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IlyaShurupov 2024-11-04 22:54:10 +03:00 • committed by Ilya Shurupov
parent 8fc76a81f3
commit 8d167b960a
10 changed files with 121 additions and 39 deletions
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26
Math/public/Mat.hpp
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@ -495,8 +495,8 @@ namespace tp {
};
template <typename Type>
using mat3 = Mat<Type, 3, 3>;
using mat3f = mat3<halnf>;
using Mat3 = Mat<Type, 3, 3>;
using Mat3F = Mat3<halnf>;
template <typename Type>
class Mat<Type, 3, 3> {
@ -647,22 +647,22 @@ namespace tp {
Mat inv() { return cofactors() /= det(); }
Mat rotatorX(alnf angle) {
Mat rotatorX(alnf angle) const {
alnf cosA = (alnf) cos(angle);
alnf sinA = (alnf) sin(angle);
return { { 1, 0, 0 }, { 0, cosA, -sinA }, { 0, sinA, cosA } };
}
Mat rotatorY(alnf angle) {
Mat rotatorY(alnf angle) const {
alnf cosA = (alnf) cos(angle);
alnf sinA = (alnf) sin(angle);
return { { cosA, 0, sinA }, { 0, 1, 0 }, { -sinA, 0, cosA } };
}
Mat rotatorZ(alnf angle) {
alnf cosA = (alnf) cos(angle);
alnf sinA = (alnf) sin(angle);
return { { cosA, -sinA, 0 }, { sinA, cosA, 0 }, { 0, 0, 1 } };
static Mat rotatorZ(alnf angle) {
Type cosA = (Type) cos(angle);
Type sinA = (Type) sin(angle);
return { vec{ cosA, -sinA, 0 }, vec{ sinA, cosA, 0 }, vec{ 0, 0, 1 } };
}
static Mat rotatorDir(vec dir, alnf angle) {
@ -707,4 +707,14 @@ namespace tp {
Type det() { return Type(); }
};
template<typename Type>
Mat<Type, 4, 4> toMat4(const Mat<Type, 3, 3>& in) {
Mat<Type, 4, 4> out;
out[0] = { in[0][0], in[0][1], in[0][2], 0 };
out[1] = { in[1][0], in[1][1], in[1][2], 0 };
out[2] = { in[2][0], in[2][1], in[2][2], 0 };
out[3] = Type(1);
return out;
}
}