mirror of
https://github.com/pocketpy/pocketpy
synced 2025-10-20 11:30:18 +00:00
some cleanup
This commit is contained in:
blueloveTH
parent
ec75972d92
commit
8f3c3b446e
@ -91,148 +91,39 @@ struct Mat3x3{
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float v[9];
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};
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Mat3x3() {}
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Mat3x3(float _11, float _12, float _13,
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float _21, float _22, float _23,
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float _31, float _32, float _33)
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: _11(_11), _12(_12), _13(_13)
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, _21(_21), _22(_22), _23(_23)
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, _31(_31), _32(_32), _33(_33) {}
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Mat3x3();
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Mat3x3(float, float, float, float, float, float, float, float, float);
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Mat3x3(const Mat3x3& other) = default;
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void set_zeros(){ for (int i=0; i<9; ++i) v[i] = 0.0f; }
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void set_ones(){ for (int i=0; i<9; ++i) v[i] = 1.0f; }
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void set_identity(){ set_zeros(); _11 = _22 = _33 = 1.0f; }
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void set_zeros();
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void set_ones();
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void set_identity();
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static Mat3x3 zeros(){
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return Mat3x3(0, 0, 0, 0, 0, 0, 0, 0, 0);
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}
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static Mat3x3 zeros();
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static Mat3x3 ones();
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static Mat3x3 identity();
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static Mat3x3 ones(){
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return Mat3x3(1, 1, 1, 1, 1, 1, 1, 1, 1);
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}
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Mat3x3 operator+(const Mat3x3& other) const;
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Mat3x3 operator-(const Mat3x3& other) const;
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Mat3x3 operator*(float scalar) const;
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Mat3x3 operator/(float scalar) const;
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static Mat3x3 identity(){
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return Mat3x3(1, 0, 0, 0, 1, 0, 0, 0, 1);
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}
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bool operator==(const Mat3x3& other) const;
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bool operator!=(const Mat3x3& other) const;
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Mat3x3 matmul(const Mat3x3& other) const;
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Vec3 matmul(const Vec3& other) const;
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Mat3x3 operator+(const Mat3x3& other) const{
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Mat3x3 ret;
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for (int i=0; i<9; ++i) ret.v[i] = v[i] + other.v[i];
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return ret;
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}
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Mat3x3 operator-(const Mat3x3& other) const{
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Mat3x3 ret;
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for (int i=0; i<9; ++i) ret.v[i] = v[i] - other.v[i];
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return ret;
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}
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Mat3x3 operator*(float scalar) const{
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Mat3x3 ret;
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for (int i=0; i<9; ++i) ret.v[i] = v[i] * scalar;
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return ret;
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}
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Mat3x3 operator/(float scalar) const{
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Mat3x3 ret;
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for (int i=0; i<9; ++i) ret.v[i] = v[i] / scalar;
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return ret;
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}
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void matmul(const Mat3x3& other, Mat3x3& out) const{
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out._11 = _11 * other._11 + _12 * other._21 + _13 * other._31;
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out._12 = _11 * other._12 + _12 * other._22 + _13 * other._32;
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out._13 = _11 * other._13 + _12 * other._23 + _13 * other._33;
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out._21 = _21 * other._11 + _22 * other._21 + _23 * other._31;
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out._22 = _21 * other._12 + _22 * other._22 + _23 * other._32;
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out._23 = _21 * other._13 + _22 * other._23 + _23 * other._33;
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out._31 = _31 * other._11 + _32 * other._21 + _33 * other._31;
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out._32 = _31 * other._12 + _32 * other._22 + _33 * other._32;
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out._33 = _31 * other._13 + _32 * other._23 + _33 * other._33;
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}
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void matmul(const Vec3& other, Vec3& out) const{
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out.x = _11 * other.x + _12 * other.y + _13 * other.z;
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out.y = _21 * other.x + _22 * other.y + _23 * other.z;
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out.z = _31 * other.x + _32 * other.y + _33 * other.z;
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}
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bool operator==(const Mat3x3& other) const{
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for (int i=0; i<9; ++i){
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if (!isclose(v[i], other.v[i])) return false;
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}
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return true;
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}
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bool operator!=(const Mat3x3& other) const{
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for (int i=0; i<9; ++i){
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if (!isclose(v[i], other.v[i])) return true;
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}
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return false;
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}
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float determinant() const{
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return _11 * _22 * _33 + _12 * _23 * _31 + _13 * _21 * _32
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- _11 * _23 * _32 - _12 * _21 * _33 - _13 * _22 * _31;
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}
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Mat3x3 transpose() const{
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Mat3x3 ret;
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ret._11 = _11; ret._12 = _21; ret._13 = _31;
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ret._21 = _12; ret._22 = _22; ret._23 = _32;
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ret._31 = _13; ret._32 = _23; ret._33 = _33;
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return ret;
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}
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bool inverse(Mat3x3& out) const{
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float det = determinant();
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if (isclose(det, 0)) return false;
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float inv_det = 1.0f / det;
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out._11 = (_22 * _33 - _23 * _32) * inv_det;
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out._12 = (_13 * _32 - _12 * _33) * inv_det;
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out._13 = (_12 * _23 - _13 * _22) * inv_det;
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out._21 = (_23 * _31 - _21 * _33) * inv_det;
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out._22 = (_11 * _33 - _13 * _31) * inv_det;
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out._23 = (_13 * _21 - _11 * _23) * inv_det;
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out._31 = (_21 * _32 - _22 * _31) * inv_det;
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out._32 = (_12 * _31 - _11 * _32) * inv_det;
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out._33 = (_11 * _22 - _12 * _21) * inv_det;
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return true;
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}
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float determinant() const;
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Mat3x3 transpose() const;
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bool inverse(Mat3x3& out) const;
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/*************** affine transformations ***************/
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static Mat3x3 trs(Vec2 t, float radian, Vec2 s){
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float cr = cosf(radian);
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float sr = sinf(radian);
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return Mat3x3(s.x * cr, -s.y * sr, t.x,
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s.x * sr, s.y * cr, t.y,
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0.0f, 0.0f, 1.0f);
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}
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bool is_affine() const{
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float det = _11 * _22 - _12 * _21;
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if(isclose(det, 0)) return false;
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return _31 == 0.0f && _32 == 0.0f && _33 == 1.0f;
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}
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Vec2 _t() const { return Vec2(_13, _23); }
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float _r() const { return atan2f(_21, _11); }
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Vec2 _s() const {
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return Vec2(
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sqrtf(_11 * _11 + _21 * _21),
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sqrtf(_12 * _12 + _22 * _22)
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);
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}
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Vec2 transform_point(Vec2 vec) const {
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return Vec2(_11 * vec.x + _12 * vec.y + _13, _21 * vec.x + _22 * vec.y + _23);
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}
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Vec2 transform_vector(Vec2 vec) const {
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return Vec2(_11 * vec.x + _12 * vec.y, _21 * vec.x + _22 * vec.y);
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}
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static Mat3x3 trs(Vec2 t, float radian, Vec2 s);
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bool is_affine() const;
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Vec2 _t() const;
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float _r() const;
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Vec2 _s() const;
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};
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struct PyVec2: Vec2 {
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171
src/linalg.cpp
171
src/linalg.cpp
@ -129,11 +129,8 @@ static Vec2 SmoothDamp(Vec2 current, Vec2 target, PyVec2& currentVelocity, float
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float radian = CAST(f64, args[1]);
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float cr = cosf(radian);
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float sr = sinf(radian);
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Mat3x3 rotate(cr, -sr, 0.0f,
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sr, cr, 0.0f,
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0.0f, 0.0f, 1.0f);
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self = rotate.transform_vector(self);
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return VAR(self);
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Vec2 res(self.x * cr - self.y * sr, self.x * sr + self.y * cr);
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return VAR_T(PyVec2, res);
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});
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PY_FIELD(PyVec2, "x", _, x)
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@ -346,15 +343,11 @@ static Vec2 SmoothDamp(Vec2 current, Vec2 target, PyVec2& currentVelocity, float
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PyMat3x3& self = _CAST(PyMat3x3&, _0);
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if(is_non_tagged_type(_1, PyMat3x3::_type(vm))){
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const PyMat3x3& other = _CAST(PyMat3x3&, _1);
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Mat3x3 out;
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self.matmul(other, out);
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return VAR_T(PyMat3x3, out);
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return VAR_T(PyMat3x3, self.matmul(other));
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}
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if(is_non_tagged_type(_1, PyVec3::_type(vm))){
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const PyVec3& other = _CAST(PyVec3&, _1);
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Vec3 out;
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self.matmul(other, out);
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return VAR_T(PyVec3, out);
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return VAR_T(PyVec3, self.matmul(other));
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}
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return vm->NotImplemented;
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});
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@ -363,9 +356,7 @@ static Vec2 SmoothDamp(Vec2 current, Vec2 target, PyVec2& currentVelocity, float
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PyMat3x3& self = _CAST(PyMat3x3&, args[0]);
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vm->check_non_tagged_type(args[1], PyMat3x3::_type(vm));
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const PyMat3x3& other = _CAST(PyMat3x3&, args[1]);
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Mat3x3 out;
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self.matmul(other, out);
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self = out;
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self = self.matmul(other);
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return args[0];
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});
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@ -453,15 +444,17 @@ static Vec2 SmoothDamp(Vec2 current, Vec2 target, PyVec2& currentVelocity, float
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});
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vm->bind_method<1>(type, "transform_point", [](VM* vm, ArgsView args){
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PyMat3x3& self = _CAST(PyMat3x3&, args[0]);
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PyVec2& v = CAST(PyVec2&, args[1]);
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return VAR_T(PyVec2, self.transform_point(v));
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const PyMat3x3& self = _CAST(PyMat3x3&, args[0]);
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Vec2 v = CAST(Vec2, args[1]);
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Vec2 res = Vec2(self._11 * v.x + self._12 * v.y + self._13, self._21 * v.x + self._22 * v.y + self._23);
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return VAR_T(PyVec2, res);
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});
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vm->bind_method<1>(type, "transform_vector", [](VM* vm, ArgsView args){
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PyMat3x3& self = _CAST(PyMat3x3&, args[0]);
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PyVec2& v = CAST(PyVec2&, args[1]);
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return VAR_T(PyVec2, self.transform_vector(v));
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const PyMat3x3& self = _CAST(PyMat3x3&, args[0]);
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Vec2 v = CAST(Vec2, args[1]);
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Vec2 res = Vec2(self._11 * v.x + self._12 * v.y, self._21 * v.x + self._22 * v.y);
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return VAR_T(PyVec2, res);
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});
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}
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@ -480,4 +473,142 @@ void add_module_linalg(VM* vm){
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linalg->attr().set("mat3x3_p", float_p);
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}
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/////////////// mat3x3 ///////////////
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Mat3x3::Mat3x3() {}
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Mat3x3::Mat3x3(float _11, float _12, float _13,
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float _21, float _22, float _23,
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float _31, float _32, float _33)
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: _11(_11), _12(_12), _13(_13)
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, _21(_21), _22(_22), _23(_23)
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, _31(_31), _32(_32), _33(_33) {}
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void Mat3x3::set_zeros(){ for (int i=0; i<9; ++i) v[i] = 0.0f; }
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void Mat3x3::set_ones(){ for (int i=0; i<9; ++i) v[i] = 1.0f; }
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void Mat3x3::set_identity(){ set_zeros(); _11 = _22 = _33 = 1.0f; }
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Mat3x3 Mat3x3::zeros(){
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return Mat3x3(0, 0, 0, 0, 0, 0, 0, 0, 0);
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}
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Mat3x3 Mat3x3::ones(){
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return Mat3x3(1, 1, 1, 1, 1, 1, 1, 1, 1);
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}
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Mat3x3 Mat3x3::identity(){
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return Mat3x3(1, 0, 0, 0, 1, 0, 0, 0, 1);
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}
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Mat3x3 Mat3x3::operator+(const Mat3x3& other) const{
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Mat3x3 ret;
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for (int i=0; i<9; ++i) ret.v[i] = v[i] + other.v[i];
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return ret;
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}
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Mat3x3 Mat3x3::operator-(const Mat3x3& other) const{
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Mat3x3 ret;
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for (int i=0; i<9; ++i) ret.v[i] = v[i] - other.v[i];
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return ret;
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}
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Mat3x3 Mat3x3::operator*(float scalar) const{
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Mat3x3 ret;
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for (int i=0; i<9; ++i) ret.v[i] = v[i] * scalar;
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return ret;
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}
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Mat3x3 Mat3x3::operator/(float scalar) const{
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Mat3x3 ret;
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for (int i=0; i<9; ++i) ret.v[i] = v[i] / scalar;
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return ret;
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}
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bool Mat3x3::operator==(const Mat3x3& other) const{
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for (int i=0; i<9; ++i){
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if (!isclose(v[i], other.v[i])) return false;
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}
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return true;
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}
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bool Mat3x3::operator!=(const Mat3x3& other) const{
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for (int i=0; i<9; ++i){
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if (!isclose(v[i], other.v[i])) return true;
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}
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return false;
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}
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Mat3x3 Mat3x3::matmul(const Mat3x3& other) const{
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Mat3x3 out;
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out._11 = _11 * other._11 + _12 * other._21 + _13 * other._31;
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out._12 = _11 * other._12 + _12 * other._22 + _13 * other._32;
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out._13 = _11 * other._13 + _12 * other._23 + _13 * other._33;
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out._21 = _21 * other._11 + _22 * other._21 + _23 * other._31;
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out._22 = _21 * other._12 + _22 * other._22 + _23 * other._32;
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out._23 = _21 * other._13 + _22 * other._23 + _23 * other._33;
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out._31 = _31 * other._11 + _32 * other._21 + _33 * other._31;
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out._32 = _31 * other._12 + _32 * other._22 + _33 * other._32;
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out._33 = _31 * other._13 + _32 * other._23 + _33 * other._33;
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return out;
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}
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Vec3 Mat3x3::matmul(const Vec3& other) const{
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Vec3 out;
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out.x = _11 * other.x + _12 * other.y + _13 * other.z;
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out.y = _21 * other.x + _22 * other.y + _23 * other.z;
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out.z = _31 * other.x + _32 * other.y + _33 * other.z;
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return out;
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}
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float Mat3x3::determinant() const{
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return _11 * _22 * _33 + _12 * _23 * _31 + _13 * _21 * _32
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- _11 * _23 * _32 - _12 * _21 * _33 - _13 * _22 * _31;
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}
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Mat3x3 Mat3x3::transpose() const{
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Mat3x3 ret;
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ret._11 = _11; ret._12 = _21; ret._13 = _31;
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ret._21 = _12; ret._22 = _22; ret._23 = _32;
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ret._31 = _13; ret._32 = _23; ret._33 = _33;
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return ret;
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}
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bool Mat3x3::inverse(Mat3x3& out) const{
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float det = determinant();
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if (isclose(det, 0)) return false;
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float inv_det = 1.0f / det;
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out._11 = (_22 * _33 - _23 * _32) * inv_det;
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out._12 = (_13 * _32 - _12 * _33) * inv_det;
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out._13 = (_12 * _23 - _13 * _22) * inv_det;
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out._21 = (_23 * _31 - _21 * _33) * inv_det;
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out._22 = (_11 * _33 - _13 * _31) * inv_det;
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out._23 = (_13 * _21 - _11 * _23) * inv_det;
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out._31 = (_21 * _32 - _22 * _31) * inv_det;
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out._32 = (_12 * _31 - _11 * _32) * inv_det;
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out._33 = (_11 * _22 - _12 * _21) * inv_det;
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return true;
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}
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Mat3x3 Mat3x3::trs(Vec2 t, float radian, Vec2 s){
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float cr = cosf(radian);
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float sr = sinf(radian);
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return Mat3x3(s.x * cr, -s.y * sr, t.x,
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s.x * sr, s.y * cr, t.y,
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0.0f, 0.0f, 1.0f);
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}
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bool Mat3x3::is_affine() const{
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float det = _11 * _22 - _12 * _21;
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if(isclose(det, 0)) return false;
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return _31 == 0.0f && _32 == 0.0f && _33 == 1.0f;
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}
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Vec2 Mat3x3::_t() const { return Vec2(_13, _23); }
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float Mat3x3::_r() const { return atan2f(_21, _11); }
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Vec2 Mat3x3::_s() const {
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return Vec2(
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sqrtf(_11 * _11 + _21 * _21),
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sqrtf(_12 * _12 + _22 * _22)
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);
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}
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} // namespace pkpy
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