1103 lines
36 KiB
C++
1103 lines
36 KiB
C++
#pragma once
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#include <hex.hpp>
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#include <hex/helpers/concepts.hpp>
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#include <cmath>
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#include <vector>
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#include <map>
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#include <span>
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#include <string>
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#include <opengl_support.h>
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#include <GLFW/glfw3.h>
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#include "imgui.h"
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namespace hex::gl {
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namespace impl {
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template<typename T>
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GLuint getType() {
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if constexpr (std::is_same_v<T, float>)
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return GL_FLOAT;
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else if constexpr (std::is_same_v<T, u8>)
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return GL_UNSIGNED_BYTE;
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else if constexpr (std::is_same_v<T, u16>)
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return GL_UNSIGNED_SHORT;
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else if constexpr (std::is_same_v<T, u32>)
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return GL_UNSIGNED_INT;
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else {
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static_assert(hex::always_false<T>::value, "Unsupported type");
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return 0;
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}
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}
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}
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template<typename T, size_t Size>
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class Vector {
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public:
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Vector() = default;
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Vector(const T val) {
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for (size_t i = 0; i < Size; i++)
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m_data[i] = val;
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}
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Vector(std::array<T, Size> data) : m_data(data) { }
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Vector(Vector &&other) noexcept : m_data(std::move(other.m_data)) { }
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Vector(const Vector &other) : m_data(other.m_data) { }
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T &operator[](size_t index) { return m_data[index]; }
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const T &operator[](size_t index) const { return m_data[index]; }
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std::array<T, Size> &asArray() { return m_data; }
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T *data() { return m_data.data(); }
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const T *data() const { return m_data.data(); }
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[[nodiscard]] size_t size() const { return m_data.size(); }
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auto operator=(const Vector& other) {
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for (size_t i = 0; i < Size; i++)
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m_data[i] = other[i];
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return *this;
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}
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auto operator+=(const Vector& other) {
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for (size_t i = 0; i < Size; i++)
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m_data[i] += other.m_data[i];
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return *this;
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}
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auto operator+=(const T scalar) {
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for (size_t i = 0; i < Size; i++)
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m_data[i] += scalar;
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return *this;
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}
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auto operator-=(Vector other) {
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for (size_t i = 0; i < Size; i++)
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m_data[i] -= other.m_data[i];
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return *this;
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}
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auto operator-=(const T scalar) {
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for (size_t i = 0; i < Size; i++)
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m_data[i] -= scalar;
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return *this;
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}
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Vector operator*=(const T scalar) {
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for (size_t i = 0; i < Size; i++)
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m_data[i] *= scalar;
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return *this;
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}
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auto operator*(const T scalar) {
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auto copy = *this;
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for (size_t i = 0; i < Size; i++)
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copy[i] *= scalar;
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return copy;
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}
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auto operator+(const Vector& other) {
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auto copy = *this;
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for (size_t i = 0; i < Size; i++)
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copy[i] += other[i];
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return copy;
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}
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auto operator-(const Vector& other) {
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auto copy = *this;
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for (size_t i = 0; i < Size; i++)
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copy[i] -= other[i];
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return copy;
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}
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auto dot(const Vector& other) {
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T result = 0;
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for (size_t i = 0; i < Size; i++)
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result += m_data[i] * other[i];
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return result;
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}
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auto cross(const Vector& other) {
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static_assert(Size == 3, "Cross product is only defined for 3D vectors");
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return Vector({m_data[1] * other[2] - m_data[2] * other[1],
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m_data[2] * other[0] - m_data[0] * other[2],
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m_data[0] * other[1] - m_data[1] * other[0]});
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}
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auto magnitude() {
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return std::sqrt(this->dot(*this));
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}
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auto normalize() {
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auto copy = *this;
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auto length = copy.magnitude();
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for (size_t i = 0; i < Size; i++)
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copy[i] /= length;
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return copy;
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}
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auto operator==(const Vector& other) {
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for (size_t i = 0; i < Size; i++)
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if (m_data[i] != other[i])
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return false;
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return true;
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}
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private:
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std::array<T, Size> m_data;
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};
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template<typename T, size_t Rows, size_t Columns>
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class Matrix {
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public:
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Matrix(const T &init) {
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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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mat[i * Columns + j] = init;
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}
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Matrix(const Matrix &A) {
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mat = A.mat;
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}
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virtual ~Matrix() {}
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size_t getRows() const {
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return Rows;
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}
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size_t getColumns() const {
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return Columns;
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}
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T *data() { return this->mat.data(); }
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const T *data() const { return this->mat.data(); }
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T &getElement(int row,int col) {
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return this->mat[row*Columns+col];
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}
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Vector<T,Rows> getColumn(int col) {
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Vector<T,Rows> result;
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for (size_t i = 0; i < Rows; i++)
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result[i] = this->mat[i*Columns+col];
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return result;
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}
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Vector<T,Columns> getRow(int row) {
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Vector<T,Columns> result;
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for (size_t i = 0; i < Columns; i++)
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result[i] = this->mat[row*Columns+i];
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return result;
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}
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void updateRow(int row, Vector<T,Columns> values) {
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for (size_t i = 0; i < Columns; i++)
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this->mat[row*Columns+i] = values[i];
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}
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void updateColumn(int col, Vector<T,Rows> values) {
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for (size_t i = 0; i < Rows; i++)
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this->mat[i*Columns+col] = values[i];
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}
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void updateElement( int row,int col, T value) {
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this->mat[row*Columns + col] = value;
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}
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T &operator()( const int &row,const int &col) {
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return this->mat[row*Columns + col];
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}
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const T &operator()(const unsigned& row,const unsigned& col ) const {
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return this->mat[row*Columns + col];
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}
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Matrix& operator=(const Matrix& A) {
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if (&A == this)
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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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mat[i*Columns+j] = A(i, j);
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return *this;
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}
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Matrix operator+(const Matrix& A) {
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Matrix result(0.0);
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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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result(i, j) = this->mat[i*Columns+j] + A(i, j);
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return result;
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}
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Matrix operator-(const Matrix& A) {
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Matrix result(0.0);
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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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result(i, j) = this->mat[i*Columns+j] - A(i, j);
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return result;
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}
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static Matrix identity() {
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Matrix I(0);
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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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if(i == j)
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I.updateElement(i, j, 1);
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return I;
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}
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Matrix transpose() {
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Matrix t(0);
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for (size_t i = 0; i < Columns; i++)
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for (size_t j = 0; j < Rows; j++)
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t.updateElement(i, j, this->mat[j*Rows+i]);
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return t;
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}
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private:
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std::array<T,Rows * Columns> mat;
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};
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template<typename T, size_t Rows, size_t Columns, size_t OtherDimension>
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Matrix<T,Rows, Columns> operator*(const Matrix<T, Rows, OtherDimension> &A, const Matrix<T, OtherDimension, Columns> &B) {
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Matrix<T, Rows, Columns> result(0.0);
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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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for (size_t k = 0; k < OtherDimension; k++)
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result(i, j) += A(i,k) * B(k, j);
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return result;
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}
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template<typename T, size_t Rows, size_t Columns>
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Matrix<T, Rows, Columns> operator*(const Vector<T, Rows> &a, const Vector<T, Columns> &b) {
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Matrix<T, Rows, Columns> result(0);
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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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result.updateElement(i, j, a[i] * b[j]);
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return result;
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}
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template<typename T, size_t Rows, size_t Columns>
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Vector<T, Rows> operator*(const Matrix<T, Rows, Columns> &A, const Vector<T, Columns> &b) {
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Vector<T, Rows> result(0);
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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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result[i] += A(i, j) * b[j];
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return result;
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}
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template<typename T, size_t Rows, size_t Columns>
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Vector<T, Columns> operator*(const Vector<T, Rows> &b, const Matrix<T,Rows,Columns> &A) {
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Vector<T, Columns> result(0);
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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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result[j] += b[i] * A(i, j);
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return result;
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}
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// Convert horizontal (Xh) vertical (Yv) and spin (Zs) angles to a rotation matrix.
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// Xh: Horizontal rotation, also known as heading or yaw.
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// Yv: Vertical rotation, also known as pitch or elevation.
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// Zs: Spin rotation, also known as intrinsic rotation, roll or bank.
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// Each column of the rotation matrix represents left, up and forward axis.
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// Angles of rotation are lowercase (x,y,z) in radians and the rotation matrix is uppercase (X,Y,Z).
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// S = sin, C = cos
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// The order of rotation is Yaw->Pitch->Roll (Zs*Yv*Xh)
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// Zs Yv Xh
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// | Cz -Sz 0 0| |Cy 0 Sy 0| |1 0 0 0| | Cz -Sz 0 0| | Cy Sy*Sx Sy*Cx 0|
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// | Sz Cz 0 0|*| 0 1 0 0|*|0 Cx -Sx 0| = | Sz Cz 0 0|*| 0 Cx -Sx 0|
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// | 0 0 1 0| |-Sy 0 Cy 0| |0 Sx Cx 0| | 0 0 1 0| |-Sy Sx*Cy Cx*Cy 0|
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// | 0 0 0 1| | 0 0 0 1| |0 0 0 1| | 0 0 0 1| | 0 0 0 1|
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// Left Up Forward
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// | Cz*Cy Cz*Sy*Sx-Sz*Cx Sz*Sx+Cz*Sy*Cx 0|
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// | Sz*Cy Sz*Sy*Sx+Cz*Cx Cz*Sy*Sx-Sz*Cx 0|
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// |-Sy*Cx Cy*Cx Sy 0|
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// | 0 0 0 1|
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// The order of rotation is Pitch->Yaw->Roll (Zs*Xh*Yv)
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// Zs Xh Yv
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// | Cz -Sz 0 0| |1 0 0 0| |Cy 0 Sy 0| | Cz -Sz 0 0| | Cy 0 Sy 0|
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// | Sz Cz 0 0|*|0 Cx -Sx 0|*| 0 1 0 0| = | Sz Cz 0 0|*| Sx*Sy Cx -Sx*Cy 0|=
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// | 0 0 1 0| |0 Sx Cx 0| |-Sy 0 Cy 0| | 0 0 1 0| |-Cx*Sy Sx Cx*Cy 0|
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// | 0 0 0 1| |0 0 0 1| | 0 0 0 1| | 0 0 0 1| | 0 0 0 1|
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// Left Up Forward
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// | Cz*Cy-Sz*Sx*Sy -Sz*Cx Cz*Sy+Sz*Sx*Cy 0|
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// | Sz*Cy+Cz*Sx*Sy Cz*Cx Sz*Sy-Cz*Sx*Cy 0|
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// |-Cx*Sy Sx Cx*Cy 0|
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// | 0 0 0 1|
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// The order of rotation is Roll->Pitch->Yaw (Xh*Yv*Zs)
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// Xh Yv Zs
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// |1 0 0 0| | Cy 0 Sy 0| |Cz -Sz 0 0| |1 0 0 0| | Cy*Cz -Cy*Sz Sy 0|
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// |0 Cx -Sx 0|*| 0 1 0 0|*|Sz Cz 0 0| = |0 Cx -Sx 0|*| Sz Cz 0 0|
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// |0 Sx Cx 0| |-Sy 0 Cy 0| | 0 0 1 0| |0 Sx Cx 0| |-Sy*Cz Sy*Sz Cy 0|
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// |0 0 0 1| | 0 0 0 1| | 0 0 0 1| |0 0 0 1| | 0 0 0 1|
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// Left Up Forward
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// | Cy*Cz -Cy*Sz Sy 0|
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// =| Sx*Sy*Cz+Cx*Sz -Sx*Sy*Sz+Cx*Cz -Sx*Cy 0|
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// |-Cx*Sy*Cz+Sx*Sz Cx*Sy*Sz+Sx*Cz Cx*Cy 0|
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// | 0 0 0 1|
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// just write final answer from here on
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// The order of rotation is Pitch->Roll->Yaw (Xh*Zs*Yv)
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// Left Up Forward
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// |Cz*Cy -Sz Cz*Sy 0|
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//Xh*Zs*Yv=|Cx*Cy*Sz+Sx*Sy Cx*Cz Cx*Sz*Sy-Cy*Sx 0|
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// |Cy*Sx*Sz-Cx*Sy Cz*Sx Sx*Sz*Sy+Cx*Cy 0|
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// |0 0 0 1|
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// The order of rotation is Roll->Yaw->Pitch (Yv*Xh*Zs)
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// Left Up Forward
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// |Cy*Cz+Sy*Sx*Sz Cz*Sy*Sx-Cy*Sz Cx*Sy 0|
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//Yv*Xh*Zs=|Cx*Sz Cx*Cz -Sx 0|
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// |Cy*Sx*Sz-Cz*Sy Cy*Cz*Sx+Sy*Sz Cy*Cx 0|
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// |0 0 0 1|
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// The order of rotation is Yaw->Roll->Pitch (Yv*Zs*Xh)
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// Left Up Forward
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// |Cy*Cz Sy*Sx-Cy*Cx*Sz Cx*Sy+Cy*Sz*Sx 0|
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//Yv*Zs*Xh= |Sz Cz*Cx -Cz*Sx 0|
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// |-Cz*Sy Cy*Sx+Cx*Sy*Sz Cy*Cx-Sy*Sz*Sx 0|
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// |0 0 0 1|
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enum RotationSequence {
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XYZ,
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XZY,
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YXZ,
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YZX,
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ZXY,
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ZYX
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};
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template<typename T>
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Matrix<T, 4, 4> getRotationMatrix(Vector<T,3> ypr, bool radians, RotationSequence rotationSequence) {
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Matrix<T,4,4> rotation(0);
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T Sx, Cx, Sy, Cy, Sz, Cz;
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Vector<T,3> angles = ypr;
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if(!radians)
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angles *= M_PI/180;
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Sx = -sin(angles[0]); Cx = cos(angles[0]);
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Sy = -sin(angles[1]); Cy = cos(angles[1]);
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Sz = -sin(angles[2]); Cz = cos(angles[2]);
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switch (rotationSequence) {
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case ZXY:
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// | Cz*Cy-Sz*Sx*Sy -Sz*Cx Cz*Sy+Sz*Sx*Cy 0|
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// | Sz*Cy+Cz*Sx*Sy Cz*Cx Sz*Sy-Cz*Sx*Cy 0|
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// |-Cx*Sy Sx Cx*Cy 0|
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// | 0 0 0 1|
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rotation.updateElement(0, 0, Cz * Cy - Sz * Sx * Sy);
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rotation.updateElement(0, 1, -Sz * Cx);
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rotation.updateElement(0, 2, Cz * Sy + Sz * Sx * Cy);
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rotation.updateElement(1, 0, Sz * Cy + Cz * Sx * Sy);
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rotation.updateElement(1, 1, Cz * Cx);
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rotation.updateElement(1, 2, Sz * Sy - Cz * Sx * Cy);
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rotation.updateElement(2, 0, -Cx * Sy);
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rotation.updateElement(2, 1, Sx);
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rotation.updateElement(2, 2, Cx * Cy);
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break;
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case ZYX:
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// | Cz*Cy Cz*Sy*Sx-Sz*Cx Sz*Sx+Cz*Sy*Cx 0|
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// | Sz*Cy Sz*Sy*Sx+Cz*Cx Sz*Sy*Cx-Cz*Sx 0|
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// |-Sy Cy*Sx Cy*Cx 0|
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// | 0 0 0 1|
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rotation.updateElement(0, 0, Cz * Cy);
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rotation.updateElement(0, 1, Sx * Sy * Cz - Sz * Cx);
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rotation.updateElement(0, 2, Sz * Sx + Cz * Sy * Cx);
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rotation.updateElement(1, 0, Sz * Cy);
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rotation.updateElement(1, 1, Sz * Sy * Sx + Cz * Cx);
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rotation.updateElement(1, 2, Sz * Sy * Cx - Cz * Sx);
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rotation.updateElement(2, 0, -Sy);
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rotation.updateElement(2, 1, Cy * Sx);
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rotation.updateElement(2, 2, Cy*Cx);
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break;
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case XYZ:
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// | Cy*Cz -Cy*Sz Sy 0|
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// =| Sx*Sy*Cz+Cx*Sz -Sx*Sy*Sz+Cx*Cz -Sx*Cy 0|
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// |-Cx*Sy*Cz+Sx*Sz Cx*Sy*Sz+Sx*Cz Cx*Cy 0|
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// | 0 0 0 1|
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rotation.updateElement(0, 0, Cy * Cz);
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rotation.updateElement(0, 1, -Cy * Sz);
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rotation.updateElement(0, 2, Sy);
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rotation.updateElement(1, 0, Sx * Sy * Cz + Cx * Sz);
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rotation.updateElement(1, 1, -Sx * Sy * Sz + Cx * Cz);
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rotation.updateElement(1, 2, -Sx * Cy);
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rotation.updateElement(2, 0, -Cx * Sy * Cz + Sx * Sz);
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rotation.updateElement(2, 1, Cx * Sy * Sz + Sx * Cz);
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rotation.updateElement(2, 2, Cx * Cy);
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break;
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case XZY:
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// |Cz*Cy -Sz Cz*Sy 0|
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//Xh*Zs*Yv=|Cx*Cy*Sz+Sx*Sy Cx*Cz Cx*Sz*Sy-Cy*Sx 0|
|
|
// |Cy*Sx*Sz-Cx*Sy Cz*Sx Sx*Sz*Sy+Cx*Cy 0|
|
|
// |0 0 0 1|
|
|
rotation.updateElement(0, 0, Cy * Cz);
|
|
rotation.updateElement(0, 1, -Sz);
|
|
rotation.updateElement(0, 2, Cz * Sy);
|
|
|
|
rotation.updateElement(1, 0, Cx * Cy * Sz + Sx * Sy);
|
|
rotation.updateElement(1, 1, Cx * Cz);
|
|
rotation.updateElement(1, 2, Cx * Sy * Sz - Sx * Cy);
|
|
|
|
rotation.updateElement(2, 0, Sx * Cy * Sz - Cx * Sy);
|
|
rotation.updateElement(2, 1, Sx * Cz);
|
|
rotation.updateElement(2, 2, Sx * Sy * Sz + Cx * Cy);
|
|
break;
|
|
case YXZ:
|
|
// |Cy*Cz+Sy*Sx*Sz Cz*Sy*Sx-Cy*Sz Cx*Sy 0|
|
|
//Yv*Xh*Zs=|Cx*Sz Cx*Cz -Sx 0|
|
|
// |Cy*Sx*Sz-Cz*Sy Cy*Cz*Sx+Sy*Sz Cy*Cx 0|
|
|
// |0 0 0 1|
|
|
rotation.updateElement(0, 0, Cy*Cz+Sy*Sx*Sz );
|
|
rotation.updateElement(0, 1, Cz*Sy*Sx-Cy*Sz);
|
|
rotation.updateElement(0, 2, Sy*Cx);
|
|
|
|
rotation.updateElement(1, 0, Cx*Sz);
|
|
rotation.updateElement(1, 1, Cx*Cz);
|
|
rotation.updateElement(1, 2, -Sx);
|
|
|
|
rotation.updateElement(2, 0, Cy*Sx*Sz-Cz*Sy);
|
|
rotation.updateElement(2, 1, Cy*Cz*Sx+Sy*Sz);
|
|
rotation.updateElement(2, 2, Cy*Cx);
|
|
break;
|
|
case YZX:
|
|
// |Cy*Cz Sy*Sx-Cy*Cx*Sz Cx*Sy+Cy*Sz*Sx 0|
|
|
//Yv*Zs*Xh= |Sz Cz*Cx -Cz*Sx 0|
|
|
// |-Cz*Sy Cy*Sx+Cx*Sy*Sz Cy*Cx-Sy*Sz*Sx 0|
|
|
// |0 0 0 1|
|
|
rotation.updateElement(0, 0, Cy*Cz);
|
|
rotation.updateElement(0, 1, Sy*Sx-Cy*Cx*Sz);
|
|
rotation.updateElement(0, 2, Cx*Sy+Cy*Sz*Sx);
|
|
|
|
rotation.updateElement(1, 0, Sz);
|
|
rotation.updateElement(1, 1, Cz*Cx);
|
|
rotation.updateElement(1, 2, -Cz*Sx);
|
|
|
|
rotation.updateElement(2, 0, -Cz*Sy);
|
|
rotation.updateElement(2, 1, Cy*Sx+Cx*Sy*Sz);
|
|
rotation.updateElement(2, 2, Cy*Cx-Sy*Sz*Sx);
|
|
break;
|
|
|
|
|
|
}
|
|
|
|
rotation.updateElement(3, 3, 1);
|
|
|
|
return rotation;
|
|
}
|
|
|
|
template<typename T>
|
|
Matrix<T, 4, 4> getRotationMatrixFromVectorAngle(Vector<T, 4> rotationVector, bool radians) {
|
|
Vector<T,3> rotationVector3 = {{rotationVector[0], rotationVector[1], rotationVector[2]}};
|
|
T theta = rotationVector3.magnitude();
|
|
if (!radians)
|
|
theta *= M_PI / 180;
|
|
Vector<T,3> axis = rotationVector3;
|
|
if (theta != 0)
|
|
axis = axis.normalize();
|
|
Matrix<T,4,4> rotation = Matrix<T,4,4>::identity();
|
|
T S = sin(theta);
|
|
T C = cos(theta);
|
|
T OMC = 1 - C;
|
|
T a00 = axis[0] * axis[0] * OMC;
|
|
T a01 = axis[0] * axis[1] * OMC;
|
|
T a02 = axis[0] * axis[2] * OMC;
|
|
T a10 = axis[1] * axis[0] * OMC;
|
|
T a11 = axis[1] * axis[1] * OMC;
|
|
T a12 = axis[1] * axis[2] * OMC;
|
|
T a20 = axis[2] * axis[0] * OMC;
|
|
T a21 = axis[2] * axis[1] * OMC;
|
|
T a22 = axis[2] * axis[2] * OMC;
|
|
T a0S = axis[0] * S;
|
|
T a1S = axis[1] * S;
|
|
T a2S = axis[2] * S;
|
|
|
|
rotation.updateElement(0, 0, C + a00);
|
|
rotation.updateElement(0, 1, a01 - a2S);
|
|
rotation.updateElement(0, 2, a02 + a1S);
|
|
rotation.updateElement(1, 0, a10 + a2S);
|
|
rotation.updateElement(1, 1, C + a11);
|
|
rotation.updateElement(1, 2, a12 - a0S);
|
|
rotation.updateElement(2, 0, a20 - a1S);
|
|
rotation.updateElement(2, 1, a21 + a0S);
|
|
rotation.updateElement(2, 2, C + a22);
|
|
return rotation;
|
|
|
|
}
|
|
|
|
enum class MatrixElements {
|
|
r00, r01, r02,
|
|
r10, r11, r12,
|
|
r20, r21, r22,
|
|
};
|
|
|
|
template<typename T>
|
|
T findValue(Vector<T,3> ypr, MatrixElements matrixElement, RotationSequence rotationSequence) {
|
|
T Sx, Cx, Sy, Cy, Sz, Cz;
|
|
Vector<T,3> angles = ypr;
|
|
|
|
|
|
Sx = sin(angles[0]); Cx = cos(angles[0]);
|
|
Sy = sin(angles[1]); Cy = cos(angles[1]);
|
|
Sz = sin(angles[2]); Cz = cos(angles[2]);
|
|
|
|
switch (rotationSequence) {
|
|
case ZXY:
|
|
switch (matrixElement) {
|
|
case MatrixElements::r00:
|
|
return Cz * Cy - Sz * Sx * Sy;
|
|
case MatrixElements::r01:
|
|
return -Sz * Cx;
|
|
case MatrixElements::r02:
|
|
return Cz * Sy + Sz * Sx * Cy;
|
|
case MatrixElements::r10:
|
|
return Sz * Cy + Cz * Sx * Sy;
|
|
case MatrixElements::r11:
|
|
return Cz * Cx;
|
|
case MatrixElements::r12:
|
|
return Sz * Sy - Cz * Sx * Cy;
|
|
case MatrixElements::r20:
|
|
return -Cx * Sy;
|
|
case MatrixElements::r21:
|
|
return Sx;
|
|
case MatrixElements::r22:
|
|
return Cx * Cy;
|
|
}
|
|
break;
|
|
case ZYX:
|
|
switch (matrixElement) {
|
|
case MatrixElements::r00:
|
|
return Cz * Cy;
|
|
case MatrixElements::r01:
|
|
return Sx * Sy * Cz + Cx * Sz;
|
|
case MatrixElements::r02:
|
|
return -Cx * Sy * Cz + Sx * Sz;
|
|
case MatrixElements::r10:
|
|
return Cz * Sy;
|
|
case MatrixElements::r11:
|
|
return Sx * Sy * Sz - Cx * Cz;
|
|
case MatrixElements::r12:
|
|
return Cx * Sy * Sz + Sx * Cz;
|
|
case MatrixElements::r20:
|
|
return -Sy;
|
|
case MatrixElements::r21:
|
|
return Cy * Sx;
|
|
case MatrixElements::r22:
|
|
return Cy * Cx;
|
|
}
|
|
break;
|
|
case XYZ:
|
|
switch (matrixElement) {
|
|
case MatrixElements::r00:
|
|
return Cy * Cz;
|
|
case MatrixElements::r01:
|
|
return -Cy * Sz;
|
|
case MatrixElements::r02:
|
|
return Sy;
|
|
case MatrixElements::r10:
|
|
return Sx * Sy * Cz + Cx * Sz;
|
|
case MatrixElements::r11:
|
|
return -Sx * Sy * Sz + Cx * Cz;
|
|
case MatrixElements::r12:
|
|
return -Sx * Cy;
|
|
case MatrixElements::r20:
|
|
return -Cx * Sy * Cz + Sx * Sz;
|
|
case MatrixElements::r21:
|
|
return Cx * Sy * Sz + Sx * Cz;
|
|
case MatrixElements::r22:
|
|
return Cx * Cy;
|
|
}
|
|
break;
|
|
case XZY:
|
|
switch (matrixElement) {
|
|
case MatrixElements::r00:
|
|
return Cy * Cz;
|
|
case MatrixElements::r01:
|
|
return -Sz;
|
|
case MatrixElements::r02:
|
|
return Cz * Sy;
|
|
case MatrixElements::r10:
|
|
return Cx * Cy * Sz + Sx * Sy;
|
|
case MatrixElements::r11:
|
|
return Cx * Cz;
|
|
case MatrixElements::r12:
|
|
return Cx * Sy * Sz - Sx * Cy;
|
|
case MatrixElements::r20:
|
|
return Sx * Cy * Sz - Cx * Sy;
|
|
case MatrixElements::r21:
|
|
return Sx * Cz;
|
|
case MatrixElements::r22:
|
|
return Sx * Sy * Sz + Cx * Cy;
|
|
}
|
|
break;
|
|
case YXZ:
|
|
switch (matrixElement) {
|
|
case MatrixElements::r00:
|
|
return Cy * Cz + Sy * Sx * Sz;
|
|
case MatrixElements::r01:
|
|
return Cz * Sy * Sx - Cy * Sz;
|
|
case MatrixElements::r02:
|
|
return Cx * Sy;
|
|
case MatrixElements::r10:
|
|
return Cx * Sz;
|
|
case MatrixElements::r11:
|
|
return Cx * Cz;
|
|
case MatrixElements::r12:
|
|
return -Sx;
|
|
case MatrixElements::r20:
|
|
return -Cz * Sy + Cy * Sx * Sz;
|
|
case MatrixElements::r21:
|
|
return Cy * Cz * Sx + Sy * Sz;
|
|
case MatrixElements::r22:
|
|
return Cy * Cx;
|
|
}
|
|
break;
|
|
case YZX:
|
|
switch (matrixElement) {
|
|
case MatrixElements::r00:
|
|
return Cy * Cz;
|
|
case MatrixElements::r01:
|
|
return Sy * Sx - Cy * Cx * Sz;
|
|
case MatrixElements::r02:
|
|
return Cx * Sy + Cy * Sz * Sx;
|
|
case MatrixElements::r10:
|
|
return Sz;
|
|
case MatrixElements::r11:
|
|
return Cx * Cz;
|
|
case MatrixElements::r12:
|
|
return -Cz * Sx;
|
|
case MatrixElements::r20:
|
|
return -Cz * Sy;
|
|
case MatrixElements::r21:
|
|
return Cy * Sx + Cx * Sy * Sz;
|
|
case MatrixElements::r22:
|
|
return Cy * Cx - Sy * Sz * Sx;
|
|
}
|
|
break;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
template<typename T>
|
|
Matrix<T, 4,4 > getTransformMatrix(Vector<T,3> xyz, Vector<T,3> ypr, bool radians) {
|
|
Matrix<T,4,4> transform( 0);
|
|
|
|
Matrix<T,3,3> rotation = getRotationMatrix(ypr, radians);
|
|
|
|
for(int i=0; i<3; i++)
|
|
for(int j=0; j<3; j++)
|
|
transform.updateElement(i, j, rotation.getElement(i, j));
|
|
|
|
transform.updateElement(0,3, xyz[0]);
|
|
transform.updateElement(1,3, xyz[1]);
|
|
transform.updateElement(2,3, xyz[2]);
|
|
transform.updateElement(3,3, 1);
|
|
|
|
return transform;
|
|
}
|
|
|
|
template<typename T>
|
|
Vector<T,3> getTranslationVector(Matrix<T, 4,4 > transform_matrix) {
|
|
Vector<T,3> xyz;
|
|
|
|
xyz.push_back(transform_matrix.getElement(0,3));
|
|
xyz.push_back(transform_matrix.getElement(1,3));
|
|
xyz.push_back(transform_matrix.getElement(2,3));
|
|
|
|
return xyz;
|
|
}
|
|
|
|
template<typename T>
|
|
Vector<T,3> getYprVector(Matrix<T, 4,4 > transform_matrix) {
|
|
Vector<T,3> result;
|
|
|
|
Matrix<T,3,3> rotation(0);
|
|
for(int i=0; i<3; i++)
|
|
for(int j=0; j<3; j++)
|
|
rotation.updateElement(i, j, transform_matrix.getElement(i, j));
|
|
|
|
T sy = sqrt(rotation.getElement(0,0) * rotation.getElement(0,0) + rotation.getElement(1,0) * rotation.getElement(1,0) );
|
|
|
|
bool singular = sy < 1e-6;
|
|
|
|
T x, y, z;
|
|
if (!singular) {
|
|
x = atan2(rotation.getElement(1,0), rotation.getElement(0,0));
|
|
y = atan2(-rotation.getElement(2,0), sy);
|
|
z = atan2(rotation.getElement(2,1), rotation.getElement(2,2));
|
|
}
|
|
else {
|
|
x = 0;
|
|
y = atan2(-rotation.getElement(2,0), sy);
|
|
z = atan2(-rotation.getElement(1,2), rotation.getElement(1,1));
|
|
}
|
|
|
|
result.push_back(x);
|
|
result.push_back(y);
|
|
result.push_back(z);
|
|
|
|
return result;
|
|
}
|
|
|
|
Matrix<float,4,4> GetPerspectiveMatrix( float viewWidth, float viewHeight, float nearVal, float farVal, bool actionType = false);
|
|
Matrix<float,4,4> GetOrthographicMatrix( float viewWidth, float viewHeight, float nearVal, float farVal, bool actionType = false);
|
|
|
|
|
|
template<typename T>
|
|
static Matrix<T,4,4> GetObliqueMatrix( T width, T height,T nearVal,T farVal, bool actionType = false) {
|
|
int sign =1;
|
|
if (actionType)
|
|
sign=-1;
|
|
Matrix<T,4,4> result(0);
|
|
result.updateElement(0,0,sign * nearVal/width);
|
|
result.updateElement(1,1, sign * nearVal/height);
|
|
result.updateElement(2,2,sign * (farVal + nearVal)/( farVal - nearVal ));
|
|
result.updateElement(3,2,sign * 2*farVal * nearVal/( farVal - nearVal ));
|
|
result.updateElement(2,3,-sign);
|
|
|
|
return result;
|
|
}
|
|
|
|
|
|
class Shader {
|
|
public:
|
|
Shader() = default;
|
|
Shader(std::string_view vertexSource, std::string_view fragmentSource);
|
|
~Shader();
|
|
|
|
Shader(const Shader&) = delete;
|
|
Shader(Shader&& other) noexcept;
|
|
|
|
Shader& operator=(const Shader&) = delete;
|
|
Shader& operator=(Shader&& other) noexcept;
|
|
|
|
void bind() const;
|
|
void unbind() const;
|
|
|
|
void setUniform(std::string_view name, const int &value);
|
|
void setUniform(std::string_view name, const float &value);
|
|
|
|
template<size_t N>
|
|
void setUniform(std::string_view name, const Vector<float, N> &value) {
|
|
if (N == 2)
|
|
glUniform2f(getUniformLocation(name), value[0], value[1]);
|
|
else if (N == 3)
|
|
glUniform3f(getUniformLocation(name), value[0], value[1], value[2]);
|
|
else if (N == 4)
|
|
glUniform4f(getUniformLocation(name), value[0], value[1], value[2],value[3]);
|
|
}
|
|
|
|
template<size_t N>
|
|
void setUniform(std::string_view name, Matrix<float, N, N> &value){
|
|
glUniformMatrix4fv(getUniformLocation(name), 1, GL_FALSE, value.data());
|
|
}
|
|
|
|
private:
|
|
void compile(GLuint shader, std::string_view source) const;
|
|
GLint getUniformLocation(std::string_view name);
|
|
|
|
private:
|
|
GLuint m_program = 0;
|
|
std::map<std::string, GLint> m_uniforms;
|
|
};
|
|
|
|
enum class BufferType {
|
|
Vertex = GL_ARRAY_BUFFER,
|
|
Index = GL_ELEMENT_ARRAY_BUFFER
|
|
};
|
|
|
|
template<typename T>
|
|
class Buffer {
|
|
public:
|
|
Buffer() = default;
|
|
Buffer(BufferType type, std::span<const T> data);
|
|
~Buffer();
|
|
Buffer(const Buffer&) = delete;
|
|
Buffer(Buffer&& other) noexcept;
|
|
|
|
Buffer& operator=(const Buffer&) = delete;
|
|
Buffer& operator=(Buffer&& other) noexcept;
|
|
|
|
void bind() const;
|
|
void unbind() const;
|
|
|
|
void draw(unsigned primitive) const;
|
|
size_t getSize() const;
|
|
void update(std::span<const T> data);
|
|
private:
|
|
GLuint m_buffer = 0;
|
|
size_t m_size = 0;
|
|
GLuint m_type = 0;
|
|
};
|
|
|
|
extern template class Buffer<float>;
|
|
extern template class Buffer<u32>;
|
|
extern template class Buffer<u16>;
|
|
extern template class Buffer<u8>;
|
|
|
|
class VertexArray {
|
|
public:
|
|
VertexArray();
|
|
~VertexArray();
|
|
VertexArray(const VertexArray&) = delete;
|
|
VertexArray(VertexArray&& other) noexcept;
|
|
|
|
VertexArray& operator=(const VertexArray&) = delete;
|
|
VertexArray& operator=(VertexArray&& other) noexcept;
|
|
|
|
template<typename T>
|
|
void addBuffer(u32 index, const Buffer<T> &buffer, u32 size = 3) const {
|
|
glEnableVertexAttribArray(index);
|
|
buffer.bind();
|
|
glVertexAttribPointer(index, size, gl::impl::getType<T>(), GL_FALSE, size * sizeof(T), nullptr);
|
|
buffer.unbind();
|
|
}
|
|
|
|
void bind() const;
|
|
void unbind() const;
|
|
|
|
private:
|
|
GLuint m_array = 0;
|
|
};
|
|
|
|
class Texture {
|
|
public:
|
|
Texture(u32 width, u32 height);
|
|
~Texture();
|
|
Texture(const Texture&) = delete;
|
|
Texture(Texture&& other) noexcept;
|
|
|
|
Texture& operator=(const Texture&) = delete;
|
|
Texture& operator=(Texture&& other) noexcept;
|
|
|
|
void bind() const;
|
|
void unbind() const;
|
|
|
|
GLuint getTexture() const;
|
|
u32 getWidth() const;
|
|
u32 getHeight() const;
|
|
GLuint release();
|
|
|
|
private:
|
|
GLuint m_texture;
|
|
u32 m_width, m_height;
|
|
};
|
|
|
|
class FrameBuffer {
|
|
public:
|
|
FrameBuffer(u32 width, u32 height);
|
|
~FrameBuffer();
|
|
FrameBuffer(const FrameBuffer&) = delete;
|
|
FrameBuffer(FrameBuffer&& other) noexcept;
|
|
|
|
FrameBuffer& operator=(const FrameBuffer&) = delete;
|
|
FrameBuffer& operator=(FrameBuffer&& other) noexcept;
|
|
|
|
void bind() const;
|
|
void unbind() const;
|
|
|
|
void attachTexture(const Texture &texture) const;
|
|
|
|
private:
|
|
GLuint m_frameBuffer, m_renderBuffer;
|
|
};
|
|
|
|
class AxesVectors {
|
|
public:
|
|
AxesVectors();
|
|
|
|
const std::vector<float>& getVertices() const {
|
|
return m_vertices;
|
|
}
|
|
|
|
const std::vector<float>& getColors() const {
|
|
return m_colors;
|
|
}
|
|
|
|
const std::vector<u8>& getIndices() const {
|
|
return m_indices;
|
|
}
|
|
|
|
private:
|
|
std::vector<float> m_vertices;
|
|
std::vector<float> m_colors;
|
|
std::vector<u8> m_indices;
|
|
|
|
};
|
|
|
|
class AxesBuffers {
|
|
public:
|
|
AxesBuffers(const VertexArray& axesVertexArray, const AxesVectors &axesVectors);
|
|
|
|
const gl::Buffer<float>& getVertices() const {
|
|
return m_vertices;
|
|
}
|
|
|
|
const gl::Buffer<float>& getColors() const {
|
|
return m_colors;
|
|
}
|
|
|
|
const gl::Buffer<u8>& getIndices() const {
|
|
return m_indices;
|
|
}
|
|
|
|
private:
|
|
gl::Buffer<float> m_vertices;
|
|
gl::Buffer<float> m_colors;
|
|
gl::Buffer<u8> m_indices;
|
|
};
|
|
|
|
class GridVectors {
|
|
public:
|
|
GridVectors(int sliceCount);
|
|
|
|
u32 getSlices() const {
|
|
return m_slices;
|
|
}
|
|
|
|
const std::vector<float>& getVertices() const {
|
|
return m_vertices;
|
|
}
|
|
|
|
const std::vector<float>& getColors() const {
|
|
return m_colors;
|
|
}
|
|
|
|
const std::vector<u8>& getIndices() const {
|
|
return m_indices;
|
|
}
|
|
|
|
private:
|
|
u32 m_slices;
|
|
std::vector<float> m_vertices;
|
|
std::vector<float> m_colors;
|
|
std::vector<u8> m_indices;
|
|
};
|
|
|
|
class GridBuffers {
|
|
public:
|
|
GridBuffers(const VertexArray &gridVertexArray, const GridVectors &gridVectors);
|
|
|
|
const gl::Buffer<float>& getVertices() const {
|
|
return m_vertices;
|
|
}
|
|
|
|
const gl::Buffer<float>& getColors() const {
|
|
return m_colors;
|
|
}
|
|
|
|
const gl::Buffer<u8>& getIndices() const {
|
|
return m_indices;
|
|
}
|
|
|
|
private:
|
|
gl::Buffer<float> m_vertices;
|
|
gl::Buffer<float> m_colors;
|
|
gl::Buffer<u8> m_indices;
|
|
};
|
|
|
|
class LightSourceVectors {
|
|
public:
|
|
LightSourceVectors(int res);
|
|
|
|
void moveTo(const Vector<float, 3> &position);
|
|
|
|
const std::vector<float>& getVertices() const {
|
|
return m_vertices;
|
|
}
|
|
|
|
const std::vector<float>& getNormals() const {
|
|
return m_normals;
|
|
}
|
|
|
|
const std::vector<float>& getColors() const {
|
|
return m_colors;
|
|
}
|
|
|
|
const std::vector<u16>& getIndices() const {
|
|
return m_indices;
|
|
}
|
|
|
|
void setColor(float r, float g, float b) {
|
|
for (u32 i = 4; i < m_colors.size(); i += 4) {
|
|
m_colors[i - 4] = r;
|
|
m_colors[i - 3] = g;
|
|
m_colors[i - 2] = b;
|
|
m_colors[i - 1] = 1.0F;
|
|
}
|
|
}
|
|
|
|
private:
|
|
int m_resolution;
|
|
float m_radius;
|
|
|
|
std::vector<float> m_vertices;
|
|
std::vector<float> m_normals;
|
|
std::vector<float> m_colors;
|
|
std::vector<u16> m_indices;
|
|
};
|
|
|
|
class LightSourceBuffers {
|
|
public:
|
|
LightSourceBuffers(const VertexArray &sourceVertexArray, const LightSourceVectors &sourceVectors);
|
|
|
|
void moveVertices(const VertexArray &sourceVertexArray, const LightSourceVectors& sourceVectors);
|
|
void updateColors(const VertexArray& sourceVertexArray, const LightSourceVectors& sourceVectors);
|
|
|
|
const gl::Buffer<float>& getVertices() const {
|
|
return m_vertices;
|
|
}
|
|
|
|
const gl::Buffer<float>& getNormals() const {
|
|
return m_normals;
|
|
}
|
|
|
|
const gl::Buffer<float>& getColors() const {
|
|
return m_colors;
|
|
}
|
|
|
|
const gl::Buffer<u16>& getIndices() const {
|
|
return m_indices;
|
|
}
|
|
|
|
private:
|
|
gl::Buffer<float> m_vertices;
|
|
gl::Buffer<float> m_normals;
|
|
gl::Buffer<float> m_colors;
|
|
gl::Buffer<u16> m_indices;
|
|
};
|
|
|
|
} |