feat(vec3): add a few basic functions

src/math/vec3.c

@@ -1,18 +1,12 @@
-//
-//  vec3.c
-//  main
-//
-//  Created by Loïc GUEZO on 21/06/2025.
-//
-
 #include "vec3.h"
-#include "mconfig.h"
 
-#define VEC_SIZE 3
+#define VEC_SIZE 4
 
 Vec3f_t vec3f(float x, float y, float z)
 {
-    return (Vec3f_t){.x = x, .y = y, .z = z};
+    Vec3f_t vec = {.x = x, .y = y, .z = z};
+    vec.data[3] = 0.f;
+    return vec;
 }
 
 Vec3f_t vec3f_from_array(const float *__restrict val)
@@ -25,7 +19,7 @@ Vec3f_t vec3f_from_array(const float *__restrict val)
     float32x4_t arr = vld1q_f32(val);
     vst1q_f32(vec.data, arr);
 #else
-    for (int i = 0; i < VEC_SIZE; i++) {
+    for(int i = 0; i<VEC_SIZE; i++) {
         vec.data[i] = val[i];
     }
 #endif
@@ -34,19 +28,25 @@ Vec3f_t vec3f_from_array(const float *__restrict val)
 
 Vec3f_t vec3f_scalar(float f)
 {
-    Vec3f_t vec;
+    Vec3f_t vec4;
+
+// store f x 4 in register
+// add all register into data
 #if defined(SIMD_X86)
     __m128 scalar = _mm_set1_ps(f);
-    _mm_store_ps(vec.data, scalar);
+    _mm_store_ps(vec4.data, scalar);
+
 #elif defined(SIMD_ARCH)
     float32x4_t scalar = vdupq_n_f32(f);
-    vst1q_f32(vec.data, scalar);
+    vst1q_f32(vec4.data, scalar);
+
+// add one by one each value to their specific address
 #else
     for (int i = 0; i < VEC_SIZE; i++) {
-        vec.data[i] = f;
+        vec4.data[i] = f;
     }
 #endif
-    return vec;
+    return vec4;
 }
 
 Vec3f_t vec3f_zero(void)
@@ -54,87 +54,187 @@ Vec3f_t vec3f_zero(void)
     return vec3f_scalar(0.f);
 }
 
-Vec3f_t vec3f_add_r(Vec3f_t *__restrict out, Vec3f_t a)
+Vec3f_t* vec3f_add_r(Vec3f_t *__restrict out, Vec3f_t a)
 {
 #if defined (SIMD_X86)
     __m128 va = _mm_load_ps(a.data);
     __m128 vb = _mm_load_ps(out->data);
     __m128 vres = _mm_add_ps(va, vb);
     _mm_store_ps(out->data, vres);
+
 #elif defined (SIMD_ARCH)
     float32x4_t va = vld1q_f32(a.data);
     float32x4_t vb = vld1q_f32(out->data);
     float32x4_t vres = vaddq_f32(va, vb);
     vst1q_f32(out->data, vres);
 #else
-    for (int i = 0; i < VEC_SIZE; i++) {
+    for(int i = 0; i<VEC_SIZE; i++) {
         out->data[i] += a.data[i];
     }
 #endif
-    return *out;
+    return out;
 }
 
 Vec3f_t vec3f_add(Vec3f_t a, Vec3f_t b)
 {
-    return vec3f_add_r(&a, b);
+    vec3f_add_r(&a, b);
+    return a;
 }
 
-Vec3f_t vec3f_sub_r(Vec3f_t *__restrict out, Vec3f_t a)
+Vec3f_t* vec3f_sub_r(Vec3f_t *__restrict out, Vec3f_t a)
 {
 #if defined (SIMD_X86)
     __m128 va = _mm_load_ps(out->data);
     __m128 vb = _mm_load_ps(a.data);
     __m128 vres = _mm_sub_ps(va, vb);
     _mm_store_ps(out->data, vres);
+
 #elif defined (SIMD_ARCH)
     float32x4_t va = vld1q_f32(out->data);
     float32x4_t vb = vld1q_f32(a.data);
     float32x4_t vres = vsubq_f32(va, vb);
     vst1q_f32(out->data, vres);
+
 #else
-    for (int i = 0; i < VEC_SIZE; i++) {
+    for(int i = 0; i<VEC_SIZE; i++) {
         out->data[i] -= a.data[i];
     }
 #endif
-    return *out;
+    return out;
 }
 
 Vec3f_t vec3f_sub(Vec3f_t a, Vec3f_t b)
 {
-    return vec3f_sub_r(&a, b);
+    vec3f_sub_r(&a, b);
+    return a;
 }
 
-Vec3f_t vec3f_scale_r(Vec3f_t *__restrict out, float scalar)
+Vec3f_t* vec3f_scale_r(Vec3f_t *__restrict out, float scalar)
 {
 #if defined (SIMD_X86)
     __m128 va = _mm_load_ps(out->data);
     __m128 vb = _mm_set1_ps(scalar);
     __m128 vres = _mm_mul_ps(va, vb);
     _mm_store_ps(out->data, vres);
+
 #elif defined (SIMD_ARCH)
     float32x4_t va = vld1q_f32(out->data);
     float32x4_t vb = vdupq_n_f32(scalar);
     float32x4_t vres = vmulq_f32(va, vb);
     vst1q_f32(out->data, vres);
 #else
-    for (int i = 0; i < VEC_SIZE; i++) {
+    for(int i = 0; i<4; i++) {
         out->data[i] *= scalar;
     }
 #endif
-    return *out;
+    return out;
 }
 
 Vec3f_t vec3f_scale(Vec3f_t a, float scalar)
 {
-    return vec3f_scale_r(&a, scalar);
+    vec3f_scale_r(&a, scalar);
+    return a;
 }
 
+float vec3f_dot(Vec3f_t a, Vec3f_t b)
+{
+#if defined (SIMD_X86)
+    __m128 va = _mm_load_ps(a.data);
+    __m128 vb = _mm_load_ps(b.data);
+    __m128 vmul = _mm_mul_ps(va, vb);
 
-//Vec3f_t vec3f_add_r(Vec3f_t *__restrict out, Vec3f_t a);
+    __m128 shuf = _mm_shuffle_ps(vmul, vmul, _MM_SHUFFLE(2, 3, 0, 1)); // [y, y, w, w]
-//Vec3f_t vec3f_add(Vec3f_t a, Vec3f_t b);
+    __m128 sum = _mm_add_ps(vmul, shuf); // [x+y, y+y, z+w, w+w]
-//
+
-//Vec3f_t vec3f_sub_r(Vec3f_t *__restrict out, Vec3f_t a);
+    shuf = _mm_movehl_ps(shuf, sum); // [z+w, w+w, w, w]
-//Vec3f_t vec3f_sub(Vec3f_t a, Vec3f_t b);
+    sum = _mm_add_ss(sum, shuf); // [x+y+z+w, y+y, z+w, w+w]
-//
+
-//Vec3f_t vec3f_scale_r(Vec3f_t *__restrict out, float scale);
+    return _mm_cvtss_f32(sum);
-//Vec3f_t vec3f_scale(Vec3f_t a, float scale);
+    
+#elif defined (SIMD_ARCH)
+    float32x4_t va = vld1q_f32(a.data);
+    float32x4_t vb = vld1q_f32(b.data);
+    
+    float32x4_t vmul = vmulq_f32(va, vb);
+    float32x2_t sum_pair = vadd_f32(vget_low_f32(vmul), vget_high_f32(vmul));
+    float32x2_t final_sum = vpadd_f32(sum_pair, sum_pair);
+    
+    return vget_lane_f32(final_sum, 0);
+#else
+    return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
+#endif
+}
+
+Vec3f_t* vec3f_norm_r(Vec3f_t *__restrict v)
+{
+    float length = vec3f_len(*v);
+    if (length < FLT_EPSILON) *v = vec3f_zero();
+    vec3f_scale_r(v, 1.f / length);
+    return v;
+}
+
+Vec3f_t vec3f_norm(Vec3f_t v)
+{
+    vec3f_norm_r(&v);
+    return v;
+}
+
+Vec3f_t* vec3f_lerp_r(Vec3f_t *__restrict a, Vec3f_t b, float t)
+{
+    t = fmaxf(0.f, fminf(t, 1.f));
+    
+    a->x += t * (b.x - a->x);
+    a->y += t * (b.y - a->y);
+    a->z += t * (b.z - a->z);
+    
+    return a;
+}
+
+Vec3f_t vec3f_lerp(Vec3f_t a, Vec3f_t b, float t)
+{
+    vec3f_lerp_r(&a, b, t);
+    return a;
+}
+
+ float vec3f_angle(Vec3f_t a, Vec3f_t b)
+ {
+     float lenA = vec3f_len(a);
+     float lenB = vec3f_len(b);
+
+     if (isnan(lenA) || isnan(lenB)
+         || lenA < FLT_EPSILON
+         || lenB < FLT_EPSILON)
+         return NAN;
+
+     float dot = vec3f_dot(a, b);
+     float cosTheta = dot / (lenA * lenB);
+
+     cosTheta = fmaxf(-1.f, fminf(cosTheta, 1.f));
+
+     return acosf(cosTheta);
+ }
+
+
+ Vec3f_t vec3f_proj(Vec3f_t a, Vec3f_t b)
+ {
+     float dotA = vec3f_dot(a, b);
+     float dotB = vec3f_dot(b, b);
+
+     float scale = dotA / dotB;
+     return vec3f_scale(b, scale);
+ }
+
+ Vec3f_t vec3f_refl(Vec3f_t v, Vec3f_t normal)
+ {
+     Vec3f_t proj = vec3f_proj(v, normal);
+     Vec3f_t scal = vec3f_scale(proj, 2.f);
+     Vec3f_t rlt = vec3f_sub(v, scal);
+     return rlt;
+ }
+
+ float vec3f_dist(Vec3f_t a, Vec3f_t b)
+ {
+     Vec3f_t vsub = vec3f_sub(a, b);
+     float rlt = vec3f_len(vsub);
+     return rlt;
+ }

src/math/vec3.h

@@ -28,13 +28,34 @@ inline static Vec3f_t vec3f_clone(const Vec3f_t *__restrict v)
     return *v;
 }
 
-Vec3f_t vec3f_add_r(Vec3f_t *__restrict out, Vec3f_t a);
+Vec3f_t* vec3f_add_r(Vec3f_t *__restrict out, Vec3f_t a);
 Vec3f_t vec3f_add(Vec3f_t a, Vec3f_t b);
 
-Vec3f_t vec3f_sub_r(Vec3f_t *__restrict out, Vec3f_t a);
+Vec3f_t* vec3f_sub_r(Vec3f_t *__restrict out, Vec3f_t a);
 Vec3f_t vec3f_sub(Vec3f_t a, Vec3f_t b);
 
-Vec3f_t vec3f_scale_r(Vec3f_t *__restrict out, float scale);
+Vec3f_t* vec3f_scale_r(Vec3f_t *__restrict out, float scale);
 Vec3f_t vec3f_scale(Vec3f_t a, float scale);
 
+float vec3f_dot(Vec3f_t a, Vec3f_t b);
+
+inline static float vec3f_len(Vec3f_t v)
+{
+    return sqrtf(vec3f_dot(v, v));
+}
+
+Vec3f_t* vec3f_norm_r(Vec3f_t *__restrict v);
+Vec3f_t vec3f_norm(Vec3f_t v);
+
+Vec3f_t* vec3f_lerp_r(Vec3f_t *__restrict a, Vec3f_t b, float t);
+Vec3f_t vec3f_lerp(Vec3f_t a, Vec3f_t b, float t);
+
+float vec3f_angle(Vec3f_t a, Vec3f_t b);
+
+Vec3f_t vec3f_proj(Vec3f_t a, Vec3f_t b);
+
+Vec3f_t vec3f_refl(Vec3f_t v, Vec3f_t normal);
+
+float vec3f_dist(Vec3f_t a, Vec3f_t b);
+
 #endif /* vec3_h */