Jolt Physics
A multi core friendly Game Physics Engine
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Vec3.h
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1// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
2// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
3// SPDX-License-Identifier: MIT
4
5#pragma once
6
7#include <Jolt/Core/StaticArray.h>
8#include <Jolt/Math/Float3.h>
9#include <Jolt/Math/Swizzle.h>
10#include <Jolt/Math/MathTypes.h>
11
12JPH_NAMESPACE_BEGIN
13
16class [[nodiscard]] alignas(JPH_VECTOR_ALIGNMENT) Vec3
17{
18public:
19 JPH_OVERRIDE_NEW_DELETE
20
21 // Underlying vector type
22#if defined(JPH_USE_SSE)
23 using Type = __m128;
24#elif defined(JPH_USE_NEON)
25 using Type = float32x4_t;
26#else
27 using Type = Vec4::Type;
28#endif
29
30 // Argument type
31 using ArgType = Vec3Arg;
32
34 Vec3() = default;
35 Vec3(const Vec3 &inRHS) = default;
36 Vec3 & operator = (const Vec3 &inRHS) = default;
37 explicit JPH_INLINE Vec3(Vec4Arg inRHS);
38 JPH_INLINE Vec3(Type inRHS) : mValue(inRHS) { CheckW(); }
39
41 explicit JPH_INLINE Vec3(const Float3 &inV);
42
44 JPH_INLINE Vec3(float inX, float inY, float inZ);
45
47 static JPH_INLINE Vec3 sZero();
48
50 static JPH_INLINE Vec3 sNaN();
51
53 static JPH_INLINE Vec3 sAxisX() { return Vec3(1, 0, 0); }
54 static JPH_INLINE Vec3 sAxisY() { return Vec3(0, 1, 0); }
55 static JPH_INLINE Vec3 sAxisZ() { return Vec3(0, 0, 1); }
56
58 static JPH_INLINE Vec3 sReplicate(float inV);
59
61 static JPH_INLINE Vec3 sLoadFloat3Unsafe(const Float3 &inV);
62
64 static JPH_INLINE Vec3 sMin(Vec3Arg inV1, Vec3Arg inV2);
65
67 static JPH_INLINE Vec3 sMax(Vec3Arg inV1, Vec3Arg inV2);
68
70 static JPH_INLINE Vec3 sClamp(Vec3Arg inV, Vec3Arg inMin, Vec3Arg inMax);
71
73 static JPH_INLINE UVec4 sEquals(Vec3Arg inV1, Vec3Arg inV2);
74
76 static JPH_INLINE UVec4 sLess(Vec3Arg inV1, Vec3Arg inV2);
77
79 static JPH_INLINE UVec4 sLessOrEqual(Vec3Arg inV1, Vec3Arg inV2);
80
82 static JPH_INLINE UVec4 sGreater(Vec3Arg inV1, Vec3Arg inV2);
83
85 static JPH_INLINE UVec4 sGreaterOrEqual(Vec3Arg inV1, Vec3Arg inV2);
86
88 static JPH_INLINE Vec3 sFusedMultiplyAdd(Vec3Arg inMul1, Vec3Arg inMul2, Vec3Arg inAdd);
89
91 static JPH_INLINE Vec3 sSelect(Vec3Arg inNotSet, Vec3Arg inSet, UVec4Arg inControl);
92
94 static JPH_INLINE Vec3 sOr(Vec3Arg inV1, Vec3Arg inV2);
95
97 static JPH_INLINE Vec3 sXor(Vec3Arg inV1, Vec3Arg inV2);
98
100 static JPH_INLINE Vec3 sAnd(Vec3Arg inV1, Vec3Arg inV2);
101
105 static JPH_INLINE Vec3 sUnitSpherical(float inTheta, float inPhi);
106
108 JPH_EXPORT static const StaticArray<Vec3, 1026> sUnitSphere;
109
111 template <class Random>
112 static inline Vec3 sRandom(Random &inRandom);
113
115#if defined(JPH_USE_SSE)
116 JPH_INLINE float GetX() const { return _mm_cvtss_f32(mValue); }
117 JPH_INLINE float GetY() const { return mF32[1]; }
118 JPH_INLINE float GetZ() const { return mF32[2]; }
119#elif defined(JPH_USE_NEON)
120 JPH_INLINE float GetX() const { return vgetq_lane_f32(mValue, 0); }
121 JPH_INLINE float GetY() const { return vgetq_lane_f32(mValue, 1); }
122 JPH_INLINE float GetZ() const { return vgetq_lane_f32(mValue, 2); }
123#else
124 JPH_INLINE float GetX() const { return mF32[0]; }
125 JPH_INLINE float GetY() const { return mF32[1]; }
126 JPH_INLINE float GetZ() const { return mF32[2]; }
127#endif
128
130 JPH_INLINE void SetX(float inX) { mF32[0] = inX; }
131 JPH_INLINE void SetY(float inY) { mF32[1] = inY; }
132 JPH_INLINE void SetZ(float inZ) { mF32[2] = mF32[3] = inZ; } // Assure Z and W are the same
133
135 JPH_INLINE void Set(float inX, float inY, float inZ) { *this = Vec3(inX, inY, inZ); }
136
138 JPH_INLINE float operator [] (uint inCoordinate) const { JPH_ASSERT(inCoordinate < 3); return mF32[inCoordinate]; }
139
141 JPH_INLINE void SetComponent(uint inCoordinate, float inValue) { JPH_ASSERT(inCoordinate < 3); mF32[inCoordinate] = inValue; mValue = sFixW(mValue); } // Assure Z and W are the same
142
144 JPH_INLINE bool operator == (Vec3Arg inV2) const;
145 JPH_INLINE bool operator != (Vec3Arg inV2) const { return !(*this == inV2); }
146
148 JPH_INLINE bool IsClose(Vec3Arg inV2, float inMaxDistSq = 1.0e-12f) const;
149
151 JPH_INLINE bool IsNearZero(float inMaxDistSq = 1.0e-12f) const;
152
154 JPH_INLINE bool IsNormalized(float inTolerance = 1.0e-6f) const;
155
157 JPH_INLINE bool IsNaN() const;
158
160 JPH_INLINE Vec3 operator * (Vec3Arg inV2) const;
161
163 JPH_INLINE Vec3 operator * (float inV2) const;
164
166 friend JPH_INLINE Vec3 operator * (float inV1, Vec3Arg inV2);
167
169 JPH_INLINE Vec3 operator / (float inV2) const;
170
172 JPH_INLINE Vec3 & operator *= (float inV2);
173
175 JPH_INLINE Vec3 & operator *= (Vec3Arg inV2);
176
178 JPH_INLINE Vec3 & operator /= (float inV2);
179
181 JPH_INLINE Vec3 operator + (Vec3Arg inV2) const;
182
184 JPH_INLINE Vec3 & operator += (Vec3Arg inV2);
185
187 JPH_INLINE Vec3 operator - () const;
188
190 JPH_INLINE Vec3 operator - (Vec3Arg inV2) const;
191
193 JPH_INLINE Vec3 & operator -= (Vec3Arg inV2);
194
196 JPH_INLINE Vec3 operator / (Vec3Arg inV2) const;
197
199 template<uint32 SwizzleX, uint32 SwizzleY, uint32 SwizzleZ>
200 JPH_INLINE Vec3 Swizzle() const;
201
203 JPH_INLINE Vec4 SplatX() const;
204
206 JPH_INLINE Vec4 SplatY() const;
207
209 JPH_INLINE Vec4 SplatZ() const;
210
212 JPH_INLINE int GetLowestComponentIndex() const;
213
215 JPH_INLINE int GetHighestComponentIndex() const;
216
218 JPH_INLINE Vec3 Abs() const;
219
221 JPH_INLINE Vec3 Reciprocal() const;
222
224 JPH_INLINE Vec3 Cross(Vec3Arg inV2) const;
225
227 JPH_INLINE Vec3 DotV(Vec3Arg inV2) const;
228
230 JPH_INLINE Vec4 DotV4(Vec3Arg inV2) const;
231
233 JPH_INLINE float Dot(Vec3Arg inV2) const;
234
236 JPH_INLINE float LengthSq() const;
237
239 JPH_INLINE float Length() const;
240
242 JPH_INLINE Vec3 Normalized() const;
243
245 JPH_INLINE Vec3 NormalizedOr(Vec3Arg inZeroValue) const;
246
248 JPH_INLINE void StoreFloat3(Float3 *outV) const;
249
251 JPH_INLINE UVec4 ToInt() const;
252
254 JPH_INLINE UVec4 ReinterpretAsInt() const;
255
257 JPH_INLINE float ReduceMin() const;
258
260 JPH_INLINE float ReduceMax() const;
261
263 JPH_INLINE Vec3 Sqrt() const;
264
266 JPH_INLINE Vec3 GetNormalizedPerpendicular() const;
267
269 JPH_INLINE Vec3 GetSign() const;
270
272 friend ostream & operator << (ostream &inStream, Vec3Arg inV)
273 {
274 inStream << inV.mF32[0] << ", " << inV.mF32[1] << ", " << inV.mF32[2];
275 return inStream;
276 }
277
279 JPH_INLINE void CheckW() const;
280
282 static JPH_INLINE Type sFixW(Type inValue);
283
284 union
285 {
286 Type mValue;
287 float mF32[4];
288 };
289};
290
291static_assert(is_trivial<Vec3>(), "Is supposed to be a trivial type!");
292
293JPH_NAMESPACE_END
294
295#include "Vec3.inl"
JPH_EXPORT
#define JPH_EXPORT
Definition: Core.h:236
uint
unsigned int uint
Definition: Core.h:452
JPH_NAMESPACE_END
#define JPH_NAMESPACE_END
Definition: Core.h:378
JPH_NAMESPACE_BEGIN
#define JPH_NAMESPACE_BEGIN
Definition: Core.h:372
operator*
DVec3 operator*(double inV1, DVec3Arg inV2)
Definition: DVec3.inl:451
JPH_ASSERT
#define JPH_ASSERT(...)
Definition: IssueReporting.h:33
Vec3Arg
const Vec3 Vec3Arg
Definition: MathTypes.h:18
JPH_OVERRIDE_NEW_DELETE
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition: Memory.h:31
Float3
Class that holds 3 floats. Used as a storage class. Convert to Vec3 for calculations.
Definition: Float3.h:13
StaticArray
Simple variable length array backed by a fixed size buffer.
Definition: StaticArray.h:14
UVec4
Definition: UVec4.h:12
Vec3
Definition: Vec3.h:17
Vec3::sFixW
static JPH_INLINE Type sFixW(Type inValue)
Internal helper function that ensures that the Z component is replicated to the W component to preven...
Vec3::Type
Vec4::Type Type
Definition: Vec3.h:27
Vec3::sAxisX
static JPH_INLINE Vec3 sAxisX()
Vectors with the principal axis.
Definition: Vec3.h:53
Vec3::SetComponent
JPH_INLINE void SetComponent(uint inCoordinate, float inValue)
Set float component by index.
Definition: Vec3.h:141
Vec3::Vec3
Vec3(const Vec3 &inRHS)=default
Vec3::sAxisY
static JPH_INLINE Vec3 sAxisY()
Definition: Vec3.h:54
Vec3::GetX
JPH_INLINE float GetX() const
Get individual components.
Definition: Vec3.h:124
Vec3::SetY
JPH_INLINE void SetY(float inY)
Definition: Vec3.h:131
Vec3::Vec3
JPH_INLINE Vec3(Type inRHS)
Definition: Vec3.h:38
Vec3::SetZ
JPH_INLINE void SetZ(float inZ)
Definition: Vec3.h:132
Vec3::CheckW
JPH_INLINE void CheckW() const
Internal helper function that checks that W is equal to Z, so e.g. dividing by it should not generate...
Vec3::sAxisZ
static JPH_INLINE Vec3 sAxisZ()
Definition: Vec3.h:55
Vec3::SetX
JPH_INLINE void SetX(float inX)
Set individual components.
Definition: Vec3.h:130
Vec3::mValue
Type mValue
Definition: Vec3.h:286
Vec3::GetY
JPH_INLINE float GetY() const
Definition: Vec3.h:125
Vec3::mF32
float mF32[4]
Definition: Vec3.h:287
Vec3::Set
JPH_INLINE void Set(float inX, float inY, float inZ)
Set all components.
Definition: Vec3.h:135
Vec3::GetZ
JPH_INLINE float GetZ() const
Definition: Vec3.h:126
Vec3::Vec3
Vec3()=default
Constructor.
Vec3::sUnitSphere
static JPH_EXPORT const StaticArray< Vec3, 1026 > sUnitSphere
A set of vectors uniformly spanning the surface of a unit sphere, usable for debug purposes.
Definition: Vec3.h:108
Vec3::Swizzle
JPH_INLINE Vec3 Swizzle() const
Swizzle the elements in inV.
Vec4
Definition: Vec4.h:14
Vec4::Type
{ float mData[4] Type
Definition: Vec4.h:24