1 #ifndef COMMON_VECMAT_H
2 #define COMMON_VECMAT_H
16 static_assert(std::is_floating_point<T>::value, "Must use floating-point types");
17 alignas(16) T mVals[4];
20 constexpr VectorR() noexcept = default;
21 constexpr VectorR(const VectorR&) noexcept = default;
22 constexpr explicit VectorR(T a, T b, T c, T d) noexcept : mVals{a, b, c, d} { }
24 constexpr VectorR& operator=(const VectorR&) noexcept = default;
26 constexpr T& operator[](size_t idx) noexcept { return mVals[idx]; }
27 constexpr const T& operator[](size_t idx) const noexcept { return mVals[idx]; }
29 constexpr VectorR& operator+=(const VectorR &rhs) noexcept
31 mVals[0] += rhs.mVals[0];
32 mVals[1] += rhs.mVals[1];
33 mVals[2] += rhs.mVals[2];
34 mVals[3] += rhs.mVals[3];
38 constexpr VectorR operator-(const VectorR &rhs) const noexcept
40 return VectorR{mVals[0] - rhs.mVals[0], mVals[1] - rhs.mVals[1],
41 mVals[2] - rhs.mVals[2], mVals[3] - rhs.mVals[3]};
44 constexpr T normalize(T limit = std::numeric_limits<T>::epsilon())
46 limit = std::max(limit, std::numeric_limits<T>::epsilon());
47 const T length_sqr{mVals[0]*mVals[0] + mVals[1]*mVals[1] + mVals[2]*mVals[2]};
48 if(length_sqr > limit*limit)
50 const T length{std::sqrt(length_sqr)};
51 T inv_length{T{1}/length};
52 mVals[0] *= inv_length;
53 mVals[1] *= inv_length;
54 mVals[2] *= inv_length;
57 mVals[0] = mVals[1] = mVals[2] = T{0};
61 constexpr VectorR cross_product(const alu::VectorR<T> &rhs) const noexcept
64 mVals[1]*rhs.mVals[2] - mVals[2]*rhs.mVals[1],
65 mVals[2]*rhs.mVals[0] - mVals[0]*rhs.mVals[2],
66 mVals[0]*rhs.mVals[1] - mVals[1]*rhs.mVals[0],
70 constexpr T dot_product(const alu::VectorR<T> &rhs) const noexcept
71 { return mVals[0]*rhs.mVals[0] + mVals[1]*rhs.mVals[1] + mVals[2]*rhs.mVals[2]; }
73 using Vector = VectorR<float>;
77 static_assert(std::is_floating_point<T>::value, "Must use floating-point types");
78 alignas(16) T mVals[16];
81 constexpr MatrixR() noexcept = default;
82 constexpr MatrixR(const MatrixR&) noexcept = default;
83 constexpr explicit MatrixR(
84 T aa, T ab, T ac, T ad,
85 T ba, T bb, T bc, T bd,
86 T ca, T cb, T cc, T cd,
87 T da, T db, T dc, T dd) noexcept
88 : mVals{aa,ab,ac,ad, ba,bb,bc,bd, ca,cb,cc,cd, da,db,dc,dd}
91 constexpr MatrixR& operator=(const MatrixR&) noexcept = default;
93 constexpr auto operator[](size_t idx) noexcept { return al::span<T,4>{&mVals[idx*4], 4}; }
94 constexpr auto operator[](size_t idx) const noexcept
95 { return al::span<const T,4>{&mVals[idx*4], 4}; }
97 static constexpr MatrixR Identity() noexcept
100 T{1}, T{0}, T{0}, T{0},
101 T{0}, T{1}, T{0}, T{0},
102 T{0}, T{0}, T{1}, T{0},
103 T{0}, T{0}, T{0}, T{1}};
106 using Matrix = MatrixR<float>;
109 constexpr VectorR<T> operator*(const MatrixR<T> &mtx, const VectorR<T> &vec) noexcept
112 vec[0]*mtx[0][0] + vec[1]*mtx[1][0] + vec[2]*mtx[2][0] + vec[3]*mtx[3][0],
113 vec[0]*mtx[0][1] + vec[1]*mtx[1][1] + vec[2]*mtx[2][1] + vec[3]*mtx[3][1],
114 vec[0]*mtx[0][2] + vec[1]*mtx[1][2] + vec[2]*mtx[2][2] + vec[3]*mtx[3][2],
115 vec[0]*mtx[0][3] + vec[1]*mtx[1][3] + vec[2]*mtx[2][3] + vec[3]*mtx[3][3]};
120 #endif /* COMMON_VECMAT_H */