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Implemented Matrix2x3, bugfixes

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This commit is contained in:
Kearwood Kip Gilbert
2018-03-28 15:42:56 -07:00
parent 20d341227d
commit d9808e03ba
6 changed files with 463 additions and 125 deletions
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2
CMakeLists.txt
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@@ -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

1
include/kraken-math.h
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@@ -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"

109
include/matrix2x3.h Normal file
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@@ -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

246
include/vector2i.h
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@@ -1,124 +1,124 @@
//
// vector2i.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.
//
#ifndef KRAKEN_VECTOR2I_H
#define KRAKEN_VECTOR2I_H
#include <functional> // for hash<>
#include <limits> // for std::numeric_limits<>
#include <math.h> // for sqrtf
namespace kraken {
class Vector2i {
public:
union {
struct {
int x, y;
};
int c[2];
};
void init();
void init(int X, int Y);
void init(int v);
void init(int *v);
void init(const Vector2i &v);
static Vector2i Create();
static Vector2i Create(int X, int Y);
static Vector2i Create(int v);
static Vector2i Create(int *v);
static Vector2i Create(const Vector2i &v);
// Vector2 swizzle getters
Vector2i yx() const;
// Vector2 swizzle setters
void yx(const Vector2i &v);
Vector2i operator +(const Vector2i& b) const;
Vector2i operator -(const Vector2i& b) const;
Vector2i operator +() const;
Vector2i operator -() const;
Vector2i operator *(const int v) const;
Vector2i operator /(const int v) const;
Vector2i& operator +=(const Vector2i& b);
Vector2i& operator -=(const Vector2i& b);
Vector2i& operator *=(const int v);
Vector2i& operator /=(const int v);
// Comparison operators are implemented to allow insertion into sorted containers such as std::set
bool operator >(const Vector2i& b) const;
bool operator <(const Vector2i& b) const;
bool operator ==(const Vector2i& b) const;
bool operator !=(const Vector2i& b) const;
int& operator[](unsigned i);
int operator[](unsigned i) const;
int sqrMagnitude() const;
int magnitude() const;
void normalize();
static Vector2i Normalize(const Vector2i &v);
static int Cross(const Vector2i &v1, const Vector2i &v2);
static int Dot(const Vector2i &v1, const Vector2i &v2);
//
// vector2i.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.
//
#ifndef KRAKEN_VECTOR2I_H
#define KRAKEN_VECTOR2I_H
#include <functional> // for hash<>
#include <limits> // for std::numeric_limits<>
#include <math.h> // for sqrtf
namespace kraken {
class Vector2i {
public:
union {
struct {
int x, y;
};
int c[2];
};
void init();
void init(int X, int Y);
void init(int v);
void init(int *v);
void init(const Vector2i &v);
static Vector2i Create();
static Vector2i Create(int X, int Y);
static Vector2i Create(int v);
static Vector2i Create(int *v);
static Vector2i Create(const Vector2i &v);
// Vector2 swizzle getters
Vector2i yx() const;
// Vector2 swizzle setters
void yx(const Vector2i &v);
Vector2i operator +(const Vector2i& b) const;
Vector2i operator -(const Vector2i& b) const;
Vector2i operator +() const;
Vector2i operator -() const;
Vector2i operator *(const int v) const;
Vector2i operator /(const int v) const;
Vector2i& operator +=(const Vector2i& b);
Vector2i& operator -=(const Vector2i& b);
Vector2i& operator *=(const int v);
Vector2i& operator /=(const int v);
// Comparison operators are implemented to allow insertion into sorted containers such as std::set
bool operator >(const Vector2i& b) const;
bool operator <(const Vector2i& b) const;
bool operator ==(const Vector2i& b) const;
bool operator !=(const Vector2i& b) const;
int& operator[](unsigned i);
int operator[](unsigned i) const;
int sqrMagnitude() const;
int magnitude() const;
void normalize();
static Vector2i Normalize(const Vector2i &v);
static int Cross(const Vector2i &v1, const Vector2i &v2);
static int Dot(const Vector2i &v1, const Vector2i &v2);
static Vector2i Min(const Vector2i &v1, const Vector2i &v2);
static Vector2i Max(const Vector2i &v1, const Vector2i &v2);
static Vector2i Min();
static Vector2i Max();
static Vector2i Zero();
static Vector2i One();
}; // class Vector2i
static_assert(std::is_pod<Vector2i>::value, "kraken::Vector2i must be a POD type.");
} // namespace kraken
namespace std {
template<>
struct hash<kraken::Vector2i> {
public:
size_t operator()(const kraken::Vector2i &s) const
{
size_t h1 = hash<int>()(s.x);
size_t h2 = hash<int>()(s.y);
return h1 ^ (h2 << 1);
}
};
} // namespace std
#endif // KRAKEN_VECTOR2I_H
static Vector2i Max(const Vector2i &v1, const Vector2i &v2);
static Vector2i Min();
static Vector2i Max();
static Vector2i Zero();
static Vector2i One();
}; // class Vector2i
static_assert(std::is_pod<Vector2i>::value, "kraken::Vector2i must be a POD type.");
} // namespace kraken
namespace std {
template<>
struct hash<kraken::Vector2i> {
public:
size_t operator()(const kraken::Vector2i &s) const
{
size_t h1 = hash<int>()(s.x);
size_t h2 = hash<int>()(s.y);
return h1 ^ (h2 << 1);
}
};
} // namespace std
#endif // KRAKEN_VECTOR2I_H

5
src/matrix2.cpp
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@@ -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;
}

225
src/matrix2x3.cpp Normal file
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@@ -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