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feat: quaternion operations, and transforms that mean the same in 4x4 and 4x3

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- A 4-vector doubles as a unit quaternion in (x, y, z, w) order:
  QuanternionMultiply, QuanternionConjugate, QuanternionFromAxisAngle,
  QuanternionFromUnitVectors (shortest arc), QuanternionNlerp and
  QuanternionSlerp, next to the existing QuanternionFromBasis.
- MatrixRowMajor gains Rotation (from a quaternion), TRS, InverseAffine,
  Transpose and Decompose. The 4x4 transforms row vectors and the 4x3
  column vectors (the VkTransformMatrixKHR layout); each of these means the
  same transform in both. The 4x3 Rotation copied the 4x4's rows, which
  rotated by the inverse.
- The static Normalize no longer assumes three components.
- Tests: Quaternion, and Matrix extended.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Jorijn van der Graaf 2026-10-20 19:06:47 +02:00
commit 087c8b32c3
Signed by: jorijnvdgraaf
GPG key ID: 2937E59CDCC1BCFB
6 changed files with 533 additions and 8 deletions
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README.md
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@ -11,8 +11,8 @@ The library is hardware-aware: it picks the widest SIMD path the target supports
| Partition | Contents |
| --- | --- |
| `:Basic` | `ToRadian`, plus the `VectorF16 → VectorF32` alias on x86_64 without AVX512-FP16 and on AArch64 without ARMv8.2-FP16. |
| `:Vector` | Generic `Vector<T, Len, Alignment>` with `.x/.y/.z/.w` and `.r/.g/.b/.a` accessors, arithmetic, comparison, and conversion operators. |
| `:MatrixRowMajor` | `MatrixRowMajor<T, ColumnSize, RowSize, Repeats>` — row-major matrices with packed-batch support via `Repeats`. |
| `:Vector` | Generic `Vector<T, Len, Alignment>` with `.x/.y/.z/.w` and `.r/.g/.b/.a` accessors, arithmetic, comparison, and conversion operators. A 4-vector doubles as a unit quaternion in (x, y, z, w) order: `Rotate` applies one, and `QuanternionMultiply`, `QuanternionConjugate`, `QuanternionFromAxisAngle`, `QuanternionFromUnitVectors` (shortest arc), `QuanternionFromBasis`, `QuanternionFromEuler`, `QuanternionNlerp` and `QuanternionSlerp` build and combine them. |
| `:MatrixRowMajor` | `MatrixRowMajor<T, ColumnSize, RowSize, Repeats>` — row-major matrices with packed-batch support via `Repeats`. The 4x4 transforms row vectors (`v * M`, translation in row 3) and the 4x3 column vectors (`M * v`, translation in column 3, the `VkTransformMatrixKHR` layout); `Rotation`, `TRS` (from a translation, quaternion and scale), `InverseAffine` and `Decompose` mean the same transform in both. |
| `:VectorF32` | `VectorF32<Len, Packing>` — SIMD-specialized 32-bit float vector with `Load`/`Store`, FMA, `Cross`, `Dot`, `Length`, `Normalize`, `Sin`/`Cos`, `Shuffle`, etc. |
| `:VectorF16` | `VectorF16<Len, Packing>` — same surface as `VectorF32` for `_Float16` when the target supports it. |
| `:Intersection` | `IntersectionTestRayTriangle`, `IntersectionTestRaySphere`, `IntersectionTestRayOrientedBox`. |