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85 lines
2.5 KiB
C++
85 lines
2.5 KiB
C++
/*
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* Copyright (c) 2020, Stephan Unverwerth <s.unverwerth@serenityos.org>
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*
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* SPDX-License-Identifier: BSD-2-Clause
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*/
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#pragma once
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#include <AK/Math.h>
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#include <LibGfx/Matrix.h>
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#include <LibGfx/Vector3.h>
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#include <LibGfx/Vector4.h>
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namespace Gfx {
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template<typename T>
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using Matrix4x4 = Matrix<4, T>;
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template<typename T>
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constexpr static Vector4<T> operator*(Matrix4x4<T> const& m, Vector4<T> const& v)
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{
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auto const& elements = m.elements();
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return Vector4<T>(
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v.x() * elements[0][0] + v.y() * elements[0][1] + v.z() * elements[0][2] + v.w() * elements[0][3],
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v.x() * elements[1][0] + v.y() * elements[1][1] + v.z() * elements[1][2] + v.w() * elements[1][3],
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v.x() * elements[2][0] + v.y() * elements[2][1] + v.z() * elements[2][2] + v.w() * elements[2][3],
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v.x() * elements[3][0] + v.y() * elements[3][1] + v.z() * elements[3][2] + v.w() * elements[3][3]);
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}
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// FIXME: this is a specific Matrix4x4 * Vector3 interaction that implies W=1; maybe move this out of LibGfx
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// or replace a Matrix4x4 * Vector4 operation?
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template<typename T>
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constexpr static Vector3<T> transform_point(Matrix4x4<T> const& m, Vector3<T> const& p)
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{
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auto const& elements = m.elements();
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return Vector3<T>(
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p.x() * elements[0][0] + p.y() * elements[0][1] + p.z() * elements[0][2] + elements[0][3],
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p.x() * elements[1][0] + p.y() * elements[1][1] + p.z() * elements[1][2] + elements[1][3],
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p.x() * elements[2][0] + p.y() * elements[2][1] + p.z() * elements[2][2] + elements[2][3]);
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}
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template<typename T>
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constexpr static Matrix4x4<T> translation_matrix(Vector3<T> const& p)
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{
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return Matrix4x4<T>(
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1, 0, 0, p.x(),
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0, 1, 0, p.y(),
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0, 0, 1, p.z(),
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0, 0, 0, 1);
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}
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template<typename T>
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constexpr static Matrix4x4<T> scale_matrix(Vector3<T> const& s)
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{
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return Matrix4x4<T>(
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s.x(), 0, 0, 0,
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0, s.y(), 0, 0,
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0, 0, s.z(), 0,
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0, 0, 0, 1);
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}
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template<typename T>
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constexpr static Matrix4x4<T> rotation_matrix(Vector3<T> const& axis, T angle)
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{
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T c, s;
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AK::sincos(angle, s, c);
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T t = 1 - c;
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T x = axis.x();
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T y = axis.y();
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T z = axis.z();
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return Matrix4x4<T>(
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t * x * x + c, t * x * y - z * s, t * x * z + y * s, 0,
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t * x * y + z * s, t * y * y + c, t * y * z - x * s, 0,
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t * x * z - y * s, t * y * z + x * s, t * z * z + c, 0,
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0, 0, 0, 1);
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}
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typedef Matrix4x4<float> FloatMatrix4x4;
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typedef Matrix4x4<double> DoubleMatrix4x4;
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}
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using Gfx::DoubleMatrix4x4;
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using Gfx::FloatMatrix4x4;
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using Gfx::Matrix4x4;
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