fixing core matrix calculations
This commit is contained in:
parent
1e8b91474e
commit
54e3b1587e
10 changed files with 401 additions and 145 deletions
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@ -1,14 +1,13 @@
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#add_subdirectory(deps)
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add_subdirectory(deps)
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add_subdirectory(core)
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add_subdirectory(scene)
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add_subdirectory(system)
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add_subdirectory(io)
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#add_subdirectory(scene)
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#add_subdirectory(system)
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#add_subdirectory(io)
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#add_subdirectory(ui)
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add_subdirectory(scripting)
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add_subdirectory(visual)
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add_subdirectory(geometry)
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#add_subdirectory(scripting)
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#add_subdirectory(visual)
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#add_subdirectory(geometry)
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add_subdirectory(engine)
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#add_subdirectory(engine)
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@ -1,35 +1,36 @@
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set(hdrs
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include/pw/core/debug.hpp
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include/pw/core/axisangle.hpp
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# include/pw/core/axisangle.hpp
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include/pw/core/core.hpp
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include/pw/core/math.hpp
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include/pw/core/matrixbase.hpp
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include/pw/core/matrix.hpp
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include/pw/core/vector.hpp
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include/pw/core/quaternion.hpp
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include/pw/core/serialize.hpp
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# include/pw/core/matrix.hpp
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# include/pw/core/vector.hpp
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# include/pw/core/quaternion.hpp
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# include/pw/core/serialize.hpp
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include/pw/core/image.hpp
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include/pw/core/point.hpp
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include/pw/core/rect.hpp
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include/pw/core/size.hpp
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include/pw/core/timer.hpp
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include/pw/core/mesh.hpp
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# include/pw/core/mesh.hpp
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include/pw/core/globals.hpp
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include/pw/core/image.hpp
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include/pw/core/image.hpp
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)
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set(srcs
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src/buffer.cpp
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# src/buffer.cpp
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src/image.cpp
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src/debug.cpp
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src/mesh.cpp
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# src/mesh.cpp
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src/core.cpp
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src/serialize.cpp
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# src/serialize.cpp
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src/timer.cpp
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src/image.cpp
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src/image.cpp
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${CMAKE_SOURCE_DIR}/README.md
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${CMAKE_SOURCE_DIR}/LICENSE
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${CMAKE_SOURCE_DIR}/TODO.md
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)
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add_library(pwcore
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@ -39,8 +39,8 @@ class matrix_ : public matrixbase<T> {
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public:
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using typename matrixbase<T>::value_type;
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using typename matrixbase<T>::size_type;
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using typename matrixbase<T>::value_type;
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using typename matrixbase<T>::size_type;
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matrix_();
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@ -50,7 +50,13 @@ public:
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matrix_(std::initializer_list<T> il)
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{
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// for (int i = 0;i < il.size();i++) (*this).at(i) = il[i];
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this->set(il);
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}
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matrix_ set(std::initializer_list<T> il)
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{
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int i = 0;
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for (T e : il) (*this).at(i++) = e;
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}
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matrix_ transposed() const;
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@ -106,10 +112,6 @@ public:
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matrix_<R,C,T>& copy_from_data(const T* src) { for (unsigned int i = 0; i < R*C; ++i) { (*this).at(i) = src[i]; } return *this; }
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matrix_<R,C,T> operator * (const matrix_<R,C,T>& rhs) const {
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return mul(rhs);
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}
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const matrix_<C,R,T> reshape() const {
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matrix_<C,R,T> m;
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for (unsigned int r = 0; r < R; ++r)
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@ -131,7 +133,7 @@ public:
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void normalize();
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template <unsigned int bC>
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matrix_<R,bC,T> mul(const matrix_<R,bC,T>& B) const
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matrix_<R,bC,T> operator * (const matrix_<R,bC,T>& B) const
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{
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// aC == bR
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// set all null
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@ -235,7 +237,7 @@ inline matrix_<R,C,T> operator - (const matrix_<R,C,T>& a, const matrix_<R,C,T>&
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template <unsigned int R, unsigned int C,typename T>
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matrix_<R,C,T>& matrix_<R,C,T>::operator *= (const matrix_& rhs)
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{
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*this = mul(rhs);
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*this = *this * rhs;
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return *this;
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}
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@ -23,122 +23,327 @@
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#ifndef PW_CORE_MATRIXBASE_HPP
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#define PW_CORE_MATRIXBASE_HPP
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#include <algorithm>
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#include <iostream>
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#include <iterator>
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#include <numeric>
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#include <type_traits>
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#include <utility>
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#include <initializer_list>
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namespace pw {
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/**
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* \brief base class for all matrix and vector operations
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*/
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template <typename T> class matrixbase {
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public:
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// http://coliru.stacked-crooked.com/a/34db679ee8c13a80
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typedef T value_type;
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typedef int offset_type;
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typedef unsigned int size_type;
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template <typename T, typename Derived>
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struct matrixbase_ {
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Derived& derived() { return static_cast<Derived&>(*this); }
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const Derived& derived() const { return static_cast<const Derived&>(*this); }
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std::size_t size() const {
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return std::extent<decltype(Derived::data)>::value;
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}
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Derived& fill(const T& v) {
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std::fill(std::begin(derived().data), std::end(derived().data), T(v));
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return derived();
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}
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Derived& zero() {
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return derived().fill(0);
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}
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T trace() const {
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return std::accumulate(std::begin(derived().data),std::end(derived().data),T());
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}
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using iterator = T*;
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using const_iterator = const T*;
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iterator begin() { return &derived().data[0]; }
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iterator end() { return &derived().data[0] + size(); }
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const_iterator begin() const { return &derived().data[0]; }
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const_iterator end() const { return &derived().data[0] + size(); }
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T& operator [] (std::size_t i) {
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return derived().data[i];
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}
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const T& operator [] (std::size_t i) const {
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return derived().data[i];
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}
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inline Derived& operator *= (const T& b) { for (auto & e : *this) e *= b; return derived(); }
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inline Derived& operator /= (const T& b) { for (auto & e : *this) e *= b; return derived(); }
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inline Derived& operator += (const T& b) { for (auto & e : *this) e *= b; return derived(); }
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inline Derived& operator -= (const T& b) { for (auto & e : *this) e *= b; return derived(); }
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};
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matrixbase() {}
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template <typename T, std::size_t R,std::size_t C,bool RowMajor = false>
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struct matrix_ : matrixbase_<T, matrix_<T, R, C>> {
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T data[R*C];
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//! assignment constructor
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explicit matrixbase(int rows, int cols,T* ptr,bool row_major,int data_offset = 0)
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: _data(ptr)
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, _data_offset(data_offset)
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, _rows(rows)
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, _cols(cols)
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, _row_stride(row_major ? 1 : cols)
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, _col_stride(row_major ? rows : 1)
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{
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}
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matrix_() = default;
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// matrixbase(std::initializer_list<T> il)
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// {
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// for (int i = 0;i < il.size();i++) this->at(i) = il[i];
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// }
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matrix_(const matrix_<T,R,C,RowMajor>& other)
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{
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*this = other;
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}
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inline const T& get_element(int e) const { return this->at(e); }
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inline void set_element(int e,const T &v) { this->at(e) = v; }
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//! return number of rows
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inline unsigned int rows() const { return _rows; }
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//! return number of columns
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inline unsigned int cols() const { return _cols; }
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//! get cell count
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inline unsigned int cells() const { return _rows * _cols; }
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//! get data
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inline T* data() { return _data + _data_offset; }
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//! get data
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inline const T* data() const { return _data + _data_offset; }
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//! get item at index
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inline T& at(unsigned int idx) { return data()[idx]; }
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//! get item at index
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inline const T& at(unsigned int idx) const { return data()[idx]; }
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//! get item at position
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inline T& at(unsigned int r,unsigned int c) { return data()[r * _row_stride + c * _col_stride]; }
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//! get item at position
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inline const T& at(unsigned int r,unsigned int c) const { return data()[r * _row_stride + c * _col_stride]; }
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//! fill data
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inline matrixbase& fill(const T& val) {
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for (unsigned int r = 0; r < this->rows(); r++)
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for (unsigned int c = 0; c < this->cols(); c++)
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this->at(r,c) = val;
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matrix_& operator = (const matrix_<T,R,C,RowMajor>& other)
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{
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for (size_t i = 0; i < other.size();i++) (*this)[i] = other[i];
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return *this;
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}
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//! rows
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inline std::size_t rows() const { return R; }
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//! return number of columns
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inline std::size_t cols() const { return C; }
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//! get cell count
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inline std::size_t coefficients() const { return R * C; }
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inline size_t offset(int r,int c) const {
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return (RowMajor) ? r * C + c : c * R + r;
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}
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inline T& operator () (std::size_t r, std::size_t c) {
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return data[offset(r,c)];
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}
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inline const T& operator () (std::size_t r, std::size_t c) const {
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return data[offset(r,c)];
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}
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//! set identity
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inline matrixbase& set_identity() {
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inline matrix_& set_identity()
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{
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for (unsigned int r = 0;r < rows(); r++)
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for (unsigned int c = 0; c < cols(); c++)
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this->at(r,c) = (c == r) ? T(1) : T(0);
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return *this;
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}
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//! set strides for row and column
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inline void set_stride(int row_stride,int col_stride) {
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_row_stride = row_stride; _col_stride = col_stride;
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return *this;
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}
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//! return row stride (elements between consequtive rows)
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inline int row_stride() const { return _row_stride; }
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template<std::size_t Rs,std::size_t Cs,bool RowMajorSlice = RowMajor>
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matrix_<T,Rs,Cs,RowMajorSlice> slice(std::size_t r,std::size_t c) const
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{
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matrix_<T,Rs,Cs,RowMajorSlice> s;
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for (std::size_t ri = 0;ri < Rs;ri++)
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for (std::size_t ci = 0;ci < Cs;ci++)
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s(ri,ci) = (*this)(ri+r,ci+c);
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return s;
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}
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//! return column stride (elements between consequtive columns)
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inline int col_stride() const { return _col_stride; }
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template<std::size_t Rs,std::size_t Cs,bool RowMajorSlice = RowMajor>
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matrix_& set_slice(const matrix_<T,Rs,Cs,RowMajorSlice>& s,std::size_t r,std::size_t c)
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{
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for (std::size_t ri = 0;ri < Rs;ri++)
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for (std::size_t ci = 0;ci < Cs;ci++)
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(*this)(ri+r,ci+c) = s(ri,ci);
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return *this;
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}
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//! get row major
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inline bool is_row_major() const { return row_stride() > col_stride(); }
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T determinant() const {
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T det(0);
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for (size_t c = 0; c < C; c++) {
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det += ((c % 2 == 0) ? (*this)(0,c) : -(*this)(0,c)) * this->slice<R-1,C-1>(0,c).determinant();
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}
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return det;
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}
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//! check if squared
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inline bool is_square() const { return (_rows == _cols); }
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matrix_<T,C,R,RowMajor> transposed() const {
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matrix_<T,C,R,RowMajor> res;
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for (size_t r = this->rows();r-->0;)
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for (size_t c = this->cols();c-->0;)
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res(c,r) = (*this)(r,c);
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return res;
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}
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//! flip row/column order
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inline void flip_order() { set_stride(col_stride(),row_stride()); }
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matrix_ inverse() const
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{
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matrix_ resMat;
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//! get the offset for data in the matrix
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inline int get_data_offset(int r,int c) const { return (r * _row_stride + c * _col_stride) + _data_offset; }
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for ( unsigned int r = 0; r < C; ++r) {
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for ( unsigned int j = 0; j < R; ++j) {
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short sgn = ((r+j)%2) ? -1 : 1;
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auto minor = this->slice<R-1,C-1>(r,j);
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resMat(r,j) = minor.determinant() * sgn;
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}
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}
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protected:
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resMat = resMat.transposed();
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resMat *= T(1)/this->determinant();
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return resMat;
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}
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T* _data;
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int _data_offset;
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inline bool row_major() const {
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return RowMajor;
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}
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int _cols;
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int _rows;
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int _row_stride;
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int _col_stride;
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inline bool square() const { return R == C; }
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};
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template <> inline
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float matrix_<float,1,1>::determinant() const
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{
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return (*this)[0];
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}
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template <> inline
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double matrix_<double,1,1>::determinant() const
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{
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return (*this)[0];
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}
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template <typename T, std::size_t N,bool RowMajor = false>
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struct vector_ : matrix_<T, N, 1, RowMajor>
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{
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typedef matrix_<T, N, 1, RowMajor> derived_type;
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vector_(const derived_type& rhs) : derived_type(rhs) {}
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};
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template <typename T, typename U, std::size_t N,bool RowMajor = false>
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auto operator * (const vector_<T, N, RowMajor>& a, const vector_<U, N, RowMajor>& b)
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-> vector_<decltype(a[0] * b[0]), N, RowMajor> {
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vector_<decltype(a[0] * b[0]), N, RowMajor> result;
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for (std::size_t i = 0; i < N; ++i) {
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result[i] = a[i] * b[i];
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}
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return result;
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}
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template <typename T, typename U, std::size_t N,bool RowMajor = false>
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auto dot(const vector_<T, N, RowMajor>& a, const vector_<U, N, RowMajor>& b)
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-> decltype(a[0] * b[0]) {
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auto product = a * b;
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using V = decltype(product.x);
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return std::accumulate(std::begin(product), std::end(product), V(0));
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}
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//
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//
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//
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template <typename T> using matrix2x2_ = matrix_<T, 2, 2>;
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using matrix2x2f = matrix_<float, 2, 2>;
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template <typename T> using vector2_ = vector_<T, 2>;
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using vector2f = vector2_<float>;
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///**
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// * \brief base class for all matrix and vector operations
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// */
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//template <typename T> class matrixbase {
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//public:
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// typedef T value_type;
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// typedef int offset_type;
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// typedef unsigned int size_type;
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// matrixbase() {}
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// //! assignment constructor
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// explicit matrixbase(int rows, int cols,T* ptr,bool row_major,int data_offset = 0)
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// : _data(ptr)
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// , _data_offset(data_offset)
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// , _rows(rows)
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// , _cols(cols)
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// , _row_stride(row_major ? 1 : cols)
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// , _col_stride(row_major ? rows : 1)
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// {
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// }
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// inline const T& get_element(int e) const { return this->at(e); }
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// inline void set_element(int e,const T &v) { this->at(e) = v; }
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// //! return number of rows
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// inline unsigned int rows() const { return _rows; }
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// //! return number of columns
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// inline unsigned int cols() const { return _cols; }
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// //! get cell count
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// inline unsigned int cells() const { return _rows * _cols; }
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// //! get data
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// inline T* data() { return _data + _data_offset; }
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// //! get data
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// inline const T* data() const { return _data + _data_offset; }
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// //! get item at index
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// inline T& at(unsigned int idx) { return data()[idx]; }
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|
||||
// //! get item at index
|
||||
// inline const T& at(unsigned int idx) const { return data()[idx]; }
|
||||
|
||||
// //! get item at position
|
||||
// inline T& at(unsigned int r,unsigned int c) { return data()[r * _row_stride + c * _col_stride]; }
|
||||
|
||||
// //! get item at position
|
||||
// inline const T& at(unsigned int r,unsigned int c) const { return data()[r * _row_stride + c * _col_stride]; }
|
||||
|
||||
// //! fill data
|
||||
// inline matrixbase& fill(const T& val) {
|
||||
// for (unsigned int r = 0; r < this->rows(); r++)
|
||||
// for (unsigned int c = 0; c < this->cols(); c++)
|
||||
// this->at(r,c) = val;
|
||||
// return *this;
|
||||
// }
|
||||
|
||||
// //! set identity
|
||||
// inline matrixbase& set_identity() {
|
||||
// for (unsigned int r = 0;r < rows(); r++)
|
||||
// for (unsigned int c = 0; c < cols(); c++)
|
||||
// this->at(r,c) = (c == r) ? T(1) : T(0);
|
||||
// return *this;
|
||||
// }
|
||||
|
||||
// //! set strides for row and column
|
||||
// inline void set_stride(int row_stride,int col_stride) {
|
||||
// _row_stride = row_stride; _col_stride = col_stride;
|
||||
// }
|
||||
|
||||
// //! return row stride (elements between consequtive rows)
|
||||
// inline int row_stride() const { return _row_stride; }
|
||||
|
||||
// //! return column stride (elements between consequtive columns)
|
||||
// inline int col_stride() const { return _col_stride; }
|
||||
|
||||
// //! get row major
|
||||
// inline bool is_row_major() const { return row_stride() > col_stride(); }
|
||||
|
||||
// //! check if squared
|
||||
// inline bool is_square() const { return (_rows == _cols); }
|
||||
|
||||
// //! flip row/column order
|
||||
// inline void flip_order() { set_stride(col_stride(),row_stride()); }
|
||||
|
||||
// //! get the offset for data in the matrix
|
||||
// inline int get_data_offset(int r,int c) const { return (r * _row_stride + c * _col_stride) + _data_offset; }
|
||||
|
||||
//protected:
|
||||
|
||||
// T* _data;
|
||||
// int _data_offset;
|
||||
|
||||
// int _cols;
|
||||
// int _rows;
|
||||
|
||||
// int _row_stride;
|
||||
// int _col_stride;
|
||||
|
||||
//};
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -57,6 +57,15 @@ public:
|
|||
return acos( nothr.dot(nself) );
|
||||
}
|
||||
|
||||
|
||||
vector_<components+1,T> homogenous(const T& w) const {
|
||||
return vector_<components+1,T>();
|
||||
}
|
||||
|
||||
const vector_<2,T> project() const {
|
||||
return vector_<2,T>(x()/z(),y()/z());
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
|
@ -98,13 +107,6 @@ public:
|
|||
T& z() { return (*this)(2); }
|
||||
|
||||
|
||||
vector_<4,T> project(const T& w) const {
|
||||
return vector_<4,T>({ x(),y(),z(),w } );
|
||||
}
|
||||
|
||||
const vector_<2,T> unproject() const {
|
||||
return vector_<2,T>(x()/z(),y()/z());
|
||||
}
|
||||
|
||||
inline static vector3_<T> forward() { return vector3_<T> ( 0, 0,-1); }
|
||||
inline static vector3_<T> backward() { return vector3_<T>( 0, 0, 1); }
|
||||
|
|
|
|||
|
|
@ -6,16 +6,15 @@
|
|||
|
||||
|
||||
#include "pw/core/matrixbase.hpp"
|
||||
#include "pw/core/matrix.hpp"
|
||||
//#include "pw/core/matrix.hpp"
|
||||
|
||||
|
||||
void test_matrixbase() {
|
||||
|
||||
using namespace pw;
|
||||
|
||||
matrix4x4f m;
|
||||
// matrix4x4f m;
|
||||
|
||||
m.set_identity();
|
||||
// m.set_identity();
|
||||
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -7,10 +7,10 @@ void mesh::apply(const matrix4x4 &m)
|
|||
{
|
||||
for (auto &v : _vertices)
|
||||
{
|
||||
// v = m * v.project(1);
|
||||
// v = vector4(m * v.project(1)).un_project();
|
||||
|
||||
auto vh = v.project(1);
|
||||
m.mul(vh);
|
||||
auto vh = v.project(1);
|
||||
// m.mul(vh);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -5,25 +5,25 @@ add_executable(pwcore_test_matrix
|
|||
target_link_libraries(pwcore_test_matrix
|
||||
pwcore)
|
||||
|
||||
add_executable(pwcore_test_vector
|
||||
pwcore_test_vector.cpp
|
||||
)
|
||||
#add_executable(pwcore_test_vector
|
||||
# pwcore_test_vector.cpp
|
||||
# )
|
||||
|
||||
target_link_libraries(pwcore_test_vector
|
||||
pwcore)
|
||||
#target_link_libraries(pwcore_test_vector
|
||||
# pwcore)
|
||||
|
||||
|
||||
add_executable(pwcore_test_quaternion
|
||||
pwcore_test_quaternion.cpp
|
||||
)
|
||||
#add_executable(pwcore_test_quaternion
|
||||
# pwcore_test_quaternion.cpp
|
||||
# )
|
||||
|
||||
target_link_libraries(pwcore_test_quaternion
|
||||
pwcore)
|
||||
#target_link_libraries(pwcore_test_quaternion
|
||||
# pwcore)
|
||||
|
||||
|
||||
add_executable(pwcore_test_axisangle
|
||||
pwcore_test_axisangle.cpp
|
||||
)
|
||||
#add_executable(pwcore_test_axisangle
|
||||
# pwcore_test_axisangle.cpp
|
||||
# )
|
||||
|
||||
target_link_libraries(pwcore_test_axisangle
|
||||
pwcore)
|
||||
#target_link_libraries(pwcore_test_axisangle
|
||||
# pwcore)
|
||||
|
|
|
|||
|
|
@ -1,11 +1,45 @@
|
|||
|
||||
#include <pw/core/matrix.hpp>
|
||||
#include <pw/core/serialize.hpp>
|
||||
#include <pw/core/matrixbase.hpp>
|
||||
|
||||
//#include <pw/core/matrix.hpp>
|
||||
//#include <pw/core/serialize.hpp>
|
||||
|
||||
#include <pw/core/debug.hpp>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
int main(int argc,char **argv) {
|
||||
|
||||
|
||||
using namespace pw;
|
||||
|
||||
matrix2x2f m22; m22.zero();
|
||||
|
||||
m22(0,0) = 1; m22(0,1) = 2;
|
||||
m22(1,0) = 3; m22(1,1) = 4;
|
||||
|
||||
|
||||
debug::d() << "offset(0,1) col-major " << m22.offset(0,1);
|
||||
debug::d() << "det " << m22.determinant();
|
||||
|
||||
// vector2f v2 = m22.slice<2,1>(0,0);
|
||||
// m22.set_slice<2,1>(v2,0,0);
|
||||
|
||||
// v2 *= 2;
|
||||
// v2 += 1;
|
||||
|
||||
// m22 *= 3;
|
||||
|
||||
// m22.determinant();
|
||||
|
||||
// debug::d() << sizeof(v2);
|
||||
|
||||
// auto m22_i = m22.inverse();
|
||||
|
||||
|
||||
|
||||
#if 0
|
||||
|
||||
pw::matrix4x4d m;
|
||||
|
||||
m.set_identity();
|
||||
|
|
@ -48,4 +82,6 @@ int main(int argc,char **argv) {
|
|||
|
||||
|
||||
return 0;
|
||||
|
||||
#endif
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue