BlackMATov/vmath.hpp
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add some code references

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BlackMATov
2021-01-28 07:09:35 +07:00
parent 15e7118de0
commit ddac471c19
2 changed files with 48 additions and 10 deletions
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40
headers/vmath.hpp/vmath_ext.hpp
View File

@@ -257,6 +257,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] mat<T, 4> rotate(T angle, const vec<T, 3>& axis) {
/// REFERENCE:
/// http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToMatrix/
const auto [s, c] = sincos(angle);
const auto [x, y, z] = normalize(axis);
@@ -269,15 +272,20 @@ namespace vmath_hpp
const T zs = z * s;
const T ic = T(1) - c;
const T xxm = xx * ic;
const T yym = yy * ic;
const T zzm = zz * ic;
const T xym = x * y * ic;
const T xzm = x * z * ic;
const T yzm = y * z * ic;
return {
xx * ic + c, xym + zs, xzm - ys, 0,
xym - zs, yy * ic + c, yzm + xs, 0,
xzm + ys, yzm - xs, zz * ic + c, 0,
0, 0, 0, 1};
xxm + c, xym + zs, xzm - ys, 0,
xym - zs, yym + c, yzm + xs, 0,
xzm + ys, yzm - xs, zzm + c, 0,
0, 0, 0, 1};
}
template < typename T >
@@ -287,6 +295,9 @@ namespace vmath_hpp
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,
@@ -302,6 +313,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] mat<T, 4> rotate_y(T angle) {
/// REFERENCE:
/// http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/
const auto [s, c] = sincos(angle);
return {
c, 0, -s, 0,
@@ -317,6 +331,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] mat<T, 4> rotate_z(T angle) {
/// REFERENCE:
/// http://www.euclideanspace.com/maths/algebra/matrix/orthogonal/rotation/
const auto [s, c] = sincos(angle);
return {
c, s, 0, 0,
@@ -360,9 +377,9 @@ 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) {
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 vec az = normalize(at - eye);
const vec ax = normalize(cross(up, az));
const vec ay = cross(az, ax);
const T dx = dot(ax, eye);
const T dy = dot(ay, eye);
@@ -377,9 +394,9 @@ 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) {
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);
const vec az = normalize(eye - at);
const vec ax = normalize(cross(up, az));
const vec ay = cross(az, ax);
const T dx = dot(ax, eye);
const T dy = dot(ay, eye);
@@ -746,6 +763,9 @@ namespace vmath_hpp
template < typename T >
[[nodiscard]] qua<T> qrotate(T angle, const vec<T, 3>& axis) {
/// REFERENCE:
/// http://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/
const auto [s, c] = sincos(angle * T(0.5));
const auto [x, y, z] = normalize(axis);
return {vec{x,y,z} * s, c};

18
headers/vmath.hpp/vmath_mat_fun.hpp
View File

@@ -650,6 +650,9 @@ namespace vmath_hpp
T a, T b,
T c, T d)
{
/// REFERENCE:
/// http://www.euclideanspace.com/maths/algebra/matrix/functions/determinant/twoD/
return
+ a * d
- b * c;
@@ -662,6 +665,9 @@ namespace vmath_hpp
T d, T e, T f,
T g, T h, T i)
{
/// REFERENCE:
/// http://www.euclideanspace.com/maths/algebra/matrix/functions/determinant/threeD/
return
+ a * determinant_2x2_impl(e, f, h, i)
- b * determinant_2x2_impl(d, f, g, i)
@@ -677,6 +683,9 @@ namespace vmath_hpp
T i, T j, T k, T l,
T m, T n, T o, T p)
{
/// REFERENCE:
/// http://www.euclideanspace.com/maths/algebra/matrix/functions/determinant/fourD/
return
+ a * determinant_3x3_impl(f, g, h, j, k, l, n, o, p)
- b * determinant_3x3_impl(e, g, h, i, k, l, m, o, p)
@@ -717,6 +726,9 @@ namespace vmath_hpp
T a, T b,
T c, T d)
{
/// REFERENCE:
/// http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/twoD/
const T inv_det = rcp(determinant_2x2_impl(
a, b,
c, d));
@@ -735,6 +747,9 @@ namespace vmath_hpp
T d, T e, T f,
T g, T h, T i)
{
/// REFERENCE:
/// http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/threeD/
const T inv_det = rcp(determinant_3x3_impl(
a, b, c,
d, e, f,
@@ -762,6 +777,9 @@ namespace vmath_hpp
T i, T j, T k, T l,
T m, T n, T o, T p)
{
/// REFERENCE:
/// http://www.euclideanspace.com/maths/algebra/matrix/functions/inverse/fourD/
const T inv_det = rcp(determinant_4x4_impl(
a, b, c, d,
e, f, g, h,