initial commit, 4.5 stable

thirdparty/jolt_physics/Jolt/Math/Vec4.h

@@ -0,0 +1,286 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#pragma once
+
+#include <Jolt/Math/Float4.h>
+#include <Jolt/Math/Swizzle.h>
+#include <Jolt/Math/MathTypes.h>
+
+JPH_NAMESPACE_BEGIN
+
+class [[nodiscard]] alignas(JPH_VECTOR_ALIGNMENT) Vec4
+{
+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 = struct { float mData[4]; };
+#endif
+
+	/// Constructor
+								Vec4() = default; ///< Intentionally not initialized for performance reasons
+								Vec4(const Vec4 &inRHS) = default;
+	Vec4 &						operator = (const Vec4 &inRHS) = default;
+	explicit JPH_INLINE			Vec4(Vec3Arg inRHS);							///< WARNING: W component undefined!
+	JPH_INLINE					Vec4(Vec3Arg inRHS, float inW);
+	JPH_INLINE					Vec4(Type inRHS) : mValue(inRHS)				{ }
+
+	/// Create a vector from 4 components
+	JPH_INLINE					Vec4(float inX, float inY, float inZ, float inW);
+
+	/// Vector with all zeros
+	static JPH_INLINE Vec4		sZero();
+
+	/// Vector with all ones
+	static JPH_INLINE Vec4		sOne();
+
+	/// Vector with all NaN's
+	static JPH_INLINE Vec4		sNaN();
+
+	/// Replicate inV across all components
+	static JPH_INLINE Vec4		sReplicate(float inV);
+
+	/// Load 4 floats from memory
+	static JPH_INLINE Vec4		sLoadFloat4(const Float4 *inV);
+
+	/// Load 4 floats from memory, 16 bytes aligned
+	static JPH_INLINE Vec4		sLoadFloat4Aligned(const Float4 *inV);
+
+	/// Gather 4 floats from memory at inBase + inOffsets[i] * Scale
+	template <const int Scale>
+	static JPH_INLINE Vec4		sGatherFloat4(const float *inBase, UVec4Arg inOffsets);
+
+	/// Return the minimum value of each of the components
+	static JPH_INLINE Vec4		sMin(Vec4Arg inV1, Vec4Arg inV2);
+
+	/// Return the maximum of each of the components
+	static JPH_INLINE Vec4		sMax(Vec4Arg inV1, Vec4Arg inV2);
+
+	/// Equals (component wise)
+	static JPH_INLINE UVec4		sEquals(Vec4Arg inV1, Vec4Arg inV2);
+
+	/// Less than (component wise)
+	static JPH_INLINE UVec4		sLess(Vec4Arg inV1, Vec4Arg inV2);
+
+	/// Less than or equal (component wise)
+	static JPH_INLINE UVec4		sLessOrEqual(Vec4Arg inV1, Vec4Arg inV2);
+
+	/// Greater than (component wise)
+	static JPH_INLINE UVec4		sGreater(Vec4Arg inV1, Vec4Arg inV2);
+
+	/// Greater than or equal (component wise)
+	static JPH_INLINE UVec4		sGreaterOrEqual(Vec4Arg inV1, Vec4Arg inV2);
+
+	/// Calculates inMul1 * inMul2 + inAdd
+	static JPH_INLINE Vec4		sFusedMultiplyAdd(Vec4Arg inMul1, Vec4Arg inMul2, Vec4Arg inAdd);
+
+	/// Component wise select, returns inNotSet when highest bit of inControl = 0 and inSet when highest bit of inControl = 1
+	static JPH_INLINE Vec4		sSelect(Vec4Arg inNotSet, Vec4Arg inSet, UVec4Arg inControl);
+
+	/// Logical or (component wise)
+	static JPH_INLINE Vec4		sOr(Vec4Arg inV1, Vec4Arg inV2);
+
+	/// Logical xor (component wise)
+	static JPH_INLINE Vec4		sXor(Vec4Arg inV1, Vec4Arg inV2);
+
+	/// Logical and (component wise)
+	static JPH_INLINE Vec4		sAnd(Vec4Arg inV1, Vec4Arg inV2);
+
+	/// Sort the four elements of ioValue and sort ioIndex at the same time.
+	/// Based on a sorting network: http://en.wikipedia.org/wiki/Sorting_network
+	static JPH_INLINE void		sSort4(Vec4 &ioValue, UVec4 &ioIndex);
+
+	/// Reverse sort the four elements of ioValue (highest first) and sort ioIndex at the same time.
+	/// Based on a sorting network: http://en.wikipedia.org/wiki/Sorting_network
+	static JPH_INLINE void		sSort4Reverse(Vec4 &ioValue, UVec4 &ioIndex);
+
+	/// 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]; }
+	JPH_INLINE float			GetW() const									{ return mF32[3]; }
+#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); }
+	JPH_INLINE float			GetW() const									{ return vgetq_lane_f32(mValue, 3); }
+#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]; }
+	JPH_INLINE float			GetW() const									{ return mF32[3]; }
+#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] = inZ; }
+	JPH_INLINE void				SetW(float inW)									{ mF32[3] = inW; }
+
+	/// Set all components
+	JPH_INLINE void				Set(float inX, float inY, float inZ, float inW)	{ *this = Vec4(inX, inY, inZ, inW); }
+
+	/// Get float component by index
+	JPH_INLINE float			operator [] (uint inCoordinate) const			{ JPH_ASSERT(inCoordinate < 4); return mF32[inCoordinate]; }
+	JPH_INLINE float &			operator [] (uint inCoordinate)					{ JPH_ASSERT(inCoordinate < 4); return mF32[inCoordinate]; }
+
+	/// Comparison
+	JPH_INLINE bool				operator == (Vec4Arg inV2) const;
+	JPH_INLINE bool				operator != (Vec4Arg inV2) const			{ return !(*this == inV2); }
+
+	/// Test if two vectors are close
+	JPH_INLINE bool				IsClose(Vec4Arg inV2, 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 Vec4				operator * (Vec4Arg inV2) const;
+
+	/// Multiply vector with float
+	JPH_INLINE Vec4				operator * (float inV2) const;
+
+	/// Multiply vector with float
+	friend JPH_INLINE Vec4		operator * (float inV1, Vec4Arg inV2);
+
+	/// Divide vector by float
+	JPH_INLINE Vec4				operator / (float inV2) const;
+
+	/// Multiply vector with float
+	JPH_INLINE Vec4 &			operator *= (float inV2);
+
+	/// Multiply vector with vector
+	JPH_INLINE Vec4 &			operator *= (Vec4Arg inV2);
+
+	/// Divide vector by float
+	JPH_INLINE Vec4 &			operator /= (float inV2);
+
+	/// Add two float vectors (component wise)
+	JPH_INLINE Vec4				operator + (Vec4Arg inV2) const;
+
+	/// Add two float vectors (component wise)
+	JPH_INLINE Vec4 &			operator += (Vec4Arg inV2);
+
+	/// Negate
+	JPH_INLINE Vec4				operator - () const;
+
+	/// Subtract two float vectors (component wise)
+	JPH_INLINE Vec4				operator - (Vec4Arg inV2) const;
+
+	/// Subtract two float vectors (component wise)
+	JPH_INLINE Vec4 &			operator -= (Vec4Arg inV2);
+
+	/// Divide (component wise)
+	JPH_INLINE Vec4				operator / (Vec4Arg inV2) const;
+
+	/// Swizzle the elements in inV
+	template<uint32 SwizzleX, uint32 SwizzleY, uint32 SwizzleZ, uint32 SwizzleW>
+	JPH_INLINE Vec4				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;
+
+	/// Replicate the W component to all components
+	JPH_INLINE Vec4				SplatW() const;
+
+	/// Return the absolute value of each of the components
+	JPH_INLINE Vec4				Abs() const;
+
+	/// Reciprocal vector (1 / value) for each of the components
+	JPH_INLINE Vec4				Reciprocal() const;
+
+	/// Dot product, returns the dot product in X, Y and Z components
+	JPH_INLINE Vec4				DotV(Vec4Arg inV2) const;
+
+	/// Dot product
+	JPH_INLINE float			Dot(Vec4Arg inV2) const;
+
+	/// Squared length of vector
+	JPH_INLINE float			LengthSq() const;
+
+	/// Length of vector
+	JPH_INLINE float			Length() const;
+
+	/// Normalize vector
+	JPH_INLINE Vec4				Normalized() const;
+
+	/// Store 4 floats to memory
+	JPH_INLINE void				StoreFloat4(Float4 *outV) const;
+
+	/// Convert each component from a float to an int
+	JPH_INLINE UVec4			ToInt() const;
+
+	/// Reinterpret Vec4 as a UVec4 (doesn't change the bits)
+	JPH_INLINE UVec4			ReinterpretAsInt() const;
+
+	/// Store if X is negative in bit 0, Y in bit 1, Z in bit 2 and W in bit 3
+	JPH_INLINE int				GetSignBits() const;
+
+	/// Get the minimum of X, Y, Z and W
+	JPH_INLINE float			ReduceMin() const;
+
+	/// Get the maximum of X, Y, Z and W
+	JPH_INLINE float			ReduceMax() const;
+
+	/// Component wise square root
+	JPH_INLINE Vec4				Sqrt() const;
+
+	/// Get vector that contains the sign of each element (returns 1.0f if positive, -1.0f if negative)
+	JPH_INLINE Vec4				GetSign() const;
+
+	/// Calculate the sine and cosine for each element of this vector (input in radians)
+	inline void					SinCos(Vec4 &outSin, Vec4 &outCos) const;
+
+	/// Calculate the tangent for each element of this vector (input in radians)
+	inline Vec4					Tan() const;
+
+	/// Calculate the arc sine for each element of this vector (returns value in the range [-PI / 2, PI / 2])
+	/// Note that all input values will be clamped to the range [-1, 1] and this function will not return NaNs like std::asin
+	inline Vec4					ASin() const;
+
+	/// Calculate the arc cosine for each element of this vector (returns value in the range [0, PI])
+	/// Note that all input values will be clamped to the range [-1, 1] and this function will not return NaNs like std::acos
+	inline Vec4					ACos() const;
+
+	/// Calculate the arc tangent for each element of this vector (returns value in the range [-PI / 2, PI / 2])
+	inline Vec4					ATan() const;
+
+	/// Calculate the arc tangent of y / x using the signs of the arguments to determine the correct quadrant (returns value in the range [-PI, PI])
+	inline static Vec4			sATan2(Vec4Arg inY, Vec4Arg inX);
+
+	/// To String
+	friend ostream &			operator << (ostream &inStream, Vec4Arg inV)
+	{
+		inStream << inV.mF32[0] << ", " << inV.mF32[1] << ", " << inV.mF32[2] << ", " << inV.mF32[3];
+		return inStream;
+	}
+
+	union
+	{
+		Type					mValue;
+		float					mF32[4];
+	};
+};
+
+static_assert(std::is_trivial<Vec4>(), "Is supposed to be a trivial type!");
+
+JPH_NAMESPACE_END
+
+#include "Vec4.inl"