@vib3code/sdk 2.0.1 → 2.0.3-canary.6f35b4c

package/cpp/include/vib3_ffi.h

@@ -0,0 +1,238 @@
+/**
+ * VIB3+ FFI Header
+ *
+ * C interface for cross-platform FFI bindings.
+ * Used by Flutter, React Native, and other FFI-capable frameworks.
+ */
+
+#ifndef VIB3_FFI_H
+#define VIB3_FFI_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Platform export macros
+#if defined(_WIN32) || defined(_WIN64)
+    #define VIB3_EXPORT __declspec(dllexport)
+#else
+    #define VIB3_EXPORT __attribute__((visibility("default")))
+#endif
+
+// ============================================================================
+// Types
+// ============================================================================
+
+/**
+ * 4D Vector (16-byte aligned)
+ */
+typedef struct VIB3_EXPORT Vib3Vec4 {
+    float x, y, z, w;
+} Vib3Vec4;
+
+/**
+ * 4D Rotor (8 components for proper 4D rotation)
+ */
+typedef struct VIB3_EXPORT Vib3Rotor4D {
+    float s;      // Scalar
+    float xy;     // Bivector XY
+    float xz;     // Bivector XZ
+    float yz;     // Bivector YZ
+    float xw;     // Bivector XW
+    float yw;     // Bivector YW
+    float zw;     // Bivector ZW
+    float xyzw;   // Pseudoscalar
+} Vib3Rotor4D;
+
+/**
+ * 4x4 Matrix (column-major)
+ */
+typedef struct VIB3_EXPORT Vib3Mat4x4 {
+    float data[16];
+} Vib3Mat4x4;
+
+/**
+ * Rotation plane enumeration
+ */
+typedef enum VIB3_EXPORT Vib3RotationPlane {
+    VIB3_PLANE_XY = 0,
+    VIB3_PLANE_XZ = 1,
+    VIB3_PLANE_YZ = 2,
+    VIB3_PLANE_XW = 3,
+    VIB3_PLANE_YW = 4,
+    VIB3_PLANE_ZW = 5
+} Vib3RotationPlane;
+
+/**
+ * Projection type enumeration
+ */
+typedef enum VIB3_EXPORT Vib3ProjectionType {
+    VIB3_PROJ_PERSPECTIVE = 0,
+    VIB3_PROJ_STEREOGRAPHIC = 1,
+    VIB3_PROJ_ORTHOGRAPHIC = 2,
+    VIB3_PROJ_OBLIQUE = 3
+} Vib3ProjectionType;
+
+/**
+ * Command batch result
+ */
+typedef struct VIB3_EXPORT Vib3BatchResult {
+    int32_t success_count;
+    int32_t error_count;
+    int32_t result_size;
+} Vib3BatchResult;
+
+/**
+ * Engine handle (opaque)
+ */
+typedef struct Vib3Engine* Vib3EngineHandle;
+
+/**
+ * Texture handle for rendering
+ */
+typedef struct {
+    void* native_handle;  // Platform-specific texture handle
+    int32_t width;
+    int32_t height;
+    int32_t format;
+} Vib3TextureHandle;
+
+// ============================================================================
+// Vec4 Functions
+// ============================================================================
+
+VIB3_EXPORT Vib3Vec4* vib3_vec4_create(float x, float y, float z, float w);
+VIB3_EXPORT void vib3_vec4_free(Vib3Vec4* v);
+VIB3_EXPORT float vib3_vec4_dot(const Vib3Vec4* a, const Vib3Vec4* b);
+VIB3_EXPORT float vib3_vec4_length(const Vib3Vec4* v);
+VIB3_EXPORT void vib3_vec4_normalize(Vib3Vec4* v);
+VIB3_EXPORT Vib3Vec4* vib3_vec4_add(const Vib3Vec4* a, const Vib3Vec4* b);
+VIB3_EXPORT Vib3Vec4* vib3_vec4_sub(const Vib3Vec4* a, const Vib3Vec4* b);
+VIB3_EXPORT Vib3Vec4* vib3_vec4_scale(const Vib3Vec4* v, float s);
+VIB3_EXPORT Vib3Vec4* vib3_vec4_lerp(const Vib3Vec4* a, const Vib3Vec4* b, float t);
+
+// ============================================================================
+// Rotor4D Functions
+// ============================================================================
+
+VIB3_EXPORT Vib3Rotor4D* vib3_rotor4d_identity(void);
+VIB3_EXPORT Vib3Rotor4D* vib3_rotor4d_from_plane_angle(Vib3RotationPlane plane, float angle);
+VIB3_EXPORT Vib3Rotor4D* vib3_rotor4d_from_euler6(
+    float xy, float xz, float yz,
+    float xw, float yw, float zw
+);
+VIB3_EXPORT void vib3_rotor4d_free(Vib3Rotor4D* r);
+VIB3_EXPORT Vib3Rotor4D* vib3_rotor4d_multiply(const Vib3Rotor4D* a, const Vib3Rotor4D* b);
+VIB3_EXPORT Vib3Vec4* vib3_rotor4d_rotate(const Vib3Rotor4D* r, const Vib3Vec4* v);
+VIB3_EXPORT Vib3Rotor4D* vib3_rotor4d_slerp(const Vib3Rotor4D* a, const Vib3Rotor4D* b, float t);
+VIB3_EXPORT void vib3_rotor4d_normalize(Vib3Rotor4D* r);
+VIB3_EXPORT Vib3Mat4x4* vib3_rotor4d_to_matrix(const Vib3Rotor4D* r);
+
+// ============================================================================
+// Mat4x4 Functions
+// ============================================================================
+
+VIB3_EXPORT Vib3Mat4x4* vib3_mat4x4_identity(void);
+VIB3_EXPORT Vib3Mat4x4* vib3_mat4x4_rotation_xy(float angle);
+VIB3_EXPORT Vib3Mat4x4* vib3_mat4x4_rotation_xz(float angle);
+VIB3_EXPORT Vib3Mat4x4* vib3_mat4x4_rotation_yz(float angle);
+VIB3_EXPORT Vib3Mat4x4* vib3_mat4x4_rotation_xw(float angle);
+VIB3_EXPORT Vib3Mat4x4* vib3_mat4x4_rotation_yw(float angle);
+VIB3_EXPORT Vib3Mat4x4* vib3_mat4x4_rotation_zw(float angle);
+VIB3_EXPORT Vib3Mat4x4* vib3_mat4x4_rotation_from_angles(
+    float xy, float xz, float yz,
+    float xw, float yw, float zw
+);
+VIB3_EXPORT void vib3_mat4x4_free(Vib3Mat4x4* m);
+VIB3_EXPORT Vib3Mat4x4* vib3_mat4x4_multiply(const Vib3Mat4x4* a, const Vib3Mat4x4* b);
+VIB3_EXPORT Vib3Vec4* vib3_mat4x4_multiply_vec4(const Vib3Mat4x4* m, const Vib3Vec4* v);
+VIB3_EXPORT void vib3_mat4x4_get_data(const Vib3Mat4x4* m, float* out);
+
+// ============================================================================
+// Projection Functions
+// ============================================================================
+
+VIB3_EXPORT Vib3Vec4* vib3_project_perspective(const Vib3Vec4* v, float distance);
+VIB3_EXPORT Vib3Vec4* vib3_project_stereographic(const Vib3Vec4* v);
+VIB3_EXPORT Vib3Vec4* vib3_project_orthographic(const Vib3Vec4* v);
+VIB3_EXPORT Vib3Vec4* vib3_project_oblique(const Vib3Vec4* v, float shear_x, float shear_y);
+
+// Batch projection (for geometry arrays)
+VIB3_EXPORT int32_t vib3_project_batch(
+    const float* positions,   // Input: [x,y,z,w, x,y,z,w, ...]
+    int32_t count,            // Number of Vec4s
+    Vib3ProjectionType type,
+    float param,              // Distance for perspective, unused for others
+    float* out                // Output: [x,y,z, x,y,z, ...]
+);
+
+// ============================================================================
+// Command Batching
+// ============================================================================
+
+/**
+ * Process a batch of commands
+ *
+ * @param commands Binary command buffer
+ * @param size Size of command buffer in bytes
+ * @param results Output buffer for results
+ * @return Number of bytes written to results
+ */
+VIB3_EXPORT int32_t vib3_process_command_batch(
+    const uint8_t* commands,
+    uint32_t size,
+    uint8_t* results
+);
+
+// ============================================================================
+// Engine Functions
+// ============================================================================
+
+VIB3_EXPORT Vib3EngineHandle vib3_engine_create(void);
+VIB3_EXPORT void vib3_engine_destroy(Vib3EngineHandle engine);
+
+VIB3_EXPORT bool vib3_engine_initialize(
+    Vib3EngineHandle engine,
+    int32_t width,
+    int32_t height
+);
+
+VIB3_EXPORT void vib3_engine_set_system(Vib3EngineHandle engine, const char* system);
+VIB3_EXPORT void vib3_engine_set_geometry(Vib3EngineHandle engine, int32_t index);
+VIB3_EXPORT void vib3_engine_set_rotation(
+    Vib3EngineHandle engine,
+    Vib3RotationPlane plane,
+    float angle
+);
+VIB3_EXPORT void vib3_engine_set_all_rotations(
+    Vib3EngineHandle engine,
+    float xy, float xz, float yz,
+    float xw, float yw, float zw
+);
+VIB3_EXPORT void vib3_engine_reset_rotation(Vib3EngineHandle engine);
+
+VIB3_EXPORT void vib3_engine_set_visual_param(
+    Vib3EngineHandle engine,
+    const char* param,
+    float value
+);
+
+VIB3_EXPORT void vib3_engine_render(Vib3EngineHandle engine);
+VIB3_EXPORT Vib3TextureHandle vib3_engine_get_texture(Vib3EngineHandle engine);
+
+// ============================================================================
+// Utility Functions
+// ============================================================================
+
+VIB3_EXPORT const char* vib3_version(void);
+VIB3_EXPORT const char* vib3_geometry_name(int32_t index);
+VIB3_EXPORT bool vib3_has_simd(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // VIB3_FFI_H

package/cpp/math/Mat4x4.cpp

@@ -0,0 +1,409 @@
+/**
+ * Mat4x4.cpp - 4x4 Matrix Implementation
+ */
+
+#include "Mat4x4.hpp"
+#include <cmath>
+#include <algorithm>
+
+namespace vib3 {
+
+// Constructors
+
+Mat4x4::Mat4x4() noexcept : data{} {
+    // Zero-initialized
+}
+
+Mat4x4::Mat4x4(float diagonal) noexcept : data{} {
+    data[0] = diagonal;
+    data[5] = diagonal;
+    data[10] = diagonal;
+    data[15] = diagonal;
+}
+
+Mat4x4::Mat4x4(const std::array<float, 16>& elements) noexcept : data(elements) {}
+
+Mat4x4::Mat4x4(const Vec4& col0, const Vec4& col1, const Vec4& col2, const Vec4& col3) noexcept {
+    setColumn(0, col0);
+    setColumn(1, col1);
+    setColumn(2, col2);
+    setColumn(3, col3);
+}
+
+// Static factories
+
+Mat4x4 Mat4x4::identity() noexcept {
+    return Mat4x4(1.0f);
+}
+
+Mat4x4 Mat4x4::zero() noexcept {
+    return Mat4x4();
+}
+
+// Rotation matrices
+
+Mat4x4 Mat4x4::rotationXY(float angle) noexcept {
+    float c = std::cos(angle);
+    float s = std::sin(angle);
+
+    Mat4x4 m = identity();
+    m.at(0, 0) = c;
+    m.at(0, 1) = -s;
+    m.at(1, 0) = s;
+    m.at(1, 1) = c;
+    return m;
+}
+
+Mat4x4 Mat4x4::rotationXZ(float angle) noexcept {
+    float c = std::cos(angle);
+    float s = std::sin(angle);
+
+    Mat4x4 m = identity();
+    m.at(0, 0) = c;
+    m.at(0, 2) = -s;
+    m.at(2, 0) = s;
+    m.at(2, 2) = c;
+    return m;
+}
+
+Mat4x4 Mat4x4::rotationYZ(float angle) noexcept {
+    float c = std::cos(angle);
+    float s = std::sin(angle);
+
+    Mat4x4 m = identity();
+    m.at(1, 1) = c;
+    m.at(1, 2) = -s;
+    m.at(2, 1) = s;
+    m.at(2, 2) = c;
+    return m;
+}
+
+Mat4x4 Mat4x4::rotationXW(float angle) noexcept {
+    float c = std::cos(angle);
+    float s = std::sin(angle);
+
+    Mat4x4 m = identity();
+    m.at(0, 0) = c;
+    m.at(0, 3) = -s;
+    m.at(3, 0) = s;
+    m.at(3, 3) = c;
+    return m;
+}
+
+Mat4x4 Mat4x4::rotationYW(float angle) noexcept {
+    float c = std::cos(angle);
+    float s = std::sin(angle);
+
+    Mat4x4 m = identity();
+    m.at(1, 1) = c;
+    m.at(1, 3) = -s;
+    m.at(3, 1) = s;
+    m.at(3, 3) = c;
+    return m;
+}
+
+Mat4x4 Mat4x4::rotationZW(float angle) noexcept {
+    float c = std::cos(angle);
+    float s = std::sin(angle);
+
+    Mat4x4 m = identity();
+    m.at(2, 2) = c;
+    m.at(2, 3) = -s;
+    m.at(3, 2) = s;
+    m.at(3, 3) = c;
+    return m;
+}
+
+Mat4x4 Mat4x4::rotationFromAngles(float xy, float xz, float yz,
+                                    float xw, float yw, float zw) noexcept {
+    // Compose rotations: XY * XZ * YZ * XW * YW * ZW
+    Mat4x4 result = identity();
+
+    if (std::abs(xy) > 1e-8f) result *= rotationXY(xy);
+    if (std::abs(xz) > 1e-8f) result *= rotationXZ(xz);
+    if (std::abs(yz) > 1e-8f) result *= rotationYZ(yz);
+    if (std::abs(xw) > 1e-8f) result *= rotationXW(xw);
+    if (std::abs(yw) > 1e-8f) result *= rotationYW(yw);
+    if (std::abs(zw) > 1e-8f) result *= rotationZW(zw);
+
+    return result;
+}
+
+Mat4x4 Mat4x4::rotationFromAngles(const std::array<float, 6>& angles) noexcept {
+    return rotationFromAngles(angles[0], angles[1], angles[2],
+                              angles[3], angles[4], angles[5]);
+}
+
+// Scale matrices
+
+Mat4x4 Mat4x4::scale(float sx, float sy, float sz, float sw) noexcept {
+    Mat4x4 m;
+    m.at(0, 0) = sx;
+    m.at(1, 1) = sy;
+    m.at(2, 2) = sz;
+    m.at(3, 3) = sw;
+    return m;
+}
+
+Mat4x4 Mat4x4::scale(float uniform) noexcept {
+    return scale(uniform, uniform, uniform, uniform);
+}
+
+Mat4x4 Mat4x4::scale(const Vec4& s) noexcept {
+    return scale(s.x, s.y, s.z, s.w);
+}
+
+// Translation (homogeneous coordinates style)
+
+Mat4x4 Mat4x4::translation(float tx, float ty, float tz, float tw) noexcept {
+    Mat4x4 m = identity();
+    m.at(0, 3) = tx;
+    m.at(1, 3) = ty;
+    m.at(2, 3) = tz;
+    m.at(3, 3) = 1.0f + tw;
+    return m;
+}
+
+Mat4x4 Mat4x4::translation(const Vec4& t) noexcept {
+    return translation(t.x, t.y, t.z, t.w);
+}
+
+// Element access
+
+float& Mat4x4::at(size_t row, size_t col) noexcept {
+    return data[col * 4 + row];  // Column-major
+}
+
+const float& Mat4x4::at(size_t row, size_t col) const noexcept {
+    return data[col * 4 + row];
+}
+
+Vec4 Mat4x4::column(size_t col) const noexcept {
+    size_t base = col * 4;
+    return Vec4(data[base], data[base + 1], data[base + 2], data[base + 3]);
+}
+
+void Mat4x4::setColumn(size_t col, const Vec4& v) noexcept {
+    size_t base = col * 4;
+    data[base] = v.x;
+    data[base + 1] = v.y;
+    data[base + 2] = v.z;
+    data[base + 3] = v.w;
+}
+
+Vec4 Mat4x4::row(size_t r) const noexcept {
+    return Vec4(at(r, 0), at(r, 1), at(r, 2), at(r, 3));
+}
+
+void Mat4x4::setRow(size_t r, const Vec4& v) noexcept {
+    at(r, 0) = v.x;
+    at(r, 1) = v.y;
+    at(r, 2) = v.z;
+    at(r, 3) = v.w;
+}
+
+// Matrix operations
+
+Mat4x4 Mat4x4::operator*(const Mat4x4& other) const noexcept {
+    Mat4x4 result;
+
+    for (size_t col = 0; col < 4; ++col) {
+        Vec4 c = other.column(col);
+        result.setColumn(col, *this * c);
+    }
+
+    return result;
+}
+
+Mat4x4& Mat4x4::operator*=(const Mat4x4& other) noexcept {
+    *this = *this * other;
+    return *this;
+}
+
+Vec4 Mat4x4::operator*(const Vec4& v) const noexcept {
+    return Vec4(
+        at(0, 0) * v.x + at(0, 1) * v.y + at(0, 2) * v.z + at(0, 3) * v.w,
+        at(1, 0) * v.x + at(1, 1) * v.y + at(1, 2) * v.z + at(1, 3) * v.w,
+        at(2, 0) * v.x + at(2, 1) * v.y + at(2, 2) * v.z + at(2, 3) * v.w,
+        at(3, 0) * v.x + at(3, 1) * v.y + at(3, 2) * v.z + at(3, 3) * v.w
+    );
+}
+
+Vec4 Mat4x4::multiplyVec4(const Vec4& v) const noexcept {
+    return *this * v;
+}
+
+Mat4x4 Mat4x4::operator*(float scalar) const noexcept {
+    Mat4x4 result;
+    for (size_t i = 0; i < 16; ++i) {
+        result.data[i] = data[i] * scalar;
+    }
+    return result;
+}
+
+Mat4x4& Mat4x4::operator*=(float scalar) noexcept {
+    for (float& elem : data) {
+        elem *= scalar;
+    }
+    return *this;
+}
+
+Mat4x4 Mat4x4::operator+(const Mat4x4& other) const noexcept {
+    Mat4x4 result;
+    for (size_t i = 0; i < 16; ++i) {
+        result.data[i] = data[i] + other.data[i];
+    }
+    return result;
+}
+
+Mat4x4& Mat4x4::operator+=(const Mat4x4& other) noexcept {
+    for (size_t i = 0; i < 16; ++i) {
+        data[i] += other.data[i];
+    }
+    return *this;
+}
+
+Mat4x4 Mat4x4::operator-(const Mat4x4& other) const noexcept {
+    Mat4x4 result;
+    for (size_t i = 0; i < 16; ++i) {
+        result.data[i] = data[i] - other.data[i];
+    }
+    return result;
+}
+
+Mat4x4& Mat4x4::operator-=(const Mat4x4& other) noexcept {
+    for (size_t i = 0; i < 16; ++i) {
+        data[i] -= other.data[i];
+    }
+    return *this;
+}
+
+Mat4x4 Mat4x4::transposed() const noexcept {
+    Mat4x4 result;
+    for (size_t r = 0; r < 4; ++r) {
+        for (size_t c = 0; c < 4; ++c) {
+            result.at(c, r) = at(r, c);
+        }
+    }
+    return result;
+}
+
+void Mat4x4::transpose() noexcept {
+    std::swap(at(0, 1), at(1, 0));
+    std::swap(at(0, 2), at(2, 0));
+    std::swap(at(0, 3), at(3, 0));
+    std::swap(at(1, 2), at(2, 1));
+    std::swap(at(1, 3), at(3, 1));
+    std::swap(at(2, 3), at(3, 2));
+}
+
+// Determinant using cofactor expansion
+
+float Mat4x4::determinant() const noexcept {
+    float a00 = at(0, 0), a01 = at(0, 1), a02 = at(0, 2), a03 = at(0, 3);
+    float a10 = at(1, 0), a11 = at(1, 1), a12 = at(1, 2), a13 = at(1, 3);
+    float a20 = at(2, 0), a21 = at(2, 1), a22 = at(2, 2), a23 = at(2, 3);
+    float a30 = at(3, 0), a31 = at(3, 1), a32 = at(3, 2), a33 = at(3, 3);
+
+    float b00 = a00 * a11 - a01 * a10;
+    float b01 = a00 * a12 - a02 * a10;
+    float b02 = a00 * a13 - a03 * a10;
+    float b03 = a01 * a12 - a02 * a11;
+    float b04 = a01 * a13 - a03 * a11;
+    float b05 = a02 * a13 - a03 * a12;
+    float b06 = a20 * a31 - a21 * a30;
+    float b07 = a20 * a32 - a22 * a30;
+    float b08 = a20 * a33 - a23 * a30;
+    float b09 = a21 * a32 - a22 * a31;
+    float b10 = a21 * a33 - a23 * a31;
+    float b11 = a22 * a33 - a23 * a32;
+
+    return b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
+}
+
+// Inverse using adjugate method
+
+Mat4x4 Mat4x4::inverse() const noexcept {
+    float a00 = at(0, 0), a01 = at(0, 1), a02 = at(0, 2), a03 = at(0, 3);
+    float a10 = at(1, 0), a11 = at(1, 1), a12 = at(1, 2), a13 = at(1, 3);
+    float a20 = at(2, 0), a21 = at(2, 1), a22 = at(2, 2), a23 = at(2, 3);
+    float a30 = at(3, 0), a31 = at(3, 1), a32 = at(3, 2), a33 = at(3, 3);
+
+    float b00 = a00 * a11 - a01 * a10;
+    float b01 = a00 * a12 - a02 * a10;
+    float b02 = a00 * a13 - a03 * a10;
+    float b03 = a01 * a12 - a02 * a11;
+    float b04 = a01 * a13 - a03 * a11;
+    float b05 = a02 * a13 - a03 * a12;
+    float b06 = a20 * a31 - a21 * a30;
+    float b07 = a20 * a32 - a22 * a30;
+    float b08 = a20 * a33 - a23 * a30;
+    float b09 = a21 * a32 - a22 * a31;
+    float b10 = a21 * a33 - a23 * a31;
+    float b11 = a22 * a33 - a23 * a32;
+
+    float det = b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06;
+
+    if (std::abs(det) < 1e-10f) {
+        return identity();  // Singular matrix
+    }
+
+    float invDet = 1.0f / det;
+
+    Mat4x4 result;
+    result.at(0, 0) = (a11 * b11 - a12 * b10 + a13 * b09) * invDet;
+    result.at(0, 1) = (-a01 * b11 + a02 * b10 - a03 * b09) * invDet;
+    result.at(0, 2) = (a31 * b05 - a32 * b04 + a33 * b03) * invDet;
+    result.at(0, 3) = (-a21 * b05 + a22 * b04 - a23 * b03) * invDet;
+    result.at(1, 0) = (-a10 * b11 + a12 * b08 - a13 * b07) * invDet;
+    result.at(1, 1) = (a00 * b11 - a02 * b08 + a03 * b07) * invDet;
+    result.at(1, 2) = (-a30 * b05 + a32 * b02 - a33 * b01) * invDet;
+    result.at(1, 3) = (a20 * b05 - a22 * b02 + a23 * b01) * invDet;
+    result.at(2, 0) = (a10 * b10 - a11 * b08 + a13 * b06) * invDet;
+    result.at(2, 1) = (-a00 * b10 + a01 * b08 - a03 * b06) * invDet;
+    result.at(2, 2) = (a30 * b04 - a31 * b02 + a33 * b00) * invDet;
+    result.at(2, 3) = (-a20 * b04 + a21 * b02 - a23 * b00) * invDet;
+    result.at(3, 0) = (-a10 * b09 + a11 * b07 - a12 * b06) * invDet;
+    result.at(3, 1) = (a00 * b09 - a01 * b07 + a02 * b06) * invDet;
+    result.at(3, 2) = (-a30 * b03 + a31 * b01 - a32 * b00) * invDet;
+    result.at(3, 3) = (a20 * b03 - a21 * b01 + a22 * b00) * invDet;
+
+    return result;
+}
+
+bool Mat4x4::isOrthogonal(float epsilon) const noexcept {
+    // Check if M * M^T = I
+    Mat4x4 product = *this * transposed();
+
+    for (size_t i = 0; i < 4; ++i) {
+        for (size_t j = 0; j < 4; ++j) {
+            float expected = (i == j) ? 1.0f : 0.0f;
+            if (std::abs(product.at(i, j) - expected) > epsilon) {
+                return false;
+            }
+        }
+    }
+    return true;
+}
+
+bool Mat4x4::isIdentity(float epsilon) const noexcept {
+    for (size_t i = 0; i < 4; ++i) {
+        for (size_t j = 0; j < 4; ++j) {
+            float expected = (i == j) ? 1.0f : 0.0f;
+            if (std::abs(at(i, j) - expected) > epsilon) {
+                return false;
+            }
+        }
+    }
+    return true;
+}
+
+bool Mat4x4::operator==(const Mat4x4& other) const noexcept {
+    return data == other.data;
+}
+
+bool Mat4x4::operator!=(const Mat4x4& other) const noexcept {
+    return !(*this == other);
+}
+
+} // namespace vib3