));
const fmat2 m4 = scale(fvec2(2.f, 3.f)) * fmat2(rotate(0.5f,axis4));
const fmat2 rm4 = inverse(m4);
CHECK(all(approx(
unit2_y<float> * m4 * rm4,

207
headers/vmath.hpp/vmath_mat_fun.hpp
View File

@@ -638,96 +638,64 @@ namespace vmath_hpp
// transpose
//
namespace impl
{
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 2> transpose_2x2_impl(
T a, T c,
T b, T d)
{
[[nodiscard]] constexpr mat<T, 2> transpose(const mat<T, 2>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1],
c = _m[1][0], d = _m[1][1];
return {
a, b,
c, d};
a, c,
b, d};
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 3> transpose_3x3_impl(
T a, T d, T g,
T b, T e, T h,
T c, T f, T i)
{
[[nodiscard]] constexpr mat<T, 3> transpose(const mat<T, 3>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2],
d = _m[1][0], e = _m[1][1], f = _m[1][2],
g = _m[2][0], h = _m[2][1], i = _m[2][2];
return {
a, b, c,
d, e, f,
g, h, i};
a, d, g,
b, e, h,
c, f, i};
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 4> transpose_4x4_impl(
T a, T e, T i, T m,
T b, T f, T j, T n,
T c, T g, T k, T o,
T d, T h, T l, T p)
{
[[nodiscard]] constexpr mat<T, 4> transpose(const mat<T, 4>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2], d = _m[0][3],
e = _m[1][0], f = _m[1][1], g = _m[1][2], h = _m[1][3],
i = _m[2][0], j = _m[2][1], k = _m[2][2], l = _m[2][3],
m = _m[3][0], n = _m[3][1], o = _m[3][2], p = _m[3][3];
return {
a, b, c, d,
e, f, g, h,
i, j, k, l,
m, n, o, p};
}
}
template < typename T >
[[nodiscard]] constexpr mat<T, 2> transpose(const mat<T, 2>& m) {
return impl::transpose_2x2_impl(
m[0][0], m[0][1],
m[1][0], m[1][1]);
}
template < typename T >
[[nodiscard]] constexpr mat<T, 3> transpose(const mat<T, 3>& m) {
return impl::transpose_3x3_impl(
m[0][0], m[0][1], m[0][2],
m[1][0], m[1][1], m[1][2],
m[2][0], m[2][1], m[2][2]);
}
template < typename T >
[[nodiscard]] constexpr mat<T, 4> transpose(const mat<T, 4>& m) {
return impl::transpose_4x4_impl(
m[0][0], m[0][1], m[0][2], m[0][3],
m[1][0], m[1][1], m[1][2], m[1][3],
m[2][0], m[2][1], m[2][2], m[2][3],
m[3][0], m[3][1], m[3][2], m[3][3]);
a, e, i, m,
b, f, j, n,
c, g, k, o,
d, h, l, p};
}
//
// adjugate
//
namespace impl
{
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 2> adjugate_2x2_impl(
T a, T b,
T c, T d)
{
[[nodiscard]] constexpr mat<T, 2> adjugate(const mat<T, 2>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1],
c = _m[1][0], d = _m[1][1];
return {
+d, -b,
-c, +a};
+d,
-b,
-c,
+a};
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 3> adjugate_3x3_impl(
T a, T b, T c,
T d, T e, T f,
T g, T h, T i)
{
[[nodiscard]] constexpr mat<T, 3> adjugate(const mat<T, 3>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2],
d = _m[1][0], e = _m[1][1], f = _m[1][2],
g = _m[2][0], h = _m[2][1], i = _m[2][2];
return {
e * i - f * h,
c * h - b * i,
@@ -741,13 +709,12 @@ namespace vmath_hpp
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
mat<T, 4> adjugate_4x4_impl(
T a, T b, T c, T d,
T e, T f, T g, T h,
T i, T j, T k, T l,
T m, T n, T o, T p)
{
[[nodiscard]] constexpr mat<T, 4> adjugate(const mat<T, 4>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2], d = _m[0][3],
e = _m[1][0], f = _m[1][1], g = _m[1][2], h = _m[1][3],
i = _m[2][0], j = _m[2][1], k = _m[2][2], l = _m[2][3],
m = _m[3][0], n = _m[3][1], o = _m[3][2], p = _m[3][3];
return {
f * (k * p - l * o) + g * (l * n - j * p) + h * (j * o - k * n),
j * (c * p - d * o) + k * (d * n - b * p) + l * (b * o - c * n),
@@ -766,54 +733,26 @@ namespace vmath_hpp
m * (c * f - b * g) + n * (a * g - c * e) + o * (b * e - a * f),
a * (f * k - g * j) + b * (g * i - e * k) + c * (e * j - f * i)};
}
}
template < typename T >
[[nodiscard]] constexpr mat<T, 2> adjugate(const mat<T, 2>& m) {
return impl::adjugate_2x2_impl(
m[0][0], m[0][1],
m[1][0], m[1][1]);
}
template < typename T >
[[nodiscard]] constexpr mat<T, 3> adjugate(const mat<T, 3>& m) {
return impl::adjugate_3x3_impl(
m[0][0], m[0][1], m[0][2],
m[1][0], m[1][1], m[1][2],
m[2][0], m[2][1], m[2][2]);
}
template < typename T >
[[nodiscard]] constexpr mat<T, 4> adjugate(const mat<T, 4>& m) {
return impl::adjugate_4x4_impl(
m[0][0], m[0][1], m[0][2], m[0][3],
m[1][0], m[1][1], m[1][2], m[1][3],
m[2][0], m[2][1], m[2][2], m[2][3],
m[3][0], m[3][1], m[3][2], m[3][3]);
}
//
// determinant
//
namespace impl
{
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
T determinant_2x2_impl(
T a, T b,
T c, T d)
{
return a * d - b * c;
[[nodiscard]] constexpr T determinant(const mat<T, 2>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1],
c = _m[1][0], d = _m[1][1];
return
a * d - b * c;
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
T determinant_3x3_impl(
T a, T b, T c,
T d, T e, T f,
T g, T h, T i)
{
[[nodiscard]] constexpr T determinant(const mat<T, 3>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2],
d = _m[1][0], e = _m[1][1], f = _m[1][2],
g = _m[2][0], h = _m[2][1], i = _m[2][2];
return
+ a * (e * i - f * h)
- b * (d * i - f * g)
@@ -821,44 +760,18 @@ namespace vmath_hpp
}
template < typename T >
[[nodiscard]] constexpr VMATH_HPP_FORCE_INLINE
T determinant_4x4_impl(
T a, T b, T c, T d,
T e, T f, T g, T h,
T i, T j, T k, T l,
T m, T n, T o, T p)
{
[[nodiscard]] constexpr T determinant(const mat<T, 4>& _m) {
// NOLINTNEXTLINE(*-isolate-declaration)
const T a = _m[0][0], b = _m[0][1], c = _m[0][2], d = _m[0][3],
e = _m[1][0], f = _m[1][1], g = _m[1][2], h = _m[1][3],
i = _m[2][0], j = _m[2][1], k = _m[2][2], l = _m[2][3],
m = _m[3][0], n = _m[3][1], o = _m[3][2], p = _m[3][3];
return
+ a * (f * (k * p - l * o) - (j * (g * p - h * o)) + (n * (g * l - h * k)))
- b * (e * (k * p - l * o) - (i * (g * p - h * o)) + (m * (g * l - h * k)))
+ c * (e * (j * p - l * n) - (i * (f * p - h * n)) + (m * (f * l - h * j)))
- d * (e * (j * o - k * n) - (i * (f * o - g * n)) + (m * (f * k - g * j)));
}
}
template < typename T >
[[nodiscard]] constexpr T determinant(const mat<T, 2>& m) {
return impl::determinant_2x2_impl(
m[0][0], m[0][1],
m[1][0], m[1][1]);
}
template < typename T >
[[nodiscard]] constexpr T determinant(const mat<T, 3>& m) {
return impl::determinant_3x3_impl(
m[0][0], m[0][1], m[0][2],
m[1][0], m[1][1], m[1][2],
m[2][0], m[2][1], m[2][2]);
}
template < typename T >
[[nodiscard]] constexpr T determinant(const mat<T, 4>& m) {
return impl::determinant_4x4_impl(
m[0][0], m[0][1], m[0][2], m[0][3],
m[1][0], m[1][1], m[1][2], m[1][3],
m[2][0], m[2][1], m[2][2], m[2][3],
m[3][0], m[3][1], m[3][2], m[3][3]);
}
//
// inverse