Implemented Matrix2x3, bugfixes

CMakeLists.txt

@@ -10,6 +10,7 @@ set(PUBLIC_HEADERS
   include/hitinfo.h
   include/kraken-math.h
   include/matrix2.h
+  include/matrix2x3.h
   include/matrix4.h
   include/quaternion.h
   include/scalar.h
@@ -25,6 +26,7 @@ set(SRCS
   src/hitinfo.cpp
   src/krhelpers.cpp
   src/matrix2.cpp
+  src/matrix2x3.cpp
   src/matrix4.cpp
   src/quaternion.cpp
   src/scalar.cpp

include/kraken-math.h

@@ -37,6 +37,7 @@
 #include "vector4.h"
 #include "vector2i.h"
 #include "matrix2.h"
+#include "matrix2x3.h"
 #include "matrix4.h"
 #include "quaternion.h"
 #include "aabb.h"

include/matrix2x3.h

@@ -0,0 +1,109 @@
+//
+//  Matrix2x3.h
+//  Kraken
+//
+//  Copyright 2018 Kearwood Gilbert. All rights reserved.
+//
+//  Redistribution and use in source and binary forms, with or without modification, are
+//  permitted provided that the following conditions are met:
+//
+//  1. Redistributions of source code must retain the above copyright notice, this list of
+//  conditions and the following disclaimer.
+//
+//  2. Redistributions in binary form must reproduce the above copyright notice, this list
+//  of conditions and the following disclaimer in the documentation and/or other materials
+//  provided with the distribution.
+//
+//  THIS SOFTWARE IS PROVIDED BY KEARWOOD GILBERT ''AS IS'' AND ANY EXPRESS OR IMPLIED
+//  WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+//  FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KEARWOOD GILBERT OR
+//  CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+//  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+//  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+//  ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+//  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+//  ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+//  The views and conclusions contained in the software and documentation are those of the
+//  authors and should not be interpreted as representing official policies, either expressed
+//  or implied, of Kearwood Gilbert.
+//
+
+#include "vector2.h"
+#include "vector3.h"
+
+#ifndef KRAKEN_MATRIX2X3_H
+#define KRAKEN_MATRIX2X3_H
+
+namespace kraken {
+
+class Matrix2x3 {
+public:
+
+  union {
+    struct {
+      Vector2 axis_x, axis_y, transform;
+    };
+    // Matrix components, in column-major order
+    float c[6];
+  };
+    
+  // Default initializer - Creates an identity matrix
+  void init();
+    
+  void init(float *pMat);
+    
+  void init(const Vector2 &new_axis_x, const Vector2 &new_axis_y, const Vector2 &new_transform);
+
+  void init(const Matrix2x3 &m);
+    
+  // Overload comparison operator
+  bool operator==(const Matrix2x3 &m) const;
+    
+  // Overload compound multiply operator
+  Matrix2x3& operator*=(const Matrix2x3 &m);
+    
+  float& operator[](unsigned i);
+  float operator[](unsigned i) const;
+    
+  // Overload multiply operator
+  Matrix2x3 operator*(const Matrix2x3 &m) const;
+    
+  float *getPointer();
+    
+  void translate(float x, float y);
+  void translate(const Vector2 &v);
+  void scale(float x, float y);
+  void scale(const Vector2 &v);
+  void scale(float s);
+  void rotate(float angle);
+  bool invert();
+    
+  static Vector2 DotNoTranslate(const Matrix2x3 &m, const Vector2 &v); // Dot product without including translation; useful for transforming normals and tangents
+  static Matrix2x3 Invert(const Matrix2x3 &m);
+  static Vector2 Dot(const Matrix2x3 &m, const Vector2 &v);
+    
+  static Matrix2x3 Translation(const Vector2 &v);
+  static Matrix2x3 Rotation(float angle);
+  static Matrix2x3 Scaling(const Vector2 &v);
+  static Matrix2x3 Identity();
+};
+static_assert(std::is_pod<Matrix2x3>::value, "kraken::Matrix2x3 must be a POD type.");
+
+} // namespace kraken
+
+namespace std {
+  template<>
+  struct hash<kraken::Matrix2x3> {
+  public:
+    size_t operator()(const kraken::Matrix2x3 &s) const
+    {
+      size_t h1 = hash<kraken::Vector2>()(s.axis_x);
+      size_t h2 = hash<kraken::Vector2>()(s.axis_y);
+      size_t h3 = hash<kraken::Vector2>()(s.transform);
+      return h1 ^ (h2 << 1) ^ (h3 << 2);
+    }
+  };
+} // namespace std
+
+#endif // KRAKEN_MATRIX2X3_H

src/matrix2.cpp

@@ -137,15 +137,16 @@ void Matrix2::scale(float s) {
 
 /* Replace matrix with its inverse */
 bool Matrix2::invert() {
-    float det = 1.0f / (c[0] * c[3] + c[1] * c[2]);
+    float det = c[0] * c[3] - c[1] * c[2];
     if (det == 0) {
         return false;
     }
     float invdet = 1.0f / det;
+    float tmp = c[0];
     c[0] = c[3] * invdet;
     c[1] = -c[1] * invdet;
     c[2] = -c[2] * invdet;
-    c[3] = c[0] * invdet;
+    c[3] = tmp * invdet;
     
     return true;
 }

src/matrix2x3.cpp

@@ -0,0 +1,225 @@
+//
+//  matrix23.cpp
+//  Kraken
+//
+//  Copyright 2018 Kearwood Gilbert. All rights reserved.
+//
+//  Redistribution and use in source and binary forms, with or without modification, are
+//  permitted provided that the following conditions are met:
+//
+//  1. Redistributions of source code must retain the above copyright notice, this list of
+//  conditions and the following disclaimer.
+//
+//  2. Redistributions in binary form must reproduce the above copyright notice, this list
+//  of conditions and the following disclaimer in the documentation and/or other materials
+//  provided with the distribution.
+//
+//  THIS SOFTWARE IS PROVIDED BY KEARWOOD GILBERT ''AS IS'' AND ANY EXPRESS OR IMPLIED
+//  WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
+//  FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KEARWOOD GILBERT OR
+//  CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+//  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+//  SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+//  ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+//  NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+//  ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+//  The views and conclusions contained in the software and documentation are those of the
+//  authors and should not be interpreted as representing official policies, either expressed
+//  or implied, of Kearwood Gilbert.
+//
+
+#include "../include/kraken-math.h"
+
+#include <string.h>
+
+namespace kraken {
+
+void Matrix2x3::init() {
+    // Default constructor - Initialize with an identity matrix
+    static const float IDENTITY_MATRIX[] = {
+        1.0, 0.0,
+        0.0, 1.0,
+        0.0, 0.0
+    };
+    memcpy(c, IDENTITY_MATRIX, sizeof(float) * 6);
+    
+}
+
+void Matrix2x3::init(float *pMat) {
+    memcpy(c, pMat, sizeof(float) * 6);
+}
+
+void Matrix2x3::init(const Vector2 &new_axis_x, const Vector2 &new_axis_y, const Vector2 &new_transform)
+{
+    c[0]  = new_axis_x.x;    c[1]  = new_axis_x.y;
+    c[2]  = new_axis_y.x;    c[3]  = new_axis_y.y;
+    c[4] = new_transform.x;  c[5] = new_transform.y;
+}
+
+void Matrix2x3::init(const Matrix2x3 &m) {
+    memcpy(c, m.c, sizeof(float) * 6);
+}
+
+float *Matrix2x3::getPointer() {
+    return c;
+}
+
+float& Matrix2x3::operator[](unsigned i) {
+    return c[i];
+}
+
+float Matrix2x3::operator[](unsigned i) const {
+    return c[i];
+}
+
+// Overload comparison operator
+bool Matrix2x3::operator==(const Matrix2x3 &m) const {
+    return memcmp(c, m.c, sizeof(float) * 6) == 0;
+}
+
+// Overload compound multiply operator
+Matrix2x3& Matrix2x3::operator*=(const Matrix2x3 &m) {
+    float temp[6];
+    temp[0] = c[0] * m[0] + c[2] * m[1];
+    temp[1] = c[1] * m[0] + c[3] * m[1];
+    temp[2] = c[0] * m[2] + c[2] * m[3];
+    temp[3] = c[1] * m[2] + c[3] * m[3];
+    temp[4] = c[0] * m[4] + c[2] * m[5] + c[4];
+    temp[5] = c[1] * m[4] + c[3] * m[5] + c[5];
+    
+    memcpy(c, temp, sizeof(float) * 6);
+    return *this;
+}
+
+// Overload multiply operator
+Matrix2x3 Matrix2x3::operator*(const Matrix2x3 &m) const {
+    Matrix2x3 ret = *this;
+    ret *= m;
+    return ret;
+}
+
+/* Perform translation operations on a matrix */
+void Matrix2x3::translate(float x, float y) {
+    Matrix2x3 newMatrix; // Create new identity matrix
+    newMatrix.init();
+    
+    newMatrix.transform.x = x;
+    newMatrix.transform.y = y;
+    
+    *this *= newMatrix;
+}
+
+void Matrix2x3::translate(const Vector2 &v)
+{
+    translate(v.x, v.y);
+}
+
+/* Rotate a matrix by an angle on a X, Y, or Z axis */
+void Matrix2x3::rotate(float angle) {
+    Matrix2x3 newMatrix;
+    newMatrix.init();
+    newMatrix.c[0] = cos(angle);
+    newMatrix.c[1] = -sin(angle);
+    newMatrix.c[2] = -newMatrix.c[1];
+    newMatrix.c[3] = newMatrix.c[0];
+    
+    *this *= newMatrix;
+}
+
+/* Scale matrix by separate x, y, and z amounts */
+void Matrix2x3::scale(float x, float y) {
+    Matrix2x3 newMatrix; // Create new identity matrix
+    newMatrix.init();
+    
+    newMatrix.c[0] = x;
+    newMatrix.c[2] = y;
+    
+    *this *= newMatrix;
+}
+
+void Matrix2x3::scale(const Vector2 &v) {
+    scale(v.x, v.y);
+}
+
+/* Scale all dimensions equally */
+void Matrix2x3::scale(float s) {
+    scale(s,s);
+}
+/* Replace matrix with its inverse */
+bool Matrix2x3::invert() {
+    float det = c[0] * c[3] - c[1] * c[2];
+    if (det == 0) {
+        return false;
+    }
+    float invdet = 1.0f / det;
+    float tmp[6];
+    tmp[0] = c[3] * invdet;
+    tmp[1] = -c[1] * invdet;
+    tmp[2] = -c[2] * invdet;
+    tmp[3] = c[0] * invdet;
+    tmp[4] = (c[2] * c[5] - c[3] * c[4]) * invdet;
+    tmp[5] = (c[1] * c[4] - c[0] * c[5]) * invdet;
+    memcpy(c, tmp, sizeof(float) * 6);
+    
+    return true;
+}
+
+/* Dot Product, returning Vector2 */
+Vector2 Matrix2x3::Dot(const Matrix2x3 &m, const Vector2 &v) {
+    return Vector2::Create(
+        v.c[0] * m.c[0] + v.c[1] * m.c[2] + m.c[4],
+        v.c[0] * m.c[1] + v.c[1] * m.c[3] + m.c[5]
+    );
+}
+
+// Dot product without including translation; useful for transforming normals and tangents
+Vector2 Matrix2x3::DotNoTranslate(const Matrix2x3 &m, const Vector2 &v)
+{
+    return Vector2::Create(
+        v.c[0] * m.c[0] + v.c[1] * m.c[2],
+        v.c[0] * m.c[1] + v.c[1] * m.c[3]
+    );
+}
+
+Matrix2x3 Matrix2x3::Invert(const Matrix2x3 &m)
+{
+    Matrix2x3 matInvert = m;
+    matInvert.invert();
+    return matInvert;
+}
+
+Matrix2x3 Matrix2x3::Translation(const Vector2 &v)
+{
+    Matrix2x3 m;
+    m.init();
+    m.transform.x = v.x;
+    m.transform.y = v.y;
+    return m;
+}
+
+Matrix2x3 Matrix2x3::Rotation(float angle)
+{
+    Matrix2x3 m;
+    m.init();
+    m.rotate(angle);
+    return m;
+}
+
+Matrix2x3 Matrix2x3::Scaling(const Vector2 &v)
+{
+    Matrix2x3 m;
+    m.init();
+    m.scale(v);
+    return m;
+}
+
+Matrix2x3 Matrix2x3::Identity()
+{
+    Matrix2x3 m;
+    m.init();
+    return m;
+}
+
+} // namespace kraken
+