path: root/include/jau/math/vec4f.hpp

/*
 * Author: Sven Gothel <sgothel@jausoft.com>
 * Copyright (c) 2022-2024 Gothel Software e.K.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */
#ifndef JAU_VEC4F_HPP_
#define JAU_VEC4F_HPP_

#include <cmath>
#include <cstdarg>
#include <cstdint>
#include <cassert>
#include <limits>
#include <string>
#include <initializer_list>
#include <iostream>

#include <jau/float_math.hpp>
#include <jau/math/vec3f.hpp>

namespace jau::math {

    /** \addtogroup Math
     *
     *  @{
     */

    /**
     * 4D vector using four value_type components.
     */
    template<typename Value_type,
             std::enable_if_t<std::is_floating_point_v<Value_type>, bool> = true>
    class alignas(Value_type) Vector4F {
        public:
            typedef Value_type               value_type;
            typedef value_type*              pointer;
            typedef const value_type*        const_pointer;
            typedef value_type&              reference;
            typedef const value_type&        const_reference;
            typedef value_type*              iterator;
            typedef const value_type*        const_iterator;

            typedef Vector3F<value_type, std::is_floating_point_v<Value_type>> Vec3;

            constexpr static const value_type zero = value_type(0);
            constexpr static const value_type one  = value_type(1);

            value_type x;
            value_type y;
            value_type z;
            value_type w;

            constexpr Vector4F() noexcept
            : x(zero), y(zero), z(zero), w(zero) {}

            constexpr Vector4F(const value_type v) noexcept
            : x(v), y(v), z(v), w(v) {}

            constexpr Vector4F(const value_type x_, const value_type y_, const value_type z_, const value_type w_) noexcept
            : x(x_), y(y_), z(z_), w(w_) {}

            constexpr Vector4F(const Vec3& o3, const value_type w_) noexcept
            : x(o3.x), y(o3.y), z(o3.z), w(w_) {}

            constexpr Vector4F(const_iterator v) noexcept
            : x(v[0]), y(v[1]), z(v[2]), w(v[3]) {}

            constexpr Vector4F(std::initializer_list<value_type> v) noexcept
            : x(v[0]), y(v[1]), z(v[2]), w(v[3]) {}

            constexpr Vector4F(const Vector4F& o) noexcept = default;
            constexpr Vector4F(Vector4F&& o) noexcept = default;
            constexpr Vector4F& operator=(const Vector4F&) noexcept = default;
            constexpr Vector4F& operator=(Vector4F&&) noexcept = default;

            /** Returns read-only component */
            constexpr value_type operator[](size_t i) const noexcept {
                assert(i < 4);
                return (&x)[i];
            }

            /** Returns writeable reference to component */
            constexpr reference operator[](size_t i) noexcept {
                assert(i < 4);
                return (&x)[i];
            }

            /** xyzw = this, returns xyzw. */
            constexpr iterator get(iterator xyzw) const noexcept {
                xyzw[0] = x;
                xyzw[1] = y;
                xyzw[2] = z;
                xyzw[3] = w;
                return xyzw;
            }

            /** out = { this.x, this.y, this.z } dropping w, returns out. */
            constexpr Vec3& getVec3(Vec3& out) const noexcept {
                out.x = x;
                out.y = y;
                out.z = z;
                return out;
            }

            constexpr bool operator==(const Vector4F& rhs ) const noexcept {
                if( this == &rhs ) {
                    return true;
                }
                return jau::is_zero(x - rhs.x) && jau::is_zero(y - rhs.y) &&
                       jau::is_zero(z - rhs.z) && jau::is_zero(w - rhs.w);
            }
            /** TODO
            constexpr bool operator<=>(const vec4f_t& rhs ) const noexcept {
                return ...
            } */

            /** this = { o, w }, returns this. */
            constexpr Vector4F& set(const Vec3f& o, const value_type w_) noexcept
            { x = o.x; y = o.y; z = o.z; w = w_; return *this; }

            constexpr Vector4F& set(const value_type vx, const value_type vy, const value_type vz, const value_type vw) noexcept
            { x=vx; y=vy; z=vz; w=vw; return *this; }

            /** this = xyzw, returns this. */
            constexpr Vector4F& set(const_iterator xyzw) noexcept
            { x=xyzw[0]; y=xyzw[1]; z=xyzw[2]; z=xyzw[3]; return *this; }

            /** this = this + {dx, dy, dz, dw}, returns this. */
            constexpr Vector4F& add(const value_type dx, const value_type dy, const value_type dz, const value_type dw) noexcept
            { x+=dx; y+=dy; z+=dz; w+=dw; return *this; }

            /** this = this * {sx, sy, sz, sw}, returns this. */
            constexpr Vector4F& mul(const value_type sx, const value_type sy, const value_type sz, const value_type sw) noexcept
            { x*=sx; y*=sy; z*=sz; w*=sw; return *this; }

            /** this = this * s, returns this. */
            constexpr Vector4F& scale(const value_type s) noexcept
            { x*=s; y*=s; z*=s; w*=s; return *this; }

            /** this = this + rhs, returns this. */
            constexpr Vector4F& operator+=(const Vector4F& rhs ) noexcept {
                x+=rhs.x; y+=rhs.y; z+=rhs.z; w+=rhs.w;
                return *this;
            }

            /** this = this - rhs, returns this. */
            constexpr Vector4F& operator-=(const Vector4F& rhs ) noexcept {
                x-=rhs.x; y-=rhs.y; z-=rhs.z; w-=rhs.w;
                return *this;
            }

            /**
             * Scale this vector with given scale factor
             * @param s scale factor
             * @return this instance
             */
            constexpr Vector4F& operator*=(const value_type s ) noexcept {
                x*=s; y*=s; z*=s; w*=s;
                return *this;
            }

            /**
             * Divide this vector with given scale factor
             * @param s scale factor
             * @return this instance
             */
            constexpr Vector4F& operator/=(const value_type s ) noexcept {
                x/=s; y/=s; z/=s; w/=s;
                return *this;
            }

            std::string toString() const noexcept { return std::to_string(x)+" / "+std::to_string(y)+" / "+std::to_string(z)+" / "+std::to_string(w); }

            constexpr bool is_zero() const noexcept {
                return jau::is_zero(x) && jau::is_zero(y) && jau::is_zero(z) && jau::is_zero(w);
            }

            /**
             * Return the squared length of a vector, a.k.a the squared <i>norm</i> or squared <i>magnitude</i>
             */
            constexpr value_type length_sq() const noexcept {
                return x*x + y*y + z*z + w*w;
            }

            /**
             * Return the length of a vector, a.k.a the <i>norm</i> or <i>magnitude</i>
             */
            constexpr value_type length() const noexcept {
                return std::sqrt(length_sq());
            }

            /**
             * Normalize this vector in place
             */
            constexpr Vector4F& normalize() noexcept {
                const value_type lengthSq = length_sq();
                if ( jau::is_zero( lengthSq ) ) {
                    x = zero;
                    y = zero;
                    z = zero;
                    w = zero;
                } else {
                    const value_type invSqr = one / std::sqrt(lengthSq);
                    x *= invSqr;
                    y *= invSqr;
                    z *= invSqr;
                    w *= invSqr;
                }
                return *this;
            }

            /**
             * Return the squared distance between this vector and the given one.
             * <p>
             * When comparing the relative distance between two points it is usually sufficient to compare the squared
             * distances, thus avoiding an expensive square root operation.
             * </p>
             */
            constexpr value_type dist_sq(const Vector4F& o) const noexcept {
                const value_type dx = x - o.x;
                const value_type dy = y - o.y;
                const value_type dz = z - o.z;
                const value_type dw = w - o.w;
                return dx*dx + dy*dy + dz*dz + dw*dw;
            }

            /**
             * Return the distance between this vector and the given one.
             */
            constexpr value_type dist(const Vector4F& o) const noexcept {
                return std::sqrt(dist_sq(o));
            }

            constexpr_cxx23 bool intersects(const Vector4F& o) const noexcept {
                const value_type eps = std::numeric_limits<value_type>::epsilon();
                if( std::abs(x-o.x) >= eps || std::abs(y-o.y) >= eps ||
                    std::abs(z-o.z) >= eps || std::abs(w-o.w) >= eps ) {
                    return false;
                }
                return true;
            }
    };

    template<typename T,
             std::enable_if_t<std::is_floating_point_v<T>, bool> = true>
    constexpr Vector4F<T> operator+(const Vector4F<T>& lhs, const Vector4F<T>& rhs ) noexcept {
        // Returning a Vector4 object from the returned reference of operator+=()
        // may hinder copy-elision or "named return value optimization" (NRVO).
        // return Vector4<T>(lhs) += rhs;

        // Returning named object allows copy-elision (NRVO),
        // only one object is created 'on target'.
        Vector4F<T> r(lhs); r += rhs; return r;
    }

    template<typename T,
             std::enable_if_t<std::is_floating_point_v<T>, bool> = true>
    constexpr Vector4F<T> operator-(const Vector4F<T>& lhs, const Vector4F<T>& rhs ) noexcept {
        Vector4F<T> r(lhs); r -= rhs; return r;
    }

    template<typename T,
             std::enable_if_t<std::is_floating_point_v<T>, bool> = true>
    constexpr Vector4F<T> operator*(const Vector4F<T>& lhs, const T s ) noexcept {
        Vector4F<T> r(lhs); r *= s; return r;
    }

    template<typename T,
             std::enable_if_t<std::is_floating_point_v<T>, bool> = true>
    constexpr Vector4F<T> operator*(const T s, const Vector4F<T>& rhs) noexcept {
        Vector4F<T> r(rhs); r *= s; return r;
    }

    template<typename T,
             std::enable_if_t<std::is_floating_point_v<T>, bool> = true>
    constexpr Vector4F<T> operator/(const Vector4F<T>& lhs, const T s ) noexcept {
        Vector4F<T> r(lhs); r /= s; return r;
    }

    /** out = { this.x, this.y, this.z } dropping w, returns out. */
    template<typename T,
             std::enable_if_t<std::is_floating_point_v<T>, bool> = true>
    constexpr Vector3F<T> to_vec3(const Vector4F<T>& v) noexcept {
        Vector3F<T> r; v.getVec3(r); return r;
    }

    template<typename T,
             std::enable_if_t<std::is_floating_point_v<T>, bool> = true>
    std::ostream& operator<<(std::ostream& out, const Vector4F<T>& v) noexcept {
        return out << v.toString();
    }

    typedef Vector4F<float> Vec4f;
    static_assert(alignof(float) == alignof(Vec4f));
    static_assert(sizeof(float)*4 == sizeof(Vec4f));

    /**
     * Point4F alias of Vector4F
     */
    template<typename T,
             std::enable_if_t<std::is_floating_point_v<T>, bool> = true>
    using Point4F = Vector4F<T>;

    typedef Point4F<float> Point4f;
    static_assert(alignof(float) == alignof(Point4f));
    static_assert(sizeof(float)*4 == sizeof(Point4f));

    /**@}*/

} // namespace jau::math

#endif /*  JAU_VEC4F_HPP_ */