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483 lines
15 KiB
C++
483 lines
15 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 "omath/vector3.hpp"
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#include <algorithm>
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#include <array>
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#include <iomanip>
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#include <numeric>
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#include <sstream>
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#include <stdexcept>
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#include <utility>
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#ifdef near
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#undef near
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#endif
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#ifdef far
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#undef far
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#endif
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namespace omath
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{
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struct MatSize
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{
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size_t rows, columns;
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};
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enum class MatStoreType : uint8_t
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{
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ROW_MAJOR = 0,
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COLUMN_MAJOR
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};
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template<typename M1, typename M2> concept MatTemplateEqual
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= (M1::rows == M2::rows) && (M1::columns == M2::columns)
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&& std::is_same_v<typename M1::value_type, typename M2::value_type> && (M1::store_type == M2::store_type);
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template<size_t Rows = 0, size_t Columns = 0, class Type = float, MatStoreType StoreType = MatStoreType::ROW_MAJOR>
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requires std::is_arithmetic_v<Type>
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class Mat final
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{
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public:
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constexpr Mat() noexcept
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{
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clear();
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}
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[[nodiscard]]
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constexpr static MatStoreType get_store_ordering() noexcept
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{
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return StoreType;
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}
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constexpr Mat(const std::initializer_list<std::initializer_list<Type>>& 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 row_it = rows.begin();
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for (size_t i = 0; i < Rows; ++i, ++row_it)
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{
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if (row_it->size() != Columns)
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throw std::invalid_argument(
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"All rows must have the same number of columns as template parameter Columns");
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auto col_it = row_it->begin();
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for (size_t j = 0; j < Columns; ++j, ++col_it)
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{
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at(i, j) = std::move(*col_it);
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}
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}
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}
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constexpr explicit Mat(const Type* raw_data)
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{
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std::copy_n(raw_data, Rows * Columns, m_data.begin());
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}
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constexpr Mat(const Mat& other) noexcept
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{
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m_data = other.m_data;
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}
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[[nodiscard]]
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constexpr Type& operator[](const size_t row, const size_t col)
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{
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return at(row, col);
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}
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[[nodiscard]]
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constexpr Type& operator[](const size_t row, const size_t col) const
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{
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return at(row, col);
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}
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constexpr Mat(Mat&& other) noexcept
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{
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m_data = std::move(other.m_data);
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}
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[[nodiscard]]
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static constexpr size_t row_count() noexcept
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{
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return Rows;
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}
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[[nodiscard]]
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static constexpr size_t columns_count() noexcept
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{
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return Columns;
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}
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[[nodiscard]]
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static consteval MatSize size() noexcept
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{
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return {Rows, Columns};
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}
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[[nodiscard]]
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constexpr const Type& at(const size_t row_index, const size_t column_index) const
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{
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#if !defined(NDEBUG) && defined(OMATH_SUPRESS_SAFETY_CHECKS)
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if (row_index >= Rows || column_index >= Columns)
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throw std::out_of_range("Index out of range");
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#endif
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if constexpr (StoreType == MatStoreType::ROW_MAJOR)
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return m_data[row_index * Columns + column_index];
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else if constexpr (StoreType == MatStoreType::COLUMN_MAJOR)
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return m_data[row_index + column_index * Rows];
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else
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{
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static_assert(false, "Invalid matrix access convention");
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std::unreachable();
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}
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}
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[[nodiscard]] constexpr Type& at(const size_t row_index, const size_t column_index)
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{
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return const_cast<Type&>(std::as_const(*this).at(row_index, column_index));
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}
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[[nodiscard]]
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constexpr Type sum() const noexcept
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{
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return std::accumulate(m_data.begin(), m_data.end(), static_cast<Type>(0));
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}
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constexpr void clear() noexcept
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{
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set(static_cast<Type>(0));
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}
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constexpr void set(const Type& value) noexcept
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{
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std::ranges::fill(m_data, value);
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}
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// Operator overloading for multiplication with another Mat
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template<size_t OtherColumns> [[nodiscard]]
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constexpr Mat<Rows, OtherColumns, Type, StoreType>
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operator*(const Mat<Columns, OtherColumns, Type, StoreType>& other) const
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{
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Mat<Rows, OtherColumns, Type, StoreType> 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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Type sum = 0;
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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*=(const Type& f) noexcept
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{
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std::ranges::for_each(m_data, [&f](auto& val) { val *= f; });
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return *this;
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}
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template<size_t OtherColumns> constexpr Mat<Rows, OtherColumns, Type, StoreType>
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operator*=(const Mat<Columns, OtherColumns, Type, StoreType>& other)
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{
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return *this = *this * other;
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}
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[[nodiscard]]
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constexpr Mat operator*(const Type& value) const noexcept
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{
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Mat result(*this);
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result *= value;
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return result;
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}
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constexpr Mat& operator/=(const Type& value) noexcept
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{
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std::ranges::for_each(m_data, [&value](auto& val) { val /= value; });
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return *this;
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}
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[[nodiscard]]
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constexpr Mat operator/(const Type& value) const noexcept
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{
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Mat result(*this);
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result /= value;
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return result;
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}
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constexpr Mat& operator=(const Mat& other) noexcept
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{
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if (this != &other)
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m_data = other.m_data;
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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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m_data = std::move(other.m_data);
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return *this;
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}
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[[nodiscard]]
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constexpr Mat<Columns, Rows, Type, StoreType> transposed() const noexcept
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{
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Mat<Columns, Rows, Type, StoreType> 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 Type 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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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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if constexpr (Rows > 2)
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{
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Type det = 0;
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for (size_t column = 0; column < Columns; ++column)
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{
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const Type cofactor = at(0, column) * alg_complement(0, column);
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det += cofactor;
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}
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return det;
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}
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std::unreachable();
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}
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[[nodiscard]]
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constexpr Mat<Rows - 1, Columns - 1, Type, StoreType> strip(const size_t row, const size_t column) const
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{
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static_assert(Rows - 1 > 0 && Columns - 1 > 0);
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Mat<Rows - 1, Columns - 1, Type, StoreType> 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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constexpr Type minor(const size_t row, const size_t column) const
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{
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return strip(row, column).determinant();
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}
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[[nodiscard]]
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constexpr Type alg_complement(const size_t row, const size_t column) const
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{
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const auto minor_value = minor(row, column);
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return (row + column + 2) % 2 == 0 ? minor_value : -minor_value;
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}
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[[nodiscard]]
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constexpr const std::array<Type, Rows * Columns>& raw_array() const
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{
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return m_data;
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}
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[[nodiscard]]
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constexpr std::array<Type, Rows * Columns>& raw_array()
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{
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return m_data;
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}
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[[nodiscard]]
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std::string to_string() const noexcept
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{
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std::ostringstream oss;
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oss << "[[";
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for (size_t i = 0; i < Rows; ++i)
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{
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if (i > 0)
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oss << " [";
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for (size_t j = 0; j < Columns; ++j)
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{
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oss << std::setw(9) << std::fixed << std::setprecision(3) << 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 << (i == Rows - 1 ? "]]" : "]\n");
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}
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return oss.str();
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}
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[[nodiscard]]
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bool operator==(const Mat& mat) const
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{
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return m_data == mat.m_data;
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}
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[[nodiscard]]
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bool operator!=(const Mat& mat) const
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{
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return !operator==(mat);
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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> to_screen_mat(const Type& screen_width, const Type& screen_height) noexcept
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{
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return {
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{screen_width / 2, 0, 0, 0},
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{0, -screen_height / 2, 0, 0},
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{0, 0, 1, 0},
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{screen_width / 2, screen_height / 2, 0, 1},
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};
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}
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[[nodiscard]]
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constexpr std::optional<Mat> inverted() const
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{
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const auto det = determinant();
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if (det == 0)
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return std::nullopt;
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const auto transposed_mat = transposed();
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Mat result;
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for (std::size_t row = 0; row < Rows; row++)
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for (std::size_t column = 0; column < Rows; column++)
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result.at(row, column) = transposed_mat.alg_complement(row, column);
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result /= det;
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return {result};
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}
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private:
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std::array<Type, Rows * Columns> m_data;
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};
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template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
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constexpr static Mat<1, 4, Type, St> mat_row_from_vector(const Vector3<Type>& vector) noexcept
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{
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return {{vector.x, vector.y, vector.z, 1}};
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}
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template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
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constexpr static Mat<4, 1, Type, St> mat_column_from_vector(const Vector3<Type>& vector) noexcept
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{
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return {{vector.x}, {vector.y}, {vector.z}, {1}};
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}
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template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
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[[nodiscard]]
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constexpr Mat<4, 4, Type, St> mat_translation(const Vector3<Type>& diff) noexcept
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{
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return
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{
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{1, 0, 0, diff.x},
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{0, 1, 0, diff.y},
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{0, 0, 1, diff.z},
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{0, 0, 0, 1},
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};
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}
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template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
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[[nodiscard]]
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Mat<4, 4, Type, St> mat_rotation_axis_x(const Angle& angle) noexcept
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{
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return
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{
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{1, 0, 0, 0},
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{0, angle.cos(), -angle.sin(), 0},
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{0, angle.sin(), angle.cos(), 0},
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{0, 0, 0, 1}
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};
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}
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template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
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[[nodiscard]]
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Mat<4, 4, Type, St> mat_rotation_axis_y(const Angle& angle) noexcept
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{
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return
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{
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{angle.cos(), 0, angle.sin(), 0},
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{0 , 1, 0, 0},
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{-angle.sin(), 0, angle.cos(), 0},
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{0 , 0, 0, 1}
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};
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}
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template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
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[[nodiscard]]
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Mat<4, 4, Type, St> mat_rotation_axis_z(const Angle& angle) noexcept
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{
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return
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{
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{angle.cos(), -angle.sin(), 0, 0},
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{angle.sin(), angle.cos(), 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<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
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[[nodiscard]]
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static Mat<4, 4, Type, St> mat_camera_view(const Vector3<Type>& forward, const Vector3<Type>& right,
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const Vector3<Type>& up, const Vector3<Type>& camera_origin) noexcept
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{
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return Mat<4, 4, Type, St>
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{
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{right.x, right.y, right.z, 0},
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{up.x, up.y, up.z, 0},
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{forward.x, forward.y, forward.z, 0},
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{0, 0, 0, 1},
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} * mat_translation<Type, St>(-camera_origin);
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}
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template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
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[[nodiscard]]
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Mat<4, 4, Type, St> mat_perspective_left_handed(const float field_of_view, const float aspect_ratio,
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const float near, const float far) noexcept
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{
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const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
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return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
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{0.f, 1.f / fov_half_tan, 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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template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
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[[nodiscard]]
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Mat<4, 4, Type, St> mat_perspective_right_handed(const float field_of_view, const float aspect_ratio,
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const float near, const float far) noexcept
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{
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const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
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return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
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{0.f, 1.f / fov_half_tan, 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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} // namespace omath
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