BlackMATov/vmath.hpp
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look_at matrix functions

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BlackMATov
2020-11-26 05:49:35 +07:00
parent bf258a00ac
commit 6c4a1f64f5
3 changed files with 68 additions and 64 deletions
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92
headers/vmath.hpp/vmath_ext.hpp
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@@ -181,36 +181,26 @@ namespace vmath_hpp
// translate // translate
template < typename T > template < typename T >
constexpr mat<T, 4> translate(T x, T y, T z) { constexpr mat<T, 4> translate(const vec<T, 3>& v) {
return { return {
{1, 0, 0, 0}, { 1, 0, 0, 0},
{0, 1, 0, 0}, { 0, 1, 0, 0},
{0, 0, 1, 0}, { 0, 0, 1, 0},
{x, y, z, 1}}; {v.x, v.y, v.z, 1}};
} }
template < typename T > template < typename T >
constexpr mat<T, 4> translate(const vec<T, 3>& xyz) { constexpr mat<T, 4> translate(const mat<T, 4>& m, const vec<T, 3>& v) {
return translate(xyz.x, xyz.y, xyz.z); return m * translate(v);
}
template < typename T >
constexpr mat<T, 4> translate(const mat<T, 4>& m, T x, T y, T z) {
return m * translate(x, y, z);
}
template < typename T >
constexpr mat<T, 4> translate(const mat<T, 4>& m, const vec<T, 3>& xyz) {
return m * translate(xyz);
} }
// rotate // rotate
template < typename T > template < typename T >
mat<T, 4> rotate(T angle, T axis_x, T axis_y, T axis_z) { mat<T, 4> rotate(T angle, const vec<T, 3>& axis) {
const T x = axis_x; const T x = axis.x;
const T y = axis_y; const T y = axis.y;
const T z = axis_z; const T z = axis.z;
const T px = x * x; const T px = x * x;
const T py = y * y; const T py = y * y;
const T pz = z * z; const T pz = z * z;
@@ -230,16 +220,6 @@ namespace vmath_hpp
0, 0, 0, 1}; 0, 0, 0, 1};
} }
template < typename T >
mat<T, 4> rotate(T angle, const vec<T, 3>& axis) {
return rotate(angle, axis.x, axis.y, axis.z);
}
template < typename T >
mat<T, 4> rotate(const mat<T, 4>& m, T angle, T axis_x, T axis_y, T axis_z) {
return m * rotate(angle, axis_x, axis_y, axis_z);
}
template < typename T > template < typename T >
mat<T, 4> rotate(const mat<T, 4>& m, T angle, const vec<T, 3>& axis) { mat<T, 4> rotate(const mat<T, 4>& m, T angle, const vec<T, 3>& axis) {
return m * rotate(angle, axis); return m * rotate(angle, axis);
@@ -248,27 +228,49 @@ namespace vmath_hpp
// scale // scale
template < typename T > template < typename T >
constexpr mat<T, 4> scale(T x, T y, T z) { constexpr mat<T, 4> scale(const vec<T, 3>& v) {
return { return {
{x, 0, 0, 0}, {v.x, 0, 0, 0},
{0, y, 0, 0}, { 0, v.y, 0, 0},
{0, 0, z, 0}, { 0, 0, v.z, 0},
{0, 0, 0, 1}}; { 0, 0, 0, 1}};
} }
template < typename T > template < typename T >
constexpr mat<T, 4> scale(const vec<T, 3>& xyz) { constexpr mat<T, 4> scale(const mat<T, 4>& m, const vec<T, 3>& v) {
return scale(xyz.x, xyz.y, xyz.z); return m * scale(v);
}
// look_at
template < typename T >
constexpr mat<T, 4> look_at_lh(const vec<T, 3>& eye, const vec<T, 3>& at, const vec<T, 3>& up) {
const vec<T, 3> az = normalize(at - eye);
const vec<T, 3> ax = normalize(cross(up, az));
const vec<T, 3> ay = cross(az, ax);
const T dx = dot(ax, eye);
const T dy = dot(ay, eye);
const T dz = dot(az, eye);
return {
ax.x, ay.x, az.x, 0,
ax.y, ay.y, az.y, 0,
ax.z, ay.z, az.z, 0,
-dx, -dy, -dz, 1};
} }
template < typename T > template < typename T >
constexpr mat<T, 4> scale(const mat<T, 4>& m, T x, T y, T z) { constexpr mat<T, 4> look_at_rh(const vec<T, 3>& eye, const vec<T, 3>& at, const vec<T, 3>& up) {
return m * scale(x, y, z); const vec<T, 3> az = normalize(eye - at);
} const vec<T, 3> ax = normalize(cross(up, az));
const vec<T, 3> ay = cross(az, ax);
template < typename T > const T dx = dot(ax, eye);
constexpr mat<T, 4> scale(const mat<T, 4>& m, const vec<T, 3>& xyz) { const T dy = dot(ay, eye);
return m * scale(xyz); const T dz = dot(az, eye);
return {
ax.x, ay.x, az.x, 0,
ax.y, ay.y, az.y, 0,
ax.z, ay.z, az.z, 0,
-dx, -dy, -dz, 1};
} }
} }

22
untests/vmath_ext_tests.cpp
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@@ -108,30 +108,32 @@ TEST_CASE("vmath/ext") {
} }
SECTION("matrix translate") { SECTION("matrix translate") {
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * translate(1.f,2.f,3.f) == approx4(3.f,5.f,7.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * translate(float3{1.f,2.f,3.f}) == approx4(3.f,5.f,7.f,1.f)); STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * translate(float3{1.f,2.f,3.f}) == approx4(3.f,5.f,7.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * translate(translate(float3{1.f,2.f,3.f}), float3{1.f,2.f,3.f}) == approx4(4.f,7.f,10.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * translate(translate(1.f,2.f,3.f), 1.f,2.f,3.f) == approx4(4.f,7.f,10.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * translate(translate(1.f,2.f,3.f), float3{1.f,2.f,3.f}) == approx4(4.f,7.f,10.f,1.f));
} }
SECTION("matrix rotate") { SECTION("matrix rotate") {
constexpr float pi = radians(180.f); constexpr float pi = radians(180.f);
constexpr float pi_2 = radians(90.f); constexpr float pi_2 = radians(90.f);
REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(pi,0.f,0.f,1.f) == approx4(-2.f,-3.f,4.f,1.f)); REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(pi,{0.f,0.f,1.f}) == approx4(-2.f,-3.f,4.f,1.f));
REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(pi,float3{0.f,0.f,1.f}) == approx4(-2.f,-3.f,4.f,1.f)); REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(pi,float3{0.f,0.f,1.f}) == approx4(-2.f,-3.f,4.f,1.f));
REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(rotate(pi_2,0.f,0.f,1.f),pi_2,0.f,0.f,1.f) == approx4(-2.f,-3.f,4.f,1.f)); REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(rotate(pi_2,{0.f,0.f,1.f}),pi_2,{0.f,0.f,1.f}) == approx4(-2.f,-3.f,4.f,1.f));
REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(rotate(pi_2,0.f,0.f,1.f),pi_2,float3{0.f,0.f,1.f}) == approx4(-2.f,-3.f,4.f,1.f)); REQUIRE(float4(2.f,3.f,4.f,1.f) * rotate(rotate(pi_2,float3{0.f,0.f,1.f}),pi_2,float3{0.f,0.f,1.f}) == approx4(-2.f,-3.f,4.f,1.f));
} }
SECTION("matrix scale") { SECTION("matrix scale") {
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(2.f,3.f,4.f) == approx4(4.f,9.f,16.f,1.f)); STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(float3{2.f,3.f,4.f}) == approx4(4.f,9.f,16.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(float3{2.f,3.f,4.f}) == approx4(4.f,9.f,16.f,1.f)); STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(float3{2.f,3.f,4.f}) == approx4(4.f,9.f,16.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(scale(2.f,2.f,2.f), 2.f,3.f,4.f) == approx4(8.f,18.f,32.f,1.f)); STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(scale(float3{2.f,2.f,2.f}), {2.f,3.f,4.f}) == approx4(8.f,18.f,32.f,1.f));
STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(scale(2.f,2.f,2.f), float3{2.f,3.f,4.f}) == approx4(8.f,18.f,32.f,1.f)); STATIC_REQUIRE(float4(2.f,3.f,4.f,1.f) * scale(scale(float3{2.f,2.f,2.f}), float3{2.f,3.f,4.f}) == approx4(8.f,18.f,32.f,1.f));
}
SECTION("matrix look_at") {
look_at_lh(float3(-10.f), float3(0.f), float3(0,-1,0));
look_at_rh(float3(-10.f), float3(0.f), float3(0,-1,0));
} }
SECTION("vector angle") { SECTION("vector angle") {

18
untests/vmath_mat_fun_tests.cpp
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@@ -88,23 +88,23 @@ TEST_CASE("vmath/mat_fun") {
{ {
float4 v{0.f, 0.f, 0.f, 1.f}; float4 v{0.f, 0.f, 0.f, 1.f};
REQUIRE(&v == &(v *= translate(1.f,2.f,3.f))); REQUIRE(&v == &(v *= translate(float3{1.f,2.f,3.f})));
REQUIRE(v == approx4(1.f,2.f,3.f,1.f)); REQUIRE(v == approx4(1.f,2.f,3.f,1.f));
} }
{ {
float3 v{1.f, 2.f, 3.f}; float3 v{1.f, 2.f, 3.f};
REQUIRE(&v == &(v *= float3x3(scale(2.f,3.f,4.f)))); REQUIRE(&v == &(v *= float3x3(scale(float3{2.f,3.f,4.f}))));
REQUIRE(v == approx3(2.f,6.f,12.f)); REQUIRE(v == approx3(2.f,6.f,12.f));
} }
{ {
float4x4 v = translate(1.f, 2.f, 3.f); float4x4 v = translate(float3{1.f, 2.f, 3.f});
REQUIRE(&v == &(v *= translate(1.f,2.f,3.f))); REQUIRE(&v == &(v *= translate(float3{1.f,2.f,3.f})));
REQUIRE(v == approx4x4(translate(2.f,4.f,6.f))); REQUIRE(v == approx4x4(translate(float3{2.f,4.f,6.f})));
} }
{ {
float3x3 v = float3x3(scale(1.f, 2.f, 3.f)); float3x3 v = float3x3(scale(float3{1.f, 2.f, 3.f}));
REQUIRE(&v == &(v *= float3x3(scale(2.f,3.f,4.f)))); REQUIRE(&v == &(v *= float3x3(scale(float3{2.f,3.f,4.f}))));
REQUIRE(v == approx3x3(float3x3(scale(2.f,6.f,12.f)))); REQUIRE(v == approx3x3(float3x3(scale(float3{2.f,6.f,12.f}))));
} }
} }
@@ -165,7 +165,7 @@ TEST_CASE("vmath/mat_fun") {
STATIC_REQUIRE(inverse(float3x3(0.5)) == float3x3(2.f)); STATIC_REQUIRE(inverse(float3x3(0.5)) == float3x3(2.f));
STATIC_REQUIRE(inverse(float4x4(0.5)) == float4x4(2.f)); STATIC_REQUIRE(inverse(float4x4(0.5)) == float4x4(2.f));
STATIC_REQUIRE(inverse(translate(1.f,2.f,3.f)) == approx4x4(translate(-1.f,-2.f,-3.f))); STATIC_REQUIRE(inverse(translate(float3{1.f,2.f,3.f})) == approx4x4(translate(float3{-1.f,-2.f,-3.f})));
REQUIRE(inverse(rotate(0.5f,normalize(float3{1.f,2.f,3.f}))) == approx4x4(rotate(-0.5f,normalize(float3{1.f,2.f,3.f})))); REQUIRE(inverse(rotate(0.5f,normalize(float3{1.f,2.f,3.f}))) == approx4x4(rotate(-0.5f,normalize(float3{1.f,2.f,3.f}))));
REQUIRE(inverse(float3x3(rotate(0.5f,normalize(float3{1.f,2.f,3.f})))) == approx3x3(float3x3(rotate(-0.5f,normalize(float3{1.f,2.f,3.f}))))); REQUIRE(inverse(float3x3(rotate(0.5f,normalize(float3{1.f,2.f,3.f})))) == approx3x3(float3x3(rotate(-0.5f,normalize(float3{1.f,2.f,3.f})))));