admin/omath
1
0
Fork 0
mirror of https://github.com/orange-cpp/omath.git synced 2026-02-13 07:03:25 +00:00
Code Issues Packages Projects Releases Wiki Activity

refactored camera

Browse Source
This commit is contained in:
Orange
2024-12-04 04:58:29 +03:00
parent 9c0285e353
commit 0afa20b4e5
16 changed files with 262 additions and 194 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
include/omath/Angle.hpp
View File

@@ -16,7 +16,7 @@ namespace omath
Clamped = 1,
};
template<class Type, Type min = Type(0), Type max = Type(360), AngleFlags flags = AngleFlags::Normalized>
template<class Type = float, Type min = Type(0), Type max = Type(360), AngleFlags flags = AngleFlags::Normalized>
requires std::is_arithmetic_v<Type>
class Angle
{

50
include/omath/Mat.hpp
View File

@@ -320,23 +320,23 @@ namespace omath
std::array<Type, Rows * Columns> m_data;
};
template<class T = float, MatStoreType St = MatStoreType::ROW_MAJOR>
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
[[nodiscard]]
constexpr static Mat<1, 4, T, St> MatRowFromVector(const Vector3& vector) noexcept
constexpr static Mat<1, 4, Type, St> MatRowFromVector(const Vector3& vector) noexcept
{
return {{vector.x, vector.y, vector.z, 1}};
}
template<class T = float, MatStoreType St = MatStoreType::ROW_MAJOR>
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
[[nodiscard]]
constexpr static Mat<4, 1, T, St> MatColumnFromVector(const Vector3& vector) noexcept
constexpr static Mat<4, 1, Type, St> MatColumnFromVector(const Vector3& vector) noexcept
{
return {{vector.x}, {vector.y}, {vector.z}, {1}};
}
template<class T = float, MatStoreType St = MatStoreType::ROW_MAJOR>
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
[[nodiscard]]
constexpr Mat<4, 4, T, St> MatTranslation(const Vector3& diff) noexcept
constexpr Mat<4, 4, Type, St> MatTranslation(const Vector3& diff) noexcept
{
return
{
@@ -346,4 +346,42 @@ namespace omath
{0, 0, 0, 1},
};
}
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
[[nodiscard]]
constexpr Mat<3, 3, Type, St> RotationMatrixAxisX(const Angle& roll) noexcept
{
return
{
{1, 0, 0},
{0, 0, roll.Cos(), -roll.Sin()},
{0, 0, roll.Sin(), roll.Cos()},
};
}
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
[[nodiscard]]
constexpr Mat<3, 3, Type, St> RotationMatrixAxisY(const Angle& pitch) noexcept
{
return
{
{pitch.Cos(), 0, pitch.Sin()},
{0 , 1, 0},
{-pitch.Sin(), 0, pitch.Cos()},
};
}
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
[[nodiscard]]
constexpr Mat<3, 3, Type, St> RotationMatrixAxisZ(const Angle& Yaw) noexcept
{
return
{
{Yaw.Cos(), -Yaw.Sin(), 0},
{Yaw.Sin(), Yaw.Cos(), 0},
{0, 0, 1},
};
}
} // namespace omath

22
include/omath/engines/Source/Camera.hpp Normal file
View File

@@ -0,0 +1,22 @@
//
// Created by Orange on 12/4/2024.
//
#pragma once
#include "Constants.h"
#include "omath/projection/Camera.hpp"
namespace omath::source
{
class Camera final : public projection::Camera<Mat4x4, ViewAngles>
{
public:
Camera(const Vector3& position, const ViewAngles& viewAngles,
const projection::ViewPort& viewPort, const Angle<float, 0, 180, AngleFlags::Clamped>& fov, float near, const float far) :
projection::Camera<Mat4x4, ViewAngles>(position, viewAngles, viewPort, fov, near, far)
{
}
void LookAt(const Vector3& target) override;
[[nodiscard]] Mat4x4 GetViewMatrix() const override;
[[nodiscard]] Mat4x4 GetProjectionMatrix() const override;
};
}

24
include/omath/engines/Source/Constants.h Normal file
View File

@@ -0,0 +1,24 @@
//
// Created by Orange on 12/4/2024.
//
#pragma once
#include <omath/Vector3.hpp>
#include <omath/Mat.hpp>
#include <omath/Angle.hpp>
#include <omath/ViewAngles.hpp>
namespace omath::source
{
constexpr Vector3 kAbsUp = {0, 0, 1};
constexpr Vector3 kAbsRight = {0, -1, 0};
constexpr Vector3 kAbsForward = {1, 0, 0};
using Mat4x4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
using Mat3x3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
using PitchAngle = Angle<float, -89.f, 89.f, AngleFlags::Clamped>;
using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
} // namespace omath::source

98
include/omath/engines/Source/Formulas.hpp Normal file
View File

@@ -0,0 +1,98 @@
//
// Created by Orange on 12/4/2024.
//
#pragma once
#include "Constants.h"
namespace omath::source
{
[[nodiscard]]
inline Vector3 ForwardVector(const ViewAngles& angles)
{
const auto cosPitch = angles.pitch.Cos();
const auto sinPitch = angles.pitch.Sin();
const auto cosYaw = angles.yaw.Cos();
const auto sinYaw = angles.yaw.Sin();
return {cosPitch * cosYaw, cosPitch * sinYaw, -sinPitch};
}
[[nodiscard]]
inline Vector3 RightVector(const ViewAngles& angles)
{
const auto cosPitch = angles.pitch.Cos();
const auto sinPitch = angles.pitch.Sin();
const auto cosYaw = angles.yaw.Cos();
const auto sinYaw = angles.yaw.Sin();
const auto cosRoll = angles.roll.Cos();
const auto sinRoll = angles.roll.Sin();
return
{
-1 * sinRoll * sinPitch * cosYaw + -1 * cosRoll * -sinYaw,
-1 * sinRoll * sinPitch * sinYaw + -1 * cosRoll * cosYaw,
-1 * sinRoll * cosPitch
};
}
[[nodiscard]]
inline Vector3 UpVector(const ViewAngles& angles)
{
const auto cosPitch = angles.pitch.Cos();
const auto sinPitch = angles.pitch.Sin();
const auto cosYaw = angles.yaw.Cos();
const auto sinYaw = angles.yaw.Sin();
const auto cosRoll = angles.roll.Cos();
const auto sinRoll = angles.roll.Sin();
return
{
cosRoll * sinPitch * cosYaw + - sinRoll * -sinYaw,
cosRoll * sinPitch * sinYaw + - sinRoll * cosYaw,
cosRoll * cosPitch,
};
}
[[nodiscard]]
constexpr Mat4x4 ViewMatrixFromVecs(const Vector3& forward, const Vector3& right, const Vector3& up,
const Vector3& camera_pos)
{
return Mat4x4{
{right.x, right.y, right.z, 0},
{up.x, up.y, up.z, 0},
{forward.x, forward.y, forward.z, 0},
{0, 0, 0, 1},
} *
MatTranslation<float, MatStoreType::ROW_MAJOR>(-camera_pos);
}
[[nodiscard]] inline Mat4x4 ViewMatrix(const ViewAngles& angles, const Vector3& cam_origin)
{
return ViewMatrixFromVecs(ForwardVector(angles), RightVector(angles), UpVector(angles), cam_origin);
}
[[nodiscard]]
inline Mat4x4 PerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near, const float far)
{
constexpr auto kMultiplyFactor = 0.75f;
const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f) * kMultiplyFactor;
return {
{-1.f / (aspectRatio * fovHalfTan), 0, 0, 0},
{0, -1.f / (fovHalfTan), 0, 0},
{0, 0, (far + near) / (far - near), -(2.f * far * near) / (far - near)},
{0, 0, 1, 0},
};
}
} // namespace omath::source

44
include/omath/engines/opengl.hpp
View File

@@ -2,9 +2,10 @@
// Created by Orange on 11/23/2024.
//
#pragma once
#include "omath/Vector3.hpp"
#include "omath/Mat.hpp"
#include "omath/Angle.hpp"
#include "omath/Mat.hpp"
#include "omath/Vector3.hpp"
namespace omath::opengl
{
@@ -14,34 +15,31 @@ namespace omath::opengl
template<class Type = float>
requires std::is_floating_point_v<Type> || std::is_integral_v<Type>
[[nodiscard]] Mat<4, 4, Type, MatStoreType::COLUMN_MAJOR> ViewMatrix(const Vector3& forward,
const Vector3& right,
const Vector3& up,
const Vector3& cam_origin)
requires std::is_arithmetic_v<Type>
[[nodiscard]] Mat<4, 4, Type, MatStoreType::COLUMN_MAJOR> ViewMatrix(const Vector3& forward, const Vector3& right,
const Vector3& up, const Vector3& cam_origin)
{
return
return Mat<4, 4, Type, MatStoreType::COLUMN_MAJOR>
{
{right.x, up.x, -forward.x, 0},
{right.y, up.y, -forward.y, 0},
{right.z, up.z, -forward.z, 0},
{-cam_origin.x, -cam_origin.y, -cam_origin.z, 1},
};
{right.x, right.y, right.z, 0},
{up.x, up.y, up.z, 0},
{-forward.x, -forward.y, -forward.z, 0},
{0, 0, 0, 1},
} * MatTranslation<Type, MatStoreType::COLUMN_MAJOR>(-cam_origin);
}
template<class Type>
requires std::is_floating_point_v<Type> || std::is_integral_v<Type>
[[nodiscard]] Mat<4, 4, Type, MatStoreType::COLUMN_MAJOR> PerspectiveProjectionMatrix(
const float fieldOfView, const Type& aspectRatio, const Type& near, const Type& far)
requires std::is_arithmetic_v<Type>
[[nodiscard]] Mat<4, 4, Type, MatStoreType::COLUMN_MAJOR>
PerspectiveProjectionMatrix(const float fieldOfView, const Type& aspectRatio, const Type& near, const Type& far)
{
const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2);
return
{
{static_cast<Type>(1) / (aspectRatio * fovHalfTan), 0, 0, 0},
{0, static_cast<Type>(1) / (fovHalfTan), 0, 0},
{0, 0, -(far + near) / (far - near), -(static_cast<Type>(2) * far * near) / (far - near)},
{0, 0, -1, 0},
return {
{static_cast<Type>(1) / (aspectRatio * fovHalfTan), 0, 0, 0},
{0, static_cast<Type>(1) / (fovHalfTan), 0, 0},
{0, 0, -(far + near) / (far - near), -(static_cast<Type>(2) * far * near) / (far - near)},
{0, 0, -1, 0},
};
}
}
} // namespace omath::opengl

135
include/omath/engines/source.hpp
View File

@@ -1,135 +0,0 @@
//
// Created by Orange on 11/24/2024.
//
#pragma once
#include "omath/Mat.hpp"
#include "omath/Vector3.hpp"
#include <omath/Angle.hpp>
#include <omath/ViewAngles.hpp>
#include <omath/projection/Camera.hpp>
namespace omath::source
{
constexpr Vector3 kAbsUp = {0, 0, 1};
constexpr Vector3 kAbsRight = {0, -1, 0};
constexpr Vector3 kAbsForward = {1, 0, 0};
using PitchAngle = Angle<float, -89.f, 89.f, AngleFlags::Clamped>;
using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
using ViewAngles = omath::ViewAngles<PitchAngle, YawAngle, RollAngle>;
inline Vector3 ForwardVector(const ViewAngles& angles);
inline Vector3 RightVector(const ViewAngles& angles);
inline Vector3 UpVector(const ViewAngles& angles);
template<class Type = float>
requires std::is_floating_point_v<Type> || std::is_integral_v<Type>
[[nodiscard]] constexpr Mat<4, 4, Type, MatStoreType::ROW_MAJOR> ViewMatrixFromVecs(const Vector3& forward, const Vector3& right,
const Vector3& up, const Vector3& camera_pos)
{
return Mat<4, 4, Type, MatStoreType::ROW_MAJOR>{
{right.x, right.y, right.z, 0},
{up.x, up.y, up.z, 0},
{forward.x, forward.y, forward.z, 0},
{0, 0, 0, 1},
} * MatTranslation<float, MatStoreType::ROW_MAJOR>(-camera_pos) ;
}
template<class Type = float>
requires std::is_floating_point_v<Type> || std::is_integral_v<Type>
[[nodiscard]] Mat<4, 4, Type, MatStoreType::ROW_MAJOR> ViewMatrix(const ViewAngles& angles, const Vector3& cam_origin)
{
return ViewMatrixFromVecs(ForwardVector(angles), RightVector(angles), UpVector(angles), cam_origin);
}
template<class Type>
requires std::is_arithmetic_v<Type> && std::is_signed_v<Type>
[[nodiscard]] Mat<4, 4, Type, MatStoreType::ROW_MAJOR>
PerspectiveProjectionMatrix(const Type& fieldOfView, const Type& aspectRatio, const Type& near, const Type& far)
{
constexpr auto kMultiplyFactor = Type(0.75);
const Type fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2) * kMultiplyFactor;
return {
{-static_cast<Type>(1) / (aspectRatio * fovHalfTan), 0, 0, 0},
{0, -static_cast<Type>(1) / (fovHalfTan), 0, 0},
{0, 0, (far + near) / (far - near), -(static_cast<Type>(2) * far * near) / (far - near)},
{0, 0, 1, 0},
};
}
// Copied from
// https://github.com/ValveSoftware/source-sdk-2013/blob/0d8dceea4310fde5706b3ce1c70609d72a38efdf/mp/src/mathlib/mathlib_base.cpp#L919
[[nodiscard]]
inline Vector3 ForwardVector(const ViewAngles& angles)
{
const auto cosPitch = angles.pitch.Cos();
const auto sinPitch = angles.pitch.Sin();
const auto cosYaw = angles.yaw.Cos();
const auto sinYaw = angles.yaw.Sin();
return {cosPitch * cosYaw, cosPitch * sinYaw, -sinPitch};
}
[[nodiscard]]
inline Vector3 RightVector(const ViewAngles& angles)
{
const auto cosPitch = angles.pitch.Cos();
const auto sinPitch = angles.pitch.Sin();
const auto cosYaw = angles.yaw.Cos();
const auto sinYaw = angles.yaw.Sin();
const auto cosRoll = angles.roll.Cos();
const auto sinRoll = angles.roll.Sin();
return
{
-1 * sinRoll * sinPitch * cosYaw + -1 * cosRoll * -sinYaw,
-1 * sinRoll * sinPitch * sinYaw + -1 * cosRoll * cosYaw,
-1 * sinRoll * cosPitch
};
}
[[nodiscard]]
inline Vector3 UpVector(const ViewAngles& angles)
{
const auto cosPitch = angles.pitch.Cos();
const auto sinPitch = angles.pitch.Sin();
const auto cosYaw = angles.yaw.Cos();
const auto sinYaw = angles.yaw.Sin();
const auto cosRoll = angles.roll.Cos();
const auto sinRoll = angles.roll.Sin();
return
{
cosRoll * sinPitch * cosYaw + - sinRoll * -sinYaw,
cosRoll * sinPitch * sinYaw + - sinRoll * cosYaw,
cosRoll * cosPitch,
};
}
using Camera = omath::projection::Camera<ViewAngles, decltype(ViewMatrix<float>), decltype(PerspectiveProjectionMatrix<float>)>;
// Camera(const Vector3& position, const ViewAnglesType& viewAngles, const ViewPort& viewPort,
// const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, const float near, const float far,
// const std::function<ViewMatFunc>& viewMatFunc, const std::function<ProjectionFunc>& projFunc)
inline Camera CreateCamera(const Vector3& position, const auto& viewAngles, const projection::ViewPort& viewPort,
const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, const float near, const float far)
{
return Camera(position, viewAngles, viewPort, fov, near, far, ViewMatrix<float>, PerspectiveProjectionMatrix<float>);
}
} // namespace omath::source

33
include/omath/projection/Camera.hpp
View File

@@ -26,42 +26,33 @@ namespace omath::projection
}
};
template<class ViewAnglesType, class ViewMatFunc, class ProjectionFunc>
requires std::is_same_v<std::invoke_result_t<ViewMatFunc, const ViewAnglesType&, const Vector3&>,
std::invoke_result_t<ProjectionFunc, const float&, const float&, const float&, const float&>>
template<class Mat4x4Type, class ViewAnglesType>
class Camera
{
public:
virtual ~Camera() = default;
Camera(const Vector3& position, const ViewAnglesType& viewAngles, const ViewPort& viewPort,
const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, const float near, const float far,
const std::function<ViewMatFunc>& viewMatFunc, const std::function<ProjectionFunc>& projFunc) :
const Angle<float, 0.f, 180.f, AngleFlags::Clamped>& fov, const float near, const float far) :
m_viewPort(viewPort), m_fieldOfView(fov), m_farPlaneDistance(far), m_nearPlaneDistance(near),
m_viewAngles(viewAngles), m_origin(position), CreateViewMatrix(viewMatFunc), CreateProjectionMatrix(projFunc)
m_viewAngles(viewAngles), m_origin(position)
{
}
void LookAt(const Vector3& target);
virtual void LookAt(const Vector3& target) = 0;
[[nodiscard]] auto GetViewMatrix() const
{
return CreateViewMatrix(m_viewAngles, m_origin);
}
[[nodiscard]] virtual Mat4x4Type GetViewMatrix() const = 0;
[[nodiscard]] auto GetProjectionMatrix() const
{
return CreateProjectionMatrix(m_fieldOfView.AsDegrees(), m_viewPort.AspectRatio(), m_nearPlaneDistance, m_farPlaneDistance);
}
[[nodiscard]] virtual Mat4x4Type GetProjectionMatrix() const = 0;
[[nodiscard]] auto GetViewProjectionMatrix() const
[[nodiscard]] Mat4x4Type GetViewProjectionMatrix() const
{
return GetProjectionMatrix() * GetViewMatrix();
}
[[nodiscard]] std::expected<Vector3, Error> WorldToScreen(const Vector3& worldPosition) const
{
using mat = std::invoke_result_t<ViewMatFunc, const ViewAnglesType&, const Vector3&>;
auto projected = GetViewProjectionMatrix() * MatColumnFromVector<float, mat::GetStoreOrdering()>(worldPosition);
auto projected = GetViewProjectionMatrix() * MatColumnFromVector<float, Mat4x4Type::GetStoreOrdering()>(worldPosition);
if (projected.At(3, 0) == 0.0f)
return std::unexpected(Error::WORLD_POSITION_IS_OUT_OF_SCREEN_BOUNDS);
@@ -74,20 +65,18 @@ namespace omath::projection
return Vector3{++projected.At(0,0) / 2 * m_viewPort.m_width , ++projected.At(1,0) / 2 * m_viewPort.m_height, projected.At(2,0)};
}
protected:
ViewPort m_viewPort{};
Angle<float, 0.f, 180.f, AngleFlags::Clamped> m_fieldOfView;
float m_farPlaneDistance;
float m_nearPlaneDistance;
private:
ViewAnglesType m_viewAngles;
Vector3 m_origin;
std::function<ViewMatFunc> CreateViewMatrix;
std::function<ProjectionFunc> CreateProjectionMatrix;
private:
template<class Type>
[[nodiscard]]

1
source/CMakeLists.txt
View File

@@ -11,3 +11,4 @@ add_subdirectory(prediction)
add_subdirectory(pathfinding)
add_subdirectory(projection)
add_subdirectory(collision)
add_subdirectory(engines)

1
source/engines/CMakeLists.txt Normal file
View File

@@ -0,0 +1 @@
add_subdirectory(Source)

1
source/engines/Source/CMakeLists.txt Normal file
View File

@@ -0,0 +1 @@
target_sources(omath PRIVATE Camera.cpp)

31
source/engines/Source/Camera.cpp Normal file
View File

@@ -0,0 +1,31 @@
//
// Created by Orange on 12/4/2024.
//
#include "omath/engines/Source/Camera.hpp"
#include "omath/engines/Source/Formulas.hpp"
namespace omath::source
{
void Camera::LookAt(const Vector3& target)
{
const float distance = m_origin.DistTo(target);
const auto delta = target - m_origin;
m_viewAngles.pitch = PitchAngle::FromRadians(std::asin(delta.z / distance));
m_viewAngles.yaw = YawAngle::FromRadians(std::atan2(delta.y, delta.x));
m_viewAngles.roll = RollAngle::FromRadians(0.f);
}
Mat4x4 Camera::GetViewMatrix() const
{
return ViewMatrix(m_viewAngles, m_origin);
}
Mat4x4 Camera::GetProjectionMatrix() const
{
return PerspectiveProjectionMatrix(m_fieldOfView.AsDegrees(), m_viewPort.AspectRatio(), m_nearPlaneDistance, m_farPlaneDistance);
}
} // namespace omath::source

4
source/prediction/Projectile.cpp
View File

@@ -4,13 +4,13 @@
#include "omath/prediction/Projectile.hpp"
#include <cmath>
#include <omath/engines/Source.hpp>
#include <omath/engines/Source/Formulas.hpp>
namespace omath::prediction
{
Vector3 Projectile::PredictPosition(const float pitch, const float yaw, const float time, const float gravity) const
{
auto currentPos = m_origin + omath::source::ForwardVector({source::PitchAngle::FromDegrees(pitch), source::YawAngle::FromDegrees(yaw), source::RollAngle::FromDegrees(0)}) * m_launchSpeed * time;
auto currentPos = m_origin + omath::source::ForwardVector({source::PitchAngle::FromDegrees(-pitch), source::YawAngle::FromDegrees(yaw), source::RollAngle::FromDegrees(0)}) * m_launchSpeed * time;
currentPos.z -= (gravity * m_gravityScale) * std::pow(time, 2.f) * 0.5f;
return currentPos;

1
tests/engines/UnitTestOpenGL.cpp
View File

@@ -6,7 +6,6 @@
#include <omath/Matrix.hpp>
#include <print>
#include <omath/engines/OpenGL.hpp>
#include <omath/engines/Source.hpp>
// #include <glm/glm.hpp>
// #include "glm/ext/matrix_clip_space.hpp"

3
tests/engines/UnitTestSourceEngine.cpp
View File

@@ -2,7 +2,8 @@
// Created by Orange on 11/23/2024.
//
#include <gtest/gtest.h>
#include <omath/engines/Source.hpp>
#include <omath/engines/Source/Constants.h>
#include <omath/engines/Source/Formulas.hpp>

4
tests/general/UnitTestProjection.cpp
View File

@@ -4,14 +4,14 @@
#include <complex>
#include <gtest/gtest.h>
#include <omath/Matrix.hpp>
#include <omath/engines/Source.hpp>
#include <omath/engines/Source/Camera.hpp>
#include <omath/projection/Camera.hpp>
#include <print>
TEST(UnitTestProjection, Projection)
{
auto x = omath::Angle<float, 0.f, 180.f, omath::AngleFlags::Clamped>::FromDegrees(90.f);
auto cam = omath::source::CreateCamera({-10, 0, 0}, omath::source::ViewAngles{}, {1920.f, 1080.f}, x, 0.1f, 1000.f);
auto cam = omath::source::Camera({-10, 0, 0}, omath::source::ViewAngles{}, {1920.f, 1080.f}, x, 0.1f, 1000.f);
const auto projected = cam.WorldToScreen({10, 0, 0});
std::print("{} {} {}", projected->x, projected->y, projected->z);