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