LF line endings
Basic, Vector, VectorF16 and VectorF32 were stored with CRLF; convert them to LF like the rest of the tree. No other change to their content. .gitattributes keeps text files LF from here on. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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5 changed files with 4023 additions and 4022 deletions
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.gitattributes
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* text=auto eol=lf
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@ -1,18 +1,18 @@
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//SPDX-License-Identifier: LGPL-3.0-only
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//SPDX-License-Identifier: LGPL-3.0-only
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//SPDX-FileCopyrightText: Copyright (C) 2026 Catcrafts®
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//SPDX-FileCopyrightText: Copyright (C) 2026 Catcrafts®
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export module Crafter.Math:Basic;
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export module Crafter.Math:Basic;
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import std;
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import std;
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import :VectorF32;
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import :VectorF32;
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namespace Crafter {
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namespace Crafter {
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template<typename T>
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template<typename T>
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constexpr T ToRadian(T degrees) {
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constexpr T ToRadian(T degrees) {
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return degrees * (std::numbers::pi / 180);
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return degrees * (std::numbers::pi / 180);
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}
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}
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#if (defined(__x86_64) && !defined(__AVX512FP16__)) || defined(__riscv_vector) || !defined(__FLT16_MAX__)
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#if (defined(__x86_64) && !defined(__AVX512FP16__)) || defined(__riscv_vector) || !defined(__FLT16_MAX__)
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export template <std::uint32_t Len, std::uint32_t Packing>
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export template <std::uint32_t Len, std::uint32_t Packing>
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using VectorF16 = VectorF32<Len, Packing>;
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using VectorF16 = VectorF32<Len, Packing>;
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#endif
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#endif
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}
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}
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@ -1,469 +1,469 @@
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//SPDX-License-Identifier: LGPL-3.0-only
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//SPDX-License-Identifier: LGPL-3.0-only
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//SPDX-FileCopyrightText: Copyright (C) 2026 Catcrafts®
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//SPDX-FileCopyrightText: Copyright (C) 2026 Catcrafts®
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export module Crafter.Math:Vector;
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export module Crafter.Math:Vector;
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import std;
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import std;
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namespace Crafter {
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namespace Crafter {
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template <typename T, std::uint32_t Len, std::uint32_t Aligment>
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template <typename T, std::uint32_t Len, std::uint32_t Aligment>
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struct __attribute__((packed)) VectorBase {
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struct __attribute__((packed)) VectorBase {
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T v[Aligment];
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T v[Aligment];
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};
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};
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template <typename T, std::uint32_t Aligment>
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template <typename T, std::uint32_t Aligment>
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struct __attribute__((packed)) VectorBase<T, 1, Aligment> {
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struct __attribute__((packed)) VectorBase<T, 1, Aligment> {
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union {
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union {
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T v[Aligment];
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T v[Aligment];
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T x, r;
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T x, r;
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};
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};
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};
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};
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template <typename T, std::uint32_t Aligment>
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template <typename T, std::uint32_t Aligment>
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struct __attribute__((packed)) VectorBase<T, 2, Aligment> {
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struct __attribute__((packed)) VectorBase<T, 2, Aligment> {
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union {
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union {
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T v[Aligment];
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T v[Aligment];
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struct __attribute__((packed)) {
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struct __attribute__((packed)) {
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T x, y;
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T x, y;
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};
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};
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struct __attribute__((packed)) {
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struct __attribute__((packed)) {
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T r, g;
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T r, g;
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};
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};
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};
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};
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constexpr VectorBase<T, 2, Aligment>(T x, T y): x(x), y(y) {
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constexpr VectorBase<T, 2, Aligment>(T x, T y): x(x), y(y) {
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}
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}
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constexpr VectorBase<T, 2, Aligment>() = default;
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constexpr VectorBase<T, 2, Aligment>() = default;
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};
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};
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template <typename T, std::uint32_t Aligment>
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template <typename T, std::uint32_t Aligment>
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struct __attribute__((packed)) VectorBase<T, 3, Aligment> {
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struct __attribute__((packed)) VectorBase<T, 3, Aligment> {
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union {
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union {
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T v[Aligment];
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T v[Aligment];
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struct __attribute__((packed)) {
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struct __attribute__((packed)) {
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T x, y, z;
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T x, y, z;
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};
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};
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struct __attribute__((packed)) {
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struct __attribute__((packed)) {
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T r, g, b;
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T r, g, b;
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};
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};
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};
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};
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constexpr VectorBase<T, 3, Aligment>(T x, T y, T z): x(x), y(y), z(z) {
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constexpr VectorBase<T, 3, Aligment>(T x, T y, T z): x(x), y(y), z(z) {
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}
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}
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constexpr VectorBase<T, 3, Aligment>() = default;
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constexpr VectorBase<T, 3, Aligment>() = default;
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};
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};
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template <typename T, std::uint32_t Aligment>
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template <typename T, std::uint32_t Aligment>
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struct __attribute__((packed)) VectorBase<T, 4, Aligment> {
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struct __attribute__((packed)) VectorBase<T, 4, Aligment> {
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union {
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union {
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T v[Aligment];
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T v[Aligment];
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struct __attribute__((packed)) {
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struct __attribute__((packed)) {
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T x, y, z, w;
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T x, y, z, w;
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};
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};
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struct __attribute__((packed)) {
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struct __attribute__((packed)) {
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T r, g, b, a;
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T r, g, b, a;
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};
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};
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};
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};
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constexpr VectorBase<T, 4, Aligment>(T x, T y, T z, T w): x(x), y(y), z(z), w(w) {
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constexpr VectorBase<T, 4, Aligment>(T x, T y, T z, T w): x(x), y(y), z(z), w(w) {
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}
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}
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constexpr VectorBase<T, 4, Aligment>() = default;
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constexpr VectorBase<T, 4, Aligment>() = default;
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};
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};
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template <typename T, std::uint32_t Len>
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template <typename T, std::uint32_t Len>
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struct VectorBase<T, Len, 0> {
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struct VectorBase<T, Len, 0> {
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T v[Len];
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T v[Len];
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};
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};
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template <typename T>
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template <typename T>
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struct VectorBase<T, 1, 0> {
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struct VectorBase<T, 1, 0> {
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union {
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union {
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T v[1];
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T v[1];
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T x, r;
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T x, r;
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};
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};
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};
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};
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template <typename T>
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template <typename T>
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struct VectorBase<T, 2, 0> {
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struct VectorBase<T, 2, 0> {
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union {
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union {
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T v[2];
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T v[2];
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struct {
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struct {
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T x, y;
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T x, y;
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};
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};
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struct {
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struct {
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T r, g;
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T r, g;
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};
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};
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};
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};
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constexpr VectorBase<T, 2, 0>(T x, T y): x(x), y(y) {
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constexpr VectorBase<T, 2, 0>(T x, T y): x(x), y(y) {
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}
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}
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constexpr VectorBase<T, 2, 0>() = default;
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constexpr VectorBase<T, 2, 0>() = default;
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};
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};
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template <typename T>
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template <typename T>
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struct VectorBase<T, 3, 0> {
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struct VectorBase<T, 3, 0> {
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union {
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union {
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T v[3];
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T v[3];
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struct {
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struct {
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T x, y, z;
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T x, y, z;
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};
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};
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struct {
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struct {
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T r, g, b;
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T r, g, b;
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};
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};
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};
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};
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constexpr VectorBase<T, 3, 0>(T x, T y, T z): x(x), y(y), z(z) {
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constexpr VectorBase<T, 3, 0>(T x, T y, T z): x(x), y(y), z(z) {
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}
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}
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constexpr VectorBase<T, 3, 0>() = default;
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constexpr VectorBase<T, 3, 0>() = default;
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};
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};
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template <typename T>
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template <typename T>
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struct VectorBase<T, 4, 0> {
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struct VectorBase<T, 4, 0> {
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union {
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union {
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T v[4];
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T v[4];
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struct {
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struct {
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T x, y, z, w;
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T x, y, z, w;
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};
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};
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struct {
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struct {
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T r, g, b, a;
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T r, g, b, a;
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};
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};
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};
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};
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constexpr VectorBase<T, 4, 0>(T x, T y, T z, T w): x(x), y(y), z(z), w(w) {
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constexpr VectorBase<T, 4, 0>(T x, T y, T z, T w): x(x), y(y), z(z), w(w) {
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}
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}
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constexpr VectorBase<T, 4, 0>() = default;
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constexpr VectorBase<T, 4, 0>() = default;
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};
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};
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export template <typename T, std::uint32_t Len, std::uint32_t Aligment = 0>
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export template <typename T, std::uint32_t Len, std::uint32_t Aligment = 0>
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class Vector : public VectorBase<T, Len, Aligment> {
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class Vector : public VectorBase<T, Len, Aligment> {
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public:
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public:
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constexpr Vector(T x, T y, T z, T w ) requires(std::same_as<T, T> && Len == 4) : VectorBase<T, Len, Aligment>(x, y, z, w) {
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constexpr Vector(T x, T y, T z, T w ) requires(std::same_as<T, T> && Len == 4) : VectorBase<T, Len, Aligment>(x, y, z, w) {
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}
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}
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constexpr Vector(T x, T y, T z) requires(std::same_as<T, T> && Len == 3) : VectorBase<T, Len, Aligment>(x, y, z) {
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constexpr Vector(T x, T y, T z) requires(std::same_as<T, T> && Len == 3) : VectorBase<T, Len, Aligment>(x, y, z) {
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}
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}
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constexpr Vector(T x, T y) requires(std::same_as<T, T> && Len == 2) : VectorBase<T, Len, Aligment>(x, y) {
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constexpr Vector(T x, T y) requires(std::same_as<T, T> && Len == 2) : VectorBase<T, Len, Aligment>(x, y) {
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}
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}
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constexpr Vector() = default;
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constexpr Vector() = default;
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template <std::uint32_t BAlignment>
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template <std::uint32_t BAlignment>
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constexpr operator Vector<T, Len, BAlignment>() const {
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constexpr operator Vector<T, Len, BAlignment>() const {
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Vector<T, Len, BAlignment> returnVector;
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Vector<T, Len, BAlignment> returnVector;
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for(std::uint32_t i = 0; i < Len; i++) {
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for(std::uint32_t i = 0; i < Len; i++) {
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returnVector.v[i] = this->v[i];
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returnVector.v[i] = this->v[i];
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}
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}
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return returnVector;
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return returnVector;
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}
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}
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template <std::uint32_t Blen, std::uint32_t BAlignment>
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template <std::uint32_t Blen, std::uint32_t BAlignment>
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constexpr Vector<T, Len, Aligment> operator+(Vector<T, Blen, BAlignment> b) const {
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constexpr Vector<T, Len, Aligment> operator+(Vector<T, Blen, BAlignment> b) const {
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Vector<T, Len, Aligment> resultVector;
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Vector<T, Len, Aligment> resultVector;
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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resultVector.v[i] = this->v[i]+b.v[i];
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resultVector.v[i] = this->v[i]+b.v[i];
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}
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}
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return resultVector;
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return resultVector;
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}
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}
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template <std::uint32_t Blen, std::uint32_t BAlignment>
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template <std::uint32_t Blen, std::uint32_t BAlignment>
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constexpr Vector<T, Len, Aligment> operator-(Vector<T, Blen, BAlignment> b) const {
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constexpr Vector<T, Len, Aligment> operator-(Vector<T, Blen, BAlignment> b) const {
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Vector<T, Len, Aligment> resultVector;
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Vector<T, Len, Aligment> resultVector;
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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resultVector.v[i] = this->v[i]-b.v[i];
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resultVector.v[i] = this->v[i]-b.v[i];
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}
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}
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return resultVector;
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return resultVector;
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}
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}
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constexpr Vector<T, Len, Aligment> operator-(){
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constexpr Vector<T, Len, Aligment> operator-(){
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Vector<T, Len, Aligment> resultVector;
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Vector<T, Len, Aligment> resultVector;
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for(std::uint32_t i = 0; i < Len; i++) {
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for(std::uint32_t i = 0; i < Len; i++) {
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resultVector.v[i] = -this->v[i];
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resultVector.v[i] = -this->v[i];
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}
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}
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return resultVector;
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return resultVector;
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}
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}
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template <std::uint32_t Blen, std::uint32_t BAlignment>
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template <std::uint32_t Blen, std::uint32_t BAlignment>
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constexpr Vector<T, Len, Aligment> operator*(Vector<T, Blen, BAlignment> b) const {
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constexpr Vector<T, Len, Aligment> operator*(Vector<T, Blen, BAlignment> b) const {
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Vector<T, Len, Aligment> resultVector;
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Vector<T, Len, Aligment> resultVector;
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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resultVector.v[i] = this->v[i]*b.v[i];
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resultVector.v[i] = this->v[i]*b.v[i];
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}
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}
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return resultVector;
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return resultVector;
|
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}
|
}
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template <std::uint32_t Blen, std::uint32_t BAlignment>
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template <std::uint32_t Blen, std::uint32_t BAlignment>
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constexpr Vector<T, Len, Aligment> operator/(Vector<T, Blen, BAlignment> b) const {
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constexpr Vector<T, Len, Aligment> operator/(Vector<T, Blen, BAlignment> b) const {
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Vector<T, Len, Aligment> resultVector;
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Vector<T, Len, Aligment> resultVector;
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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resultVector.v[i] = this->v[i]/b.v[i];
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resultVector.v[i] = this->v[i]/b.v[i];
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}
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}
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return resultVector;
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return resultVector;
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}
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}
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template <std::uint32_t Blen, std::uint32_t BAlignment>
|
template <std::uint32_t Blen, std::uint32_t BAlignment>
|
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constexpr void operator+=(Vector<T, Blen, BAlignment> b){
|
constexpr void operator+=(Vector<T, Blen, BAlignment> b){
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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this->v[i]+=b.v[i];
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this->v[i]+=b.v[i];
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||||||
}
|
}
|
||||||
}
|
}
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template <std::uint32_t Blen, std::uint32_t BAlignment>
|
template <std::uint32_t Blen, std::uint32_t BAlignment>
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||||||
constexpr void operator-=(Vector<T, Blen, BAlignment> b){
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constexpr void operator-=(Vector<T, Blen, BAlignment> b){
|
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
|
for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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||||||
this->v[i]-=b.v[i];
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this->v[i]-=b.v[i];
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||||||
}
|
}
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||||||
}
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}
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template <std::uint32_t Blen, std::uint32_t BAlignment>
|
template <std::uint32_t Blen, std::uint32_t BAlignment>
|
||||||
constexpr void operator*=(Vector<T, Blen, BAlignment> b){
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constexpr void operator*=(Vector<T, Blen, BAlignment> b){
|
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for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
|
for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
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this->v[i]*=b.v[i];
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this->v[i]*=b.v[i];
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||||||
}
|
}
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}
|
}
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template <std::uint32_t Blen, std::uint32_t BAlignment>
|
template <std::uint32_t Blen, std::uint32_t BAlignment>
|
||||||
constexpr void operator/=(Vector<T, Blen, BAlignment> b){
|
constexpr void operator/=(Vector<T, Blen, BAlignment> b){
|
||||||
for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
|
for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
|
||||||
this->v[i]/=b.v[i];
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this->v[i]/=b.v[i];
|
||||||
}
|
}
|
||||||
}
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}
|
||||||
|
|
||||||
template <typename BT>
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template <typename BT>
|
||||||
constexpr Vector<T, Len, Aligment> operator+(BT b) const requires std::is_arithmetic_v<BT> {
|
constexpr Vector<T, Len, Aligment> operator+(BT b) const requires std::is_arithmetic_v<BT> {
|
||||||
Vector<T, Len, Aligment> resultVector;
|
Vector<T, Len, Aligment> resultVector;
|
||||||
for(std::uint32_t i = 0; i < Len; i++) {
|
for(std::uint32_t i = 0; i < Len; i++) {
|
||||||
resultVector.v[i] = this->v[i] + b;
|
resultVector.v[i] = this->v[i] + b;
|
||||||
}
|
}
|
||||||
return resultVector;
|
return resultVector;
|
||||||
}
|
}
|
||||||
template <typename BT>
|
template <typename BT>
|
||||||
constexpr Vector<T, Len, Aligment> operator-(BT b) const requires std::is_arithmetic_v<BT> {
|
constexpr Vector<T, Len, Aligment> operator-(BT b) const requires std::is_arithmetic_v<BT> {
|
||||||
Vector<T, Len, Aligment> resultVector;
|
Vector<T, Len, Aligment> resultVector;
|
||||||
for(std::uint32_t i = 0; i < Len; i++) {
|
for(std::uint32_t i = 0; i < Len; i++) {
|
||||||
resultVector.v[i] = this->v[i] - b;
|
resultVector.v[i] = this->v[i] - b;
|
||||||
}
|
}
|
||||||
return resultVector;
|
return resultVector;
|
||||||
}
|
}
|
||||||
template <typename BT>
|
template <typename BT>
|
||||||
constexpr Vector<T, Len, Aligment> operator*(BT b) const requires std::is_arithmetic_v<BT> {
|
constexpr Vector<T, Len, Aligment> operator*(BT b) const requires std::is_arithmetic_v<BT> {
|
||||||
Vector<T, Len, Aligment> resultVector;
|
Vector<T, Len, Aligment> resultVector;
|
||||||
for(std::uint32_t i = 0; i < Len; i++) {
|
for(std::uint32_t i = 0; i < Len; i++) {
|
||||||
resultVector.v[i] = this->v[i] * b;
|
resultVector.v[i] = this->v[i] * b;
|
||||||
}
|
}
|
||||||
return resultVector;
|
return resultVector;
|
||||||
}
|
}
|
||||||
template <typename BT>
|
template <typename BT>
|
||||||
constexpr Vector<T, Len, Aligment> operator/(BT b) const requires std::is_arithmetic_v<BT> {
|
constexpr Vector<T, Len, Aligment> operator/(BT b) const requires std::is_arithmetic_v<BT> {
|
||||||
Vector<T, Len, Aligment> resultVector;
|
Vector<T, Len, Aligment> resultVector;
|
||||||
for(std::uint32_t i = 0; i < Len; i++) {
|
for(std::uint32_t i = 0; i < Len; i++) {
|
||||||
resultVector.v[i] = this->v[i] / b;
|
resultVector.v[i] = this->v[i] / b;
|
||||||
}
|
}
|
||||||
return resultVector;
|
return resultVector;
|
||||||
}
|
}
|
||||||
template <typename BT>
|
template <typename BT>
|
||||||
constexpr void operator+=(BT b) requires std::is_arithmetic_v<BT>{
|
constexpr void operator+=(BT b) requires std::is_arithmetic_v<BT>{
|
||||||
for(std::uint32_t i = 0; i < Len; i++) {
|
for(std::uint32_t i = 0; i < Len; i++) {
|
||||||
this->v[i] += b;
|
this->v[i] += b;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
template <typename BT>
|
template <typename BT>
|
||||||
constexpr void operator-=(BT b) requires std::is_arithmetic_v<BT>{
|
constexpr void operator-=(BT b) requires std::is_arithmetic_v<BT>{
|
||||||
for(std::uint32_t i = 0; i < Len; i++) {
|
for(std::uint32_t i = 0; i < Len; i++) {
|
||||||
this->v[i] -= b;
|
this->v[i] -= b;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
template <typename BT>
|
template <typename BT>
|
||||||
constexpr void operator*=(BT b) requires std::is_arithmetic_v<BT>{
|
constexpr void operator*=(BT b) requires std::is_arithmetic_v<BT>{
|
||||||
for(std::uint32_t i = 0; i < Len; i++) {
|
for(std::uint32_t i = 0; i < Len; i++) {
|
||||||
this->v[i] *= b;
|
this->v[i] *= b;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
template <typename BT>
|
template <typename BT>
|
||||||
constexpr void operator/=(BT b) requires std::is_arithmetic_v<BT>{
|
constexpr void operator/=(BT b) requires std::is_arithmetic_v<BT>{
|
||||||
for(std::uint32_t i = 0; i < Len; i++) {
|
for(std::uint32_t i = 0; i < Len; i++) {
|
||||||
this->v[i] /= b;
|
this->v[i] /= b;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename BT, std::uint32_t Blen, std::uint32_t BAlignment>
|
template <typename BT, std::uint32_t Blen, std::uint32_t BAlignment>
|
||||||
constexpr bool operator==(Vector<BT, Blen, BAlignment> b) const {
|
constexpr bool operator==(Vector<BT, Blen, BAlignment> b) const {
|
||||||
for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
|
for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
|
||||||
if(this->v[i] != b.v[i]) {
|
if(this->v[i] != b.v[i]) {
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
return true;
|
return true;
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename BT, std::uint32_t Blen, std::uint32_t BAlignment>
|
template <typename BT, std::uint32_t Blen, std::uint32_t BAlignment>
|
||||||
constexpr bool operator!=(Vector<BT, Blen, BAlignment> b) const {
|
constexpr bool operator!=(Vector<BT, Blen, BAlignment> b) const {
|
||||||
for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
|
for(std::uint32_t i = 0; i < std::min(Len, Blen); i++) {
|
||||||
if(this->v[i] != b.v[i]) {
|
if(this->v[i] != b.v[i]) {
|
||||||
return true;
|
return true;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
|
|
||||||
constexpr void Normalize() {
|
constexpr void Normalize() {
|
||||||
T fLength = Length();
|
T fLength = Length();
|
||||||
|
|
||||||
fLength = 1.0f / fLength;
|
fLength = 1.0f / fLength;
|
||||||
|
|
||||||
for(std::uint32_t i = 0; i < Len; i++) {
|
for(std::uint32_t i = 0; i < Len; i++) {
|
||||||
this->v[i] *= fLength;
|
this->v[i] *= fLength;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
constexpr void Invert() {
|
constexpr void Invert() {
|
||||||
for(std::uint32_t i = 0; i < Len; i++) {
|
for(std::uint32_t i = 0; i < Len; i++) {
|
||||||
this->v[i] = -this->v[i];
|
this->v[i] = -this->v[i];
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
constexpr T Length() const {
|
constexpr T Length() const {
|
||||||
T Result = LengthSq();
|
T Result = LengthSq();
|
||||||
return std::sqrtf(Result);
|
return std::sqrtf(Result);
|
||||||
}
|
}
|
||||||
|
|
||||||
constexpr T LengthSq() const {
|
constexpr T LengthSq() const {
|
||||||
return Dot(*this, *this);
|
return Dot(*this, *this);
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename AT, std::uint32_t Alen, std::uint32_t AAlignment, typename BT, std::uint32_t Blen, std::uint32_t BAlignment>
|
template <typename AT, std::uint32_t Alen, std::uint32_t AAlignment, typename BT, std::uint32_t Blen, std::uint32_t BAlignment>
|
||||||
constexpr static Vector<T, Len, Aligment> Cross(Vector<AT, Alen, AAlignment> a, Vector<BT, Blen, BAlignment> b) requires(Len == 3 && Alen >= 3 && Blen >= 3) {
|
constexpr static Vector<T, Len, Aligment> Cross(Vector<AT, Alen, AAlignment> a, Vector<BT, Blen, BAlignment> b) requires(Len == 3 && Alen >= 3 && Blen >= 3) {
|
||||||
return Vector<T, Len, Aligment>(
|
return Vector<T, Len, Aligment>(
|
||||||
(a.v[1] * b.v[2]) - (a.v[2] * b.v[1]),
|
(a.v[1] * b.v[2]) - (a.v[2] * b.v[1]),
|
||||||
(a.v[2] * b.v[0]) - (a.v[0] * b.v[2]),
|
(a.v[2] * b.v[0]) - (a.v[0] * b.v[2]),
|
||||||
(a.v[0] * b.v[1]) - (a.v[1] * b.v[0])
|
(a.v[0] * b.v[1]) - (a.v[1] * b.v[0])
|
||||||
);
|
);
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename AT, std::uint32_t Alen, std::uint32_t AAlignment>
|
template <typename AT, std::uint32_t Alen, std::uint32_t AAlignment>
|
||||||
constexpr static Vector<T, Len, Aligment> Normalize(Vector<AT, Alen, AAlignment> a) requires(Len == Alen) {
|
constexpr static Vector<T, Len, Aligment> Normalize(Vector<AT, Alen, AAlignment> a) requires(Len == Alen) {
|
||||||
Vector<T, 3, 0> returned;
|
Vector<T, 3, 0> returned;
|
||||||
T fLength = a.Length();
|
T fLength = a.Length();
|
||||||
|
|
||||||
if (fLength > 0) {
|
if (fLength > 0) {
|
||||||
fLength = 1.0f / fLength;
|
fLength = 1.0f / fLength;
|
||||||
}
|
}
|
||||||
|
|
||||||
for(std::uint32_t i = 0; i < Len; i++) {
|
for(std::uint32_t i = 0; i < Len; i++) {
|
||||||
returned.v[i] = a.v[i] * fLength;
|
returned.v[i] = a.v[i] * fLength;
|
||||||
}
|
}
|
||||||
return returned;
|
return returned;
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename AT, std::uint32_t Alen, std::uint32_t AAlignment, typename BT, std::uint32_t Blen, std::uint32_t BAlignment>
|
template <typename AT, std::uint32_t Alen, std::uint32_t AAlignment, typename BT, std::uint32_t Blen, std::uint32_t BAlignment>
|
||||||
constexpr static T Dot(Vector<AT, Alen, AAlignment> a, Vector<BT, Blen, BAlignment> b) requires(Alen >= Len && Blen >= Len) {
|
constexpr static T Dot(Vector<AT, Alen, AAlignment> a, Vector<BT, Blen, BAlignment> b) requires(Alen >= Len && Blen >= Len) {
|
||||||
T accumulate = a.v[0] * b.v[0];
|
T accumulate = a.v[0] * b.v[0];
|
||||||
for(std::uint32_t i = 1; i < Len; i++) {
|
for(std::uint32_t i = 1; i < Len; i++) {
|
||||||
accumulate += a.v[i] * b.v[i];
|
accumulate += a.v[i] * b.v[i];
|
||||||
}
|
}
|
||||||
return accumulate;
|
return accumulate;
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename AT, std::uint32_t AAlignment, typename BT, std::uint32_t BAlignment>
|
template <typename AT, std::uint32_t AAlignment, typename BT, std::uint32_t BAlignment>
|
||||||
constexpr static Vector<T, 3, Aligment> Rotate(Vector<AT, 3, AAlignment> v, Vector<BT, 4, BAlignment> q) requires(Len == 3) {
|
constexpr static Vector<T, 3, Aligment> Rotate(Vector<AT, 3, AAlignment> v, Vector<BT, 4, BAlignment> q) requires(Len == 3) {
|
||||||
Vector<T, 3, 0> qv(q.x, q.y, q.z);
|
Vector<T, 3, 0> qv(q.x, q.y, q.z);
|
||||||
Vector<T, 3, 0> t = Vector<T, 3, Aligment>::Cross(qv, v) * T(2);
|
Vector<T, 3, 0> t = Vector<T, 3, Aligment>::Cross(qv, v) * T(2);
|
||||||
return v + t * q.w + Vector<T, 3, Aligment>::Cross(qv, t);
|
return v + t * q.w + Vector<T, 3, Aligment>::Cross(qv, t);
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename AT, std::uint32_t AAlignment, typename BT, std::uint32_t BAlignment, typename PT, std::uint32_t PAlignment>
|
template <typename AT, std::uint32_t AAlignment, typename BT, std::uint32_t BAlignment, typename PT, std::uint32_t PAlignment>
|
||||||
constexpr static Vector<T, 3, Aligment> RotatePivot(Vector<AT, 3, AAlignment> v, Vector<BT, 4, BAlignment> q, Vector<PT, 3, PAlignment> pivot) requires(Len == 3) {
|
constexpr static Vector<T, 3, Aligment> RotatePivot(Vector<AT, 3, AAlignment> v, Vector<BT, 4, BAlignment> q, Vector<PT, 3, PAlignment> pivot) requires(Len == 3) {
|
||||||
Vector<T, 3, 0> translated = v - pivot;
|
Vector<T, 3, 0> translated = v - pivot;
|
||||||
Vector<T, 3, 0> qv(q.x, q.y, q.z);
|
Vector<T, 3, 0> qv(q.x, q.y, q.z);
|
||||||
Vector<T, 3, 0> t = Cross(qv, translated) * T(2);
|
Vector<T, 3, 0> t = Cross(qv, translated) * T(2);
|
||||||
Vector<T, 3, 0> rotated = translated + t * q.w +Cross(qv, t);
|
Vector<T, 3, 0> rotated = translated + t * q.w +Cross(qv, t);
|
||||||
return rotated + pivot;
|
return rotated + pivot;
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename AT, std::uint32_t AAlignment, typename BT, std::uint32_t BAlignment, typename CT, std::uint32_t CAlignment>
|
template <typename AT, std::uint32_t AAlignment, typename BT, std::uint32_t BAlignment, typename CT, std::uint32_t CAlignment>
|
||||||
constexpr static Vector<T, 4, Aligment> QuanternionFromBasis(Vector<AT, 3, AAlignment> right, Vector<BT, 3, BAlignment> up, Vector<CT, 3, CAlignment> forward) requires(Len == 4) {
|
constexpr static Vector<T, 4, Aligment> QuanternionFromBasis(Vector<AT, 3, AAlignment> right, Vector<BT, 3, BAlignment> up, Vector<CT, 3, CAlignment> forward) requires(Len == 4) {
|
||||||
T m00 = right.x;
|
T m00 = right.x;
|
||||||
T m01 = up.x;
|
T m01 = up.x;
|
||||||
T m02 = forward.x;
|
T m02 = forward.x;
|
||||||
|
|
||||||
T m10 = right.y;
|
T m10 = right.y;
|
||||||
T m11 = up.y;
|
T m11 = up.y;
|
||||||
T m12 = forward.y;
|
T m12 = forward.y;
|
||||||
|
|
||||||
T m20 = right.z;
|
T m20 = right.z;
|
||||||
T m21 = up.z;
|
T m21 = up.z;
|
||||||
T m22 = forward.z;
|
T m22 = forward.z;
|
||||||
|
|
||||||
T trace = m00 + m11 + m22;
|
T trace = m00 + m11 + m22;
|
||||||
|
|
||||||
Vector<T, 4, Aligment> q;
|
Vector<T, 4, Aligment> q;
|
||||||
|
|
||||||
if (trace > std::numeric_limits<T>::epsilon()) {
|
if (trace > std::numeric_limits<T>::epsilon()) {
|
||||||
T s = std::sqrt(trace + T(1)) * T(2);
|
T s = std::sqrt(trace + T(1)) * T(2);
|
||||||
q.w = T(0.25) * s;
|
q.w = T(0.25) * s;
|
||||||
q.x = (m21 - m12) / s;
|
q.x = (m21 - m12) / s;
|
||||||
q.y = (m02 - m20) / s;
|
q.y = (m02 - m20) / s;
|
||||||
q.z = (m10 - m01) / s;
|
q.z = (m10 - m01) / s;
|
||||||
}
|
}
|
||||||
else if ((m00 > m11) && (m00 > m22)) {
|
else if ((m00 > m11) && (m00 > m22)) {
|
||||||
T s = std::sqrt(T(1) + m00 - m11 - m22) * T(2);
|
T s = std::sqrt(T(1) + m00 - m11 - m22) * T(2);
|
||||||
q.w = (m21 - m12) / s;
|
q.w = (m21 - m12) / s;
|
||||||
q.x = T(0.25) * s;
|
q.x = T(0.25) * s;
|
||||||
q.y = (m01 + m10) / s;
|
q.y = (m01 + m10) / s;
|
||||||
q.z = (m02 + m20) / s;
|
q.z = (m02 + m20) / s;
|
||||||
}
|
}
|
||||||
else if (m11 > m22) {
|
else if (m11 > m22) {
|
||||||
T s = std::sqrt(T(1) + m11 - m00 - m22) * T(2);
|
T s = std::sqrt(T(1) + m11 - m00 - m22) * T(2);
|
||||||
q.w = (m02 - m20) / s;
|
q.w = (m02 - m20) / s;
|
||||||
q.x = (m01 + m10) / s;
|
q.x = (m01 + m10) / s;
|
||||||
q.y = T(0.25) * s;
|
q.y = T(0.25) * s;
|
||||||
q.z = (m12 + m21) / s;
|
q.z = (m12 + m21) / s;
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
T s = std::sqrt(T(1) + m22 - m00 - m11) * T(2);
|
T s = std::sqrt(T(1) + m22 - m00 - m11) * T(2);
|
||||||
q.w = (m10 - m01) / s;
|
q.w = (m10 - m01) / s;
|
||||||
q.x = (m02 + m20) / s;
|
q.x = (m02 + m20) / s;
|
||||||
q.y = (m12 + m21) / s;
|
q.y = (m12 + m21) / s;
|
||||||
q.z = T(0.25) * s;
|
q.z = T(0.25) * s;
|
||||||
}
|
}
|
||||||
|
|
||||||
q.Normalize();
|
q.Normalize();
|
||||||
return q;
|
return q;
|
||||||
}
|
}
|
||||||
|
|
||||||
constexpr static Vector<T, 4, Aligment> QuanternionFromEuler(T rollHalf, T pitchHalf, T yawHalf) {
|
constexpr static Vector<T, 4, Aligment> QuanternionFromEuler(T rollHalf, T pitchHalf, T yawHalf) {
|
||||||
T cr = std::cos(rollHalf);
|
T cr = std::cos(rollHalf);
|
||||||
T sr = std::sin(rollHalf);
|
T sr = std::sin(rollHalf);
|
||||||
T cp = std::cos(pitchHalf);
|
T cp = std::cos(pitchHalf);
|
||||||
T sp = std::sin(pitchHalf);
|
T sp = std::sin(pitchHalf);
|
||||||
T cy = std::cos(yawHalf);
|
T cy = std::cos(yawHalf);
|
||||||
T sy = std::sin(yawHalf);
|
T sy = std::sin(yawHalf);
|
||||||
|
|
||||||
return Vector<T, 4, Aligment>(
|
return Vector<T, 4, Aligment>(
|
||||||
sr * cp * cy - cr * sp * sy,
|
sr * cp * cy - cr * sp * sy,
|
||||||
cr * sp * cy + sr * cp * sy,
|
cr * sp * cy + sr * cp * sy,
|
||||||
cr * cp * sy - sr * sp * cy,
|
cr * cp * sy - sr * sp * cy,
|
||||||
cr * cp * cy + sr * sp * sy
|
cr * cp * cy + sr * sp * sy
|
||||||
);
|
);
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
template <typename T, std::uint32_t Len, std::uint32_t Aligment>
|
template <typename T, std::uint32_t Len, std::uint32_t Aligment>
|
||||||
struct std::formatter<Crafter::Vector<T, Len, Aligment>> : std::formatter<std::string> {
|
struct std::formatter<Crafter::Vector<T, Len, Aligment>> : std::formatter<std::string> {
|
||||||
auto format(const Crafter::Vector<T, Len, Aligment>& vec, format_context& ctx) const {
|
auto format(const Crafter::Vector<T, Len, Aligment>& vec, format_context& ctx) const {
|
||||||
std::string out = "{";
|
std::string out = "{";
|
||||||
for(std::uint32_t i2 = 0; i2 < Len; i2++) {
|
for(std::uint32_t i2 = 0; i2 < Len; i2++) {
|
||||||
#ifdef __x86_64
|
#ifdef __x86_64
|
||||||
if constexpr(std::same_as<T, _Float16>) {
|
if constexpr(std::same_as<T, _Float16>) {
|
||||||
out += std::format("{}", static_cast<float>(vec.v[i2]));
|
out += std::format("{}", static_cast<float>(vec.v[i2]));
|
||||||
} else
|
} else
|
||||||
#endif
|
#endif
|
||||||
{
|
{
|
||||||
out += std::format("{}", vec.v[i2]);
|
out += std::format("{}", vec.v[i2]);
|
||||||
}
|
}
|
||||||
if (i2 + 1 < Len) out += ",";
|
if (i2 + 1 < Len) out += ",";
|
||||||
}
|
}
|
||||||
out += "}";
|
out += "}";
|
||||||
return std::formatter<std::string>::format(out, ctx);
|
return std::formatter<std::string>::format(out, ctx);
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
template <typename T, std::uint32_t Len, std::uint32_t Aligment, typename BT>
|
template <typename T, std::uint32_t Len, std::uint32_t Aligment, typename BT>
|
||||||
constexpr Crafter::Vector<T, Len, Aligment> operator*(BT b, const Crafter::Vector<T, Len, Aligment>& v) requires std::is_arithmetic_v<BT> {
|
constexpr Crafter::Vector<T, Len, Aligment> operator*(BT b, const Crafter::Vector<T, Len, Aligment>& v) requires std::is_arithmetic_v<BT> {
|
||||||
return v * b;
|
return v * b;
|
||||||
}
|
}
|
||||||
File diff suppressed because it is too large
Load diff
File diff suppressed because it is too large
Load diff
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Reference in a new issue