Nimpretty.
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2 changed files with 234 additions and 239 deletions
465
src/vmath.nim
465
src/vmath.nim
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@ -1,6 +1,4 @@
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import math
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import strutils
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import random
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import math, random, strutils
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export math
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proc clamp*(n, min, max: float32): float32 =
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@ -151,8 +149,8 @@ proc randVec2*(): Vec2 =
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proc `$`*(a: Vec2): string =
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return "(" &
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a.x.formatfloat(ffDecimal,4) & ", " &
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a.y.formatfloat(ffDecimal,4) & ")"
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a.x.formatfloat(ffDecimal, 4) & ", " &
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a.y.formatfloat(ffDecimal, 4) & ")"
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proc fixAngle*(angle: float32): float32 =
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## Make angle be from -PI to PI radians.
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@ -365,9 +363,9 @@ proc randVec3*(): Vec3 =
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proc `$`*(a: Vec3): string =
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return "(" &
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a.x.formatfloat(ffDecimal,8) & ", " &
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a.y.formatfloat(ffDecimal,8) & ", " &
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a.z.formatfloat(ffDecimal,8) & ")"
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a.x.formatfloat(ffDecimal, 8) & ", " &
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a.y.formatfloat(ffDecimal, 8) & ", " &
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a.z.formatfloat(ffDecimal, 8) & ")"
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type Vec4* = object
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## 4D Vector.
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@ -457,18 +455,18 @@ proc xyz*(a: Vec4): Vec3 =
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proc `$`*(a: Vec4): string =
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return "(" &
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a.x.formatfloat(ffDecimal,8) & ", " &
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a.y.formatfloat(ffDecimal,8) & ", " &
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a.z.formatfloat(ffDecimal,8) & ", " &
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a.w.formatfloat(ffDecimal,8) & ")"
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a.x.formatfloat(ffDecimal, 8) & ", " &
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a.y.formatfloat(ffDecimal, 8) & ", " &
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a.z.formatfloat(ffDecimal, 8) & ", " &
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a.w.formatfloat(ffDecimal, 8) & ")"
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proc vec3*(a: Vec2, z=0.0): Vec3 =
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proc vec3*(a: Vec2, z = 0.0): Vec3 =
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vec3(a.x, a.y, z)
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proc vec4*(a: Vec3, w=0.0): Vec4 =
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proc vec4*(a: Vec3, w = 0.0): Vec4 =
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vec4(a.x, a.y, a.z, w)
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proc vec4*(a: Vec2, z=0.0, w=0.0): Vec4 =
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proc vec4*(a: Vec2, z = 0.0, w = 0.0): Vec4 =
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vec4(a.x, a.y, z, w)
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type Mat3* = array[9, float32] ## 3x3 Matrix
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@ -514,15 +512,15 @@ proc transpose*(a: Mat3): Mat3 =
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proc `$`*(a: Mat3): string =
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return "[" &
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a[0].formatfloat(ffDecimal,4) & ", " &
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a[1].formatfloat(ffDecimal,4) & ", " &
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a[2].formatfloat(ffDecimal,4) & ", " &
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a[3].formatfloat(ffDecimal,4) & ", " &
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a[4].formatfloat(ffDecimal,4) & ", " &
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a[5].formatfloat(ffDecimal,4) & ", " &
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a[6].formatfloat(ffDecimal,4) & ", " &
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a[7].formatfloat(ffDecimal,4) & ", " &
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a[8].formatfloat(ffDecimal,4) & "]"
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a[0].formatfloat(ffDecimal, 4) & ", " &
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a[1].formatfloat(ffDecimal, 4) & ", " &
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a[2].formatfloat(ffDecimal, 4) & ", " &
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a[3].formatfloat(ffDecimal, 4) & ", " &
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a[4].formatfloat(ffDecimal, 4) & ", " &
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a[5].formatfloat(ffDecimal, 4) & ", " &
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a[6].formatfloat(ffDecimal, 4) & ", " &
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a[7].formatfloat(ffDecimal, 4) & ", " &
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a[8].formatfloat(ffDecimal, 4) & "]"
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proc `*`*(a: Mat3, b: Mat3): Mat3 =
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let
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@ -612,7 +610,8 @@ proc `*`*(a: Mat3, b: Vec2): Vec2 =
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type Mat4* = array[16, float32] ## 4x4 Matrix - OpenGL row order
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proc mat4*(v0, v1, Vec2, Vec3, Vec4, v5, v6, v7, v8, v9, v10, v11, v12, v13, v14, v15: float32): Mat4 =
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proc mat4*(v0, v1, Vec2, Vec3, Vec4, v5, v6, v7, v8, v9, v10, v11, v12, v13,
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v14, v15: float32): Mat4 =
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result[0] = v0
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result[1] = v1
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result[2] = Vec2
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@ -677,22 +676,22 @@ proc transpose*(a: Mat4): Mat4 =
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proc determinant*(a: Mat4): float32 =
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var
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a00 = a[0]
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a01 = a[1]
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a02 = a[2]
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a03 = a[3]
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a10 = a[4]
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a11 = a[5]
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a12 = a[6]
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a13 = a[7]
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a20 = a[8]
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a21 = a[9]
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a22 = a[10]
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a23 = a[11]
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a30 = a[12]
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a31 = a[13]
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a32 = a[14]
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a33 = a[15]
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a00 = a[0]
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a01 = a[1]
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a02 = a[2]
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a03 = a[3]
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a10 = a[4]
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a11 = a[5]
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a12 = a[6]
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a13 = a[7]
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a20 = a[8]
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a21 = a[9]
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a22 = a[10]
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a23 = a[11]
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a30 = a[12]
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a31 = a[13]
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a32 = a[14]
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a33 = a[15]
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return (
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a30*a21*a12*a03 - a20*a31*a12*a03 - a30*a11*a22*a03 + a10*a31*a22*a03 +
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@ -705,22 +704,22 @@ proc determinant*(a: Mat4): float32 =
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proc inverse*(a: Mat4): Mat4 =
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var
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a00 = a[0]
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a01 = a[1]
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a02 = a[2]
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a03 = a[3]
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a10 = a[4]
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a11 = a[5]
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a12 = a[6]
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a13 = a[7]
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a20 = a[8]
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a21 = a[9]
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a22 = a[10]
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a23 = a[11]
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a30 = a[12]
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a31 = a[13]
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a32 = a[14]
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a33 = a[15]
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a00 = a[0]
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a01 = a[1]
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a02 = a[2]
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a03 = a[3]
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a10 = a[4]
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a11 = a[5]
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a12 = a[6]
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a13 = a[7]
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a20 = a[8]
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a21 = a[9]
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a22 = a[10]
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a23 = a[11]
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a30 = a[12]
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a31 = a[13]
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a32 = a[14]
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a33 = a[15]
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var
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b00 = a00*a11 - a01*a10
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@ -739,22 +738,22 @@ proc inverse*(a: Mat4): Mat4 =
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# Calculate the invese determinant
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var invDet = 1.0/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06)
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result[ 0] = ( a11*b11 - a12*b10 + a13*b09)*invDet
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result[ 1] = (-a01*b11 + a02*b10 - a03*b09)*invDet
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result[ 2] = ( a31*b05 - a32*b04 + a33*b03)*invDet
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result[ 3] = (-a21*b05 + a22*b04 - a23*b03)*invDet
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result[ 4] = (-a10*b11 + a12*b08 - a13*b07)*invDet
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result[ 5] = ( a00*b11 - a02*b08 + a03*b07)*invDet
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result[ 6] = (-a30*b05 + a32*b02 - a33*b01)*invDet
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result[ 7] = ( a20*b05 - a22*b02 + a23*b01)*invDet
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result[ 8] = ( a10*b10 - a11*b08 + a13*b06)*invDet
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result[ 9] = (-a00*b10 + a01*b08 - a03*b06)*invDet
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result[10] = ( a30*b04 - a31*b02 + a33*b00)*invDet
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result[00] = (+a11*b11 - a12*b10 + a13*b09)*invDet
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result[01] = (-a01*b11 + a02*b10 - a03*b09)*invDet
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result[02] = (+a31*b05 - a32*b04 + a33*b03)*invDet
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result[03] = (-a21*b05 + a22*b04 - a23*b03)*invDet
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result[04] = (-a10*b11 + a12*b08 - a13*b07)*invDet
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result[05] = (+a00*b11 - a02*b08 + a03*b07)*invDet
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result[06] = (-a30*b05 + a32*b02 - a33*b01)*invDet
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result[07] = (+a20*b05 - a22*b02 + a23*b01)*invDet
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result[08] = (+a10*b10 - a11*b08 + a13*b06)*invDet
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result[09] = (-a00*b10 + a01*b08 - a03*b06)*invDet
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result[10] = (+a30*b04 - a31*b02 + a33*b00)*invDet
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result[11] = (-a20*b04 + a21*b02 - a23*b00)*invDet
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result[12] = (-a10*b09 + a11*b07 - a12*b06)*invDet
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result[13] = ( a00*b09 - a01*b07 + a02*b06)*invDet
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result[13] = (+a00*b09 - a01*b07 + a02*b06)*invDet
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result[14] = (-a30*b03 + a31*b01 - a32*b00)*invDet
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result[15] = ( a20*b03 - a21*b01 + a22*b00)*invDet
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result[15] = (+a20*b03 - a21*b01 + a22*b00)*invDet
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proc `*`*(a, b: Mat4): Mat4 =
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var
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@ -793,16 +792,16 @@ proc `*`*(a, b: Mat4): Mat4 =
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b32 = b[14]
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b33 = b[15]
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result[ 0] = b00*a00 + b01*a10 + b02*a20 + b03*a30
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result[ 1] = b00*a01 + b01*a11 + b02*a21 + b03*a31
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result[ 2] = b00*a02 + b01*a12 + b02*a22 + b03*a32
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result[ 3] = b00*a03 + b01*a13 + b02*a23 + b03*a33
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result[ 4] = b10*a00 + b11*a10 + b12*a20 + b13*a30
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result[ 5] = b10*a01 + b11*a11 + b12*a21 + b13*a31
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result[ 6] = b10*a02 + b11*a12 + b12*a22 + b13*a32
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result[ 7] = b10*a03 + b11*a13 + b12*a23 + b13*a33
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result[ 8] = b20*a00 + b21*a10 + b22*a20 + b23*a30
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result[ 9] = b20*a01 + b21*a11 + b22*a21 + b23*a31
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result[00] = b00*a00 + b01*a10 + b02*a20 + b03*a30
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result[01] = b00*a01 + b01*a11 + b02*a21 + b03*a31
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result[02] = b00*a02 + b01*a12 + b02*a22 + b03*a32
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result[03] = b00*a03 + b01*a13 + b02*a23 + b03*a33
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result[04] = b10*a00 + b11*a10 + b12*a20 + b13*a30
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result[05] = b10*a01 + b11*a11 + b12*a21 + b13*a31
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result[06] = b10*a02 + b11*a12 + b12*a22 + b13*a32
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result[07] = b10*a03 + b11*a13 + b12*a23 + b13*a33
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result[08] = b20*a00 + b21*a10 + b22*a20 + b23*a30
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result[09] = b20*a01 + b21*a11 + b22*a21 + b23*a31
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result[10] = b20*a02 + b21*a12 + b22*a22 + b23*a32
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result[11] = b20*a03 + b21*a13 + b22*a23 + b23*a33
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result[12] = b30*a00 + b31*a10 + b32*a20 + b33*a30
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@ -857,14 +856,14 @@ proc `pos=`*(a: var Mat4, b: Vec3) =
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proc rotationOnly*(a: Mat4): Mat4 =
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result = a
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result.pos = vec3(0,0,0)
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result.pos = vec3(0, 0, 0)
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proc dist*(a, b: Mat4): float32 =
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var
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x = a[12] - b[12]
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y = a[13] - b[13]
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z = a[14] - b[14]
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return sqrt(x*x + y*y + z*z)
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var
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x = a[12] - b[12]
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y = a[13] - b[13]
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z = a[14] - b[14]
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return sqrt(x*x + y*y + z*z)
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#[
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proc translate*(a: Mat4, v: Vec3): Mat4 =
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@ -928,12 +927,12 @@ proc hrp*(m: Mat4): Vec3 =
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heading = arctan2(m[2], m[10])
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pitch = PI / 2
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roll = 0
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elif m[1] < -0.998: # singularity at south pole
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elif m[1] < -0.998: # singularity at south pole
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heading = arctan2(m[2], m[10])
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pitch = -PI / 2
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roll = 0
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else:
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heading =arctan2(-m[8], m[0])
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heading = arctan2(-m[8], m[0])
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pitch = arctan2(-m[6], m[5])
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roll = arcsin(m[4])
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result.x = heading
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@ -969,111 +968,111 @@ proc perspective*(fovy, aspect, near, far: float32): Mat4 =
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return frustum(-right, right, -top, top, near, far)
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proc ortho*(left, right, bottom, top, near, far: float32): Mat4 =
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var
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rl = (right - left)
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tb = (top - bottom)
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fn = (far - near)
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result[0] = 2 / rl
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result[1] = 0
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result[2] = 0
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result[3] = 0
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result[4] = 0
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result[5] = 2 / tb
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result[6] = 0
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result[7] = 0
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result[8] = 0
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result[9] = 0
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result[10] = -2 / fn
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result[11] = 0
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result[12] = -(left + right) / rl
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result[13] = -(top + bottom) / tb
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result[14] = -(far + near) / fn
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result[15] = 1
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var
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rl = (right - left)
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tb = (top - bottom)
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fn = (far - near)
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result[0] = 2 / rl
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result[1] = 0
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result[2] = 0
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result[3] = 0
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result[4] = 0
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result[5] = 2 / tb
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result[6] = 0
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result[7] = 0
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result[8] = 0
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result[9] = 0
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result[10] = -2 / fn
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result[11] = 0
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result[12] = -(left + right) / rl
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result[13] = -(top + bottom) / tb
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result[14] = -(far + near) / fn
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result[15] = 1
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proc lookAt*(eye, center, up: Vec3): Mat4 =
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var
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eyex = eye[0]
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eyey = eye[1]
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eyez = eye[2]
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upx = up[0]
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upy = up[1]
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upz = up[2]
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centerx = center[0]
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centery = center[1]
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centerz = center[2]
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var
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eyex = eye[0]
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eyey = eye[1]
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eyez = eye[2]
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upx = up[0]
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upy = up[1]
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upz = up[2]
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centerx = center[0]
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centery = center[1]
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centerz = center[2]
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if eyex == centerx and eyey == centery and eyez == centerz:
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return identity()
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if eyex == centerx and eyey == centery and eyez == centerz:
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return identity()
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var
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# vec3.direction(eye, center, z)
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z0 = eyex - center[0]
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z1 = eyey - center[1]
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z2 = eyez - center[2]
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var
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# vec3.direction(eye, center, z)
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z0 = eyex - center[0]
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z1 = eyey - center[1]
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z2 = eyez - center[2]
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# normalize (no check needed for 0 because of early return)
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var len = 1/sqrt(z0*z0 + z1*z1 + z2*z2)
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z0 *= len
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z1 *= len
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z2 *= len
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# normalize (no check needed for 0 because of early return)
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var len = 1/sqrt(z0*z0 + z1*z1 + z2*z2)
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z0 *= len
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z1 *= len
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z2 *= len
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var
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# vec3.normalize(vec3.cross(up, z, x))
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x0 = upy*z2 - upz*z1
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x1 = upz*z0 - upx*z2
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x2 = upx*z1 - upy*z0
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len = sqrt(x0*x0 + x1*x1 + x2*x2)
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if len == 0:
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x0 = 0
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x1 = 0
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x2 = 0
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else:
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len = 1/len
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x0 *= len
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x1 *= len
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x2 *= len
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var
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# vec3.normalize(vec3.cross(up, z, x))
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x0 = upy*z2 - upz*z1
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x1 = upz*z0 - upx*z2
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x2 = upx*z1 - upy*z0
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len = sqrt(x0*x0 + x1*x1 + x2*x2)
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if len == 0:
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x0 = 0
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x1 = 0
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x2 = 0
|
||||
else:
|
||||
len = 1/len
|
||||
x0 *= len
|
||||
x1 *= len
|
||||
x2 *= len
|
||||
|
||||
var
|
||||
# vec3.normalize(vec3.cross(z, x, y))
|
||||
y0 = z1*x2 - z2*x1
|
||||
y1 = z2*x0 - z0*x2
|
||||
y2 = z0*x1 - z1*x0
|
||||
var
|
||||
# vec3.normalize(vec3.cross(z, x, y))
|
||||
y0 = z1*x2 - z2*x1
|
||||
y1 = z2*x0 - z0*x2
|
||||
y2 = z0*x1 - z1*x0
|
||||
|
||||
len = sqrt(y0*y0 + y1*y1 + y2*y2)
|
||||
if len == 0:
|
||||
y0 = 0
|
||||
y1 = 0
|
||||
y2 = 0
|
||||
else:
|
||||
len = 1/len
|
||||
y0 *= len
|
||||
y1 *= len
|
||||
y2 *= len
|
||||
len = sqrt(y0*y0 + y1*y1 + y2*y2)
|
||||
if len == 0:
|
||||
y0 = 0
|
||||
y1 = 0
|
||||
y2 = 0
|
||||
else:
|
||||
len = 1/len
|
||||
y0 *= len
|
||||
y1 *= len
|
||||
y2 *= len
|
||||
|
||||
result[0] = x0
|
||||
result[1] = y0
|
||||
result[2] = z0
|
||||
result[3] = 0
|
||||
result[4] = x1
|
||||
result[5] = y1
|
||||
result[6] = z1
|
||||
result[7] = 0
|
||||
result[8] = x2
|
||||
result[9] = y2
|
||||
result[10] = z2
|
||||
result[11] = 0
|
||||
result[12] = -(x0*eyex + x1*eyey + x2*eyez)
|
||||
result[13] = -(y0*eyex + y1*eyey + y2*eyez)
|
||||
result[14] = -(z0*eyex + z1*eyey + z2*eyez)
|
||||
result[15] = 1
|
||||
result[0] = x0
|
||||
result[1] = y0
|
||||
result[2] = z0
|
||||
result[3] = 0
|
||||
result[4] = x1
|
||||
result[5] = y1
|
||||
result[6] = z1
|
||||
result[7] = 0
|
||||
result[8] = x2
|
||||
result[9] = y2
|
||||
result[10] = z2
|
||||
result[11] = 0
|
||||
result[12] = -(x0*eyex + x1*eyey + x2*eyez)
|
||||
result[13] = -(y0*eyex + y1*eyey + y2*eyez)
|
||||
result[14] = -(z0*eyex + z1*eyey + z2*eyez)
|
||||
result[15] = 1
|
||||
|
||||
proc tofloat32*(m: Mat4): array[16, float32] =
|
||||
return [
|
||||
float32 m[0], float32 m[1], float32 m[2], float32 m[3],
|
||||
float32 m[4], float32 m[5], float32 m[6], float32 m[7],
|
||||
float32 m[8], float32 m[9], float32 m[10], float32 m[11],
|
||||
float32 m[12], float32 m[13], float32 m[14], float32 m[15]
|
||||
]
|
||||
return [
|
||||
float32 m[00], float32 m[01], float32 m[02], float32 m[03],
|
||||
float32 m[04], float32 m[05], float32 m[06], float32 m[07],
|
||||
float32 m[08], float32 m[09], float32 m[10], float32 m[11],
|
||||
float32 m[12], float32 m[13], float32 m[14], float32 m[15]
|
||||
]
|
||||
|
||||
proc `$`*(a: Mat4): string =
|
||||
return "[" &
|
||||
|
|
@ -1107,7 +1106,7 @@ proc quat*(x, y, z, w: float32): Quat =
|
|||
result.w = w
|
||||
|
||||
proc conjugate*(q: Quat): Quat =
|
||||
result.w = q.w
|
||||
result.w = +q.w
|
||||
result.x = -q.x
|
||||
result.y = -q.y
|
||||
result.z = -q.z
|
||||
|
|
@ -1173,9 +1172,9 @@ proc `*`*(q: Quat, v: Vec3): Vec3 =
|
|||
qz = q.z
|
||||
qw = q.w
|
||||
|
||||
ix = qw * x + qy * z - qz * y
|
||||
iy = qw * y + qz * x - qx * z
|
||||
iz = qw * z + qx * y - qy * x
|
||||
ix = +qw * x + qy * z - qz * y
|
||||
iy = +qw * y + qz * x - qx * z
|
||||
iz = +qw * z + qx * y - qy * x
|
||||
iw = -qx * x - qy * y - qz * z
|
||||
|
||||
result.x = ix * qw + iw * -qx + iy * -qz - iz * -qy
|
||||
|
|
@ -1183,57 +1182,53 @@ proc `*`*(q: Quat, v: Vec3): Vec3 =
|
|||
result.z = iz * qw + iw * -qz + ix * -qy - iy * -qx
|
||||
|
||||
proc mat3*(q: Quat): Mat3 =
|
||||
var xx = q.x * q.x
|
||||
var xy = q.x * q.y
|
||||
var xz = q.x * q.z
|
||||
var xw = q.x * q.w
|
||||
var xx = q.x * q.x
|
||||
var xy = q.x * q.y
|
||||
var xz = q.x * q.z
|
||||
var xw = q.x * q.w
|
||||
|
||||
var yy = q.y * q.y
|
||||
var yz = q.y * q.z
|
||||
var yw = q.y * q.w
|
||||
var yy = q.y * q.y
|
||||
var yz = q.y * q.z
|
||||
var yw = q.y * q.w
|
||||
|
||||
var zz = q.z * q.z
|
||||
var zw = q.z * q.w
|
||||
var zz = q.z * q.z
|
||||
var zw = q.z * q.w
|
||||
|
||||
result[0] = 1 - 2 * ( yy + zz )
|
||||
result[1] = 2 * ( xy - zw )
|
||||
result[2] = 2 * ( xz + yw )
|
||||
|
||||
result[3] = 2 * ( xy + zw )
|
||||
result[4] = 1 - 2 * ( xx + zz )
|
||||
result[5] = 2 * ( yz - xw )
|
||||
|
||||
result[6] = 2 * ( xz - yw )
|
||||
result[7] = 2 * ( yz + xw )
|
||||
result[8] = 1 - 2 * ( xx + yy )
|
||||
result[0] = 1 - 2 * (yy + zz)
|
||||
result[1] = 0 + 2 * (xy - zw)
|
||||
result[2] = 0 + 2 * (xz + yw)
|
||||
result[3] = 0 + 2 * (xy + zw)
|
||||
result[4] = 1 - 2 * (xx + zz)
|
||||
result[5] = 0 + 2 * (yz - xw)
|
||||
result[6] = 0 + 2 * (xz - yw)
|
||||
result[7] = 0 + 2 * (yz + xw)
|
||||
result[8] = 1 - 2 * (xx + yy)
|
||||
|
||||
proc mat4*(q: Quat): Mat4 =
|
||||
var xx = q.x * q.x
|
||||
var xy = q.x * q.y
|
||||
var xz = q.x * q.z
|
||||
var xw = q.x * q.w
|
||||
var xx = q.x * q.x
|
||||
var xy = q.x * q.y
|
||||
var xz = q.x * q.z
|
||||
var xw = q.x * q.w
|
||||
|
||||
var yy = q.y * q.y
|
||||
var yz = q.y * q.z
|
||||
var yw = q.y * q.w
|
||||
var yy = q.y * q.y
|
||||
var yz = q.y * q.z
|
||||
var yw = q.y * q.w
|
||||
|
||||
var zz = q.z * q.z
|
||||
var zw = q.z * q.w
|
||||
var zz = q.z * q.z
|
||||
var zw = q.z * q.w
|
||||
|
||||
result[0] = 1 - 2 * ( yy + zz )
|
||||
result[1] = 2 * ( xy - zw )
|
||||
result[2] = 2 * ( xz + yw )
|
||||
result[00] = 1 - 2 * (yy + zz)
|
||||
result[01] = 0 + 2 * (xy - zw)
|
||||
result[02] = 0 + 2 * (xz + yw)
|
||||
result[04] = 0 + 2 * (xy + zw)
|
||||
result[05] = 1 - 2 * (xx + zz)
|
||||
result[06] = 0 + 2 * (yz - xw)
|
||||
result[08] = 0 + 2 * (xz - yw)
|
||||
result[09] = 0 + 2 * (yz + xw)
|
||||
result[10] = 1 - 2 * (xx + yy)
|
||||
|
||||
result[4] = 2 * ( xy + zw )
|
||||
result[5] = 1 - 2 * ( xx + zz )
|
||||
result[6] = 2 * ( yz - xw )
|
||||
|
||||
result[8] = 2 * ( xz - yw )
|
||||
result[9] = 2 * ( yz + xw )
|
||||
result[10] = 1 - 2 * ( xx + yy )
|
||||
|
||||
result[3] = 0
|
||||
result[7] = 0
|
||||
result[3] = 0
|
||||
result[7] = 0
|
||||
result[11] = 0
|
||||
result[12] = 0
|
||||
result[13] = 0
|
||||
|
|
@ -1241,7 +1236,7 @@ proc mat4*(q: Quat): Mat4 =
|
|||
result[15] = 1.0
|
||||
|
||||
proc reciprocalSqrt*(x: float32): float32 =
|
||||
return 1.0/sqrt(x)
|
||||
return 1.0/sqrt(x)
|
||||
|
||||
proc quat*(m: Mat4): Quat =
|
||||
var
|
||||
|
|
@ -1257,8 +1252,8 @@ proc quat*(m: Mat4): Quat =
|
|||
m21 = m[6]
|
||||
m22 = m[10]
|
||||
|
||||
var q : Quat
|
||||
var t : float32
|
||||
var q: Quat
|
||||
var t: float32
|
||||
|
||||
if m22 < 0:
|
||||
if m00 > m11:
|
||||
|
|
@ -1332,10 +1327,10 @@ proc hrp*(q: Quat): Vec3 =
|
|||
|
||||
proc `$`*(a: Quat): string =
|
||||
return "q(" &
|
||||
a.x.formatfloat(ffDecimal,8) & ", " &
|
||||
a.y.formatfloat(ffDecimal,8) & ", " &
|
||||
a.z.formatfloat(ffDecimal,8) & ", " &
|
||||
a.w.formatfloat(ffDecimal,8) & ")"
|
||||
a.x.formatfloat(ffDecimal, 8) & ", " &
|
||||
a.y.formatfloat(ffDecimal, 8) & ", " &
|
||||
a.z.formatfloat(ffDecimal, 8) & ", " &
|
||||
a.w.formatfloat(ffDecimal, 8) & ")"
|
||||
|
||||
proc rotate*(angle: float32, axis: Vec3): Mat4 =
|
||||
fromAxisAngle(axis, angle).mat4()
|
||||
|
|
|
|||
|
|
@ -2,10 +2,8 @@
|
|||
|
||||
include ../src/vmath
|
||||
|
||||
|
||||
randomize(1234)
|
||||
|
||||
|
||||
block:
|
||||
echo "# angle stuff"
|
||||
echo angleBetween(0.1, 0.2), " should be: ", 0.1
|
||||
|
|
@ -164,7 +162,6 @@ block:
|
|||
echo m2
|
||||
assert m1.close(m2)
|
||||
|
||||
|
||||
block:
|
||||
echo "# 1,1,1 1.11rad"
|
||||
var m1 = rotate(PI*1.11, vec3(-1, 0.34, 1.123).normalize())
|
||||
|
|
@ -178,7 +175,10 @@ block:
|
|||
block:
|
||||
echo "# super random"
|
||||
for i in 0..100:
|
||||
var m1 = rotate(PI*rand(2.0), vec3(rand(2.0)-0.5, rand(2.0)-0.5, rand(2.0)-0.5).normalize())
|
||||
var m1 = rotate(
|
||||
PI*rand(2.0),
|
||||
vec3(rand(2.0)-0.5, rand(2.0)-0.5, rand(2.0)-0.5).normalize()
|
||||
)
|
||||
echo m1
|
||||
var q1 = m1.quat()
|
||||
echo q1
|
||||
|
|
|
|||
Loading…
Reference in a new issue