- Functions to construct matrices from translations, scaling, and rotations
This commit is contained in:
@@ -108,14 +108,14 @@ add_library(fennec STATIC
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include/fennec/math/trigonometric.h
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include/fennec/math/relational.h
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include/fennec/math/ext/constants.h
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include/fennec/math/detail/__fwd.h
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include/fennec/math/detail/__math.h
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include/fennec/math/detail/__matrix.h
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include/fennec/math/detail/__types.h
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include/fennec/math/detail/__vector_traits.h
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include/fennec/math/ext/constants.h
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# FPROC ================================================================================================================
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# Strings
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@@ -128,6 +128,7 @@ add_library(fennec STATIC
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# Filesystem
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include/fennec/fproc/filesystem/file.h source/fproc/filesystem/file.cpp
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include/fennec/fproc/filesystem/path.h source/fproc/filesystem/path.cpp
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include/fennec/math/ext/transform.h
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)
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# add metaprogramming templates as a dependency and also force documentation to be generated when fennec is compiled
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@@ -26,6 +26,9 @@ namespace fennec
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///
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/// \brief struct for handling file paths
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///
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/// \details This structure makes no guarantees about the validity of a path.
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/// Operations do not examine the system's file structure.
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struct path
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{
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public:
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198
include/fennec/math/ext/transform.h
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198
include/fennec/math/ext/transform.h
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@@ -0,0 +1,198 @@
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// =====================================================================================================================
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// fennec, a free and open source game engine
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// Copyright © 2025 Medusa Slockbower
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//
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// This program is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <https://www.gnu.org/licenses/>.
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// =====================================================================================================================
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#ifndef FENNEC_MATH_EXT_TRANSFORM_H
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#define FENNEC_MATH_EXT_TRANSFORM_H
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#include <fennec/math/matrix.h>
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#include <fennec/math/trigonometric.h>
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#include <fennec/math/ext/constants.h>
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namespace fennec
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{
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///
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/// \brief Create a 2d translation matrix
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/// \param x a vector containing the position
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/// \returns An identity matrix with the last column set to x
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template<typename genType>
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constexpr mat<genType, 3, 3> translation(const vec<genType, 2>& x) {
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return mat<genType, 3, 3>(
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1, 0, 0
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, 0, 1, 0
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, x, 1
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);
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}
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///
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/// \brief Create a 3d translation matrix
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/// \param x a vector containing the position
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/// \returns An identity matrix with the last column set to x
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template<typename genType>
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constexpr mat<genType, 4, 4> translation(const vec<genType, 3>& x) {
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return mat<genType, 4, 4>(
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1, 0, 0, 0
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, 0, 1, 0, 0
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, 0, 0, 1, 0
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, x, 1
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);
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}
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///
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/// \brief Create a 2d scaling matrix
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/// \param x a vector containing the scale for each axis
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/// \returns A diagonal matrix with the terms of x
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template<typename genType>
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constexpr mat<genType, 3, 3> scaling(const vec<genType, 2>& x) {
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return mat<genType, 3, 3>(
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x.x, 0, 0
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, 0, x.y, 0
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, 0, 0, 1
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);
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}
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///
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/// \brief Create a 3d scaling matrix
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/// \param x a vector containing the scale for each axis
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/// \returns A diagonal matrix with the terms of x
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template<typename genType>
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constexpr mat<genType, 4, 4> scaling(const vec<genType, 3>& x) {
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return mat<genType, 4, 4>(
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x.x, 0, 0, 0
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, 0, x.y, 0, 0
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, 0, 0, x.z, 0
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, 0, 0, 0, 1
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);
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}
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///
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/// \brief Create a 2d rotation matrix
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/// \param a the angle of the rotation in radians
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/// \returns A rotation matrix that rotates about the "z-axis"
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template<typename genType>
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constexpr mat<genType, 3, 3> rotation(const genType a) {
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// Calculate sin and cos terms
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const genType c = fennec::cos(a);
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const genType s = fennec::sin(a);
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// Calculate the matrix
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return mat<genType, 3, 3>(
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c, -s, 0
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, s, c, 0
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, 0, 0, 1
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);
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}
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///
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/// \brief Create a 3d rotation matrix from axis-angle
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/// \param A The axis vector
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/// \param a The rotation about the axis in radians
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/// \returns A rotation matrix about A
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template<typename genType>
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constexpr mat<genType, 4, 4> rotation(const vec<genType, 3>& A, genType a) {
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// https://en.wikipedia.org/wiki/Rotation_matrix#Rotation_matrix_from_axis_and_angle
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// Calculate sin and cos terms
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const genType c = fennec::cos(a);
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const genType s = fennec::sin(a);
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// Calculate axis term
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const vec<genType, 3> u = (fennec::one<genType>() - c) * A;
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const vec<genType, 3> v = s * A;
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// Calculate the Matrix
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return mat<genType, 4, 4>(
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A.x * u.x + c, A.x * u.y + v.z, A.x * u.z - v.y, 0
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, A.x * u.y - v.z, A.y * u.y + c, A.y * u.z + v.x, 0
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, A.x * u.z + v.y, A.y * u.z - v.x, A.z * u.z + c, 0
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, 0, 0, 0, 1
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);
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}
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template<typename genType>
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constexpr mat<genType, 4, 4> rotation_x(genType a) {
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// Calculate sin and cos terms
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const genType c = fennec::cos(a);
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const genType s = fennec::sin(a);
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// Calculate the matrix
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return mat<genType, 4, 4>(
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1, 0, 0, 0
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, 0, c, -s, 0
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, 0, s, c, 0
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, 0, 0, 0, 1
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);
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}
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template<typename genType>
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constexpr mat<genType, 4, 4> rotation_y(genType a) {
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// Calculate sin and cos terms
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const genType c = fennec::cos(a);
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const genType s = fennec::sin(a);
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// Calculate the matrix
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return mat<genType, 4, 4>(
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c, 0, s, 0
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, 0, 0, 0, 0
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, -s, 0, c, 0
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, 0, 0, 0, 1
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);
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}
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template<typename genType>
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constexpr mat<genType, 4, 4> rotation_z(const genType a) {
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// Calculate sin and cos terms
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const genType c = fennec::cos(a);
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const genType s = fennec::sin(a);
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// Calculate the matrix
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return mat<genType, 4, 4>(
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c, -s, 0, 0
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, s, c, 0, 0
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, 0, 0, 1, 0
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, 0, 0, 0, 1
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);
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}
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template<typename genType>
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constexpr mat<genType, 4, 4> rotation(const vec<genType, 3>& E) {
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// Calculate sin and cos terms
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const genType ca = fennec::cos(E.x);
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const genType sa = fennec::sin(E.x);
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const genType cb = fennec::cos(E.y);
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const genType sb = fennec::sin(E.y);
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const genType cg = fennec::cos(E.z);
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const genType sg = fennec::sin(E.z);
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// Calculate the matrix
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return mat<genType, 4, 4>(
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ca*cb, sa*sb, -sb, 0
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, ca*sb*sg - sa*cg, sa*sb*sg + ca*cg, cb*sg, 0
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, ca*sb*cg + sa*sg, sa*sb*cg - ca*sg, cb*cg, 0
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, 0, 0, 0, 1
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);
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}
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}
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#endif // FENNEC_MATH_EXT_TRANSFORM_H
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