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#pragma once
#include <sstream>
#include <cstddef>
#include <iostream>
#include "Rotation.hpp"
template <size_t R, size_t C, typename T = float>
struct Matrix {
public:
Matrix<R, C, T>() : elements{} {};
Matrix<R, C, T>(T scalar) {
std::fill(elements, elements + R * C, scalar);
};
template<typename ...Args>
Matrix<R, C, T>(Args... args): elements{ args... } {};
Matrix<R, C, T>(T values[R * C]) {
std::copy(values, values + R * C, elements);
};
static Matrix<R, R, T> identity() {
Matrix<R, R, T> result{};
for (int i = 0; i < R; i++) {
result(i, i) = 1;
}
return result;
}
static Matrix<4, 4> transformation(Vector<3> position) {
return {
1.0f, 0.0f, 0.0f, position.x(),
0.0f, 1.0f, 0.0f, position.y(),
0.0f, 0.0f, 1.0f, position.z(),
0.0f, 0.0f, 0.0f, 1.0f
};
}
static Matrix<4, 4> rotation(Rotation angles) {
auto c = angles.vector.map([](auto a) { return cos(a); });
auto s = angles.vector.map([](auto a) { return sin(a); });
Matrix<4, 4> rotation_x{
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, c.x(), -s.x(), 0.0f,
0.0f, s.x(), c.x(), 0.0f,
0.0f, 0.0f, 0.0f, 1.0f,
};
Matrix<4, 4> rotation_y{
c.y(), 0.0f, s.y(), 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
-s.y(), 0.0f, c.y(), 0.0f,
0.0f, 0.0f, 0.0f, 1.0f,
};
Matrix<4, 4> rotation_z{
c.z(), -s.z(), 0.0f, 0.0f,
s.z(), c.z(), 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f,
};
return rotation_x * rotation_y * rotation_z;
}
Vector<C, T> row(size_t index) {
return { &elements[index * C] };
}
Vector<R, T> col(size_t index) {
Vector<R, T> result{};
for (int i = 0; i < R; i++) {
result[i] = this->operator()(index, i);
}
return result;
}
Matrix<R, C, T> operator+(Matrix<R, C, T> other) {
Matrix<R, C, T> result{};
for (int i = 0; i < R * C; i++) {
result.elements[i] = elements[i] + other.elements[i];
}
return result;
}
Matrix<R, C, T> operator*(float scalar) {
Matrix<R, C, T> result{};
for (int i = 0; i < R * C; i++) {
result.elements[i] = elements[i] * scalar;
}
return result;
}
template<size_t N>
Matrix<R, N, T> operator*(Matrix<C, N, T> other) {
Matrix<R, N, T> result{};
for (int y = 0; y < R; y++) {
for (int x = 0; x < N; x++) {
auto r = row(y);
auto c = other.col(x);
auto dot = r * c;
result(x, y) = dot;
}
}
return result;
}
Vector<R, T> operator*(Vector<R, T> vector) {
Matrix<R, 1, T> matrix(vector.elements);
matrix = this->operator*(matrix);
return { matrix.elements };
}
auto& operator()(size_t x, size_t y) {
return elements[y * C + x];
}
std::string string() {
std::stringstream str{};
for (int x = 0; x < R; x++) {
for (int y = 0; y < C; y++) {
str << this->operator()(x, y) << " ";
}
str << "\n";
}
return str.str();
}
T elements[R * C];
};
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