WMath.cpp

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/* Contact chebert@nvidia.com (Chris Hebert) for feedback */

#include "WMath.h"

Mat4x4f identity4x4(){
	Mat4x4f out = {
		1.0, 0.0, 0.0, 0.0,
		0.0, 1.0, 0.0, 0.0,
		0.0, 0.0, 1.0, 0.0,
		0.0, 0.0, 0.0, 1.0
	};

	return out;
}

Mat4x4f rotate4x4(const Quaternion<float> &q){

	Mat4x4f out = identity4x4();

	out.m_data[0] = 1.0 - (2.0*q.j*q.j + 2.0*q.k*q.k);
	out.m_data[1] = 2.0*(q.i*q.j + 2.0*q.k*q.r);
	out.m_data[2] = 2.0*(q.i*q.k - 2.0*q.j*q.r);
	out.m_data[4] = 2.0*(q.i*q.j - 2.0*q.k*q.r);
	out.m_data[5] = 1.0 - (2.0*q.i*q.i + 2.0*q.k*q.k);
	out.m_data[6] = 2.0*(q.j*q.k + 2.0*q.i*q.r);
	out.m_data[8] = 2.0*(q.i*q.k + 2.0*q.j*q.r);
	out.m_data[9] = 2.0*(q.j*q.k - 2.0*q.i*q.r);
	out.m_data[10] = 1.0 - (2.0*q.i*q.i + 2.0*q.j*q.j);

	return out;
}

Mat4x4f translate4x4(const Vec4f &inPosition){

	Mat4x4f out = {
		1.0, 0.0, 0.0, inPosition.m_data[0],
		0.0, 1.0, 0.0, inPosition.m_data[1],
		0.0, 0.0, 1.0, inPosition.m_data[2],
		0.0, 0.0, 0.0, 1.0
	};

	return out;

}

Mat4x4f translate4x4(float inX, float inY, float inZ){

	Mat4x4f out = {
		1.0, 0.0, 0.0, inX,
		0.0, 1.0, 0.0, inY,
		0.0, 0.0, 1.0, inZ,
		0.0, 0.0, 0.0, 1.0
	};

	return out;

}

Mat4x4f scale4x4(const Vec4f &inScale){

	Mat4x4f out = {
		inScale.m_data[0], 0.0, 0.0, 0.0,
		0.0, inScale.m_data[1], 0.0, 0.0,
		0.0, 0.0, inScale.m_data[2], 0.0,
		0.0, 0.0, 0.0, 1.0 
	};

	return out;
}

Mat4x4f scale4x4(const float inX, const float inY, const float inZ){
	Mat4x4f out = {
		inX,0.0,0.0,0.0,
		0.0,inY,0.0,0.0,
		0.0,0.0,inZ,0.0,
		0.0,0.0,0.0,1.0
	};

	return out;
}

Mat4x4f perspectiveProjection4x4f(const float inFOV, const float inAspect, const float inNear, const float inFar){
	
	float yScl = 1.0f / tan(inFOV*0.5f);
	float xScl = yScl / inAspect;

	Mat4x4f out = {
	xScl,0.0,0.0,0.0,
	0.0,yScl,0.0,0.0,
	0.0, 0.0, inFar / (inNear - inFar), (inNear * inFar) / (inNear-inFar),
	0.0,0.0,-1.0,0.0
	};

	return out;

}

namespace angle{

#define  _PI 3.141592653589793238462643383279502884f

	float d2rf(float ind){
		return  ind / (180.0f / _PI);
	}

	float r2df(float inr){
		return inr * (180.0f / _PI);
	}

}

namespace basis{
    Vec4f UP(){
		Vec4f out = {
			0.0,1.0,0.0,1.0
		};
		return out;
	}

    Vec4f LEFT(){
		Vec4f out = {
			1.0,0.0,0.0,1.0
		};
		return out;
	}

    Vec4f FWD(){
		Vec4f out = {
			0.0,0.0,1.0,0.0
		};
		return out;
	}
}