Add coordinate system converter

2025-10-21 15:19:26 +02:00
parent e6e2cdbe80
commit 76440bb739
2 changed files with 989 additions and 0 deletions
--- a/openVulkanoCpp/Math/CoordinateSystemConverter.hpp
+++ b/openVulkanoCpp/Math/CoordinateSystemConverter.hpp
@@ -0,0 +1,104 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/.
+ */
+
+#pragma once
+
+#include "Math.hpp"
+#include "CoordinateSystem.hpp"
+
+namespace OpenVulkano::Math
+{
+	class CoordinateSystemConverter
+	{
+		inline static Math::Matrix4i ROT_XP90 = { 1, 0, 0, 0, 0, 0, 1, 0, 0, -1, 0, 0, 0, 0, 0, 1 };
+		inline static Math::Matrix4i ROT_XN90 = { 1, 0, 0, 0, 0, 0, -1, 0, 0, 1, 0, 0, 0, 0, 0, 1 };
+		CoordinateSystem from, to;
+	
+	public:
+		constexpr CoordinateSystemConverter(CoordinateSystem from, CoordinateSystem to) : from(from), to(to) {}
+		
+		template<typename T, glm::qualifier Q>
+		[[nodiscard]] Vector<3, T, Q> Convert(const Vector<3, T, Q>& v) const
+		{
+			if (from == to) return v;
+			return ConvertHandedness(ConvertUp(v));
+		}
+		
+		template<typename T, glm::qualifier Q>
+		[[nodiscard]] Vector<4, T, Q> Convert(const Vector<4, T, Q>& v) const
+		{
+			if (from == to) return v;
+			return { ConvertHandedness(ConvertUp(reinterpret_cast<const glm::vec<3,T,Q>&>(v))), v.w };
+		}
+
+		template<typename T, glm::qualifier Q>
+		[[nodiscard]] Matrix<3, T, Q> Convert(const Matrix<3, T, Q>& mat) const
+		{
+			if (from == to) return mat;
+			return ConvertHandedness(ConvertUp(mat));
+		}
+
+		template<typename T, glm::qualifier Q>
+		[[nodiscard]] Matrix<4, T, Q> Convert(const Matrix<4, T, Q>& mat) const
+		{
+			if (from == to) return mat;
+			return ConvertHandedness(ConvertUp(mat));
+		}
+		
+	private:
+		// Conversion functions
+		template<typename T, glm::qualifier Q>
+		[[nodiscard]] Vector<3, T, Q> ConvertHandedness(const Vector<3, T, Q>& v) const
+		{
+			if (from.GetHandedness() == to.GetHandedness()) return v;
+			if (to == CoordinateSystem::UpAxis::Y)
+				return { v.x, v.y, -v.z };
+			return { v.x, -v.y, v.z };
+		}
+
+		template<typename T, glm::qualifier Q>
+		[[nodiscard]] Vector<3, T, Q> ConvertUp(const Vector<3, T, Q>& v) const
+		{
+			if (from.GetUpAxis() == to.GetUpAxis()) return v;
+			if (from.GetUpAxis() == CoordinateSystem::UpAxis::Y)
+				return { v.x,  -v.z, v.y };
+			return { v.x, v.z,  -v.y };
+		}
+
+		template<int S, typename T, glm::qualifier Q>
+		[[nodiscard]] Matrix<S, T, Q> ConvertHandedness(Matrix<S, T, Q> mat) const
+		{
+			constexpr int AXIS_Y = 1;
+			constexpr int AXIS_Z = 2;
+			if (from.GetHandedness() == to.GetHandedness()) return mat;
+			if (to == CoordinateSystem::UpAxis::Y)
+				for(int i = 0; i < S; i++) mat[i][AXIS_Z] = -mat[i][AXIS_Z];
+			else
+				for(int i = 0; i < S; i++) mat[i][AXIS_Y] = -mat[i][AXIS_Y];
+			return mat;
+		}
+
+		template<int S, typename T, glm::qualifier Q>
+		[[nodiscard]] Matrix<S, T, Q> ConvertUp(const Matrix<S, T, Q>& mat) const
+		{
+			if (from.GetUpAxis() == to.GetUpAxis()) return mat;
+			Matrix4i* conv;
+			Matrix4i* inverse;
+			if (from.GetUpAxis() == CoordinateSystem::UpAxis::Y && to.GetUpAxis() == CoordinateSystem::UpAxis::Z)
+			{
+				conv = &ROT_XP90;
+				inverse = &ROT_XN90;
+			}
+			else if (from.GetUpAxis() == CoordinateSystem::UpAxis::Z && to.GetUpAxis() == CoordinateSystem::UpAxis::Y)
+			{
+				conv = &ROT_XN90;
+				inverse = &ROT_XP90;
+			}
+
+			return Matrix<S, T, Q>(*conv) * mat * Matrix<S, T, Q>(*inverse);
+		}
+	};
+}