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-rw-r--r--shared_cpp/mathlib.h329
1 files changed, 53 insertions, 276 deletions
diff --git a/shared_cpp/mathlib.h b/shared_cpp/mathlib.h
index fc2ef0c..cff9ece 100644
--- a/shared_cpp/mathlib.h
+++ b/shared_cpp/mathlib.h
@@ -13,75 +13,19 @@ struct Vector2 {
float x = 0;
float y = 0;
- Vector2 operator+(Vector2 other) {
- return { x + other.x, y + other.y };
- }
-
- Vector2& operator+=(Vector2 other) {
- x += other.x;
- y += other.y;
- return *this;
- }
-
- Vector2 operator-(Vector2 other) {
- return { x - other.x, y - other.y };
- }
-
- Vector2 operator*(float s) {
- return { x * s, y * s };
- }
-
- Vector2 operator/(float s) {
- return { x / s, y / s };
- }
-
- float dot(Vector2 other) {
- return x * other.x + y * other.y;
- }
-
- float length() {
- return sqrtf(x * x + y * y);
- }
-
- Vector2 normalize() {
- float len = length();
- float inverseLength = len == 0 ? 1.0 : 1.0 / len;
-
- return { x * inverseLength, y * inverseLength };
- }
-
- Vector2 negate() {
- return { -x, -y };
- }
-
- Vector2 getPerp() {
- return { y, -x };
- }
-
- Vector2 rotate(float angle) {
- return {
- x * cosf(angle) - y * sinf(angle),
- x * sinf(angle) + y * cosf(angle)
- };
- }
-
- void printDebug(const char* name) {
- printf("%s=Vector2(%f, %f)\n", name, x, y);
- }
-
- float determinant(Vector2 other) {
- //
- // [ a b ]
- // [ c d ]
- //
- // [ x other.x ]
- // [ y other.y ]
- //
- // det = a * d - b * c
- // det = x * other.y - other.x * y
- //
- return x * other.y - other.x * y;
- }
+ Vector2 operator+(Vector2 other);
+ Vector2& operator+=(Vector2 other);
+ Vector2 operator-(Vector2 other);
+ Vector2 operator*(float s);
+ Vector2 operator/(float s);
+ float dot(Vector2 other);
+ float length();
+ Vector2 normalize();
+ Vector2 negate();
+ Vector2 getPerp();
+ Vector2 rotate(float angle);
+ void printDebug(const char* name);
+ float determinant(Vector2 other);
};
struct Vector3 {
@@ -89,13 +33,8 @@ struct Vector3 {
float y = 0.f;
float z = 0.f;
- float length() {
- return sqrtf(x * x + y * y + z * z);
- }
-
- Vector3 operator+(const Vector3& other) {
- return { x + other.x, y + other.y, z + other.z };
- }
+ float length();
+ Vector3 operator+(const Vector3& other);
};
struct Vector4 {
@@ -104,25 +43,10 @@ struct Vector4 {
float z = 0.f;
float w = 0.f;
- float length() {
- return sqrtf(x * x + y * y + z * z + w * w);
- }
-
- Vector4 normalize() {
- float len = length();
- float inverseLength = len == 0 ? 1.0 : 1.0 / len;
-
- return { x * inverseLength, y * inverseLength, z * inverseLength, w * inverseLength };
- }
-
- 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 toNormalizedColor() {
- return fromColor(x, y, z, w);
- }
+ float length();
+ Vector4 normalize();
+ Vector4 fromColor(float r, float g, float b, float a);
+ Vector4 toNormalizedColor();
};
struct Mat4x4 {
@@ -133,186 +57,39 @@ struct Mat4x4 {
0, 0, 0, 1
};
- Mat4x4 copy() {
- Mat4x4 result;
- memcpy(result.m, m, sizeof(float) * 16);
- return result;
- }
-
- 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 translate(Vector3 v) {
- Mat4x4 result = copy();
- result.m[12] += v.x;
- result.m[13] += v.y;
- result.m[14] += v.z;
- return result;
- }
-
- Mat4x4 translateByVec2(Vector2 v) {
- Mat4x4 result = copy();
- result.m[12] += v.x;
- result.m[13] += v.y;
- return result;
- }
-
- 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 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 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 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 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 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 operator*(Vector2 v) {
- return multByVec2(v);
- }
-
- 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 operator*(const Mat4x4& other) {
- return multMat4x4(other);
- }
-
- 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 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 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 print() {
- printf("[ ");
- for (int idx = 0; idx < 16; idx++) {
- printf("%f, ", m[idx]);
- }
- printf(" ]\n");
- }
+ Mat4x4 copy();
+ Mat4x4 scale(Vector3 v);
+ Mat4x4 translate(Vector3 v);
+ Mat4x4 translateByVec2(Vector2 v);
+ Mat4x4 rotate2D(float angle);
+ Mat4x4 getXRotationMatrix(float angleRadians);
+ Mat4x4 getYRotationMatrix(float angleRadians);
+ Mat4x4 getZRotationMatrix(float angleRadians);
+ Mat4x4 rotate(float xRadians, float yRadians, float zRadians);
+ Vector2 multByVec2(Vector2 v);
+ Vector2 operator*(Vector2 v);
+ Mat4x4 multMat4x4(const Mat4x4& other);
+ Mat4x4 operator*(const Mat4x4& other);
+ Mat4x4 getOrthographicMatrix(float left, float right, float bottom, float top);
+ Mat4x4 inverse();
+ Mat4x4 getPerspectiveProjection(float near, float far, float fieldOfViewRadians, float aspectRatio);
+ void print();
};
-
+struct Quaternion {
+ float x = 0;
+ float y = 0;
+ float z = 0;
+ float w = 0;
+
+ float operator [](int index);
+ Quaternion operator*(const Quaternion& other) const;
+ Quaternion operator*(const float& scale) const;
+ Quaternion operator+(const Quaternion& other) const;
+ Quaternion operator-(const Quaternion& other) const;
+ Quaternion interpolate(const Quaternion& other, const float factor);
+ Mat4x4 toMatrix() const;
+ Quaternion normalize() const;
+ float length() const;
+ float dot(const Quaternion& other) const;
+};
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