mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
328 lines
6.7 KiB
C++
328 lines
6.7 KiB
C++
#ifndef __GEOMETRY_H__
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#define __GEOMETRY_H__
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#include <cmath>
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#include <cassert>
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#include <stdlib.h>
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namespace TinyRender
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{
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template <size_t DimCols, size_t DimRows, typename T>
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class mat;
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template <size_t DIM, typename T>
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struct vec
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{
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vec()
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{
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for (size_t i = DIM; i--; data_[i] = T())
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;
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}
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T& operator[](const size_t i)
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{
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assert(i < DIM);
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return data_[i];
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}
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const T& operator[](const size_t i) const
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{
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assert(i < DIM);
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return data_[i];
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}
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private:
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T data_[DIM];
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};
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/////////////////////////////////////////////////////////////////////////////////
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template <typename T>
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struct vec<2, T>
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{
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vec() : x(T()), y(T()) {}
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vec(T X, T Y) : x(X), y(Y) {}
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template <class U>
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vec<2, T>(const vec<2, U>& v);
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T& operator[](const size_t i)
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{
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assert(i < 2);
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return i <= 0 ? x : y;
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}
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const T& operator[](const size_t i) const
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{
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assert(i < 2);
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return i <= 0 ? x : y;
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}
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T x, y;
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};
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/////////////////////////////////////////////////////////////////////////////////
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template <typename T>
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struct vec<3, T>
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{
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vec() : x(T()), y(T()), z(T()) {}
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vec(T X, T Y, T Z) : x(X), y(Y), z(Z) {}
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template <class U>
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vec<3, T>(const vec<3, U>& v);
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T& operator[](const size_t i)
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{
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assert(i < 3);
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return i <= 0 ? x : (1 == i ? y : z);
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}
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const T& operator[](const size_t i) const
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{
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assert(i < 3);
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return i <= 0 ? x : (1 == i ? y : z);
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}
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float norm() { return std::sqrt(x * x + y * y + z * z); }
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vec<3, T>& normalize(T l = 1)
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{
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*this = (*this) * (l / norm());
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return *this;
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}
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T x, y, z;
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};
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/////////////////////////////////////////////////////////////////////////////////
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template <size_t DIM, typename T>
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T operator*(const vec<DIM, T>& lhs, const vec<DIM, T>& rhs)
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{
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T ret = T();
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for (size_t i = DIM; i--; ret += lhs[i] * rhs[i])
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;
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return ret;
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}
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template <size_t DIM, typename T>
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vec<DIM, T> operator+(vec<DIM, T> lhs, const vec<DIM, T>& rhs)
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{
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for (size_t i = DIM; i--; lhs[i] += rhs[i])
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;
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return lhs;
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}
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template <size_t DIM, typename T>
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vec<DIM, T> operator-(vec<DIM, T> lhs, const vec<DIM, T>& rhs)
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{
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for (size_t i = DIM; i--; lhs[i] -= rhs[i])
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;
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return lhs;
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}
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template <size_t DIM, typename T, typename U>
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vec<DIM, T> operator*(vec<DIM, T> lhs, const U& rhs)
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{
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for (size_t i = DIM; i--; lhs[i] *= rhs)
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;
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return lhs;
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}
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template <size_t DIM, typename T, typename U>
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vec<DIM, T> operator/(vec<DIM, T> lhs, const U& rhs)
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{
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for (size_t i = DIM; i--; lhs[i] /= rhs)
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;
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return lhs;
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}
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template <size_t LEN, size_t DIM, typename T>
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vec<LEN, T> embed(const vec<DIM, T>& v, T fill = 1)
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{
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vec<LEN, T> ret;
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for (size_t i = LEN; i--; ret[i] = (i < DIM ? v[i] : fill))
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;
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return ret;
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}
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template <size_t LEN, size_t DIM, typename T>
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vec<LEN, T> proj(const vec<DIM, T>& v)
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{
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vec<LEN, T> ret;
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for (size_t i = LEN; i--; ret[i] = v[i])
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;
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return ret;
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}
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template <typename T>
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vec<3, T> cross(vec<3, T> v1, vec<3, T> v2)
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{
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return vec<3, T>(v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z, v1.x * v2.y - v1.y * v2.x);
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}
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#if 0
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template <size_t DIM, typename T> std::ostream& operator<<(std::ostream& out, vec<DIM,T>& v) {
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for(unsigned int i=0; i<DIM; i++) {
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out << v[i] << " " ;
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}
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return out ;
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}
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#endif
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/////////////////////////////////////////////////////////////////////////////////
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template <size_t DIM, typename T>
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struct dt
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{
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static T det(const mat<DIM, DIM, T>& src)
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{
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T ret = 0;
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for (size_t i = DIM; i--; ret += src[0][i] * src.cofactor(0, i))
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;
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return ret;
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}
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};
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template <typename T>
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struct dt<1, T>
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{
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static T det(const mat<1, 1, T>& src)
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{
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return src[0][0];
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}
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};
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/////////////////////////////////////////////////////////////////////////////////
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template <size_t DimRows, size_t DimCols, typename T>
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class mat
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{
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vec<DimCols, T> rows[DimRows];
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public:
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mat() {}
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vec<DimCols, T>& operator[](const size_t idx)
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{
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assert(idx < DimRows);
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return rows[idx];
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}
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const vec<DimCols, T>& operator[](const size_t idx) const
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{
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assert(idx < DimRows);
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return rows[idx];
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}
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vec<DimRows, T> col(const size_t idx) const
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{
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assert(idx < DimCols);
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vec<DimRows, T> ret;
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for (size_t i = DimRows; i--; ret[i] = rows[i][idx])
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;
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return ret;
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}
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void set_col(size_t idx, vec<DimRows, T> v)
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{
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assert(idx < DimCols);
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for (size_t i = DimRows; i--; rows[i][idx] = v[i])
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;
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}
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static mat<DimRows, DimCols, T> identity()
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{
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mat<DimRows, DimCols, T> ret;
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for (size_t i = DimRows; i--;)
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for (size_t j = DimCols; j--; ret[i][j] = (i == j))
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;
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return ret;
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}
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T det() const
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{
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return dt<DimCols, T>::det(*this);
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}
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mat<DimRows - 1, DimCols - 1, T> get_minor(size_t row, size_t col) const
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{
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mat<DimRows - 1, DimCols - 1, T> ret;
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for (size_t i = DimRows - 1; i--;)
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for (size_t j = DimCols - 1; j--; ret[i][j] = rows[i < row ? i : i + 1][j < col ? j : j + 1])
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;
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return ret;
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}
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T cofactor(size_t row, size_t col) const
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{
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return get_minor(row, col).det() * ((row + col) % 2 ? -1 : 1);
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}
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mat<DimRows, DimCols, T> adjugate() const
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{
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mat<DimRows, DimCols, T> ret;
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for (size_t i = DimRows; i--;)
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for (size_t j = DimCols; j--; ret[i][j] = cofactor(i, j))
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;
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return ret;
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}
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mat<DimRows, DimCols, T> invert_transpose()
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{
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mat<DimRows, DimCols, T> ret = adjugate();
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T tmp = ret[0] * rows[0];
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return ret / tmp;
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}
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mat<DimRows, DimCols, T> invert()
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{
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return invert_transpose().transpose();
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}
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mat<DimCols, DimRows, T> transpose()
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{
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mat<DimCols, DimRows, T> ret;
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for (size_t i = DimCols; i--; ret[i] = this->col(i))
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;
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return ret;
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}
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};
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/////////////////////////////////////////////////////////////////////////////////
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template <size_t DimRows, size_t DimCols, typename T>
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vec<DimRows, T> operator*(const mat<DimRows, DimCols, T>& lhs, const vec<DimCols, T>& rhs)
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{
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vec<DimRows, T> ret;
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for (size_t i = DimRows; i--; ret[i] = lhs[i] * rhs)
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;
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return ret;
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}
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template <size_t R1, size_t C1, size_t C2, typename T>
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mat<R1, C2, T> operator*(const mat<R1, C1, T>& lhs, const mat<C1, C2, T>& rhs)
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{
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mat<R1, C2, T> result;
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for (size_t i = R1; i--;)
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for (size_t j = C2; j--; result[i][j] = lhs[i] * rhs.col(j))
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;
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return result;
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}
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template <size_t DimRows, size_t DimCols, typename T>
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mat<DimCols, DimRows, T> operator/(mat<DimRows, DimCols, T> lhs, const T& rhs)
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{
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for (size_t i = DimRows; i--; lhs[i] = lhs[i] / rhs)
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;
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return lhs;
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}
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#if 0
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template <size_t DimRows,size_t DimCols,class T> std::ostream& operator<<(std::ostream& out, mat<DimRows,DimCols,T>& m) {
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for (size_t i=0; i<DimRows; i++) out << m[i] << std::endl;
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return out;
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}
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#endif
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/////////////////////////////////////////////////////////////////////////////////
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typedef vec<2, float> Vec2f;
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typedef vec<2, double> Vec2d;
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typedef vec<2, int> Vec2i;
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typedef vec<3, float> Vec3f;
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typedef vec<3, double> Vec3d;
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typedef vec<3, int> Vec3i;
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typedef vec<4, float> Vec4f;
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typedef mat<4, 4, float> Matrix;
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}
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#endif //__GEOMETRY_H__
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