From 9040b187a1c4fa380f8a12207b9dd6d04b3a10ac Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Fri, 12 Aug 2016 18:00:49 +0200
Subject: all: rename modules s#^opentrack-##. and opentrack -> api

Adjust usages.
---
 logic/simple-mat.hpp | 279 +++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 279 insertions(+)
 create mode 100644 logic/simple-mat.hpp

(limited to 'logic/simple-mat.hpp')

diff --git a/logic/simple-mat.hpp b/logic/simple-mat.hpp
new file mode 100644
index 00000000..514e845f
--- /dev/null
+++ b/logic/simple-mat.hpp
@@ -0,0 +1,279 @@
+/* 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]; }
+
+#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]; }
+
+    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 {
+
+template<int y, int x> using dmat = Mat<double, y, x>;
+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
-- 
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