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translate/rotate/scale matrix functions
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BlackMATov
120
headers/vmath.hpp/vmath_mat_ext.hpp
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120
headers/vmath.hpp/vmath_mat_ext.hpp
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/*******************************************************************************
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* This file is part of the "https://github.com/blackmatov/vmath.hpp"
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* For conditions of distribution and use, see copyright notice in LICENSE.md
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* Copyright (C) 2020, by Matvey Cherevko (blackmatov@gmail.com)
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******************************************************************************/
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#pragma once
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#include "vmath_fwd.hpp"
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#include "vmath_fun.hpp"
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#include "vmath_mat.hpp"
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#include "vmath_mat_fun.hpp"
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namespace vmath_hpp
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{
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// identity
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template < typename T >
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mat<T, 4> identity() {
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return {
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{1, 0, 0, 0},
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{0, 1, 0, 0},
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{0, 0, 1, 0},
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{0, 0, 0, 1}};
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}
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// translate
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template < typename T >
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mat<T, 4> translate(T x, T y, T z) {
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return {
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{1, 0, 0, 0},
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{0, 1, 0, 0},
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{0, 0, 1, 0},
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{x, y, z, 1}};
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}
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template < typename T >
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mat<T, 4> translate(const vec<T, 3>& xyz) {
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return translate(xyz.x, xyz.y, xyz.z);
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}
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template < typename T >
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mat<T, 4> translate(const mat<T, 4>& m, T x, T y, T z) {
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return m * translate(x, y, z);
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}
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template < typename T >
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mat<T, 4> translate(const mat<T, 4>& m, const vec<T, 3>& xyz) {
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return m * translate(xyz);
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}
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// rotate
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template < typename T >
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mat<T, 4> rotate(T angle, T axis_x, T axis_y, T axis_z) {
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const T x = axis_x;
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const T y = axis_y;
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const T z = axis_z;
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const T px = x * x;
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const T py = y * y;
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const T pz = z * z;
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const T cs = cos(angle);
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const T sn = sin(angle);
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const T ics = T(1) - cs;
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const T xym = x * y * ics;
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const T xzm = x * z * ics;
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const T yzm = y * z * ics;
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const T xsn = x * sn;
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const T ysn = y * sn;
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const T zsn = z * sn;
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return {
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px * ics + cs, xym + zsn, xzm - ysn, 0,
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xym - zsn, py * ics + cs, yzm + xsn, 0,
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xzm + ysn, yzm - xsn, pz * ics + cs, 0,
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0, 0, 0, 1};
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}
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template < typename T >
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mat<T, 4> rotate(T angle, const vec<T, 3>& axis) {
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return rotate(angle, axis.x, axis.y, axis.z);
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}
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template < typename T >
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mat<T, 4> rotate(const mat<T, 4>& m, T angle, T axis_x, T axis_y, T axis_z) {
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return m * rotate(angle, axis_x, axis_y, axis_z);
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}
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template < typename T >
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mat<T, 4> rotate(const mat<T, 4>& m, T angle, const vec<T, 3>& axis) {
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return m * rotate(angle, axis);
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}
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// scale
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template < typename T >
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mat<T, 4> scale(T x, T y, T z) {
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return {
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{x, 0, 0, 0},
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{0, y, 0, 0},
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{0, 0, z, 0},
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{0, 0, 0, 1}};
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}
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template < typename T >
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mat<T, 4> scale(const vec<T, 3>& xyz) {
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return scale(xyz.x, xyz.y, xyz.z);
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}
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template < typename T >
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mat<T, 4> scale(const mat<T, 4>& m, T x, T y, T z) {
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return m * scale(x, y, z);
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}
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template < typename T >
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mat<T, 4> scale(const mat<T, 4>& m, const vec<T, 3>& xyz) {
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return m * scale(xyz);
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}
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}
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103
untests/vmath_mat_ext_tests.cpp
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103
untests/vmath_mat_ext_tests.cpp
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/*******************************************************************************
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* This file is part of the "https://github.com/blackmatov/vmath.hpp"
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* For conditions of distribution and use, see copyright notice in LICENSE.md
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* Copyright (C) 2020, by Matvey Cherevko (blackmatov@gmail.com)
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******************************************************************************/
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#include <vmath.hpp/vmath_mat_ext.hpp>
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#define CATCH_CONFIG_FAST_COMPILE
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#include <catch2/catch.hpp>
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namespace
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{
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using namespace vmath_hpp;
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template < typename T >
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class approx2 {
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public:
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constexpr explicit approx2(T v) : value_(v) {}
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constexpr explicit approx2(T x, T y) : value_(x, y) {}
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friend constexpr bool operator==(const vec<T, 2>& l, const approx2& r) {
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return (r.value_.x < l.x + epsilon)
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&& (l.x < r.value_.x + epsilon)
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&& (r.value_.y < l.y + epsilon)
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&& (l.y < r.value_.y + epsilon);
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}
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private:
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vec<T, 2> value_;
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static constexpr T epsilon = std::numeric_limits<T>::epsilon() * 100;
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};
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template < typename T >
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class approx3 {
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public:
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constexpr explicit approx3(T v) : value_(v) {}
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constexpr explicit approx3(T x, T y, T z) : value_(x, y, z) {}
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friend constexpr bool operator==(const vec<T, 3>& l, const approx3& r) {
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return (r.value_.x < l.x + epsilon)
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&& (l.x < r.value_.x + epsilon)
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&& (r.value_.y < l.y + epsilon)
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&& (l.y < r.value_.y + epsilon)
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&& (r.value_.z < l.z + epsilon)
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&& (l.z < r.value_.z + epsilon);
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}
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private:
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vec<T, 3> value_;
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static constexpr T epsilon = std::numeric_limits<T>::epsilon() * 100;
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};
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template < typename T >
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class approx4 {
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public:
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constexpr explicit approx4(T v) : value_(v) {}
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constexpr explicit approx4(T x, T y, T z, T w) : value_(x, y, z, w) {}
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friend constexpr bool operator==(const vec<T, 4>& l, const approx4& r) {
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return (r.value_.x < l.x + epsilon)
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&& (l.x < r.value_.x + epsilon)
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&& (r.value_.y < l.y + epsilon)
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&& (l.y < r.value_.y + epsilon)
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&& (r.value_.z < l.z + epsilon)
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&& (l.z < r.value_.z + epsilon)
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&& (r.value_.w < l.w + epsilon)
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&& (l.w < r.value_.w + epsilon);
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}
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private:
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vec<T, 4> value_;
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static constexpr T epsilon = std::numeric_limits<T>::epsilon() * 100;
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};
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}
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TEST_CASE("vmath/mat_ext") {
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SECTION("identity") {
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * identity<float>() == approx4(2.f,3.f,4.f,1.f));
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * identity<float>() == approx4(2.f,3.f,4.f,1.f));
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}
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SECTION("translate") {
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * translate(1.f,2.f,3.f) == approx4(3.f,5.f,7.f,1.f));
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * translate(vec3f{1.f,2.f,3.f}) == approx4(3.f,5.f,7.f,1.f));
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REQUIRE(vec4f(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));
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * translate(translate(1.f,2.f,3.f), vec3f{1.f,2.f,3.f}) == approx4(4.f,7.f,10.f,1.f));
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}
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SECTION("rotate") {
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * rotate(float(M_PI),0.f,0.f,1.f) == approx4(-2.f,-3.f,4.f,1.f));
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * rotate(float(M_PI),vec3f{0.f,0.f,1.f}) == approx4(-2.f,-3.f,4.f,1.f));
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * rotate(rotate(float(M_PI_2),0.f,0.f,1.f),float(M_PI_2),0.f,0.f,1.f) == approx4(-2.f,-3.f,4.f,1.f));
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * rotate(rotate(float(M_PI_2),0.f,0.f,1.f),float(M_PI_2),vec3f{0.f,0.f,1.f}) == approx4(-2.f,-3.f,4.f,1.f));
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}
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SECTION("scale") {
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * scale(2.f,3.f,4.f) == approx4(4.f,9.f,16.f,1.f));
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * scale(vec3f{2.f,3.f,4.f}) == approx4(4.f,9.f,16.f,1.f));
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REQUIRE(vec4f(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));
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REQUIRE(vec4f(2.f,3.f,4.f,1.f) * scale(scale(2.f,2.f,2.f), vec3f{2.f,3.f,4.f}) == approx4(8.f,18.f,32.f,1.f));
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}
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}
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