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feat: wip c vectormath implementation
Signed-off-by: Michael Pollind <[email protected]>
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‎source/gameshared/vecmath/LICENSE.txt‎

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Vector Math library for 3-D linear algebra (vector, matrix, quaternion)
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SIMD support for SSE. Also includes generic multi-platform scalar version.
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Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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All rights reserved.
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Redistribution and use in source and binary forms,
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with or without modification, are permitted provided that the
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following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Sony Computer Entertainment Inc nor the names
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of its contributors may be used to endorse or promote products derived
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from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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‎source/gameshared/vecmath/README.md‎

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# Vectormath
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Modified version of Sony's open sourced header-only vector and matrix math library.
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I've uploaded a copy here so it can be easily submoduled on other projects.
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The main differences from the original library released by Sony:
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- Removed deprecated SPU/PPU implementations that only targeted PS3/PowerPC.
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- Removed the C interfaces - the C++ interface is much nicer to use with operator overloads, return by val, etc.
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- Massive namespace cleanup. Removed or replaced most macros with functions and constants.
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- Better compliance with strict aliasing rules.
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- Added portable macros for alignment annotations to remove some `#ifdefs`.
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- Internal SSE helper code moved to a separate header - other files also renamed.
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- Removed the Aos/Soa sub-namespaces, since the Soa implementations were only available for SPU.
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- The library now includes only the generic scalar version and the x86/64 SSE intrinsics version.
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- Added an unpadded `Vector2` and `Point2` to also support basic 2D vector maths. These are always scalar mode (size = 2 floats).
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- All you need to do is include the public header file `vectormath.hpp`. It will expose the relevant parts of the library for you and try to select the SSE implementation if supported.
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### Original copyright notice:
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<pre>
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Vector Math library for 3-D linear algebra (vector, matrix, quaternion)
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SIMD support for SSE. Also includes generic multi-platform scalar version.
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Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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All rights reserved.
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Redistribution and use in source and binary forms,
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with or without modification, are permitted provided that the
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following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Sony Computer Entertainment Inc nor the names
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of its contributors may be used to endorse or promote products derived
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from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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</pre>
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‎source/gameshared/vecmath/scalar/vector.h‎

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static const float VECTORMATH_SLERP_TOL = 0.999f;
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static const double VECTORMATH_SLERP_TOL_D = 0.999;
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#define q_vec_x(X) _Generic((X), \
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struct vec3f: __vec3f_x \
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)(X)
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#define q_vec_y(X) _Generic((X), \
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struct vec3f: __vec3f_y \
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)(X)
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#define q_vec_z(X) _Generic((X), \
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struct vec3f: __vec3f_z \
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)(X)
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#define q_vec_dot(X,Y) _Generic((X), \
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struct vec3f: __vec3f_dot \
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)(X)
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static inline float __vec3f_x(const struct vec3f* v1) {
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return v1->x;
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}
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static inline float __vec3f_y(const struct vec3f* v1) {
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return v1->y;
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}
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static inline float __vec3f_z(const struct vec3f* v1) {
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return v1->z;
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}
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// vec3f
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static inline struct q_vec3 vec3f_create(float x, float y, float z) {
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struct q_vec3 res;
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res.x = x;
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res.y = y;
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res.z = z;
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return res;
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}
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static inline struct q_vec4 vec4f_create(float x, float y, float z, float w) {
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struct q_vec4 res;
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res.x = x;
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res.y = y;
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res.z = z;
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res.w = w;
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return res;
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}
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inline const struct q_vec3 q_vec3_slerp(float t, const struct q_vec3* unitVec0, const struct q_vec3* unitVec1)
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{
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float recipSinAngle, scale0, scale1, cosAngle, angle;
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cosAngle = q_vec_dot(unitVec0, unitVec1);
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if (cosAngle < VECTORMATH_SLERP_TOL)
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{
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angle = std::acosf(cosAngle);
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recipSinAngle = (1.0f / std::sinf(angle));
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scale0 = (std::sinf(((1.0f - t) * angle)) * recipSinAngle);
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scale1 = (std::sinf((t * angle)) * recipSinAngle);
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}
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else
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{
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scale0 = (1.0f - t);
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scale1 = t;
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}
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return ((unitVec0 * scale0) + (unitVec1 * scale1));
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}
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static inline struct q_vec3 vect3f_mul( const struct q_vec3 *v1, const struct q_vec3 *v2 ) {
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}
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static inline float __vec3f_dot(const struct q_vec3* v1, const struct q_vec3* v2) {
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float result;
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result = (vec_x(v1) * vec_x(v2));
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result = (result + (vec_y(v1) * vec_y(v2)));
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result = (result + (vec_z(v1) * vec_z(v2)));
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return result;
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}

‎source/gameshared/vecmath/scalar/vectormath.h‎

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#include "../../q_arch.h"
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#ifdef VECTORMATH_DEBUG
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#include <cstdio>
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#endif // VECTORMATH_DEBUG
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#if defined( _MSC_VER )
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// Visual Studio (MS compiler)
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#define VECTORMATH_ALIGNED( type ) __declspec( align( 16 ) ) type
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#define VECTORMATH_ALIGNED_TYPE_PRE __declspec( align( 16 ) )
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#define VECTORMATH_ALIGNED_TYPE_POST /* nothing */
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#elif defined( __GNUC__ )
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// GCC or Clang
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#define VECTORMATH_ALIGNED( type ) type __attribute__( ( aligned( 16 ) ) )
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#define VECTORMATH_ALIGNED_TYPE_PRE /* nothing */
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#define VECTORMATH_ALIGNED_TYPE_POST __attribute__( ( aligned( 16 ) ) )
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#else
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// Unknown compiler
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#error "Define VECTORMATH_ALIGNED for your compiler or platform!"
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#endif
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VECTORMATH_ALIGNED_TYPE_PRE struct vec4i_s {
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int x,y,z,w;
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} VECTORMATH_ALIGNED_TYPE_POST;
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VECTORMATH_ALIGNED_TYPE_PRE struct vec2_s {
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float x, y, z, w;
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} VECTORMATH_ALIGNED_TYPE_POST;
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inline const float vec2_element( const struct vec2_s *v1, uint_fast8_t index);
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inline const struct vec2_s vec2_create( float x, float y, float z );
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inline const struct vec2_s vec2_create_single( float x);
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inline const struct vec2_s vec2_create_vec2( const struct vec2_s* v);
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inline const struct vec2_s vec2_slerp( float t, const struct vec2_s *unitVec0, const struct vec2_s *unitVec1 );
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inline const struct vec2_s vec2_add( const struct vec2_s *v1, const struct vec2_s *v2 );
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inline const struct vec2_s vec2_sub( const struct vec2_s *v1, const struct vec2_s *v2 );
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inline const struct vec2_s vec2_mul( const struct vec2_s *v1, const struct vec2_s *v2 );
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inline const struct vec3_s vec2_add_scalar( const struct vec2_s *v1, float value);
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inline const struct vec3_s vec2_sub_scalar( const struct vec2_s *v1, float value );
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inline const struct vec3_s vec2_mul_scalar( const struct vec2_s *v1, float value );
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inline const struct vec2_s vec2_max_per_element( const struct vec2_s *v1, const struct vec2_s *v2);
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inline const struct vec2_s vec2_min_per_element( const struct vec2_s *v1, const struct vec2_s *v2);
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inline const struct vec2_s vec2_copy_sign_element( const struct vec2_s *v1, const struct vec2_s *v2);
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inline const struct vec2_s vec2_max_element( const struct vec2_s *v1);
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inline const struct vec2_s vec2_min_element( const struct vec2_s *v1);
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inline const float vec2_normalize( const struct vec2_s *v1);
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inline const float vec2_length( const struct vec2_s *v1);
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inline const float vec2_length_sqr( const struct vec2_s *v1);
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inline float sum(const struct vec2_s* vec);
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inline const float vec2_outer( const struct vec2_s *v1, const struct vec2_s *v2);
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VECTORMATH_ALIGNED_TYPE_PRE struct vec3_s {
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float x, y, z, w;
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} VECTORMATH_ALIGNED_TYPE_POST;
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inline const float vec3_element( const struct vec3_s *v1, uint_fast8_t index);
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inline const struct vec3_s vec3_create( float x, float y, float z );
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inline const struct vec3_s vec3_create_single_scalar( float x);
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inline const struct vec3_s vec3_create_vec3( const struct vec3_s* v);
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inline const struct vec3_s vec3_slerp( float t, const struct vec3_s *unitVec0, const struct vec3_s *unitVec1 );
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inline const struct vec3_s vec3_add( const struct vec3_s *v1, const struct vec3_s *v2 );
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inline const struct vec3_s vec3_sub( const struct vec3_s *v1, const struct vec3_s *v2 );
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inline const struct vec3_s vec3_mul( const struct vec3_s *v1, const struct vec3_s *v2 );
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inline const struct vec3_s vec3_add_scalar( const struct vec3_s *v1, float value);
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inline const struct vec3_s vec3_sub_scalar( const struct vec3_s *v1, float value );
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inline const struct vec3_s vec3_mul_scalar( const struct vec3_s *v1, float value );
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inline const struct vec3_s vec3_max_per_element( const struct vec3_s *v1, const struct vec3_s *v2);
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inline const struct vec3_s vec3_min_per_element( const struct vec3_s *v1, const struct vec3_s *v2);
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inline const struct vec3_s vec3_copy_sign_element( const struct vec3_s *v1, const struct vec3_s *v2);
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inline const struct vec3_s vec3_max_element( const struct vec3_s *v1);
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inline const struct vec3_s vec3_min_element( const struct vec3_s *v1);
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inline const float vec3_normalize( const struct vec3_s *v1);
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inline const float vec3_length( const struct vec3_s *v1);
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inline const float vec3_length_sqr( const struct vec3_s *v1);
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inline float vec3_sum(const struct vec3_s* vec);
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inline const float vec3_cross( const struct vec3_s *v1, const struct vec3_s *v2);
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inline const float vec3_outer( const struct vec3_s *v1, const struct vec3_s *v2);
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VECTORMATH_ALIGNED_TYPE_PRE struct vec4_s {
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float x, y, z, w;
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} VECTORMATH_ALIGNED_TYPE_POST;
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inline const float vec4_element( const struct vec4_s *v1, uint_fast8_t index);
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inline const struct vec3_s vec4_as_vec3( const struct vec4_s* v );
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inline const struct vec2_s vec4_as_vec2( const struct vec4_s* v );
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inline const struct vec4_s vec4_create( float x, float y, float z );
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inline const struct vec4_s vec4_slerp( float t, const struct vec4_s *unitVec0, const struct vec4_s *unitVec1 );
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inline const struct vec4_s vec4_add( const struct vec4_s *v1, const struct vec4_s *v2 );
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inline const struct vec4_s vec4_sub( const struct vec4_s *v1, const struct vec4_s *v2 );
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inline const struct vec4_s vec4_mul( const struct vec4_s *v1, const struct vec4_s *v2 );
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inline const struct vec4_s vec4_add_scalar( const struct vec4_s *v1, float value);
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inline const struct vec4_s vec4_sub_scalar( const struct vec4_s *v1, float value );
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inline const struct vec4_s vec4_mul_scalar( const struct vec4_s *v1, float value );
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inline const struct vec4_s vec4_max_per_element( const struct vec4_s *v1, const struct vec4_s *v2);
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inline const struct vec4_s vec4_min_per_element( const struct vec4_s *v1, const struct vec4_s *v2);
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inline const struct vec4_s vec4_copy_sign_element( const struct vec4_s *v1, const struct vec4_s *v2);
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inline const struct vec4_s vec4_max_element( const struct vec4_s *v1);
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inline const struct vec4_s vec4_min_element( const struct vec4_s *v1);
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inline const float vec4_normalize( const struct vec4_s *v1);
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inline const float vec4_length( const struct vec4_s *v1);
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inline const float vec4_length_sqr( const struct vec4_s *v1);
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inline float vec4_sum(const struct vec4_s* vec);
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inline const float vec4_cross( const struct vec4_s *v1, const struct vec4_s *v2);
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inline const float vec4_outer( const struct vec4_s *v1, const struct vec4_s *v2);
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VECTORMATH_ALIGNED_TYPE_PRE struct mat4_s {
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struct vec4_s mCol0;
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struct vec4_s mCol1;
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struct vec4_s mCol2;
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struct vec4_s mCol3;
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} VECTORMATH_ALIGNED_TYPE_POST;
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inline const float mat4_element( const struct mat4_s *v1, uint_fast8_t col, uint_fast8_t row );
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inline const struct vec4_s mat4_create( const struct vec4_s *col0, const struct vec4_s *col1, const struct vec4_s *col2, const struct vec4_s *col3 );
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VECTORMATH_ALIGNED_TYPE_PRE struct mat3_s {
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struct vec3_s mCol0;
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struct vec3_s mCol1;
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struct vec3_s mCol2;
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struct vec3_s mCol3;
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} VECTORMATH_ALIGNED_TYPE_POST;
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inline const float mat3_element( const struct mat3_s *v1, uint_fast8_t col, uint_fast8_t row );
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inline const struct vec4_s mat3_create( const struct vec3_s *col0, const struct vec3_s *col1, const struct vec3_s *col2, const struct vec3_s *col3 );
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//inline const struct vec3_s vec3_slerp( float t, const struct vec3_s *unitVec0, const struct vec3_s *unitVec1 ) {
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// v
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//}

‎source/gameshared/vecmath/vectormath.h‎

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// ================================================================================================
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// -*- C++ -*-
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// File: vectormath/vectormath.hpp
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// Author: Guilherme R. Lampert
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// Created on: 30/12/16
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// Brief: This header exposes the Sony Vectormath library types and functions into the global scope.
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// ================================================================================================
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#ifndef VECTORMATH_HPP
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#define VECTORMATH_HPP
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#include "../q_arch.h"
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#include "vectormath_settings.h"
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//#elif (VECTORMATH_CPU_HAS_SSE1_OR_BETTER && !VECTORMATH_FORCE_SCALAR_MODE) // SSE
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// #include "sse/vectormath.hpp"
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// using namespace Vectormath::SSE;
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//#elif (VECTORMATH_CPU_HAS_NEON && !VECTORMATH_FORCE_SCALAR_MODE) // NEON
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// #include "neon/vectormath.hpp"
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// using namespace Vectormath::Neon;
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//#else // !SSE
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#include "scalar/vectormath.h"
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//#endif // Vectormath mode selection
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////========================================= #TheForgeMathExtensionsBegin ================================================
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////========================================= #TheForgeAnimationMathExtensionsBegin =======================================
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//#include "soa/soa.hpp"
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//using namespace Vectormath::Soa;
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////========================================= #TheForgeAnimationMathExtensionsEnd =======================================
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////========================================= #TheForgeMathExtensionsEnd ================================================
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//
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//#include "vec2d.hpp" // - Extended 2D vector and point classes; not aligned and always in scalar floats mode.
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//#include "common.hpp" // - Miscellaneous helper functions.
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#include "vectormath_common.h"
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#endif // VECTORMATH_HPP

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