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#pragma once
#include <math.h>
#include <assert.h>
#include <stdlib.h>
#include <string>
#include "Settings.h"
#include "Constants.h"
namespace Phy2D
{
struct Vec2
{
Vec2() {}
Vec2(fixed x, fixed y) : x(x), y(y) {}
void Set(fixed x_, fixed y_) { x = x_; y = y_; }
Vec2 operator -() { return Vec2(-x, -y); }
void operator += (const Vec2& v)
{
x += v.x; y += v.y;
}
void operator -= (const Vec2& v)
{
x -= v.x; y -= v.y;
}
void operator *= (fixed a)
{
x *= a; y *= a;
}
fixed Length() const
{
return SQRT(x * x + y * y);
}
std::string ToString()
{
return std::to_string((float)x) + "," + std::to_string((float)y);
}
fixed x, y;
};
struct Mat22
{
Mat22() {}
Mat22(fixed angle)
{
fixed c = COS(angle), s = SIN(angle);
col1.x = c; col2.x = -s;
col1.y = s; col2.y = c;
}
Mat22(const Vec2& col1, const Vec2& col2) : col1(col1), col2(col2) {}
Mat22 Transpose() const
{
return Mat22(Vec2(col1.x, col2.x), Vec2(col1.y, col2.y));
}
Mat22 Invert() const
{
fixed a = col1.x, b = col2.x, c = col1.y, d = col2.y;
Mat22 B;
fixed det = a * d - b * c;
assert(det != _0);
det = (fixed)_1 / det;
B.col1.x = det * d; B.col2.x = -det * b;
B.col1.y = -det * c; B.col2.y = det * a;
return B;
}
Vec2 col1, col2;
};
inline fixed Dot(const Vec2& a, const Vec2& b)
{
return a.x * b.x + a.y * b.y;
}
inline fixed Cross(const Vec2& a, const Vec2& b)
{
return a.x * b.y - a.y * b.x;
}
inline Vec2 Cross(const Vec2& a, fixed s)
{
return Vec2(s * a.y, -s * a.x);
}
inline Vec2 Cross(fixed s, const Vec2& a)
{
return Vec2(-s * a.y, s * a.x);
}
inline Vec2 operator * (const Mat22& A, const Vec2& v)
{
return Vec2(A.col1.x * v.x + A.col2.x * v.y, A.col1.y * v.x + A.col2.y * v.y);
}
inline Vec2 operator + (const Vec2& a, const Vec2& b)
{
return Vec2(a.x + b.x, a.y + b.y);
}
inline Vec2 operator - (const Vec2& a, const Vec2& b)
{
return Vec2(a.x - b.x, a.y - b.y);
}
inline Vec2 operator * (fixed s, const Vec2& v)
{
return Vec2(s * v.x, s * v.y);
}
inline Mat22 operator + (const Mat22& A, const Mat22& B)
{
return Mat22(A.col1 + B.col1, A.col2 + B.col2);
}
inline Mat22 operator * (const Mat22& A, const Mat22& B)
{
return Mat22(A * B.col1, A * B.col2);
}
inline fixed Abs(fixed a)
{
return a > _0 ? a : -a;
}
inline Vec2 Abs(const Vec2& a)
{
return Vec2(fabsf(a.x), fabsf(a.y));
}
inline Mat22 Abs(const Mat22& A)
{
return Mat22(Abs(A.col1), Abs(A.col2));
}
inline fixed Sign(fixed x)
{
return x < _0 ? -_1 : _1;
}
inline fixed Min(fixed a, fixed b)
{
return a < b ? a : b;
}
inline fixed Max(fixed a, fixed b)
{
return a > b ? a : b;
}
inline fixed Clamp(fixed a, fixed low, fixed high)
{
return Max(low, Min(a, high));
}
template<typename T> inline void Swap(T& a, T& b)
{
T tmp = a;
a = b;
b = tmp;
}
//// Random fixed in range [-1,1]
//inline fixed Random()
//{
// fixed r = (fixed)rand();
// r /= RAND_MAX;
// r = (fixed)2.0f * r - _1;
// return r;
//}
//inline fixed Random(fixed lo, fixed hi)
//{
// fixed r = (fixed)rand();
// r /= RAND_MAX;
// r = (hi - lo) * r + lo;
// return r;
//}
}
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