Removed sabai dependency as not needed. Streamlined tests and added P…

…ose3

CMakeLists.txt

@@ -5,15 +5,6 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_STANDARD 20)
 
-include(FetchContent)
-
-FetchContent_Declare(
-  Sabai
-  GIT_REPOSITORY [email protected]:taylorpool/sabai.git
-  GIT_TAG constexpr
-)
-FetchContent_MakeAvailable(Sabai)
-
 add_library(onogawa
   src/onogawa.cpp
 )
@@ -23,7 +14,6 @@ target_include_directories(onogawa
 )
 target_link_libraries(onogawa
   PUBLIC
-  sabai
 )
 
 option(BUILD_Onogawa_TESTS "Build Onogawa Tests" OFF)

include/onogawa/onogawa.hpp

@@ -1,106 +1,98 @@
 #pragma once
 
-#include "sabai/sabai.hpp"
-
 namespace onogawa {
 
-class Complex {
-private:
-  double real_;
-  double imaginary_;
+struct Complex {
+  double real;
+  double imaginary;
 
-public:
   constexpr Complex(double real, double imaginary)
-      : real_(real), imaginary_(imaginary) {}
+      : real(real), imaginary(imaginary) {}
 };
 
-class Point2 {
-private:
-  double x_;
-  double y_;
-
-public:
-  constexpr Point2(double x, double y) : x_(x), y_(y) {}
+struct Point2 {
+  double x;
+  double y;
 
-  constexpr double x() const { return x_; }
-  constexpr double y() const { return y_; }
-  constexpr double &x() { return x_; }
-  constexpr double &y() { return y_; }
+  constexpr Point2(double x, double y) : x(x), y(y) {}
 };
 
-class Quaternion {
-private:
-  static constexpr uint64_t W_INDEX = 0;
-  static constexpr uint64_t X_INDEX = 1;
-  static constexpr uint64_t Y_INDEX = 2;
-  static constexpr uint64_t Z_INDEX = 3;
-  sabai::StaticVectord<4> data_;
-
-public:
-  constexpr Quaternion(double w, double x, double y, double z) {
-    data_(W_INDEX) = w;
-    data_(X_INDEX) = x;
-    data_(Y_INDEX) = y;
-    data_(Z_INDEX) = z;
-  }
+struct Quaternion {
+  double w;
+  double x;
+  double y;
+  double z;
+
+  constexpr Quaternion(double w, double x, double y, double z)
+      : w(w), x(x), y(y), z(z) {}
 
   constexpr static Quaternion ew() { return Quaternion(1.0, 0.0, 0.0, 0.0); };
   constexpr static Quaternion ex() { return Quaternion(0.0, 1.0, 0.0, 0.0); };
   constexpr static Quaternion ey() { return Quaternion(0.0, 0.0, 1.0, 0.0); };
   constexpr static Quaternion ez() { return Quaternion(0.0, 0.0, 0.0, 1.0); };
-
-  constexpr double w() const { return data_(W_INDEX); }
-  constexpr double x() const { return data_(X_INDEX); }
-  constexpr double y() const { return data_(Y_INDEX); }
-  constexpr double z() const { return data_(Z_INDEX); }
 };
 
-Quaternion operator*(const Quaternion &a, const Quaternion &b);
+constexpr Quaternion operator*(const Quaternion &a, const Quaternion &b) {
+  return Quaternion(a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z,
+                    a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
+                    a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x,
+                    a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w);
+}
 
-class Point3 {
-private:
-  double x_;
-  double y_;
-  double z_;
+struct Point3 {
+  double x;
+  double y;
+  double z;
 
-public:
-  constexpr Point3(double x, double y, double z) : x_(x), y_(y), z_(z) {}
+  constexpr Point3(double x, double y, double z) : x(x), y(y), z(z) {}
 
-  constexpr double x() const { return x_; }
-  constexpr double y() const { return y_; }
-  constexpr double z() const { return z_; }
-  constexpr double &x() { return x_; }
-  constexpr double &y() { return y_; }
-  constexpr double &z() { return z_; }
+  constexpr static Point3 ex() { return Point3(1.0, 0.0, 0.0); }
+  constexpr static Point3 ey() { return Point3(0.0, 1.0, 0.0); }
+  constexpr static Point3 ez() { return Point3(0.0, 0.0, 1.0); }
 };
 
+constexpr Point3 operator+(const Point3 &a, const Point3 &b) {
+  return Point3(a.x + b.x, a.y + b.y, a.z + b.z);
+}
+
 constexpr Point3 operator*(const Quaternion &q, const Point3 &point) {
-  const double s =
-      2.0 / (q.w() * q.w() + q.x() * q.x() + q.y() * q.y() + q.z() * q.z());
+  const double s = 2.0 / (q.w * q.w + q.x * q.x + q.y * q.y + q.z * q.z);
+
+  const double xs = q.x * s;
+  const double ys = q.y * s;
+  const double zs = q.z * s;
+
+  const double wxs = q.w * xs;
+  const double wys = q.w * ys;
+  const double wzs = q.w * zs;
 
-  const double xs = q.x() * s;
-  const double ys = q.y() * s;
-  const double zs = q.z() * s;
+  const double xxs = q.x * xs;
+  const double xys = q.x * ys;
+  const double xzs = q.x * zs;
 
-  const double wxs = q.w() * xs;
-  const double wys = q.w() * ys;
-  const double wzs = q.w() * zs;
+  const double yys = q.y * ys;
+  const double yzs = q.y * zs;
 
-  const double xxs = q.x() * xs;
-  const double xys = q.x() * ys;
-  const double xzs = q.x() * zs;
+  const double zzs = q.z * zs;
 
-  const double yys = q.y() * ys;
-  const double yzs = q.y() * zs;
+  return Point3(
+      (1 - yys - zzs) * point.x + (xys - wzs) * point.y + (xzs + wys) * point.z,
+      (xys + wzs) * point.x + (1 - xxs - zzs) * point.y + (yzs - wxs) * point.z,
+      (xzs - wys) * point.x + (yzs + wxs) * point.y +
+          (1 - xxs - yys) * point.z);
+}
+
+struct Pose3 {
+  Quaternion orientation;
+  Point3 position;
 
-  const double zzs = q.z() * zs;
+  constexpr Pose3(const Quaternion &orientation, const Point3 &position)
+      : orientation(orientation), position(position) {}
+};
 
-  return Point3((1 - yys - zzs) * point.x() + (xys - wzs) * point.y() +
-                    (xzs + wys) * point.z(),
-                (xys + wzs) * point.x() + (1 - xxs - zzs) * point.y() +
-                    (yzs - wxs) * point.z(),
-                (xzs - wys) * point.x() + (yzs + wxs) * point.y() +
-                    (1 - xxs - yys) * point.z());
+constexpr Pose3 operator*(const Pose3 &a, const Pose3 &b) {
+  return Pose3(a.orientation * b.orientation,
+               a.orientation * b.position + a.position);
 }
 
 } // namespace onogawa

src/onogawa.cpp

@@ -1,13 +1,3 @@
 #include "onogawa/onogawa.hpp"
 
-namespace onogawa {
-
-Quaternion operator*(const Quaternion &a, const Quaternion &b) {
-  return Quaternion(
-      a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
-      a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
-      a.w() * b.y() - a.x() * b.z() + a.y() * b.w() + a.z() * b.x(),
-      a.w() * b.z() + a.x() * b.y() - a.y() * b.x() + a.z() * b.w());
-}
-
-} // namespace onogawa
+namespace onogawa {} // namespace onogawa