Merge branch 'dev', version 3.3.0
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This commit is contained in:
Stephen Seo 2024-06-25 16:40:53 +09:00
commit 51ce6bcc39
6 changed files with 404 additions and 20 deletions

View file

@ -23,7 +23,8 @@ jobs:
-H 'Content-Type: application/json' \ -H 'Content-Type: application/json' \
-d "{ -d "{
\"name\": \"3d_collision_helpers version ${GITHUB_REF_NAME}\", \"name\": \"3d_collision_helpers version ${GITHUB_REF_NAME}\",
\"tag_name\": \"${GITHUB_REF_NAME}\" \"tag_name\": \"${GITHUB_REF_NAME}\",
\"body\": \" SHA256SUMS\"
}" >&/dev/null }" >&/dev/null
assets-release-x86_64: assets-release-x86_64:
@ -74,7 +75,7 @@ jobs:
-H 'Content-Type: application/json' \ -H 'Content-Type: application/json' \
-d "{ -d "{
\"body\":\"$(jq .body < current_release_info.json | sed -e 's/^"//' -e 's/"$//') \"body\":\"$(jq .body < current_release_info.json | sed -e 's/^"//' -e 's/"$//')
SHA256SUM $(find "$THE_CURRENT_WORKING_DIRECTORY" -maxdepth 1 -name "*$SHARED_LIB_ASSET_NAME" -execdir sha256sum '{}' ';')\" $(find "$THE_CURRENT_WORKING_DIRECTORY" -maxdepth 1 -name "*$SHARED_LIB_ASSET_NAME" -execdir sha256sum '{}' ';' | sed -e 's|\./3d_collision|3d_collision|')\"
}" >&/dev/null }" >&/dev/null
curl --fail-with-body -X POST \ curl --fail-with-body -X POST \
"https://git.seodisparate.com/api/v1/repos/stephenseo/3d_collision_helpers/releases/$(jq .id < $THE_CURRENT_WORKING_DIRECTORY/release_info.json)/assets" \ "https://git.seodisparate.com/api/v1/repos/stephenseo/3d_collision_helpers/releases/$(jq .id < $THE_CURRENT_WORKING_DIRECTORY/release_info.json)/assets" \
@ -104,7 +105,7 @@ jobs:
-H 'Content-Type: application/json' \ -H 'Content-Type: application/json' \
-d "{ -d "{
\"body\":\"$(jq .body < current_release_info.json | sed -e 's/^"//' -e 's/"$//') \"body\":\"$(jq .body < current_release_info.json | sed -e 's/^"//' -e 's/"$//')
SHA256SUM $(find "$THE_CURRENT_WORKING_DIRECTORY" -maxdepth 1 -name "*$STATIC_LIB_ASSET_NAME" -execdir sha256sum '{}' ';')\" $(find "$THE_CURRENT_WORKING_DIRECTORY" -maxdepth 1 -name "*$STATIC_LIB_ASSET_NAME" -execdir sha256sum '{}' ';' | sed -e 's|\./3d_collision|3d_collision|')\"
}" >&/dev/null }" >&/dev/null
curl --fail-with-body -X POST \ curl --fail-with-body -X POST \
"https://git.seodisparate.com/api/v1/repos/stephenseo/3d_collision_helpers/releases/$(jq .id < $THE_CURRENT_WORKING_DIRECTORY/release_info.json)/assets" \ "https://git.seodisparate.com/api/v1/repos/stephenseo/3d_collision_helpers/releases/$(jq .id < $THE_CURRENT_WORKING_DIRECTORY/release_info.json)/assets" \
@ -113,3 +114,110 @@ jobs:
-H 'Content-Type: multipart/form-data' \ -H 'Content-Type: multipart/form-data' \
-F "attachment=@${THE_CURRENT_WORKING_DIRECTORY}/$STATIC_LIB_ASSET_NAME;type=application/zstd" > client_attach.json -F "attachment=@${THE_CURRENT_WORKING_DIRECTORY}/$STATIC_LIB_ASSET_NAME;type=application/zstd" > client_attach.json
fi fi
assets-release-x86_64-debian:
needs: assets-release-x86_64
if: ${{ always() }}
runs-on: docker_debian_bookworm
env:
SHARED_LIB_ASSET_NAME: "3d_collision_helpers_${{ github.ref_name }}_debian_shared.tar.zst"
STATIC_LIB_ASSET_NAME: "3d_collision_helpers_${{ github.ref_name }}_debian_static.tar.zst"
steps:
- name: Update and upgrade with apt
run: apt-get --yes update && apt-get --yes upgrade
- name: Get necessary packages
run: apt-get --yes install gcc g++ jq curl cmake make zstd sed git
- name: Get release info
run: |
curl -X GET \
"https://git.seodisparate.com/api/v1/repos/stephenseo/3d_collision_helpers/releases/tags/${GITHUB_REF_NAME}" \
-H 'accept: application/json' -o release_info.json
- name: Check if asset exists
run: |
for asset in $(jq '.assets[].name' < release_info.json | tr -d '"'); do
if [[ "$asset" == "$SHARED_LIB_ASSET_NAME" ]]; then
touch shared_lib_exists
elif [[ "$asset" == "$STATIC_LIB_ASSET_NAME" ]]; then
touch static_lib_exists
fi
done
- name: Build shared if asset does not exist
run: |
if ! [[ -e shared_lib_exists ]]; then
if ! [[ -d 3dch_cloned ]]; then
git clone --depth=1 --no-single-branch https://git.seodisparate.com/stephenseo/3d_collision_helpers.git 3dch_cloned
fi
pushd 3dch_cloned >&/dev/null && git restore . && git checkout "${GITHUB_REF_NAME}" && popd >&/dev/null
# Debian's gcc doesn't know about "-fstrict-flex-arrays=3".
sed -i -e 's/-fstrict-flex-arrays=3//g' 3dch_cloned/CMakeLists.txt
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=On -DCMAKE_INSTALL_PREFIX=/usr -S 3dch_cloned -B buildReleaseShared
make -C buildReleaseShared
make DESTDIR=$(pwd)/sharedOut -C buildReleaseShared install
pushd sharedOut >&/dev/null
tar --sort=name -I'zstd --compress -T0 --ultra -20' -cf "$SHARED_LIB_ASSET_NAME" usr
popd >&/dev/null
curl -X GET \
"https://git.seodisparate.com/api/v1/repos/stephenseo/3d_collision_helpers/releases/tags/${GITHUB_REF_NAME}" \
-H 'accept: application/json' -o release_info_latest.json
curl --fail-with-body -X PATCH \
"https://git.seodisparate.com/api/v1/repos/stephenseo/3d_collision_helpers/releases/$(jq .id < release_info_latest.json)" \
-H 'accept: application/json' \
-H "Authorization: token ${GITHUB_TOKEN}" \
-H 'Content-Type: application/json' \
-d "{
\"body\": \"$(jq .body < release_info_latest.json | sed -e 's/^"//' -e 's/"$//')
$(cd sharedOut && sha256sum "$SHARED_LIB_ASSET_NAME")\"
"} >&/dev/null
curl --fail-with-body -X POST \
"https://git.seodisparate.com/api/v1/repos/stephenseo/3d_collision_helpers/releases/$(jq .id < release_info_latest.json)/assets" \
-H 'accept: application/json' \
-H "Authorization: token ${GITHUB_TOKEN}" \
-H 'Content-Type: multipart/form-data' \
-F "attachment=@sharedOut/${SHARED_LIB_ASSET_NAME};type=application/zstd" >&/dev/null
fi
- name: Build static if asset does not exist
run: |
if ! [[ -e static_lib_exists ]]; then
if ! [[ -d 3dch_cloned ]]; then
git clone --depth=1 --no-single-branch https://git.seodisparate.com/stephenseo/3d_collision_helpers.git 3dch_cloned
fi
pushd 3dch_cloned >&/dev/null && git restore . && git checkout "${GITHUB_REF_NAME}" && popd >&/dev/null
# Debian's gcc doesn't know about "-fstrict-flex-arrays=3".
sed -i -e 's/-fstrict-flex-arrays=3//g' 3dch_cloned/CMakeLists.txt
cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_SHARED_LIBS=Off -DCMAKE_INSTALL_PREFIX=/usr -S 3dch_cloned -B buildReleaseStatic
make -C buildReleaseStatic
make DESTDIR=$(pwd)/staticOut -C buildReleaseStatic install
pushd staticOut >&/dev/null
tar --sort=name -I'zstd --compress -T0 --ultra -20' -cf "$STATIC_LIB_ASSET_NAME" usr
popd >&/dev/null
curl -X GET \
"https://git.seodisparate.com/api/v1/repos/stephenseo/3d_collision_helpers/releases/tags/${GITHUB_REF_NAME}" \
-H 'accept: application/json' -o release_info_latest.json
curl --fail-with-body -X PATCH \
"https://git.seodisparate.com/api/v1/repos/stephenseo/3d_collision_helpers/releases/$(jq .id < release_info_latest.json)" \
-H 'accept: application/json' \
-H "Authorization: token ${GITHUB_TOKEN}" \
-H 'Content-Type: application/json' \
-d "{
\"body\": \"$(jq .body < release_info_latest.json | sed -e 's/^"//' -e 's/"$//')
$(cd staticOut && sha256sum "$STATIC_LIB_ASSET_NAME")\"
"} >&/dev/null
curl --fail-with-body -X POST \
"https://git.seodisparate.com/api/v1/repos/stephenseo/3d_collision_helpers/releases/$(jq .id < release_info_latest.json)/assets" \
-H 'accept: application/json' \
-H "Authorization: token ${GITHUB_TOKEN}" \
-H 'Content-Type: multipart/form-data' \
-F "attachment=@staticOut/${STATIC_LIB_ASSET_NAME};type=application/zstd" >&/dev/null
fi

View file

@ -6,7 +6,7 @@ set(SC_3D_CollisionDetectionHelpers_HEADERS "${CMAKE_CURRENT_SOURCE_DIR}/src/sc_
add_library(SC_3D_CollisionDetectionHelpers ${SC_3D_CollisionDetectionHelpers_SOURCES}) add_library(SC_3D_CollisionDetectionHelpers ${SC_3D_CollisionDetectionHelpers_SOURCES})
set_target_properties(SC_3D_CollisionDetectionHelpers PROPERTIES VERSION 3.2.1 SOVERSION 3) set_target_properties(SC_3D_CollisionDetectionHelpers PROPERTIES VERSION 3.3.0 SOVERSION 3)
target_compile_features(SC_3D_CollisionDetectionHelpers PUBLIC cxx_std_20) target_compile_features(SC_3D_CollisionDetectionHelpers PUBLIC cxx_std_20)
if(NOT DEFINED CMAKE_BUILD_TYPE OR "${CMAKE_BUILD_TYPE}" STREQUAL "") if(NOT DEFINED CMAKE_BUILD_TYPE OR "${CMAKE_BUILD_TYPE}" STREQUAL "")

View file

@ -1,5 +1,18 @@
# Changelog # Changelog
## Upcoming Changes
## Version 3.3.0
Refactor some internal operators for Vec3/Mat4 operations (like mult., sum,
etc.)
Added Mat3 and helper functions related to Mat3.
Implemented conversion from axis/angle to rotation matrix (Mat3).
Implemented conversion from rotation matrix (mat3) to axis/angle.
## Version 3.2.1 ## Version 3.2.1
Add workflow to build shared/static libs available Add workflow to build shared/static libs available

View file

@ -12,23 +12,30 @@
constexpr float INV_SQRT2 = 0.70710678118654752440F; constexpr float INV_SQRT2 = 0.70710678118654752440F;
SC_SACD_Vec3 operator+(const SC_SACD_Vec3 &a, const SC_SACD_Vec3 &b) { SC_SACD_Vec3 operator+(SC_SACD_Vec3 a, SC_SACD_Vec3 b) {
return SC_SACD_Vec3{a.x + b.x, a.y + b.y, a.z + b.z}; return SC_SACD_Vec3{a.x + b.x, a.y + b.y, a.z + b.z};
} }
SC_SACD_Vec3 operator-(const SC_SACD_Vec3 &a, const SC_SACD_Vec3 &b) { SC_SACD_Vec3 operator-(SC_SACD_Vec3 a, SC_SACD_Vec3 b) {
return SC_SACD_Vec3{a.x - b.x, a.y - b.y, a.z - b.z}; return SC_SACD_Vec3{a.x - b.x, a.y - b.y, a.z - b.z};
} }
SC_SACD_Vec3 operator*(const SC_SACD_Vec3 &a, float scalar) { SC_SACD_Vec3 operator*(SC_SACD_Vec3 a, float scalar) {
return SC_SACD_Vec3{a.x * scalar, a.y * scalar, a.z * scalar}; return SC_SACD_Vec3{a.x * scalar, a.y * scalar, a.z * scalar};
} }
SC_SACD_Vec3 operator/(const SC_SACD_Vec3 &a, float scalar) { SC_SACD_Vec3 operator/(SC_SACD_Vec3 a, float scalar) {
return SC_SACD_Vec3{a.x / scalar, a.y / scalar, a.z / scalar}; return SC_SACD_Vec3{a.x / scalar, a.y / scalar, a.z / scalar};
} }
SC_SACD_Mat4 operator*(const SC_SACD_Mat4 &a, const SC_SACD_Mat4 &b) { SC_SACD_Mat4 operator+(SC_SACD_Mat4 a, SC_SACD_Mat4 b) {
return SC_SACD_Mat4{a.x0 + b.x0, a.x1 + b.x1, a.x2 + b.x2, a.x3 + b.x3,
a.y0 + b.y0, a.y1 + b.y1, a.y2 + b.y2, a.y3 + b.y3,
a.z0 + b.z0, a.z1 + b.z1, a.z2 + b.z2, a.z3 + b.z3,
a.w0 + b.w0, a.w1 + b.w1, a.w2 + b.w2, a.w3 + b.w3};
}
SC_SACD_Mat4 operator*(SC_SACD_Mat4 a, SC_SACD_Mat4 b) {
SC_SACD_Mat4 mat; SC_SACD_Mat4 mat;
mat.x0 = b.x0 * a.x0 + b.y0 * a.x1 + b.z0 * a.x2 + b.w0 * a.x3; mat.x0 = b.x0 * a.x0 + b.y0 * a.x1 + b.z0 * a.x2 + b.w0 * a.x3;
@ -54,13 +61,58 @@ SC_SACD_Mat4 operator*(const SC_SACD_Mat4 &a, const SC_SACD_Mat4 &b) {
return mat; return mat;
} }
SC_SACD_Vec3 operator*(const SC_SACD_Mat4 &mat, const SC_SACD_Vec3 &vec) { SC_SACD_Vec3 operator*(SC_SACD_Mat4 mat, SC_SACD_Vec3 vec) {
return SC_SACD_Vec3{ return SC_SACD_Vec3{
vec.x * mat.x0 + vec.y * mat.x1 + vec.z * mat.x2 + mat.x3, vec.x * mat.x0 + vec.y * mat.x1 + vec.z * mat.x2 + mat.x3,
vec.x * mat.y0 + vec.y * mat.y1 + vec.z * mat.y2 + mat.y3, vec.x * mat.y0 + vec.y * mat.y1 + vec.z * mat.y2 + mat.y3,
vec.x * mat.z0 + vec.y * mat.z1 + vec.z * mat.z2 + mat.z3}; vec.x * mat.z0 + vec.y * mat.z1 + vec.z * mat.z2 + mat.z3};
} }
SC_SACD_Mat3 operator+(SC_SACD_Mat3 a, SC_SACD_Mat3 b) {
return SC_SACD_Mat3{a.x0 + b.x0, a.x1 + b.x1, a.x2 + b.x2,
a.y0 + b.y0, a.y1 + b.y1, a.y2 + b.y2,
a.z0 + b.z0, a.z1 + b.z1, a.z2 + b.z2};
}
SC_SACD_Mat3 operator*(SC_SACD_Mat3 a, SC_SACD_Mat3 b) {
return SC_SACD_Mat3{// x0
a.x0 * b.x0 + a.x1 * b.y0 + a.x2 * b.z0,
// x1
a.x0 * b.x1 + a.x1 * b.y1 + a.x2 * b.z1,
// x2
a.x0 * b.x2 + a.x1 * b.y2 + a.x2 * b.z2,
// y0
a.y0 * b.x0 + a.y1 * b.y0 + a.y2 * b.z0,
// y1
a.y0 * b.x1 + a.y1 * b.y1 + a.y2 * b.z1,
// y2
a.y0 * b.x2 + a.y1 * b.y2 + a.y2 * b.z2,
// z0
a.z0 * b.x0 + a.z1 * b.y0 + a.z2 * b.z0,
// z1
a.z0 * b.x1 + a.z1 * b.y1 + a.z2 * b.z1,
// z2
a.z0 * b.x2 + a.z1 * b.y2 + a.z2 * b.z2};
}
SC_SACD_Vec3 operator*(SC_SACD_Mat3 mat3, SC_SACD_Vec3 vec) {
return SC_SACD_Vec3{
mat3.x0 * vec.x + mat3.x1 * vec.y + mat3.x2 * vec.z,
mat3.y0 * vec.x + mat3.y1 * vec.y + mat3.y2 * vec.z,
mat3.z0 * vec.x + mat3.z1 * vec.y + mat3.z2 * vec.z,
};
}
SC_SACD_Mat3 operator*(SC_SACD_Mat3 mat3, float scalar) {
return SC_SACD_Mat3{mat3.x0 * scalar, mat3.x1 * scalar, mat3.x2 * scalar,
mat3.y0 * scalar, mat3.y1 * scalar, mat3.y2 * scalar,
mat3.z0 * scalar, mat3.z1 * scalar, mat3.z2 * scalar};
}
SC_SACD_Mat3 UHat_Mat3(float x, float y, float z) {
return SC_SACD_Mat3{0.0F, -z, y, z, 0.0F, -x, -y, x, 0.0F};
}
std::array<SC_SACD_Vec3, 3> SC_SACD_Get_Box_Normals(SC_SACD_Generic_Box box) { std::array<SC_SACD_Vec3, 3> SC_SACD_Get_Box_Normals(SC_SACD_Generic_Box box) {
SC_SACD_Vec3 a, b, c; SC_SACD_Vec3 a, b, c;
@ -413,6 +465,8 @@ SC_SACD_Mat4 SC_SACD_Mat4_Identity(void) {
0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F}; 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F};
} }
SC_SACD_Mat4 SC_SACD_Mat4_Sum(SC_SACD_Mat4 a, SC_SACD_Mat4 b) { return a + b; }
SC_SACD_Mat4 SC_SACD_Mat4_Mult(SC_SACD_Mat4 a, SC_SACD_Mat4 b) { return a * b; } SC_SACD_Mat4 SC_SACD_Mat4_Mult(SC_SACD_Mat4 a, SC_SACD_Mat4 b) { return a * b; }
SC_SACD_Vec3 SC_SACD_Mat4_Vec3_Mult(SC_SACD_Mat4 mat, SC_SACD_Vec3 vec) { SC_SACD_Vec3 SC_SACD_Mat4_Vec3_Mult(SC_SACD_Mat4 mat, SC_SACD_Vec3 vec) {
@ -703,3 +757,102 @@ SC_SACD_Vec3 SC_SACD_Vec3_Reflect(SC_SACD_Vec3 vec, SC_SACD_Vec3 target) {
SC_SACD_Vec3 proj = SC_SACD_Vec3_Project(vec, target); SC_SACD_Vec3 proj = SC_SACD_Vec3_Project(vec, target);
return proj * 2.0F - vec; return proj * 2.0F - vec;
} }
SC_SACD_Mat4 SC_SACD_Mat3_Promote(SC_SACD_Mat3 mat3) {
return SC_SACD_Mat4{mat3.x0, mat3.x1, mat3.x2, 0.0F, mat3.y0, mat3.y1,
mat3.y2, 0.0F, mat3.z0, mat3.z1, mat3.z2, 0.0F,
0.0F, 0.0F, 0.0F, 1.0F};
}
SC_SACD_Mat3 SC_SACD_Mat4_Demote(SC_SACD_Mat4 mat4) {
return SC_SACD_Mat3{mat4.x0, mat4.x1, mat4.x2, mat4.y0, mat4.y1,
mat4.y2, mat4.z0, mat4.z1, mat4.z2};
}
SC_SACD_Mat3 SC_SACD_Mat3_Identity() {
return SC_SACD_Mat3{1.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 1.0F};
}
SC_SACD_Mat3 SC_SACD_Mat3_Sum(SC_SACD_Mat3 a, SC_SACD_Mat3 b) { return a + b; }
SC_SACD_Mat3 SC_SACD_Mat3_Mult(SC_SACD_Mat3 a, SC_SACD_Mat3 b) { return a * b; }
SC_SACD_Vec3 SC_SACD_Mat3_Vec3_Mult(SC_SACD_Mat3 mat3, SC_SACD_Vec3 vec) {
return mat3 * vec;
}
SC_SACD_Mat3 SC_SACD_Rotation_Mat3_XAxis(float x_radians) {
SC_SACD_Mat3 mat;
mat.x0 = 1.0F;
mat.x1 = 0.0F;
mat.x2 = 0.0F;
mat.y0 = 0.0F;
mat.y1 = std::cos(x_radians);
mat.y2 = -std::sin(x_radians);
mat.z0 = 0.0F;
mat.z1 = -mat.y2;
mat.z2 = mat.y1;
return mat;
}
SC_SACD_Mat3 SC_SACD_Rotation_Mat3_YAxis(float y_radians) {
SC_SACD_Mat3 mat;
mat.x0 = std::cos(y_radians);
mat.x1 = 0.0F;
mat.x2 = std::sin(y_radians);
mat.y0 = 0.0F;
mat.y1 = 1.0F;
mat.y2 = 0.0F;
mat.z0 = -mat.x2;
mat.z1 = 0.0F;
mat.z2 = mat.x0;
return mat;
}
SC_SACD_Mat3 SC_SACD_Rotation_Mat3_ZAxis(float z_radians) {
SC_SACD_Mat3 mat;
mat.x0 = std::cos(z_radians);
mat.x1 = -std::sin(z_radians);
mat.x2 = 0.0F;
mat.y0 = -mat.x1;
mat.y1 = mat.x0;
mat.y2 = 0.0F;
mat.z0 = 0.0F;
mat.z1 = 0.0F;
mat.z2 = 1.0F;
return mat;
}
SC_SACD_Mat3 SC_SACD_Scale_Mat3(float x, float y, float z) {
return SC_SACD_Mat3{x, 0.0f, 0.0f, 0.0f, y, 0.0f, 0.0f, 0.0f, z};
}
SC_SACD_Mat3 SC_SACD_ExpMap(SC_SACD_Vec3 axis, float angle) {
axis = SC_SACD_Vec3_Normalize(axis);
auto uhat = UHat_Mat3(axis.x, axis.y, axis.z);
auto uhat_squared = uhat * uhat;
return SC_SACD_Mat3_Identity() + uhat * std::sin(angle) +
uhat_squared * (1 - std::cos(angle));
}
float SC_SACD_LogMap_Angle(SC_SACD_Mat3 mat3) {
float trace = mat3.x0 + mat3.y1 + mat3.z2;
return std::acos((trace - 1.0F) / 2.0F);
}
SC_SACD_Vec3 SC_SACD_LogMap_Axis(SC_SACD_Mat3 mat3, float angle) {
return SC_SACD_Vec3{mat3.z1 - mat3.y2, mat3.x2 - mat3.z0, mat3.y0 - mat3.x1} *
(1.0F / (2.0F * std::sin(angle)));
}

View file

@ -24,6 +24,12 @@ typedef struct SC_SACD_EXPORT SC_SACD_Vec3 {
float x, y, z; float x, y, z;
} SC_SACD_Vec3; } SC_SACD_Vec3;
typedef struct SC_SACD_EXPORT SC_SACD_Mat3 {
float x0, x1, x2;
float y0, y1, y2;
float z0, z1, z2;
} SC_SACD_Mat3;
typedef struct SC_SACD_EXPORT SC_SACD_Mat4 { typedef struct SC_SACD_EXPORT SC_SACD_Mat4 {
float x0, x1, x2, x3; float x0, x1, x2, x3;
float y0, y1, y2, y3; float y0, y1, y2, y3;
@ -100,6 +106,8 @@ SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Cross_Product(SC_SACD_Vec3 a,
SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Mat4_Identity(void); SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Mat4_Identity(void);
SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Mat4_Sum(SC_SACD_Mat4 a, SC_SACD_Mat4 b);
SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Mat4_Mult(SC_SACD_Mat4 a, SC_SACD_Mat4 b); SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Mat4_Mult(SC_SACD_Mat4 a, SC_SACD_Mat4 b);
SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Mat4_Vec3_Mult(SC_SACD_Mat4 mat, SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Mat4_Vec3_Mult(SC_SACD_Mat4 mat,
@ -155,6 +163,23 @@ SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Vec3_Project(SC_SACD_Vec3 vec,
SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Vec3_Reflect(SC_SACD_Vec3 vec, SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Vec3_Reflect(SC_SACD_Vec3 vec,
SC_SACD_Vec3 target); SC_SACD_Vec3 target);
SC_SACD_EXPORT SC_SACD_Mat4 SC_SACD_Mat3_Promote(SC_SACD_Mat3 mat3);
SC_SACD_EXPORT SC_SACD_Mat3 SC_SACD_Mat4_Demote(SC_SACD_Mat4 mat4);
SC_SACD_EXPORT SC_SACD_Mat3 SC_SACD_Mat3_Identity(void);
SC_SACD_EXPORT SC_SACD_Mat3 SC_SACD_Mat3_Sum(SC_SACD_Mat3 a, SC_SACD_Mat3 b);
SC_SACD_EXPORT SC_SACD_Mat3 SC_SACD_Mat3_Mult(SC_SACD_Mat3 a, SC_SACD_Mat3 b);
SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_Mat3_Vec3_Mult(SC_SACD_Mat3 mat3,
SC_SACD_Vec3 vec);
SC_SACD_EXPORT SC_SACD_Mat3 SC_SACD_Rotation_Mat3_XAxis(float x_radians);
SC_SACD_EXPORT SC_SACD_Mat3 SC_SACD_Rotation_Mat3_YAxis(float y_radians);
SC_SACD_EXPORT SC_SACD_Mat3 SC_SACD_Rotation_Mat3_ZAxis(float z_radians);
SC_SACD_EXPORT SC_SACD_Mat3 SC_SACD_Scale_Mat3(float x, float y, float z);
SC_SACD_EXPORT SC_SACD_Mat3 SC_SACD_ExpMap(SC_SACD_Vec3 axis, float angle);
SC_SACD_EXPORT float SC_SACD_LogMap_Angle(SC_SACD_Mat3 mat3);
SC_SACD_EXPORT SC_SACD_Vec3 SC_SACD_LogMap_Axis(SC_SACD_Mat3 mat3, float angle);
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

View file

@ -11,7 +11,8 @@ static int checks_passed = 0;
do { \ do { \
++checks_checked; \ ++checks_checked; \
if (!(x)) { \ if (!(x)) { \
std::cout << "CHECK_TRUE at line " << __LINE__ << " failed!\n"; \ std::cout << "CHECK_TRUE at line " << __LINE__ << " failed: " \
<< #x << '\n'; \
} else { \ } else { \
++checks_passed; \ ++checks_passed; \
} \ } \
@ -20,7 +21,8 @@ static int checks_passed = 0;
do { \ do { \
++checks_checked; \ ++checks_checked; \
if (x) { \ if (x) { \
std::cout << "CHECK_FALSE at line " << __LINE__ << " failed!\n"; \ std::cout << "CHECK_FALSE at line " << __LINE__ << " failed: " \
<< #x << '\n'; \
} else { \ } else { \
++checks_passed; \ ++checks_passed; \
} \ } \
@ -32,7 +34,8 @@ static int checks_passed = 0;
if ((var) > (value)-0.0001F && (var) < (value) + 0.0001F) { \ if ((var) > (value)-0.0001F && (var) < (value) + 0.0001F) { \
++checks_passed; \ ++checks_passed; \
} else { \ } else { \
std::cout << "CHECK_FLOAT at line " << __LINE__ << " failed!\n"; \ std::cout << "CHECK_FLOAT at line " << __LINE__ << " failed: " \
<< #var << " != " << #value << '\n'; \
} \ } \
} while (false); } while (false);
@ -902,6 +905,88 @@ int main() {
CHECK_FLOAT(vec.z, std::sqrt(9.0F / 14.0F)); CHECK_FLOAT(vec.z, std::sqrt(9.0F / 14.0F));
} }
// Test axis-angle to rotation matrix.
{
// About Z-axis.
SC_SACD_Vec3 axis{0.0F, 0.0F, 1.0F};
float angle = std::numbers::pi_v<float> / 2.0F;
SC_SACD_Mat3 rot_from_axis_angle = SC_SACD_ExpMap(axis, angle);
SC_SACD_Mat3 rotation_mat = SC_SACD_Rotation_Mat3_ZAxis(angle);
SC_SACD_Vec3 vec{1.0F, 1.0F, 1.0F};
SC_SACD_Vec3 transformed_vec0 = SC_SACD_Mat3_Vec3_Mult(rot_from_axis_angle, vec);
SC_SACD_Vec3 transformed_vec1 = SC_SACD_Mat3_Vec3_Mult(rotation_mat, vec);
CHECK_FLOAT(transformed_vec0.x, transformed_vec1.x);
CHECK_FLOAT(transformed_vec0.y, transformed_vec1.y);
CHECK_FLOAT(transformed_vec0.z, transformed_vec1.z);
// About X-axis.
axis = SC_SACD_Vec3{1.0F, 0.0F, 0.0F};
rot_from_axis_angle = SC_SACD_ExpMap(axis, angle);
rotation_mat = SC_SACD_Rotation_Mat3_XAxis(angle);
transformed_vec0 = SC_SACD_Mat3_Vec3_Mult(rot_from_axis_angle, vec);
transformed_vec1 = SC_SACD_Mat3_Vec3_Mult(rotation_mat, vec);
CHECK_FLOAT(transformed_vec0.x, transformed_vec1.x);
CHECK_FLOAT(transformed_vec0.y, transformed_vec1.y);
CHECK_FLOAT(transformed_vec0.z, transformed_vec1.z);
// About Y-axis.
axis = SC_SACD_Vec3{0.0F, 1.0F, 0.0F};
rot_from_axis_angle = SC_SACD_ExpMap(axis, angle);
rotation_mat = SC_SACD_Rotation_Mat3_YAxis(angle);
transformed_vec0 = SC_SACD_Mat3_Vec3_Mult(rot_from_axis_angle, vec);
transformed_vec1 = SC_SACD_Mat3_Vec3_Mult(rotation_mat, vec);
CHECK_FLOAT(transformed_vec0.x, transformed_vec1.x);
CHECK_FLOAT(transformed_vec0.y, transformed_vec1.y);
CHECK_FLOAT(transformed_vec0.z, transformed_vec1.z);
}
// Test rotation matrix to axis-angle.
{
// X-axis.
float angle = std::numbers::pi_v<float> / 2.0F;
SC_SACD_Mat3 rot_mat = SC_SACD_Rotation_Mat3_XAxis(angle);
float derived_angle = SC_SACD_LogMap_Angle(rot_mat);
CHECK_FLOAT(derived_angle, angle);
SC_SACD_Vec3 derived_axis = SC_SACD_LogMap_Axis(rot_mat, angle);
CHECK_FLOAT(derived_axis.x, 1.0F);
CHECK_FLOAT(derived_axis.y, 0.0F);
CHECK_FLOAT(derived_axis.z, 0.0F);
// Y-axis.
rot_mat = SC_SACD_Rotation_Mat3_YAxis(angle);
derived_angle = SC_SACD_LogMap_Angle(rot_mat);
CHECK_FLOAT(derived_angle, angle);
derived_axis = SC_SACD_LogMap_Axis(rot_mat, angle);
CHECK_FLOAT(derived_axis.x, 0.0F);
CHECK_FLOAT(derived_axis.y, 1.0F);
CHECK_FLOAT(derived_axis.z, 0.0F);
// Z-axis.
rot_mat = SC_SACD_Rotation_Mat3_ZAxis(angle);
derived_angle = SC_SACD_LogMap_Angle(rot_mat);
CHECK_FLOAT(derived_angle, angle);
derived_axis = SC_SACD_LogMap_Axis(rot_mat, angle);
CHECK_FLOAT(derived_axis.x, 0.0F);
CHECK_FLOAT(derived_axis.y, 0.0F);
CHECK_FLOAT(derived_axis.z, 1.0F);
}
std::cout << "Checks checked: " << checks_checked << '\n' std::cout << "Checks checked: " << checks_checked << '\n'
<< "Checks passed: " << checks_passed << '\n'; << "Checks passed: " << checks_passed << '\n';