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Orange
6e59957247
Introduces a utility function to create a scaling matrix from a Vector3. This simplifies the creation of scale transformations, particularly useful for the GJK algorithm implementation.
748 lines
27 KiB
C++
748 lines
27 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 "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 OMATH_USE_AVX2
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#include <immintrin.h>
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#endif
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#undef near
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#undef far
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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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using ContainedType = Type;
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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 const 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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#ifdef OMATH_USE_AVX2
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if constexpr (StoreType == MatStoreType::ROW_MAJOR)
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return avx_multiply_row_major(other);
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else if constexpr (StoreType == MatStoreType::COLUMN_MAJOR)
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return avx_multiply_col_major(other);
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#else
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if constexpr (StoreType == MatStoreType::ROW_MAJOR)
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return cache_friendly_multiply_row_major(other);
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else if constexpr (StoreType == MatStoreType::COLUMN_MAJOR)
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return cache_friendly_multiply_col_major(other);
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#endif
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else
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std::unreachable();
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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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std::wstring to_wstring() const noexcept
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{
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const auto ascii_string = to_string();
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return {ascii_string.cbegin(), ascii_string.cend()};
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}
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[[nodiscard]]
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// ReSharper disable once CppInconsistentNaming
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std::u8string to_u8string() const noexcept
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{
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const auto ascii_string = to_string();
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return {ascii_string.cbegin(), ascii_string.cend()};
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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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template<size_t OtherColumns> [[nodiscard]]
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constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
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cache_friendly_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
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{
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Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR> result;
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for (std::size_t row_index = 0; row_index < Rows; ++row_index)
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for (std::size_t column_index = 0; column_index < Columns; ++column_index)
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{
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const Type& current_number = at(row_index, column_index);
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for (std::size_t other_column = 0; other_column < OtherColumns; ++other_column)
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result.at(row_index, other_column) += current_number * other.at(column_index, other_column);
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}
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return result;
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}
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template<size_t OtherColumns> [[nodiscard]]
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constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR> cache_friendly_multiply_col_major(
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const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
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{
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Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR> result;
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for (std::size_t other_column = 0; other_column < OtherColumns; ++other_column)
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for (std::size_t column_index = 0; column_index < Columns; ++column_index)
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{
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const Type& current_number = other.at(column_index, other_column);
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for (std::size_t row_index = 0; row_index < Rows; ++row_index)
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result.at(row_index, other_column) += at(row_index, column_index) * current_number;
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}
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return result;
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}
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#ifdef OMATH_USE_AVX2
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template<size_t OtherColumns> [[nodiscard]]
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constexpr Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>
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avx_multiply_col_major(const Mat<Columns, OtherColumns, Type, MatStoreType::COLUMN_MAJOR>& other) const
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{
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Mat<Rows, OtherColumns, Type, MatStoreType::COLUMN_MAJOR> result;
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const Type* this_mat_data = this->raw_array().data();
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const Type* other_mat_data = other.raw_array().data();
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Type* result_mat_data = result.raw_array().data();
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if constexpr (std::is_same_v<Type, float>)
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{
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// ReSharper disable once CppTooWideScopeInitStatement
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constexpr std::size_t vector_size = 8;
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for (std::size_t j = 0; j < OtherColumns; ++j)
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{
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auto* c_col = reinterpret_cast<float*>(result_mat_data + j * Rows);
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for (std::size_t k = 0; k < Columns; ++k)
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{
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const float bkj = reinterpret_cast<const float*>(other_mat_data)[k + j * Columns];
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const __m256 bkj_vec = _mm256_set1_ps(bkj);
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const auto* a_col_k = reinterpret_cast<const float*>(this_mat_data + k * Rows);
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std::size_t i = 0;
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for (; i + vector_size <= Rows; i += vector_size)
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{
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__m256 cvec = _mm256_loadu_ps(c_col + i);
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const __m256 a_vec = _mm256_loadu_ps(a_col_k + i);
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cvec = _mm256_fmadd_ps(a_vec, bkj_vec, cvec);
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_mm256_storeu_ps(c_col + i, cvec);
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}
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for (; i < Rows; ++i)
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c_col[i] += a_col_k[i] * bkj;
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}
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}
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}
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else if (std::is_same_v<Type, double>)
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{ // double
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// ReSharper disable once CppTooWideScopeInitStatement
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constexpr std::size_t vector_size = 4;
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for (std::size_t j = 0; j < OtherColumns; ++j)
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{
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auto* c_col = reinterpret_cast<double*>(result_mat_data + j * Rows);
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for (std::size_t k = 0; k < Columns; ++k)
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{
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const double bkj = reinterpret_cast<const double*>(other_mat_data)[k + j * Columns];
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const __m256d bkj_vec = _mm256_set1_pd(bkj);
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const auto* a_col_k = reinterpret_cast<const double*>(this_mat_data + k * Rows);
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std::size_t i = 0;
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for (; i + vector_size <= Rows; i += vector_size)
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{
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__m256d cvec = _mm256_loadu_pd(c_col + i);
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const __m256d a_vec = _mm256_loadu_pd(a_col_k + i);
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cvec = _mm256_fmadd_pd(a_vec, bkj_vec, cvec);
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_mm256_storeu_pd(c_col + i, cvec);
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}
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for (; i < Rows; ++i)
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c_col[i] += a_col_k[i] * bkj;
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}
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}
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}
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else
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std::unreachable();
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return result;
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}
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template<size_t OtherColumns> [[nodiscard]]
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constexpr Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR>
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avx_multiply_row_major(const Mat<Columns, OtherColumns, Type, MatStoreType::ROW_MAJOR>& other) const
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{
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Mat<Rows, OtherColumns, Type, MatStoreType::ROW_MAJOR> result;
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const Type* this_mat_data = this->raw_array().data();
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const Type* other_mat_data = other.raw_array().data();
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Type* result_mat_data = result.raw_array().data();
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if constexpr (std::is_same_v<Type, float>)
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{
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// ReSharper disable once CppTooWideScopeInitStatement
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constexpr std::size_t vector_size = 8;
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for (std::size_t i = 0; i < Rows; ++i)
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{
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Type* c_row = result_mat_data + i * OtherColumns;
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|
for (std::size_t k = 0; k < Columns; ++k)
|
|
{
|
|
const auto aik = static_cast<float>(this_mat_data[i * Columns + k]);
|
|
const __m256 aik_vec = _mm256_set1_ps(aik);
|
|
const auto* b_row = reinterpret_cast<const float*>(other_mat_data + k * OtherColumns);
|
|
|
|
std::size_t j = 0;
|
|
for (; j + vector_size <= OtherColumns; j += vector_size)
|
|
{
|
|
__m256 cvec = _mm256_loadu_ps(c_row + j);
|
|
const __m256 b_vec = _mm256_loadu_ps(b_row + j);
|
|
cvec = _mm256_fmadd_ps(b_vec, aik_vec, cvec);
|
|
|
|
_mm256_storeu_ps(c_row + j, cvec);
|
|
}
|
|
for (; j < OtherColumns; ++j)
|
|
c_row[j] += aik * b_row[j];
|
|
}
|
|
}
|
|
}
|
|
else if (std::is_same_v<Type, double>)
|
|
{ // double
|
|
// ReSharper disable once CppTooWideScopeInitStatement
|
|
constexpr std::size_t vector_size = 4;
|
|
for (std::size_t i = 0; i < Rows; ++i)
|
|
{
|
|
Type* c_row = result_mat_data + i * OtherColumns;
|
|
for (std::size_t k = 0; k < Columns; ++k)
|
|
{
|
|
const auto aik = static_cast<double>(this_mat_data[i * Columns + k]);
|
|
const __m256d aik_vec = _mm256_set1_pd(aik);
|
|
const auto* b_row = reinterpret_cast<const double*>(other_mat_data + k * OtherColumns);
|
|
|
|
std::size_t j = 0;
|
|
for (; j + vector_size <= OtherColumns; j += vector_size)
|
|
{
|
|
__m256d cvec = _mm256_loadu_pd(c_row + j);
|
|
const __m256d b_vec = _mm256_loadu_pd(b_row + j);
|
|
cvec = _mm256_fmadd_pd(b_vec, aik_vec, cvec);
|
|
|
|
_mm256_storeu_pd(c_row + j, cvec);
|
|
}
|
|
for (; j < OtherColumns; ++j)
|
|
c_row[j] += aik * b_row[j];
|
|
}
|
|
}
|
|
}
|
|
else
|
|
std::unreachable();
|
|
return result;
|
|
}
|
|
#endif
|
|
};
|
|
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
|
|
constexpr static Mat<1, 4, Type, St> mat_row_from_vector(const Vector3<Type>& vector) noexcept
|
|
{
|
|
return {{vector.x, vector.y, vector.z, 1}};
|
|
}
|
|
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR> [[nodiscard]]
|
|
constexpr static Mat<4, 1, Type, St> mat_column_from_vector(const Vector3<Type>& vector) noexcept
|
|
{
|
|
return {{vector.x}, {vector.y}, {vector.z}, {1}};
|
|
}
|
|
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
|
|
[[nodiscard]]
|
|
constexpr Mat<4, 4, Type, St> mat_translation(const Vector3<Type>& diff) noexcept
|
|
{
|
|
return
|
|
{
|
|
{1, 0, 0, diff.x},
|
|
{0, 1, 0, diff.y},
|
|
{0, 0, 1, diff.z},
|
|
{0, 0, 0, 1},
|
|
};
|
|
}
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
|
|
[[nodiscard]]
|
|
constexpr Mat<4, 4, Type, St> mat_scale(const Vector3<Type>& scale) noexcept
|
|
{
|
|
return {
|
|
{scale.x, 0, 0, 0},
|
|
{0, scale.y, 0, 0},
|
|
{0, 0, scale.z, 0},
|
|
{0, 0, 0, 1},
|
|
};
|
|
}
|
|
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
|
|
[[nodiscard]]
|
|
Mat<4, 4, Type, St> mat_rotation_axis_x(const Angle& angle) noexcept
|
|
{
|
|
return
|
|
{
|
|
{1, 0, 0, 0},
|
|
{0, angle.cos(), -angle.sin(), 0},
|
|
{0, angle.sin(), angle.cos(), 0},
|
|
{0, 0, 0, 1}
|
|
};
|
|
}
|
|
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
|
|
[[nodiscard]]
|
|
Mat<4, 4, Type, St> mat_rotation_axis_y(const Angle& angle) noexcept
|
|
{
|
|
return
|
|
{
|
|
{angle.cos(), 0, angle.sin(), 0},
|
|
{0 , 1, 0, 0},
|
|
{-angle.sin(), 0, angle.cos(), 0},
|
|
{0 , 0, 0, 1}
|
|
};
|
|
}
|
|
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR, class Angle>
|
|
[[nodiscard]]
|
|
Mat<4, 4, Type, St> mat_rotation_axis_z(const Angle& angle) noexcept
|
|
{
|
|
return
|
|
{
|
|
{angle.cos(), -angle.sin(), 0, 0},
|
|
{angle.sin(), angle.cos(), 0, 0},
|
|
{ 0, 0, 1, 0},
|
|
{ 0, 0, 0, 1},
|
|
};
|
|
}
|
|
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
|
|
[[nodiscard]]
|
|
static Mat<4, 4, Type, St> mat_camera_view(const Vector3<Type>& forward, const Vector3<Type>& right,
|
|
const Vector3<Type>& up, const Vector3<Type>& camera_origin) noexcept
|
|
{
|
|
return Mat<4, 4, Type, St>
|
|
{
|
|
{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},
|
|
} * mat_translation<Type, St>(-camera_origin);
|
|
}
|
|
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
|
|
[[nodiscard]]
|
|
Mat<4, 4, Type, St> mat_perspective_left_handed(const float field_of_view, const float aspect_ratio,
|
|
const float near, const float far) noexcept
|
|
{
|
|
const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
|
|
|
|
return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
|
|
{0.f, 1.f / fov_half_tan, 0.f, 0.f},
|
|
{0.f, 0.f, (far + near) / (far - near), -(2.f * near * far) / (far - near)},
|
|
{0.f, 0.f, 1.f, 0.f}};
|
|
}
|
|
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
|
|
[[nodiscard]]
|
|
Mat<4, 4, Type, St> mat_perspective_right_handed(const float field_of_view, const float aspect_ratio,
|
|
const float near, const float far) noexcept
|
|
{
|
|
const float fov_half_tan = std::tan(angles::degrees_to_radians(field_of_view) / 2.f);
|
|
|
|
return {{1.f / (aspect_ratio * fov_half_tan), 0.f, 0.f, 0.f},
|
|
{0.f, 1.f / fov_half_tan, 0.f, 0.f},
|
|
{0.f, 0.f, -(far + near) / (far - near), -(2.f * near * far) / (far - near)},
|
|
{0.f, 0.f, -1.f, 0.f}};
|
|
}
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
|
|
[[nodiscard]]
|
|
Mat<4, 4, Type, St> mat_ortho_left_handed(const Type left, const Type right, const Type bottom, const Type top,
|
|
const Type near, const Type far) noexcept
|
|
{
|
|
return
|
|
{
|
|
{ static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
|
|
{ 0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
|
|
{ 0.f, 0.f, static_cast<Type>(2) / (far - near), -(far + near) / (far - near) },
|
|
{ 0.f, 0.f, 0.f, 1.f }
|
|
};
|
|
}
|
|
template<class Type = float, MatStoreType St = MatStoreType::ROW_MAJOR>
|
|
[[nodiscard]]
|
|
Mat<4, 4, Type, St> mat_ortho_right_handed(const Type left, const Type right, const Type bottom, const Type top,
|
|
const Type near, const Type far) noexcept
|
|
{
|
|
return
|
|
{
|
|
{ static_cast<Type>(2) / (right - left), 0.f, 0.f, -(right + left) / (right - left)},
|
|
{ 0.f, static_cast<Type>(2) / (top - bottom), 0.f, -(top + bottom) / (top - bottom)},
|
|
{ 0.f, 0.f, -static_cast<Type>(2) / (far - near), -(far + near) / (far - near) },
|
|
{ 0.f, 0.f, 0.f, 1.f }
|
|
};
|
|
}
|
|
template<class T = float, MatStoreType St = MatStoreType::COLUMN_MAJOR>
|
|
Mat<4, 4, T, St> mat_look_at_left_handed(const Vector3<T>& eye, const Vector3<T>& center, const Vector3<T>& up)
|
|
{
|
|
const Vector3<T> f = (center - eye).normalized();
|
|
const Vector3<T> s = f.cross(up).normalized();
|
|
const Vector3<T> u = s.cross(f);
|
|
return mat_camera_view<T, St>(f, s, u, eye);
|
|
}
|
|
|
|
template<class T = float, MatStoreType St = MatStoreType::COLUMN_MAJOR>
|
|
Mat<4, 4, T, St>mat_look_at_right_handed(const Vector3<T>& eye, const Vector3<T>& center, const Vector3<T>& up)
|
|
{
|
|
const Vector3<T> f = (center - eye).normalized();
|
|
const Vector3<T> s = f.cross(up).normalized();
|
|
const Vector3<T> u = s.cross(f);
|
|
return mat_camera_view<T, St>(-f, s, u, eye);
|
|
}
|
|
|
|
} // namespace omath
|
|
|
|
template<size_t Rows, size_t Columns, class Type, omath::MatStoreType StoreType>
|
|
struct std::formatter<omath::Mat<Rows, Columns, Type, StoreType>> // NOLINT(*-dcl58-cpp)
|
|
{
|
|
using MatType = omath::Mat<Rows, Columns, Type, StoreType>;
|
|
[[nodiscard]]
|
|
static constexpr auto parse(std::format_parse_context& ctx)
|
|
{
|
|
return ctx.begin();
|
|
}
|
|
|
|
template<class FormatContext>
|
|
[[nodiscard]]
|
|
static auto format(const MatType& mat, FormatContext& ctx)
|
|
{
|
|
if constexpr (std::is_same_v<typename FormatContext::char_type, char>)
|
|
return std::format_to(ctx.out(), "{}", mat.to_string());
|
|
|
|
if constexpr (std::is_same_v<typename FormatContext::char_type, wchar_t>)
|
|
return std::format_to(ctx.out(), L"{}", mat.to_wstring());
|
|
|
|
if constexpr (std::is_same_v<typename FormatContext::char_type, char8_t>)
|
|
return std::format_to(ctx.out(), u8"{}", mat.to_u8string());
|
|
}
|
|
}; |