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-rw-r--r--logic/simple-mat.cpp96
-rw-r--r--logic/simple-mat.hpp293
-rw-r--r--logic/tracker.h2
3 files changed, 1 insertions, 390 deletions
diff --git a/logic/simple-mat.cpp b/logic/simple-mat.cpp
deleted file mode 100644
index 57571f9e..00000000
--- a/logic/simple-mat.cpp
+++ /dev/null
@@ -1,96 +0,0 @@
-#include "simple-mat.hpp"
-#include <cmath>
-
-namespace euler {
-
-euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const rmat& R)
-{
- using std::atan2;
- using std::sqrt;
-
- const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1));
- const bool large_enough = cy > 1e-10;
- if (large_enough)
- return euler_t(atan2(-R(1, 0), R(0, 0)),
- atan2(R(2, 0), cy),
- atan2(-R(2, 1), R(2, 2)));
- else
- return euler_t(atan2(R(0, 1), R(1, 1)),
- atan2(R(2, 0), cy),
- 0);
-}
-
-// tait-bryan angles, not euler
-rmat OPENTRACK_LOGIC_EXPORT euler_to_rmat(const euler_t& input)
-{
- const double H = -input(0);
- const double P = -input(1);
- const double B = -input(2);
-
- using std::cos;
- using std::sin;
-
- const auto c1 = cos(H);
- const auto s1 = sin(H);
- const auto c2 = cos(P);
- const auto s2 = sin(P);
- const auto c3 = cos(B);
- const auto s3 = sin(B);
-
- return rmat(
- // z
- c1 * c2,
- c1 * s2 * s3 - c3 * s1,
- s1 * s3 + c1 * c3 * s2,
- // y
- c2 * s1,
- c1 * c3 + s1 * s2 * s3,
- c3 * s1 * s2 - c1 * s3,
- // x
- -s2,
- c2 * s3,
- c2 * c3
- );
-}
-
-// https://en.wikipedia.org/wiki/Davenport_chained_rotations#Tait.E2.80.93Bryan_chained_rotations
-void OPENTRACK_LOGIC_EXPORT tait_bryan_to_matrices(const euler_t& input,
- rmat& r_roll,
- rmat& r_pitch,
- rmat& r_yaw)
-{
- using std::cos;
- using std::sin;
-
- {
- const double phi = -input(2);
- const double sin_phi = sin(phi);
- const double cos_phi = cos(phi);
-
- r_roll = rmat(1, 0, 0,
- 0, cos_phi, -sin_phi,
- 0, sin_phi, cos_phi);
- }
-
- {
- const double theta = input(1);
- const double sin_theta = sin(theta);
- const double cos_theta = cos(theta);
-
- r_pitch = rmat(cos_theta, 0, -sin_theta,
- 0, 1, 0,
- sin_theta, 0, cos_theta);
- }
-
- {
- const double psi = -input(0);
- const double sin_psi = sin(psi);
- const double cos_psi = cos(psi);
-
- r_yaw = rmat(cos_psi, -sin_psi, 0,
- sin_psi, cos_psi, 0,
- 0, 0, 1);
- }
-}
-
-} // end ns euler
diff --git a/logic/simple-mat.hpp b/logic/simple-mat.hpp
deleted file mode 100644
index 089e8dfe..00000000
--- a/logic/simple-mat.hpp
+++ /dev/null
@@ -1,293 +0,0 @@
-/* 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,
- * provided that the above copyright notice and this permission
- * notice appear in all copies.
- */
-
-#pragma once
-
-#include "export.hpp"
-
-#include <initializer_list>
-#include <type_traits>
-#include <utility>
-
-namespace {
- // last param to fool SFINAE into overloading
- template<int i, int j, int>
- struct equals
- {
- enum { value = i == j };
- };
- template<int i, int j, int min>
- struct maybe_add_swizzle
- {
- enum { value = (i == 1 || j == 1) && (i >= min || j >= min) };
- };
- template<int i1, int j1, int i2, int j2>
- struct is_vector_pair
- {
- enum { value = (i1 == i2 && j1 == 1 && j2 == 1) || (j1 == j2 && i1 == 1 && i2 == 1) };
- };
- template<int i, int j>
- struct vector_len
- {
- enum { value = i > j ? i : j };
- };
- template<int a, int b, int c, int d>
- struct is_dim3
- {
- enum { value = (a == 1 && c == 1 && b == 3 && d == 3) || (a == 3 && c == 3 && b == 1 && d == 1) };
- enum { P = a == 1 ? 1 : 3 };
- enum { Q = a == 1 ? 3 : 1 };
- };
-
- template<typename num, int h, int w, typename...ts>
- struct is_arglist_correct
- {
- enum { value = h * w == sizeof...(ts) };
- };
-}
-
-template<typename num, int h_, int w_>
-class Mat
-{
- static_assert(h_ > 0 && w_ > 0, "must have positive mat dimensions");
- num data[h_][w_];
-
-public:
- template<int Q = w_> typename std::enable_if<equals<Q, 1, 0>::value, num>::type
- inline operator()(int i) const { return data[i][0]; }
-
- template<int P = h_> typename std::enable_if<equals<P, 1, 1>::value, num>::type
- inline operator()(int i) const { return data[0][i]; }
-
- template<int Q = w_> typename std::enable_if<equals<Q, 1, 2>::value, num&>::type
- inline operator()(int i) { return data[i][0]; }
-
- template<int P = h_> typename std::enable_if<equals<P, 1, 3>::value, num&>::type
- inline operator()(int i) { return data[0][i]; }
-
- template<int Q = w_> typename std::enable_if<equals<Q, 1, 0>::value, num>::type
- inline operator()(unsigned i) const { return data[i][0]; }
-
- template<int P = h_> typename std::enable_if<equals<P, 1, 1>::value, num>::type
- inline operator()(unsigned i) const { return data[0][i]; }
-
- template<int Q = w_> typename std::enable_if<equals<Q, 1, 2>::value, num&>::type
- inline operator()(unsigned i) { return data[i][0]; }
-
- template<int P = h_> typename std::enable_if<equals<P, 1, 3>::value, num&>::type
- inline operator()(unsigned 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- {
- static_assert(P == h_ && Q == w_, "");
-
- num ret = 0;
- constexpr int len = vector_len<R, S>::value;
- for (int i = 0; i < len; i++)
- ret += operator()(i) * p2(i);
- return ret;
- }
-
- template<int R, int S, int P = h_, int Q = w_>
- 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
- {
- 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
- {
- 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.data[j][i];
- return ret;
- }
-
- Mat<num, h_, w_> operator-(const Mat<num, h_, w_>& 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.data[j][i];
- 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;
- }
-
- 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
- {
- Mat<num, h_, p> ret;
- for (int k = 0; k < h_; k++)
- for (int i = 0; i < p; i++)
- {
- ret(k, i) = 0;
- for (int j = 0; j < w_; j++)
- ret(k, i) += data[k][j] * other(j, i);
- }
- return ret;
- }
-
- inline num operator()(int j, int i) const { return data[j][i]; }
- inline num& operator()(int j, int i) { return data[j][i]; }
-
- inline num operator()(unsigned j, unsigned i) const { return data[j][i]; }
- inline num& operator()(unsigned j, unsigned i) { return data[j][i]; }
-
- template<typename... ts, int h__ = h_, int w__ = w_,
- typename = typename std::enable_if<is_arglist_correct<num, h__, w__, ts...>::value>::type>
- Mat(const ts... xs)
- {
- static_assert(h__ == h_ && w__ == w_, "");
-
- std::initializer_list<num> init = { static_cast<num>(xs)... };
-
- *this = Mat(std::move(init));
- }
-
- Mat()
- {
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- data[j][i] = num(0);
- }
-
- Mat(const num* mem)
- {
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- data[j][i] = mem[i*h_+j];
- }
-
- 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<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
-
- 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++)
- ret.data[j][i] = 0;
-
- for (int i = 0; i < h_; i++)
- ret.data[i][i] = 1;
-
- return ret;
- }
-
- Mat<num, w_, h_> t() const
- {
- Mat<num, w_, h_> ret;
-
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- ret(i, j) = data[j][i];
-
- return ret;
- }
-};
-
-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 {
-
-using rmat = dmat<3, 3>;
-using euler_t = dmat<3, 1>;
-
-rmat OPENTRACK_LOGIC_EXPORT euler_to_rmat(const euler_t& input);
-
-euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const rmat& R);
-
-void OPENTRACK_LOGIC_EXPORT tait_bryan_to_matrices(const euler_t& input,
- rmat& r_roll,
- rmat& r_pitch,
- rmat& r_yaw);
-
-} // end ns euler
diff --git a/logic/tracker.h b/logic/tracker.h
index ce2279ab..7588d76f 100644
--- a/logic/tracker.h
+++ b/logic/tracker.h
@@ -13,7 +13,7 @@
#include "compat/timer.hpp"
#include "api/plugin-support.hpp"
#include "mappings.hpp"
-#include "simple-mat.hpp"
+#include "compat/simple-mat.hpp"
#include "selected-libraries.hpp"
#include "spline-widget/spline.hpp"
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-22 07:35:14 +0000