Games101作业0

在windows的vs环境下完成，环境配置参考GAMES101作业分析——作业0(开发环境配置) - 知乎 (zhihu.com)

是一个点的旋转的问题，这里把平移和旋转矩阵合并到一个矩阵里了

有一个要注意的就是要除180.0，否则会精度丢失

acos()是反余弦函数，cosπ = -1，所以π = acos(-1)。

#include<cmath>
#include<eigen3/Eigen/Core>
#include<eigen3/Eigen/Dense>
#include<iostream>

#define PI acos(-1)

using namespace std;

int main(){

    // Basic Example of cpp
    std::cout << "Example of cpp \n";
    float a = 1.0, b = 2.0;
    std::cout << a << std::endl;
    std::cout << a/b << std::endl;
    std::cout << std::sqrt(b) << std::endl;
    std::cout << std::acos(-1) << std::endl;
    std::cout << std::sin(30.0/180.0*acos(-1)) << std::endl;

    // Example of vector
    std::cout << "Example of vector \n";
    // vector definition
    Eigen::Vector3f v(1.0f,2.0f,3.0f);//默认是列向量
    
    Eigen::Vector3f w(1.0f,0.0f,0.0f);
    // vector output
    std::cout << "Example of output \n";
    std::cout << v << std::endl;
    // vector add
    std::cout << "Example of add \n";
    std::cout << v + w << std::endl;
    // vector scalar multiply
    std::cout << "Example of scalar multiply \n";
    std::cout << v * 3.0f << std::endl;
    std::cout << 2.0f * v << std::endl;

    // Example of matrix
    std::cout << "Example of matrix \n";
    // matrix definition
    Eigen::Matrix3f i,j;
    i << 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0;
    j << 2.0, 3.0, 1.0, 4.0, 6.0, 5.0, 9.0, 7.0, 8.0;
    // matrix output
    std::cout << "Example of output \n";
    std::cout << i << std::endl;
    // matrix add i + j
    cout << i + j << endl;
    //matrix scalar multiply i * 2.0;
    cout << i * j << endl;
    // matrix multiply i * j
    // matrix multiply vector i * v
    cout << i * v << endl;


    Eigen::Vector3f p(2.0, 1.0, 1.0);
    Eigen::Matrix3f R;
    float angle = 45 / 180.0 * PI;//防止精度丢失
    R << cos(angle), -sin(angle), 1.0,
        sin(angle), cos(angle), 2.0,
        0, 0, 1.0;
    cout << R * p << endl;


    return 0;
}