433 lines
11 KiB
C++
433 lines
11 KiB
C++
#ifndef HGL_ALGORITHM_MATH_VECTOR_MATRIX_INCLUDE
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#define HGL_ALGORITHM_MATH_VECTOR_MATRIX_INCLUDE
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#include<hgl/math/Vector.h>
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#include<hgl/TypeFunc.h>
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//注：GLM/CML(OpenGLMode)是列矩阵,计算坐标matrix*pos
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// 而MGL是行矩阵，需要反过来pos*matrix
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#include<glm/gtc/matrix_transform.hpp>
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#include<glm/gtc/quaternion.hpp>
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#include<glm/gtc/constants.hpp>
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#include<glm/gtx/quaternion.hpp>
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namespace hgl
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{
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using Quatf=glm::quat;
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constexpr const Quatf IdentityQuatf=Quatf(1,0,0,0);
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#define DEFINE_MATRIX(num) using Matrix##num##f=glm::mat##num; \
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constexpr const Matrix##num##f Identity##num##f=Matrix##num##f(1.0f); \
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inline bool IsIdentity(const Matrix##num##f &m){return(hgl_cmp(m,Identity##num##f)==0);} \
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inline int FastMatrixComp(const Matrix##num##f &m1,const Matrix##num##f &m2){return hgl_cmp(m1,m2);}
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DEFINE_MATRIX(2)
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DEFINE_MATRIX(3)
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DEFINE_MATRIX(4)
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DEFINE_MATRIX(2x4)
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DEFINE_MATRIX(3x4)
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DEFINE_MATRIX(4x2)
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DEFINE_MATRIX(4x3)
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#undef DEFINE_MATRIX
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inline Matrix4f inverse(const Matrix4f &m)
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{
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return glm::inverse(m);
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}
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inline Matrix4f transpose(const Matrix4f &m)
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{
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return glm::transpose(m);
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}
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/**
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* 生成一个正角视图矩阵
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* @param left 左
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* @param right 右
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* @param top 顶
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* @param bottom 底
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* @param znear 近平面z值
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* @param zfar 远平台z值
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*/
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Matrix4f ortho( float left,
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float right,
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float bottom,
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float top,
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float znear,
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float zfar );
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/**
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* 生成一个正角视图矩阵
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* @param width 宽
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* @param height 高
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* @param znear 近平面z值
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* @param zfar 远平台z值
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*/
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Matrix4f ortho(float width,float height,float znear,float zfar);
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/**
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* 生成一个正角视图矩阵
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* @param width 宽
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* @param height 高
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*/
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Matrix4f ortho(float width,float height);
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/**
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* 生成一个透视矩阵
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* @param aspect_ratio 宽高比
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* @param field_of_view 视野
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* @param znear 近截面
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* @param zfar 远截面
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*/
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Matrix4f perspective( float field_of_view,
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float aspect_ratio,
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float znear,
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float zfar);
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/**
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* 产生一个lookat变换矩阵
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* @param eye 眼睛位置
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* @param target 目标位置
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* @param up 向上向量
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*/
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Matrix4f lookat(const Vector3f &eye,const Vector3f &target,const Vector3f &up);
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inline Matrix4f translate(const Vector3f &v)
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{
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return glm::translate(Matrix4f(1.0f),v);
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}
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inline Matrix4f translate(float x,float y,float z)
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{
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return glm::translate(Matrix4f(1.0f),Vector3f(x,y,z));
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}
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inline Matrix4f translate(float x,float y)
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{
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return translate(x,y,1.0f);
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}
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inline Matrix4f scale(const Vector3f &v)
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{
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return glm::scale(Matrix4f(1.0f),v);
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}
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inline Matrix4f scale(float x,float y,float z)
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{
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return glm::scale(Matrix4f(1.0f),Vector3f(x,y,z));
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}
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inline Matrix4f scale(float x,float y)
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{
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return scale(x,y,1.0f);
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}
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inline Matrix4f scale(float s)
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{
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return glm::scale(Matrix4f(1.0f),Vector3f(s,s,s));
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}
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inline Matrix4f rotate(float angle,const Vector3f &axis)
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{
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return glm::rotate(Matrix4f(1.0f),angle,axis);
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}
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inline Matrix4f rotate(float angle,float x,float y,float z)
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{
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return glm::rotate(Matrix4f(1.0f),angle,Vector3f(x,y,z));
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}
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inline Matrix4f rotate(float angle,float x,float y)
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{
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return rotate(angle,x,y,1.0f);
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}
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inline Matrix4f rotate(float angle,const Vector4f &axis)
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{
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return rotate(angle,Vector3f(axis.x,axis.y,axis.z));
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}
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inline Vector3f rotate(const Vector3f &v3f,float angle,const Vector3f &axis)
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{
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Vector4f result = rotate(angle, axis)*Vector4f(v3f, 1.0f);
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return Vector3f(result.x,result.y,result.z);
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}
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inline Quatf RotationQuat(const float angle,const Vector3f &axis)
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{
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return glm::angleAxis(glm::radians(angle),axis);
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}
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inline Matrix4f ToMatrix(const Quatf &quat)
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{
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return glm::toMat4(quat);
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}
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inline void ExtractedQuat(const Quatf &quat,Vector3f &axis,float &angle)
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{
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angle=glm::degrees(glm::angle(quat));
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axis=glm::axis(quat);
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}
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inline Quatf LerpQuat(const Quatf &from,const Quatf &to,const float t)
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{
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return glm::lerp(from,to,t);
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}
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inline Quatf SLerpQuat(const Quatf &from,const Quatf &to,const float t)
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{
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return glm::slerp(from,to,t);
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}
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inline Vector3f TransformPosition(const Matrix4f &m,const Vector3f &v)
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{
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return Vector3f(m*Vector4f(v,1.0f));
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}
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inline Vector3f TransformDirection(const Matrix4f &m,const Vector3f &v)
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{
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return Vector3f(m*Vector4f(v,0.0f));
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}
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inline Vector3f TransformNormal(const Matrix4f &m,const Vector3f &v)
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{
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return normalize(Vector3f(transpose(inverse(m))*Vector4f(v,0.0f)));
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}
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inline Vector3f TransformNormal(const Matrix3f &m,const Vector3f &v)
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{
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return normalize(m*v);
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}
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inline Matrix3f TransformMatrix(const Matrix3f &root,const Matrix3f &child)
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{
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return root*child;
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}
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inline Matrix3f TransformMatrix(const Matrix4f &root,const Matrix3f &child)
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{
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return Matrix3f(root*Matrix4f(child));
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}
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inline Matrix4f TransformMatrix(const Matrix4f &root,const Matrix4f &child)
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{
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return root*child;
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}
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/**
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* 带误差的比较两个浮点矩阵是否相等
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* @param m1 矩阵1
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* @param m2 矩阵2
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* @param deviation 允许的误差值
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*/
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template<typename M>
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inline float DeviationMatrixComp(const M &m1,const M &m2,const float deviation=HGL_FLOAT_SMALL)
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{
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float *f1=(float *)&m1;
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float *f2=(float *)&m2;
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float gap;
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for(int i=0;i<sizeof(M)/sizeof(float);i++)
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{
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gap=*f1-*f2;
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if(fabsf(gap)<deviation)
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return(gap);
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}
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return 0;
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}
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// 函数用于从 glm::mat4 中提取平移、旋转和缩放
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bool DecomposeTransform(const Matrix4f & transform, Vector3f & outTranslation, Quatf & outRotation, Vector3f & outScale);
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/**
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* 变换矩阵<Br>
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* 便于分散管理平移、旋转、缩放等数值
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*/
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class Transform
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{
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protected:
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Matrix4f matrix;
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Matrix4f inverse_matrix;
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Matrix4f transpose_inverse_matrix;
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bool matrix_dirty;
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Vector3f translation_vector;
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Quatf rotation_quat;
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Vector3f rotation_axis;
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float rotate_angle;
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Vector3f scale_vector;
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protected:
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void UpdateMatrix()
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{
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if(!matrix_dirty)
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return;
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matrix=translate(translation_vector)*ToMatrix(rotation_quat)*scale(scale_vector);
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inverse_matrix=inverse(matrix);
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transpose_inverse_matrix=transpose(inverse_matrix);
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matrix_dirty=false;
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}
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void UpdateQuat()
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{
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rotation_quat=RotationQuat(rotate_angle,rotation_axis);
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matrix_dirty=true;
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}
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public:
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const Matrix4f &GetMatrix()
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{
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UpdateMatrix();
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return matrix;
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}
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operator const Matrix4f &(){return GetMatrix();}
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const Matrix4f &GetInverseMatrix()
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{
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UpdateMatrix();
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return inverse_matrix;
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}
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const Vector3f &GetTranslation ()const{return translation_vector;}
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const Vector3f &GetScale ()const{return scale_vector;}
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const Quatf & GetRotationQuat ()const{return rotation_quat;}
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const Vector3f &GetRotationAxis ()const{return rotation_axis;}
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const float GetRotateAngle ()const{return rotate_angle;}
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void SetTranslation(const float x,const float y,const float z)
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{
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translation_vector.x=x;
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translation_vector.y=y;
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translation_vector.z=z;
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matrix_dirty=true;
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}
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void SetTranslation(const Vector3f &v)
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{
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translation_vector=v;
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matrix_dirty=true;
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}
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void SetRotation(const Quatf &q)
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{
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rotation_quat=q;
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ExtractedQuat(q,rotation_axis,rotate_angle);
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matrix_dirty=true;
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}
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void SetRotation(const Vector3f &axis,const float angle)
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{
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rotation_axis=axis;
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rotate_angle=angle;
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UpdateQuat();
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}
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void SetRotationAxis(const Vector3f &axis)
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{
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rotation_axis=axis;
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UpdateQuat();
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}
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void SetRotation(const AXIS &axis,const float angle)
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{
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rotation_axis=GetAxisVector(axis);
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rotate_angle=angle;
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UpdateQuat();
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}
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void SetRotationAxis(const AXIS &axis)
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{
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rotation_axis=GetAxisVector(axis);
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UpdateQuat();
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}
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void SetRotateAngle(float angle)
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{
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rotate_angle=angle;
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UpdateQuat();
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}
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void SetScale(const Vector3f &v)
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{
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scale_vector=v;
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matrix_dirty=true;
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}
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public:
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Transform()
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{
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matrix=Identity4f;
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inverse_matrix=Identity4f;
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matrix_dirty=false;
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translation_vector=Vector3f(0,0,0);
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rotation_quat=Quatf(1,0,0,0);
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rotation_axis=Vector3f(0,0,0);
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rotate_angle=0;
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scale_vector=Vector3f(1,1,1);
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}
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Transform(const Matrix4f &m)
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{
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SetFromMatrix4f(m);
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}
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void SetFromMatrix4f(const Matrix4f &m)
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{
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matrix=m;
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inverse_matrix=inverse(m);
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matrix_dirty=false;
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DecomposeTransform(m,translation_vector,rotation_quat,scale_vector);
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ExtractedQuat(rotation_quat,rotation_axis,rotate_angle);
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}
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inline Vector3f TransformPosition(const Vector3f &v)
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{
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return Vector3f(matrix*Vector4f(v,1.0f));
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}
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inline Vector3f TransformDirection(const Vector3f &v)
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{
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return Vector3f(matrix*Vector4f(v,0.0f));
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}
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inline Vector3f TransformNormal(const Vector3f &v)
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{
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return normalize(Vector3f(transpose_inverse_matrix*Vector4f(v,0.0f)));
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}
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inline Matrix3f TransformMatrix(const Matrix3f &child)
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{
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return Matrix3f(matrix*Matrix4f(child));
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}
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inline Matrix4f TransformMatrix(const Matrix4f &child)
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{
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return matrix*child;
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}
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};//Transform
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constexpr const size_t TransformMatrix4fLength=sizeof(Transform);
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Transform Blend(const Transform &from,const Transform &to,const float t);
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}//namespace hgl
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#endif//HGL_ALGORITHM_MATH_VECTOR_MATRIX_INCLUDE
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