quadratic-dream/carto-revive
13
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add double vector math back

Browse Source
This commit is contained in:
Yuki Kitagawa 2024-11-01 21:30:54 +08:00
parent e18ec52eec
commit 2b051a710b
3 changed files with 311 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Quadratic.Carto.csproj
View File

@ -4,6 +4,7 @@
</ItemGroup>
<ItemGroup>
<PackageReference Include="ImGui.NET" Version="1.91.0.1" />
<PackageReference Include="Vim.Math3d" Version="1.7.0" />
</ItemGroup>
<PropertyGroup>
<TargetFramework>net8.0</TargetFramework>

210
src/Math/DBasis.cs Normal file
View File

@ -0,0 +1,210 @@
using System;
using Vim.Math3d;
namespace Quadratic.Carto.MathExt;
/// <summary>
/// A 3x3 matrix of doubles. Made to aid <see cref="DVector3"/>.
/// </summary>
public readonly record struct DBasis
{
public readonly DVector3 col1;
public readonly DVector3 col2;
public readonly DVector3 col3;
public DVector3 Row1 => new(col1.X, col2.X, col3.X);
public DVector3 Row2 => new(col1.Y, col2.Y, col3.Y);
public DVector3 Row3 => new(col1.Z, col2.Z, col3.Z);
public DBasis(DVector3 col1, DVector3 col2, DVector3 col3)
{
this.col1 = col1;
this.col2 = col2;
this.col3 = col3;
}
public DBasis(Godot.Basis basis)
{
col1 = new DVector3(basis.X.X, basis.X.Y, basis.X.Z);
col2 = new DVector3(basis.Y.X, basis.Y.Y, basis.Y.Z);
col3 = new DVector3(basis.Z.X, basis.Z.Y, basis.Z.Z);
}
public DBasis(double x1, double y1, double z1, double x2, double y2, double z2, double x3, double y3, double z3)
{
col1 = new DVector3(x1, y1, z1);
col2 = new DVector3(x2, y2, z2);
col3 = new DVector3(x3, y3, z3);
}
public DBasis(DVector3 x, DVector3 y, bool normalize = false)
{
col1 = x;
col2 = y;
col3 = x.Cross(y);
if (normalize)
{
col3 = col3.Normalize();
}
}
public DBasis(double x1, double y1, double z1, double x2, double y2, double z2, bool normalize = false)
{
col1 = new DVector3(x1, y1, z1);
col2 = new DVector3(x2, y2, z2);
col3 = col1.Cross(col2);
if (normalize)
{
col3 = col3.Normalize();
}
}
public static DBasis Identity => new(
new DVector3(1, 0, 0),
new DVector3(0, 1, 0),
new DVector3(0, 0, 1)
);
/// <summary>
/// Transform a vector.
/// </summary>
/// <param name="b"></param>
/// <returns></returns>
public readonly DVector3 Transform(DVector3 b)
{
return col1 * b.X + col2 * b.Y + col3 * b.Z;
}
/// <summary>
/// Inverse transform a vector. Only works with orthonormal bases.
/// </summary>
/// <param name="b"></param>
/// <returns></returns>
public readonly DVector3 OrthonormalInvTransform(DVector3 b)
{
return this.Transpose().Transform(b);
}
public bool IsUnit()
{
return Math.Abs(col1.LengthSquared() - 1) < 1e-6
&& Math.Abs(col2.LengthSquared() - 1) < 1e-6
&& Math.Abs(col3.LengthSquared() - 1) < 1e-6;
}
public static DBasis operator *(DBasis a, DBasis b)
{
return new DBasis(
new DVector3(
a.col1.X * b.col1.X + a.col2.X * b.col1.Y + a.col3.X * b.col1.Z,
a.col1.Y * b.col1.X + a.col2.Y * b.col1.Y + a.col3.Y * b.col1.Z,
a.col1.Z * b.col1.X + a.col2.Z * b.col1.Y + a.col3.Z * b.col1.Z
),
new DVector3(
a.col1.X * b.col2.X + a.col2.X * b.col2.Y + a.col3.X * b.col2.Z,
a.col1.Y * b.col2.X + a.col2.Y * b.col2.Y + a.col3.Y * b.col2.Z,
a.col1.Z * b.col2.X + a.col2.Z * b.col2.Y + a.col3.Z * b.col2.Z
),
new DVector3(
a.col1.X * b.col3.X + a.col2.X * b.col3.Y + a.col3.X * b.col3.Z,
a.col1.Y * b.col3.X + a.col2.Y * b.col3.Y + a.col3.Y * b.col3.Z,
a.col1.Z * b.col3.X + a.col2.Z * b.col3.Y + a.col3.Z * b.col3.Z
)
);
}
public static DVector3 operator *(DBasis a, DVector3 b)
{
return a.Transform(b);
}
public static DBasis operator *(DBasis a, double b)
{
return new DBasis(a.col1 * b, a.col2 * b, a.col3 * b);
}
public static DBasis operator +(DBasis a, DBasis b)
{
return new DBasis(a.col1 + b.col1, a.col2 + b.col2, a.col3 + b.col3);
}
public static DBasis operator -(DBasis a, DBasis b)
{
return new DBasis(a.col1 - b.col1, a.col2 - b.col2, a.col3 - b.col3);
}
public static DBasis operator -(DBasis a)
{
return new DBasis(-a.col1, -a.col2, -a.col3);
}
public static DBasis operator /(DBasis a, double b)
{
return new DBasis(a.col1 / b, a.col2 / b, a.col3 / b);
}
public static DBasis operator /(DBasis a, DBasis b)
{
return a * b.Transpose();
}
public readonly DBasis Transpose()
{
return new DBasis(Row1, Row2, Row3);
}
[Obsolete("The implementation is flawed and awaiting a fix")]
public readonly DBasis Inverse()
{
double
m00 = col1.X,
m01 = col1.Y,
m02 = col1.Z,
m10 = col2.X,
m11 = col2.Y,
m12 = col2.Z,
m20 = col3.X,
m21 = col3.Y,
m22 = col3.Z;
double det = m00 * (m11 * m22 - m21 * m12) -
m01 * (m10 * m22 - m12 * m20) +
m02 * (m10 * m21 - m11 * m20);
if (Math.Abs(det) < 1e-6)
return Identity;
double invDet = 1 / det;
double
mi00 = (m11 * m22 - m21 * m12) * invDet,
mi01 = (m02 * m21 - m01 * m22) * invDet,
mi02 = (m01 * m12 - m02 * m11) * invDet,
mi10 = (m12 * m20 - m10 * m22) * invDet,
mi11 = (m00 * m22 - m02 * m20) * invDet,
mi12 = (m02 * m10 - m00 * m12) * invDet,
mi20 = (m10 * m21 - m20 * m11) * invDet,
mi21 = (m20 * m01 - m00 * m21) * invDet,
mi22 = (m00 * m11 - m10 * m01) * invDet;
return new DBasis(
new DVector3(mi00, mi10, mi20),
new DVector3(mi01, mi11, mi21),
new DVector3(mi02, mi12, mi22)
);
}
public readonly Godot.Basis AsBasis()
{
return new Godot.Basis(
(float)col1.X, (float)col1.Y, (float)col1.Z,
(float)col2.X, (float)col2.Y, (float)col2.Z,
(float)col3.X, (float)col3.Y, (float)col3.Z
);
}
public override string ToString()
{
return $"({col1}, {col2}, {col3})";
}
}

100
src/Math/VectorsExt.Conversion.cs
View File

@ -3,6 +3,26 @@ namespace Quadratic.Carto.MathExt;
public static partial class VectorsExt
{
public static Godot.Vector3 AsGodot(this Vim.Math3d.Vector3 v)
{
return new Godot.Vector3(v.X, v.Y, v.Z);
}
public static Vim.Math3d.Vector3 AsVim(this Godot.Vector3 v)
{
return new Vim.Math3d.Vector3(v.X, v.Y, v.Z);
}
public static System.Numerics.Vector3 AsSystem(this Vim.Math3d.Vector3 v)
{
return new System.Numerics.Vector3(v.X, v.Y, v.Z);
}
public static Vim.Math3d.Vector3 AsVim(this System.Numerics.Vector3 v)
{
return new Vim.Math3d.Vector3(v.X, v.Y, v.Z);
}
public static Godot.Vector3 AsGodot(this System.Numerics.Vector3 v)
{
return new Godot.Vector3(v.X, v.Y, v.Z);
@ -13,6 +33,36 @@ public static partial class VectorsExt
return new System.Numerics.Vector3(v.X, v.Y, v.Z);
}
public static DVector3 AsDouble(this Vim.Math3d.Vector3 v)
{
return new DVector3(v.X, v.Y, v.Z);
}
public static Vim.Math3d.Vector3 AsSingle(this DVector3 v)
{
return new Vim.Math3d.Vector3((float)v.X, (float)v.Y, (float)v.Z);
}
public static Godot.Vector2 AsGodot(this Vim.Math3d.Vector2 v)
{
return new Godot.Vector2(v.X, v.Y);
}
public static Vim.Math3d.Vector2 AsVim(this Godot.Vector2 v)
{
return new Vim.Math3d.Vector2(v.X, v.Y);
}
public static System.Numerics.Vector2 AsSystem(this Vim.Math3d.Vector2 v)
{
return new System.Numerics.Vector2(v.X, v.Y);
}
public static Vim.Math3d.Vector2 AsVim(this System.Numerics.Vector2 v)
{
return new Vim.Math3d.Vector2(v.X, v.Y);
}
public static Godot.Vector2 AsGodot(this System.Numerics.Vector2 v)
{
return new Godot.Vector2(v.X, v.Y);
@ -23,6 +73,26 @@ public static partial class VectorsExt
return new System.Numerics.Vector2(v.X, v.Y);
}
public static Godot.Quaternion AsGodot(this Vim.Math3d.Quaternion q)
{
return new Godot.Quaternion(q.X, q.Y, q.Z, q.W);
}
public static Vim.Math3d.Quaternion AsVim(this Godot.Quaternion q)
{
return new Vim.Math3d.Quaternion(q.X, q.Y, q.Z, q.W);
}
public static System.Numerics.Quaternion AsSystem(this Vim.Math3d.Quaternion q)
{
return new System.Numerics.Quaternion(q.X, q.Y, q.Z, q.W);
}
public static Vim.Math3d.Quaternion AsVim(this System.Numerics.Quaternion q)
{
return new Vim.Math3d.Quaternion(q.X, q.Y, q.Z, q.W);
}
public static Godot.Quaternion AsGodot(this System.Numerics.Quaternion q)
{
return new Godot.Quaternion(q.X, q.Y, q.Z, q.W);
@ -33,6 +103,26 @@ public static partial class VectorsExt
return new System.Numerics.Quaternion(q.X, q.Y, q.Z, q.W);
}
public static Godot.Vector4 AsGodot(this Vim.Math3d.Vector4 v)
{
return new Godot.Vector4(v.X, v.Y, v.Z, v.W);
}
public static Vim.Math3d.Vector4 AsVim(this Godot.Vector4 v)
{
return new Vim.Math3d.Vector4(v.X, v.Y, v.Z, v.W);
}
public static System.Numerics.Vector4 AsSystem(this Vim.Math3d.Vector4 v)
{
return new System.Numerics.Vector4(v.X, v.Y, v.Z, v.W);
}
public static Vim.Math3d.Vector4 AsVim(this System.Numerics.Vector4 v)
{
return new Vim.Math3d.Vector4(v.X, v.Y, v.Z, v.W);
}
public static Godot.Vector4 AsGodot(this System.Numerics.Vector4 v)
{
return new Godot.Vector4(v.X, v.Y, v.Z, v.W);
@ -42,6 +132,16 @@ public static partial class VectorsExt
{
return new System.Numerics.Vector4(v.X, v.Y, v.Z, v.W);
}
public static Vim.Math3d.Ray AsVim(this Ray ray)
{
return new Vim.Math3d.Ray(ray.origin.AsVim(), ray.direction.AsVim());
}
public static Ray AsGodot(this Vim.Math3d.Ray ray)
{
return new Ray(ray.Position.AsGodot(), ray.Direction.AsGodot());
}
}