From: Mikko Rasa <tdb@tdb.fi>
Date: Thu, 30 Aug 2012 20:41:33 +0000 (+0300)
Subject: Basic vector and matrix classes
X-Git-Url: http://git.tdb.fi/?p=libs%2Fmath.git;a=commitdiff_plain;h=4d9e2d03503ba3d90633d2acdaadf64869bf2ab4

Basic vector and matrix classes

Some classes are still incomplete
---

4d9e2d03503ba3d90633d2acdaadf64869bf2ab4
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..e00c88d
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+/.config
+/libmsplinal.so
+/msplinal.pc
+/temp
diff --git a/Build b/Build
new file mode 100644
index 0000000..51f75b9
--- /dev/null
+++ b/Build
@@ -0,0 +1,12 @@
+package "msplinal"
+{
+	library "msplinal"
+	{
+		source "source";
+		install true;
+		install_map
+		{
+			map "source" "include/msp/linal";
+		};
+	};
+};
diff --git a/source/dummy.cpp b/source/dummy.cpp
new file mode 100644
index 0000000..dd69a99
--- /dev/null
+++ b/source/dummy.cpp
@@ -0,0 +1,8 @@
+#include "vector.h"
+#include "vector3.h"
+#include "matrix.h"
+#include "squarematrix.h"
+#include "matrix4.h"
+
+/* This dummy file is needed to make Builder happy, and also serves as a syntax
+check by pulling in all the headers. */
diff --git a/source/matrix.h b/source/matrix.h
new file mode 100644
index 0000000..00e960d
--- /dev/null
+++ b/source/matrix.h
@@ -0,0 +1,149 @@
+#ifndef MSP_LIEAL_MATMIX_H_
+#define MSP_LIEAL_MATMIX_H_
+
+#include "vector.h"
+
+namespace Msp {
+namespace LinAl {
+
+/**
+A general mathematical matrix.
+*/
+template<typename T, unsigned M, unsigned N>
+class Matrix
+{
+private:
+	T data[M*N];
+
+public:
+	Matrix();
+	Matrix(const T *);
+	template<typename U>
+	Matrix(const Matrix<U, M, N> &);
+	static Matrix from_columns(const Vector<T, M> *);
+	static Matrix from_rows(const Vector<T, N> *);
+
+	T &operator()(unsigned, unsigned);
+	const T &operator()(unsigned, unsigned) const;
+
+	Matrix &operator*=(T);
+	Matrix &operator/=(T);
+	Matrix &operator+=(const Matrix &);
+	Matrix &operator-=(const Matrix &);
+
+	Matrix<T, N, M> transpose() const;
+};
+
+template<typename T, unsigned M, unsigned N>
+inline T &Matrix<T, M, N>::operator()(unsigned i, unsigned j)
+{
+	return data[i+M*j];
+}
+
+template<typename T, unsigned M, unsigned N>
+inline const T &Matrix<T, M, N>::operator()(unsigned i, unsigned j) const
+{
+	return data[i+M*j];
+}
+
+template<typename T, unsigned M, unsigned N>
+inline Matrix<T, M, N> &Matrix<T, M, N>::operator*=(T s)
+{
+	for(unsigned i=0; i<M*N; ++i)
+		data[i] *= s;
+	return *this;
+}
+
+template<typename T, unsigned M, unsigned N>
+inline Matrix<T, M, N> operator*(const Matrix<T, M, N> &m, T s)
+{
+	Matrix<T, M, N> r(m);
+	return r *= s;
+}
+
+template<typename T, unsigned M, unsigned N>
+inline Matrix<T, M, N> operator*(T s, const Matrix<T, M, N> &m)
+{
+	return m*s;
+}
+
+template<typename T, unsigned M, unsigned N>
+inline Matrix<T, M, N> &Matrix<T, M, N>::operator/=(T s)
+{
+	for(unsigned i=0; i<M*N; ++i)
+		data[i] /= s;
+	return *this;
+}
+
+template<typename T, unsigned M, unsigned N>
+inline Matrix<T, M, N> operator/(const Matrix<T, M, N> &m, T s)
+{
+	Matrix<T, M, N> r(m);
+	return r /= s;
+}
+
+template<typename T, unsigned M, unsigned N>
+inline Matrix<T, M, N> &Matrix<T, M, N>::operator+=(const Matrix<T, M, N> &m)
+{
+	for(unsigned i=0; i<M*N; ++i)
+		data[i] += m.data[i];
+	return *this;
+}
+
+template<typename T, unsigned M, unsigned N>
+inline Matrix<T, M, N> operator+(const Matrix<T, M, N> &m1, const Matrix<T, M, N> &m2)
+{
+	Matrix<T, M, N> r(m1);
+	return r += m2;
+}
+
+template<typename T, unsigned M, unsigned N>
+inline Matrix<T, M, N> &Matrix<T, M, N>::operator-=(const Matrix<T, M, N> &m)
+{
+	for(unsigned i=0; i<M*N; ++i)
+		data[i] -= m.data[i];
+	return *this;
+}
+
+template<typename T, unsigned M, unsigned N>
+inline Matrix<T, M, N> operator-(const Matrix<T, M, N> &m1, const Matrix<T, M, N> &m2)
+{
+	Matrix<T, M, N> r(m1);
+	return r -= m2;
+}
+
+template<typename T, unsigned M, unsigned P, unsigned N>
+Matrix<T, M, N> operator*(const Matrix<T, M, P> &m1, const Matrix<T, P, N> &m2)
+{
+	Matrix<T, M, N> r;
+	for(unsigned i=0; i<M; ++i)
+		for(unsigned j=0; j<N; ++j)
+			for(unsigned k=0; k<P; ++k)
+				r.at(i, j) += m1(i, k)*m2(k, j);
+	return r;
+}
+
+template<typename T, unsigned M, unsigned N>
+Vector<T, M> operator*(const Matrix<T, M, N> &m, const Vector<T, N> &v)
+{
+	Vector<T, M> r;
+	for(unsigned i=0; i<M; ++i)
+		for(unsigned j=0; j<N; ++j)
+			r[i] += m(i, j)*v[j];
+	return r;
+}
+
+template<typename T, unsigned M, unsigned N>
+Vector<T, N> operator*(const Vector<T, M> &v, const Matrix<T, M, N> &m)
+{
+	Vector<T, N> r;
+	for(unsigned j=0; j<N; ++j)
+		for(unsigned i=0; i<M; ++i)
+			r[j] += v[i]*m.at(i, j);
+	return r;
+}
+
+} // namespace LinAl
+} // namespace Msp
+
+#endif
diff --git a/source/matrix4.h b/source/matrix4.h
new file mode 100644
index 0000000..8b89a65
--- /dev/null
+++ b/source/matrix4.h
@@ -0,0 +1,21 @@
+#ifndef MSP_LINAL_MATRIX4_H_
+#define MSP_LINAL_MATRIX4_H_
+
+#include "squarematrix.h"
+
+namespace Msp {
+namespace LinAl {
+
+/**
+A 4x4 square matrix, capable of expressing affine transformations in a
+three-dimensional vector space.
+*/
+template<typename T>
+class Matrix4: public SquareMatrix<T, 4>
+{
+};
+
+} // namespace LinAl
+} // namespace Msp
+
+#endif
diff --git a/source/squarematrix.h b/source/squarematrix.h
new file mode 100644
index 0000000..6cda86a
--- /dev/null
+++ b/source/squarematrix.h
@@ -0,0 +1,27 @@
+#ifndef MSP_LINAL_SQUAREMATRIX_H_
+#define MSP_LINAL_SQUAREMATRIX_H_
+
+#include "matrix.h"
+
+namespace Msp {
+namespace LinAl {
+
+template<typename T, unsigned S>
+class SquareMatrix: public Matrix<T, S, S>
+{
+public:
+	SquareMatrix();
+	SquareMatrix(const T *);
+	template<typename U>
+	SquareMatrix(const Matrix<U, S, S> &);
+	static SquareMatrix identity();
+
+	SquareMatrix &operator*=(const SquareMatrix &);
+
+	void invert();
+};
+
+} // namespace LinAl
+} // namespace Msp
+
+#endif
diff --git a/source/vector.h b/source/vector.h
new file mode 100644
index 0000000..933611e
--- /dev/null
+++ b/source/vector.h
@@ -0,0 +1,175 @@
+#ifndef MSP_LINAL_VECTOR_H_
+#define MSP_LINAL_VECTOR_H_
+
+#include <algorithm>
+#include <cmath>
+
+namespace Msp {
+namespace LinAl {
+
+/**
+A general mathematical vector.
+*/
+template<typename T, unsigned N>
+class Vector
+{
+protected:
+	T data[N];
+
+public:
+	Vector();
+	Vector(const T *d);
+	template<typename U>
+	Vector(const Vector<U, N> &v);
+
+	T &operator[](unsigned i);
+	const T &operator[](unsigned i) const;
+
+	Vector &operator*=(T);
+	Vector &operator/=(T);
+	Vector &operator+=(const Vector &);
+	Vector &operator-=(const Vector &);
+
+	T norm() const;
+	Vector &normalize();
+};
+
+
+template<typename T, unsigned N>
+inline Vector<T, N>::Vector()
+{
+	std::fill(data, data+N, T());
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N>::Vector(const T *d)
+{
+	std::copy(d, d+N, data);
+}
+
+template<typename T, unsigned N>
+template<typename U>
+inline Vector<T, N>::Vector(const Vector<U, N> &v)
+{
+	std::copy(v.data, v.data+N, data);
+}
+
+template<typename T, unsigned N>
+T &Vector<T, N>::operator[](unsigned i)
+{
+	return data[i];
+}
+
+template<typename T, unsigned N>
+const T &Vector<T, N>::operator[](unsigned i) const
+{
+	return data[i];
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> &Vector<T, N>::operator*=(T s)
+{
+	for(unsigned i=0; i<N; ++i)	
+		data[i] *= s;
+	return *this;
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> operator*(const Vector<T, N> &v, T s)
+{
+	Vector<T, N> r(v);
+	return r *= s;
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> operator*(T s, const Vector<T, N> &v)
+{
+	return v*s;
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> &Vector<T, N>::operator/=(T s)
+{
+	for(unsigned i=0; i<N; ++i)	
+		data[i] /= s;
+	return *this;
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> operator/(const Vector<T, N> &v, T s)
+{
+	Vector<T, N> r(v);
+	return r /= s;
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> &Vector<T, N>::operator+=(const Vector<T, N> &v)
+{
+	for(unsigned i=0; i<N; ++i)	
+		data[i] += v[i];
+	return *this;
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> operator+(const Vector<T, N> &v1, const Vector<T, N> &v2)
+{
+	Vector<T, N> r(v1);
+	return r += v2;
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> &Vector<T, N>::operator-=(const Vector<T, N> &v)
+{
+	for(unsigned i=0; i<N; ++i)	
+		data[i] -= v[i];
+	return *this;
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> operator-(const Vector<T, N> &v1, const Vector<T, N> &v2)
+{
+	Vector<T, N> r(v1);
+	return r -= v2;
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> operator-(const Vector<T, N> &v)
+{
+	Vector<T, N> r(v);
+	for(unsigned i=0; i<N; ++i)
+		r[i] = -r[i];
+	return r;
+}
+
+template<typename T, unsigned N>
+inline T inner_product(const Vector<T, N> &v1, const Vector<T, N> &v2)
+{
+	T r = T();
+	for(unsigned i=0; i<N; ++i)
+		r += v1[i]*v2[i];
+	return r;
+}
+
+template<typename T, unsigned N>
+inline T Vector<T, N>::norm() const
+{
+	return sqrt(inner_product(*this, *this));
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> &Vector<T, N>::normalize()
+{
+	return *this /= norm();
+}
+
+template<typename T, unsigned N>
+inline Vector<T, N> normalize(const Vector<T, N> &v)
+{
+	Vector<T, N> r(v);
+	return r.normalize();
+}
+
+} // namespace LinAl
+} // namespace Msp
+
+#endif
diff --git a/source/vector3.h b/source/vector3.h
new file mode 100644
index 0000000..90a5ff5
--- /dev/null
+++ b/source/vector3.h
@@ -0,0 +1,57 @@
+#ifndef MSP_LINAL_VECTOR3_H_
+#define MSP_LINAL_VECTOR3_H_
+
+#include "vector.h"
+
+namespace Msp {
+namespace LinAl {
+
+/**
+A three-dimensional vector, applicable for Euclidean space.
+*/
+template<typename T>
+class Vector3: public Vector<T, 3>
+{
+public:
+	Vector3() { }
+	Vector3(const T *);
+	Vector3(T, T, T);
+	template<typename U>
+	Vector3(const Vector<U, 3> &);
+};
+
+template<typename T>
+inline Vector3<T>::Vector3(const T *d):
+	Vector<T, 3>(d)
+{ }
+
+template<typename T>
+inline Vector3<T>::Vector3(T x, T y, T z)
+{
+	this->data[0] = x;
+	this->data[1] = y;
+	this->data[2] = z;
+}
+
+template<typename T>
+template<typename U>
+inline Vector3<T>::Vector3(const Vector<U, 3> &v):
+	Vector<T, 3>(v)
+{ }
+
+template<typename T>
+inline T dot(const Vector3<T> &v1, const Vector3<T> &v2)
+{
+	return inner_product(v1, v2);
+}
+
+template<typename T>
+inline Vector3<T> cross(const Vector3<T> &v1, const Vector3<T> &v2)
+{
+	return Vector3<T>(v1[1]*v2[2]-v1[2]*v2[1], v1[2]*v2[0]-v1[0]*v2[2], v1[0]*v2[1]-v1[1]*v2[0]);
+}
+
+} // namespace LinAl
+} // namespace LinAl
+
+#endif