Add Library
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199
libraries/bitluni_ESP32Lib/src/Math/Matrix.h
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199
libraries/bitluni_ESP32Lib/src/Math/Matrix.h
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/*
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Author: bitluni 2019
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License:
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Creative Commons Attribution ShareAlike 4.0
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https://creativecommons.org/licenses/by-sa/4.0/
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For further details check out:
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https://youtube.com/bitlunislab
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https://github.com/bitluni
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http://bitluni.net
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*/
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#pragma once
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#include <math.h>
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class Vector
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{
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public:
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float v[4];
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Vector(float x = 0, float y = 0, float z = 0, float w = 1)
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{
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v[0] = x;
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v[1] = y;
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v[2] = z;
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v[3] = w;
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}
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Vector operator*(float s) const
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{
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return Vector(v[0] * s, v[1] * s, v[2] * s, 1);
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}
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Vector &operator*=(float s)
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{
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*this = *this * s;
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return *this;
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}
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float operator[](int i) const
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{
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return v[i];
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}
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Vector operator+(const Vector &v2) const
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{
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return Vector(v[0] + v2.v[0], v[1] + v2.v[1], v[2] + v2.v[2], 1);
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}
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Vector operator-(const Vector &v2) const
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{
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return Vector(v[0] - v2.v[0], v[1] - v2.v[1], v[2] - v2.v[2], 1);
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}
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Vector operator-() const
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{
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return Vector(-v[0], -v[1], -v[2], 1);
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}
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void normalize()
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{
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float l2 = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
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if (!l2)
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return;
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//float rl = 1 / sqrt(l2);
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*this *= rsqrt(l2);//rl;
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}
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float length() const
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{
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float l2 = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
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if (!l2) return 0.f;
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return sqrt(l2);
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}
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float dot(const Vector &v2) const
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{
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return v[0] * v2.v[0] + v[1] * v2.v[1] + v[2] * v2.v[2];
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}
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static float rsqrt(float x)
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{
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const float x2 = x * 0.5F;
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const float threehalfs = 1.5F;
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union {
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float f;
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uint32_t i;
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} conv = {x};
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conv.i = 0x5f3759df - ( conv.i >> 1 );
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conv.f *= ( threehalfs - ( x2 * conv.f * conv.f ) );
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conv.f *= ( threehalfs - ( x2 * conv.f * conv.f ) );
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return conv.f;
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}
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static float sqrt(float x)
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{
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return x * rsqrt(x);
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}
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};
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class Matrix
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{
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public:
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float m[4][4];
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Matrix()
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: Matrix(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1)
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{
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}
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Matrix(float m00, float m01, float m02, float m03,
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float m10, float m11, float m12, float m13,
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float m20, float m21, float m22, float m23,
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float m30, float m31, float m32, float m33)
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{
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m[0][0] = m00;
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m[0][1] = m01;
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m[0][2] = m02;
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m[0][3] = m03;
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m[1][0] = m10;
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m[1][1] = m11;
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m[1][2] = m12;
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m[1][3] = m13;
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m[2][0] = m20;
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m[2][1] = m21;
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m[2][2] = m22;
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m[2][3] = m23;
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m[3][0] = m30;
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m[3][1] = m31;
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m[3][2] = m32;
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m[3][3] = m33;
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}
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static Matrix identity()
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{
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return Matrix(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
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}
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static Matrix scaling(float s)
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{
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return Matrix(s, 0, 0, 0, 0, s, 0, 0, 0, 0, s, 0, 0, 0, 0, 1);
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}
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static Matrix scaling(float u, float v, float w)
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{
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return Matrix(u, 0, 0, 0, 0, v, 0, 0, 0, 0, w, 0, 0, 0, 0, 1);
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}
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static Matrix translation(float x, float y, float z)
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{
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return Matrix(1, 0, 0, x, 0, 1, 0, y, 0, 0, 1, z, 0, 0, 0, 1);
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}
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static Matrix rotation(float a, float x, float y, float z)
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{
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float cosa = cos(a);
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float rcosa = 1 - cosa;
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float sina = sin(a);
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return Matrix(
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x * x * rcosa + cosa, x * y * rcosa - z * sina, x * z * rcosa + y * sina, 0,
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y * x * rcosa + z * sina, y * y * rcosa + cosa, y * z * rcosa - x * sina, 0,
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z * x * rcosa - y * sina, z * y * rcosa + x * sina, z * z * rcosa + cosa, 0,
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0, 0, 0, 1);
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}
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static Matrix perspective(float fov, float near, float far)
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{
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float scale = tan(fov * 0.5 * M_PI / 180);
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return Matrix(
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scale, 0, 0, 0,
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0, scale, 0, 0,
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0, 0, -far * near / (far - near), 0,
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0, 0, -1, 0);
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}
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Vector operator*(const Vector &v)
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{
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return Vector(
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v.v[0] * m[0][0] + v.v[1] * m[0][1] + v.v[2] * m[0][2] + m[0][3],
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v.v[0] * m[1][0] + v.v[1] * m[1][1] + v.v[2] * m[1][2] + m[1][3],
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v.v[0] * m[2][0] + v.v[1] * m[2][1] + v.v[2] * m[2][2] + m[2][3],
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v.v[0] * m[3][0] + v.v[1] * m[3][1] + v.v[2] * m[3][2] + m[3][3]);
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}
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Matrix operator*(const Matrix &m2)
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{
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Matrix mr;
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for (int y = 0; y < 4; y++)
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for (int x = 0; x < 4; x++)
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mr.m[y][x] = m[y][0] * m2.m[0][x] + m[y][1] * m2.m[1][x] + m[y][2] * m2.m[2][x] + m[y][3] * m2.m[3][x];
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return mr;
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}
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Matrix &operator*=(const Matrix &m2)
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{
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*this = *this * m2;
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return *this;
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}
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};
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179
libraries/bitluni_ESP32Lib/src/Math/MatrixFast.h
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179
libraries/bitluni_ESP32Lib/src/Math/MatrixFast.h
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/*
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Author: bitluni 2019
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License:
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Creative Commons Attribution ShareAlike 4.0
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https://creativecommons.org/licenses/by-sa/4.0/
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For further details check out:
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https://youtube.com/bitlunislab
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https://github.com/bitluni
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http://bitluni.net
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*/
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#pragma once
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#include <math.h>
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class Vector
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{
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public:
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float v[4];
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Vector(float x = 0, float y = 0, float z = 0, float w = 1)
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{
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v[0] = x;
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v[1] = y;
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v[2] = z;
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v[3] = w;
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}
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Vector operator*(float s) const
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{
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return Vector(v[0] * s, v[1] * s, v[2] * s, 1);
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}
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Vector &operator*=(float s)
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{
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*this = *this * s;
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return *this;
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}
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float operator[](int i) const
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{
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return v[i];
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}
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Vector operator+(const Vector &v2) const
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{
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return Vector(v[0] + v2.v[0], v[1] + v2.v[1], v[2] + v2.v[2], 1);
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}
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Vector operator-(const Vector &v2) const
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{
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return Vector(v[0] - v2.v[0], v[1] - v2.v[1], v[2] - v2.v[2], 1);
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}
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Vector operator-() const
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{
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return Vector(-v[0], -v[1], -v[2], 1);
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}
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void normalize()
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{
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float l2 = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
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if (!l2)
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return;
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float rl = 1 / sqrt(l2);
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*this *= rl;
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}
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float length() const
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{
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float l2 = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
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if (!l2) return 0.f;
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return sqrt(l2);
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}
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float dot(const Vector &v2) const
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{
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return v[0] * v2.v[0] + v[1] * v2.v[1] + v[2] * v2.v[2];
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}
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};
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class Matrix
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{
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public:
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float m[4][4];
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Matrix()
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: Matrix(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1)
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{
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}
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Matrix(float m00, float m01, float m02, float m03,
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float m10, float m11, float m12, float m13,
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float m20, float m21, float m22, float m23,
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float m30, float m31, float m32, float m33)
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{
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m[0][0] = m00;
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m[0][1] = m01;
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m[0][2] = m02;
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m[0][3] = m03;
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m[1][0] = m10;
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m[1][1] = m11;
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m[1][2] = m12;
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m[1][3] = m13;
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m[2][0] = m20;
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m[2][1] = m21;
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m[2][2] = m22;
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m[2][3] = m23;
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m[3][0] = m30;
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m[3][1] = m31;
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m[3][2] = m32;
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m[3][3] = m33;
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}
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static Matrix identity()
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{
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return Matrix(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
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}
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static Matrix scaling(float s)
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{
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return Matrix(s, 0, 0, 0, 0, s, 0, 0, 0, 0, s, 0, 0, 0, 0, 1);
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}
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static Matrix scaling(float u, float v, float w)
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{
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return Matrix(u, 0, 0, 0, 0, v, 0, 0, 0, 0, w, 0, 0, 0, 0, 1);
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}
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static Matrix translation(float x, float y, float z)
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{
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return Matrix(1, 0, 0, x, 0, 1, 0, y, 0, 0, 1, z, 0, 0, 0, 1);
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}
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static Matrix rotation(float a, float x, float y, float z)
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{
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float cosa = cos(a);
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float rcosa = 1 - cosa;
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float sina = sin(a);
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return Matrix(
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x * x * rcosa + cosa, x * y * rcosa - z * sina, x * z * rcosa + y * sina, 0,
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y * x * rcosa + z * sina, y * y * rcosa + cosa, y * z * rcosa - x * sina, 0,
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z * x * rcosa - y * sina, z * y * rcosa + x * sina, z * z * rcosa + cosa, 0,
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0, 0, 0, 1);
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}
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static Matrix perspective(float fov, float near, float far)
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{
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float scale = tan(fov * 0.5 * M_PI / 180);
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return Matrix(
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scale, 0, 0, 0,
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0, scale, 0, 0,
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0, 0, -far * near / (far - near), 0,
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0, 0, -1, 0);
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}
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Vector operator*(const Vector &v)
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{
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return Vector(
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v.v[0] * m[0][0] + v.v[1] * m[0][1] + v.v[2] * m[0][2] + m[0][3],
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v.v[0] * m[1][0] + v.v[1] * m[1][1] + v.v[2] * m[1][2] + m[1][3],
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v.v[0] * m[2][0] + v.v[1] * m[2][1] + v.v[2] * m[2][2] + m[2][3],
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v.v[0] * m[3][0] + v.v[1] * m[3][1] + v.v[2] * m[3][2] + m[3][3]);
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}
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Matrix operator*(const Matrix &m2)
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{
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Matrix mr;
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for (int y = 0; y < 4; y++)
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for (int x = 0; x < 4; x++)
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mr.m[y][x] = m[y][0] * m2.m[0][x] + m[y][1] * m2.m[1][x] + m[y][2] * m2.m[2][x] + m[y][3] * m2.m[3][x];
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return mr;
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}
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Matrix &operator*=(const Matrix &m2)
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{
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*this = *this * m2;
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return *this;
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}
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};
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