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