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100 lines
2.7 KiB
C++
100 lines
2.7 KiB
C++
#ifndef MISC_MATHUTIL_H
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#define MISC_MATHUTIL_H
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#include <osg/Math>
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#include <osg/Matrixf>
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#include <osg/Quat>
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#include <osg/Vec2f>
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#include <osg/Vec3f>
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#include <cmath>
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#include <type_traits>
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namespace Misc
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{
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/// Normalizes given angle to the range [-PI, PI]. E.g. PI*3/2 -> -PI/2.
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inline double normalizeAngle(double angle)
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{
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double fullTurns = angle / (2 * osg::PI) + 0.5;
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return (fullTurns - floor(fullTurns) - 0.5) * (2 * osg::PI);
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}
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/// Rotates given 2d vector counterclockwise. Angle is in radians.
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inline osg::Vec2f rotateVec2f(osg::Vec2f vec, float angle)
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{
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float s = std::sin(angle);
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float c = std::cos(angle);
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return osg::Vec2f(vec.x() * c + vec.y() * -s, vec.x() * s + vec.y() * c);
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}
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inline osg::Vec3f toEulerAnglesXZ(osg::Vec3f forward)
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{
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float x = -std::asin(forward.z());
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float z = std::atan2(forward.x(), forward.y());
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return osg::Vec3f(x, 0, z);
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}
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inline osg::Vec3f toEulerAnglesXZ(const osg::Quat& quat)
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{
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osg::Vec3f forward = quat * osg::Vec3f(0, 1, 0);
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forward.normalize();
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return toEulerAnglesXZ(forward);
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}
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inline osg::Vec3f toEulerAnglesXZ(const osg::Matrixf& m)
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{
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osg::Vec3f forward(m(1, 0), m(1, 1), m(1, 2));
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forward.normalize();
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return toEulerAnglesXZ(forward);
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}
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inline osg::Vec3f toEulerAnglesZYX(osg::Vec3f forward, osg::Vec3f up)
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{
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float y = -std::asin(up.x());
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float x = std::atan2(up.y(), up.z());
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osg::Vec3f forwardZ = (osg::Quat(x, osg::Vec3f(1, 0, 0)) * osg::Quat(y, osg::Vec3f(0, 1, 0))) * forward;
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float z = std::atan2(forwardZ.x(), forwardZ.y());
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return osg::Vec3f(x, y, z);
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}
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inline osg::Vec3f toEulerAnglesZYX(const osg::Quat& quat)
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{
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osg::Vec3f forward = quat * osg::Vec3f(0, 1, 0);
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forward.normalize();
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osg::Vec3f up = quat * osg::Vec3f(0, 0, 1);
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up.normalize();
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return toEulerAnglesZYX(forward, up);
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}
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inline osg::Vec3f toEulerAnglesZYX(const osg::Matrixf& m)
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{
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osg::Vec3f forward(m(1, 0), m(1, 1), m(1, 2));
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osg::Vec3f up(m(2, 0), m(2, 1), m(2, 2));
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forward.normalize();
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up.normalize();
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return toEulerAnglesZYX(forward, up);
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}
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template <class T>
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bool isPowerOfTwo(T x)
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{
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static_assert(std::is_integral_v<T>);
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return ((x > 0) && ((x & (x - 1)) == 0));
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}
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inline int nextPowerOfTwo(int v)
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{
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if (isPowerOfTwo(v))
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return v;
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int depth = 0;
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while (v)
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{
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v >>= 1;
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depth++;
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}
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return 1 << depth;
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}
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}
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#endif
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