@bloomengine/engine 0.3.1

package/native/third_party/JoltPhysics/Jolt/Math/Vec3.h

@@ -0,0 +1,308 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Core/StaticArray.h>
+#include <Jolt/Math/Float3.h>
+#include <Jolt/Math/Swizzle.h>
+#include <Jolt/Math/MathTypes.h>
+
+JPH_NAMESPACE_BEGIN
+
+/// 3 component vector (stored as 4 vectors).
+/// Note that we keep the 4th component the same as the 3rd component to avoid divisions by zero when JPH_FLOATING_POINT_EXCEPTIONS_ENABLED defined
+class [[nodiscard]] alignas(JPH_VECTOR_ALIGNMENT) Vec3
+{
+public:
+	JPH_OVERRIDE_NEW_DELETE
+
+	// Underlying vector type
+#if defined(JPH_USE_SSE)
+	using Type = __m128;
+#elif defined(JPH_USE_NEON)
+	using Type = float32x4_t;
+#else
+	using Type = Vec4::Type;
+#endif
+
+	// Argument type
+	using ArgType = Vec3Arg;
+
+	/// Constructor
+								Vec3() = default; ///< Intentionally not initialized for performance reasons
+								Vec3(const Vec3 &inRHS) = default;
+	Vec3 &						operator = (const Vec3 &inRHS) = default;
+	explicit JPH_INLINE			Vec3(Vec4Arg inRHS);
+	JPH_INLINE					Vec3(Type inRHS) : mValue(inRHS)				{ CheckW(); }
+
+	/// Load 3 floats from memory
+	explicit JPH_INLINE			Vec3(const Float3 &inV);
+
+	/// Create a vector from 3 components
+	JPH_INLINE					Vec3(float inX, float inY, float inZ);
+
+	/// Vector with all zeros
+	static JPH_INLINE Vec3		sZero();
+
+	/// Vector with all ones
+	static JPH_INLINE Vec3		sOne();
+
+	/// Vector with all NaN's
+	static JPH_INLINE Vec3		sNaN();
+
+	/// Vectors with the principal axis
+	static JPH_INLINE Vec3		sAxisX()										{ return Vec3(1, 0, 0); }
+	static JPH_INLINE Vec3		sAxisY()										{ return Vec3(0, 1, 0); }
+	static JPH_INLINE Vec3		sAxisZ()										{ return Vec3(0, 0, 1); }
+
+	/// Replicate inV across all components
+	static JPH_INLINE Vec3		sReplicate(float inV);
+
+	/// Load 3 floats from memory (reads 32 bits extra which it doesn't use)
+	static JPH_INLINE Vec3		sLoadFloat3Unsafe(const Float3 &inV);
+
+	/// Return the minimum value of each of the components
+	static JPH_INLINE Vec3		sMin(Vec3Arg inV1, Vec3Arg inV2);
+
+	/// Return the maximum of each of the components
+	static JPH_INLINE Vec3		sMax(Vec3Arg inV1, Vec3Arg inV2);
+
+	/// Clamp a vector between min and max (component wise)
+	static JPH_INLINE Vec3		sClamp(Vec3Arg inV, Vec3Arg inMin, Vec3Arg inMax);
+
+	/// Equals (component wise)
+	static JPH_INLINE UVec4		sEquals(Vec3Arg inV1, Vec3Arg inV2);
+
+	/// Less than (component wise)
+	static JPH_INLINE UVec4		sLess(Vec3Arg inV1, Vec3Arg inV2);
+
+	/// Less than or equal (component wise)
+	static JPH_INLINE UVec4		sLessOrEqual(Vec3Arg inV1, Vec3Arg inV2);
+
+	/// Greater than (component wise)
+	static JPH_INLINE UVec4		sGreater(Vec3Arg inV1, Vec3Arg inV2);
+
+	/// Greater than or equal (component wise)
+	static JPH_INLINE UVec4		sGreaterOrEqual(Vec3Arg inV1, Vec3Arg inV2);
+
+	/// Calculates inMul1 * inMul2 + inAdd
+	static JPH_INLINE Vec3		sFusedMultiplyAdd(Vec3Arg inMul1, Vec3Arg inMul2, Vec3Arg inAdd);
+
+	/// Component wise select, returns inNotSet when highest bit of inControl = 0 and inSet when highest bit of inControl = 1
+	static JPH_INLINE Vec3		sSelect(Vec3Arg inNotSet, Vec3Arg inSet, UVec4Arg inControl);
+
+	/// Logical or (component wise)
+	static JPH_INLINE Vec3		sOr(Vec3Arg inV1, Vec3Arg inV2);
+
+	/// Logical xor (component wise)
+	static JPH_INLINE Vec3		sXor(Vec3Arg inV1, Vec3Arg inV2);
+
+	/// Logical and (component wise)
+	static JPH_INLINE Vec3		sAnd(Vec3Arg inV1, Vec3Arg inV2);
+
+	/// Get unit vector given spherical coordinates
+	/// inTheta \f$\in [0, \pi]\f$ is angle between vector and z-axis
+	/// inPhi \f$\in [0, 2 \pi]\f$ is the angle in the xy-plane starting from the x axis and rotating counter clockwise around the z-axis
+	static JPH_INLINE Vec3		sUnitSpherical(float inTheta, float inPhi);
+
+	/// A set of vectors uniformly spanning the surface of a unit sphere, usable for debug purposes
+	JPH_EXPORT static const StaticArray<Vec3, 1026> sUnitSphere;
+
+	/// Get random unit vector
+	template <class Random>
+	static inline Vec3			sRandom(Random &inRandom);
+
+	/// Get individual components
+#if defined(JPH_USE_SSE)
+	JPH_INLINE float			GetX() const									{ return _mm_cvtss_f32(mValue); }
+	JPH_INLINE float			GetY() const									{ return mF32[1]; }
+	JPH_INLINE float			GetZ() const									{ return mF32[2]; }
+#elif defined(JPH_USE_NEON)
+	JPH_INLINE float			GetX() const									{ return vgetq_lane_f32(mValue, 0); }
+	JPH_INLINE float			GetY() const									{ return vgetq_lane_f32(mValue, 1); }
+	JPH_INLINE float			GetZ() const									{ return vgetq_lane_f32(mValue, 2); }
+#else
+	JPH_INLINE float			GetX() const									{ return mF32[0]; }
+	JPH_INLINE float			GetY() const									{ return mF32[1]; }
+	JPH_INLINE float			GetZ() const									{ return mF32[2]; }
+#endif
+
+	/// Set individual components
+	JPH_INLINE void				SetX(float inX)									{ mF32[0] = inX; }
+	JPH_INLINE void				SetY(float inY)									{ mF32[1] = inY; }
+	JPH_INLINE void				SetZ(float inZ)									{ mF32[2] = mF32[3] = inZ; } // Assure Z and W are the same
+
+	/// Set all components
+	JPH_INLINE void				Set(float inX, float inY, float inZ)			{ *this = Vec3(inX, inY, inZ); }
+
+	/// Get float component by index
+	JPH_INLINE float			operator [] (uint inCoordinate) const			{ JPH_ASSERT(inCoordinate < 3); return mF32[inCoordinate]; }
+
+	/// Set float component by index
+	JPH_INLINE void				SetComponent(uint inCoordinate, float inValue)	{ JPH_ASSERT(inCoordinate < 3); mF32[inCoordinate] = inValue; mValue = sFixW(mValue); } // Assure Z and W are the same
+
+	/// Comparison
+	JPH_INLINE bool				operator == (Vec3Arg inV2) const;
+	JPH_INLINE bool				operator != (Vec3Arg inV2) const				{ return !(*this == inV2); }
+
+	/// Test if two vectors are close
+	JPH_INLINE bool				IsClose(Vec3Arg inV2, float inMaxDistSq = 1.0e-12f) const;
+
+	/// Test if vector is near zero
+	JPH_INLINE bool				IsNearZero(float inMaxDistSq = 1.0e-12f) const;
+
+	/// Test if vector is normalized
+	JPH_INLINE bool				IsNormalized(float inTolerance = 1.0e-6f) const;
+
+	/// Test if vector contains NaN elements
+	JPH_INLINE bool				IsNaN() const;
+
+	/// Multiply two float vectors (component wise)
+	JPH_INLINE Vec3				operator * (Vec3Arg inV2) const;
+
+	/// Multiply vector with float
+	JPH_INLINE Vec3				operator * (float inV2) const;
+
+	/// Multiply vector with float
+	friend JPH_INLINE Vec3		operator * (float inV1, Vec3Arg inV2);
+
+	/// Divide vector by float
+	JPH_INLINE Vec3				operator / (float inV2) const;
+
+	/// Multiply vector with float
+	JPH_INLINE Vec3 &			operator *= (float inV2);
+
+	/// Multiply vector with vector
+	JPH_INLINE Vec3 &			operator *= (Vec3Arg inV2);
+
+	/// Divide vector by float
+	JPH_INLINE Vec3 &			operator /= (float inV2);
+
+	/// Add two float vectors (component wise)
+	JPH_INLINE Vec3				operator + (Vec3Arg inV2) const;
+
+	/// Add two float vectors (component wise)
+	JPH_INLINE Vec3 &			operator += (Vec3Arg inV2);
+
+	/// Negate
+	JPH_INLINE Vec3				operator - () const;
+
+	/// Subtract two float vectors (component wise)
+	JPH_INLINE Vec3				operator - (Vec3Arg inV2) const;
+
+	/// Subtract two float vectors (component wise)
+	JPH_INLINE Vec3 &			operator -= (Vec3Arg inV2);
+
+	/// Divide (component wise)
+	JPH_INLINE Vec3				operator / (Vec3Arg inV2) const;
+
+	/// Swizzle the elements in inV
+	template<uint32 SwizzleX, uint32 SwizzleY, uint32 SwizzleZ>
+	JPH_INLINE Vec3				Swizzle() const;
+
+	/// Replicate the X component to all components
+	JPH_INLINE Vec4				SplatX() const;
+
+	/// Replicate the Y component to all components
+	JPH_INLINE Vec4				SplatY() const;
+
+	/// Replicate the Z component to all components
+	JPH_INLINE Vec4				SplatZ() const;
+
+	/// Get index of component with lowest value
+	JPH_INLINE int				GetLowestComponentIndex() const;
+
+	/// Get index of component with highest value
+	JPH_INLINE int				GetHighestComponentIndex() const;
+
+	/// Return the absolute value of each of the components
+	JPH_INLINE Vec3				Abs() const;
+
+	/// Reciprocal vector (1 / value) for each of the components
+	JPH_INLINE Vec3				Reciprocal() const;
+
+	/// Cross product
+	JPH_INLINE Vec3				Cross(Vec3Arg inV2) const;
+
+	/// Dot product, returns the dot product in X, Y and Z components
+	JPH_INLINE Vec3				DotV(Vec3Arg inV2) const;
+
+	/// Dot product, returns the dot product in X, Y, Z and W components
+	JPH_INLINE Vec4				DotV4(Vec3Arg inV2) const;
+
+	/// Dot product
+	JPH_INLINE float			Dot(Vec3Arg inV2) const;
+
+	/// Squared length of vector
+	JPH_INLINE float			LengthSq() const;
+
+	/// Length of vector
+	JPH_INLINE float			Length() const;
+
+	/// Normalize vector
+	JPH_INLINE Vec3				Normalized() const;
+
+	/// Normalize vector or return inZeroValue if the length of the vector is zero
+	JPH_INLINE Vec3				NormalizedOr(Vec3Arg inZeroValue) const;
+
+	/// Store 3 floats to memory
+	JPH_INLINE void				StoreFloat3(Float3 *outV) const;
+
+	/// Convert each component from a float to an int
+	JPH_INLINE UVec4			ToInt() const;
+
+	/// Reinterpret Vec3 as a UVec4 (doesn't change the bits)
+	JPH_INLINE UVec4			ReinterpretAsInt() const;
+
+	/// Get the minimum of X, Y and Z
+	JPH_INLINE float			ReduceMin() const;
+
+	/// Get the maximum of X, Y and Z
+	JPH_INLINE float			ReduceMax() const;
+
+	/// Component wise square root
+	JPH_INLINE Vec3				Sqrt() const;
+
+	/// Get normalized vector that is perpendicular to this vector
+	JPH_INLINE Vec3				GetNormalizedPerpendicular() const;
+
+	/// Get vector that contains the sign of each element (returns 1.0f if positive, -1.0f if negative)
+	JPH_INLINE Vec3				GetSign() const;
+
+	/// Flips the signs of the components, e.g. FlipSign<-1, 1, -1>() will flip the signs of the X and Z components
+	template <int X, int Y, int Z>
+	JPH_INLINE Vec3				FlipSign() const;
+
+	/// Compress a unit vector to a 32 bit value, precision is around 10^-4
+	JPH_INLINE uint32			CompressUnitVector() const;
+
+	/// Decompress a unit vector from a 32 bit value
+	JPH_INLINE static Vec3		sDecompressUnitVector(uint32 inValue);
+
+	/// To String
+	friend ostream &			operator << (ostream &inStream, Vec3Arg inV)
+	{
+		inStream << inV.mF32[0] << ", " << inV.mF32[1] << ", " << inV.mF32[2];
+		return inStream;
+	}
+
+	/// Internal helper function that checks that W is equal to Z, so e.g. dividing by it should not generate div by 0
+	JPH_INLINE void				CheckW() const;
+
+	/// Internal helper function that ensures that the Z component is replicated to the W component to prevent divisions by zero
+	static JPH_INLINE Type		sFixW(Type inValue);
+
+	union
+	{
+		Type					mValue;
+		float					mF32[4];
+	};
+};
+
+static_assert(std::is_trivial<Vec3>(), "Is supposed to be a trivial type!");
+
+JPH_NAMESPACE_END
+
+#include "Vec3.inl"