Vec3.h

// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT

#pragma once

#include <Jolt/Core/StaticArray.h>
#include <Jolt/Math/Float3.h>
#include <Jolt/Math/Swizzle.h>
#include <Jolt/Math/MathTypes.h>

JPH_NAMESPACE_BEGIN

/// 3 component vector (stored as 4 vectors).
/// Note that we keep the 4th component the same as the 3rd component to avoid divisions by zero when JPH_FLOATING_POINT_EXCEPTIONS_ENABLED defined
class [[nodiscard]] alignas(JPH_VECTOR_ALIGNMENT) Vec3
{
public:
	JPH_OVERRIDE_NEW_DELETE

	// Underlying vector type
#if defined(JPH_USE_SSE)
	using Type = __m128;
#elif defined(JPH_USE_NEON)
	using Type = float32x4_t;
#else
	using Type = Vec4::Type;
#endif

	// Argument type
	using ArgType = Vec3Arg;

	/// Constructor
								Vec3() = default; ///< Intentionally not initialized for performance reasons
								Vec3(const Vec3 &inRHS) = default;
	Vec3 &						operator = (const Vec3 &inRHS) = default;
	explicit JPH_INLINE			Vec3(Vec4Arg inRHS);
	JPH_INLINE					Vec3(Type inRHS) : mValue(inRHS)				{ CheckW(); }

	/// Load 3 floats from memory
	explicit JPH_INLINE			Vec3(const Float3 &inV);

	/// Create a vector from 3 components
	JPH_INLINE					Vec3(float inX, float inY, float inZ);

	/// Vector with all zeros
	static JPH_INLINE Vec3		sZero();

	/// Vector with all ones
	static JPH_INLINE Vec3		sOne();

	/// Vector with all NaN's
	static JPH_INLINE Vec3		sNaN();

	/// Vectors with the principal axis
	static JPH_INLINE Vec3		sAxisX()										{ return Vec3(1, 0, 0); }
	static JPH_INLINE Vec3		sAxisY()										{ return Vec3(0, 1, 0); }
	static JPH_INLINE Vec3		sAxisZ()										{ return Vec3(0, 0, 1); }

	/// Replicate inV across all components
	static JPH_INLINE Vec3		sReplicate(float inV);

	/// Load 3 floats from memory (reads 32 bits extra which it doesn't use)
	static JPH_INLINE Vec3		sLoadFloat3Unsafe(const Float3 &inV);

	/// Return the minimum value of each of the components
	static JPH_INLINE Vec3		sMin(Vec3Arg inV1, Vec3Arg inV2);

	/// Return the maximum of each of the components
	static JPH_INLINE Vec3		sMax(Vec3Arg inV1, Vec3Arg inV2);

	/// Clamp a vector between min and max (component wise)
	static JPH_INLINE Vec3		sClamp(Vec3Arg inV, Vec3Arg inMin, Vec3Arg inMax);

	/// Equals (component wise)
	static JPH_INLINE UVec4		sEquals(Vec3Arg inV1, Vec3Arg inV2);

	/// Less than (component wise)
	static JPH_INLINE UVec4		sLess(Vec3Arg inV1, Vec3Arg inV2);

	/// Less than or equal (component wise)
	static JPH_INLINE UVec4		sLessOrEqual(Vec3Arg inV1, Vec3Arg inV2);

	/// Greater than (component wise)
	static JPH_INLINE UVec4		sGreater(Vec3Arg inV1, Vec3Arg inV2);

	/// Greater than or equal (component wise)
	static JPH_INLINE UVec4		sGreaterOrEqual(Vec3Arg inV1, Vec3Arg inV2);

	/// Calculates inMul1 * inMul2 + inAdd
	static JPH_INLINE Vec3		sFusedMultiplyAdd(Vec3Arg inMul1, Vec3Arg inMul2, Vec3Arg inAdd);

	/// Component wise select, returns inNotSet when highest bit of inControl = 0 and inSet when highest bit of inControl = 1
	static JPH_INLINE Vec3		sSelect(Vec3Arg inNotSet, Vec3Arg inSet, UVec4Arg inControl);

	/// Logical or (component wise)
	static JPH_INLINE Vec3		sOr(Vec3Arg inV1, Vec3Arg inV2);

	/// Logical xor (component wise)
	static JPH_INLINE Vec3		sXor(Vec3Arg inV1, Vec3Arg inV2);

	/// Logical and (component wise)
	static JPH_INLINE Vec3		sAnd(Vec3Arg inV1, Vec3Arg inV2);

	/// Get unit vector given spherical coordinates
	/// inTheta \f$\in [0, \pi]\f$ is angle between vector and z-axis
	/// inPhi \f$\in [0, 2 \pi]\f$ is the angle in the xy-plane starting from the x axis and rotating counter clockwise around the z-axis
	static JPH_INLINE Vec3		sUnitSpherical(float inTheta, float inPhi);

	/// A set of vectors uniformly spanning the surface of a unit sphere, usable for debug purposes
	JPH_EXPORT static const StaticArray<Vec3, 1026> sUnitSphere;

	/// Get random unit vector
	template <class Random>
	static inline Vec3			sRandom(Random &inRandom);

	/// Get individual components
#if defined(JPH_USE_SSE)
	JPH_INLINE float			GetX() const									{ return _mm_cvtss_f32(mValue); }
	JPH_INLINE float			GetY() const									{ return mF32[1]; }
	JPH_INLINE float			GetZ() const									{ return mF32[2]; }
#elif defined(JPH_USE_NEON)
	JPH_INLINE float			GetX() const									{ return vgetq_lane_f32(mValue, 0); }
	JPH_INLINE float			GetY() const									{ return vgetq_lane_f32(mValue, 1); }
	JPH_INLINE float			GetZ() const									{ return vgetq_lane_f32(mValue, 2); }
#else
	JPH_INLINE float			GetX() const									{ return mF32[0]; }
	JPH_INLINE float			GetY() const									{ return mF32[1]; }
	JPH_INLINE float			GetZ() const									{ return mF32[2]; }
#endif

	/// Set individual components
	JPH_INLINE void				SetX(float inX)									{ mF32[0] = inX; }
	JPH_INLINE void				SetY(float inY)									{ mF32[1] = inY; }
	JPH_INLINE void				SetZ(float inZ)									{ mF32[2] = mF32[3] = inZ; } // Assure Z and W are the same

	/// Set all components
	JPH_INLINE void				Set(float inX, float inY, float inZ)			{ *this = Vec3(inX, inY, inZ); }

	/// Get float component by index
	JPH_INLINE float			operator [] (uint inCoordinate) const			{ JPH_ASSERT(inCoordinate < 3); return mF32[inCoordinate]; }

	/// Set float component by index
	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

	/// Comparison
	JPH_INLINE bool				operator == (Vec3Arg inV2) const;
	JPH_INLINE bool				operator != (Vec3Arg inV2) const				{ return !(*this == inV2); }

	/// Test if two vectors are close
	JPH_INLINE bool				IsClose(Vec3Arg inV2, float inMaxDistSq = 1.0e-12f) const;

	/// Test if vector is near zero
	JPH_INLINE bool				IsNearZero(float inMaxDistSq = 1.0e-12f) const;

	/// Test if vector is normalized
	JPH_INLINE bool				IsNormalized(float inTolerance = 1.0e-6f) const;

	/// Test if vector contains NaN elements
	JPH_INLINE bool				IsNaN() const;

	/// Multiply two float vectors (component wise)
	JPH_INLINE Vec3				operator * (Vec3Arg inV2) const;

	/// Multiply vector with float
	JPH_INLINE Vec3				operator * (float inV2) const;

	/// Multiply vector with float
	friend JPH_INLINE Vec3		operator * (float inV1, Vec3Arg inV2);

	/// Divide vector by float
	JPH_INLINE Vec3				operator / (float inV2) const;

	/// Multiply vector with float
	JPH_INLINE Vec3 &			operator *= (float inV2);

	/// Multiply vector with vector
	JPH_INLINE Vec3 &			operator *= (Vec3Arg inV2);

	/// Divide vector by float
	JPH_INLINE Vec3 &			operator /= (float inV2);

	/// Add two float vectors (component wise)
	JPH_INLINE Vec3				operator + (Vec3Arg inV2) const;

	/// Add two float vectors (component wise)
	JPH_INLINE Vec3 &			operator += (Vec3Arg inV2);

	/// Negate
	JPH_INLINE Vec3				operator - () const;

	/// Subtract two float vectors (component wise)
	JPH_INLINE Vec3				operator - (Vec3Arg inV2) const;

	/// Subtract two float vectors (component wise)
	JPH_INLINE Vec3 &			operator -= (Vec3Arg inV2);

	/// Divide (component wise)
	JPH_INLINE Vec3				operator / (Vec3Arg inV2) const;

	/// Swizzle the elements in inV
	template<uint32 SwizzleX, uint32 SwizzleY, uint32 SwizzleZ>
	JPH_INLINE Vec3				Swizzle() const;

	/// Replicate the X component to all components
	JPH_INLINE Vec4				SplatX() const;

	/// Replicate the Y component to all components
	JPH_INLINE Vec4				SplatY() const;

	/// Replicate the Z component to all components
	JPH_INLINE Vec4				SplatZ() const;

	/// Get index of component with lowest value
	JPH_INLINE int				GetLowestComponentIndex() const;

	/// Get index of component with highest value
	JPH_INLINE int				GetHighestComponentIndex() const;

	/// Return the absolute value of each of the components
	JPH_INLINE Vec3				Abs() const;

	/// Reciprocal vector (1 / value) for each of the components
	JPH_INLINE Vec3				Reciprocal() const;

	/// Cross product
	JPH_INLINE Vec3				Cross(Vec3Arg inV2) const;

	/// Dot product, returns the dot product in X, Y and Z components
	JPH_INLINE Vec3				DotV(Vec3Arg inV2) const;

	/// Dot product, returns the dot product in X, Y, Z and W components
	JPH_INLINE Vec4				DotV4(Vec3Arg inV2) const;

	/// Dot product
	JPH_INLINE float			Dot(Vec3Arg inV2) const;

	/// Squared length of vector
	JPH_INLINE float			LengthSq() const;

	/// Length of vector
	JPH_INLINE float			Length() const;

	/// Normalize vector
	JPH_INLINE Vec3				Normalized() const;

	/// Normalize vector or return inZeroValue if the length of the vector is zero
	JPH_INLINE Vec3				NormalizedOr(Vec3Arg inZeroValue) const;

	/// Store 3 floats to memory
	JPH_INLINE void				StoreFloat3(Float3 *outV) const;

	/// Convert each component from a float to an int
	JPH_INLINE UVec4			ToInt() const;

	/// Reinterpret Vec3 as a UVec4 (doesn't change the bits)
	JPH_INLINE UVec4			ReinterpretAsInt() const;

	/// Get the minimum of X, Y and Z
	JPH_INLINE float			ReduceMin() const;

	/// Get the maximum of X, Y and Z
	JPH_INLINE float			ReduceMax() const;

	/// Component wise square root
	JPH_INLINE Vec3				Sqrt() const;

	/// Get normalized vector that is perpendicular to this vector
	JPH_INLINE Vec3				GetNormalizedPerpendicular() const;

	/// Get vector that contains the sign of each element (returns 1.0f if positive, -1.0f if negative)
	JPH_INLINE Vec3				GetSign() const;

	/// To String
	friend ostream &			operator << (ostream &inStream, Vec3Arg inV)
	{
		inStream << inV.mF32[0] << ", " << inV.mF32[1] << ", " << inV.mF32[2];
		return inStream;
	}

	/// Internal helper function that checks that W is equal to Z, so e.g. dividing by it should not generate div by 0
	JPH_INLINE void				CheckW() const;

	/// Internal helper function that ensures that the Z component is replicated to the W component to prevent divisions by zero
	static JPH_INLINE Type		sFixW(Type inValue);

	union
	{
		Type					mValue;
		float					mF32[4];
	};
};

static_assert(std::is_trivial<Vec3>(), "Is supposed to be a trivial type!");

JPH_NAMESPACE_END

#include "Vec3.inl"