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Improve math module (#396)

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* Improve math module

- Mark almost everything constexpr
- Equality (a == b) is now exact, down to the bit level. If you want approximate equality use the new ApproxEqual method/static method
- Rename Nz::Extend to Nz::Extent
- Removed Make[] and Set[] methods in favor of their static counterpart and operator=
This commit is contained in:
Jérôme Leclercq
2023-06-02 22:30:51 +02:00
committed by GitHub
parent de88873c35
commit 1a55b550fb
64 changed files with 2200 additions and 3758 deletions
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206
include/Nazara/Math/EulerAngles.inl
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@@ -29,11 +29,12 @@ namespace Nz
* \param Y Yaw component = Y axis
* \param R Roll component = Z axis
*/
template<typename T>
EulerAngles<T>::EulerAngles(DegreeAngle<T> P, DegreeAngle<T> Y, DegreeAngle<T> R)
constexpr EulerAngles<T>::EulerAngles(DegreeAngle<T> P, DegreeAngle<T> Y, DegreeAngle<T> R) :
pitch(P),
yaw(Y),
roll(R)
{
Set(P, Y, R);
}
/*!
@@ -41,11 +42,10 @@ namespace Nz
*
* \param angles[3] angles[0] is pitch component, angles[1] is yaw component and angles[2] is roll component
*/
template<typename T>
EulerAngles<T>::EulerAngles(const DegreeAngle<T> angles[3])
constexpr EulerAngles<T>::EulerAngles(const DegreeAngle<T> angles[3]) :
EulerAngles(angles[0], angles[1], angles[2])
{
Set(angles);
}
/*!
@@ -55,9 +55,9 @@ namespace Nz
*/
template<typename T>
template<AngleUnit Unit>
EulerAngles<T>::EulerAngles(const Angle<Unit, T>& angle)
constexpr EulerAngles<T>::EulerAngles(const Angle<Unit, T>& angle) :
EulerAngles(angle.ToEulerAngles())
{
Set(angle);
}
/*!
@@ -66,9 +66,9 @@ namespace Nz
* \param quat Quaternion representing a rotation of space
*/
template<typename T>
EulerAngles<T>::EulerAngles(const Quaternion<T>& quat)
constexpr EulerAngles<T>::EulerAngles(const Quaternion<T>& quat) :
EulerAngles(quat.ToEulerAngles())
{
Set(quat);
}
/*!
@@ -79,21 +79,17 @@ namespace Nz
template<typename T>
template<typename U>
EulerAngles<T>::EulerAngles(const EulerAngles<U>& angles)
constexpr EulerAngles<T>::EulerAngles(const EulerAngles<U>& angles) :
pitch(DegreeAngle<T>(angles.pitch)),
yaw(DegreeAngle<T>(angles.yaw)),
roll(DegreeAngle<T>(angles.roll))
{
Set(angles);
}
/*!
* \brief Makes the euler angle (0, 0, 0)
*
* \see Zero
*/
template<typename T>
void EulerAngles<T>::MakeZero()
constexpr bool EulerAngles<T>::ApproxEqual(const EulerAngles& angles, T maxDifference) const
{
Set(T(0.0), T(0.0), T(0.0));
return pitch.ApproxEqual(angles.pitch, maxDifference) && yaw.ApproxEqual(angles.yaw, maxDifference) && roll.ApproxEqual(angles.roll, maxDifference);
}
/*!
@@ -102,9 +98,8 @@ namespace Nz
*
* \see NormalizeAngle
*/
template<typename T>
EulerAngles<T>& EulerAngles<T>::Normalize()
constexpr EulerAngles<T>& EulerAngles<T>::Normalize()
{
pitch.Normalize();
yaw.Normalize();
@@ -113,94 +108,10 @@ namespace Nz
return *this;
}
/*!
* \brief Sets the components of the euler angle
* \return A reference to this euler angle
*
* \param P Pitch component = X axis
* \param Y Yaw component = Y axis
* \param R Roll component = Z axis
*/
template<typename T>
EulerAngles<T>& EulerAngles<T>::Set(DegreeAngle<T> P, DegreeAngle<T> Y, DegreeAngle<T> R)
{
pitch = P;
yaw = Y;
roll = R;
return *this;
}
/*!
* \brief Sets the components of the euler angle from an array of three elements
* \return A reference to this euler angle
*
* \param angles[3] angles[0] is pitch component, angles[1] is yaw component and angles[2] is roll component
*/
template<typename T>
EulerAngles<T>& EulerAngles<T>::Set(const DegreeAngle<T> angles[3])
{
pitch = angles[0];
yaw = angles[1];
roll = angles[2];
return *this;
}
/*!
* \brief Sets the components of the euler angle from a 2D rotation specified by an Angle
* \return A reference to this euler angle
*
* \param angle 2D angle
*
* \see Angle
*/
template<typename T>
template<AngleUnit Unit>
EulerAngles<T>& EulerAngles<T>::Set(const Angle<Unit, T>& angle)
{
return Set(angle.ToEulerAngles());
}
/*!
* \brief Sets the components of the euler angle from a quaternion
* \return A reference to this euler angle
*
* \param quat Quaternion representing a rotation of space
*/
template<typename T>
EulerAngles<T>& EulerAngles<T>::Set(const Quaternion<T>& quat)
{
return Set(quat.ToEulerAngles());
}
/*!
* \brief Sets the components of the euler angle from another type of EulerAngles
* \return A reference to this euler angle
*
* \param angles EulerAngles of type U to convert its components
*/
template<typename T>
template<typename U>
EulerAngles<T>& EulerAngles<T>::Set(const EulerAngles<U>& angles)
{
pitch.Set(angles.pitch);
yaw.Set(angles.yaw);
roll.Set(angles.roll);
return *this;
}
/*!
* \brief Converts the euler angle to quaternion
* \return A Quaternion which represents the rotation of this euler angle
*/
template<typename T>
Quaternion<T> EulerAngles<T>::ToQuaternion() const
{
@@ -223,7 +134,6 @@ namespace Nz
* \brief Gives a string representation
* \return A string representation of the object: "EulerAngles(pitch, yaw, roll)"
*/
template<typename T>
std::string EulerAngles<T>::ToString() const
{
@@ -239,9 +149,8 @@ namespace Nz
*
* \param angles The other euler angle to add components with
*/
template<typename T>
EulerAngles<T> EulerAngles<T>::operator+(const EulerAngles& angles) const
constexpr EulerAngles<T> EulerAngles<T>::operator+(const EulerAngles& angles) const
{
return EulerAngles(pitch + angles.pitch,
yaw + angles.yaw,
@@ -254,9 +163,8 @@ namespace Nz
*
* \param angles The other euler angle to substract components with
*/
template<typename T>
EulerAngles<T> EulerAngles<T>::operator-(const EulerAngles& angles) const
constexpr EulerAngles<T> EulerAngles<T>::operator-(const EulerAngles& angles) const
{
return EulerAngles(pitch - angles.pitch,
yaw - angles.yaw,
@@ -269,9 +177,8 @@ namespace Nz
*
* \param angles The other euler angle to add components with
*/
template<typename T>
EulerAngles<T>& EulerAngles<T>::operator+=(const EulerAngles& angles)
constexpr EulerAngles<T>& EulerAngles<T>::operator+=(const EulerAngles& angles)
{
pitch += angles.pitch;
yaw += angles.yaw;
@@ -286,9 +193,8 @@ namespace Nz
*
* \param angles The other euler angle to substract components with
*/
template<typename T>
EulerAngles<T>& EulerAngles<T>::operator-=(const EulerAngles& angles)
constexpr EulerAngles<T>& EulerAngles<T>::operator-=(const EulerAngles& angles)
{
pitch -= angles.pitch;
yaw -= angles.yaw;
@@ -303,9 +209,8 @@ namespace Nz
*
* \param angles Other euler angle to compare with
*/
template<typename T>
bool EulerAngles<T>::operator==(const EulerAngles& angles) const
constexpr bool EulerAngles<T>::operator==(const EulerAngles& angles) const
{
return pitch == angles.pitch && yaw == angles.yaw && roll == angles.roll;
}
@@ -316,27 +221,74 @@ namespace Nz
*
* \param angles Other euler angle to compare with
*/
template<typename T>
bool EulerAngles<T>::operator!=(const EulerAngles& angles) const
constexpr bool EulerAngles<T>::operator!=(const EulerAngles& angles) const
{
return !operator==(angles);
}
template<typename T>
constexpr bool EulerAngles<T>::operator<(const EulerAngles& angles) const
{
if (pitch != angles.pitch)
return pitch < angles.pitch;
if (yaw != angles.yaw)
return yaw < angles.yaw;
return roll < angles.roll;
}
template<typename T>
constexpr bool EulerAngles<T>::operator<=(const EulerAngles& angles) const
{
if (pitch != angles.pitch)
return pitch < angles.pitch;
if (yaw != angles.yaw)
return yaw < angles.yaw;
return roll <= angles.roll;
}
template<typename T>
constexpr bool EulerAngles<T>::operator>(const EulerAngles& angles) const
{
if (pitch != angles.pitch)
return pitch > angles.pitch;
if (yaw != angles.yaw)
return yaw > angles.yaw;
return roll > angles.roll;
}
template<typename T>
constexpr bool EulerAngles<T>::operator>=(const EulerAngles& angles) const
{
if (pitch != angles.pitch)
return pitch > angles.pitch;
if (yaw != angles.yaw)
return yaw > angles.yaw;
return roll >= angles.roll;
}
template<typename T>
constexpr bool EulerAngles<T>::ApproxEqual(const EulerAngles& lhs, const EulerAngles& rhs, T maxDifference)
{
return lhs.ApproxEqual(rhs, maxDifference);
}
/*!
* \brief Shorthand for the euler angle (0, 0, 0)
* \return A euler angle with components (0, 0, 0)
*
* \see MakeZero
*/
template<typename T>
EulerAngles<T> EulerAngles<T>::Zero()
constexpr EulerAngles<T> EulerAngles<T>::Zero()
{
EulerAngles angles;
angles.MakeZero();
return angles;
return EulerAngles(0, 0, 0);
}
/*!