From 9c2c3f71065c94a18c02440111b6ff8ca977b90e Mon Sep 17 00:00:00 2001 From: Dan Goodliffe Date: Thu, 9 Nov 2023 00:40:40 +0000 Subject: WIP typedefing all the things - sources --- lib/maths.cpp | 40 ++++++++++++++++++++-------------------- 1 file changed, 20 insertions(+), 20 deletions(-) (limited to 'lib/maths.cpp') diff --git a/lib/maths.cpp b/lib/maths.cpp index 7594b59..5430ef6 100644 --- a/lib/maths.cpp +++ b/lib/maths.cpp @@ -6,7 +6,7 @@ #include glm::mat4 -flat_orientation(const glm::vec3 & diff) +flat_orientation(const Direction3D & diff) { static const auto oneeighty {glm::rotate(pi, up)}; const auto flatdiff {glm::normalize(!!diff)}; @@ -16,17 +16,17 @@ flat_orientation(const glm::vec3 & diff) } // Helper to lookup into a matrix given an xy vector coordinate -template +template inline auto & -operator^(M & m, glm::ivec2 xy) +operator^(M & m, glm::vec<2, I> xy) { return m[xy.x][xy.y]; } // Create a matrix for the angle, given the targets into the matrix -template +template inline auto -rotation(typename M::value_type a, glm::ivec2 c1, glm::ivec2 s1, glm::ivec2 c2, glm::ivec2 ms2) +rotation(typename M::value_type a, glm::vec<2, I> c1, glm::vec<2, I> s1, glm::vec<2, I> c2, glm::vec<2, I> ms2) { M m(1); sincosf(a, m ^ s1, m ^ c1); @@ -39,51 +39,51 @@ rotation(typename M::value_type a, glm::ivec2 c1, glm::ivec2 s1, glm::ivec2 c2, glm::mat2 rotate_flat(float a) { - return rotation(a, {0, 0}, {0, 1}, {1, 1}, {1, 0}); + return rotation(a, {0, 0}, {0, 1}, {1, 1}, {1, 0}); } // Create a yaw transformation matrix glm::mat4 rotate_yaw(float a) { - return rotation(a, {0, 0}, {1, 0}, {1, 1}, {0, 1}); + return rotation(a, {0, 0}, {1, 0}, {1, 1}, {0, 1}); } // Create a roll transformation matrix glm::mat4 rotate_roll(float a) { - return rotation(a, {0, 0}, {2, 0}, {2, 2}, {0, 2}); + return rotation(a, {0, 0}, {2, 0}, {2, 2}, {0, 2}); } // Create a pitch transformation matrix glm::mat4 rotate_pitch(float a) { - return rotation(a, {1, 1}, {1, 2}, {2, 2}, {2, 1}); + return rotation(a, {1, 1}, {1, 2}, {2, 2}, {2, 1}); } // Create a combined yaw, pitch, roll transformation matrix glm::mat4 -rotate_ypr(glm::vec3 a) +rotate_ypr(Rotation3D a) { return rotate_yaw(a.y) * rotate_pitch(a.x) * rotate_roll(a.z); } glm::mat4 -rotate_yp(glm::vec2 a) +rotate_yp(Rotation2D a) { return rotate_yaw(a.y) * rotate_pitch(a.x); } float -vector_yaw(const glm::vec3 & diff) +vector_yaw(const Direction3D & diff) { return std::atan2(diff.x, diff.y); } float -vector_pitch(const glm::vec3 & diff) +vector_pitch(const Direction3D & diff) { return std::atan(diff.z); } @@ -106,7 +106,7 @@ normalize(float ang) return ang; } -Arc::Arc(const glm::vec3 & centre3, const glm::vec3 & e0p, const glm::vec3 & e1p) : +Arc::Arc(const Position3D & centre3, const Position3D & e0p, const Position3D & e1p) : Arc([&]() -> Arc { const auto diffa = e0p - centre3; const auto diffb = e1p - centre3; @@ -120,8 +120,8 @@ Arc::Arc(const glm::vec3 & centre3, const glm::vec3 & e0p, const glm::vec3 & e1p { } -std::pair -find_arc_centre(glm::vec2 as, float entrys, glm::vec2 bs, float entrye) +std::pair +find_arc_centre(Position2D as, float entrys, Position2D bs, float entrye) { if (as == bs) { return {as, false}; @@ -129,8 +129,8 @@ find_arc_centre(glm::vec2 as, float entrys, glm::vec2 bs, float entrye) return find_arc_centre(as, sincosf(entrys + half_pi), bs, sincosf(entrye - half_pi)); } -std::pair -find_arc_centre(glm::vec2 as, glm::vec2 ad, glm::vec2 bs, glm::vec2 bd) +std::pair +find_arc_centre(Position2D as, Position2D ad, Position2D bs, Position2D bd) { const auto det = bd.x * ad.y - bd.y * ad.x; if (det != 0) { // near parallel line will yield noisy results @@ -142,7 +142,7 @@ find_arc_centre(glm::vec2 as, glm::vec2 ad, glm::vec2 bs, glm::vec2 bd) } std::pair -find_arcs_radius(glm::vec2 start, float entrys, glm::vec2 end, float entrye) +find_arcs_radius(Position2D start, float entrys, Position2D end, float entrye) { const auto getrad = [&](float leftOrRight) { return find_arcs_radius(start, sincosf(entrys + leftOrRight), end, sincosf(entrye + leftOrRight)); @@ -151,7 +151,7 @@ find_arcs_radius(glm::vec2 start, float entrys, glm::vec2 end, float entrye) } float -find_arcs_radius(glm::vec2 start, glm::vec2 ad, glm::vec2 end, glm::vec2 bd) +find_arcs_radius(Position2D start, Position2D ad, Position2D end, Position2D bd) { // Short name functions for big forula auto sqrt = [](float v) { -- cgit v1.2.3 From 0841ead91c49a212134f19f7c0b411984b0fda29 Mon Sep 17 00:00:00 2001 From: Dan Goodliffe Date: Fri, 29 Dec 2023 13:20:55 +0000 Subject: Remove weird operator! on vec2/3 --- game/network/link.cpp | 2 +- game/network/network.cpp | 4 ++-- game/network/rail.cpp | 4 ++-- gfx/followCameraController.cpp | 2 +- lib/maths.cpp | 2 +- lib/maths.h | 12 ------------ ui/manualCameraController.cpp | 2 +- 7 files changed, 8 insertions(+), 20 deletions(-) (limited to 'lib/maths.cpp') diff --git a/game/network/link.cpp b/game/network/link.cpp index 498afe4..d8479dd 100644 --- a/game/network/link.cpp +++ b/game/network/link.cpp @@ -46,7 +46,7 @@ LinkCurve::positionAt(float dist, unsigned char start) const const auto es {std::make_pair(ends[start].node.get(), ends[1 - start].node.get())}; const auto as {std::make_pair(arc[start], arc[1 - start])}; const auto ang {as.first + ((as.second - as.first) * frac)}; - const auto relPos {!sincosf(ang) * radius}; + const auto relPos {sincosf(ang) ^ 0.F * radius}; const auto relClimb {vehiclePositionOffset() + Position3D {0, 0, es.first->pos.z - centreBase.z + ((es.second->pos.z - es.first->pos.z) * frac)}}; const auto pitch {vector_pitch({0, 0, (es.second->pos.z - es.first->pos.z) / length})}; diff --git a/game/network/network.cpp b/game/network/network.cpp index d18345c..5de2f5d 100644 --- a/game/network/network.cpp +++ b/game/network/network.cpp @@ -100,7 +100,7 @@ Network::genCurveDef(const Position3D & start, const Position3D & end, float sta const auto diff {end - start}; const auto vy {vector_yaw(diff)}; const auto dir = pi + startDir; - const auto flatStart {!start}, flatEnd {!end}; + const auto flatStart {start.xy()}, flatEnd {end.xy()}; const auto n2ed {(vy * 2) - dir - pi}; const auto centre {find_arc_centre(flatStart, dir, flatEnd, n2ed)}; @@ -115,7 +115,7 @@ Network::genCurveDef(const Position3D & start, const Position3D & end, float sta { startDir += pi; endDir += pi; - const Position2D flatStart {!start}, flatEnd {!end}; + const Position2D flatStart {start.xy()}, flatEnd {end.xy()}; auto midheight = [&](auto mid) { const auto sm = glm::distance(flatStart, mid), em = glm::distance(flatEnd, mid); return start.z + ((end.z - start.z) * (sm / (sm + em))); diff --git a/game/network/rail.cpp b/game/network/rail.cpp index ff101d4..545a728 100644 --- a/game/network/rail.cpp +++ b/game/network/rail.cpp @@ -45,7 +45,7 @@ RailLinks::addLinksBetween(Position3D start, Position3D end) if (dir == vector_yaw(end - start)) { return addLink(start, end); } - const Position2D flatStart {!start}, flatEnd {!end}; + const Position2D flatStart {start.xy()}, flatEnd {end.xy()}; if (node2ins.second == NodeIs::InNetwork) { auto midheight = [&](auto mid) { const auto sm = glm::distance(flatStart, mid), em = glm::distance(flatEnd, mid); @@ -142,7 +142,7 @@ RailLinkStraight::RailLinkStraight(Node::Ptr a, Node::Ptr b, const Position3D & } RailLinkCurve::RailLinkCurve(const Node::Ptr & a, const Node::Ptr & b, Position2D c) : - RailLinkCurve(a, b, c ^ a->pos.z, {!c, a->pos, b->pos}) + RailLinkCurve(a, b, c ^ a->pos.z, {c ^ 0.F, a->pos, b->pos}) { } diff --git a/gfx/followCameraController.cpp b/gfx/followCameraController.cpp index aee2187..9b23173 100644 --- a/gfx/followCameraController.cpp +++ b/gfx/followCameraController.cpp @@ -24,7 +24,7 @@ FollowCameraController::updateCamera(Camera * camera) const break; case Mode::Ride: - camera->setView(pos + GlobalPosition3D(up * 4.8F), !-sincosf(rot.y)); + camera->setView(pos + GlobalPosition3D(up * 4.8F), -sincosf(rot.y) ^ 0.F); break; case Mode::ISO: diff --git a/lib/maths.cpp b/lib/maths.cpp index 5430ef6..0c25820 100644 --- a/lib/maths.cpp +++ b/lib/maths.cpp @@ -9,7 +9,7 @@ glm::mat4 flat_orientation(const Direction3D & diff) { static const auto oneeighty {glm::rotate(pi, up)}; - const auto flatdiff {glm::normalize(!!diff)}; + const auto flatdiff {glm::normalize(diff.xy() ^ 0.F)}; auto e {glm::orientation(flatdiff, north)}; // Handle if diff is exactly opposite to north return (std::isnan(e[0][0])) ? oneeighty : e; diff --git a/lib/maths.h b/lib/maths.h index cf369a7..dd83c4b 100644 --- a/lib/maths.h +++ b/lib/maths.h @@ -99,12 +99,6 @@ perspective_divide(glm::vec<4, T, Q> v) return v / v.w; } -constexpr inline Position2D -operator!(const Position3D & v) -{ - return {v.x, v.y}; -} - constexpr inline Position3D operator^(const Position2D & v, float z) { @@ -117,12 +111,6 @@ operator^(const Position3D & v, float w) return {v.x, v.y, v.z, w}; } -constexpr inline Position3D -operator!(const Position2D & v) -{ - return v ^ 0.F; -} - template inline constexpr glm::vec operator||(const glm::vec v1, const glm::vec v2) diff --git a/ui/manualCameraController.cpp b/ui/manualCameraController.cpp index f6993a8..1f6b510 100644 --- a/ui/manualCameraController.cpp +++ b/ui/manualCameraController.cpp @@ -79,5 +79,5 @@ void ManualCameraController::updateCamera(Camera * camera) const { const auto forward = glm::normalize(sincosf(direction) ^ -sin(pitch)); - camera->setView(!focus - forward * 3.F * std::pow(dist, 1.3F), forward); + camera->setView((focus ^ 0.F) - forward * 3.F * std::pow(dist, 1.3F), forward); } -- cgit v1.2.3 From 048f18e2a0b32044525cef41fa053984433c74b9 Mon Sep 17 00:00:00 2001 From: Dan Goodliffe Date: Fri, 29 Dec 2023 14:12:40 +0000 Subject: Remove misleading power operator^ on vec2/3 --- assetFactory/cylinder.cpp | 6 +++--- game/network/link.cpp | 2 +- game/network/network.cpp | 4 ++-- game/network/rail.cpp | 10 +++++----- gfx/followCameraController.cpp | 2 +- gfx/gl/camera.cpp | 2 +- lib/maths.cpp | 2 +- lib/maths.h | 24 +++++++----------------- ui/manualCameraController.cpp | 4 ++-- 9 files changed, 23 insertions(+), 33 deletions(-) (limited to 'lib/maths.cpp') diff --git a/assetFactory/cylinder.cpp b/assetFactory/cylinder.cpp index ed034fd..58980cf 100644 --- a/assetFactory/cylinder.cpp +++ b/assetFactory/cylinder.cpp @@ -19,7 +19,7 @@ Cylinder::createMesh(ModelFactoryMesh & mesh, float lodf) const // Generate bottom face vertices std::vector bottom(P); std::transform(circumference.begin(), circumference.end(), bottom.begin(), [&mesh](const auto & xy) { - return mesh.add_vertex(xy ^ 0.F); + return mesh.add_vertex(xy || 0.F); }); surface.insert(mesh.add_namedFace("bottom", bottom)); } @@ -27,7 +27,7 @@ Cylinder::createMesh(ModelFactoryMesh & mesh, float lodf) const // Generate top face vertices std::vector top(P); std::transform(circumference.rbegin(), circumference.rend(), top.begin(), [&mesh](const auto & xy) { - return mesh.add_vertex(xy ^ 1); + return mesh.add_vertex(xy || 1.F); }); surface.insert(mesh.add_namedFace("top", top)); } @@ -35,7 +35,7 @@ Cylinder::createMesh(ModelFactoryMesh & mesh, float lodf) const // Generate edge vertices std::vector> edge(P + 1); std::transform(circumference.begin(), circumference.end(), edge.begin(), [&mesh](const auto & xy) { - return std::make_pair(mesh.add_vertex(xy ^ 0), mesh.add_vertex(xy ^ 1)); + return std::make_pair(mesh.add_vertex(xy || 0.F), mesh.add_vertex(xy || 1.F)); }); // Wrap around edge.back() = edge.front(); diff --git a/game/network/link.cpp b/game/network/link.cpp index d8479dd..703a1ca 100644 --- a/game/network/link.cpp +++ b/game/network/link.cpp @@ -46,7 +46,7 @@ LinkCurve::positionAt(float dist, unsigned char start) const const auto es {std::make_pair(ends[start].node.get(), ends[1 - start].node.get())}; const auto as {std::make_pair(arc[start], arc[1 - start])}; const auto ang {as.first + ((as.second - as.first) * frac)}; - const auto relPos {sincosf(ang) ^ 0.F * radius}; + const auto relPos {(sincosf(ang) || 0.F) * radius}; const auto relClimb {vehiclePositionOffset() + Position3D {0, 0, es.first->pos.z - centreBase.z + ((es.second->pos.z - es.first->pos.z) * frac)}}; const auto pitch {vector_pitch({0, 0, (es.second->pos.z - es.first->pos.z) / length})}; diff --git a/game/network/network.cpp b/game/network/network.cpp index 5de2f5d..1ff5b26 100644 --- a/game/network/network.cpp +++ b/game/network/network.cpp @@ -125,7 +125,7 @@ Network::genCurveDef(const Position3D & start, const Position3D & end, float sta const auto c1 = flatStart + sincosf(startDir + half_pi) * radius; const auto c2 = flatEnd + sincosf(endDir + half_pi) * radius; const auto mid = (c1 + c2) / 2.F; - const auto midh = mid ^ midheight(mid); + const auto midh = mid || midheight(mid); return {{start, midh, c1}, {end, midh, c2}}; } else { @@ -133,7 +133,7 @@ Network::genCurveDef(const Position3D & start, const Position3D & end, float sta const auto c1 = flatStart + sincosf(startDir - half_pi) * radius; const auto c2 = flatEnd + sincosf(endDir - half_pi) * radius; const auto mid = (c1 + c2) / 2.F; - const auto midh = mid ^ midheight(mid); + const auto midh = mid || midheight(mid); return {{midh, start, c1}, {midh, end, c2}}; } } diff --git a/game/network/rail.cpp b/game/network/rail.cpp index 545a728..303f1c8 100644 --- a/game/network/rail.cpp +++ b/game/network/rail.cpp @@ -57,7 +57,7 @@ RailLinks::addLinksBetween(Position3D start, Position3D end) const auto c1 = flatStart + sincosf(dir + half_pi) * radius; const auto c2 = flatEnd + sincosf(dir2 + half_pi) * radius; const auto mid = (c1 + c2) / 2.F; - const auto midh = mid ^ midheight(mid); + const auto midh = mid || midheight(mid); addLink(start, midh, c1); return addLink(end, midh, c2); } @@ -66,7 +66,7 @@ RailLinks::addLinksBetween(Position3D start, Position3D end) const auto c1 = flatStart + sincosf(dir - half_pi) * radius; const auto c2 = flatEnd + sincosf(dir2 - half_pi) * radius; const auto mid = (c1 + c2) / 2.F; - const auto midh = mid ^ midheight(mid); + const auto midh = mid || midheight(mid); addLink(midh, start, c1); return addLink(midh, end, c2); } @@ -133,7 +133,7 @@ RailLinkStraight::RailLinkStraight(Node::Ptr a, Node::Ptr b, const Position3D & for (auto ei : {1U, 0U}) { const auto trans {glm::translate(ends[ei].node->pos) * e}; for (const auto & rcs : railCrossSection) { - const Position3D m {(trans * (rcs.first ^ 1))}; + const Position3D m {(trans * (rcs.first || 1.F))}; vertices.emplace_back(m, Position2D {rcs.second, len * static_cast(ei)}, up); } } @@ -142,7 +142,7 @@ RailLinkStraight::RailLinkStraight(Node::Ptr a, Node::Ptr b, const Position3D & } RailLinkCurve::RailLinkCurve(const Node::Ptr & a, const Node::Ptr & b, Position2D c) : - RailLinkCurve(a, b, c ^ a->pos.z, {c ^ 0.F, a->pos, b->pos}) + RailLinkCurve(a, b, c || a->pos.z, {c || 0.F, a->pos, b->pos}) { } @@ -166,7 +166,7 @@ RailLinkCurve::RailLinkCurve(const Node::Ptr & a, const Node::Ptr & b, Position3 const auto t { trans * glm::rotate(half_pi - swing.x, up) * glm::translate(Position3D {radius, 0.F, swing.y})}; for (const auto & rcs : railCrossSection) { - const Position3D m {(t * (rcs.first ^ 1))}; + const Position3D m {(t * (rcs.first || 1.F))}; vertices.emplace_back(m, Position2D {rcs.second, swing.z}, up); } } diff --git a/gfx/followCameraController.cpp b/gfx/followCameraController.cpp index 9b23173..5114840 100644 --- a/gfx/followCameraController.cpp +++ b/gfx/followCameraController.cpp @@ -24,7 +24,7 @@ FollowCameraController::updateCamera(Camera * camera) const break; case Mode::Ride: - camera->setView(pos + GlobalPosition3D(up * 4.8F), -sincosf(rot.y) ^ 0.F); + camera->setView(pos + GlobalPosition3D(up * 4.8F), -sincosf(rot.y) || 0.F); break; case Mode::ISO: diff --git a/gfx/gl/camera.cpp b/gfx/gl/camera.cpp index 06e409e..9f40998 100644 --- a/gfx/gl/camera.cpp +++ b/gfx/gl/camera.cpp @@ -18,7 +18,7 @@ Camera::unProject(const ScreenRelCoord & mouse) const { static constexpr const glm::vec4 screen {0, 0, 1, 1}; const auto mouseProjection = glm::lookAt(::origin, forward, up); - return {position, glm::normalize(glm::unProject(mouse ^ 1, mouseProjection, projection, screen))}; + return {position, glm::normalize(glm::unProject(mouse || 1.F, mouseProjection, projection, screen))}; } void diff --git a/lib/maths.cpp b/lib/maths.cpp index 0c25820..17082d4 100644 --- a/lib/maths.cpp +++ b/lib/maths.cpp @@ -9,7 +9,7 @@ glm::mat4 flat_orientation(const Direction3D & diff) { static const auto oneeighty {glm::rotate(pi, up)}; - const auto flatdiff {glm::normalize(diff.xy() ^ 0.F)}; + const auto flatdiff {glm::normalize(diff.xy() || 0.F)}; auto e {glm::orientation(flatdiff, north)}; // Handle if diff is exactly opposite to north return (std::isnan(e[0][0])) ? oneeighty : e; diff --git a/lib/maths.h b/lib/maths.h index dd83c4b..f7ff148 100644 --- a/lib/maths.h +++ b/lib/maths.h @@ -99,18 +99,6 @@ perspective_divide(glm::vec<4, T, Q> v) return v / v.w; } -constexpr inline Position3D -operator^(const Position2D & v, float z) -{ - return {v.x, v.y, z}; -} - -constexpr inline glm::vec4 -operator^(const Position3D & v, float w) -{ - return {v.x, v.y, v.z, w}; -} - template inline constexpr glm::vec operator||(const glm::vec v1, const glm::vec v2) @@ -125,15 +113,17 @@ operator||(const glm::vec v1, const T v2) return {v1, v2}; } -inline Position3D -operator%(const Position3D & p, const glm::mat4 & mutation) +template +inline constexpr glm::vec +operator%(const glm::vec & p, const glm::mat & mutation) { - const auto p2 = mutation * (p ^ 1); + const auto p2 = mutation * (p || T(1)); return p2 / p2.w; } -inline Position3D -operator%=(Position3D & p, const glm::mat4 & mutation) +template +inline constexpr glm::vec +operator%=(glm::vec & p, const glm::mat & mutation) { return p = p % mutation; } diff --git a/ui/manualCameraController.cpp b/ui/manualCameraController.cpp index 1f6b510..ef26e81 100644 --- a/ui/manualCameraController.cpp +++ b/ui/manualCameraController.cpp @@ -78,6 +78,6 @@ ManualCameraController::render(const UIShader &, const Position &) const void ManualCameraController::updateCamera(Camera * camera) const { - const auto forward = glm::normalize(sincosf(direction) ^ -sin(pitch)); - camera->setView((focus ^ 0.F) - forward * 3.F * std::pow(dist, 1.3F), forward); + const auto forward = glm::normalize(sincosf(direction) || -sin(pitch)); + camera->setView((focus || 0.F) - forward * 3.F * std::pow(dist, 1.3F), forward); } -- cgit v1.2.3 From dc672a3488ec1d665fa898ced401e40ebc609bf8 Mon Sep 17 00:00:00 2001 From: Dan Goodliffe Date: Fri, 29 Dec 2023 16:46:48 +0000 Subject: Templatise functions in maths.h using PositionND --- lib/maths.cpp | 72 --------------------------------------------- lib/maths.h | 84 ++++++++++++++++++++++++++++++++++++++++++++++++----- test/test-maths.cpp | 3 +- 3 files changed, 79 insertions(+), 80 deletions(-) (limited to 'lib/maths.cpp') diff --git a/lib/maths.cpp b/lib/maths.cpp index 17082d4..68662fc 100644 --- a/lib/maths.cpp +++ b/lib/maths.cpp @@ -3,7 +3,6 @@ #include #include #include -#include glm::mat4 flat_orientation(const Direction3D & diff) @@ -106,77 +105,6 @@ normalize(float ang) return ang; } -Arc::Arc(const Position3D & centre3, const Position3D & e0p, const Position3D & e1p) : - Arc([&]() -> Arc { - const auto diffa = e0p - centre3; - const auto diffb = e1p - centre3; - const auto anga = vector_yaw(diffa); - const auto angb = [&diffb, &anga]() { - const auto angb = vector_yaw(diffb); - return (angb < anga) ? angb + two_pi : angb; - }(); - return {anga, angb}; - }()) -{ -} - -std::pair -find_arc_centre(Position2D as, float entrys, Position2D bs, float entrye) -{ - if (as == bs) { - return {as, false}; - } - return find_arc_centre(as, sincosf(entrys + half_pi), bs, sincosf(entrye - half_pi)); -} - -std::pair -find_arc_centre(Position2D as, Position2D ad, Position2D bs, Position2D bd) -{ - const auto det = bd.x * ad.y - bd.y * ad.x; - if (det != 0) { // near parallel line will yield noisy results - const auto d = bs - as; - const auto u = (d.y * bd.x - d.x * bd.y) / det; - return {as + ad * u, u < 0}; - } - throw std::runtime_error("no intersection"); -} - -std::pair -find_arcs_radius(Position2D start, float entrys, Position2D end, float entrye) -{ - const auto getrad = [&](float leftOrRight) { - return find_arcs_radius(start, sincosf(entrys + leftOrRight), end, sincosf(entrye + leftOrRight)); - }; - return {getrad(-half_pi), getrad(half_pi)}; -} - -float -find_arcs_radius(Position2D start, Position2D ad, Position2D end, Position2D bd) -{ - // Short name functions for big forula - auto sqrt = [](float v) { - return std::sqrt(v); - }; - - // Calculates path across both arcs along the normals... pythagorean theorem... for some known radius r - // (2r)^2 = ((m + (X*r)) - (o + (Z*r)))^2 + ((n + (Y*r)) - (p + (W*r)))^2 - // According to symbolabs.com equation tool, that solves for r to give: - // r=(-2 m X+2 X o+2 m Z-2 o Z-2 n Y+2 Y p+2 n W-2 p W-sqrt((2 m X-2 X o-2 m Z+2 o Z+2 n Y-2 Y p-2 n W+2 p W)^(2)-4 - // (X^(2)-2 X Z+Z^(2)+Y^(2)-2 Y W+W^(2)-4) (m^(2)-2 m o+o^(2)+n^(2)-2 n p+p^(2))))/(2 (X^(2)-2 X Z+Z^(2)+Y^(2)-2 Y - // W+W^(2)-4)) - - // These exist cos limitations of online formula rearrangement, and I'm OK with that. - const auto &m {start.x}, &n {start.y}, &o {end.x}, &p {end.y}; - const auto &X {ad.x}, &Y {ad.y}, &Z {bd.x}, &W {bd.y}; - - return (2 * m * X - 2 * X * o - 2 * m * Z + 2 * o * Z + 2 * n * Y - 2 * Y * p - 2 * n * W + 2 * p * W - - sqrt(sq(-2 * m * X + 2 * X * o + 2 * m * Z - 2 * o * Z - 2 * n * Y + 2 * Y * p + 2 * n * W - - 2 * p * W) - - (4 * (sq(X) - 2 * X * Z + sq(Z) + sq(Y) - 2 * Y * W + sq(W) - 4) - * (sq(m) - 2 * m * o + sq(o) + sq(n) - 2 * n * p + sq(p))))) - / (2 * (sq(X) - 2 * X * Z + sq(Z) + sq(Y) - 2 * Y * W + sq(W) - 4)); -} - float operator"" _mph(const long double v) { diff --git a/lib/maths.h b/lib/maths.h index f7ff148..ba8c0e6 100644 --- a/lib/maths.h +++ b/lib/maths.h @@ -5,15 +5,17 @@ #include #include #include +#include #include struct Arc : public std::pair { using std::pair::pair; - Arc(const Position3D & centre3, const Position3D & e0p, const Position3D & e1p); + template + Arc(const glm::vec<3, T, Q> & centre3, const glm::vec<3, T, Q> & e0p, const glm::vec<3, T, Q> & e1p); - float - operator[](unsigned int i) const + auto + operator[](bool i) const { return i ? second : first; } @@ -136,10 +138,63 @@ arc_length(const Arc & arc) float normalize(float ang); -std::pair find_arc_centre(Position2D start, float entrys, Position2D end, float entrye); -std::pair find_arc_centre(Position2D start, Position2D ad, Position2D end, Position2D bd); -std::pair find_arcs_radius(Position2D start, float entrys, Position2D end, float entrye); -float find_arcs_radius(Position2D start, Position2D ad, Position2D end, Position2D bd); +template +std::pair, bool> +find_arc_centre(glm::vec<2, T, Q> start, Rotation2D startDir, glm::vec<2, T, Q> end, Rotation2D endDir) +{ + const auto det = endDir.x * startDir.y - endDir.y * startDir.x; + if (det != 0) { // near parallel line will yield noisy results + const auto d = end - start; + const auto u = (d.y * endDir.x - d.x * endDir.y) / det; + return {start + startDir * u, u < 0}; + } + throw std::runtime_error("no intersection"); +} + +template +std::pair, bool> +find_arc_centre(glm::vec<2, T, Q> start, Angle entrys, glm::vec<2, T, Q> end, Angle entrye) +{ + if (start == end) { + return {start, false}; + } + return find_arc_centre(start, sincosf(entrys + half_pi), end, sincosf(entrye - half_pi)); +} + +template +Angle +find_arcs_radius(glm::vec<2, T, Q> start, Rotation2D ad, glm::vec<2, T, Q> end, Rotation2D bd) +{ + using std::sqrt; + + // Calculates path across both arcs along the normals... pythagorean theorem... for some known radius r + // (2r)^2 = ((m + (X*r)) - (o + (Z*r)))^2 + ((n + (Y*r)) - (p + (W*r)))^2 + // According to symbolabs.com equation tool, that solves for r to give: + // r=(-2 m X+2 X o+2 m Z-2 o Z-2 n Y+2 Y p+2 n W-2 p W-sqrt((2 m X-2 X o-2 m Z+2 o Z+2 n Y-2 Y p-2 n W+2 p W)^(2)-4 + // (X^(2)-2 X Z+Z^(2)+Y^(2)-2 Y W+W^(2)-4) (m^(2)-2 m o+o^(2)+n^(2)-2 n p+p^(2))))/(2 (X^(2)-2 X Z+Z^(2)+Y^(2)-2 Y + // W+W^(2)-4)) + + // These exist cos limitations of online formula rearrangement, and I'm OK with that. + const auto &m {start.x}, &n {start.y}, &o {end.x}, &p {end.y}; + const auto &X {ad.x}, &Y {ad.y}, &Z {bd.x}, &W {bd.y}; + + return (2 * m * X - 2 * X * o - 2 * m * Z + 2 * o * Z + 2 * n * Y - 2 * Y * p - 2 * n * W + 2 * p * W + - sqrt(sq(-2 * m * X + 2 * X * o + 2 * m * Z - 2 * o * Z - 2 * n * Y + 2 * Y * p + 2 * n * W + - 2 * p * W) + - (4 * (sq(X) - 2 * X * Z + sq(Z) + sq(Y) - 2 * Y * W + sq(W) - 4) + * (sq(m) - 2 * m * o + sq(o) + sq(n) - 2 * n * p + sq(p))))) + / (2 * (sq(X) - 2 * X * Z + sq(Z) + sq(Y) - 2 * Y * W + sq(W) - 4)); +} + +template +std::pair +find_arcs_radius(glm::vec<2, T, Q> start, Angle entrys, glm::vec<2, T, Q> end, Angle entrye) +{ + const auto getrad = [&](auto leftOrRight) { + return find_arcs_radius(start, sincosf(entrys + leftOrRight), end, sincosf(entrye + leftOrRight)); + }; + return {getrad(-half_pi), getrad(half_pi)}; +} template auto @@ -148,6 +203,21 @@ midpoint(const std::pair & v) return std::midpoint(v.first, v.second); } +template +Arc::Arc(const glm::vec<3, T, Q> & centre3, const glm::vec<3, T, Q> & e0p, const glm::vec<3, T, Q> & e1p) : + Arc([&]() -> Arc { + const auto diffa = e0p - centre3; + const auto diffb = e1p - centre3; + const auto anga = vector_yaw(diffa); + const auto angb = [&diffb, &anga]() { + const auto angb = vector_yaw(diffb); + return (angb < anga) ? angb + two_pi : angb; + }(); + return {anga, angb}; + }()) +{ +} + // Conversions template inline constexpr auto diff --git a/test/test-maths.cpp b/test/test-maths.cpp index 3f8c2a0..ede884d 100644 --- a/test/test-maths.cpp +++ b/test/test-maths.cpp @@ -171,7 +171,8 @@ BOOST_DATA_TEST_CASE(test_find_arc_centre, BOOST_AUTO_TEST_CASE(test_find_arcs_radius) { - BOOST_CHECK_CLOSE(find_arcs_radius({10.32, 26.71}, {0.4, .92}, {2.92, 22.41}, {-0.89, -0.45}), 2.29, 1); + BOOST_CHECK_CLOSE( + find_arcs_radius(RelativePosition2D {10.32, 26.71}, {0.4, .92}, {2.92, 22.41}, {-0.89, -0.45}), 2.29, 1); } struct TestLinkStraight : public LinkStraight { -- cgit v1.2.3