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-rw-r--r--src/math/vector.hpp236
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diff --git a/src/math/vector.hpp b/src/math/vector.hpp
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+++ b/src/math/vector.hpp
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+#ifndef MATH_VECTOR_H
+#define MATH_VECTOR_H
+
+#include <cmath>
+#include "math/quat.hpp"
+
+namespace engine::math {
+
+struct Vector2 {
+ float x, y;
+
+ constexpr bool operator==(const Vector2& other) const & {
+ return x == other.x && y == other.y;
+ }
+
+ constexpr bool operator!=(const Vector2& other) const & {
+ return !(*this == other);
+ }
+
+ constexpr Vector2 operator+() const & {
+ return *this;
+ }
+
+ constexpr Vector2 operator-() const & {
+ return { -x, -y };
+ }
+
+ constexpr Vector2 operator+(const Vector2& other) const & {
+ return { x + other.x, y + other.y };
+ }
+
+ constexpr Vector2 operator-(const Vector2& other) const & {
+ return *this + (-other);
+ }
+
+ constexpr Vector2 operator+=(const Vector2& other) & {
+ x += other.x;
+ y += other.y;
+ return *this;
+ }
+
+ constexpr float det(const Vector2& other) const & {
+ return this->x * other.y - other.x * this->y;
+ }
+
+ constexpr Vector2 round() const & {
+ return { std::round(x), std::round(y) };
+ }
+
+ constexpr Vector2 mul_term(const Vector2& other) const & {
+ return { x * other.x, y * other.y };
+ }
+};
+
+constexpr Vector2 operator*(float n, const Vector2& other) {
+ return { n * other.x, n * other.y };
+}
+
+constexpr Vector2 operator*(const Vector2& other, float n) {
+ return n * other;
+}
+
+constexpr Vector2 operator/(const Vector2& other, float n) {
+ return { other.x / n, other.y / n };
+}
+
+constexpr Vector2 operator+(const Vector2& other, float n) {
+ return { other.x + n, other.y + n };
+}
+
+constexpr Vector2 operator-(const Vector2& other, float n) {
+ return { other.x - n, other.y - n };
+}
+
+struct Vector3;
+constexpr Vector3 operator*(float n, const Vector3& other);
+constexpr Vector3 operator/(const Vector3& other, float n);
+
+struct Vector3 {
+ static constexpr Vector3 bilerp(const Vector3& v1, const Vector3& v2, const Vector3& v3, float b0, float b1) {
+ return b0 * v1 + b1 * v2 + (1.f - b0 - b1) * v3;
+ }
+
+ float x, y, z;
+
+ constexpr bool operator==(const Vector3& other) const & {
+ return x == other.x && y == other.y && z == other.z;
+ }
+
+ constexpr bool operator!=(const Vector3& other) const & {
+ return !(*this == other);
+ }
+
+ constexpr Vector3 operator+() const & {
+ return *this;
+ }
+
+ constexpr Vector3 operator-() const & {
+ return { -x, -y, -z };
+ }
+
+ constexpr Vector3 operator+(const Vector3& other) const & {
+ return { x + other.x, y + other.y, z + other.z };
+ }
+
+ constexpr Vector3 operator-(const Vector3& other) const & {
+ return *this + (-other);
+ }
+
+ constexpr Vector3 operator+=(const Vector3& other) & {
+ x += other.x;
+ y += other.y;
+ z += other.z;
+ return *this;
+ }
+
+ constexpr Vector3 round() {
+ return { std::round(x), std::round(y), std::round(z) };
+ }
+
+ constexpr Vector3 cross(const Vector3& other) const & {
+ return {
+ y * other.z - z * other.y,
+ z * other.x - x * other.z,
+ x * other.y - y * other.x
+ };
+ }
+
+ constexpr Vector3 rot(const Quaternion& q) const & {
+ return {
+ (2.f * (q.w * q.w + q.x * q.x) - 1.f) * x + (2.f * (q.x * q.y - q.w * q.z) ) * y + (2.f * (q.x * q.z + q.w * q.y) ) * z,
+ (2.f * (q.x * q.y + q.w * q.z) ) * x + (2.f * (q.w * q.w + q.y * q.y) - 1.f) * y + (2.f * (q.y * q.z - q.w * q.x) ) * z,
+ (2.f * (q.x * q.z - q.w * q.y) ) * x + (2.f * (q.y * q.z + q.w * q.x) ) * y + (2.f * (q.w * q.w + q.z * q.z) - 1.f) * z,
+ };
+ }
+
+ constexpr float dot(const Vector3& other) const & {
+ return x * other.x + y * other.y + z * other.z;
+ }
+
+ constexpr float length_squared() const & {
+ return dot(*this);
+ }
+
+ constexpr float length() const & {
+ return std::sqrt(length_squared());
+ }
+
+ constexpr Vector3 normalize() const & {
+ return *this / length();
+ }
+};
+
+constexpr Vector3 operator*(float n, const Vector3& other) {
+ return { n * other.x, n * other.y, n * other.z };
+}
+
+constexpr Vector3 operator*(const Vector3& other, float n) {
+ return n * other;
+}
+
+constexpr Vector3 operator/(float n, const Vector3& other) {
+ return { n / other.x, n / other.y, n / other.z };
+}
+
+constexpr Vector3 operator/(const Vector3& other, float n) {
+ return { other.x / n, other.y / n, other.z / n };
+}
+
+struct Vector4 {
+ float x, y, z, w;
+
+ constexpr Vector4() {}
+ constexpr Vector4(float x, float y, float z, float w) : x{x}, y{y}, z{z}, w{w} {}
+ constexpr Vector4(float x, float y, float z) : x{x}, y{y}, z{z}, w{1.f} {}
+ constexpr Vector4(const Vector2& v, float z, float w) : x{v.x}, y{v.y}, z{z}, w{w} {}
+ constexpr Vector4(const Vector2& v, float z) : x{v.x}, y{v.y}, z{z}, w{1.f} {}
+ constexpr Vector4(const Vector3& v, float w) : x{v.x}, y{v.y}, z{v.z}, w{w} {}
+ constexpr Vector4(const Vector3& v) : x{v.x}, y{v.y}, z{v.z}, w{1.f} {}
+
+ constexpr bool operator==(const Vector4& other) const & {
+ return x == other.x && y == other.y && z == other.z && w == other.w;
+ }
+
+ constexpr bool operator!=(const Vector4& other) const & {
+ return !(*this == other);
+ }
+
+ constexpr Vector4 operator+() const & {
+ return *this;
+ }
+
+ constexpr Vector4 operator-() const & {
+ return { -x, -y, -z, -w };
+ }
+
+ constexpr Vector4 operator+(const Vector4& other) const & {
+ return { x + other.x, y + other.y, z + other.z, w + other.w };
+ }
+
+ constexpr Vector4 operator-(const Vector4& other) const & {
+ return *this + (-other);
+ }
+
+ constexpr Vector4 round() const & {
+ return { std::round(x), std::round(y), std::round(z), std::round(w) };
+ }
+
+ constexpr Vector2 xy() const & {
+ return { x, y };
+ }
+
+ constexpr Vector3 xyz() const & {
+ return { x, y, z };
+ }
+
+ constexpr Vector4 div_by_w() const & {
+ return {x / w, y / w, z / w, w};
+ }
+};
+
+constexpr Vector4 operator*(float n, const Vector4& other) {
+ return { n * other.x, n * other.y, n * other.z, n * other.w };
+}
+
+constexpr Vector4 operator*(const Vector4& other, float n) {
+ return n * other;
+}
+
+constexpr Vector4 operator/(const Vector4& other, float n) {
+ return { other.x / n, other.y / n, other.z / n, other.w / n };
+}
+
+}
+
+#endif // MATH_VECTOR_H
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