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PIMathMatrixT remove scale and rotate funcs

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Бычков Андрей
2020-10-22 12:44:30 +03:00
parent 13a0c1097a
commit b46825a5a0
3 changed files with 56 additions and 198 deletions
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241
libs/main/math/pimathmatrix.h
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@@ -31,12 +31,9 @@
/// Matrix templated
#define PIMM_FOR(r, c) for (uint c = 0; c < Cols; ++c) { for (uint r = 0; r < Rows; ++r) {
#define PIMM_FOR_WB(r, c) for (uint c = 0; c < Cols; ++c) for (uint r = 0; r < Rows; ++r) // without brakes
#define PIMM_FOR_I(r, c) for (uint r = 0; r < Rows; ++r) { for (uint c = 0; c < Cols; ++c) {
#define PIMM_FOR_I_WB(r, c) for (uint r = 0; r < Rows; ++r) for (uint c = 0; c < Cols; ++c) // without brakes
#define PIMM_FOR_C(v) for (uint v = 0; v < Cols; ++v)
#define PIMM_FOR_R(v) for (uint v = 0; v < Rows; ++v)
#define PIMM_FOR for (uint r = 0; r < Rows; ++r) for (uint c = 0; c < Cols; ++c)
#define PIMM_FOR_C for (uint i = 0; i < Cols; ++i)
#define PIMM_FOR_R for (uint i = 0; i < Rows; ++i)
#pragma pack(push, 1)
@@ -71,7 +68,16 @@ public:
PIMathMatrixT(const PIVector<Type> &val) {
resize(Rows, Cols);
int i = 0;
PIMM_FOR_I_WB(r, c) m[r][c] = val[i++];
PIMM_FOR m[r][c] = val[i++];
}
/**
* @brief Contructs PIMathMatrixT from C++11 initializer list
*/
PIMathMatrixT(std::initializer_list<Type> init_list) {
assert(Rows*Cols == init_list.size());
int i = 0;
PIMM_FOR m[r][c] = init_list.begin()[i++];
}
/**
@@ -81,7 +87,7 @@ public:
*/
static _CMatrix identity() {
_CMatrix tm = _CMatrix();
PIMM_FOR_WB(r, c) tm.m[r][c] = (c == r ? Type(1) : Type(0));
PIMM_FOR tm.m[r][c] = (c == r ? Type(1) : Type(0));
return tm;
}
@@ -93,73 +99,10 @@ public:
*/
static _CMatrix filled(const Type &v) {
_CMatrix tm;
PIMM_FOR_WB(r, c) tm.m[r][c] = v;
PIMM_FOR tm.m[r][c] = v;
return tm;
}
/**
* @brief Rotation the matrix by an "angle". Works only with 2x2 matrix,
* else return default construction of PIMathMatrixT
*
* @param angle is the angle of rotation of the matrix
* @return rotated matrix
*/
static _CMatrix rotation(double angle) { return _CMatrix(); }
/**
* @brief Rotation of the matrix by an "angle" along the X axis. Works only with 3x3 matrix,
* else return default construction of PIMathMatrixT
*
* @param angle is the angle of rotation of the matrix along the X axis
* @return rotated matrix
*/
static _CMatrix rotationX(double angle) { return _CMatrix(); }
/**
* @brief Rotation of the matrix by an "angle" along the Y axis. Works only with 3x3 matrix,
* else return default construction of PIMathMatrixT
*
* @param angle is the angle of rotation of the matrix along the Y axis
* @return rotated matrix
*/
static _CMatrix rotationY(double angle) { return _CMatrix(); }
/**
* @brief Rotation of the matrix by an "angle" along the Z axis. Works only with 3x3 matrix,
* else return default construction of PIMathMatrixT
*
* @param angle is the angle of rotation of the matrix along the Z axis
* @return rotated matrix
*/
static _CMatrix rotationZ(double angle) { return _CMatrix(); }
/**
* @brief Scaling the matrix along the X axis by the value "factor". Works only with 3x3 and 2x2 matrix,
* else return default construction of PIMathMatrixT
*
* @param factor is the value of scaling by X axis
* @return rotated matrix
*/
static _CMatrix scaleX(double factor) { return _CMatrix(); }
/**
* @brief Scaling the matrix along the Y axis by the value "factor". Works only with 3x3 and 2x2 matrix,
* else return default construction of PIMathMatrixT
*
* @param factor is the value of scaling by Y axis
* @return rotated matrix
*/
static _CMatrix scaleY(double factor) { return _CMatrix(); }
/**
* @brief Scaling the matrix along the Z axis by the value "factor". Works only with 3x3 matrix,
* else return default construction of PIMathMatrixT
*
* @param factor is the value of scaling by Z axis
* @return rotated matrix
*/
static _CMatrix scaleZ(double factor) { return _CMatrix(); }
/**
* @brief Method which returns number of columns in matrix
*
@@ -183,7 +126,7 @@ public:
*/
_CMCol col(uint index) {
_CMCol tv;
PIMM_FOR_R(i) tv[i] = m[i][index];
PIMM_FOR_R tv[i] = m[i][index];
return tv;
}
@@ -196,7 +139,7 @@ public:
*/
_CMRow row(uint index) {
_CMRow tv;
PIMM_FOR_C(i) tv[i] = m[index][i];
PIMM_FOR_C tv[i] = m[index][i];
return tv;
}
@@ -209,7 +152,7 @@ public:
* @return matrix type _CMatrix
*/
_CMatrix &setCol(uint index, const _CMCol &v) {
PIMM_FOR_R(i) m[i][index] = v[i];
PIMM_FOR_R m[i][index] = v[i];
return *this;
}
@@ -222,7 +165,7 @@ public:
* @return matrix type _CMatrix
*/
_CMatrix &setRow(uint index, const _CMRow &v) {
PIMM_FOR_C(i) m[index][i] = v[i];
PIMM_FOR_C m[index][i] = v[i];
return *this;
}
@@ -236,7 +179,7 @@ public:
*/
_CMatrix &swapRows(uint r0, uint r1) {
Type t;
PIMM_FOR_C(i) {
PIMM_FOR_C {
t = m[r0][i];
m[r0][i] = m[r1][i];
m[r1][i] = t;
@@ -254,7 +197,7 @@ public:
*/
_CMatrix &swapCols(uint c0, uint c1) {
Type t;
PIMM_FOR_R(i) {
PIMM_FOR_R {
t = m[i][c0];
m[i][c0] = m[i][c1];
m[i][c1] = t;
@@ -269,7 +212,7 @@ public:
* @return filled matrix type _CMatrix
*/
_CMatrix &fill(const Type &v) {
PIMM_FOR_WB(r, c) m[r][c] = v;
PIMM_FOR m[r][c] = v;
return *this;
}
@@ -286,7 +229,7 @@ public:
* @return true if matrix is identitied, else false
*/
bool isIdentity() const {
PIMM_FOR_WB(r, c) if ((c == r) ? m[r][c] != Type(1) : m[r][c] != Type(0)) return false;
PIMM_FOR if ((c == r) ? m[r][c] != Type(1) : m[r][c] != Type(0)) return false;
return true;
}
@@ -296,7 +239,7 @@ public:
* @return true if matrix is null, else false
*/
bool isNull() const {
PIMM_FOR_WB(r, c) if (m[r][c] != Type(0)) return false;
PIMM_FOR if (m[r][c] != Type(0)) return false;
return true;
}
@@ -354,7 +297,7 @@ public:
* @return if matrices are equal true, else false
*/
bool operator==(const _CMatrix &sm) const {
PIMM_FOR_WB(r, c) if (m[r][c] != sm.m[r][c]) return false;
PIMM_FOR if (m[r][c] != sm.m[r][c]) return false;
return true;
}
@@ -371,28 +314,28 @@ public:
*
* @param sm matrix for the addition assigment
*/
void operator+=(const _CMatrix &sm) { PIMM_FOR_WB(r, c) m[r][c] += sm.m[r][c]; }
void operator+=(const _CMatrix &sm) { PIMM_FOR m[r][c] += sm.m[r][c]; }
/**
* @brief Subtraction assignment with matrix "sm"
*
* @param sm matrix for the subtraction assigment
*/
void operator-=(const _CMatrix &sm) { PIMM_FOR_WB(r, c) m[r][c] -= sm.m[r][c]; }
void operator-=(const _CMatrix &sm) { PIMM_FOR m[r][c] -= sm.m[r][c]; }
/**
* @brief Multiplication assignment with value "v"
*
* @param v value for the multiplication assigment
*/
void operator*=(const Type &v) { PIMM_FOR_WB(r, c) m[r][c] *= v; }
void operator*=(const Type &v) { PIMM_FOR m[r][c] *= v; }
/**
* @brief Division assignment with value "v"
*
* @param v value for the division assigment
*/
void operator/=(const Type &v) { PIMM_FOR_WB(r, c) m[r][c] /= v; }
void operator/=(const Type &v) { PIMM_FOR m[r][c] /= v; }
/**
* @brief Matrix substraction
@@ -401,7 +344,7 @@ public:
*/
_CMatrix operator-() const {
_CMatrix tm;
PIMM_FOR_WB(r, c) tm.m[r][c] = -m[r][c];
PIMM_FOR tm.m[r][c] = -m[r][c];
return tm;
}
@@ -413,7 +356,7 @@ public:
*/
_CMatrix operator+(const _CMatrix &sm) const {
_CMatrix tm = _CMatrix(*this);
PIMM_FOR_WB(r, c) tm.m[r][c] += sm.m[r][c];
PIMM_FOR tm.m[r][c] += sm.m[r][c];
return tm;
}
@@ -425,7 +368,7 @@ public:
*/
_CMatrix operator-(const _CMatrix &sm) const {
_CMatrix tm = _CMatrix(*this);
PIMM_FOR_WB(r, c) tm.m[r][c] -= sm.m[r][c];
PIMM_FOR tm.m[r][c] -= sm.m[r][c];
return tm;
}
@@ -437,7 +380,7 @@ public:
*/
_CMatrix operator*(const Type &v) const {
_CMatrix tm = _CMatrix(*this);
PIMM_FOR_WB(r, c) tm.m[r][c] *= v;
PIMM_FOR tm.m[r][c] *= v;
return tm;
}
@@ -449,7 +392,7 @@ public:
*/
_CMatrix operator/(const Type &v) const {
_CMatrix tm = _CMatrix(*this);
PIMM_FOR_WB(r, c) tm.m[r][c] /= v;
PIMM_FOR tm.m[r][c] /= v;
return tm;
}
@@ -467,10 +410,7 @@ public:
if (ok) *ok = k;
if (!k) return ret;
ret = Type(1);
for (uint c = 0; c < Cols; ++c)
for (uint r = 0; r < Rows; ++r)
if (r == c)
ret *= m[r][c];
PIMM_FOR if (r == c) ret *= m[r][c];
return ret;
}
@@ -590,7 +530,7 @@ public:
*/
_CMatrixI transposed() const {
_CMatrixI tm;
PIMM_FOR_WB(r, c) tm[c][r] = m[r][c];
PIMM_FOR tm[c][r] = m[r][c];
return tm;
}
@@ -598,7 +538,7 @@ private:
void resize(uint rows_, uint cols_, const Type &new_value = Type()) {
r_ = rows_;
c_ = cols_;
PIMM_FOR_WB(r, c) m[r][c] = new_value;
PIMM_FOR m[r][c] = new_value;
}
int c_, r_;
@@ -609,92 +549,22 @@ private:
#pragma pack(pop)
template<>
inline PIMathMatrixT<2u, 2u> PIMathMatrixT<2u, 2u>::rotation(double angle) {
double c = cos(angle), s = sin(angle);
PIMathMatrixT<2u, 2u> tm;
tm[0][0] = tm[1][1] = c;
tm[0][1] = -s;
tm[1][0] = s;
return tm;
}
template<>
inline PIMathMatrixT<2u, 2u> PIMathMatrixT<2u, 2u>::scaleX(double factor) {
PIMathMatrixT<2u, 2u> tm;
tm[0][0] = factor;
tm[1][1] = 1.;
return tm;
}
template<>
inline PIMathMatrixT<2u, 2u> PIMathMatrixT<2u, 2u>::scaleY(double factor) {
PIMathMatrixT<2u, 2u> tm;
tm[0][0] = 1.;
tm[1][1] = factor;
return tm;
}
template<>
inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::rotationX(double angle) {
double c = cos(angle), s = sin(angle);
PIMathMatrixT<3u, 3u> tm;
tm[0][0] = 1.;
tm[1][1] = tm[2][2] = c;
tm[2][1] = s;
tm[1][2] = -s;
return tm;
}
template<>
inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::rotationY(double angle) {
double c = cos(angle), s = sin(angle);
PIMathMatrixT<3u, 3u> tm;
tm[1][1] = 1.;
tm[0][0] = tm[2][2] = c;
tm[2][0] = -s;
tm[0][2] = s;
return tm;
}
template<>
inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::rotationZ(double angle) {
double c = cos(angle), s = sin(angle);
PIMathMatrixT<3u, 3u> tm;
tm[2][2] = 1.;
tm[0][0] = tm[1][1] = c;
tm[1][0] = s;
tm[0][1] = -s;
return tm;
}
template<>
inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::scaleX(double factor) {
PIMathMatrixT<3u, 3u> tm;
tm[1][1] = tm[2][2] = 1.;
tm[0][0] = factor;
return tm;
}
template<>
inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::scaleY(double factor) {
PIMathMatrixT<3u, 3u> tm;
tm[0][0] = tm[2][2] = 1.;
tm[1][1] = factor;
return tm;
}
template<>
inline PIMathMatrixT<3u, 3u> PIMathMatrixT<3u, 3u>::scaleZ(double factor) {
PIMathMatrixT<3u, 3u> tm;
tm[0][0] = tm[1][1] = 1.;
tm[2][2] = factor;
return tm;
}
#ifdef PIP_STD_IOSTREAM
template<uint Rows, uint Cols, typename Type>
inline std::ostream & operator <<(std::ostream & s, const PIMathMatrixT<Rows, Cols, Type> & m) {s << "{"; PIMM_FOR_I(r, c) s << m[r][c]; if (c < Cols - 1 || r < Rows - 1) s << ", ";} if (r < Rows - 1) s << std::endl << " ";} s << "}"; return s;}
inline std::ostream & operator <<(std::ostream & s, const PIMathMatrixT<Rows, Cols, Type> & m) {
s << "{";
for (uint r = 0; r < Rows; ++r) {
for (uint c = 0; c < Cols; ++c) {
s << m[r][c];
if (c < Cols - 1 || r < Rows - 1) s << ", ";
}
if (r < Rows - 1) s << std::endl << " ";
}
s << "}";
return s;
}
#endif
/**
@@ -707,9 +577,13 @@ inline std::ostream & operator <<(std::ostream & s, const PIMathMatrixT<Rows, Co
template<uint Rows, uint Cols, typename Type>
inline PICout operator<<(PICout s, const PIMathMatrixT<Rows, Cols, Type> &m) {
s << "{";
PIMM_FOR_I(r, c) s << m[r][c];
if (c < Cols - 1 || r < Rows - 1) s << ", "; }
if (r < Rows - 1) s << PICoutManipulators::NewLine << " "; }
for (uint r = 0; r < Rows; ++r) {
for (uint c = 0; c < Cols; ++c) {
s << m[r][c];
if (c < Cols - 1 || r < Rows - 1) s << ", ";
}
if (r < Rows - 1) s << PICoutManipulators::NewLine << " ";
}
s << "}";
return s;
}
@@ -804,9 +678,6 @@ template<typename Type>
class PIMathMatrix;
#undef PIMM_FOR
#undef PIMM_FOR_WB
#undef PIMM_FOR_I
#undef PIMM_FOR_I_WB
#undef PIMM_FOR_C
#undef PIMM_FOR_R

10
libs/main/math/piquaternion.cpp
View File

@@ -96,16 +96,6 @@ void PIQuaternion::normalize() {
}
PIMathMatrixT44d PIQuaternion::makeMatrix() const {
PIMathMatrixT44d ret;
ret[0][0] = q[0]; ret[0][1] = -q[1]; ret[0][2] = -q[2]; ret[0][3] = -q[3];
ret[1][0] = q[1]; ret[1][1] = q[0]; ret[1][2] = -q[3]; ret[1][3] = q[2];
ret[2][0] = q[2]; ret[2][1] = q[3]; ret[2][2] = q[0]; ret[2][3] = -q[1];
ret[3][0] = q[3]; ret[3][1] = -q[2]; ret[3][2] = q[1]; ret[3][3] = q[0];
return ret;
}
PIQuaternion PIQuaternion::fromEyler(double ax, double ay, double az) {
PIQuaternion q_heading;
PIQuaternion q_pinch;

3
libs/main/math/piquaternion.h
View File

@@ -52,9 +52,6 @@ public:
protected:
double q[4];
PIMathMatrixT44d makeMatrix() const;
};
PIP_EXPORT PIQuaternion operator *(const double & a, const PIQuaternion & q);