diff options
| -rw-r--r-- | opentrack/simple-mat.hpp | 115 |
1 files changed, 65 insertions, 50 deletions
diff --git a/opentrack/simple-mat.hpp b/opentrack/simple-mat.hpp index 8dc03014..c8e7d903 100644 --- a/opentrack/simple-mat.hpp +++ b/opentrack/simple-mat.hpp @@ -1,4 +1,4 @@ -/* Copyright (c) 2014-2015, Stanislaw Halik <sthalik@misaki.pl> +/* Copyright (c) 2014-2016, Stanislaw Halik <sthalik@misaki.pl> * Permission to use, copy, modify, and/or distribute this * software for any purpose with or without fee is hereby granted, @@ -7,13 +7,17 @@ */ #pragma once + +#include "export.hpp" + #include <initializer_list> #include <type_traits> #include <cmath> +#include <utility> namespace { // last param to fool SFINAE into overloading - template<int i, int j, int ignored> + template<int i, int j, int> struct equals { enum { value = i == j }; @@ -49,19 +53,12 @@ namespace { } template<typename num, int h_, int w_> -class Mat +class OPENTRACK_API_EXPORT Mat { - num data[h_][w_]; - static_assert(h_ > 0 && w_ > 0, "must have positive mat dimensions"); - - Mat(std::initializer_list<num>&& xs) = delete; + num data[h_][w_]; public: - - // parameters w_ and h_ are rebound so that SFINAE occurs - // removing them causes a compile-time error -sh 20150811 - template<int Q = w_> typename std::enable_if<equals<Q, 1, 0>::value, num>::type inline operator()(int i) const { return data[i][0]; } @@ -74,33 +71,40 @@ public: template<int P = h_> typename std::enable_if<equals<P, 1, 3>::value, num&>::type inline operator()(int i) { return data[0][i]; } +#define OPENTRACK_ASSERT_SWIZZLE static_assert(P == h_ && Q == w_, "") + template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 1>::value, num>::type - inline x() const { return operator()(0); } + x() const { OPENTRACK_ASSERT_SWIZZLE; return operator()(0); } template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 2>::value, num>::type - inline y() const { return operator()(1); } + y() const { OPENTRACK_ASSERT_SWIZZLE; return operator()(1); } template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 3>::value, num>::type - inline z() const { return operator()(2); } + z() const { OPENTRACK_ASSERT_SWIZZLE; return operator()(2); } template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 4>::value, num>::type - inline w() const { return operator()(3); } + w() const { OPENTRACK_ASSERT_SWIZZLE; return operator()(3); } template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 1>::value, num&>::type - inline x() { return operator()(0); } + x() { OPENTRACK_ASSERT_SWIZZLE; return operator()(0); } template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 2>::value, num&>::type - inline y() { return operator()(1); } + y() { OPENTRACK_ASSERT_SWIZZLE; return operator()(1); } template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 3>::value, num&>::type - inline z() { return operator()(2); } + z() { OPENTRACK_ASSERT_SWIZZLE; return operator()(2); } template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 4>::value, num&>::type - inline w() { return operator()(3); } + w() { OPENTRACK_ASSERT_SWIZZLE; return operator()(3); } + // parameters w_ and h_ are rebound so that SFINAE occurs + // removing them causes a compile-time error -sh 20150811 template<int R, int S, int P = h_, int Q = w_> typename std::enable_if<is_vector_pair<R, S, P, Q>::value, num>::type - dot(const Mat<num, R, S>& p2) const { + dot(const Mat<num, R, S>& p2) const + { + static_assert(P == h_ && Q == w_, ""); + num ret = 0; constexpr int len = vector_len<R, S>::value; for (int i = 0; i < len; i++) @@ -112,9 +116,12 @@ public: typename std::enable_if<is_dim3<P, Q, R, S>::value, Mat<num, is_dim3<P, Q, R, S>::P, is_dim3<P, Q, R, S>::Q>>::type cross(const Mat<num, R, S>& p2) const { - return Mat<num, R, S>(y() * p2.z() - p2.y() * z(), - p2.x() * z() - x() * p2.z(), - x() * p2.y() - y() * p2.x()); + static_assert(P == h_ && Q == w_, ""); + decltype(*this)& p1 = *this; + + return Mat<num, R, S>(p1.y() * p2.z() - p2.y() * p1.z(), + p2.x() * p1.z() - p1.x() * p2.z(), + p1.x() * p2.y() - p1.y() * p2.x()); } Mat<num, h_, w_> operator+(const Mat<num, h_, w_>& other) const @@ -153,15 +160,6 @@ public: return ret; } - Mat<num, h_, w_> operator*(const num other) const - { - Mat<num, h_, w_> ret; - for (int j = 0; j < h_; j++) - for (int i = 0; i < w_; i++) - ret(j, i) = data[j][i] * other; - return ret; - } - template<int p> Mat<num, h_, p> operator*(const Mat<num, w_, p>& other) const { @@ -183,11 +181,11 @@ public: typename = typename std::enable_if<is_arglist_correct<num, h__, w__, ts...>::value>::type> Mat(const ts... xs) { - const std::initializer_list<num> init = { static_cast<num>(xs)... }; - auto iter = init.begin(); - for (int j = 0; j < h_; j++) - for (int i = 0; i < w_; i++) - data[j][i] = *iter++; + static_assert(h__ == h_ && w__ == w_, ""); + + std::initializer_list<num> init = { static_cast<num>(xs)... }; + + *this = Mat(std::move(init)); } Mat() @@ -204,16 +202,25 @@ public: data[j][i] = mem[i*h_+j]; } - Mat(num* mem) : Mat(const_cast<const num*>(mem)) {} + Mat(std::initializer_list<num>&& init) + { + auto iter = init.begin(); + for (int j = 0; j < h_; j++) + for (int i = 0; i < w_; i++) + data[j][i] = *iter++; + } - operator num*() { return reinterpret_cast<double*>(data); } - operator const num*() const { return reinterpret_cast<const double*>(data); } + operator num*() { return reinterpret_cast<num*>(data); } + operator const num*() const { return reinterpret_cast<const num*>(data); } // XXX add more operators as needed, third-party dependencies mostly // not needed merely for matrix algebra -sh 20141030 - static Mat<num, h_, h_> eye() + template<int h__ = h_> + static typename std::enable_if<h_ == w_, Mat<num, h__, h__>>::type eye() { + static_assert(h_ == h__, ""); + Mat<num, h_, h_> ret; for (int j = 0; j < h_; j++) for (int i = 0; i < w_; i++) @@ -237,7 +244,23 @@ public: } }; -#include "export.hpp" +template<int h_, int w_> using dmat = Mat<double, h_, w_>; + +template<typename num, int h, int w> +Mat<num, h, w> operator*(num scalar, const Mat<num, h, w>& mat) +{ + return mat * scalar; +} + +template<typename num, int h_, int w_> +Mat<num, h_, w_> operator*(const Mat<num, h_, w_>& self, num other) +{ + Mat<num, h_, w_> ret; + for (int j = 0; j < h_; j++) + for (int i = 0; i < w_; i++) + ret(j, i) = self(j, i) * other; + return ret; +} namespace euler { @@ -251,11 +274,3 @@ rmat OPENTRACK_API_EXPORT euler_to_rmat(const double* input); euler_t OPENTRACK_API_EXPORT rmat_to_euler(const dmat<3, 3>& R); } // end ns euler - -template<int h_, int w_> using dmat = Mat<double, h_, w_>; - -template<typename num, int h, int w> -inline Mat<num, h, w> operator*(num scalar, const Mat<num, h, w>& mat) -{ - return mat * scalar; -} |