merge v1.20.0

1 files changed, 86 insertions, 0 deletions

diff --git a/common/vecmat.h b/common/vecmat.h
new file mode 100644
index 00000000..7186ec6c
--- /dev/null
+++ b/common/vecmat.h
@@ -0,0 +1,86 @@
+#ifndef COMMON_VECMAT_H
+#define COMMON_VECMAT_H
+
+#include <array>
+#include <cmath>
+#include <cstddef>
+#include <limits>
+
+
+namespace alu {
+
+class Vector {
+    alignas(16) std::array<float,4> mVals;
+
+public:
+    Vector() noexcept = default;
+    constexpr Vector(float a, float b, float c, float d) noexcept
+      : mVals{{a, b, c, d}}
+    { }
+
+    float& operator[](size_t idx) noexcept { return mVals[idx]; }
+    constexpr const float& operator[](size_t idx) const noexcept { return mVals[idx]; }
+
+    Vector& operator+=(const Vector &rhs) noexcept
+    {
+        mVals[0] += rhs.mVals[0];
+        mVals[1] += rhs.mVals[1];
+        mVals[2] += rhs.mVals[2];
+        mVals[3] += rhs.mVals[3];
+        return *this;
+    }
+
+    float normalize()
+    {
+        const float length{std::sqrt(mVals[0]*mVals[0] + mVals[1]*mVals[1] + mVals[2]*mVals[2])};
+        if(length > std::numeric_limits<float>::epsilon())
+        {
+            float inv_length = 1.0f/length;
+            mVals[0] *= inv_length;
+            mVals[1] *= inv_length;
+            mVals[2] *= inv_length;
+            return length;
+        }
+        mVals[0] = mVals[1] = mVals[2] = 0.0f;
+        return 0.0f;
+    }
+};
+
+class Matrix {
+    alignas(16) std::array<std::array<float,4>,4> mVals;
+
+public:
+    Matrix() noexcept = default;
+    constexpr Matrix(float aa, float ab, float ac, float ad,
+                     float ba, float bb, float bc, float bd,
+                     float ca, float cb, float cc, float cd,
+                     float da, float db, float dc, float dd) noexcept
+      : mVals{{{{aa, ab, ac, ad}}, {{ba, bb, bc, bd}}, {{ca, cb, cc, cd}}, {{da, db, dc, dd}}}}
+    { }
+
+    std::array<float,4>& operator[](size_t idx) noexcept { return mVals[idx]; }
+    constexpr const std::array<float,4>& operator[](size_t idx) const noexcept { return mVals[idx]; }
+
+    void setRow(size_t idx, float a, float b, float c, float d) noexcept
+    {
+        mVals[idx][0] = a;
+        mVals[idx][1] = b;
+        mVals[idx][2] = c;
+        mVals[idx][3] = d;
+    }
+
+    static const Matrix &Identity() noexcept
+    {
+        static constexpr Matrix identity{
+            1.0f, 0.0f, 0.0f, 0.0f,
+            0.0f, 1.0f, 0.0f, 0.0f,
+            0.0f, 0.0f, 1.0f, 0.0f,
+            0.0f, 0.0f, 0.0f, 1.0f
+        };
+        return identity;
+    }
+};
+
+} // namespace alu
+
+#endif /* COMMON_VECMAT_H */