From e7f9a0ad3812f51fdb904b40303f6c0fec02f1a8 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Thu, 3 Nov 2016 11:29:59 +0100
Subject: move simple-mat from logic to compat to simplify dependencies

---
 compat/simple-mat.cpp |  96 +++++++++++++++++
 compat/simple-mat.hpp | 293 ++++++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 389 insertions(+)
 create mode 100644 compat/simple-mat.cpp
 create mode 100644 compat/simple-mat.hpp

(limited to 'compat')

diff --git a/compat/simple-mat.cpp b/compat/simple-mat.cpp
new file mode 100644
index 00000000..c9af9634
--- /dev/null
+++ b/compat/simple-mat.cpp
@@ -0,0 +1,96 @@
+#include "simple-mat.hpp"
+#include <cmath>
+
+namespace euler {
+
+euler_t OPENTRACK_COMPAT_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_COMPAT_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_COMPAT_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/compat/simple-mat.hpp b/compat/simple-mat.hpp
new file mode 100644
index 00000000..9739be7f
--- /dev/null
+++ b/compat/simple-mat.hpp
@@ -0,0 +1,293 @@
+/* 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_COMPAT_EXPORT euler_to_rmat(const euler_t& input);
+
+euler_t OPENTRACK_COMPAT_EXPORT rmat_to_euler(const rmat& R);
+
+void OPENTRACK_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
+                                                   rmat& r_roll,
+                                                   rmat& r_pitch,
+                                                   rmat& r_yaw);
+
+} // end ns euler
-- 
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