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Allow use of integers in mat3 where it makes sense #50

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Nov 11, 2024
Merged

Allow use of integers in mat3 where it makes sense #50

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24 changes: 20 additions & 4 deletions src/mat3.zig
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Original file line number Diff line number Diff line change
Expand Up @@ -19,10 +19,6 @@ pub const Mat3_f64 = Mat3x3(f64);
/// A column-major 3x3 matrix
/// Note: Column-major means accessing data like m.data[COLUMN][ROW].
pub fn Mat3x3(comptime T: type) type {
if (@typeInfo(T) != .Float) {
@compileError("Mat3x3 not implemented for " ++ @typeName(T));
}

const Vector3 = GenericVector(3, T);

return extern struct {
Expand Down Expand Up @@ -105,6 +101,10 @@ pub fn Mat3x3(comptime T: type) type {

/// Construct a 3x3 matrix from given axis and angle (in degrees).
pub fn fromRotation(angle_in_degrees: T, axis: Vector3) Self {
if (@typeInfo(T) != .Float) {
@compileError("Mat3x3.fromRotation() not implemented for " ++ @typeName(T));
}

var result = Self.identity();

const norm_axis = axis.norm();
Expand Down Expand Up @@ -133,13 +133,21 @@ pub fn Mat3x3(comptime T: type) type {
}

pub fn rotate(self: Self, angle_in_degrees: T, axis: Vector3) Self {
if (@typeInfo(T) != .Float) {
@compileError("Mat3x3.rotate() not implemented for " ++ @typeName(T));
}

const rotation_mat = Self.fromRotation(angle_in_degrees, axis);
return Self.mul(self, rotation_mat);
}

/// Construct a rotation matrix from euler angles (X * Y * Z).
/// Order matters because matrix multiplication are NOT commutative.
pub fn fromEulerAngles(euler_angle: Vector3) Self {
if (@typeInfo(T) != .Float) {
@compileError("Mat3x3.fromEulerAngles() not implemented for " ++ @typeName(T));
}

const x = Self.fromRotation(euler_angle.x(), Vector3.right());
const y = Self.fromRotation(euler_angle.y(), Vector3.up());
const z = Self.fromRotation(euler_angle.z(), Vector3.forward());
Expand All @@ -149,6 +157,10 @@ pub fn Mat3x3(comptime T: type) type {

/// Ortho normalize given matrix.
pub fn orthoNormalize(self: Self) Self {
if (@typeInfo(T) != .Float) {
@compileError("Mat3x3.orthoNormalize() not implemented for " ++ @typeName(T));
}

const column_1 = Vector3.new(self.data[0][0], self.data[0][1], self.data[0][2]).norm();
const column_2 = Vector3.new(self.data[1][0], self.data[1][1], self.data[1][2]).norm();
const column_3 = Vector3.new(self.data[2][0], self.data[2][1], self.data[2][2]).norm();
Expand All @@ -174,6 +186,10 @@ pub fn Mat3x3(comptime T: type) type {
/// Taken from Mike Day at Insomniac Games (and `glm` as the same function).
/// For more details: https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2012/07/euler-angles1.pdf
pub fn extractEulerAngles(self: Self) Vector3 {
if (@typeInfo(T) != .Float) {
@compileError("Mat3x3.extractEulerAngles() not implemented for " ++ @typeName(T));
}

const m = self.orthoNormalize();

const theta_x = math.atan2(m.data[1][2], m.data[2][2]);
Expand Down
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