956 lines
18 KiB
D
956 lines
18 KiB
D
import aliases;
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import util;
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import std.math;
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import core.stdc.math : tanf, cosf, sinf, sqrtf;
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import std.traits;
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import inteli;
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import std.meta;
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import std.format;
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import std.stdio;
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T AlignPow2(T)(T v, T a)
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{
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return (v + a - 1) & ~(a - 1);
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}
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f32 Radians(f32 deg)
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{
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return deg * (PI / 180.0);
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}
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// TODO: Clean this mess up
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enum IsVector(T) = is(T : Vector!U, U...);
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struct Vector(T, int N)
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{
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static assert(N > 0 && N <= 4);
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enum _N = N;
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alias T _T;
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union
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{
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T[N] v;
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struct
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{
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T x;
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alias x r;
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static if (N > 1)
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{
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T y;
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alias y g;
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}
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static if (N > 2)
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{
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T z;
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alias z b;
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}
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static if (N > 3)
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{
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T w;
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alias w a;
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}
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}
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}
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nothrow @nogc pure:
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this(Vec3, f32)(Vec3 v3, f32 f)
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{
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x = v3.x;
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y = v3.y;
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z = v3.z;
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w = f;
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}
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this(Args...)(Args args)
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{
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static if (args.length == 1)
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{
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opAssign!(Args[0])(args[0]);
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}
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else static if (args.length == N)
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{
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mixin(GenerateLoop!("v[@] = args[@];", N)());
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}
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else static if (args.length == 2 && N == 4)
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{
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v[0] = args[0];
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v[1] = args[0];
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v[2] = args[0];
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v[3] = args[1];
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}
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else
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{
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static assert(false, "Invalid Vector constructor");
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}
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}
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ref Vector opAssign(U)(U x) if (isAssignable!(T, U))
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{
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mixin(GenerateLoop!("v[@] = x;", N)());
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return this;
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}
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ref Vector opAssign(U)(U arr) if (isStaticArray!(U) && isAssignable!(T, typeof(arr[0])) && arr.length == N)
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{
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mixin(GenerateLoop!("v[@] = arr[@];", N)());
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return this;
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}
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ref Vector opAssign(U)(U arr) if (isDynamicArray!(U) && isAssignable!(T, typeof(arr[0])))
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{
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mixin(GenerateLoop!("v[@] = arr[@];", N)());
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return this;
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}
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ref Vector opAssign(U)(U u) if (is(U : Vector))
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{
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v[] = u.v[];
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return this;
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}
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ref Vector opAssign(U)(U x) if (IsVector!(U) && isAssignable!(T, U._T) && (!is(U: Vector)) && (U._N == _N))
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{
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mixin(GenerateLoop!("v[@] = x.v[@];", N)());
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return this;
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}
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inout(T)* ptr() inout @property
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{
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return v.ptr;
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}
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bool opEquals(U)(U other) if (IsConvertible!(U))
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{
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Vector conv = other;
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return opEquals(conv);
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}
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Vector opEquals(U)(U other) if (is(U: Vector))
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{
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bool result = true;
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foreach(i; 0 .. N)
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{
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if (v[i] != other.v[i])
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{
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result = false;
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break;
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}
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}
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return result;
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}
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int opDollar()
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{
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return N;
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}
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T[] opSlice()
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{
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return v[];
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}
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Vector opUnary(string op)() if (op == "+" || op == "-" || op == "~" || op == "!")
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{
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Vector result;
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mixin(GenerateLoop!("res.v[@] = " ~ op ~ " v[@];", N)());
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return res;
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}
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ref Vector opOpAssign(string op, U)(U value) if (is(U: Vector))
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{
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mixin(GenerateLoop!("v[@] " ~ op ~ "= value.v[@];", N)());
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return this;
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}
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ref Vector opOpAssign(string op, U)(U value) if (IsConvertible!(U))
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{
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Vector conv = value;
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return opOpAssign!(op)(conv);
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}
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@property auto opDispatch(string op, U = void)() if (ValidSwizzle!(op) && op.length <= 4)
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{
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Vector!(T, op.length) result;
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enum index_tuple = SwizzleTuple!(op);
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static foreach(i, index; index_tuple)
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{
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result.v[i] = v[index];
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}
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return result;
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}
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@property void opDispatch(string op, U)(U x) if ((op.length > 1) && ValidUniqueSwizzle!(op) && is(typeof(Vector!(T, op.length)(x))))
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{
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Vector!(T, op.length) conv = x;
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enum index_tuple = SwizzleTuple!(op);
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static foreach(i, index; index_tuple)
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{
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v[index] = conv[i];
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}
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}
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static if (N == 4)
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{
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Vector opBinary(string op, U)(U operand) if ((is(U: Vector!(f32, 4)) && is(T: f32)) && (op == "*" || op == "+" || op == "-" || op == "/"))
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{
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Vector result;
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f32* l = &x;
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f32* r = &operand.x;
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f32* res = &result.x;
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asm pure @nogc nothrow
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{
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mov R8, l;
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mov R9, r;
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mov R10, res;
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movups XMM0, x.offsetof[R8];
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movups XMM1, operand.x.offsetof[R9];
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}
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static if (op == "*") asm pure @nogc nothrow { mulps XMM0, XMM1; }
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else static if (op == "-") asm pure @nogc nothrow { subps XMM0, XMM1; }
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else static if (op == "+") asm pure @nogc nothrow { addps XMM0, XMM1; }
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else static if (op == "/") asm pure @nogc nothrow { divps XMM0, XMM1; }
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asm pure @nogc nothrow
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{
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movups result.x.offsetof[R10], XMM0;
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}
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return result;
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}
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Vector opBinary(string op, U)(U operand) if (IsConvertible!(U) && (op == "*" || op == "+" || op == "-" || op == "/"))
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{
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Vector result;
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Vector other = operand;
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f32* l = &x;
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f32* r = &other.x;
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f32* res = &result.x;
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asm pure @nogc nothrow
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{
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mov R8, l;
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mov R9, r;
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mov R10, res;
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movups XMM0, x.offsetof[R8];
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movups XMM1, other.x.offsetof[R9];
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}
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static if (op == "*") asm pure @nogc nothrow { mulps XMM0, XMM1; }
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else static if (op == "-") asm pure @nogc nothrow { subps XMM0, XMM1; }
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else static if (op == "+") asm pure @nogc nothrow { addps XMM0, XMM1; }
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else static if (op == "/") asm pure @nogc nothrow { divps XMM0, XMM1; }
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asm pure @nogc nothrow
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{
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movups result.x.offsetof[R8], XMM0;
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}
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return result;
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}
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}
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else
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{
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Vector opBinary(string op, U)(U operand) if (is(U: Vector) && U._N == N && (op == "*" || op == "+" || op == "-" || op == "/"))
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{
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Vector res;
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mixin(GenerateLoop!("res.v[@] = v[@] " ~ op ~ " operand.v[@];", N)());
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return res;
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}
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Vector opBinary(string op, U)(U operand) if (IsConvertible!(U) && (op == "*" || op == "+" || op == "-" || op == "/"))
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{
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Vector res;
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Vector other = operand;
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mixin(GenerateLoop!("res.v[@] = v[@] " ~ op ~ " other.v[@];", N)());
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return res;
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}
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}
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ref T opIndex(size_t i)
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{
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return v[i];
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}
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T opIndexAssign(U : T)(U x, size_t i)
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{
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return v[i] = x;
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}
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U opCast(U)() if (IsVector!(U) && (U._N == _N))
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{
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U result;
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mixin(GenerateLoop!("res.v[@] = cast(U._T)v[@];", N)());
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return result;
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}
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template IsConvertible(T)
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{
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enum bool IsConvertible = (!is(T : Vector)) && is(typeof({ T x; Vector v = x; }()));
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}
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template SwizzleIndex(char c)
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{
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static if ((c == 'x' || c == 'r') && N > 0)
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enum SwizzleIndex = 0;
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else static if ((c == 'y' || c == 'g') && N > 1)
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enum SwizzleIndex = 1;
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else static if ((c == 'z' || c == 'b') && N > 2)
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enum SwizzleIndex = 2;
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else static if ((c == 'w' || c == 'a') && N > 3)
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enum SwizzleIndex = 3;
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else
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enum SwizzleIndex = -1;
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}
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template SwizzleSet(char c)
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{
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static if (c == 'x' || c == 'y' || c == 'z' || c == 'w')
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enum SwizzleSet = 0;
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else static if (c == 'r' || c == 'g' || c == 'b' || c == 'a')
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enum SwizzleSet = 1;
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else
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enum SwizzleSet = -1;
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}
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template SwizzleTuple(string op)
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{
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enum op_length = op.length;
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static if (op.length == 0)
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enum SwizzleTuple = [];
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else
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enum SwizzleTuple = [ SwizzleIndex!(op[0])] ~ SwizzleTuple!(op[1 .. op.length]);
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}
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template SearchString(char c, string s)
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{
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static if (s.length == 0)
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{
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enum bool result = false;
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}
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else
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{
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enum string tail = s[1 .. s.length];
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enum bool result = (s[0] == c) || SearchString!(c, tail).result;
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}
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}
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template UniqueChars(string s)
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{
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static if (s.length == 1)
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{
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enum bool result = true;
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}
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else
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{
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enum tail = s[1 .. s.length];
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enum bool result = !(SearchString!(s[0], tail).result) && UniqueChars!(tail).result;
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}
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}
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template ValidSwizzle(string op, int last_swizzle = -1)
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{
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static if (op.length == 0)
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{
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enum bool ValidSwizzle = true;
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}
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else
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{
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enum length = op.length;
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enum int swizzle_set = SwizzleSet!(op[0]);
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enum bool valid_swizzle_set = (last_swizzle == -1 || (swizzle_set == last_swizzle));
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enum bool ValidSwizzle = (SwizzleIndex!(op[0]) != -1) && valid_swizzle_set && ValidSwizzle!(op[1 .. length], swizzle_set);
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}
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}
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template ValidUniqueSwizzle(string op)
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{
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static if (ValidSwizzle!(op))
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{
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enum ValidUniqueSwizzle = UniqueChars!(op).result;
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}
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else
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{
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enum ValidUniqueSwizzle = false;
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}
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}
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}
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struct Matrix(T, int D)
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{
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static assert(D > 0 && D <= 4);
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alias Vector!(T, D) MatrixVec;
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alias T _T;
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enum N = D*D;
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enum _D = D;
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union
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{
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T[N] v;
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MatrixVec[D] vec;
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}
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// TODO: setup @nogc nothrow
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this(U...)(U values)
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{
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static if ((U.length == N) && allSatisfy!(IsTypeAssignable, U))
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{
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static foreach(i, x; values)
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{
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v[i] = x;
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}
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}
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else static if ((U.length == 1) && (isAssignable!(U[0])) && (!is(U[0] : Matrix)))
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{
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v[] = values[0];
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}
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else static assert(false, "Cannot construct matrix with provided parameters");
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}
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this(U)(T x)
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{
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static foreach(i; 0 .. N)
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{
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v[i] = x;
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}
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}
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@property inout(T)* ptr() inout
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{
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return v.ptr;
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}
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ref Matrix opAssign(U : T)(U x)
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{
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static foreach(i; 0 .. N)
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{
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v[i] = x;
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}
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return this;
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}
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ref Matrix opAssign(U : Matrix)(U x)
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{
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static foreach(i; 0 .. N)
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{
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v[i] = x.v[i];
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}
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return this;
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}
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ref Matrix opAssign(U)(U x) if (IsMatrixInstantiation!(U) && is(U._T : _T) && (!is(U: Matrix) && (U.N != N)))
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{
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static foreach(i; 0 .. N)
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{
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v[i] = x.v[i];
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}
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return this;
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}
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ref T opIndex(size_t i, size_t j)
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{
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return v[(i * D) + j];
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}
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T opIndexAssign(U: T)(U x, size_t i, size_t j)
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{
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return v[(i * D) + j] = x;
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}
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Matrix opBinary(string op)(T scalar) if (op == "*")
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{
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Matrix result;
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static foreach(i; 0 .. N)
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{
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result.v[i] = v[i] * scalar;
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}
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return result;
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}
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MatrixVec opBinary(string op)(T factor) if (op == "*")
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{
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Matrix result;
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return result;
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}
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static if (D == 4)
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{
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Vec4 opBinary(string op, U)(U x) if (is(U: Vec4) && is(T: f32) && (op == "*"))
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{
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Vec4 result;
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auto res = &result;
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auto m = &this;
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auto v = &x;
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asm pure @trusted @nogc nothrow
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{
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mov R8, m;
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mov R9, v;
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mov R10, res;
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movups XMM0, vec.offsetof[R8]+00;
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movups XMM1, vec.offsetof[R8]+16;
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movups XMM2, vec.offsetof[R8]+32;
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movups XMM3, vec.offsetof[R8]+48;
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movups XMM4, x.x.offsetof[R9];
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movups XMM5, XMM4;
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shufps XMM5, XMM5, 0;
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movups XMM6, XMM4;
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shufps XMM6, XMM6, 85;
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movups XMM7, XMM4;
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shufps XMM7, XMM7, 170;
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movups XMM8, XMM4;
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shufps XMM8, XMM8, 255;
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mulps XMM3, XMM8;
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mulps XMM2, XMM7;
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addps XMM3, XMM2;
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mulps XMM1, XMM6;
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addps XMM3, XMM1;
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mulps XMM0, XMM5;
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addps XMM3, XMM0;
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movups result.x.offsetof[R10], XMM3;
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}
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return result;
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}
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Matrix opBinary(string op, U)(U x) if (is(U: Matrix!(T, D)) && is(T: f32) && (op == "*"))
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{
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Matrix result;
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auto res = &result;
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auto l = &this;
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auto r = &x;
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// TODO: Test assembly on windows
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asm pure @trusted @nogc nothrow
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{
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mov R8, l;
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mov R9, r;
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mov R10, res;
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movups XMM0, vec.offsetof[R8];
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movups XMM1, x.vec.offsetof[R9];
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movups XMM2, x.vec.offsetof[R9]+16;
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movups XMM3, x.vec.offsetof[R9]+32;
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movups XMM4, x.vec.offsetof[R9]+48;
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movups XMM5, XMM1;
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shufps XMM5, XMM5, 0; // XMM5 = vec.xxxx;
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mulps XMM5, XMM0;
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movups XMM6, XMM5; // XMM6 = col1;
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movups XMM5, XMM2;
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shufps XMM5, XMM5, 0;
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mulps XMM5, XMM0;
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movups XMM7, XMM5; // XMM7 = col2;
|
|
|
|
movups XMM5, XMM3;
|
|
shufps XMM5, XMM5, 0;
|
|
mulps XMM5, XMM0;
|
|
movups XMM8, XMM5; // XMM8 = col3;
|
|
|
|
movups XMM5, XMM3;
|
|
shufps XMM5, XMM5, 0;
|
|
mulps XMM5, XMM0;
|
|
movups XMM9, XMM5; // XMM9 = col4;
|
|
|
|
movups XMM0, vec.offsetof[R8]+16;
|
|
|
|
movups XMM5, XMM1;
|
|
shufps XMM5, XMM5, 85; // XMM5 = vec.yyyy;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM6, XMM10;
|
|
|
|
movups XMM5, XMM2;
|
|
shufps XMM5, XMM5, 85;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM7, XMM10;
|
|
|
|
movups XMM5, XMM3;
|
|
shufps XMM5, XMM5, 85;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM8, XMM10;
|
|
|
|
movups XMM5, XMM4;
|
|
shufps XMM5, XMM5, 85;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM9, XMM10;
|
|
|
|
movups XMM0, vec.offsetof[R8]+32;
|
|
|
|
movups XMM5, XMM1;
|
|
shufps XMM5, XMM5, 170; // XMM5 = vec.zzzz;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM6, XMM10;
|
|
|
|
movups XMM5, XMM2;
|
|
shufps XMM5, XMM5, 170;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM7, XMM10;
|
|
|
|
movups XMM5, XMM3;
|
|
shufps XMM5, XMM5, 170;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM8, XMM10;
|
|
|
|
movups XMM5, XMM4;
|
|
shufps XMM5, XMM5, 170;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM9, XMM10;
|
|
|
|
movups XMM0, vec.offsetof[R8]+48;
|
|
|
|
movups XMM5, XMM1;
|
|
shufps XMM5, XMM5, 255; // XMM5 = vec.wwww;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM6, XMM10;
|
|
|
|
movups XMM5, XMM2;
|
|
shufps XMM5, XMM5, 255;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM7, XMM10;
|
|
|
|
movups XMM5, XMM3;
|
|
shufps XMM5, XMM5, 255;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM8, XMM10;
|
|
|
|
movups XMM5, XMM4;
|
|
shufps XMM5, XMM5, 255;
|
|
movups XMM10, XMM0;
|
|
mulps XMM10, XMM5;
|
|
addps XMM9, XMM10;
|
|
|
|
movups result.vec.offsetof[R10]+00, XMM6;
|
|
movups result.vec.offsetof[R10]+16, XMM7;
|
|
movups result.vec.offsetof[R10]+32, XMM8;
|
|
movups result.vec.offsetof[R10]+48, XMM9;
|
|
}
|
|
|
|
return result;
|
|
}
|
|
}
|
|
|
|
template IsTypeAssignable(U)
|
|
{
|
|
enum bool IsTypeAssignable = std.traits.isAssignable!(T, U);
|
|
}
|
|
|
|
template IsMatrixInstantiation(U)
|
|
{
|
|
static void IsMatrix(T, int D)(Matrix!(T, D) x) {}
|
|
|
|
enum bool IsMatrixInstantiation = is(typeof(IsMatrix(U.init)));
|
|
}
|
|
}
|
|
|
|
struct Quat
|
|
{
|
|
union
|
|
{
|
|
f32[4] v;
|
|
Vec4 vec;
|
|
struct
|
|
{
|
|
f32 x;
|
|
f32 y;
|
|
f32 z;
|
|
f32 w;
|
|
};
|
|
};
|
|
|
|
this(f32 w, f32 x, f32 y, f32 z)
|
|
{
|
|
vec.x = x;
|
|
vec.y = y;
|
|
vec.z = z;
|
|
vec.w = w;
|
|
}
|
|
|
|
U opCast(U)() if (is(U: Mat4))
|
|
{
|
|
f32 norm = Norm(&vec);
|
|
f32 s = norm > 0.0 ? 2.0 / norm : 0.0;
|
|
|
|
f32 _x = x;
|
|
f32 _y = y;
|
|
f32 _z = z;
|
|
f32 _w = w;
|
|
|
|
f32 xx = s * x * x; f32 xy = s * x * y; f32 wx = s * w * x;
|
|
f32 yy = s * y * y; f32 yz = s * y * z; f32 wy = s * w * y;
|
|
f32 zz = s * z * z; f32 xz = s * x * z; f32 wz = s * w * z;
|
|
|
|
U mat;
|
|
|
|
mat[0, 0] = 1.0 - yy - zz;
|
|
mat[1, 1] = 1.0 - xx - zz;
|
|
mat[2, 2] = 1.0 - xx - yy;
|
|
|
|
mat[0, 1] = xy + wz;
|
|
mat[1, 2] = yz + wx;
|
|
mat[2, 0] = xz + wy;
|
|
|
|
mat[1, 0] = xy - wz;
|
|
mat[2, 1] = yz - wx;
|
|
mat[0, 2] = xz - wy;
|
|
|
|
mat[0, 3] = 0.0;
|
|
mat[1, 3] = 0.0;
|
|
mat[2, 3] = 0.0;
|
|
mat[3, 0] = 0.0;
|
|
mat[3, 1] = 0.0;
|
|
mat[3, 2] = 0.0;
|
|
mat[3, 3] = 1.0;
|
|
|
|
return mat;
|
|
}
|
|
}
|
|
|
|
nothrow @nogc pragma(inline): Mat4
|
|
Mat4Identity()
|
|
{
|
|
return Mat4(
|
|
1.0, 0.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0, 0.0,
|
|
0.0, 0.0, 1.0, 0.0,
|
|
0.0, 0.0, 0.0, 1.0
|
|
);
|
|
}
|
|
|
|
pragma(inline): void
|
|
Mat4Identity(Mat4* mat)
|
|
{
|
|
MatZero(mat);
|
|
|
|
(*mat)[0, 0] = 1.0;
|
|
(*mat)[1, 1] = 1.0;
|
|
(*mat)[2, 2] = 1.0;
|
|
(*mat)[3, 3] = 1.0;
|
|
}
|
|
|
|
nothrow @nogc pragma(inline): Mat3
|
|
Mat3Identity()
|
|
{
|
|
return Mat3(
|
|
1.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0
|
|
);
|
|
}
|
|
|
|
nothrow @nogc pragma(inline): Mat2
|
|
Mat2Identity()
|
|
{
|
|
return Mat2(
|
|
1.0, 0.0,
|
|
0.0, 1.0
|
|
);
|
|
}
|
|
|
|
pragma(inline): void
|
|
QuatFromAxis(Quat* q, f32 angle, Vec3 axis)
|
|
{
|
|
Vec3 k;
|
|
|
|
f32 a = angle * 0.5f;
|
|
f32 c = cosf(a);
|
|
f32 s = sinf(a);
|
|
|
|
NormalizeTo(&axis, &k);
|
|
|
|
q.x = s * k.x;
|
|
q.y = s * k.y;
|
|
q.z = s * k.z;
|
|
q.w = c;
|
|
}
|
|
|
|
pragma(inline): f32
|
|
Dot(Vec2* l, Vec2* r)
|
|
{
|
|
return l.x * r.x + l.y * r.y;
|
|
}
|
|
|
|
pragma(inline): f32
|
|
Dot(Vec3* l, Vec3* r)
|
|
{
|
|
return l.x * r.x + l.y * r.y + l.z * r.z;
|
|
}
|
|
|
|
pragma(inline): f32
|
|
Dot(Vec4* l, Vec4* r)
|
|
{
|
|
// TODO: SIMD this
|
|
return l.x * r.x + l.y * r.y + l.z * r.z + l.w * r.w;
|
|
}
|
|
|
|
pragma(inline): f32
|
|
Norm(Vec3* v)
|
|
{
|
|
return sqrtf(Dot(v, v));
|
|
}
|
|
|
|
pragma(inline): f32
|
|
Norm(Vec4* v)
|
|
{
|
|
// TODO: SIMD this
|
|
return sqrtf(Dot(v, v));
|
|
}
|
|
|
|
pragma(inline): void
|
|
Normalize(T)(T* vec) if (is(T: Vec2) || is(T: Vec3) || is(T: Vec4))
|
|
{
|
|
f32 length = Norm(vec);
|
|
mixin(GenerateLoop!("vec.v[@] /= length;", vec._N)());
|
|
}
|
|
|
|
pragma(inline): Vector
|
|
Normalize(T)(T vec) if (is(T: Vec2) || is(T: Vec3) || is(T: Vec4))
|
|
{
|
|
Normalize(&vec);
|
|
return vec;
|
|
}
|
|
|
|
pragma(inline): void
|
|
NormalizeTo(Vec3* v, Vec3* dst)
|
|
{
|
|
f32 norm = Norm(v);
|
|
|
|
if (norm < f32.epsilon)
|
|
{
|
|
dst.x = dst.y = dst.z = 0.0;
|
|
}
|
|
else
|
|
{
|
|
*dst = (*v) * (1.0 / norm);
|
|
}
|
|
}
|
|
|
|
pragma(inline): void
|
|
Perspective(Mat4* mat, f32 fov, f32 width, f32 height, f32 near, f32 far)
|
|
{
|
|
MatZero(mat);
|
|
|
|
f32 f = 1.0 / tanf(fov * 0.5);
|
|
f32 fn = 1.0 / (near - far);
|
|
|
|
(*mat)[0, 0] = f / (width / height);
|
|
(*mat)[1, 1] = f;
|
|
(*mat)[2, 2] = far * fn;
|
|
(*mat)[2, 3] = -1.0;
|
|
(*mat)[3, 2] = near * far * fn;
|
|
}
|
|
|
|
pragma(inline): void
|
|
MatZero(Mat4* mat)
|
|
{
|
|
auto v = &mat.vec;
|
|
asm @nogc nothrow
|
|
{
|
|
mov R8, v;
|
|
xorps XMM0, XMM0;
|
|
movups mat.vec.offsetof[R8]+00, XMM0;
|
|
movups mat.vec.offsetof[R8]+16, XMM0;
|
|
movups mat.vec.offsetof[R8]+32, XMM0;
|
|
movups mat.vec.offsetof[R8]+48, XMM0;
|
|
}
|
|
}
|
|
|
|
pragma(inline): void
|
|
Translate(Mat4* mat, Vec3 vec)
|
|
{
|
|
Mat4Identity(mat);
|
|
(*mat)[3, 0] = vec[0];
|
|
(*mat)[3, 1] = vec[1];
|
|
(*mat)[3, 2] = vec[2];
|
|
}
|
|
|
|
pragma(inline): Mat4
|
|
Inverse(Mat4 mat)
|
|
{
|
|
// TODO: SIMD this
|
|
f32 a = mat[0, 0], b = mat[0, 1], c = mat[0, 2], d = mat[0, 3],
|
|
e = mat[1, 0], f = mat[1, 1], g = mat[1, 2], h = mat[1, 3],
|
|
i = mat[2, 0], j = mat[2, 1], k = mat[2, 2], l = mat[2, 3],
|
|
m = mat[3, 0], n = mat[3, 1], o = mat[3, 2], p = mat[3, 3];
|
|
|
|
f32 c1 = k * p - l * o, c2 = c * h - d * g, c3 = i * p - l * m,
|
|
c4 = a * h - d * e, c5 = j * p - l * n, c6 = b * h - d * f,
|
|
c7 = i * n - j * m, c8 = a * f - b * e, c9 = j * o - k * n,
|
|
c10 = b * g - c * f, c11 = i * o - k * m, c12 = a * g - c * e;
|
|
|
|
f32 idt = 1.0/(c8*c1+c4*c9+c10*c3+c2*c7-c12*c5-c6*c11), ndt = -idt;
|
|
|
|
Mat4 res;
|
|
|
|
res[0, 0] = (f * c1 - g * c5 + h * c9) * idt;
|
|
res[0, 1] = (b * c1 - c * c5 + d * c9) * ndt;
|
|
res[0, 2] = (n * c2 - o * c6 + p * c10) * idt;
|
|
res[0, 3] = (j * c2 - k * c6 + l * c10) * ndt;
|
|
|
|
res[1, 0] = (e * c1 - g * c3 + h * c11) * ndt;
|
|
res[1, 1] = (a * c1 - c * c3 + d * c11) * idt;
|
|
res[1, 2] = (m * c2 - o * c4 + p * c12) * ndt;
|
|
res[1, 3] = (i * c2 - k * c4 + l * c12) * idt;
|
|
|
|
res[2, 0] = (e * c5 - f * c3 + h * c7) * idt;
|
|
res[2, 1] = (a * c5 - b * c3 + d * c7) * ndt;
|
|
res[2, 2] = (m * c6 - n * c4 + p * c8) * idt;
|
|
res[2, 3] = (i * c6 - j * c4 + l * c8) * ndt;
|
|
|
|
res[3, 0] = (e * c9 - f * c11 + g * c7) * ndt;
|
|
res[3, 1] = (a * c9 - b * c11 + c * c7) * idt;
|
|
res[3, 2] = (m * c10 - n * c12 + o * c8) * ndt;
|
|
res[3, 3] = (i * c10 - j * c12 + k * c8) * idt;
|
|
|
|
return res;
|
|
}
|
|
|
|
pragma(inline): T
|
|
SquaredMagnitude(T)(T v) if (IsVector!(T))
|
|
{
|
|
T sum_squares = 0;
|
|
mixin(GenerateLoop!("sum_squares += v.v[@] * v.v[@];", v._N)());
|
|
return sum_squares;
|
|
}
|
|
|
|
pragma(inline): T
|
|
SquaredDistTo(T)(T l, T r) if (IsVector!(T))
|
|
{
|
|
return SquaredMagnitude(r - l);
|
|
}
|
|
|