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This commit is contained in:
Hartmut Seichter 2019-01-18 22:04:14 +01:00
parent 9dd862018b
commit f33e6769f4
7 changed files with 33 additions and 18 deletions
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2
src/core/CMakeLists.txt
View file

@ -1,7 +1,7 @@
set(hdrs
include/pw/core/debug.hpp
# include/pw/core/axisangle.hpp
include/pw/core/axisangle.hpp
include/pw/core/core.hpp
include/pw/core/math.hpp
include/pw/core/matrixbase.hpp

4
src/core/include/pw/core/axisangle.hpp
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@ -62,8 +62,8 @@ public:
const T _fCos = cos(_angle);
matrix_<3,1,T> _vCos(_axis * (1 - _fCos));
matrix_<3,1,T> _vSin(_axis * sin(_angle));
vector3_<T> _vCos(_axis * (1 - _fCos));
vector3_<T> _vSin(_axis * sin(_angle));
// R.at(0) = (_axis(0,0) * _vCos(0,0)) + _fCos;
// R.at(4) = (T) ((vec(0,0) * _vCos(1,0)) - _vSin(2,0));

10
src/core/include/pw/core/quaternion.hpp
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@ -123,10 +123,10 @@ public:
inline void normalize() { *this = this->normalized(); }
//! conversion from a matrix
inline static const quaternion_ from_matrix(const matrix_<4,4,T> &m);
inline static const quaternion_ from_matrix(const matrix_<T,4,4> &m);
//! conversion to a matrix
const matrix_<4,4,T> to_matrix() const;
const matrix_<T,4,4> to_matrix() const;
//! return identiy quaternion
static const quaternion_<T> identity();
@ -170,7 +170,7 @@ const T quaternion_<T>::_sqrt90 = std::sqrt(0.5);
template <typename T>
const quaternion_<T> quaternion_<T>::from_matrix(const matrix_<4,4,T> &m) {
const quaternion_<T> quaternion_<T>::from_matrix(const matrix_<T,4,4> &m) {
using std::sqrt;
@ -185,9 +185,9 @@ const quaternion_<T> quaternion_<T>::from_matrix(const matrix_<4,4,T> &m) {
}
template <typename T>
const matrix_<4,4,T> quaternion_<T>::to_matrix() const {
const matrix_<T,4,4> quaternion_<T>::to_matrix() const {
matrix_<4,4,T> m; m.set_identity();
matrix_<T,4,4> m; m.set_identity();
T xx = x() * x();
T xy = x() * y();

6
src/core/include/pw/core/serialize.hpp
View file

@ -23,7 +23,7 @@
#ifndef PW_CORE_SERIALIZE_HPP
#define PW_CORE_SERIALIZE_HPP
#include <pw/core/matrixbase.hpp>
#include <pw/core/matrix.hpp>
#include <string>
@ -33,8 +33,8 @@ namespace pw {
struct serialize {
template <typename T>
inline static std::string matrix(const matrixbase<T>& m) {
template <typename T,size_t R,size_t C>
inline static std::string matrix(const matrix_<T,R,C>& m) {
std::stringstream ss;
for (int r = 0; r < m.rows();r++) {

17
src/core/include/pw/core/vector.hpp
View file

@ -64,12 +64,27 @@ auto dot(const vector_<T, N, RowMajor>& a, const vector_<U, N, RowMajor>& b)
}
template <typename T>
struct vector3_ : vector_<T,3> {
using vector_<T,3>::vector_;
inline static vector3_<T> forward() { return vector3_<T> ( T(0), T(0),-T(1) ); }
inline static vector3_<T> backward() { return vector3_<T>( T(0), T(0), T(1) ); }
inline static vector3_<T> right() { return vector3_<T> ( T(1), T(0), T(0) ); }
inline static vector3_<T> left() { return vector3_<T> ( -T(1), T(0), T(0) ); }
inline static vector3_<T> up() { return vector3_<T> ( T(0), T(1), T(0) ); }
inline static vector3_<T> down() { return vector3_<T> ( T(0),-T(1), T(0) ); }
};
//
//
//
template <typename T> using vector2_ = vector_<T, 2>;
template <typename T> using vector3_ = vector_<T, 3>;
//template <typename T> using vector3_ = vector_<T, 3>;
template <typename T> using vector4_ = vector_<T, 4>;
using vector2f = vector2_<float>;

10
src/core/tests/CMakeLists.txt
View file

@ -21,9 +21,9 @@ target_link_libraries(pwcore_test_matrix
# 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)

2
src/core/tests/pwcore_test_axisangle.cpp
View file

@ -10,7 +10,7 @@ int main(int argc,char **argv) {
pw::quaternionf qf = pw::quaternionf::from_axisangle(aa);
std::cout << "aa as quaternion as vector = " << pw::serialize::matrix(qf.as_vector()) << std::endl;
// std::cout << "aa as quaternion as vector = " << pw::serialize::matrix(qf.as_vector()) << std::endl;
// std::cout << "aa.matrix() = " << pw::serialize::matrix(qf.to_matrix()) << std::endl;