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Add @(require_results) core:math/linalg procedures

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gingerBill
2023-05-22 12:05:56 +01:00
parent 89a233ccd2
commit 74ce99e0d7
7 changed files with 638 additions and 24 deletions
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core/math/linalg/general.odin
+56 -18
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@@ -38,22 +38,27 @@ DEG_PER_RAD :: 360.0/TAU
@private ELEM_TYPE :: intrinsics.type_elem_type
@(require_results)
scalar_dot :: proc(a, b: $T) -> T where IS_FLOAT(T), !IS_ARRAY(T) {
return a * b
}
@(require_results)
vector_dot :: proc(a, b: $T/[$N]$E) -> (c: E) where IS_NUMERIC(E) #no_bounds_check {
for i in 0..<N {
c += a[i] * b[i]
}
return
}
@(require_results)
quaternion64_dot :: proc(a, b: $T/quaternion64) -> (c: f16) {
return a.w*a.w + a.x*b.x + a.y*b.y + a.z*b.z
}
@(require_results)
quaternion128_dot :: proc(a, b: $T/quaternion128) -> (c: f32) {
return a.w*a.w + a.x*b.x + a.y*b.y + a.z*b.z
}
@(require_results)
quaternion256_dot :: proc(a, b: $T/quaternion256) -> (c: f64) {
return a.w*a.w + a.x*b.x + a.y*b.y + a.z*b.z
}
@@ -63,19 +68,23 @@ dot :: proc{scalar_dot, vector_dot, quaternion64_dot, quaternion128_dot, quatern
inner_product :: dot
outer_product :: builtin.outer_product
@(require_results)
quaternion_inverse :: proc(q: $Q) -> Q where IS_QUATERNION(Q) {
return conj(q) * quaternion(1.0/dot(q, q), 0, 0, 0)
}
@(require_results)
scalar_cross :: proc(a, b: $T) -> T where IS_FLOAT(T), !IS_ARRAY(T) {
return a * b
}
@(require_results)
vector_cross2 :: proc(a, b: $T/[2]$E) -> E where IS_NUMERIC(E) {
return a[0]*b[1] - b[0]*a[1]
}
@(require_results)
vector_cross3 :: proc(a, b: $T/[3]$E) -> (c: T) where IS_NUMERIC(E) {
c[0] = a[1]*b[2] - b[1]*a[2]
c[1] = a[2]*b[0] - b[2]*a[0]
@@ -83,6 +92,7 @@ vector_cross3 :: proc(a, b: $T/[3]$E) -> (c: T) where IS_NUMERIC(E) {
return
}
@(require_results)
quaternion_cross :: proc(q1, q2: $Q) -> (q3: Q) where IS_QUATERNION(Q) {
q3.x = q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y
q3.y = q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z
@@ -94,18 +104,22 @@ quaternion_cross :: proc(q1, q2: $Q) -> (q3: Q) where IS_QUATERNION(Q) {
vector_cross :: proc{scalar_cross, vector_cross2, vector_cross3}
cross :: proc{scalar_cross, vector_cross2, vector_cross3, quaternion_cross}
@(require_results)
vector_normalize :: proc(v: $T/[$N]$E) -> T where IS_FLOAT(E) {
return v / length(v)
}
@(require_results)
quaternion_normalize :: proc(q: $Q) -> Q where IS_QUATERNION(Q) {
return q/abs(q)
}
normalize :: proc{vector_normalize, quaternion_normalize}
@(require_results)
vector_normalize0 :: proc(v: $T/[$N]$E) -> T where IS_FLOAT(E) {
m := length(v)
return 0 if m == 0 else v/m
}
@(require_results)
quaternion_normalize0 :: proc(q: $Q) -> Q where IS_QUATERNION(Q) {
m := abs(q)
return 0 if m == 0 else q/m
@@ -113,22 +127,27 @@ quaternion_normalize0 :: proc(q: $Q) -> Q where IS_QUATERNION(Q) {
normalize0 :: proc{vector_normalize0, quaternion_normalize0}
@(require_results)
vector_length :: proc(v: $T/[$N]$E) -> E where IS_FLOAT(E) {
return math.sqrt(dot(v, v))
}
@(require_results)
vector_length2 :: proc(v: $T/[$N]$E) -> E where IS_NUMERIC(E) {
return dot(v, v)
}
@(require_results)
quaternion_length :: proc(q: $Q) -> Q where IS_QUATERNION(Q) {
return abs(q)
}
@(require_results)
quaternion_length2 :: proc(q: $Q) -> Q where IS_QUATERNION(Q) {
return dot(q, q)
}
@(require_results)
scalar_triple_product :: proc(a, b, c: $T/[$N]$E) -> E where IS_NUMERIC(E) {
// a . (b x c)
// b . (c x a)
@@ -136,6 +155,7 @@ scalar_triple_product :: proc(a, b, c: $T/[$N]$E) -> E where IS_NUMERIC(E) {
return dot(a, cross(b, c))
}
@(require_results)
vector_triple_product :: proc(a, b, c: $T/[$N]$E) -> T where IS_NUMERIC(E) {
// a x (b x c)
// (a . c)b - (a . b)c
@@ -146,10 +166,12 @@ vector_triple_product :: proc(a, b, c: $T/[$N]$E) -> T where IS_NUMERIC(E) {
length :: proc{vector_length, quaternion_length}
length2 :: proc{vector_length2, quaternion_length2}
@(require_results)
projection :: proc(x, normal: $T/[$N]$E) -> T where IS_NUMERIC(E) {
return dot(x, normal) / dot(normal, normal) * normal
}
@(require_results)
identity :: proc($T: typeid/[$N][N]$E) -> (m: T) #no_bounds_check {
for i in 0..<N {
m[i][i] = E(1)
@@ -160,31 +182,37 @@ identity :: proc($T: typeid/[$N][N]$E) -> (m: T) #no_bounds_check {
trace :: builtin.matrix_trace
transpose :: builtin.transpose
@(require_results)
matrix_mul :: proc(a, b: $M/matrix[$N, N]$E) -> (c: M)
where !IS_ARRAY(E), IS_NUMERIC(E) #no_bounds_check {
return a * b
}
@(require_results)
matrix_comp_mul :: proc(a, b: $M/matrix[$I, $J]$E) -> (c: M)
where !IS_ARRAY(E), IS_NUMERIC(E) #no_bounds_check {
return hadamard_product(a, b)
}
@(require_results)
matrix_mul_differ :: proc(a: $A/matrix[$I, $J]$E, b: $B/matrix[J, $K]E) -> (c: matrix[I, K]E)
where !IS_ARRAY(E), IS_NUMERIC(E), I != K #no_bounds_check {
return a * b
}
@(require_results)
matrix_mul_vector :: proc(a: $A/matrix[$I, $J]$E, b: $B/[J]E) -> (c: B)
where !IS_ARRAY(E), IS_NUMERIC(E) #no_bounds_check {
return a * b
}
@(require_results)
quaternion_mul_quaternion :: proc(q1, q2: $Q) -> Q where IS_QUATERNION(Q) {
return q1 * q2
}
@(require_results)
quaternion64_mul_vector3 :: proc(q: $Q/quaternion64, v: $V/[3]$F/f16) -> V {
Raw_Quaternion :: struct {xyz: [3]f16, r: f16}
@@ -194,6 +222,7 @@ quaternion64_mul_vector3 :: proc(q: $Q/quaternion64, v: $V/[3]$F/f16) -> V {
t := cross(2*q.xyz, v)
return V(v + q.r*t + cross(q.xyz, t))
}
@(require_results)
quaternion128_mul_vector3 :: proc(q: $Q/quaternion128, v: $V/[3]$F/f32) -> V {
Raw_Quaternion :: struct {xyz: [3]f32, r: f32}
@@ -203,6 +232,7 @@ quaternion128_mul_vector3 :: proc(q: $Q/quaternion128, v: $V/[3]$F/f32) -> V {
t := cross(2*q.xyz, v)
return V(v + q.r*t + cross(q.xyz, t))
}
@(require_results)
quaternion256_mul_vector3 :: proc(q: $Q/quaternion256, v: $V/[3]$F/f64) -> V {
Raw_Quaternion :: struct {xyz: [3]f64, r: f64}
@@ -224,9 +254,11 @@ mul :: proc{
quaternion_mul_quaternion,
}
@(require_results)
vector_to_ptr :: proc(v: ^$V/[$N]$E) -> ^E where IS_NUMERIC(E), N > 0 #no_bounds_check {
return &v[0]
}
@(require_results)
matrix_to_ptr :: proc(m: ^$A/matrix[$I, $J]$E) -> ^E where IS_NUMERIC(E), I > 0, J > 0 #no_bounds_check {
return &m[0, 0]
}
@@ -239,6 +271,7 @@ to_ptr :: proc{vector_to_ptr, matrix_to_ptr}
// Splines
@(require_results)
vector_slerp :: proc(x, y: $T/[$N]$E, a: E) -> T {
cos_alpha := dot(x, y)
alpha := math.acos(cos_alpha)
@@ -250,6 +283,7 @@ vector_slerp :: proc(x, y: $T/[$N]$E, a: E) -> T {
return x * t1 + y * t2
}
@(require_results)
catmull_rom :: proc(v1, v2, v3, v4: $T/[$N]$E, s: E) -> T {
s2 := s*s
s3 := s2*s
@@ -262,6 +296,7 @@ catmull_rom :: proc(v1, v2, v3, v4: $T/[$N]$E, s: E) -> T {
return (f1 * v1 + f2 * v2 + f3 * v3 + f4 * v4) * 0.5
}
@(require_results)
hermite :: proc(v1, t1, v2, t2: $T/[$N]$E, s: E) -> T {
s2 := s*s
s3 := s2*s
@@ -274,12 +309,14 @@ hermite :: proc(v1, t1, v2, t2: $T/[$N]$E, s: E) -> T {
return f1 * v1 + f2 * v2 + f3 * t1 + f4 * t2
}
@(require_results)
cubic :: proc(v1, v2, v3, v4: $T/[$N]$E, s: E) -> T {
return ((v1 * s + v2) * s + v3) * s + v4
}
@(require_results)
array_cast :: proc(v: $A/[$N]$T, $Elem_Type: typeid) -> (w: [N]Elem_Type) #no_bounds_check {
for i in 0..<N {
w[i] = Elem_Type(v[i])
@@ -287,6 +324,7 @@ array_cast :: proc(v: $A/[$N]$T, $Elem_Type: typeid) -> (w: [N]Elem_Type) #no_bo
return
}
@(require_results)
matrix_cast :: proc(v: $A/matrix[$M, $N]$T, $Elem_Type: typeid) -> (w: matrix[M, N]Elem_Type) #no_bounds_check {
for j in 0..<N {
for i in 0..<M {
@@ -296,24 +334,24 @@ matrix_cast :: proc(v: $A/matrix[$M, $N]$T, $Elem_Type: typeid) -> (w: matrix[M,
return
}
to_f32 :: #force_inline proc(v: $A/[$N]$T) -> [N]f32 { return array_cast(v, f32) }
to_f64 :: #force_inline proc(v: $A/[$N]$T) -> [N]f64 { return array_cast(v, f64) }
@(require_results) to_f32 :: #force_inline proc(v: $A/[$N]$T) -> [N]f32 { return array_cast(v, f32) }
@(require_results) to_f64 :: #force_inline proc(v: $A/[$N]$T) -> [N]f64 { return array_cast(v, f64) }
to_i8 :: #force_inline proc(v: $A/[$N]$T) -> [N]i8 { return array_cast(v, i8) }
to_i16 :: #force_inline proc(v: $A/[$N]$T) -> [N]i16 { return array_cast(v, i16) }
to_i32 :: #force_inline proc(v: $A/[$N]$T) -> [N]i32 { return array_cast(v, i32) }
to_i64 :: #force_inline proc(v: $A/[$N]$T) -> [N]i64 { return array_cast(v, i64) }
to_int :: #force_inline proc(v: $A/[$N]$T) -> [N]int { return array_cast(v, int) }
@(require_results) to_i8 :: #force_inline proc(v: $A/[$N]$T) -> [N]i8 { return array_cast(v, i8) }
@(require_results) to_i16 :: #force_inline proc(v: $A/[$N]$T) -> [N]i16 { return array_cast(v, i16) }
@(require_results) to_i32 :: #force_inline proc(v: $A/[$N]$T) -> [N]i32 { return array_cast(v, i32) }
@(require_results) to_i64 :: #force_inline proc(v: $A/[$N]$T) -> [N]i64 { return array_cast(v, i64) }
@(require_results) to_int :: #force_inline proc(v: $A/[$N]$T) -> [N]int { return array_cast(v, int) }
to_u8 :: #force_inline proc(v: $A/[$N]$T) -> [N]u8 { return array_cast(v, u8) }
to_u16 :: #force_inline proc(v: $A/[$N]$T) -> [N]u16 { return array_cast(v, u16) }
to_u32 :: #force_inline proc(v: $A/[$N]$T) -> [N]u32 { return array_cast(v, u32) }
to_u64 :: #force_inline proc(v: $A/[$N]$T) -> [N]u64 { return array_cast(v, u64) }
to_uint :: #force_inline proc(v: $A/[$N]$T) -> [N]uint { return array_cast(v, uint) }
@(require_results) to_u8 :: #force_inline proc(v: $A/[$N]$T) -> [N]u8 { return array_cast(v, u8) }
@(require_results) to_u16 :: #force_inline proc(v: $A/[$N]$T) -> [N]u16 { return array_cast(v, u16) }
@(require_results) to_u32 :: #force_inline proc(v: $A/[$N]$T) -> [N]u32 { return array_cast(v, u32) }
@(require_results) to_u64 :: #force_inline proc(v: $A/[$N]$T) -> [N]u64 { return array_cast(v, u64) }
@(require_results) to_uint :: #force_inline proc(v: $A/[$N]$T) -> [N]uint { return array_cast(v, uint) }
to_complex32 :: #force_inline proc(v: $A/[$N]$T) -> [N]complex32 { return array_cast(v, complex32) }
to_complex64 :: #force_inline proc(v: $A/[$N]$T) -> [N]complex64 { return array_cast(v, complex64) }
to_complex128 :: #force_inline proc(v: $A/[$N]$T) -> [N]complex128 { return array_cast(v, complex128) }
to_quaternion64 :: #force_inline proc(v: $A/[$N]$T) -> [N]quaternion64 { return array_cast(v, quaternion64) }
to_quaternion128 :: #force_inline proc(v: $A/[$N]$T) -> [N]quaternion128 { return array_cast(v, quaternion128) }
to_quaternion256 :: #force_inline proc(v: $A/[$N]$T) -> [N]quaternion256 { return array_cast(v, quaternion256) }
@(require_results) to_complex32 :: #force_inline proc(v: $A/[$N]$T) -> [N]complex32 { return array_cast(v, complex32) }
@(require_results) to_complex64 :: #force_inline proc(v: $A/[$N]$T) -> [N]complex64 { return array_cast(v, complex64) }
@(require_results) to_complex128 :: #force_inline proc(v: $A/[$N]$T) -> [N]complex128 { return array_cast(v, complex128) }
@(require_results) to_quaternion64 :: #force_inline proc(v: $A/[$N]$T) -> [N]quaternion64 { return array_cast(v, quaternion64) }
@(require_results) to_quaternion128 :: #force_inline proc(v: $A/[$N]$T) -> [N]quaternion128 { return array_cast(v, quaternion128) }
@(require_results) to_quaternion256 :: #force_inline proc(v: $A/[$N]$T) -> [N]quaternion256 { return array_cast(v, quaternion256) }