From 7228b2e1a2d0a8399facce3493d71a3569d250d5 Mon Sep 17 00:00:00 2001 From: mattkae Date: Fri, 23 Dec 2022 12:47:10 -0500 Subject: Improved the makefile considerably --- themes/src/mathlib.cpp | 779 +++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 779 insertions(+) create mode 100644 themes/src/mathlib.cpp (limited to 'themes/src/mathlib.cpp') diff --git a/themes/src/mathlib.cpp b/themes/src/mathlib.cpp new file mode 100644 index 0000000..9e86833 --- /dev/null +++ b/themes/src/mathlib.cpp @@ -0,0 +1,779 @@ +// mathlib.cpp +// +// Created by Matt Kosarek +// +// A file containing some common math functionality that I find +// useful in my projects. I don't like that I don't know what's happening +// in glm, so I wrote most of this myself. All mistakes are my own. +// + +#include "mathlib.h" +#include + +// *************************************** +// Vector2 +Vector2::Vector2() { } + +Vector2::Vector2(float inX, float inY) { + x = inX; + y = inY; +} + +Vector2 getRandomNormalVector2() { + Vector2 retval = { + static_cast(rand()) / static_cast(RAND_MAX), + static_cast(rand()) / static_cast(RAND_MAX) + }; + + return retval.normalize(); +} + +Vector2 Vector2::operator+(Vector2 other) { + return { x + other.x, y + other.y }; +} + +Vector2& Vector2::operator+=(Vector2 other) { + x += other.x; + y += other.y; + return *this; +} + +Vector2 Vector2::operator-(Vector2 other) { + return { x - other.x, y - other.y }; +} + +Vector2 Vector2::operator*(float s) { + return { x * s, y * s }; +} + +Vector2 Vector2::operator/(float s) { + return { x / s, y / s }; +} + +float Vector2::dot(Vector2 other) { + return x * other.x + y * other.y; +} + +float Vector2::length() { + return sqrtf(x * x + y * y); +} + +Vector2 Vector2::normalize() { + float len = length(); + float inverseLength = len == 0 ? 1.0 : 1.0 / len; + + return { x * inverseLength, y * inverseLength }; +} + +Vector2 Vector2::negate() { + return { -x, -y }; +} + +Vector2 Vector2::getPerp() { + return { y, -x }; +} + +Vector2 Vector2::rotate(float angle) { + return { + x * cosf(angle) - y * sinf(angle), + x * sinf(angle) + y * cosf(angle) + }; +} + +Vector2 Vector2::rotateAround(float angle, const Vector2& other) { + Vector2 point = { x - other.x, y - other.y }; + point = { + point.x * cosf(angle) - point.y * sinf(angle), + point.x * sinf(angle) + point.y * cosf(angle) + }; + point = point + other; + return point; +} + +void Vector2::printDebug(const char* name) { + printf("%s=Vector2(%f, %f)\n", name, x, y); +} + + +// *************************************** +// Vector3 +Vector3::Vector3() { }; + +Vector3::Vector3(float value) { + x = value; + y = value; + z = value; +} + +Vector3::Vector3(float inX, float inY, float inZ) { + x = inX; + y = inY; + z = inZ; +} + +float Vector3::length() { + return sqrtf(x * x + y * y + z * z); +} + +float Vector3::dot(const Vector3& other) { + return x * other.x + y * other.y + z * other.z; +} + +Vector3 Vector3::scale(float scalar) { + return { + x * scalar, + y * scalar, + z * scalar + }; +} + +Vector3 Vector3::add(const Vector3& other) { + return { + x + other.x, + y + other.y, + z + other.z + }; +} + +Vector3 Vector3::subtract(const Vector3& other) { + return { + x - other.x, + y - other.y, + z - other.z + }; +} + +Vector3 Vector3::negate() { + return { + -x, + -y, + -z + }; +} + +Vector3 Vector3::cross(const Vector3& other) { + return { + y * other.z - z * other.y, + z * other.x - x * other.z, + x * other.y - y * other.x + }; +} + +Vector3 Vector3::normalize() { + float len = 1.f / length(); + return { + x * len, + y * len, + z * len + }; +} + +Vector3 Vector3::operator+(const Vector3& v2) { + return add(v2); +} + +Vector3& Vector3::operator+=(Vector3 other) { + x += other.x; + y += other.y; + z += other.z; + return *this; +} + +Vector3 Vector3::operator-(const Vector3& v2) { + return subtract(v2); +} + +Vector3 Vector3::operator-() { + return negate(); +} + +Vector3 Vector3::operator*(float value) { + return scale(value); +} + +Vector3 Vector3::operator/(const Vector3& v2) { + return { + x / v2.x, + y / v2.y, + z / v2.z + }; +} + +Vector3 Vector3::operator*(const Vector3& v2) { + return { + x * v2.x, + y * v2.y, + z * v2.z + }; +} + +float Vector3::operator [](int index) { + switch (index) { + case 0: + return x; + case 1: + return y; + case 2: + return z; + default: + return 0; + } +} + +void Vector2::operator=(const Vector4& other) { + x = other.x; + y = other.y; +} + +void Vector3::printDebug(const char* name) { + printf("%s=Vector3(%f, %f, %f)\n", name, x, y, z); +} + + +// *************************************** +// Vector4 +Vector4::Vector4() { } + +Vector4::Vector4(float value) { + x = value; + y = value; + z = value; + w = value; +} + +Vector4::Vector4(float inX, float inY, float inZ, float inW) { + x = inX; + y = inY; + z = inZ; + w = inW; +} + +Vector4::Vector4(Vector2& v) { + x = v.x; + y = v.y; + z = 0; + w = 1; +} + +Vector4::Vector4(Vector3& v) { + x = v.x; + y = v.y; + z = v.z; + w = 1; +} + +Vector4 Vector4::fromColor(float r, float g, float b, float a) { + float scale = 1.f / 255.f; + return { r * scale, g * scale, b * scale, a * scale }; +} + +Vector4 Vector4::toNormalizedColor() { + return fromColor(x, y, z, w); +} + + +Vector3 Vector4::toVector3() { + return { x, y, z }; +} + +float Vector4::length() { + return sqrtf(x * x + y * y + z * z + w * w); +} + +Vector4 Vector4::normalize() { + float len = length(); + float inverseLength = len == 0 ? 1.0 : 1.0 / len; + + return { x * inverseLength, y * inverseLength, z * inverseLength, w * inverseLength }; +} + +float Vector4::dot(const Vector4& other) { + return x * other.x + y * other.y + z * other.z + w * other.w; +} + +Vector4 Vector4::scale(float scalar) { + return { + x * scalar, + y * scalar, + z * scalar, + w * scalar + }; +} + +Vector4 Vector4::add(const Vector4& other) { + return { + x + other.x, + y + other.y, + z + other.z, + w + other.w + }; +} + +Vector4 Vector4::subtract(const Vector4& other) { + return { + x - other.x, + y - other.y, + z - other.z, + w - other.w + }; +} + +Vector4 Vector4::negate() { + return { -x, -y, -z, -w }; +} + +Vector4 Vector4::cross(const Vector4& other) { + return { + y * other.z - z * other.y, + z * other.x - x * other.z, + x * other.y - y * other.x, + 1.f + }; +} + +Vector4 lerp(Vector4 start, Vector4 end, float t) { + return (end - start) * t + start; +} + +void Vector4::operator=(const Vector2& v2) { + x = v2.x; + y = v2.y; + z = 0; + w = 1; +} + +void Vector4::operator=(const Vector3& v2) { + x = v2.x; + y = v2.y; + z = v2.z; + w = 1; +} + +Vector4 Vector4::operator+(const Vector4& v2) { + return add(v2); +} + +Vector4 Vector4::operator-(const Vector4& v2) { + return subtract(v2); +} + +Vector4 Vector4::operator-() { + return negate(); +} + +Vector4 Vector4::operator*(float value) { + return scale(value); +} + +Vector4 Vector4::operator*(const Vector4& v2) { + return { + x * v2.x, + y * v2.y, + z * v2.z, + w * v2.w + }; +} + +float Vector4::operator[](int index) { + switch (index) { + case 0: + return x; + case 1: + return y; + case 2: + return z; + case 3: + return w; + default: + return 0; + } +} + +void Vector4::printDebug(const char* name) { + printf("%s=Vector4(%f, %f, %f, %f)\n", name, x, y, z, w); +} + + +// *************************************** +// Mat4x4 +Mat4x4 Mat4x4::copy() { + Mat4x4 result; + memcpy(result.m, m, sizeof(float) * 16); + return result; +} + +Mat4x4 Mat4x4::scale(Vector3 v) { + Mat4x4 result = copy(); + result.m[0] = result.m[0] * v.x; + result.m[5] = result.m[5] *v.y; + result.m[10] = result.m[10] * v.z; + return result; +} + +Mat4x4 Mat4x4::translate(Vector3 v) { + Mat4x4 result = copy(); + result.m[12] += v.x; + result.m[13] += v.y; + result.m[14] += v.z; + return result; +} + +Mat4x4 Mat4x4::translateByVec2(Vector2 v) { + Mat4x4 result = copy(); + result.m[12] += v.x; + result.m[13] += v.y; + return result; +} + +Mat4x4 Mat4x4::rotate2D(float angle) { + Mat4x4 result = copy(); + result.m[0] = cos(angle); + result.m[1] = -sin(angle); + result.m[4] = sin(angle); + result.m[5] = cos(angle); + return result; +} + +Mat4x4 Mat4x4::getXRotationMatrix(float angleRadians) { + return { + { 1, 0, 0, 0, + 0, cos(angleRadians), -sin(angleRadians), 0, + 0, sin(angleRadians), cos(angleRadians), 0, + 0, 0, 0, 1 } + }; +} + +Mat4x4 Mat4x4::getYRotationMatrix(float angleRadians) { + return { + { cos(angleRadians), 0, sin(angleRadians), 0, + 0, 1, 0, 0, + -sin(angleRadians), 0, cos(angleRadians), 0, + 0, 0, 0, 1 } + }; +} + +Mat4x4 Mat4x4::getZRotationMatrix(float angleRadians) { + return { + { cos(angleRadians), -sin(angleRadians), 0, 0, + sin(angleRadians), cos(angleRadians), 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1 } + }; +} + +Mat4x4 Mat4x4::rotate(float xRadians, float yRadians, float zRadians) { + Mat4x4 result = copy(); + + Mat4x4 rotationMatrix; + if (xRadians != 0) { + rotationMatrix = getXRotationMatrix(xRadians); + result = result * rotationMatrix; + } + + if (yRadians != 0) { + rotationMatrix = getYRotationMatrix(yRadians); + result = result * rotationMatrix; + } + + if (zRadians != 0) { + rotationMatrix = getZRotationMatrix(zRadians); + result = result * rotationMatrix; + } + + return result; +} + +Vector2 Mat4x4::multByVec2(Vector2 v) { + Vector4 vec4 = { v.x, v.y, 0.0, 1.0 }; + return { + vec4.x * m[0] + vec4.y * m[4] + vec4.z * m[8] + vec4.w * m[12], + vec4.x * m[1] + vec4.y * m[5] + vec4.z * m[9] + vec4.w * m[13] + }; +} + +Vector2 Mat4x4::operator*(Vector2 v) { + return multByVec2(v); +} + +Mat4x4 Mat4x4::multMat4x4(const Mat4x4& other) { + Mat4x4 result; + for (int i = 0; i < 4; ++i) { + for (int j = 0; j < 4; ++j) { + int row = i * 4; + result.m[row + j] = m[row + 0] * other.m[0 + j] + m[row + 1] * other.m[4 + j] + m[row + 2] * other.m[8 + j] + m[row + 3] * other.m[12 + j]; + } + } + + return result; +} + +Mat4x4 Mat4x4::operator*(const Mat4x4& other) { + return multMat4x4(other); +} + +Mat4x4 Mat4x4::getOrthographicMatrix(float left, float right, float bottom, float top) { + Mat4x4 result; + result.m[0] = 2.0 / (right - left); + result.m[5] = 2.0 / (top - bottom); + result.m[10] = 1.0; + result.m[12] = -(right + left) / (right - left); + result.m[13] = -(top + bottom) / (top - bottom); + return result; +} + +Mat4x4 Mat4x4::inverse() { + Mat4x4 inv; + + inv.m[0] = m[5] * m[10] * m[15] - m[5] * m[11] * m[14] - m[9] * m[6] * m[15] + m[9] * m[7] * m[14] + m[13] * m[6] * m[11] - m[13] * m[7] * m[10]; + inv.m[4] = -m[4] * m[10] * m[15] + m[4] * m[11] * m[14] + m[8] * m[6] * m[15] - m[8] * m[7] * m[14] - m[12] * m[6] * m[11] + m[12] * m[7] * m[10]; + inv.m[8] = m[4] * m[9] * m[15] - m[4] * m[11] * m[13] - m[8] * m[5] * m[15] + m[8] * m[7] * m[13] + m[12] * m[5] * m[11] - m[12] * m[7] * m[9]; + inv.m[12] = -m[4] * m[9] * m[14] + m[4] * m[10] * m[13] + m[8] * m[5] * m[14] - m[8] * m[6] * m[13] - m[12] * m[5] * m[10] + m[12] * m[6] * m[9]; + inv.m[1] = -m[1] * m[10] * m[15] + m[1] * m[11] * m[14] + m[9] * m[2] * m[15] - m[9] * m[3] * m[14] - m[13] * m[2] * m[11] + m[13] * m[3] * m[10]; + inv.m[5] = m[0] * m[10] * m[15] - m[0] * m[11] * m[14] - m[8] * m[2] * m[15] + m[8] * m[3] * m[14] + m[12] * m[2] * m[11] - m[12] * m[3] * m[10]; + inv.m[9] = -m[0] * m[9] * m[15] + m[0] * m[11] * m[13] + m[8] * m[1] * m[15] - m[8] * m[3] * m[13] - m[12] * m[1] * m[11] + m[12] * m[3] * m[9]; + inv.m[13] = m[0] * m[9] * m[14] - m[0] * m[10] * m[13] - m[8] * m[1] * m[14] + m[8] * m[2] * m[13] + m[12] * m[1] * m[10] - m[12] * m[2] * m[9]; + inv.m[2] = m[1] * m[6] * m[15] - m[1] * m[7] * m[14] - m[5] * m[2] * m[15] + m[5] * m[3] * m[14] + m[13] * m[2] * m[7] - m[13] * m[3] * m[6]; + inv.m[6] = -m[0] * m[6] * m[15] + m[0] * m[7] * m[14] + m[4] * m[2] * m[15] - m[4] * m[3] * m[14] - m[12] * m[2] * m[7] + m[12] * m[3] * m[6]; + inv.m[10] = m[0] * m[5] * m[15] - m[0] * m[7] * m[13] - m[4] * m[1] * m[15] + m[4] * m[3] * m[13] + m[12] * m[1] * m[7] - m[12] * m[3] * m[5]; + inv.m[14] = -m[0] * m[5] * m[14] + m[0] * m[6] * m[13] + m[4] * m[1] * m[14] - m[4] * m[2] * m[13] - m[12] * m[1] * m[6] + m[12] * m[2] * m[5]; + inv.m[3] = -m[1] * m[6] * m[11] + m[1] * m[7] * m[10] + m[5] * m[2] * m[11] - m[5] * m[3] * m[10] - m[9] * m[2] * m[7] + m[9] * m[3] * m[6]; + inv.m[7] = m[0] * m[6] * m[11] - m[0] * m[7] * m[10] - m[4] * m[2] * m[11] + m[4] * m[3] * m[10] + m[8] * m[2] * m[7] - m[8] * m[3] * m[6]; + inv.m[11] = -m[0] * m[5] * m[11] + m[0] * m[7] * m[9] + m[4] * m[1] * m[11] - m[4] * m[3] * m[9] - m[8] * m[1] * m[7] + m[8] * m[3] * m[5]; + inv.m[15] = m[0] * m[5] * m[10] - m[0] * m[6] * m[9] - m[4] * m[1] * m[10] + m[4] * m[2] * m[9] + m[8] * m[1] * m[6] - m[8] * m[2] * m[5]; + + float det = m[0] * inv.m[0] + m[1] * inv.m[4] + m[2] * inv.m[8] + m[3] * inv.m[12]; + + if (det == 0) + return Mat4x4(); + + det = 1.f / det; + + for (int i = 0; i < 16; i++) + inv.m[i] = inv.m[i] * det; + + return inv; +} + +Mat4x4 Mat4x4::getPerspectiveProjection(float near, float far, float fieldOfViewRadians, float aspectRatio) { + float halfFieldOfView = fieldOfViewRadians * 0.5f; + float top = tan(halfFieldOfView) * near; + float bottom = -top; + float right = top * aspectRatio; + float left = -right; + + return { + { (2 * near) / (right - left), 0, 0, 0, + 0, (2 * near) / (top - bottom), 0, 0, + (right + left) / (right - left), (top + bottom) / (top - bottom), -(far + near) / (far - near), -1, + 0, 0, (-2 * far * near) / (far - near), 0 } + }; +} + +void Mat4x4::print() { + printf("[ "); + for (int idx = 0; idx < 16; idx++) { + printf("%f, ", m[idx]); + } + printf(" ]\n"); +} + +// See https://stackoverflow.com/questions/349050/calculating-a-lookat-matrix for why the dot product is in the bottom +Mat4x4 Mat4x4::getLookAt(Vector3 eye,Vector3 pointToLookAt, Vector3 up) { + Vector3 zAxis = (pointToLookAt - eye).normalize(); + Vector3 xAxis = zAxis.cross(up).normalize(); + Vector3 yAxis = xAxis.cross(zAxis).normalize(); + + return { + { xAxis.x, yAxis.x, -zAxis.x, 0, + xAxis.y, yAxis.y, -zAxis.y, 0, + xAxis.z, yAxis.z, -zAxis.z, 0, + -xAxis.dot(eye), -yAxis.dot(eye), zAxis.dot(eye), 1 } + }; +} + +// *************************************** +// Quaternion +Quaternion::Quaternion() { }; + +Quaternion::Quaternion(float inW, float inX, float inY, float inZ) { + w = inW; + x = inX; + y = inY; + z = inZ; +} + +float Quaternion::operator [](int index) { + switch (index) { + case 0: + return x; + case 1: + return y; + case 2: + return z; + case 3: + return w; + default: + return 0; + } +} + +Quaternion Quaternion::operator*(const Quaternion& other) const { + return { + w * other.w - x * other.x - y * other.y - z * other.z, // w + w * other.x + x * other.w + y * other.z - z * other.y, // i + w * other.y - x * other.z + y * other.w + z * other.x, // j + w * other.z + x * other.y - y * other.x + z * other.w // k + }; +} + +Quaternion Quaternion::operator*(const float& scale) const { + return { + w * scale, + x * scale, + y * scale, + z * scale + }; +} + +Quaternion Quaternion::operator+(const Quaternion& other) const { + return { + w + other.w, + x + other.x, + y + other.y, + z + other.z + }; +} + +Quaternion Quaternion::operator-(const Quaternion& other) const { + return { + w - other.w, + x - other.x, + y - other.y, + z - other.z + }; +} + +const float DOT_THRESHOLD = 0.9999f; + +// Using a slerp here, mostly taken from here: http://number-none.com/product/Understanding%20Slerp,%20Then%20Not%20Using%20It/. +// As JBlow says, it's expensive as heck. I will address this if it becomes a problem. +Quaternion Quaternion::interpolate(const Quaternion& other, const float factor) { + Quaternion newOther = other; + float dotProduct = dot(other); + + if (dotProduct < 0) { + newOther = other * -1; + dotProduct *= -1; + } + + if (dotProduct > DOT_THRESHOLD) { + return (*this + ((newOther - *this) * factor)).normalize(); + } + + float thetaZero = acos(dotProduct); // angle between input vectors + float theta = thetaZero * factor; + + Quaternion v2 = (newOther - (*this * dotProduct)).normalize(); + + return (*this * cos(theta)) + (v2 * sin(theta)); +} + +float Quaternion::length() const { + return sqrtf(x * x + y * y + z * z + w * w); +} + +Quaternion Quaternion::normalize() const { + float l = length(); + return { + w / l, + x / l, + y / l, + z / l, + }; +} + +/*Mat4x4 Quaternion::toMatrix() const { + return { + { + 1 - 2 * (y * y - z * z), + 2 * (x * y - z * w), + 2 * (x * z + w * y), + 0, + + 2 * (x * y + w * z), + 1 - 2 * (x * x - z * z), + 2 * (y * z - w * x), + 0, + + 2 * (x * z - w * y), + 2 * (y * z + w * x), + 1 - 2 * (x * x - y * y), + 0, + + 0, + 0, + 0, + 1 + } + }; +}*/ + +Mat4x4 Quaternion::toMatrix() const { + return { + { + 1 - 2 * (y * y + z * z), + 2 * (x * y + z * w), + 2 * (x * z - y * w), + 0, + 2 * (x * y - w * z), + 1 - 2 * (x * x + z * z), + 2 * (y * z + w * x), + 0, + 2 * (x * z + w * y), + 2 * (y * z - w * x), + 1 - 2 * (x * x + y * y), + 0, + 0, + 0, + 0, + 1 + } + }; +} + +float Quaternion::dot(const Quaternion& other) const { + return w * other.w + x * other.x + y * other.y + z * other.z; +} + +Quaternion quaternionFromRotation(Vector3 axis, float angleRadians) { + float halfAngleRadians = angleRadians / 2.f; + float cosHalfAngRad = cosf(halfAngleRadians); + float sinHalfAngRad = sinf(halfAngleRadians); + + return { + cosHalfAngRad, + axis.x * sinHalfAngRad, + axis.y * sinHalfAngRad, + axis.z * sinHalfAngRad + }; +} + +Quaternion quaternionFromEulerAngle(float yaw, float pitch, float roll) { + float cy = cosf(yaw * 0.5f); + float sy = sinf(yaw * 0.5f); + float cp = cosf(pitch * 0.5f); + float sp = sinf(pitch * 0.5f); + float cr = cosf(roll * 0.5f); + float sr = sinf(roll * 0.5f); + + return { + cr * cp * cy + sr * sp * sy, + sr * cp * cy - cr * sp * sy, + cr * sp * cy + sr * cp * sy, + cr * cp * sy - sr * sp * cy + }; +} + +void Quaternion::printDebug(const char* name) { + printf("%s=Quaternion(%f, %f, %f, %f)\n", name, x, y, z, w); +} -- cgit v1.2.1