mirror of
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303 lines
8.8 KiB
C++
303 lines
8.8 KiB
C++
//
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// Created by vlad on 9/29/2024.
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//
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#pragma once
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#include <array>
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#include <sstream>
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#include <utility>
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#include "Vector3.h"
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#include <stdexcept>
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#include "Angles.h"
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namespace omath
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{
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template <size_t Rows, size_t Columns>
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class Mat final
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{
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public:
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constexpr Mat()
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{
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Clear();
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}
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constexpr Mat(const std::initializer_list<std::initializer_list<float>>& rows)
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{
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if (rows.size() != Rows)
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throw std::invalid_argument("Initializer list rows size does not match template parameter Rows");
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auto rowIt = rows.begin();
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for (size_t i = 0; i < Rows; ++i, ++rowIt)
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{
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if (rowIt->size() != Columns)
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throw std::invalid_argument("All rows must have the same number of columns as template parameter Columns");
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auto colIt = rowIt->begin();
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for (size_t j = 0; j < Columns; ++j, ++colIt)
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{
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At(i, j) = *colIt;
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}
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}
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}
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constexpr Mat(const Mat& other)
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{
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for (size_t i = 0; i < Rows; ++i)
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for (size_t j = 0; j < Columns; ++j)
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At(i, j) = other.At(i, j);
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}
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constexpr Mat(Mat&& other) noexcept
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{
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for (size_t i = 0; i < Rows; ++i)
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for (size_t j = 0; j < Columns; ++j)
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At(i, j) = other.At(i, j) ;
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}
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[[nodiscard]]
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static constexpr size_t RowCount() noexcept { return Rows; }
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[[nodiscard]]
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static constexpr size_t ColumnsCount() noexcept { return Columns; }
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[[nodiscard]]
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static constexpr std::pair<size_t, size_t> Size() noexcept { return { Rows, Columns }; }
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[[nodiscard]] constexpr const float& At(const size_t rowIndex, const size_t columnIndex) const
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{
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if (rowIndex >= Rows || columnIndex >= Columns)
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throw std::out_of_range("Index out of range");
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return m_data[rowIndex * Columns + columnIndex];
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}
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[[nodiscard]] constexpr float& At(const size_t rowIndex, const size_t columnIndex)
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{
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return const_cast<float&>(std::as_const(*this).At(rowIndex, columnIndex));
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}
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[[nodiscard]]
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constexpr float Sum() const
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{
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float sum = 0.f;
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for (size_t i = 0; i < Rows; ++i)
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for (size_t j = 0; j < Columns; ++j)
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sum += At(i, j);
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return sum;
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}
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constexpr void Clear()
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{
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for (size_t i = 0; i < Rows; ++i)
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for (size_t j = 0; j < Columns; ++j)
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At(i, j) = 0.f;
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}
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// Operator overloading for multiplication with another Mat
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template <size_t OtherColumns>
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constexpr Mat<Rows, OtherColumns> operator*(const Mat<Columns, OtherColumns>& other) const
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{
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Mat<Rows, OtherColumns> result;
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for (size_t i = 0; i < Rows; ++i)
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for (size_t j = 0; j < OtherColumns; ++j)
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{
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float sum = 0.f;
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for (size_t k = 0; k < Columns; ++k)
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sum += At(i, k) * other.At(k, j);
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result.At(i, j) = sum;
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}
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return result;
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}
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constexpr Mat& operator*=(float f)
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{
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for (size_t i = 0; i < Rows; ++i)
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for (size_t j = 0; j < Columns; ++j)
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At(i, j) *= f;
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return *this;
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}
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template <size_t OtherColumns>
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constexpr Mat<Rows, OtherColumns> operator*=(const Mat<Columns, OtherColumns>& other)
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{
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return *this = *this * other;
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}
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constexpr Mat operator*(float f) const
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{
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Mat result(*this);
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result *= f;
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return result;
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}
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constexpr Mat& operator/=(float f)
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{
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for (size_t i = 0; i < Rows; ++i)
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for (size_t j = 0; j < Columns; ++j)
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At(i, j) /= f;
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return *this;
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}
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constexpr Mat operator/(float f) const
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{
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Mat result(*this);
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result /= f;
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return result;
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}
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constexpr Mat& operator=(const Mat& other)
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{
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if (this == &other)
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return *this;
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for (size_t i = 0; i < Rows; ++i)
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for (size_t j = 0; j < Columns; ++j)
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At(i, j) = other.At(i, j);
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return *this;
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}
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constexpr Mat& operator=(Mat&& other) noexcept
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{
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if (this == &other)
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return *this;
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for (size_t i = 0; i < Rows; ++i)
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for (size_t j = 0; j < Columns; ++j)
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At(i, j) = other.At(i, j);
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return *this;
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}
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[[nodiscard]]
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constexpr Mat<Columns, Rows> Transpose() const
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{
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Mat<Columns, Rows> transposed;
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for (size_t i = 0; i < Rows; ++i)
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for (size_t j = 0; j < Columns; ++j)
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transposed.At(j, i) = At(i, j);
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return transposed;
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}
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[[nodiscard]]
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constexpr float Determinant() const
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{
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static_assert(Rows == Columns, "Determinant is only defined for square matrices.");
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if constexpr (Rows == 1)
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return At(0, 0);
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else if constexpr (Rows == 2)
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return At(0, 0) * At(1, 1) - At(0, 1) * At(1, 0);
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else
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{
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float det = 0.f;
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for (size_t i = 0; i < Columns; ++i)
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{
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const float cofactor = (i % 2 == 0 ? 1.f : -1.f) * At(0, i) * Minor(0, i).Determinant();
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det += cofactor;
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}
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return det;
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}
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}
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[[nodiscard]]
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constexpr Mat<Rows - 1, Columns - 1> Minor(const size_t row, const size_t column) const
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{
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Mat<Rows - 1, Columns - 1> result;
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for (size_t i = 0, m = 0; i < Rows; ++i)
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{
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if (i == row)
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continue;
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for (size_t j = 0, n = 0; j < Columns; ++j)
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{
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if (j == column)
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continue;
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result.At(m, n) = At(i, j);
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++n;
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}
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++m;
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}
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return result;
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}
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[[nodiscard]]
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std::string ToString() const
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{
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std::ostringstream oss;
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for (size_t i = 0; i < Rows; ++i)
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{
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for (size_t j = 0; j < Columns; ++j)
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{
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oss << At(i, j);
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if (j != Columns - 1)
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oss << ' ';
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}
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oss << '\n';
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}
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return oss.str();
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}
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// Static methods that return fixed-size matrices
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[[nodiscard]]
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constexpr static Mat<4, 4> ToScreenMat(const float screenWidth, const float screenHeight)
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{
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return
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{
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{screenWidth / 2.f, 0.f, 0.f, 0.f},
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{0.f, -screenHeight / 2.f, 0.f, 0.f},
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{0.f, 0.f, 1.f, 0.f},
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{screenWidth / 2.f, screenHeight / 2.f, 0.f, 1.f},
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};
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}
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[[nodiscard]]
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constexpr static Mat<4, 4> TranslationMat(const Vector3& diff)
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{
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return
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{
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{1.f, 0.f, 0.f, 0.f},
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{0.f, 1.f, 0.f, 0.f},
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{0.f, 0.f, 1.f, 0.f},
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{diff.x, diff.y, diff.z, 1.f},
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};
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}
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[[nodiscard]]
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constexpr static Mat<4, 4> OrientationMat(const Vector3& forward, const Vector3& right, const Vector3& up)
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{
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Mat<4, 4> mat;
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return
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{
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{right.x, up.x, forward.x, 0.f},
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{right.y, up.y, forward.y, 0.f},
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{right.z, up.z, forward.z, 0.f},
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{0.f, 0.f, 0.f, 1.f},
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};
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return mat;
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}
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[[nodiscard]]
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constexpr static Mat<4, 4> ProjectionMat(const float fieldOfView, const float aspectRatio, const float near, const float far)
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{
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const float fovHalfTan = std::tan(angles::DegreesToRadians(fieldOfView) / 2.f);
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return
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{
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{1.f / (aspectRatio * fovHalfTan), 0.f, 0.f, 0.f},
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{0.f, 1.f / fovHalfTan, 0.f, 0.f},
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{0.f, 0.f, (far + near) / (far - near), 2.f * near * far / (far - near)},
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{0.f, 0.f, -1.f, 0.f}
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};
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}
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private:
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std::array<float, Rows*Columns> m_data;
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};
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} |