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

Merge pull request #37 from orange-cpp/u/engine_rotation_mats

Browse Source 
U/engine rotation mats
This commit is contained in:
Orange++
2025-04-16 23:21:58 +03:00
committed by GitHub
parent 2180f8ab97 0069b8bd96
commit 9fde11733f
17 changed files with 199 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
include/omath/angle.hpp
View File

@@ -3,9 +3,9 @@
//
#pragma once
#include "omath/angles.hpp"
#include <algorithm>
#include <utility>
#include "omath/angles.hpp"
namespace omath
@@ -17,7 +17,7 @@ namespace omath
};
template<class Type = float, Type min = Type(0), Type max = Type(360), AngleFlags flags = AngleFlags::Normalized>
requires std::is_arithmetic_v<Type>
requires std::is_arithmetic_v<Type>
class Angle
{
Type m_angle;
@@ -34,6 +34,7 @@ namespace omath
std::unreachable();
}
}
public:
[[nodiscard]]
constexpr static Angle FromDegrees(const Type& degrees)
@@ -42,7 +43,6 @@ namespace omath
}
constexpr Angle() : m_angle(0)
{
}
[[nodiscard]]
constexpr static Angle FromRadians(const Type& degrees)
@@ -149,4 +149,4 @@ namespace omath
return Angle{-m_angle};
}
};
}
} // namespace omath

4
include/omath/engines/iw_engine/formulas.hpp
View File

@@ -16,8 +16,10 @@ namespace omath::iw_engine
[[nodiscard]]
Vector3<float> UpVector(const ViewAngles& angles);
[[nodiscard]] Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin);
[[nodiscard]]
Mat4x4 RotationMatrix(const ViewAngles& angles);
[[nodiscard]] Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin);
[[nodiscard]]
Mat4x4 CalcPerspectiveProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);

7
include/omath/engines/opengl_engine/constants.hpp
View File

@@ -17,9 +17,10 @@ namespace omath::opengl_engine
using Mat4x4 = Mat<4, 4, float, MatStoreType::COLUMN_MAJOR>;
using Mat3x3 = Mat<4, 4, float, MatStoreType::COLUMN_MAJOR>;
using Mat1x3 = Mat<1, 3, float, MatStoreType::COLUMN_MAJOR>;
using PitchAngle = Angle<float, 0.f, 180.f, AngleFlags::Clamped>;
using YawAngle = Angle<float, 0.f, 360.f, AngleFlags::Normalized>;
using RollAngle = Angle<float, 0.f, 360.f, AngleFlags::Normalized>;
using PitchAngle = Angle<float, -90.f, 90.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>;
}

2
include/omath/engines/opengl_engine/formulas.hpp
View File

@@ -18,6 +18,8 @@ namespace omath::opengl_engine
[[nodiscard]] Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin);
[[nodiscard]]
Mat4x4 RotationMatrix(const ViewAngles& angles);
[[nodiscard]]
Mat4x4 CalcPerspectiveProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);

4
include/omath/engines/source_engine/formulas.hpp
View File

@@ -9,6 +9,9 @@ namespace omath::source_engine
[[nodiscard]]
Vector3<float> ForwardVector(const ViewAngles& angles);
[[nodiscard]]
Mat4x4 RotationMatrix(const ViewAngles& angles);
[[nodiscard]]
Vector3<float> RightVector(const ViewAngles& angles);
@@ -17,7 +20,6 @@ namespace omath::source_engine
[[nodiscard]] Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin);
[[nodiscard]]
Mat4x4 CalcPerspectiveProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);
} // namespace omath::source

2
include/omath/engines/unity_engine/constants.hpp
View File

@@ -18,7 +18,7 @@ namespace omath::unity_engine
using Mat4x4 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
using Mat3x3 = Mat<4, 4, float, MatStoreType::ROW_MAJOR>;
using Mat1x3 = Mat<1, 3, float, MatStoreType::ROW_MAJOR>;
using PitchAngle = Angle<float, -89.f, 89.f, AngleFlags::Clamped>;
using PitchAngle = Angle<float, -90.f, 90.f, AngleFlags::Clamped>;
using YawAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;
using RollAngle = Angle<float, -180.f, 180.f, AngleFlags::Normalized>;

2
include/omath/engines/unity_engine/formulas.hpp
View File

@@ -18,6 +18,8 @@ namespace omath::unity_engine
[[nodiscard]] Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin);
[[nodiscard]]
Mat4x4 RotationMatrix(const ViewAngles& angles);
[[nodiscard]]
Mat4x4 CalcPerspectiveProjectionMatrix(float fieldOfView, float aspectRatio, float near, float far);

7
include/omath/mat.hpp
View File

@@ -428,13 +428,6 @@ namespace omath
} * MatTranslation<Type, St>(-cameraOrigin);
}
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class ViewAngles>
[[nodiscard]]
Mat<4, 4, Type, St> MatRotation(const ViewAngles& angles) noexcept
{
return MatRotationAxisZ(angles.yaw) * MatRotationAxisY(angles.pitch) * MatRotationAxisX(angles.roll);
}
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
[[nodiscard]]
Mat<4, 4, Type, St> MatPerspectiveLeftHanded(const float fieldOfView, const float aspectRatio, const float near,

10
source/engines/iw_engine/formulas.cpp
View File

@@ -9,23 +9,27 @@ namespace omath::iw_engine
Vector3<float> ForwardVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsForward);
const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsForward);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
Vector3<float> RightVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsRight);
const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsRight);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
Vector3<float> UpVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsUp);
const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsUp);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
Mat4x4 RotationMatrix(const ViewAngles& angles)
{
return MatRotationAxisZ(angles.yaw) * MatRotationAxisY(angles.pitch) * MatRotationAxisX(angles.roll);
}
Mat4x4 CalcViewMatrix(const ViewAngles& angles, const Vector3<float>& cam_origin)
{

12
source/engines/opengl_engine/formulas.cpp
View File

@@ -9,19 +9,19 @@ namespace omath::opengl_engine
Vector3<float> ForwardVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsForward);
const auto vec = RotationMatrix(angles) * MatColumnFromVector<float, MatStoreType::COLUMN_MAJOR>(kAbsForward);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
Vector3<float> RightVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsRight);
const auto vec = RotationMatrix(angles) * MatColumnFromVector<float, MatStoreType::COLUMN_MAJOR>(kAbsRight);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
Vector3<float> UpVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsUp);
const auto vec = RotationMatrix(angles) * MatColumnFromVector<float, MatStoreType::COLUMN_MAJOR>(kAbsUp);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
@@ -30,6 +30,12 @@ namespace omath::opengl_engine
return MatCameraView<float, MatStoreType::COLUMN_MAJOR>(-ForwardVector(angles), RightVector(angles),
UpVector(angles), cam_origin);
}
Mat4x4 RotationMatrix(const ViewAngles& angles)
{
return MatRotationAxisZ<float, MatStoreType::COLUMN_MAJOR>(angles.roll) *
MatRotationAxisY<float, MatStoreType::COLUMN_MAJOR>(-angles.yaw) *
MatRotationAxisX<float, MatStoreType::COLUMN_MAJOR>(-angles.pitch);
}
Mat4x4 CalcPerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
const float far)
{

11
source/engines/source_engine/formulas.cpp
View File

@@ -8,20 +8,25 @@ namespace omath::source_engine
{
Vector3<float> ForwardVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsForward);
const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsForward);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
Mat4x4 RotationMatrix(const ViewAngles& angles)
{
return MatRotationAxisZ(angles.yaw) * MatRotationAxisY(angles.pitch) * MatRotationAxisX(angles.roll);
}
Vector3<float> RightVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsRight);
const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsRight);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
Vector3<float> UpVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsUp);
const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsUp);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}

12
source/engines/unity_engine/formulas.cpp
View File

@@ -9,19 +9,19 @@ namespace omath::unity_engine
{
Vector3<float> ForwardVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsForward);
const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsForward);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
Vector3<float> RightVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsRight);
const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsRight);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
Vector3<float> UpVector(const ViewAngles& angles)
{
const auto vec = MatRotation(angles) * MatColumnFromVector(kAbsUp);
const auto vec = RotationMatrix(angles) * MatColumnFromVector(kAbsUp);
return {vec.At(0, 0), vec.At(1, 0), vec.At(2, 0)};
}
@@ -30,6 +30,12 @@ namespace omath::unity_engine
return MatCameraView<float, MatStoreType::ROW_MAJOR>(ForwardVector(angles), -RightVector(angles),
UpVector(angles), cam_origin);
}
Mat4x4 RotationMatrix(const ViewAngles& angles)
{
return MatRotationAxisZ(angles.roll) *
MatRotationAxisY(angles.yaw) *
MatRotationAxisX(angles.pitch);
}
Mat4x4 CalcPerspectiveProjectionMatrix(const float fieldOfView, const float aspectRatio, const float near,
const float far)
{

2
source/projectile_prediction/proj_pred_engine_avx2.cpp
View File

@@ -5,7 +5,7 @@
#include <source_location>
#include <stdexcept>
#include <format>
#if defined(OMATH_USE_AVX2) && defined(__i386__) && defined(__x86_64__)
#include <immintrin.h>
#include <format>

36
tests/engines/unit_test_iw_engine.cpp
View File

@@ -27,6 +27,42 @@ TEST(UnitTestIwEngine, UpVector)
EXPECT_EQ(up, omath::iw_engine::kAbsUp);
}
TEST(UnitTestIwEngine, ForwardVectorRotationYaw)
{
omath::iw_engine::ViewAngles angles;
angles.yaw = omath::iw_engine::YawAngle::FromDegrees(-90.f);
const auto forward = omath::iw_engine::ForwardVector(angles);
EXPECT_NEAR(forward.x, omath::iw_engine::kAbsRight.x, 0.00001f);
EXPECT_NEAR(forward.y, omath::iw_engine::kAbsRight.y, 0.00001f);
EXPECT_NEAR(forward.z, omath::iw_engine::kAbsRight.z, 0.00001f);
}
TEST(UnitTestIwEngine, ForwardVectorRotationPitch)
{
omath::iw_engine::ViewAngles angles;
angles.pitch = omath::iw_engine::PitchAngle::FromDegrees(-89.f);
const auto forward = omath::iw_engine::ForwardVector(angles);
EXPECT_NEAR(forward.x, omath::iw_engine::kAbsUp.x, 0.02f);
EXPECT_NEAR(forward.y, omath::iw_engine::kAbsUp.y, 0.01f);
EXPECT_NEAR(forward.z, omath::iw_engine::kAbsUp.z, 0.01f);
}
TEST(UnitTestIwEngine, ForwardVectorRotationRoll)
{
omath::iw_engine::ViewAngles angles;
angles.roll = omath::iw_engine::RollAngle::FromDegrees(90.f);
const auto forward = omath::iw_engine::UpVector(angles);
EXPECT_NEAR(forward.x, omath::iw_engine::kAbsRight.x, 0.00001f);
EXPECT_NEAR(forward.y, omath::iw_engine::kAbsRight.y, 0.00001f);
EXPECT_NEAR(forward.z, omath::iw_engine::kAbsRight.z, 0.00001f);
}
TEST(UnitTestIwEngine, ProjectTargetMovedFromCamera)
{
constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);

40
tests/engines/unit_test_open_gl.cpp
View File

@@ -10,14 +10,12 @@
TEST(UnitTestOpenGL, ForwardVector)
{
const auto forward = omath::opengl_engine::ForwardVector({});
EXPECT_EQ(forward, omath::opengl_engine::kAbsForward);
}
TEST(UnitTestOpenGL, RightVector)
{
const auto right = omath::opengl_engine::RightVector({});
EXPECT_EQ(right, omath::opengl_engine::kAbsRight);
}
@@ -27,6 +25,44 @@ TEST(UnitTestOpenGL, UpVector)
EXPECT_EQ(up, omath::opengl_engine::kAbsUp);
}
TEST(UnitTestOpenGL, ForwardVectorRotationYaw)
{
omath::opengl_engine::ViewAngles angles;
angles.yaw = omath::opengl_engine::YawAngle::FromDegrees(90.f);
const auto forward = omath::opengl_engine::ForwardVector(angles);
EXPECT_NEAR(forward.x, omath::opengl_engine::kAbsRight.x, 0.00001f);
EXPECT_NEAR(forward.y, omath::opengl_engine::kAbsRight.y, 0.00001f);
EXPECT_NEAR(forward.z, omath::opengl_engine::kAbsRight.z, 0.00001f);
}
TEST(UnitTestOpenGL, ForwardVectorRotationPitch)
{
omath::opengl_engine::ViewAngles angles;
angles.pitch = omath::opengl_engine::PitchAngle::FromDegrees(-90.f);
const auto forward = omath::opengl_engine::ForwardVector(angles);
EXPECT_NEAR(forward.x, omath::opengl_engine::kAbsUp.x, 0.00001f);
EXPECT_NEAR(forward.y, omath::opengl_engine::kAbsUp.y, 0.00001f);
EXPECT_NEAR(forward.z, omath::opengl_engine::kAbsUp.z, 0.00001f);
}
TEST(UnitTestOpenGL, ForwardVectorRotationRoll)
{
omath::opengl_engine::ViewAngles angles;
angles.roll = omath::opengl_engine::RollAngle::FromDegrees(-90.f);
const auto forward = omath::opengl_engine::UpVector(angles);
EXPECT_NEAR(forward.x, omath::opengl_engine::kAbsRight.x, 0.00001f);
EXPECT_NEAR(forward.y, omath::opengl_engine::kAbsRight.y, 0.00001f);
EXPECT_NEAR(forward.z, omath::opengl_engine::kAbsRight.z, 0.00001f);
}
TEST(UnitTestOpenGL, ProjectTargetMovedFromCamera)
{
constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);

36
tests/engines/unit_test_source_engine.cpp
View File

@@ -27,6 +27,42 @@ TEST(UnitTestSourceEngine, UpVector)
EXPECT_EQ(up, omath::source_engine::kAbsUp);
}
TEST(UnitTestSourceEngine, ForwardVectorRotationYaw)
{
omath::source_engine::ViewAngles angles;
angles.yaw = omath::source_engine::YawAngle::FromDegrees(-90.f);
const auto forward = omath::source_engine::ForwardVector(angles);
EXPECT_NEAR(forward.x, omath::source_engine::kAbsRight.x, 0.00001f);
EXPECT_NEAR(forward.y, omath::source_engine::kAbsRight.y, 0.00001f);
EXPECT_NEAR(forward.z, omath::source_engine::kAbsRight.z, 0.00001f);
}
TEST(UnitTestSourceEngine, ForwardVectorRotationPitch)
{
omath::source_engine::ViewAngles angles;
angles.pitch = omath::source_engine::PitchAngle::FromDegrees(-89.f);
const auto forward = omath::source_engine::ForwardVector(angles);
EXPECT_NEAR(forward.x, omath::source_engine::kAbsUp.x, 0.02f);
EXPECT_NEAR(forward.y, omath::source_engine::kAbsUp.y, 0.01f);
EXPECT_NEAR(forward.z, omath::source_engine::kAbsUp.z, 0.01f);
}
TEST(UnitTestSourceEngine, ForwardVectorRotationRoll)
{
omath::source_engine::ViewAngles angles;
angles.roll = omath::source_engine::RollAngle::FromDegrees(90.f);
const auto forward = omath::source_engine::UpVector(angles);
EXPECT_NEAR(forward.x, omath::source_engine::kAbsRight.x, 0.00001f);
EXPECT_NEAR(forward.y, omath::source_engine::kAbsRight.y, 0.00001f);
EXPECT_NEAR(forward.z, omath::source_engine::kAbsRight.z, 0.00001f);
}
TEST(UnitTestSourceEngine, ProjectTargetMovedFromCamera)
{
constexpr auto fov = omath::projection::FieldOfView::FromDegrees(90.f);

36
tests/engines/unit_test_unity_engine.cpp
View File

@@ -14,6 +14,42 @@ TEST(UnitTestUnityEngine, ForwardVector)
EXPECT_EQ(forward, omath::unity_engine::kAbsForward);
}
TEST(UnitTestUnityEngine, ForwardVectorRotationYaw)
{
omath::unity_engine::ViewAngles angles;
angles.yaw = omath::unity_engine::YawAngle::FromDegrees(90.f);
const auto forward = omath::unity_engine::ForwardVector(angles);
EXPECT_NEAR(forward.x, omath::unity_engine::kAbsRight.x, 0.00001f);
EXPECT_NEAR(forward.y, omath::unity_engine::kAbsRight.y, 0.00001f);
EXPECT_NEAR(forward.z, omath::unity_engine::kAbsRight.z, 0.00001f);
}
TEST(UnitTestUnityEngine, ForwardVectorRotationPitch)
{
omath::unity_engine::ViewAngles angles;
angles.pitch = omath::unity_engine::PitchAngle::FromDegrees(-90.f);
const auto forward = omath::unity_engine::ForwardVector(angles);
EXPECT_NEAR(forward.x, omath::unity_engine::kAbsUp.x, 0.00001f);
EXPECT_NEAR(forward.y, omath::unity_engine::kAbsUp.y, 0.00001f);
EXPECT_NEAR(forward.z, omath::unity_engine::kAbsUp.z, 0.00001f);
}
TEST(UnitTestUnityEngine, ForwardVectorRotationRoll)
{
omath::unity_engine::ViewAngles angles;
angles.roll = omath::unity_engine::RollAngle::FromDegrees(-90.f);
const auto forward = omath::unity_engine::UpVector(angles);
EXPECT_NEAR(forward.x, omath::unity_engine::kAbsRight.x, 0.00001f);
EXPECT_NEAR(forward.y, omath::unity_engine::kAbsRight.y, 0.00001f);
EXPECT_NEAR(forward.z, omath::unity_engine::kAbsRight.z, 0.00001f);
}
TEST(UnitTestUnityEngine, RightVector)
{
const auto right = omath::unity_engine::RightVector({});