diff options
| -rw-r--r-- | lib/maths.h | 46 |
1 files changed, 25 insertions, 21 deletions
diff --git a/lib/maths.h b/lib/maths.h index f6130e7..3959896 100644 --- a/lib/maths.h +++ b/lib/maths.h @@ -9,8 +9,11 @@ #include <stdexcept> #include <utility> +template<typename T> +concept Arithmetic = std::is_arithmetic_v<T>; + struct Arc : public std::pair<Angle, Angle> { - template<glm::length_t Lc, glm::length_t Le, typename T, glm::qualifier Q> + template<glm::length_t Lc, glm::length_t Le, Arithmetic T, glm::qualifier Q> requires(Lc >= 2, Le >= 2) Arc(const glm::vec<Lc, T, Q> & centre, const glm::vec<Le, T, Q> & e0p, const glm::vec<Le, T, Q> & e1p) : Arc {RelativePosition2D {e0p.xy() - centre.xy()}, RelativePosition2D {e1p.xy() - centre.xy()}} @@ -119,7 +122,7 @@ namespace { } // Helper to lookup into a matrix given an xy vector coordinate - template<glm::length_t C, glm::length_t R, typename T, glm::qualifier Q, std::integral I = glm::length_t> + template<glm::length_t C, glm::length_t R, Arithmetic T, glm::qualifier Q, std::integral I = glm::length_t> constexpr auto & operator^(glm::mat<C, R, T, Q> & matrix, const glm::vec<2, I> rowCol) { @@ -201,7 +204,7 @@ rotate_yp(const glm::vec<2, T, Q> & angles) return rotate_yp<D>(angles.y, angles.x); } -template<glm::length_t D, glm::qualifier Q = glm::qualifier::defaultp, typename T> +template<glm::length_t D, glm::qualifier Q = glm::qualifier::defaultp, std::floating_point T> requires(D >= 2) constexpr auto vector_yaw(const glm::vec<D, T, Q> & diff) @@ -209,7 +212,7 @@ vector_yaw(const glm::vec<D, T, Q> & diff) return std::atan2(diff.x, diff.y); } -template<glm::length_t D, glm::qualifier Q = glm::qualifier::defaultp, typename T> +template<glm::length_t D, glm::qualifier Q = glm::qualifier::defaultp, std::floating_point T> requires(D >= 3) constexpr auto vector_pitch(const glm::vec<D, T, Q> & diff) @@ -217,7 +220,7 @@ vector_pitch(const glm::vec<D, T, Q> & diff) return std::atan(diff.z); } -template<typename T, glm::qualifier Q> +template<std::floating_point T, glm::qualifier Q> constexpr glm::vec<2, T, Q> vector_normal(const glm::vec<2, T, Q> & vector) { @@ -231,7 +234,7 @@ round_frac(const T value, const T frac) return std::round(value / frac) * frac; } -template<typename T> +template<Arithmetic T> requires requires(T value) { value * value; } constexpr auto sq(T value) @@ -264,14 +267,15 @@ crossProduct(const glm::vec<3, T, Q> & valueA, const glm::vec<3, T, Q> & valueB) return glm::cross(valueA, valueB); } -template<typename R = float, typename Ta, typename Tb> +template<Arithmetic R = float, Arithmetic Ta, Arithmetic Tb> constexpr auto ratio(const Ta valueA, const Tb valueB) { - return (static_cast<R>(valueA) / static_cast<R>(valueB)); + using Common = std::common_type_t<Ta, Ta>; + return static_cast<R>((static_cast<Common>(valueA) / static_cast<Common>(valueB))); } -template<typename R = float, typename T, glm::qualifier Q> +template<Arithmetic R = float, Arithmetic T, glm::qualifier Q> constexpr auto ratio(const glm::vec<2, T, Q> & value) { @@ -285,14 +289,14 @@ perspective_divide(const glm::vec<4, T, Q> & value) return value / value.w; } -template<glm::length_t L1, glm::length_t L2, typename T, glm::qualifier Q> +template<glm::length_t L1, glm::length_t L2, Arithmetic T, glm::qualifier Q> constexpr glm::vec<L1 + L2, T, Q> operator||(const glm::vec<L1, T, Q> valueA, const glm::vec<L2, T, Q> valueB) { return {valueA, valueB}; } -template<glm::length_t L, typename T, glm::qualifier Q> +template<glm::length_t L, Arithmetic T, glm::qualifier Q> constexpr glm::vec<L + 1, T, Q> operator||(const glm::vec<L, T, Q> valueA, const T valueB) { @@ -327,9 +331,9 @@ normalize(T ang) return ang; } -template<typename T> using CalcType = std::conditional_t<std::is_floating_point_v<T>, T, int64_t>; +template<Arithmetic T> using CalcType = std::conditional_t<std::is_floating_point_v<T>, T, int64_t>; -template<typename T, glm::qualifier Q = glm::defaultp> +template<Arithmetic T, glm::qualifier Q = glm::defaultp> [[nodiscard]] constexpr std::optional<glm::vec<2, T, Q>> linesIntersectAt(const glm::vec<2, T, Q> Aabs, const glm::vec<2, T, Q> Babs, const glm::vec<2, T, Q> Cabs, const glm::vec<2, T, Q> Dabs) @@ -355,7 +359,7 @@ linesIntersectAt(const glm::vec<2, T, Q> Aabs, const glm::vec<2, T, Q> Babs, con return Aabs + CVec {(b1 * c2) / -determinant, (a1 * c2) / determinant}; } -template<typename T, glm::qualifier Q> +template<Arithmetic T, glm::qualifier Q> std::pair<glm::vec<2, T, Q>, bool> find_arc_centre(glm::vec<2, T, Q> start, Rotation2D startDir, glm::vec<2, T, Q> end, Rotation2D endDir) { @@ -368,7 +372,7 @@ find_arc_centre(glm::vec<2, T, Q> start, Rotation2D startDir, glm::vec<2, T, Q> throw std::runtime_error("no intersection"); } -template<typename T, glm::qualifier Q> +template<Arithmetic T, glm::qualifier Q> std::pair<glm::vec<2, T, Q>, bool> find_arc_centre(glm::vec<2, T, Q> start, Angle entrys, glm::vec<2, T, Q> end, Angle entrye) { @@ -378,7 +382,7 @@ find_arc_centre(glm::vec<2, T, Q> start, Angle entrys, glm::vec<2, T, Q> end, An return find_arc_centre(start, sincos(entrys + half_pi), end, sincos(entrye - half_pi)); } -template<typename T, glm::qualifier Q> +template<Arithmetic T, glm::qualifier Q> Angle find_arcs_radius(glm::vec<2, T, Q> start, Rotation2D ad, glm::vec<2, T, Q> end, Rotation2D bd) { @@ -403,7 +407,7 @@ find_arcs_radius(glm::vec<2, T, Q> start, Rotation2D ad, glm::vec<2, T, Q> end, / (2 * (sq(X) - 2 * X * Z + sq(Z) + sq(Y) - 2 * Y * W + sq(W) - 4)); } -template<typename T, glm::qualifier Q> +template<Arithmetic T, glm::qualifier Q> std::pair<Angle, Angle> find_arcs_radius(glm::vec<2, T, Q> start, Angle entrys, glm::vec<2, T, Q> end, Angle entrye) { @@ -413,7 +417,7 @@ find_arcs_radius(glm::vec<2, T, Q> start, Angle entrys, glm::vec<2, T, Q> end, A return {getrad(-half_pi), getrad(half_pi)}; } -template<typename T> +template<Arithmetic T> auto midpoint(const std::pair<T, T> & v) { @@ -421,7 +425,7 @@ midpoint(const std::pair<T, T> & v) } // std::pow is not constexpr -template<typename T> +template<Arithmetic T> requires requires(T n) { n *= n; } constexpr T pow(const T base, std::integral auto exp) @@ -434,14 +438,14 @@ pow(const T base, std::integral auto exp) } // Conversions -template<typename T> +template<Arithmetic T> constexpr auto mph_to_ms(T v) { return v / 2.237L; } -template<typename T> +template<Arithmetic T> constexpr auto kph_to_ms(T v) { |