530 lines
16 KiB
C++
530 lines
16 KiB
C++
/*
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* Created by Brett on 28/02/23.
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* Licensed under GNU General Public License V3.0
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* See LICENSE file for license detail
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*/
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#ifndef BLT_TESTS_VECTORS_H
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#define BLT_TESTS_VECTORS_H
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#include <initializer_list>
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#include <cmath>
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#include <vector>
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#include <cstdint>
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#include <array>
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#include <type_traits>
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#include <blt/std/types.h>
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namespace blt
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{
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#define MSVC_COMPILER (!defined(__GNUC__) && !defined(__clang__))
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constexpr float EPSILON = 0.0001f;
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static inline constexpr bool f_equal(float v1, float v2)
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{
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return v1 >= v2 - EPSILON && v1 <= v2 + EPSILON;
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}
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template<typename T, blt::u32 size>
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struct vec
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{
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static_assert(std::is_arithmetic_v<T> && "blt::vec must be created using an arithmetic type!");
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private:
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std::array<T, size> elements;
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public:
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vec()
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{
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for (auto& v : elements)
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v = static_cast<T>(0);
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}
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/**
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* Create a vector with initializer list, if the initializer list doesn't contain enough values to fill this vec, it will use t
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* @param t default value to fill with
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* @param args list of args
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*/
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template<typename U, std::enable_if_t<std::is_same_v<T, U> || std::is_convertible_v<U, T>, bool> = true>
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vec(U t, std::initializer_list<U> args)
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{
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auto b = args.begin();
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for (auto& v : elements)
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{
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if (b == args.end())
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{
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v = t;
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continue;
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}
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v = *b;
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++b;
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}
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}
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/**
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* Create a vector from an initializer list, if the list doesn't have enough elements it will be filled with the default value (0)
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* @param args
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*/
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template<typename U, std::enable_if_t<std::is_same_v<T, U> || std::is_convertible_v<U, T>, bool> = true>
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vec(std::initializer_list<U> args): vec(U(), args)
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{}
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template<typename... Args>
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explicit vec(Args... args): vec(std::array<T, size>{static_cast<T>(args)...})
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{}
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explicit vec(T t)
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{
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for (auto& v : elements)
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v = t;
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}
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explicit vec(const T elem[size])
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{
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for (size_t i = 0; i < size; i++)
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elements[i] = elem[i];
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}
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explicit vec(std::array<T, size> elem)
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{
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auto b = elem.begin();
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for (auto& v : elements)
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{
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v = *b;
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++b;
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}
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}
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[[nodiscard]] inline T x() const
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{
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return elements[0];
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}
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[[nodiscard]] inline T y() const
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{
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static_assert(size > 1);
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return elements[1];
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}
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[[nodiscard]] inline T z() const
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{
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static_assert(size > 2);
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return elements[2];
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}
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[[nodiscard]] inline T w() const
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{
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static_assert(size > 3);
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return elements[3];
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}
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[[nodiscard]] inline T magnitude() const
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{
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T total = 0;
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for (blt::u32 i = 0; i < size; i++)
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total += elements[i] * elements[i];
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return std::sqrt(total);
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}
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[[nodiscard]] inline vec<T, size> normalize() const
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{
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T mag = this->magnitude();
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if (mag == 0)
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return vec<T, size>(*this);
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return *this / mag;
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}
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inline T& operator[](int index)
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{
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return elements[index];
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}
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inline T operator[](int index) const
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{
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return elements[index];
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}
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inline vec<T, size>& operator=(T v)
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{
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for (blt::u32 i = 0; i < size; i++)
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elements[i] = v;
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return *this;
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}
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inline vec<T, size> operator-()
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = -elements[i];
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return vec<T, size>{initializer};
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}
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inline vec<T, size>& operator+=(const vec<T, size>& other)
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{
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for (blt::u32 i = 0; i < size; i++)
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elements[i] += other[i];
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return *this;
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}
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inline vec<T, size>& operator*=(const vec<T, size>& other)
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{
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for (blt::u32 i = 0; i < size; i++)
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elements[i] *= other[i];
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return *this;
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}
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inline vec<T, size>& operator+=(T f)
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{
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for (blt::u32 i = 0; i < size; i++)
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elements[i] += f;
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return *this;
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}
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inline vec<T, size>& operator*=(T f)
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{
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for (blt::u32 i = 0; i < size; i++)
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elements[i] *= f;
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return *this;
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}
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inline vec<T, size>& operator-=(const vec<T, size>& other)
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{
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for (blt::u32 i = 0; i < size; i++)
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elements[i] -= other[i];
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return *this;
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}
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inline vec<T, size>& operator-=(T f)
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{
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for (blt::u32 i = 0; i < size; i++)
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elements[i] -= f;
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return *this;
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}
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/**
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* performs the dot product of left * right
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*/
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static inline constexpr T dot(const vec<T, size>& left, const vec<T, size>& right)
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{
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T dot = 0;
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for (blt::u32 i = 0; i < size; i++)
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dot += left[i] * right[i];
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return dot;
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}
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static inline constexpr vec<T, size> cross(
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const vec<T, size>& left, const vec<T, size>& right
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)
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{
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// cross is only defined on vectors of size 3. 2D could be implemented, which is a TODO
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static_assert(size == 3);
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return {left.y() * right.z() - left.z() * right.y(),
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left.z() * right.x() - left.x() * right.z(),
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left.x() * right.y() - left.y() * right.x()};
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}
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static inline constexpr vec<T, size> project(
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const vec<T, size>& u, const vec<T, size>& v
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)
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{
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T du = dot(u);
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T dv = dot(v);
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return (du / dv) * v;
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}
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inline auto* data()
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{
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return elements.data();
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}
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[[nodiscard]] inline const auto* data() const
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{
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return elements.data();
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}
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auto begin()
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{
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return elements.begin();
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}
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auto end()
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{
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return elements.end();
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}
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auto rbegin()
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{
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return elements.rbegin();
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}
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auto rend()
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{
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return elements.rend();
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}
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[[nodiscard]] auto cbegin() const
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{
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return elements.cbegin();
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}
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[[nodiscard]] auto cend() const
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{
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return elements.cend();
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}
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};
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template<typename T, blt::u32 size>
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inline constexpr vec<T, size> operator+(const vec<T, size>& left, const vec<T, size>& right)
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = left[i] + right[i];
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return initializer;
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}
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template<typename T, blt::u32 size>
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inline constexpr vec<T, size> operator-(const vec<T, size>& left, const vec<T, size>& right)
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = left[i] - right[i];
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return initializer;
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}
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template<typename T, blt::u32 size>
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inline constexpr vec<T, size> operator+(const vec<T, size>& left, T right)
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = left[i] + right;
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return initializer;
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}
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template<typename T, blt::u32 size>
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inline constexpr vec<T, size> operator-(const vec<T, size>& left, T right)
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = left[i] + right;
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return initializer;
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}
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template<typename T, blt::u32 size>
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inline constexpr vec<T, size> operator+(T f, const vec<T, size>& right)
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = f + right[i];
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return initializer;
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}
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template<typename T, blt::u32 size>
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inline constexpr vec<T, size> operator-(T f, const vec<T, size>& right)
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = f - right[i];
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return initializer;
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}
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template<typename T, blt::u32 size>
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inline constexpr vec<T, size> operator*(const vec<T, size>& left, const vec<T, size>& right)
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = left[i] * right[i];
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return initializer;
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}
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template<typename T, blt::u32 size>
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inline constexpr vec<T, size> operator*(const vec<T, size>& left, T right)
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = left[i] * right;
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return initializer;
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}
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template<typename T, blt::u32 size>
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inline constexpr vec<T, size> operator*(T f, const vec<T, size>& right)
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = f * right[i];
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return initializer;
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}
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template<typename T, blt::u32 size>
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inline constexpr vec<T, size> operator/(const vec<T, size>& left, T right)
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = left[i] / right;
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return initializer;
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}
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template<typename T, blt::u32 size>
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inline constexpr vec<T, size> operator/(T left, const vec<T, size>& right)
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{
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vec<T, size> initializer{};
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for (blt::u32 i = 0; i < size; i++)
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initializer[i] = left / right[i];
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return initializer;
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}
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template<typename T, blt::u32 size>
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inline constexpr bool operator==(const vec<T, size>& left, const vec<T, size>& right)
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{
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for (blt::u32 i = 0; i < size; i++)
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if (left[i] != right[i])
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return false;
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return true;
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}
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template<typename T, blt::u32 size>
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inline constexpr bool operator!=(const vec<T, size>& left, const vec<T, size>& right)
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{
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return !(left == right);
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}
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template<typename T, blt::u32 size>
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inline constexpr bool operator&&(const vec<T, size>& left, const vec<T, size>& right)
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{
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for (blt::u32 i = 0; i < size; i++)
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if (!f_equal(left[i], right[i]))
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return false;
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return true;
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}
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using vec2f = vec<float, 2>;
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using vec3f = vec<float, 3>;
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using vec4f = vec<float, 4>;
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using vec2d = vec<double, 2>;
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using vec3d = vec<double, 3>;
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using vec4d = vec<double, 4>;
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using vec2i = vec<blt::i32, 2>;
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using vec3i = vec<blt::i32, 3>;
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using vec4i = vec<blt::i32, 4>;
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using vec2l = vec<blt::i64, 2>;
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using vec3l = vec<blt::i64, 3>;
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using vec4l = vec<blt::i64, 4>;
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using vec2ui = vec<blt::u32, 2>;
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using vec3ui = vec<blt::u32, 3>;
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using vec4ui = vec<blt::u32, 4>;
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using vec2ul = vec<blt::u64, 2>;
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using vec3ul = vec<blt::u64, 3>;
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using vec4ul = vec<blt::u64, 4>;
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using vec2 = vec2f;
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using vec3 = vec3f;
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using vec4 = vec4f;
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using color4 = vec4;
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using color3 = vec3;
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inline color4 make_color(float r, float g, float b)
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{
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return color4{r, g, b, 1.0f};
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}
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template<typename ValueType, u32 size>
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inline blt::vec<ValueType, 2> make_vec2(const blt::vec<ValueType, size>& t, size_t fill = 0)
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{
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if constexpr (size >= 2)
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{
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return blt::vec<ValueType, 2>(t.x(), t.y());
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} else
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{
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return blt::vec<ValueType, 2>(t.x(), fill);
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}
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}
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template<typename ValueType, u32 size>
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inline blt::vec<ValueType, 3> make_vec3(const blt::vec<ValueType, size>& t, size_t fill = 0)
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{
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if constexpr (size >= 3)
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{
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return blt::vec<ValueType, 3>(t.x(), t.y(), t.z());
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} else
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{
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blt::vec<ValueType, 3> ret;
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for (size_t i = 0; i < size; i++)
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ret[i] = t[i];
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for (size_t i = size; i < 3; i++)
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ret[i] = fill;
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return ret;
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}
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}
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template<typename ValueType, u32 size>
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inline blt::vec<ValueType, 4> make_vec4(const blt::vec<ValueType, size>& t, size_t fill = 0)
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{
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if constexpr (size >= 4)
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{
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return blt::vec<ValueType, 4>(t.x(), t.y(), t.z(), t.w());
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} else
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{
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blt::vec<ValueType, 4> ret;
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for (size_t i = 0; i < size; i++)
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ret[i] = t[i];
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for (size_t i = size; i < 4; i++)
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ret[i] = fill;
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return ret;
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}
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}
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namespace vec_algorithm
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{
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static inline void findOrthogonalBasis(const vec3& v, vec3& v1, vec3& v2, vec3& v3)
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{
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v1 = v.normalize();
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vec3 arbitraryVector{1, 0, 0};
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if (std::abs(vec3::dot(v, arbitraryVector)) > 0.9)
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{
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arbitraryVector = vec3{0, 1, 0};
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}
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v2 = vec3::cross(v, arbitraryVector).normalize();
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v3 = vec3::cross(v1, v2);
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}
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// Gram-Schmidt orthonormalization algorithm
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static inline void gramSchmidt(std::vector<vec3>& vectors)
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{
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int n = (int) vectors.size();
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std::vector<vec3> basis;
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// normalize first vector
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basis.push_back(vectors[0]);
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basis[0] = basis[0].normalize();
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// iterate over the rest of the vectors
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for (int i = 1; i < n; ++i)
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{
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// subtract the projections of the vector onto the previous basis vectors
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vec3 new_vector = vectors[i];
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for (int j = 0; j < i; ++j)
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{
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float projection = vec3::dot(vectors[i], basis[j]);
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new_vector[0] -= projection * basis[j].x();
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new_vector[1] -= projection * basis[j].y();
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new_vector[2] -= projection * basis[j].z();
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}
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// normalize the new basis vector
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new_vector = new_vector.normalize();
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basis.push_back(new_vector);
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}
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vectors = basis;
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}
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}
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}
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#endif //BLT_TESTS_VECTORS_H
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