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Matrix documentation

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This commit is contained in:
Wayne Venables
2023-03-05 12:52:48 -08:00
parent 01730a3eca
commit 5662355571
2 changed files with 124 additions and 59 deletions
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2
doxygen.cfg
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@@ -151,7 +151,7 @@ ALWAYS_DETAILED_SEC = NO
# operators of the base classes will not be shown.
# The default value is: NO.
INLINE_INHERITED_MEMB = NO
INLINE_INHERITED_MEMB = YES
# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path
# before files name in the file list and in the header files. If set to NO the

181
src/util/mat2d.h
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@@ -11,7 +11,7 @@
#include "pico/double.h"
#include "define.h"
// transformation matrix
/// Transformation matrix
template <typename m2type> class cMat2D
{
public:
@@ -20,54 +20,69 @@ public:
m2type m11, m12, m13;
m2type m21, m22, m23;
// trasform X
/// Transform X
inline m2type GetX(m2type x, m2type y) const
{
return x*m11 + y*m12 + m13;
}
// trasform Y
/// Transform Y
inline m2type GetY(m2type x, m2type y) const
{
return x*m21 + y*m22 + m23;
}
// set unit matrix
/// Set unit matrix
inline void Unit()
{
m11 = 1; m12 = 0; m13 = 0;
m21 = 0; m22 = 1; m23 = 0;
}
// copy matrix
/// Copy matrix
inline void Copy(const cMat2D* m)
{
m11 = m->m11; m12 = m->m12; m13 = m->m13;
m21 = m->m21; m22 = m->m22; m23 = m->m23;
}
// translate in X direction
// 1 0 tx m11 m12 m13 m11 m12 m13+tx
// 0 1 0 * m21 m22 m23 = m21 m22 m23
// 0 0 1 0 0 1 0 0 1
/**
* @brief Translate in X direction
* @details
* <pre>
* 1 0 tx m11 m12 m13 m11 m12 m13+tx
* 0 1 0 * m21 m22 m23 = m21 m22 m23
* 0 0 1 0 0 1 0 0 1
* </pre>
*/
inline void TransX(m2type tx)
{
m13 += tx;
}
// translate in Y direction
// 1 0 0 m11 m12 m13 m11 m12 m13
// 0 1 ty * m21 m22 m23 = m21 m22 m23+ty
// 0 0 1 0 0 1 0 0 1
/**
* @brief Translate in Y direction
* @details
* <pre>
* 1 0 0 m11 m12 m13 m11 m12 m13
* 0 1 ty * m21 m22 m23 = m21 m22 m23+ty
* 0 0 1 0 0 1 0 0 1
* </pre>
*/
inline void TransY(m2type ty)
{
m23 += ty;
}
// scale in X direction
// sx 0 0 m11 m12 m13 m11*sx m12*sx m13*sx
// 0 1 0 * m21 m22 m23 = m21 m22 m23
// 0 0 1 0 0 1 0 0 1
/**
* @brief Scale in X direction
* @details
* <pre>
* sx 0 0 m11 m12 m13 m11*sx m12*sx m13*sx
* 0 1 0 * m21 m22 m23 = m21 m22 m23
* 0 0 1 0 0 1 0 0 1
* </pre>
*/
inline void ScaleX(m2type sx)
{
m11 *= sx;
@@ -75,10 +90,15 @@ public:
m13 *= sx;
}
// scale in Y direction
// 1 0 0 m11 m12 m13 m11 m12 m13
// 0 sy 0 * m21 m22 m23 = m21*sy m22*sy m23*sy
// 0 0 1 0 0 1 0 0 1
/**
* @brief Scale in Y direction
* @details
* <pre>
* 1 0 0 m11 m12 m13 m11 m12 m13
* 0 sy 0 * m21 m22 m23 = m21*sy m22*sy m23*sy
* 0 0 1 0 0 1 0 0 1
* </pre>
*/
inline void ScaleY(m2type sy)
{
m21 *= sy;
@@ -86,10 +106,15 @@ public:
m23 *= sy;
}
// rotate, using sin and cos
// cosa -sina 0 m11 m12 m13 m11*cosa-m21*sina m12*cosa-m22*sina m13*cosa-m23*sina
// sina cosa 0 * m21 m22 m23 = m11*sina+m21*cosa m12*sina+m22*cosa m13*sina+m23*cosa
// 0 0 1 0 0 1 0 0 1
/**
* @brief Rotate, using sin and cos
* @details
* <pre>
* cosa -sina 0 m11 m12 m13 m11*cosa-m21*sina m12*cosa-m22*sina m13*cosa-m23*sina
* sina cosa 0 * m21 m22 m23 = m11*sina+m21*cosa m12*sina+m22*cosa m13*sina+m23*cosa
* 0 0 1 0 0 1 0 0 1
* </pre>
*/
inline void RotSC(m2type sina, m2type cosa)
{
m2type t1 = m11;
@@ -108,13 +133,13 @@ public:
m23 = t1*sina + t2*cosa;
}
// rotate, using angle
/// Rotate, using angle
inline void Rot(m2type a)
{
this->RotSC(sin(a), cos(a));
}
// rotate by 90 deg (sina=1, cosa=0)
/// Rotate by 90 deg (sina=1, cosa=0)
inline void Rot90()
{
m2type t = m11;
@@ -130,7 +155,7 @@ public:
m23 = t;
}
// rotate by 180 deg (=flipX and flipY) (sina=0, cosa=-1)
/// Rotate by 180 deg (=flipX and flipY) (sina=0, cosa=-1)
inline void Rot180()
{
m11 = -m11;
@@ -141,7 +166,7 @@ public:
m23 = -m23;
}
// rotate by 270 deg (sina=-1, cosa=0)
/// Rotate by 270 deg (sina=-1, cosa=0)
inline void Rot270()
{
m2type t = m11;
@@ -157,10 +182,15 @@ public:
m23 = -t;
}
// Shear in X direction
// 1 dx 0 m11 m12 m13 m11+m21*dx m12+m22*dx m13+m23*dx
// 0 1 0 * m21 m22 m23 = m21 m22 m23
// 0 0 1 0 0 1 0 0 1
/**
* @brief Shear in X direction
* @details
* <pre>
* 1 dx 0 m11 m12 m13 m11+m21*dx m12+m22*dx m13+m23*dx
* 0 1 0 * m21 m22 m23 = m21 m22 m23
* 0 0 1 0 0 1 0 0 1
* </pre>
*/
inline void ShearX(m2type dx)
{
m11 += m21*dx;
@@ -168,10 +198,15 @@ public:
m13 += m23*dx;
}
// Shear in Y direction
// 1 0 0 m11 m12 m13 m11 m12 m13
// dy 1 0 * m21 m22 m23 = m21+m11*dy m22+m12*dy m23+m13*dy
// 0 0 1 0 0 1 0 0 1
/**
* @brief Shear in Y direction
* @details
* <pre>
* 1 0 0 m11 m12 m13 m11 m12 m13
* dy 1 0 * m21 m22 m23 = m21+m11*dy m22+m12*dy m23+m13*dy
* 0 0 1 0 0 1 0 0 1
* </pre>
*/
inline void ShearY(m2type dy)
{
m21 += m11*dy;
@@ -179,10 +214,15 @@ public:
m23 += m13*dy;
}
// flip in Y direction
// 1 0 0 m11 m12 m13 m11 m12 m13
// 0 -1 0 * m21 m22 m23 = -m21 -m22 -m23
// 0 0 1 0 0 1 0 0 1
/**
* @brief Flip in Y direction
* @details
* <pre>
* 1 0 0 m11 m12 m13 m11 m12 m13
* 0 -1 0 * m21 m22 m23 = -m21 -m22 -m23
* 0 0 1 0 0 1 0 0 1
* </pre>
*/
inline void FlipY()
{
m21 = -m21;
@@ -190,10 +230,15 @@ public:
m23 = -m23;
}
// flip in X direction
// -1 0 0 m11 m12 m13 -m11 -m12 -m13
// 0 1 0 * m21 m22 m23 = m21 m22 m23
// 0 0 1 0 0 1 0 0 1
/**
* @brief Flip in X direction
* @details
* <pre>
* -1 0 0 m11 m12 m13 -m11 -m12 -m13
* 0 1 0 * m21 m22 m23 = m21 m22 m23
* 0 0 1 0 0 1 0 0 1
* </pre>
*/
inline void FlipX()
{
m11 = -m11;
@@ -204,26 +249,46 @@ public:
#define TOFRACT(f) ((int)((f)*FRACTMUL + (((f) < 0) ? -0.5f : 0.5f)))
/// @addtogroup Canvas
/// @{
/**
* @brief 2D Transformation Matrix
* @details Some rendering functions use the cMat2Df transformation matrix to define image transformation. The matrix has
* 6 numeric elements of float type. The transformation is prepared by setting the initial state with the Unit function and
* then entering the transformations one by one. Using the matrix, operations are performed on the image as if the
* operations were entered sequentially.
*/
class cMat2Df : public cMat2D<float>
{
public:
// prepare transformation matrix (for DrawImgMat function)
// ws ... source image width
// hs ... source image height
// x0 ... reference point X on source image
// y0 ... reference point Y on source image
// wd ... destination image width (negative = flip image in X direction)
// hd ... destination image height (negative = flip image in Y direction)
// shearx ... shear image in X direction
// sheary ... shear image in Y direction
// r ... rotate image (angle in radians)
// tx ... shift in X direction (ws = whole image width)
// ty ... shift in Y direction (hs = whole image height)
/**
* @brief Prepare transformation matrix (for DrawImgMat() function)
* @details The order of operations is chosen as if the image is first moved to the point tx and ty, scaled, skewed, then
* rotated and finally moved to the target coordinates.
* @param ws Source image width
* @param hs Source image height
* @param x0 Reference point X on source image
* @param y0 Reference point Y on source image
* @param wd Destination image width (negative = flip image in X direction)
* @param hd Destination image height (negative = flip image in Y direction)
* @param shearx Shear image in X direction
* @param sheary Shear image in Y direction
* @param r Rotate image (angle in radians)
* @param tx Shift in X direction (ws = whole image width)
* @param ty Shift in Y direction (hs = whole image height)
*/
void PrepDrawImg(int ws, int hs, int x0, int y0, int wd, int hd,
float shearx, float sheary, float r, float tx, float ty);
// export matrix to int array[6]
/**
* @brief Export matrix to int array[6]
* @details After transformation, the lower 12 bits of the number contain the decimal part of the number, the upper 20 bits
* contain the integer part of the number. Rendering functions require this integer form of the transformation matrix.
*/
void ExportInt(int* mat) const;
};
/// @}
#endif // _MAT2D_H