1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277

//! Square matrices.
use std::ops::*;

use crate::vec::*;

use wide::f32x4;

macro_rules! mat2s {
    ($($n:ident => $t:ident),+) => {
        /// A 2x2 square matrix.
        ///
        /// Useful for performing linear transformations (rotation, scaling) on 2d vectors.
        $(#[derive(Clone, Copy, Debug)]
        pub struct $n {
            pub cols: [$t; 2],
        }

        impl $n {
            #[inline]
            pub fn new(col1: $t, col2: $t) -> Self {
                $n {
                    cols: [col1, col2],
                }
            }
        }

        impl Mul for $n {
            type Output = Self;
            #[inline]
            fn mul(self, rhs: Self) -> Self {
                let sa = self.cols[0];
                let sb = self.cols[1];
                let oa = rhs.cols[0];
                let ob = rhs.cols[1];
                Self::new(
                    $t::new(
                        sa.x * oa.x + sb.x * oa.y,
                        sa.x * ob.x + sb.x * ob.y,
                    ),
                    $t::new(
                        sa.y * oa.x + sb.y * oa.y,
                        sa.y * ob.x + sb.y * ob.y,
                    ),
                )
            }
        }

        impl Mul<$t> for $n {
            type Output = $t;
            #[inline]
            fn mul(self, rhs: $t) -> $t {
                let a = self.cols[0];
                let b = self.cols[1];
                $t::new(
                    a.x * rhs.x + b.x * rhs.y,
                    a.y * rhs.x + b.y * rhs.y,
                )
            }
        })+
    }
}

mat2s!(Mat2 => Vec2, Wat2 => Wec2);

macro_rules! mat3s {
    ($($n:ident => $vt:ident, $t:ident),+) => {
        /// A 3x3 square matrix.
        ///
        /// Useful for performing linear transformations (rotation, scaling) on 3d vectors,
        /// or for performing arbitrary transformations (linear + translation, projection, etc)
        /// on homogeneous 2d vectors
        $(#[derive(Clone, Copy, Debug)]
        pub struct $n {
            pub cols: [$vt; 3],
        }

        impl $n {
            #[inline]
            pub fn new(col1: $vt, col2: $vt, col3: $vt) -> Self {
                $n {
                    cols: [col1, col2, col3],
                }
            }

            #[inline]
            pub fn identity() -> Self {
                Self::new(
                    $vt::new($t::from(1.0), $t::from(0.0), $t::from(0.0)),
                    $vt::new($t::from(0.0), $t::from(1.0), $t::from(0.0)),
                    $vt::new($t::from(0.0), $t::from(0.0), $t::from(1.0)))
            }

            /// Angles are applied in the order roll -> pitch -> yaw
            ///
            /// - Yaw is rotation inside the xz plane ("around the y axis")
            /// - Pitch is rotation inside the yz plane ("around the x axis")
            /// - Roll is rotation inside the xy plane ("around the z axis")
            #[inline]
            pub fn from_euler_angles(roll: $t, pitch: $t, yaw: $t) -> Self {
                let (sr, cr) = roll.sin_cos();
                let (sp, cp) = pitch.sin_cos();
                let (sy, cy) = yaw.sin_cos();

                Self::new(
                    $vt::new(cy * cp, cy * sp * sr - sy * cr, cy * sp * cr + sy * sr),
                    $vt::new(sy * cp, sy * sp * sr + cy * cr, sy * sp * cr - cy * sr),
                    $vt::new(-sp, cp * sr, cp * cr))
            }
        }

        impl Mul for $n {
            type Output = Self;
            #[inline]
            fn mul(self, rhs: Self) -> Self {
                let sa = self.cols[0];
                let sb = self.cols[1];
                let sc = self.cols[2];
                let oa = rhs.cols[0];
                let ob = rhs.cols[1];
                let oc = rhs.cols[2];
                Self::new(
                    $vt::new(
                        sa.x * oa.x + sb.x * oa.y + sc.x * oa.z,
                        sa.x * ob.x + sb.x * ob.y + sc.x * ob.z,
                        sa.x * oc.x + sb.x * oc.y + sc.x * oc.z
                    ),
                    $vt::new(
                        sa.y * oa.x + sb.y * oa.y + sc.y * oa.z,
                        sa.y * ob.x + sb.y * ob.y + sc.y * ob.z,
                        sa.y * oc.x + sb.y * oc.y + sc.y * oc.z
                    ),
                    $vt::new(
                        sa.z * oa.x + sb.z * oa.y + sc.z * oa.z,
                        sa.z * ob.x + sb.z * ob.y + sc.z * ob.z,
                        sa.z * oc.x + sb.z * oc.y + sc.z * oc.z
                    ),
                )
            }
        }

        impl Mul<$vt> for $n {
            type Output = $vt;
            #[inline]
            fn mul(self, rhs: $vt) -> $vt {
                let a = self.cols[0];
                let b = self.cols[1];
                let c = self.cols[2];
                $vt::new(
                    a.x * rhs.x + b.x * rhs.y + c.x * rhs.z,
                    a.y * rhs.x + b.y * rhs.y + c.y * rhs.z,
                    a.z * rhs.x + b.z * rhs.y + c.z * rhs.z,
                )
            }
        })+
    }
}

mat3s!(Mat3 => Vec3, f32, Wat3 => Wec3, f32x4);

macro_rules! mat4s {
    ($($n:ident => $vt:ident, $v3t:ident, $t:ident),+) => {
        /// A 4x4 square matrix.
        ///
        /// Useful for performing linear transformations (rotation, scaling) on 4d vectors,
        /// or for performing arbitrary transformations (linear + translation, projection, etc)
        /// on homogeneous 3d vectors
        $(#[derive(Clone, Copy, Debug)]
        pub struct $n {
            pub cols: [$vt; 4],
        }

        impl $n {
            #[inline]
            pub fn new(col1: $vt, col2: $vt, col3: $vt, col4: $vt) -> Self {
                $n {
                    cols: [col1, col2, col3, col4],
                }
            }

            #[inline]
            pub fn identity() -> Self {
                Self::new(
                    $vt::new($t::from(1.0), $t::from(0.0), $t::from(0.0), $t::from(0.0)),
                    $vt::new($t::from(0.0), $t::from(1.0), $t::from(0.0), $t::from(0.0)),
                    $vt::new($t::from(0.0), $t::from(0.0), $t::from(1.0), $t::from(0.0)),
                    $vt::new($t::from(0.0), $t::from(0.0), $t::from(0.0), $t::from(1.0)))
            }

            #[inline]
            pub fn from_translation(trans: $v3t) -> Self {
                Self::new(
                    $vt::new($t::from(1.0), $t::from(0.0), $t::from(0.0), trans.x),
                    $vt::new($t::from(0.0), $t::from(1.0), $t::from(0.0), trans.y),
                    $vt::new($t::from(0.0), $t::from(0.0), $t::from(1.0), trans.z),
                    $vt::new($t::from(0.0), $t::from(0.0), $t::from(0.0), $t::from(1.0)))
            }

            /// Angles are applied in the order roll -> pitch -> yaw
            ///
            /// - Yaw is rotation inside the xz plane ("around the y axis")
            /// - Pitch is rotation inside the yz plane ("around the x axis")
            /// - Roll is rotation inside the xy plane ("around the z axis")
            #[inline]
            pub fn from_euler_angles(roll: $t, pitch: $t, yaw: $t) -> Self {
                let (sr, cr) = roll.sin_cos();
                let (sp, cp) = pitch.sin_cos();
                let (sy, cy) = yaw.sin_cos();

                Self::new(
                    $vt::new(cy * cp, cy * sp * sr - sy * cr, cy * sp * cr + sy * sr, $t::from(0.0)),
                    $vt::new(sy * cp, sy * sp * sr + cy * cr, sy * sp * cr - cy * sr, $t::from(0.0)),
                    $vt::new(-sp, cp * sr, cp * cr, $t::from(0.0)),
                    $vt::new($t::from(0.0), $t::from(0.0), $t::from(0.0), $t::from(1.0)))
            }
        }

        impl Mul for $n {
            type Output = Self;
            #[inline]
            fn mul(self, rhs: Self) -> Self {
                let sa = self.cols[0];
                let sb = self.cols[1];
                let sc = self.cols[2];
                let sd = self.cols[3];
                let oa = rhs.cols[0];
                let ob = rhs.cols[1];
                let oc = rhs.cols[2];
                let od = rhs.cols[3];
                Self::new(
                    $vt::new(
                        sa.x * oa.x + sb.x * oa.y + sc.x * oa.z + sd.x * oa.w,
                        sa.x * ob.x + sb.x * ob.y + sc.x * ob.z + sd.x * ob.w,
                        sa.x * oc.x + sb.x * oc.y + sc.x * oc.z + sd.x * oc.w,
                        sa.x * od.x + sb.x * od.y + sc.x * od.z + sd.x * od.w,
                    ),
                    $vt::new(
                        sa.y * oa.x + sb.y * oa.y + sc.y * oa.z + sd.y * oa.w,
                        sa.y * ob.x + sb.y * ob.y + sc.y * ob.z + sd.y * ob.w,
                        sa.y * oc.x + sb.y * oc.y + sc.y * oc.z + sd.y * oc.w,
                        sa.y * od.x + sb.y * od.y + sc.y * od.z + sd.y * od.w,
                    ),
                    $vt::new(
                        sa.z * oa.x + sb.z * oa.y + sc.z * oa.z + sd.z * oa.w,
                        sa.z * ob.x + sb.z * ob.y + sc.z * ob.z + sd.z * ob.w,
                        sa.z * oc.x + sb.z * oc.y + sc.z * oc.z + sd.z * oc.w,
                        sa.z * od.x + sb.z * od.y + sc.z * od.z + sd.z * od.w,
                    ),
                    $vt::new(
                        sa.w * oa.x + sb.w * oa.y + sc.w * oa.z + sd.w * oa.w,
                        sa.w * ob.x + sb.w * ob.y + sc.w * ob.z + sd.w * oa.w,
                        sa.w * oc.x + sb.w * oc.y + sc.w * oc.z + sd.w * oc.w,
                        sa.w * od.x + sb.w * od.y + sc.w * od.z + sd.w * od.w,
                    ),
                )
            }
        }

        impl Mul<$vt> for $n {
            type Output = $vt;
            #[inline]
            fn mul(self, rhs: $vt) -> $vt {
                let a = self.cols[0];
                let b = self.cols[1];
                let c = self.cols[2];
                let d = self.cols[3];
                $vt::new(
                    a.x * rhs.x + b.x * rhs.y + c.x * rhs.z + d.x * rhs.w,
                    a.y * rhs.x + b.y * rhs.y + c.y * rhs.z + d.y * rhs.w,
                    a.z * rhs.x + b.z * rhs.y + c.z * rhs.z + d.z * rhs.w,
                    a.w * rhs.x + b.w * rhs.y + c.w * rhs.z + d.z * rhs.w,
                )
            }
        })+
    }
}

mat4s!(Mat4 => Vec4, Vec3, f32, Wat4 => Wec4, Wec3, f32x4);