Vector.h

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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
 
#pragma once
 
JPH_NAMESPACE_BEGIN
 
template <uint Rows>
class [[nodiscard]] Vector
{
public:
    inline                      Vector() = default;
    inline                      Vector(const Vector &inRHS)                             { *this = inRHS; }
 
    inline uint                 GetRows() const                                         { return Rows; }
 
    inline void                 SetZero()
    {
        for (uint r = 0; r < Rows; ++r)
            mF32[r] = 0.0f;
    }
 
    inline static Vector        sZero()                                                 { Vector v; v.SetZero(); return v; }
 
    template <class OtherVector>
        void                    CopyPart(const OtherVector &inV, uint inSourceRow, uint inNumRows, uint inDestRow)
        {
            for (uint r = 0; r < inNumRows; ++r)
                mF32[inDestRow + r] = inV[inSourceRow + r];
        }
 
    inline float                operator [] (uint inCoordinate) const           
    { 
        JPH_ASSERT(inCoordinate < Rows); 
        return mF32[inCoordinate]; 
    }
    
    inline float &              operator [] (uint inCoordinate)
    { 
        JPH_ASSERT(inCoordinate < Rows); 
        return mF32[inCoordinate]; 
    }
 
    inline bool                 operator == (const Vector &inV2) const
    {
        for (uint r = 0; r < Rows; ++r)
            if (mF32[r] != inV2.mF32[r])
                return false;
        return true;
    }
 
    inline bool                 operator != (const Vector &inV2) const
    {
        for (uint r = 0; r < Rows; ++r)
            if (mF32[r] != inV2.mF32[r])
                return true;
        return false;
    }
 
    inline bool                 IsZero() const
    {
        for (uint r = 0; r < Rows; ++r)
            if (mF32[r] != 0.0f)
                return false;
        return true;
    }
 
    inline bool                 IsClose(const Vector &inV2, float inMaxDistSq = 1.0e-12f)
    {
        return (inV2 - *this).LengthSq() <= inMaxDistSq;
    }
 
    inline Vector &             operator = (const Vector &inV2)
    {
        for (uint r = 0; r < Rows; ++r)
            mF32[r] = inV2.mF32[r];
        return *this;
    }
 
    inline Vector               operator * (const float inV2) const
    {
        Vector v;
        for (uint r = 0; r < Rows; ++r)
            v.mF32[r] = mF32[r] * inV2;
        return v;
    }
 
    inline Vector &             operator *= (const float inV2) 
    {
        for (uint r = 0; r < Rows; ++r)
            mF32[r] *= inV2;
        return *this;
    }
 
    inline friend Vector        operator * (const float inV1, const Vector &inV2)
    {
        return inV2 * inV1;
    }
 
    inline Vector               operator / (float inV2) const
    {
        Vector v;
        for (uint r = 0; r < Rows; ++r)
            v.mF32[r] = mF32[r] / inV2;
        return v;
    }
 
    inline Vector               operator + (const Vector &inV2) const
    {
        Vector v;
        for (uint r = 0; r < Rows; ++r)
            v.mF32[r] = mF32[r] + inV2.mF32[r];
        return v;
    }
 
    inline Vector &             operator += (const Vector &inV2)
    {
        for (uint r = 0; r < Rows; ++r)
            mF32[r] += inV2.mF32[r];
        return *this;
    }
 
    inline Vector               operator - () const
    {
        Vector v;
        for (uint r = 0; r < Rows; ++r)
            v.mF32[r] = -mF32[r];
        return v;
    }
 
    inline Vector               operator - (const Vector &inV2) const
    {
        Vector v;
        for (uint r = 0; r < Rows; ++r)
            v.mF32[r] = mF32[r] - inV2.mF32[r];
        return v;
    }
 
    inline Vector &             operator -= (const Vector &inV2) 
    {
        for (uint r = 0; r < Rows; ++r)
            mF32[r] -= inV2.mF32[r];
        return *this;
    }
 
    inline float                Dot(const Vector &inV2) const
    {
        float dot = 0.0f;
        for (uint r = 0; r < Rows; ++r)
            dot += mF32[r] * inV2.mF32[r];
        return dot;
    }
 
    inline float                LengthSq() const
    {
        return Dot(*this);
    }
 
    inline float                Length() const
    {
        return sqrt(LengthSq());
    }
 
    inline bool                 IsNormalized(float inToleranceSq = 1.0e-6f)
    {
        return abs(LengthSq() - 1.0f) <= inToleranceSq;
    }
 
    inline Vector               Normalized() const
    {
        return *this / Length();
    }
 
    friend ostream &            operator << (ostream &inStream, const Vector &inV)
    {
        inStream << "[";
        for (uint i = 0; i < Rows - 1; ++i)
            inStream << inV.mF32[i] << ", ";
        inStream << inV.mF32[Rows - 1] << "]";
        return inStream;
    }
 
    float                       mF32[Rows];
};
 
JPH_NAMESPACE_END