glam/f32/neon/mat4.rs
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// Generated from mat.rs.tera template. Edit the template, not the generated file.
use crate::{
euler::{FromEuler, ToEuler},
f32::math,
neon::*,
swizzles::*,
DMat4, EulerRot, Mat3, Mat3A, Quat, Vec3, Vec3A, Vec4,
};
use core::fmt;
use core::iter::{Product, Sum};
use core::ops::{Add, AddAssign, Div, DivAssign, Mul, MulAssign, Neg, Sub, SubAssign};
use core::arch::aarch64::*;
/// Creates a 4x4 matrix from four column vectors.
#[inline(always)]
#[must_use]
pub const fn mat4(x_axis: Vec4, y_axis: Vec4, z_axis: Vec4, w_axis: Vec4) -> Mat4 {
Mat4::from_cols(x_axis, y_axis, z_axis, w_axis)
}
/// A 4x4 column major matrix.
///
/// This 4x4 matrix type features convenience methods for creating and using affine transforms and
/// perspective projections. If you are primarily dealing with 3D affine transformations
/// considering using [`Affine3A`](crate::Affine3A) which is faster than a 4x4 matrix
/// for some affine operations.
///
/// Affine transformations including 3D translation, rotation and scale can be created
/// using methods such as [`Self::from_translation()`], [`Self::from_quat()`],
/// [`Self::from_scale()`] and [`Self::from_scale_rotation_translation()`].
///
/// Orthographic projections can be created using the methods [`Self::orthographic_lh()`] for
/// left-handed coordinate systems and [`Self::orthographic_rh()`] for right-handed
/// systems. The resulting matrix is also an affine transformation.
///
/// The [`Self::transform_point3()`] and [`Self::transform_vector3()`] convenience methods
/// are provided for performing affine transformations on 3D vectors and points. These
/// multiply 3D inputs as 4D vectors with an implicit `w` value of `1` for points and `0`
/// for vectors respectively. These methods assume that `Self` contains a valid affine
/// transform.
///
/// Perspective projections can be created using methods such as
/// [`Self::perspective_lh()`], [`Self::perspective_infinite_lh()`] and
/// [`Self::perspective_infinite_reverse_lh()`] for left-handed co-ordinate systems and
/// [`Self::perspective_rh()`], [`Self::perspective_infinite_rh()`] and
/// [`Self::perspective_infinite_reverse_rh()`] for right-handed co-ordinate systems.
///
/// The resulting perspective project can be use to transform 3D vectors as points with
/// perspective correction using the [`Self::project_point3()`] convenience method.
#[derive(Clone, Copy)]
#[repr(C)]
pub struct Mat4 {
pub x_axis: Vec4,
pub y_axis: Vec4,
pub z_axis: Vec4,
pub w_axis: Vec4,
}
impl Mat4 {
/// A 4x4 matrix with all elements set to `0.0`.
pub const ZERO: Self = Self::from_cols(Vec4::ZERO, Vec4::ZERO, Vec4::ZERO, Vec4::ZERO);
/// A 4x4 identity matrix, where all diagonal elements are `1`, and all off-diagonal elements are `0`.
pub const IDENTITY: Self = Self::from_cols(Vec4::X, Vec4::Y, Vec4::Z, Vec4::W);
/// All NAN:s.
pub const NAN: Self = Self::from_cols(Vec4::NAN, Vec4::NAN, Vec4::NAN, Vec4::NAN);
#[allow(clippy::too_many_arguments)]
#[inline(always)]
#[must_use]
const fn new(
m00: f32,
m01: f32,
m02: f32,
m03: f32,
m10: f32,
m11: f32,
m12: f32,
m13: f32,
m20: f32,
m21: f32,
m22: f32,
m23: f32,
m30: f32,
m31: f32,
m32: f32,
m33: f32,
) -> Self {
Self {
x_axis: Vec4::new(m00, m01, m02, m03),
y_axis: Vec4::new(m10, m11, m12, m13),
z_axis: Vec4::new(m20, m21, m22, m23),
w_axis: Vec4::new(m30, m31, m32, m33),
}
}
/// Creates a 4x4 matrix from four column vectors.
#[inline(always)]
#[must_use]
pub const fn from_cols(x_axis: Vec4, y_axis: Vec4, z_axis: Vec4, w_axis: Vec4) -> Self {
Self {
x_axis,
y_axis,
z_axis,
w_axis,
}
}
/// Creates a 4x4 matrix from a `[f32; 16]` array stored in column major order.
/// If your data is stored in row major you will need to `transpose` the returned
/// matrix.
#[inline]
#[must_use]
pub const fn from_cols_array(m: &[f32; 16]) -> Self {
Self::new(
m[0], m[1], m[2], m[3], m[4], m[5], m[6], m[7], m[8], m[9], m[10], m[11], m[12], m[13],
m[14], m[15],
)
}
/// Creates a `[f32; 16]` array storing data in column major order.
/// If you require data in row major order `transpose` the matrix first.
#[inline]
#[must_use]
pub const fn to_cols_array(&self) -> [f32; 16] {
let [x_axis_x, x_axis_y, x_axis_z, x_axis_w] = self.x_axis.to_array();
let [y_axis_x, y_axis_y, y_axis_z, y_axis_w] = self.y_axis.to_array();
let [z_axis_x, z_axis_y, z_axis_z, z_axis_w] = self.z_axis.to_array();
let [w_axis_x, w_axis_y, w_axis_z, w_axis_w] = self.w_axis.to_array();
[
x_axis_x, x_axis_y, x_axis_z, x_axis_w, y_axis_x, y_axis_y, y_axis_z, y_axis_w,
z_axis_x, z_axis_y, z_axis_z, z_axis_w, w_axis_x, w_axis_y, w_axis_z, w_axis_w,
]
}
/// Creates a 4x4 matrix from a `[[f32; 4]; 4]` 4D array stored in column major order.
/// If your data is in row major order you will need to `transpose` the returned
/// matrix.
#[inline]
#[must_use]
pub const fn from_cols_array_2d(m: &[[f32; 4]; 4]) -> Self {
Self::from_cols(
Vec4::from_array(m[0]),
Vec4::from_array(m[1]),
Vec4::from_array(m[2]),
Vec4::from_array(m[3]),
)
}
/// Creates a `[[f32; 4]; 4]` 4D array storing data in column major order.
/// If you require data in row major order `transpose` the matrix first.
#[inline]
#[must_use]
pub const fn to_cols_array_2d(&self) -> [[f32; 4]; 4] {
[
self.x_axis.to_array(),
self.y_axis.to_array(),
self.z_axis.to_array(),
self.w_axis.to_array(),
]
}
/// Creates a 4x4 matrix with its diagonal set to `diagonal` and all other entries set to 0.
#[doc(alias = "scale")]
#[inline]
#[must_use]
pub const fn from_diagonal(diagonal: Vec4) -> Self {
// diagonal.x, diagonal.y etc can't be done in a const-context
let [x, y, z, w] = diagonal.to_array();
Self::new(
x, 0.0, 0.0, 0.0, 0.0, y, 0.0, 0.0, 0.0, 0.0, z, 0.0, 0.0, 0.0, 0.0, w,
)
}
#[inline]
#[must_use]
fn quat_to_axes(rotation: Quat) -> (Vec4, Vec4, Vec4) {
glam_assert!(rotation.is_normalized());
let (x, y, z, w) = rotation.into();
let x2 = x + x;
let y2 = y + y;
let z2 = z + z;
let xx = x * x2;
let xy = x * y2;
let xz = x * z2;
let yy = y * y2;
let yz = y * z2;
let zz = z * z2;
let wx = w * x2;
let wy = w * y2;
let wz = w * z2;
let x_axis = Vec4::new(1.0 - (yy + zz), xy + wz, xz - wy, 0.0);
let y_axis = Vec4::new(xy - wz, 1.0 - (xx + zz), yz + wx, 0.0);
let z_axis = Vec4::new(xz + wy, yz - wx, 1.0 - (xx + yy), 0.0);
(x_axis, y_axis, z_axis)
}
/// Creates an affine transformation matrix from the given 3D `scale`, `rotation` and
/// `translation`.
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
///
/// # Panics
///
/// Will panic if `rotation` is not normalized when `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn from_scale_rotation_translation(scale: Vec3, rotation: Quat, translation: Vec3) -> Self {
let (x_axis, y_axis, z_axis) = Self::quat_to_axes(rotation);
Self::from_cols(
x_axis.mul(scale.x),
y_axis.mul(scale.y),
z_axis.mul(scale.z),
Vec4::from((translation, 1.0)),
)
}
/// Creates an affine transformation matrix from the given 3D `translation`.
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
///
/// # Panics
///
/// Will panic if `rotation` is not normalized when `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn from_rotation_translation(rotation: Quat, translation: Vec3) -> Self {
let (x_axis, y_axis, z_axis) = Self::quat_to_axes(rotation);
Self::from_cols(x_axis, y_axis, z_axis, Vec4::from((translation, 1.0)))
}
/// Extracts `scale`, `rotation` and `translation` from `self`. The input matrix is
/// expected to be a 3D affine transformation matrix otherwise the output will be invalid.
///
/// # Panics
///
/// Will panic if the determinant of `self` is zero or if the resulting scale vector
/// contains any zero elements when `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn to_scale_rotation_translation(&self) -> (Vec3, Quat, Vec3) {
let det = self.determinant();
glam_assert!(det != 0.0);
let scale = Vec3::new(
self.x_axis.length() * math::signum(det),
self.y_axis.length(),
self.z_axis.length(),
);
glam_assert!(scale.cmpne(Vec3::ZERO).all());
let inv_scale = scale.recip();
let rotation = Quat::from_rotation_axes(
self.x_axis.mul(inv_scale.x).xyz(),
self.y_axis.mul(inv_scale.y).xyz(),
self.z_axis.mul(inv_scale.z).xyz(),
);
let translation = self.w_axis.xyz();
(scale, rotation, translation)
}
/// Creates an affine transformation matrix from the given `rotation` quaternion.
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
///
/// # Panics
///
/// Will panic if `rotation` is not normalized when `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn from_quat(rotation: Quat) -> Self {
let (x_axis, y_axis, z_axis) = Self::quat_to_axes(rotation);
Self::from_cols(x_axis, y_axis, z_axis, Vec4::W)
}
/// Creates an affine transformation matrix from the given 3x3 linear transformation
/// matrix.
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
#[inline]
#[must_use]
pub fn from_mat3(m: Mat3) -> Self {
Self::from_cols(
Vec4::from((m.x_axis, 0.0)),
Vec4::from((m.y_axis, 0.0)),
Vec4::from((m.z_axis, 0.0)),
Vec4::W,
)
}
/// Creates an affine transformation matrix from the given 3x3 linear transformation
/// matrix.
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
#[inline]
#[must_use]
pub fn from_mat3a(m: Mat3A) -> Self {
Self::from_cols(
Vec4::from((m.x_axis, 0.0)),
Vec4::from((m.y_axis, 0.0)),
Vec4::from((m.z_axis, 0.0)),
Vec4::W,
)
}
/// Creates an affine transformation matrix from the given 3D `translation`.
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
#[inline]
#[must_use]
pub fn from_translation(translation: Vec3) -> Self {
Self::from_cols(
Vec4::X,
Vec4::Y,
Vec4::Z,
Vec4::new(translation.x, translation.y, translation.z, 1.0),
)
}
/// Creates an affine transformation matrix containing a 3D rotation around a normalized
/// rotation `axis` of `angle` (in radians).
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
///
/// # Panics
///
/// Will panic if `axis` is not normalized when `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn from_axis_angle(axis: Vec3, angle: f32) -> Self {
glam_assert!(axis.is_normalized());
let (sin, cos) = math::sin_cos(angle);
let axis_sin = axis.mul(sin);
let axis_sq = axis.mul(axis);
let omc = 1.0 - cos;
let xyomc = axis.x * axis.y * omc;
let xzomc = axis.x * axis.z * omc;
let yzomc = axis.y * axis.z * omc;
Self::from_cols(
Vec4::new(
axis_sq.x * omc + cos,
xyomc + axis_sin.z,
xzomc - axis_sin.y,
0.0,
),
Vec4::new(
xyomc - axis_sin.z,
axis_sq.y * omc + cos,
yzomc + axis_sin.x,
0.0,
),
Vec4::new(
xzomc + axis_sin.y,
yzomc - axis_sin.x,
axis_sq.z * omc + cos,
0.0,
),
Vec4::W,
)
}
/// Creates a affine transformation matrix containing a rotation from the given euler
/// rotation sequence and angles (in radians).
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
#[inline]
#[must_use]
pub fn from_euler(order: EulerRot, a: f32, b: f32, c: f32) -> Self {
Self::from_euler_angles(order, a, b, c)
}
/// Extract Euler angles with the given Euler rotation order.
///
/// Note if the upper 3x3 matrix contain scales, shears, or other non-rotation transformations
/// then the resulting Euler angles will be ill-defined.
///
/// # Panics
///
/// Will panic if any column of the upper 3x3 rotation matrix is not normalized when
/// `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn to_euler(&self, order: EulerRot) -> (f32, f32, f32) {
glam_assert!(
self.x_axis.xyz().is_normalized()
&& self.y_axis.xyz().is_normalized()
&& self.z_axis.xyz().is_normalized()
);
self.to_euler_angles(order)
}
/// Creates an affine transformation matrix containing a 3D rotation around the x axis of
/// `angle` (in radians).
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
#[inline]
#[must_use]
pub fn from_rotation_x(angle: f32) -> Self {
let (sina, cosa) = math::sin_cos(angle);
Self::from_cols(
Vec4::X,
Vec4::new(0.0, cosa, sina, 0.0),
Vec4::new(0.0, -sina, cosa, 0.0),
Vec4::W,
)
}
/// Creates an affine transformation matrix containing a 3D rotation around the y axis of
/// `angle` (in radians).
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
#[inline]
#[must_use]
pub fn from_rotation_y(angle: f32) -> Self {
let (sina, cosa) = math::sin_cos(angle);
Self::from_cols(
Vec4::new(cosa, 0.0, -sina, 0.0),
Vec4::Y,
Vec4::new(sina, 0.0, cosa, 0.0),
Vec4::W,
)
}
/// Creates an affine transformation matrix containing a 3D rotation around the z axis of
/// `angle` (in radians).
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
#[inline]
#[must_use]
pub fn from_rotation_z(angle: f32) -> Self {
let (sina, cosa) = math::sin_cos(angle);
Self::from_cols(
Vec4::new(cosa, sina, 0.0, 0.0),
Vec4::new(-sina, cosa, 0.0, 0.0),
Vec4::Z,
Vec4::W,
)
}
/// Creates an affine transformation matrix containing the given 3D non-uniform `scale`.
///
/// The resulting matrix can be used to transform 3D points and vectors. See
/// [`Self::transform_point3()`] and [`Self::transform_vector3()`].
///
/// # Panics
///
/// Will panic if all elements of `scale` are zero when `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn from_scale(scale: Vec3) -> Self {
// Do not panic as long as any component is non-zero
glam_assert!(scale.cmpne(Vec3::ZERO).any());
Self::from_cols(
Vec4::new(scale.x, 0.0, 0.0, 0.0),
Vec4::new(0.0, scale.y, 0.0, 0.0),
Vec4::new(0.0, 0.0, scale.z, 0.0),
Vec4::W,
)
}
/// Creates a 4x4 matrix from the first 16 values in `slice`.
///
/// # Panics
///
/// Panics if `slice` is less than 16 elements long.
#[inline]
#[must_use]
pub const fn from_cols_slice(slice: &[f32]) -> Self {
Self::new(
slice[0], slice[1], slice[2], slice[3], slice[4], slice[5], slice[6], slice[7],
slice[8], slice[9], slice[10], slice[11], slice[12], slice[13], slice[14], slice[15],
)
}
/// Writes the columns of `self` to the first 16 elements in `slice`.
///
/// # Panics
///
/// Panics if `slice` is less than 16 elements long.
#[inline]
pub fn write_cols_to_slice(self, slice: &mut [f32]) {
slice[0] = self.x_axis.x;
slice[1] = self.x_axis.y;
slice[2] = self.x_axis.z;
slice[3] = self.x_axis.w;
slice[4] = self.y_axis.x;
slice[5] = self.y_axis.y;
slice[6] = self.y_axis.z;
slice[7] = self.y_axis.w;
slice[8] = self.z_axis.x;
slice[9] = self.z_axis.y;
slice[10] = self.z_axis.z;
slice[11] = self.z_axis.w;
slice[12] = self.w_axis.x;
slice[13] = self.w_axis.y;
slice[14] = self.w_axis.z;
slice[15] = self.w_axis.w;
}
/// Returns the matrix column for the given `index`.
///
/// # Panics
///
/// Panics if `index` is greater than 3.
#[inline]
#[must_use]
pub fn col(&self, index: usize) -> Vec4 {
match index {
0 => self.x_axis,
1 => self.y_axis,
2 => self.z_axis,
3 => self.w_axis,
_ => panic!("index out of bounds"),
}
}
/// Returns a mutable reference to the matrix column for the given `index`.
///
/// # Panics
///
/// Panics if `index` is greater than 3.
#[inline]
pub fn col_mut(&mut self, index: usize) -> &mut Vec4 {
match index {
0 => &mut self.x_axis,
1 => &mut self.y_axis,
2 => &mut self.z_axis,
3 => &mut self.w_axis,
_ => panic!("index out of bounds"),
}
}
/// Returns the matrix row for the given `index`.
///
/// # Panics
///
/// Panics if `index` is greater than 3.
#[inline]
#[must_use]
pub fn row(&self, index: usize) -> Vec4 {
match index {
0 => Vec4::new(self.x_axis.x, self.y_axis.x, self.z_axis.x, self.w_axis.x),
1 => Vec4::new(self.x_axis.y, self.y_axis.y, self.z_axis.y, self.w_axis.y),
2 => Vec4::new(self.x_axis.z, self.y_axis.z, self.z_axis.z, self.w_axis.z),
3 => Vec4::new(self.x_axis.w, self.y_axis.w, self.z_axis.w, self.w_axis.w),
_ => panic!("index out of bounds"),
}
}
/// Returns `true` if, and only if, all elements are finite.
/// If any element is either `NaN`, positive or negative infinity, this will return `false`.
#[inline]
#[must_use]
pub fn is_finite(&self) -> bool {
self.x_axis.is_finite()
&& self.y_axis.is_finite()
&& self.z_axis.is_finite()
&& self.w_axis.is_finite()
}
/// Returns `true` if any elements are `NaN`.
#[inline]
#[must_use]
pub fn is_nan(&self) -> bool {
self.x_axis.is_nan() || self.y_axis.is_nan() || self.z_axis.is_nan() || self.w_axis.is_nan()
}
/// Returns the transpose of `self`.
#[inline]
#[must_use]
pub fn transpose(&self) -> Self {
Self {
x_axis: Vec4::new(self.x_axis.x, self.y_axis.x, self.z_axis.x, self.w_axis.x),
y_axis: Vec4::new(self.x_axis.y, self.y_axis.y, self.z_axis.y, self.w_axis.y),
z_axis: Vec4::new(self.x_axis.z, self.y_axis.z, self.z_axis.z, self.w_axis.z),
w_axis: Vec4::new(self.x_axis.w, self.y_axis.w, self.z_axis.w, self.w_axis.w),
}
}
/// Returns the determinant of `self`.
#[must_use]
pub fn determinant(&self) -> f32 {
let (m00, m01, m02, m03) = self.x_axis.into();
let (m10, m11, m12, m13) = self.y_axis.into();
let (m20, m21, m22, m23) = self.z_axis.into();
let (m30, m31, m32, m33) = self.w_axis.into();
let a2323 = m22 * m33 - m23 * m32;
let a1323 = m21 * m33 - m23 * m31;
let a1223 = m21 * m32 - m22 * m31;
let a0323 = m20 * m33 - m23 * m30;
let a0223 = m20 * m32 - m22 * m30;
let a0123 = m20 * m31 - m21 * m30;
m00 * (m11 * a2323 - m12 * a1323 + m13 * a1223)
- m01 * (m10 * a2323 - m12 * a0323 + m13 * a0223)
+ m02 * (m10 * a1323 - m11 * a0323 + m13 * a0123)
- m03 * (m10 * a1223 - m11 * a0223 + m12 * a0123)
}
/// Returns the inverse of `self`.
///
/// If the matrix is not invertible the returned matrix will be invalid.
///
/// # Panics
///
/// Will panic if the determinant of `self` is zero when `glam_assert` is enabled.
#[must_use]
pub fn inverse(&self) -> Self {
unsafe {
// Based on https://github.com/g-truc/glm `glm_mat4_inverse`
let swizzle3377 = |a: float32x4_t, b: float32x4_t| -> float32x4_t {
let r = vuzp2q_f32(a, b);
vtrn2q_f32(r, r)
};
let swizzle2266 = |a: float32x4_t, b: float32x4_t| -> float32x4_t {
let r = vuzp1q_f32(a, b);
vtrn2q_f32(r, r)
};
let swizzle0046 = |a: float32x4_t, b: float32x4_t| -> float32x4_t {
let r = vuzp1q_f32(a, a);
vuzp1q_f32(r, b)
};
let swizzle1155 = |a: float32x4_t, b: float32x4_t| -> float32x4_t {
let r = vzip1q_f32(a, b);
vzip2q_f32(r, r)
};
let swizzle0044 = |a: float32x4_t, b: float32x4_t| -> float32x4_t {
let r = vuzp1q_f32(a, b);
vtrn1q_f32(r, r)
};
let swizzle0266 = |a: float32x4_t, b: float32x4_t| -> float32x4_t {
let r = vuzp1q_f32(a, b);
vsetq_lane_f32(vgetq_lane_f32(b, 2), r, 2)
};
let swizzle0246 = |a: float32x4_t, b: float32x4_t| -> float32x4_t { vuzp1q_f32(a, b) };
let fac0 = {
let swp0a = swizzle3377(self.w_axis.0, self.z_axis.0);
let swp0b = swizzle2266(self.w_axis.0, self.z_axis.0);
let swp00 = swizzle2266(self.z_axis.0, self.y_axis.0);
let swp01 = swizzle0046(swp0a, swp0a);
let swp02 = swizzle0046(swp0b, swp0b);
let swp03 = swizzle3377(self.z_axis.0, self.y_axis.0);
let mul00 = vmulq_f32(swp00, swp01);
let mul01 = vmulq_f32(swp02, swp03);
vsubq_f32(mul00, mul01)
};
let fac1 = {
let swp0a = swizzle3377(self.w_axis.0, self.z_axis.0);
let swp0b = swizzle1155(self.w_axis.0, self.z_axis.0);
let swp00 = swizzle1155(self.z_axis.0, self.y_axis.0);
let swp01 = swizzle0046(swp0a, swp0a);
let swp02 = swizzle0046(swp0b, swp0b);
let swp03 = swizzle3377(self.z_axis.0, self.y_axis.0);
let mul00 = vmulq_f32(swp00, swp01);
let mul01 = vmulq_f32(swp02, swp03);
vsubq_f32(mul00, mul01)
};
let fac2 = {
let swp0a = swizzle2266(self.w_axis.0, self.z_axis.0);
let swp0b = swizzle1155(self.w_axis.0, self.z_axis.0);
let swp00 = swizzle1155(self.z_axis.0, self.y_axis.0);
let swp01 = swizzle0046(swp0a, swp0a);
let swp02 = swizzle0046(swp0b, swp0b);
let swp03 = swizzle2266(self.z_axis.0, self.y_axis.0);
let mul00 = vmulq_f32(swp00, swp01);
let mul01 = vmulq_f32(swp02, swp03);
vsubq_f32(mul00, mul01)
};
let fac3 = {
let swp0a = swizzle3377(self.w_axis.0, self.z_axis.0);
let swp0b = swizzle0044(self.w_axis.0, self.z_axis.0);
let swp00 = swizzle0044(self.z_axis.0, self.y_axis.0);
let swp01 = swizzle0046(swp0a, swp0a);
let swp02 = swizzle0046(swp0b, swp0b);
let swp03 = swizzle3377(self.z_axis.0, self.y_axis.0);
let mul00 = vmulq_f32(swp00, swp01);
let mul01 = vmulq_f32(swp02, swp03);
vsubq_f32(mul00, mul01)
};
let fac4 = {
let swp0a = swizzle2266(self.w_axis.0, self.z_axis.0);
let swp0b = swizzle0044(self.w_axis.0, self.z_axis.0);
let swp00 = swizzle0044(self.z_axis.0, self.y_axis.0);
let swp01 = swizzle0046(swp0a, swp0a);
let swp02 = swizzle0046(swp0b, swp0b);
let swp03 = swizzle2266(self.z_axis.0, self.y_axis.0);
let mul00 = vmulq_f32(swp00, swp01);
let mul01 = vmulq_f32(swp02, swp03);
vsubq_f32(mul00, mul01)
};
let fac5 = {
let swp0a = swizzle1155(self.w_axis.0, self.z_axis.0);
let swp0b = swizzle0044(self.w_axis.0, self.z_axis.0);
let swp00 = swizzle0044(self.z_axis.0, self.y_axis.0);
let swp01 = swizzle0046(swp0a, swp0a);
let swp02 = swizzle0046(swp0b, swp0b);
let swp03 = swizzle1155(self.z_axis.0, self.y_axis.0);
let mul00 = vmulq_f32(swp00, swp01);
let mul01 = vmulq_f32(swp02, swp03);
vsubq_f32(mul00, mul01)
};
const SIGN_A: float32x4_t = Vec4::new(-1.0, 1.0, -1.0, 1.0).0;
const SIGN_B: float32x4_t = Vec4::new(1.0, -1.0, 1.0, -1.0).0;
let temp0 = swizzle0044(self.y_axis.0, self.x_axis.0);
let vec0 = swizzle0266(temp0, temp0);
let temp1 = swizzle1155(self.y_axis.0, self.x_axis.0);
let vec1 = swizzle0266(temp1, temp1);
let temp2 = swizzle2266(self.y_axis.0, self.x_axis.0);
let vec2 = swizzle0266(temp2, temp2);
let temp3 = swizzle3377(self.y_axis.0, self.x_axis.0);
let vec3 = swizzle0266(temp3, temp3);
let mul00 = vmulq_f32(vec1, fac0);
let mul01 = vmulq_f32(vec2, fac1);
let mul02 = vmulq_f32(vec3, fac2);
let sub00 = vsubq_f32(mul00, mul01);
let add00 = vaddq_f32(sub00, mul02);
let inv0 = vmulq_f32(SIGN_B, add00);
let mul03 = vmulq_f32(vec0, fac0);
let mul04 = vmulq_f32(vec2, fac3);
let mul05 = vmulq_f32(vec3, fac4);
let sub01 = vsubq_f32(mul03, mul04);
let add01 = vaddq_f32(sub01, mul05);
let inv1 = vmulq_f32(SIGN_A, add01);
let mul06 = vmulq_f32(vec0, fac1);
let mul07 = vmulq_f32(vec1, fac3);
let mul08 = vmulq_f32(vec3, fac5);
let sub02 = vsubq_f32(mul06, mul07);
let add02 = vaddq_f32(sub02, mul08);
let inv2 = vmulq_f32(SIGN_B, add02);
let mul09 = vmulq_f32(vec0, fac2);
let mul10 = vmulq_f32(vec1, fac4);
let mul11 = vmulq_f32(vec2, fac5);
let sub03 = vsubq_f32(mul09, mul10);
let add03 = vaddq_f32(sub03, mul11);
let inv3 = vmulq_f32(SIGN_A, add03);
let row0 = swizzle0044(inv0, inv1);
let row1 = swizzle0044(inv2, inv3);
let row2 = swizzle0246(row0, row1);
let dot0 = dot4(self.x_axis.0, row2);
glam_assert!(dot0 != 0.0);
let rcp0 = dot0.recip();
Self {
x_axis: Vec4(vmulq_n_f32(inv0, rcp0)),
y_axis: Vec4(vmulq_n_f32(inv1, rcp0)),
z_axis: Vec4(vmulq_n_f32(inv2, rcp0)),
w_axis: Vec4(vmulq_n_f32(inv3, rcp0)),
}
}
}
/// Creates a left-handed view matrix using a camera position, an up direction, and a facing
/// direction.
///
/// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
#[inline]
#[must_use]
pub fn look_to_lh(eye: Vec3, dir: Vec3, up: Vec3) -> Self {
Self::look_to_rh(eye, -dir, up)
}
/// Creates a right-handed view matrix using a camera position, an up direction, and a facing
/// direction.
///
/// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
#[inline]
#[must_use]
pub fn look_to_rh(eye: Vec3, dir: Vec3, up: Vec3) -> Self {
let f = dir.normalize();
let s = f.cross(up).normalize();
let u = s.cross(f);
Self::from_cols(
Vec4::new(s.x, u.x, -f.x, 0.0),
Vec4::new(s.y, u.y, -f.y, 0.0),
Vec4::new(s.z, u.z, -f.z, 0.0),
Vec4::new(-eye.dot(s), -eye.dot(u), eye.dot(f), 1.0),
)
}
/// Creates a left-handed view matrix using a camera position, an up direction, and a focal
/// point.
/// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=forward`.
///
/// # Panics
///
/// Will panic if `up` is not normalized when `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn look_at_lh(eye: Vec3, center: Vec3, up: Vec3) -> Self {
glam_assert!(up.is_normalized());
Self::look_to_lh(eye, center.sub(eye), up)
}
/// Creates a right-handed view matrix using a camera position, an up direction, and a focal
/// point.
/// For a view coordinate system with `+X=right`, `+Y=up` and `+Z=back`.
///
/// # Panics
///
/// Will panic if `up` is not normalized when `glam_assert` is enabled.
#[inline]
pub fn look_at_rh(eye: Vec3, center: Vec3, up: Vec3) -> Self {
glam_assert!(up.is_normalized());
Self::look_to_rh(eye, center.sub(eye), up)
}
/// Creates a right-handed perspective projection matrix with `[-1,1]` depth range.
///
/// Useful to map the standard right-handed coordinate system into what OpenGL expects.
///
/// This is the same as the OpenGL `gluPerspective` function.
/// See <https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/gluPerspective.xml>
#[inline]
#[must_use]
pub fn perspective_rh_gl(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32,
z_far: f32,
) -> Self {
let inv_length = 1.0 / (z_near - z_far);
let f = 1.0 / math::tan(0.5 * fov_y_radians);
let a = f / aspect_ratio;
let b = (z_near + z_far) * inv_length;
let c = (2.0 * z_near * z_far) * inv_length;
Self::from_cols(
Vec4::new(a, 0.0, 0.0, 0.0),
Vec4::new(0.0, f, 0.0, 0.0),
Vec4::new(0.0, 0.0, b, -1.0),
Vec4::new(0.0, 0.0, c, 0.0),
)
}
/// Creates a left-handed perspective projection matrix with `[0,1]` depth range.
///
/// Useful to map the standard left-handed coordinate system into what WebGPU/Metal/Direct3D expect.
///
/// # Panics
///
/// Will panic if `z_near` or `z_far` are less than or equal to zero when `glam_assert` is
/// enabled.
#[inline]
#[must_use]
pub fn perspective_lh(fov_y_radians: f32, aspect_ratio: f32, z_near: f32, z_far: f32) -> Self {
glam_assert!(z_near > 0.0 && z_far > 0.0);
let (sin_fov, cos_fov) = math::sin_cos(0.5 * fov_y_radians);
let h = cos_fov / sin_fov;
let w = h / aspect_ratio;
let r = z_far / (z_far - z_near);
Self::from_cols(
Vec4::new(w, 0.0, 0.0, 0.0),
Vec4::new(0.0, h, 0.0, 0.0),
Vec4::new(0.0, 0.0, r, 1.0),
Vec4::new(0.0, 0.0, -r * z_near, 0.0),
)
}
/// Creates a right-handed perspective projection matrix with `[0,1]` depth range.
///
/// Useful to map the standard right-handed coordinate system into what WebGPU/Metal/Direct3D expect.
///
/// # Panics
///
/// Will panic if `z_near` or `z_far` are less than or equal to zero when `glam_assert` is
/// enabled.
#[inline]
#[must_use]
pub fn perspective_rh(fov_y_radians: f32, aspect_ratio: f32, z_near: f32, z_far: f32) -> Self {
glam_assert!(z_near > 0.0 && z_far > 0.0);
let (sin_fov, cos_fov) = math::sin_cos(0.5 * fov_y_radians);
let h = cos_fov / sin_fov;
let w = h / aspect_ratio;
let r = z_far / (z_near - z_far);
Self::from_cols(
Vec4::new(w, 0.0, 0.0, 0.0),
Vec4::new(0.0, h, 0.0, 0.0),
Vec4::new(0.0, 0.0, r, -1.0),
Vec4::new(0.0, 0.0, r * z_near, 0.0),
)
}
/// Creates an infinite left-handed perspective projection matrix with `[0,1]` depth range.
///
/// Like `perspective_lh`, but with an infinite value for `z_far`.
/// The result is that points near `z_near` are mapped to depth `0`, and as they move towards infinity the depth approaches `1`.
///
/// # Panics
///
/// Will panic if `z_near` or `z_far` are less than or equal to zero when `glam_assert` is
/// enabled.
#[inline]
#[must_use]
pub fn perspective_infinite_lh(fov_y_radians: f32, aspect_ratio: f32, z_near: f32) -> Self {
glam_assert!(z_near > 0.0);
let (sin_fov, cos_fov) = math::sin_cos(0.5 * fov_y_radians);
let h = cos_fov / sin_fov;
let w = h / aspect_ratio;
Self::from_cols(
Vec4::new(w, 0.0, 0.0, 0.0),
Vec4::new(0.0, h, 0.0, 0.0),
Vec4::new(0.0, 0.0, 1.0, 1.0),
Vec4::new(0.0, 0.0, -z_near, 0.0),
)
}
/// Creates an infinite reverse left-handed perspective projection matrix with `[0,1]` depth range.
///
/// Similar to `perspective_infinite_lh`, but maps `Z = z_near` to a depth of `1` and `Z = infinity` to a depth of `0`.
///
/// # Panics
///
/// Will panic if `z_near` is less than or equal to zero when `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn perspective_infinite_reverse_lh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32,
) -> Self {
glam_assert!(z_near > 0.0);
let (sin_fov, cos_fov) = math::sin_cos(0.5 * fov_y_radians);
let h = cos_fov / sin_fov;
let w = h / aspect_ratio;
Self::from_cols(
Vec4::new(w, 0.0, 0.0, 0.0),
Vec4::new(0.0, h, 0.0, 0.0),
Vec4::new(0.0, 0.0, 0.0, 1.0),
Vec4::new(0.0, 0.0, z_near, 0.0),
)
}
/// Creates an infinite right-handed perspective projection matrix with `[0,1]` depth range.
///
/// Like `perspective_rh`, but with an infinite value for `z_far`.
/// The result is that points near `z_near` are mapped to depth `0`, and as they move towards infinity the depth approaches `1`.
///
/// # Panics
///
/// Will panic if `z_near` or `z_far` are less than or equal to zero when `glam_assert` is
/// enabled.
#[inline]
#[must_use]
pub fn perspective_infinite_rh(fov_y_radians: f32, aspect_ratio: f32, z_near: f32) -> Self {
glam_assert!(z_near > 0.0);
let f = 1.0 / math::tan(0.5 * fov_y_radians);
Self::from_cols(
Vec4::new(f / aspect_ratio, 0.0, 0.0, 0.0),
Vec4::new(0.0, f, 0.0, 0.0),
Vec4::new(0.0, 0.0, -1.0, -1.0),
Vec4::new(0.0, 0.0, -z_near, 0.0),
)
}
/// Creates an infinite reverse right-handed perspective projection matrix with `[0,1]` depth range.
///
/// Similar to `perspective_infinite_rh`, but maps `Z = z_near` to a depth of `1` and `Z = infinity` to a depth of `0`.
///
/// # Panics
///
/// Will panic if `z_near` is less than or equal to zero when `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn perspective_infinite_reverse_rh(
fov_y_radians: f32,
aspect_ratio: f32,
z_near: f32,
) -> Self {
glam_assert!(z_near > 0.0);
let f = 1.0 / math::tan(0.5 * fov_y_radians);
Self::from_cols(
Vec4::new(f / aspect_ratio, 0.0, 0.0, 0.0),
Vec4::new(0.0, f, 0.0, 0.0),
Vec4::new(0.0, 0.0, 0.0, -1.0),
Vec4::new(0.0, 0.0, z_near, 0.0),
)
}
/// Creates a right-handed orthographic projection matrix with `[-1,1]` depth
/// range. This is the same as the OpenGL `glOrtho` function in OpenGL.
/// See
/// <https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/glOrtho.xml>
///
/// Useful to map a right-handed coordinate system to the normalized device coordinates that OpenGL expects.
#[inline]
#[must_use]
pub fn orthographic_rh_gl(
left: f32,
right: f32,
bottom: f32,
top: f32,
near: f32,
far: f32,
) -> Self {
let a = 2.0 / (right - left);
let b = 2.0 / (top - bottom);
let c = -2.0 / (far - near);
let tx = -(right + left) / (right - left);
let ty = -(top + bottom) / (top - bottom);
let tz = -(far + near) / (far - near);
Self::from_cols(
Vec4::new(a, 0.0, 0.0, 0.0),
Vec4::new(0.0, b, 0.0, 0.0),
Vec4::new(0.0, 0.0, c, 0.0),
Vec4::new(tx, ty, tz, 1.0),
)
}
/// Creates a left-handed orthographic projection matrix with `[0,1]` depth range.
///
/// Useful to map a left-handed coordinate system to the normalized device coordinates that WebGPU/Direct3D/Metal expect.
#[inline]
#[must_use]
pub fn orthographic_lh(
left: f32,
right: f32,
bottom: f32,
top: f32,
near: f32,
far: f32,
) -> Self {
let rcp_width = 1.0 / (right - left);
let rcp_height = 1.0 / (top - bottom);
let r = 1.0 / (far - near);
Self::from_cols(
Vec4::new(rcp_width + rcp_width, 0.0, 0.0, 0.0),
Vec4::new(0.0, rcp_height + rcp_height, 0.0, 0.0),
Vec4::new(0.0, 0.0, r, 0.0),
Vec4::new(
-(left + right) * rcp_width,
-(top + bottom) * rcp_height,
-r * near,
1.0,
),
)
}
/// Creates a right-handed orthographic projection matrix with `[0,1]` depth range.
///
/// Useful to map a right-handed coordinate system to the normalized device coordinates that WebGPU/Direct3D/Metal expect.
#[inline]
#[must_use]
pub fn orthographic_rh(
left: f32,
right: f32,
bottom: f32,
top: f32,
near: f32,
far: f32,
) -> Self {
let rcp_width = 1.0 / (right - left);
let rcp_height = 1.0 / (top - bottom);
let r = 1.0 / (near - far);
Self::from_cols(
Vec4::new(rcp_width + rcp_width, 0.0, 0.0, 0.0),
Vec4::new(0.0, rcp_height + rcp_height, 0.0, 0.0),
Vec4::new(0.0, 0.0, r, 0.0),
Vec4::new(
-(left + right) * rcp_width,
-(top + bottom) * rcp_height,
r * near,
1.0,
),
)
}
/// Transforms the given 3D vector as a point, applying perspective correction.
///
/// This is the equivalent of multiplying the 3D vector as a 4D vector where `w` is `1.0`.
/// The perspective divide is performed meaning the resulting 3D vector is divided by `w`.
///
/// This method assumes that `self` contains a projective transform.
#[inline]
#[must_use]
pub fn project_point3(&self, rhs: Vec3) -> Vec3 {
let mut res = self.x_axis.mul(rhs.x);
res = self.y_axis.mul(rhs.y).add(res);
res = self.z_axis.mul(rhs.z).add(res);
res = self.w_axis.add(res);
res = res.div(res.w);
res.xyz()
}
/// Transforms the given 3D vector as a point.
///
/// This is the equivalent of multiplying the 3D vector as a 4D vector where `w` is
/// `1.0`.
///
/// This method assumes that `self` contains a valid affine transform. It does not perform
/// a perspective divide, if `self` contains a perspective transform, or if you are unsure,
/// the [`Self::project_point3()`] method should be used instead.
///
/// # Panics
///
/// Will panic if the 3rd row of `self` is not `(0, 0, 0, 1)` when `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn transform_point3(&self, rhs: Vec3) -> Vec3 {
glam_assert!(self.row(3).abs_diff_eq(Vec4::W, 1e-6));
let mut res = self.x_axis.mul(rhs.x);
res = self.y_axis.mul(rhs.y).add(res);
res = self.z_axis.mul(rhs.z).add(res);
res = self.w_axis.add(res);
res.xyz()
}
/// Transforms the give 3D vector as a direction.
///
/// This is the equivalent of multiplying the 3D vector as a 4D vector where `w` is
/// `0.0`.
///
/// This method assumes that `self` contains a valid affine transform.
///
/// # Panics
///
/// Will panic if the 3rd row of `self` is not `(0, 0, 0, 1)` when `glam_assert` is enabled.
#[inline]
#[must_use]
pub fn transform_vector3(&self, rhs: Vec3) -> Vec3 {
glam_assert!(self.row(3).abs_diff_eq(Vec4::W, 1e-6));
let mut res = self.x_axis.mul(rhs.x);
res = self.y_axis.mul(rhs.y).add(res);
res = self.z_axis.mul(rhs.z).add(res);
res.xyz()
}
/// Transforms the given [`Vec3A`] as a 3D point, applying perspective correction.
///
/// This is the equivalent of multiplying the [`Vec3A`] as a 4D vector where `w` is `1.0`.
/// The perspective divide is performed meaning the resulting 3D vector is divided by `w`.
///
/// This method assumes that `self` contains a projective transform.
#[inline]
#[must_use]
pub fn project_point3a(&self, rhs: Vec3A) -> Vec3A {
let mut res = self.x_axis.mul(rhs.xxxx());
res = self.y_axis.mul(rhs.yyyy()).add(res);
res = self.z_axis.mul(rhs.zzzz()).add(res);
res = self.w_axis.add(res);
res = res.div(res.wwww());
Vec3A::from_vec4(res)
}
/// Transforms the given [`Vec3A`] as 3D point.
///
/// This is the equivalent of multiplying the [`Vec3A`] as a 4D vector where `w` is `1.0`.
#[inline]
#[must_use]
pub fn transform_point3a(&self, rhs: Vec3A) -> Vec3A {
glam_assert!(self.row(3).abs_diff_eq(Vec4::W, 1e-6));
let mut res = self.x_axis.mul(rhs.xxxx());
res = self.y_axis.mul(rhs.yyyy()).add(res);
res = self.z_axis.mul(rhs.zzzz()).add(res);
res = self.w_axis.add(res);
Vec3A::from_vec4(res)
}
/// Transforms the give [`Vec3A`] as 3D vector.
///
/// This is the equivalent of multiplying the [`Vec3A`] as a 4D vector where `w` is `0.0`.
#[inline]
#[must_use]
pub fn transform_vector3a(&self, rhs: Vec3A) -> Vec3A {
glam_assert!(self.row(3).abs_diff_eq(Vec4::W, 1e-6));
let mut res = self.x_axis.mul(rhs.xxxx());
res = self.y_axis.mul(rhs.yyyy()).add(res);
res = self.z_axis.mul(rhs.zzzz()).add(res);
Vec3A::from_vec4(res)
}
/// Transforms a 4D vector.
#[inline]
#[must_use]
pub fn mul_vec4(&self, rhs: Vec4) -> Vec4 {
let mut res = self.x_axis.mul(rhs.xxxx());
res = res.add(self.y_axis.mul(rhs.yyyy()));
res = res.add(self.z_axis.mul(rhs.zzzz()));
res = res.add(self.w_axis.mul(rhs.wwww()));
res
}
/// Multiplies two 4x4 matrices.
#[inline]
#[must_use]
pub fn mul_mat4(&self, rhs: &Self) -> Self {
Self::from_cols(
self.mul(rhs.x_axis),
self.mul(rhs.y_axis),
self.mul(rhs.z_axis),
self.mul(rhs.w_axis),
)
}
/// Adds two 4x4 matrices.
#[inline]
#[must_use]
pub fn add_mat4(&self, rhs: &Self) -> Self {
Self::from_cols(
self.x_axis.add(rhs.x_axis),
self.y_axis.add(rhs.y_axis),
self.z_axis.add(rhs.z_axis),
self.w_axis.add(rhs.w_axis),
)
}
/// Subtracts two 4x4 matrices.
#[inline]
#[must_use]
pub fn sub_mat4(&self, rhs: &Self) -> Self {
Self::from_cols(
self.x_axis.sub(rhs.x_axis),
self.y_axis.sub(rhs.y_axis),
self.z_axis.sub(rhs.z_axis),
self.w_axis.sub(rhs.w_axis),
)
}
/// Multiplies a 4x4 matrix by a scalar.
#[inline]
#[must_use]
pub fn mul_scalar(&self, rhs: f32) -> Self {
Self::from_cols(
self.x_axis.mul(rhs),
self.y_axis.mul(rhs),
self.z_axis.mul(rhs),
self.w_axis.mul(rhs),
)
}
/// Divides a 4x4 matrix by a scalar.
#[inline]
#[must_use]
pub fn div_scalar(&self, rhs: f32) -> Self {
let rhs = Vec4::splat(rhs);
Self::from_cols(
self.x_axis.div(rhs),
self.y_axis.div(rhs),
self.z_axis.div(rhs),
self.w_axis.div(rhs),
)
}
/// Returns true if the absolute difference of all elements between `self` and `rhs`
/// is less than or equal to `max_abs_diff`.
///
/// This can be used to compare if two matrices contain similar elements. It works best
/// when comparing with a known value. The `max_abs_diff` that should be used used
/// depends on the values being compared against.
///
/// For more see
/// [comparing floating point numbers](https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/).
#[inline]
#[must_use]
pub fn abs_diff_eq(&self, rhs: Self, max_abs_diff: f32) -> bool {
self.x_axis.abs_diff_eq(rhs.x_axis, max_abs_diff)
&& self.y_axis.abs_diff_eq(rhs.y_axis, max_abs_diff)
&& self.z_axis.abs_diff_eq(rhs.z_axis, max_abs_diff)
&& self.w_axis.abs_diff_eq(rhs.w_axis, max_abs_diff)
}
/// Takes the absolute value of each element in `self`
#[inline]
#[must_use]
pub fn abs(&self) -> Self {
Self::from_cols(
self.x_axis.abs(),
self.y_axis.abs(),
self.z_axis.abs(),
self.w_axis.abs(),
)
}
#[inline]
pub fn as_dmat4(&self) -> DMat4 {
DMat4::from_cols(
self.x_axis.as_dvec4(),
self.y_axis.as_dvec4(),
self.z_axis.as_dvec4(),
self.w_axis.as_dvec4(),
)
}
}
impl Default for Mat4 {
#[inline]
fn default() -> Self {
Self::IDENTITY
}
}
impl Add<Mat4> for Mat4 {
type Output = Self;
#[inline]
fn add(self, rhs: Self) -> Self::Output {
self.add_mat4(&rhs)
}
}
impl AddAssign<Mat4> for Mat4 {
#[inline]
fn add_assign(&mut self, rhs: Self) {
*self = self.add_mat4(&rhs);
}
}
impl Sub<Mat4> for Mat4 {
type Output = Self;
#[inline]
fn sub(self, rhs: Self) -> Self::Output {
self.sub_mat4(&rhs)
}
}
impl SubAssign<Mat4> for Mat4 {
#[inline]
fn sub_assign(&mut self, rhs: Self) {
*self = self.sub_mat4(&rhs);
}
}
impl Neg for Mat4 {
type Output = Self;
#[inline]
fn neg(self) -> Self::Output {
Self::from_cols(
self.x_axis.neg(),
self.y_axis.neg(),
self.z_axis.neg(),
self.w_axis.neg(),
)
}
}
impl Mul<Mat4> for Mat4 {
type Output = Self;
#[inline]
fn mul(self, rhs: Self) -> Self::Output {
self.mul_mat4(&rhs)
}
}
impl MulAssign<Mat4> for Mat4 {
#[inline]
fn mul_assign(&mut self, rhs: Self) {
*self = self.mul_mat4(&rhs);
}
}
impl Mul<Vec4> for Mat4 {
type Output = Vec4;
#[inline]
fn mul(self, rhs: Vec4) -> Self::Output {
self.mul_vec4(rhs)
}
}
impl Mul<Mat4> for f32 {
type Output = Mat4;
#[inline]
fn mul(self, rhs: Mat4) -> Self::Output {
rhs.mul_scalar(self)
}
}
impl Mul<f32> for Mat4 {
type Output = Self;
#[inline]
fn mul(self, rhs: f32) -> Self::Output {
self.mul_scalar(rhs)
}
}
impl MulAssign<f32> for Mat4 {
#[inline]
fn mul_assign(&mut self, rhs: f32) {
*self = self.mul_scalar(rhs);
}
}
impl Div<Mat4> for f32 {
type Output = Mat4;
#[inline]
fn div(self, rhs: Mat4) -> Self::Output {
rhs.div_scalar(self)
}
}
impl Div<f32> for Mat4 {
type Output = Self;
#[inline]
fn div(self, rhs: f32) -> Self::Output {
self.div_scalar(rhs)
}
}
impl DivAssign<f32> for Mat4 {
#[inline]
fn div_assign(&mut self, rhs: f32) {
*self = self.div_scalar(rhs);
}
}
impl Sum<Self> for Mat4 {
fn sum<I>(iter: I) -> Self
where
I: Iterator<Item = Self>,
{
iter.fold(Self::ZERO, Self::add)
}
}
impl<'a> Sum<&'a Self> for Mat4 {
fn sum<I>(iter: I) -> Self
where
I: Iterator<Item = &'a Self>,
{
iter.fold(Self::ZERO, |a, &b| Self::add(a, b))
}
}
impl Product for Mat4 {
fn product<I>(iter: I) -> Self
where
I: Iterator<Item = Self>,
{
iter.fold(Self::IDENTITY, Self::mul)
}
}
impl<'a> Product<&'a Self> for Mat4 {
fn product<I>(iter: I) -> Self
where
I: Iterator<Item = &'a Self>,
{
iter.fold(Self::IDENTITY, |a, &b| Self::mul(a, b))
}
}
impl PartialEq for Mat4 {
#[inline]
fn eq(&self, rhs: &Self) -> bool {
self.x_axis.eq(&rhs.x_axis)
&& self.y_axis.eq(&rhs.y_axis)
&& self.z_axis.eq(&rhs.z_axis)
&& self.w_axis.eq(&rhs.w_axis)
}
}
#[cfg(not(target_arch = "spirv"))]
impl AsRef<[f32; 16]> for Mat4 {
#[inline]
fn as_ref(&self) -> &[f32; 16] {
unsafe { &*(self as *const Self as *const [f32; 16]) }
}
}
#[cfg(not(target_arch = "spirv"))]
impl AsMut<[f32; 16]> for Mat4 {
#[inline]
fn as_mut(&mut self) -> &mut [f32; 16] {
unsafe { &mut *(self as *mut Self as *mut [f32; 16]) }
}
}
impl fmt::Debug for Mat4 {
fn fmt(&self, fmt: &mut fmt::Formatter<'_>) -> fmt::Result {
fmt.debug_struct(stringify!(Mat4))
.field("x_axis", &self.x_axis)
.field("y_axis", &self.y_axis)
.field("z_axis", &self.z_axis)
.field("w_axis", &self.w_axis)
.finish()
}
}
impl fmt::Display for Mat4 {
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
if let Some(p) = f.precision() {
write!(
f,
"[{:.*}, {:.*}, {:.*}, {:.*}]",
p, self.x_axis, p, self.y_axis, p, self.z_axis, p, self.w_axis
)
} else {
write!(
f,
"[{}, {}, {}, {}]",
self.x_axis, self.y_axis, self.z_axis, self.w_axis
)
}
}
}