Refactor to hardcode f32 and use @Vector

build.zig

@@ -8,7 +8,7 @@ pub fn build(b: *std.Build) void {
 
     const unit_tests = b.addTest(.{
         .root_module = b.createModule(.{
-            .root_source_file = b.path("./main.zig"),
+            .root_source_file = b.path("./src/main.zig"),
             .target = target,
             .optimize = optimize,
         }),

main.zig

@@ -1,7 +0,0 @@
-const std = @import("std");
-
-pub fn main() !void {}
-
-test "main" {
-    _ = @import("./vec3/src/vec3.zig");
-}

src/main.zig

@@ -0,0 +1,270 @@
+const std = @import("std");
+
+const Vec3F32Simd = @Vector(3, f32);
+const Vec4F32Simd = @Vector(4, f32);
+
+const Vec3F32Struct = struct {
+    x: f32,
+    y: f32,
+    z: f32,
+};
+
+pub fn vec3_struct_add(a: Vec3F32Struct, b: Vec3F32Struct) Vec3F32Struct {
+    return .{
+        .x = a.x + b.x,
+        .y = a.y + b.y,
+        .z = a.z + b.z,
+    };
+}
+
+pub fn vec3_struct_mul(a: Vec3F32Struct, b: Vec3F32Struct) Vec3F32Struct {
+    return .{
+        .x = a.x * b.x,
+        .y = a.y * b.y,
+        .z = a.z * b.z,
+    };
+}
+
+pub fn vec3_struct_sub(a: Vec3F32Struct, b: Vec3F32Struct) Vec3F32Struct {
+    return .{
+        .x = a.x - b.x,
+        .y = a.y - b.y,
+        .z = a.z - b.z,
+    };
+}
+
+pub fn vec3_struct_kernel(a: Vec3F32Struct, x: Vec3F32Struct, c: Vec3F32Struct) Vec3F32Struct {
+    const mixed = vec3_struct_add(vec3_struct_sub(vec3_struct_add(a, x), c), vec3_struct_mul(vec3_struct_sub(a, c), c));
+    return .{
+        .x = @sqrt(@abs(mixed.x) + 1.0),
+        .y = @sqrt(@abs(mixed.y) + 1.0),
+        .z = @sqrt(@abs(mixed.z) + 1.0),
+    };
+}
+
+pub fn vec3_simd_add(a: Vec3F32Simd, b: Vec3F32Simd) Vec3F32Simd {
+    return a + b;
+}
+
+pub fn vec3_simd_mul(a: Vec3F32Simd, b: Vec3F32Simd) Vec3F32Simd {
+    return a * b;
+}
+
+pub fn vec3_simd_sub(a: Vec3F32Simd, b: Vec3F32Simd) Vec3F32Simd {
+    return a - b;
+}
+
+pub fn vec3_simd_kernel(a: Vec3F32Simd, x: Vec3F32Simd, c: Vec3F32Simd) Vec3F32Simd {
+    const mixed = vec3_simd_add(vec3_simd_sub(vec3_simd_add(a, x), c), vec3_simd_mul(vec3_simd_sub(a, c), c));
+    return @sqrt(@abs(mixed) + @as(Vec3F32Simd, @splat(1.0)));
+}
+
+pub fn vec4_simd_add(a: Vec4F32Simd, b: Vec4F32Simd) Vec4F32Simd {
+    return a + b;
+}
+pub fn vec4_simd_mul(a: Vec4F32Simd, b: Vec4F32Simd) Vec4F32Simd {
+    return a * b;
+}
+
+pub fn vec4_simd_sub(a: Vec4F32Simd, b: Vec4F32Simd) Vec4F32Simd {
+    return a - b;
+}
+
+pub fn vec4_simd_kernel(a: Vec4F32Simd, x: Vec4F32Simd, c: Vec4F32Simd) Vec4F32Simd {
+    const mixed = vec4_simd_add(vec4_simd_sub(vec4_simd_add(a, x), c), vec4_simd_mul(vec4_simd_sub(a, c), c));
+    return @sqrt(@abs(mixed) + @as(Vec4F32Simd, @splat(1.0)));
+}
+
+pub fn bench_vec3F32Simd(io: std.Io) void {
+    var rng: std.Random.DefaultPrng = .init(42);
+    var prng = rng.random();
+
+    var a: Vec3F32Simd = .{ 0, 0, 0 };
+    const x: Vec3F32Simd = .{ prng.float(f32), prng.float(f32), prng.float(f32) };
+    const c: Vec3F32Simd = .{ prng.float(f32), prng.float(f32), prng.float(f32) };
+
+    var i: usize = 0;
+    const start = std.Io.Clock.real.now(io).toMicroseconds();
+    while (i < 100_000_000) : (i += 1) {
+        a = vec3_simd_kernel(a, x, c);
+    }
+    const end = std.Io.Clock.real.now(io).toMicroseconds();
+
+    std.debug.print("Vec3F32Simd took {} with final answer {}\n", .{ end - start, a });
+}
+
+pub fn bench_vec4F32Simd(io: std.Io) void {
+    var rng: std.Random.DefaultPrng = .init(42);
+    var prng = rng.random();
+    var a: Vec4F32Simd = .{ 0, 0, 0, 0 };
+    const x: Vec4F32Simd = .{ prng.float(f32), prng.float(f32), prng.float(f32), prng.float(f32) };
+    const c: Vec4F32Simd = .{ prng.float(f32), prng.float(f32), prng.float(f32), prng.float(f32) };
+
+    var i: usize = 0;
+    const start = std.Io.Clock.real.now(io).toMicroseconds();
+    while (i < 100_000_000) : (i += 1) {
+        a = vec4_simd_kernel(a, x, c);
+    }
+    const end = std.Io.Clock.real.now(io).toMicroseconds();
+
+    std.debug.print("Vec4F32Simd took {} with final answer {}\n", .{ end - start, a });
+}
+
+pub fn bench_vec3F32Struct(io: std.Io) void {
+    var rng: std.Random.DefaultPrng = .init(42);
+    var prng = rng.random();
+    var a: Vec3F32Struct = .{ .x = 0, .y = 0, .z = 0 };
+    const x: Vec3F32Struct = .{ .x = prng.float(f32), .y = prng.float(f32), .z = prng.float(f32) };
+    const c: Vec3F32Struct = .{ .x = prng.float(f32), .y = prng.float(f32), .z = prng.float(f32) };
+
+    var i: usize = 0;
+    const start = std.Io.Clock.real.now(io).toMicroseconds();
+    while (i < 100_000_000) : (i += 1) {
+        a = vec3_struct_kernel(a, x, c);
+    }
+    const end = std.Io.Clock.real.now(io).toMicroseconds();
+
+    std.debug.print("Vec3F32Struct took {} with final answer {}\n", .{ end - start, a });
+}
+
+const Vec3F64Struct = struct {
+    x: f64,
+    y: f64,
+    z: f64,
+};
+
+const Vec3F64Simd = @Vector(3, f64);
+const Vec4F64Simd = @Vector(4, f64);
+
+pub fn f64vec3_struct_add(a: Vec3F64Struct, b: Vec3F64Struct) Vec3F64Struct {
+    return .{
+        .x = a.x + b.x,
+        .y = a.y + b.y,
+        .z = a.z + b.z,
+    };
+}
+
+pub fn f64vec3_struct_mul(a: Vec3F64Struct, b: Vec3F64Struct) Vec3F64Struct {
+    return .{
+        .x = a.x * b.x,
+        .y = a.y * b.y,
+        .z = a.z * b.z,
+    };
+}
+
+pub fn f64vec3_struct_sub(a: Vec3F64Struct, b: Vec3F64Struct) Vec3F64Struct {
+    return .{
+        .x = a.x - b.x,
+        .y = a.y - b.y,
+        .z = a.z - b.z,
+    };
+}
+
+pub fn f64vec3_struct_kernel(a: Vec3F64Struct, x: Vec3F64Struct, c: Vec3F64Struct) Vec3F64Struct {
+    const mixed = f64vec3_struct_add(f64vec3_struct_sub(f64vec3_struct_add(a, x), c), f64vec3_struct_mul(f64vec3_struct_sub(a, c), c));
+    return .{
+        .x = @sqrt(@abs(mixed.x) + 1.0),
+        .y = @sqrt(@abs(mixed.y) + 1.0),
+        .z = @sqrt(@abs(mixed.z) + 1.0),
+    };
+}
+
+pub fn f64vec3_simd_add(a: Vec3F64Simd, b: Vec3F64Simd) Vec3F64Simd {
+    return a + b;
+}
+
+pub fn f64vec3_simd_mul(a: Vec3F64Simd, b: Vec3F64Simd) Vec3F64Simd {
+    return a * b;
+}
+
+pub fn f64vec3_simd_sub(a: Vec3F64Simd, b: Vec3F64Simd) Vec3F64Simd {
+    return a - b;
+}
+
+pub fn f64vec3_simd_kernel(a: Vec3F64Simd, x: Vec3F64Simd, c: Vec3F64Simd) Vec3F64Simd {
+    const mixed = f64vec3_simd_add(f64vec3_simd_sub(f64vec3_simd_add(a, x), c), f64vec3_simd_mul(f64vec3_simd_sub(a, c), c));
+    return @sqrt(@abs(mixed) + @as(Vec3F64Simd, @splat(1.0)));
+}
+
+pub fn f64vec4_simd_add(a: Vec4F64Simd, b: Vec4F64Simd) Vec4F64Simd {
+    return a + b;
+}
+pub fn f64vec4_simd_mul(a: Vec4F64Simd, b: Vec4F64Simd) Vec4F64Simd {
+    return a * b;
+}
+
+pub fn f64vec4_simd_sub(a: Vec4F64Simd, b: Vec4F64Simd) Vec4F64Simd {
+    return a - b;
+}
+
+pub fn f64vec4_simd_kernel(a: Vec4F64Simd, x: Vec4F64Simd, c: Vec4F64Simd) Vec4F64Simd {
+    const mixed = f64vec4_simd_add(f64vec4_simd_sub(f64vec4_simd_add(a, x), c), f64vec4_simd_mul(f64vec4_simd_sub(a, c), c));
+    return @sqrt(@abs(mixed) + @as(Vec4F64Simd, @splat(1.0)));
+}
+
+pub fn bench_f64vec3F64Simd(io: std.Io) void {
+    var rng: std.Random.DefaultPrng = .init(42);
+    var prng = rng.random();
+
+    var a: Vec3F64Simd = .{ 0, 0, 0 };
+    const x: Vec3F64Simd = .{ prng.float(f64), prng.float(f64), prng.float(f64) };
+    const c: Vec3F64Simd = .{ prng.float(f64), prng.float(f64), prng.float(f64) };
+
+    var i: usize = 0;
+    const start = std.Io.Clock.real.now(io).toMicroseconds();
+    while (i < 100_000_000) : (i += 1) {
+        a = f64vec3_simd_kernel(a, x, c);
+    }
+    const end = std.Io.Clock.real.now(io).toMicroseconds();
+
+    std.debug.print("Vec3F64Simd took {} with final answer {}\n", .{ end - start, a });
+}
+
+pub fn bench_f64vec4F64Simd(io: std.Io) void {
+    var rng: std.Random.DefaultPrng = .init(42);
+    var prng = rng.random();
+    var a: Vec4F64Simd = .{ 0, 0, 0, 0 };
+    const x: Vec4F64Simd = .{ prng.float(f64), prng.float(f64), prng.float(f64), prng.float(f64) };
+    const c: Vec4F64Simd = .{ prng.float(f64), prng.float(f64), prng.float(f64), prng.float(f64) };
+
+    var i: usize = 0;
+    const start = std.Io.Clock.real.now(io).toMicroseconds();
+    while (i < 100_000_000) : (i += 1) {
+        a = f64vec4_simd_kernel(a, x, c);
+    }
+    const end = std.Io.Clock.real.now(io).toMicroseconds();
+
+    std.debug.print("Vec4F64Simd took {} with final answer {}\n", .{ end - start, a });
+}
+
+pub fn bench_f64vec3F64Struct(io: std.Io) void {
+    var rng: std.Random.DefaultPrng = .init(42);
+    var prng = rng.random();
+    var a: Vec3F64Struct = .{ .x = 0, .y = 0, .z = 0 };
+    const x: Vec3F64Struct = .{ .x = prng.float(f64), .y = prng.float(f64), .z = prng.float(f64) };
+    const c: Vec3F64Struct = .{ .x = prng.float(f64), .y = prng.float(f64), .z = prng.float(f64) };
+
+    var i: usize = 0;
+    const start = std.Io.Clock.real.now(io).toMicroseconds();
+    while (i < 100_000_000) : (i += 1) {
+        a = f64vec3_struct_kernel(a, x, c);
+    }
+    const end = std.Io.Clock.real.now(io).toMicroseconds();
+
+    std.debug.print("Vec3F64Struct took {} with final answer {}\n", .{ end - start, a });
+}
+pub fn main(init: std.process.Init) !void {
+    std.debug.print("Suggested lanes for f32: {}\n", .{std.simd.suggestVectorLength(f32).?});
+    std.debug.print("Suggested lanes for f64: {}\n\n", .{std.simd.suggestVectorLength(f64).?});
+
+    bench_vec3F32Simd(init.io);
+    bench_vec4F32Simd(init.io);
+    bench_vec3F32Struct(init.io);
+    bench_f64vec3F64Simd(init.io);
+    bench_f64vec4F64Simd(init.io);
+    bench_f64vec3F64Struct(init.io);
+}
+
+test "main" {
+    //_ = @import("./f64vec3/src/vec3.zig");
+}

src/types/vec3.zig

@@ -0,0 +1,295 @@
+const std = @import("std");
+
+const Vec3F32 = struct {
+    data: @Vector(4, f32),
+
+    pub fn init(_x: f32, _y: f32, _z: f32) Vec3F32 {
+        return .{ .data = .{ _x, _y, _z, 0 } };
+    }
+
+    pub fn x(self: Vec3F32) f32 {
+        return self.data[0];
+    }
+
+    pub fn y(self: Vec3F32) f32 {
+        return self.data[1];
+    }
+
+    pub fn z(self: Vec3F32) f32 {
+        return self.data[2];
+    }
+};
+
+pub fn vec3Add(a: Vec3F32, b: Vec3F32) Vec3F32 {
+    return .{ .data = a.data + b.data };
+}
+
+pub fn vec3Sub(a: Vec3F32, b: Vec3F32) Vec3F32 {
+    return .{ .data = a.data - b.data };
+}
+
+pub fn vec3Dot(a: Vec3F32, b: Vec3F32) f32 {
+    return @reduce(.Add, a.data * b.data);
+}
+
+pub fn vec3Cross(a: Vec3F32, b: Vec3F32) Vec3F32 {
+    const x = a.y() * b.z() - a.z() * b.y();
+    const y = a.z() * b.x() - a.x() * b.z();
+    const z = a.x() * b.y() - a.y() * b.x();
+    return .init(x, y, z);
+}
+
+const Mat3F32 = struct {
+    row1: Vec3F32,
+    row2: Vec3F32,
+    row3: Vec3F32,
+};
+
+pub fn mat3Add(a: Mat3F32, b: Mat3F32) Mat3F32 {
+    return .{
+        .row1 = vec3Add(a.row1, b.row1),
+        .row2 = vec3Add(a.row2, b.row2),
+        .row3 = vec3Add(a.row3, b.row3),
+    };
+}
+
+pub fn mat3Sub(a: Mat3F32, b: Mat3F32) Mat3F32 {
+    return .{
+        .row1 = vec3Sub(a.row1, b.row1),
+        .row2 = vec3Sub(a.row2, b.row2),
+        .row3 = vec3Sub(a.row3, b.row3),
+    };
+}
+
+pub fn mat3Mul(a: Mat3F32, b: Mat3F32) Mat3F32 {
+    const c_row1: Vec3F32 = .init(
+        a.row1.x() * b.row1.x() + a.row1.y() * b.row2.x() + a.row1.z() * b.row3.x(),
+        a.row1.x() * b.row1.y() + a.row1.y() * b.row2.y() + a.row1.z() * b.row3.y(),
+        a.row1.x() * b.row1.z() + a.row1.y() * b.row2.z() + a.row1.z() * b.row3.z(),
+    );
+
+    const c_row2: Vec3F32 = .init(
+        a.row2.x() * b.row1.x() + a.row2.y() * b.row2.x() + a.row2.z() * b.row3.x(),
+        a.row2.x() * b.row1.y() + a.row2.y() * b.row2.y() + a.row2.z() * b.row3.y(),
+        a.row2.x() * b.row1.z() + a.row2.y() * b.row2.z() + a.row2.z() * b.row3.z(),
+    );
+
+    const c_row3: Vec3F32 = .init(
+        a.row3.x() * b.row1.x() + a.row3.y() * b.row2.x() + a.row3.z() * b.row3.x(),
+        a.row3.x() * b.row1.y() + a.row3.y() * b.row2.y() + a.row3.z() * b.row3.y(),
+        a.row3.x() * b.row1.z() + a.row3.y() * b.row2.z() + a.row3.z() * b.row3.z(),
+    );
+
+    return .{ .row1 = c_row1, .row2 = c_row2, .row3 = c_row3 };
+}
+
+pub fn vec3MulMat3(a: Mat3F32, b: Vec3F32) Vec3F32 {
+    return .init(
+        b.x() * a.row1.x() + b.y() * a.row1.y() + b.z() * a.row1.z(),
+        b.x() * a.row2.x() + b.y() * a.row2.y() + b.z() * a.row2.z(),
+        b.x() * a.row3.x() + b.y() * a.row3.y() + b.z() * a.row3.z(),
+    );
+}
+
+// Uses the Quaternion definition of q = w + xi + yj + zk
+// and with i^2 = j^2 = k^2 = ijk = -1
+// I grabbed a lot of this math from https://imadrahmoune.com/rotations-with-quaternions/
+const QuatF32 = struct {
+    data: @Vector(4, f32),
+    pub fn init(_x: f32, _y: f32, _z: f32, _w: f32) QuatF32 {
+        return .{ .data = .{ _x, _y, _z, _w } };
+    }
+    pub fn x(self: QuatF32) f32 {
+        return self.data[0];
+    }
+
+    pub fn y(self: QuatF32) f32 {
+        return self.data[1];
+    }
+
+    pub fn z(self: QuatF32) f32 {
+        return self.data[2];
+    }
+    pub fn w(self: QuatF32) f32 {
+        return self.data[3];
+    }
+    pub fn mag(q: QuatF32) f32 {
+        return std.math.sqrt(@reduce(.Add, q.data * q.data));
+    }
+
+    pub fn normalized(q: QuatF32) QuatF32 {
+        const magnitude = q.mag();
+        return .{ .data = q.data / @as(@Vector(4, f32), @splat(magnitude)) };
+    }
+};
+
+//pub fn yawPitchRollToQuat(comptime T: comptime_float, yaw: T, pitch: T, roll: T) Quat(T) {
+//    const cx = @cos(roll);
+//}
+
+pub fn quatMul(a: QuatF32, b: QuatF32) QuatF32 {
+    return .init(
+        a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
+        a.w() * b.y() - a.x() * b.z() + a.y() * b.w() + a.z() * b.x(),
+        a.w() * b.z() + a.x() * b.y() - a.y() * b.x() + a.z() * b.w(),
+        a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
+    );
+}
+
+test "vec3Add adds properly" {
+    const a = Vec3F32.init(1, 2, 3);
+    const b = Vec3F32.init(3, 1, 0);
+    const c = vec3Add(a, b);
+
+    try std.testing.expect(std.math.approxEqAbs(f32, c.x(), 4, 1e-7));
+    try std.testing.expect(std.math.approxEqAbs(f32, c.y(), 3, 1e-7));
+    try std.testing.expect(std.math.approxEqAbs(f32, c.z(), 3, 1e-7));
+}
+test "vec3Sub subs properly" {
+    const a = Vec3F32.init(1, 2, 3);
+    const b = Vec3F32.init(3, 1, 0);
+    const c = vec3Sub(a, b);
+
+    try std.testing.expect(std.math.approxEqAbs(f32, c.x(), -2, 1e-7));
+    try std.testing.expect(std.math.approxEqAbs(f32, c.y(), 1, 1e-7));
+    try std.testing.expect(std.math.approxEqAbs(f32, c.z(), 3, 1e-7));
+}
+test "vec3Dot dots properly" {
+    const a = Vec3F32.init(1, 2, 3);
+    const b = Vec3F32.init(3, 1, 0);
+    try std.testing.expect(std.math.approxEqAbs(f32, vec3Dot(a, b), 5, 1e-7));
+}
+test "vec3Cross crosses properly" {
+    const a = Vec3F32.init(1, 2, 3);
+    const b = Vec3F32.init(3, 1, 0);
+
+    const c = vec3Cross(a, b);
+
+    try std.testing.expect(c.x() == -3);
+    try std.testing.expect(c.y() == 9);
+    try std.testing.expect(c.z() == -5);
+}
+
+test "Mat3 add works" {
+    const a: Mat3F32 = .{
+        .row1 = Vec3F32.init(1, 2, 3),
+        .row2 = Vec3F32.init(0, 1, 5),
+        .row3 = Vec3F32.init(0, 0, 9),
+    };
+    const b: Mat3F32 = .{
+        .row1 = Vec3F32.init(0, 1, 0),
+        .row2 = Vec3F32.init(0, 1, 1),
+        .row3 = Vec3F32.init(0, 0, 1),
+    };
+
+    const c = mat3Add(a, b);
+
+    try std.testing.expect(c.row1.x() == 1);
+    try std.testing.expect(c.row1.y() == 3);
+    try std.testing.expect(c.row1.z() == 3);
+    try std.testing.expect(c.row2.x() == 0);
+    try std.testing.expect(c.row2.y() == 2);
+    try std.testing.expect(c.row2.z() == 6);
+    try std.testing.expect(c.row3.x() == 0);
+    try std.testing.expect(c.row3.y() == 0);
+    try std.testing.expect(c.row3.z() == 10);
+}
+
+test "Mat3 sub works" {
+    const a: Mat3F32 = .{
+        .row1 = Vec3F32.init(1, 2, 3),
+        .row2 = Vec3F32.init(0, 1, 5),
+        .row3 = Vec3F32.init(0, 0, 9),
+    };
+    const b: Mat3F32 = .{
+        .row1 = Vec3F32.init(0, 1, 0),
+        .row2 = Vec3F32.init(0, 1, 1),
+        .row3 = Vec3F32.init(0, 0, 1),
+    };
+
+    const c = mat3Sub(a, b);
+
+    try std.testing.expect(c.row1.x() == 1);
+    try std.testing.expect(c.row1.y() == 1);
+    try std.testing.expect(c.row1.z() == 3);
+    try std.testing.expect(c.row2.x() == 0);
+    try std.testing.expect(c.row2.y() == 0);
+    try std.testing.expect(c.row2.z() == 4);
+    try std.testing.expect(c.row3.x() == 0);
+    try std.testing.expect(c.row3.y() == 0);
+    try std.testing.expect(c.row3.z() == 8);
+}
+
+test "Mat3 mul works" {
+    const a: Mat3F32 = .{
+        .row1 = Vec3F32.init(1, 2, 3),
+        .row2 = Vec3F32.init(0, 1, 5),
+        .row3 = Vec3F32.init(0, 0, 9),
+    };
+    const b: Mat3F32 = .{
+        .row1 = Vec3F32.init(0, 1, 0),
+        .row2 = Vec3F32.init(0, 1, 1),
+        .row3 = Vec3F32.init(0, 0, 1),
+    };
+
+    const c = mat3Mul(a, b);
+
+    try std.testing.expect(c.row1.x() == 0);
+    try std.testing.expect(c.row1.y() == 3);
+    try std.testing.expect(c.row1.z() == 5);
+    try std.testing.expect(c.row2.x() == 0);
+    try std.testing.expect(c.row2.y() == 1);
+    try std.testing.expect(c.row2.z() == 6);
+    try std.testing.expect(c.row3.x() == 0);
+    try std.testing.expect(c.row3.y() == 0);
+    try std.testing.expect(c.row3.z() == 9);
+}
+
+test "vec3 mul mat3 works" {
+    const b: Mat3F32 = .{
+        .row1 = Vec3F32.init(0, 1, 0),
+        .row2 = Vec3F32.init(0, 1, 1),
+        .row3 = Vec3F32.init(0, 0, 1),
+    };
+    const a = Vec3F32.init(1, 2, 3);
+
+    const c = vec3MulMat3(b, a);
+
+    try std.testing.expect(c.x() == 2);
+    try std.testing.expect(c.y() == 5);
+    try std.testing.expect(c.z() == 3);
+}
+
+test "quat magnitude" {
+    const q: QuatF32 = .init(1.0, 2.0, 3.0, 4.0);
+    try std.testing.expect(std.math.approxEqAbs(f32, q.mag(), std.math.sqrt(30.0), 1e-7));
+}
+
+test "quat normalized" {
+    const q: QuatF32 = .init(1.0, 2.0, 3.0, 4.0);
+    const expected: QuatF32 = .init(
+        1.0 / std.math.sqrt(30.0),
+        2.0 / std.math.sqrt(30.0),
+        3.0 / std.math.sqrt(30.0),
+        4.0 / std.math.sqrt(30.0),
+    );
+
+    const normalized = q.normalized();
+
+    try std.testing.expect(std.math.approxEqAbs(f32, normalized.x(), expected.x(), 1e-7));
+    try std.testing.expect(std.math.approxEqAbs(f32, normalized.y(), expected.y(), 1e-7));
+    try std.testing.expect(std.math.approxEqAbs(f32, normalized.z(), expected.z(), 1e-7));
+    try std.testing.expect(std.math.approxEqAbs(f32, normalized.w(), expected.w(), 1e-7));
+}
+
+test "quat mul" {
+    const a: QuatF32 = .init(2, 3, 4, 1);
+    const b: QuatF32 = .init(0, 1, 0, 1);
+
+    const c = quatMul(a, b);
+
+    try std.testing.expect(c.w() == -2);
+    try std.testing.expect(c.x() == -2);
+    try std.testing.expect(c.y() == 4);
+    try std.testing.expect(c.z() == 6);
+}

vec3/src/vec3.zig

@@ -1,280 +0,0 @@
-const std = @import("std");
-
-pub fn Vec3(comptime T: type) type {
-    return struct { x: T, y: T, z: T };
-}
-
-pub fn vec3Add(comptime T: type, a: Vec3(T), b: Vec3(T)) Vec3(T) {
-    return .{
-        .x = a.x + b.x,
-        .y = a.y + b.y,
-        .z = a.z + b.z,
-    };
-}
-
-pub fn vec3Sub(comptime T: type, a: Vec3(T), b: Vec3(T)) Vec3(T) {
-    return .{
-        .x = a.x - b.x,
-        .y = a.y - b.y,
-        .z = a.z - b.z,
-    };
-}
-
-pub fn vec3Dot(comptime T: type, a: Vec3(T), b: Vec3(T)) T {
-    return a.x * b.x + a.y * b.y + a.z * b.z;
-}
-
-pub fn vec3Cross(comptime T: type, a: Vec3(T), b: Vec3(T)) Vec3(T) {
-    const x = a.y * b.z - a.z * b.y;
-    const y = a.z * b.x - a.x * b.z;
-    const z = a.x * b.y - a.y * b.x;
-    return .{ .x = x, .y = y, .z = z };
-}
-
-pub fn Mat3(comptime T: type) type {
-    return struct {
-        row1: Vec3(T),
-        row2: Vec3(T),
-        row3: Vec3(T),
-    };
-}
-
-pub fn mat3Add(comptime T: type, a: Mat3(T), b: Mat3(T)) Mat3(T) {
-    return .{
-        .row1 = vec3Add(T, a.row1, b.row1),
-        .row2 = vec3Add(T, a.row2, b.row2),
-        .row3 = vec3Add(T, a.row3, b.row3),
-    };
-}
-
-pub fn mat3Sub(comptime T: type, a: Mat3(T), b: Mat3(T)) Mat3(T) {
-    return .{
-        .row1 = vec3Sub(T, a.row1, b.row1),
-        .row2 = vec3Sub(T, a.row2, b.row2),
-        .row3 = vec3Sub(T, a.row3, b.row3),
-    };
-}
-
-pub fn mat3Mul(comptime T: type, a: Mat3(T), b: Mat3(T)) Mat3(T) {
-    const c_row1: Vec3(T) = .{
-        .x = a.row1.x * b.row1.x + a.row1.y * b.row2.x + a.row1.z * b.row3.x,
-        .y = a.row1.x * b.row1.y + a.row1.y * b.row2.y + a.row1.z * b.row3.y,
-        .z = a.row1.x * b.row1.z + a.row1.y * b.row2.z + a.row1.z * b.row3.z,
-    };
-
-    const c_row2: Vec3(T) = .{
-        .x = a.row2.x * b.row1.x + a.row2.y * b.row2.x + a.row2.z * b.row3.x,
-        .y = a.row2.x * b.row1.y + a.row2.y * b.row2.y + a.row2.z * b.row3.y,
-        .z = a.row2.x * b.row1.z + a.row2.y * b.row2.z + a.row2.z * b.row3.z,
-    };
-
-    const c_row3: Vec3(T) = .{
-        .x = a.row3.x * b.row1.x + a.row3.y * b.row2.x + a.row3.z * b.row3.x,
-        .y = a.row3.x * b.row1.y + a.row3.y * b.row2.y + a.row3.z * b.row3.y,
-        .z = a.row3.x * b.row1.z + a.row3.y * b.row2.z + a.row3.z * b.row3.z,
-    };
-
-    return .{ .row1 = c_row1, .row2 = c_row2, .row3 = c_row3 };
-}
-
-pub fn vec3MulMat3(comptime T: type, a: Vec3(T), b: Mat3(T)) Vec3(T) {
-    return .{
-        .x = a.x * b.row1.x + a.y * b.row2.x + a.z * b.row3.x,
-        .y = a.x * b.row1.y + a.y * b.row2.y + a.z * b.row3.y,
-        .z = a.x * b.row1.z + a.y * b.row2.z + a.z * b.row3.z,
-    };
-}
-
-// Uses the Quaternion definition of q = w + xi + yj + zk
-// and with i^2 = j^2 = k^2 = ijk = -1
-// I grabbed a lot of this math from https://imadrahmoune.com/rotations-with-quaternions/
-pub fn Quat(comptime T: type) type {
-    return struct {
-        w: T,
-        x: T,
-        y: T,
-        z: T,
-
-        pub fn mag(q: Quat(T)) T {
-            return std.math.sqrt(q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w);
-        }
-
-        pub fn normalized(q: Quat(T)) Quat(T) {
-            const magnitude = q.mag();
-            return .{
-                .x = q.x / magnitude,
-                .y = q.y / magnitude,
-                .z = q.z / magnitude,
-                .w = q.w / magnitude,
-            };
-        }
-    };
-}
-
-pub fn quatMul(comptime T: type, a: Quat(T), b: Quat(T)) Quat(T) {
-    return .{
-        .w = a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z,
-        .x = a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
-        .y = a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x,
-        .z = a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w,
-    };
-}
-
-test "vec3Add adds properly" {
-    const a: Vec3(i8) = .{ .x = 1, .y = 2, .z = 3 };
-    const b: Vec3(i8) = .{ .x = 3, .y = 1, .z = 0 };
-    const c = vec3Add(i8, a, b);
-
-    try std.testing.expect(c.x == 4);
-    try std.testing.expect(c.y == 3);
-    try std.testing.expect(c.z == 3);
-}
-test "vec3Sub subs properly" {
-    const a: Vec3(i8) = .{ .x = 1, .y = 2, .z = 3 };
-    const b: Vec3(i8) = .{ .x = 3, .y = 1, .z = 0 };
-    const c = vec3Sub(i8, a, b);
-
-    try std.testing.expect(c.x == -2);
-    try std.testing.expect(c.y == 1);
-    try std.testing.expect(c.z == 3);
-}
-test "vec3Dot dots properly" {
-    const a: Vec3(i8) = .{ .x = 1, .y = 2, .z = 3 };
-    const b: Vec3(i8) = .{ .x = 3, .y = 1, .z = 0 };
-    try std.testing.expect(vec3Dot(i8, a, b) == 5);
-}
-test "vec3Cross crosses properly" {
-    const a: Vec3(i8) = .{ .x = 1, .y = 2, .z = 3 };
-    const b: Vec3(i8) = .{ .x = 3, .y = 1, .z = 0 };
-
-    const c = vec3Cross(i8, a, b);
-
-    try std.testing.expect(c.x == -3);
-    try std.testing.expect(c.y == 9);
-    try std.testing.expect(c.z == -5);
-}
-
-test "Mat3 add works" {
-    const a: Mat3(i8) = .{
-        .row1 = .{ .x = 1, .y = 2, .z = 3 },
-        .row2 = .{ .x = 0, .y = 1, .z = 5 },
-        .row3 = .{ .x = 0, .y = 0, .z = 9 },
-    };
-    const b: Mat3(i8) = .{
-        .row1 = .{ .x = 0, .y = 1, .z = 0 },
-        .row2 = .{ .x = 0, .y = 1, .z = 1 },
-        .row3 = .{ .x = 0, .y = 0, .z = 1 },
-    };
-
-    const c = mat3Add(i8, a, b);
-
-    try std.testing.expect(c.row1.x == 1);
-    try std.testing.expect(c.row1.y == 3);
-    try std.testing.expect(c.row1.z == 3);
-    try std.testing.expect(c.row2.x == 0);
-    try std.testing.expect(c.row2.y == 2);
-    try std.testing.expect(c.row2.z == 6);
-    try std.testing.expect(c.row3.x == 0);
-    try std.testing.expect(c.row3.y == 0);
-    try std.testing.expect(c.row3.z == 10);
-}
-
-test "Mat3 sub works" {
-    const a: Mat3(i8) = .{
-        .row1 = .{ .x = 1, .y = 2, .z = 3 },
-        .row2 = .{ .x = 0, .y = 1, .z = 5 },
-        .row3 = .{ .x = 0, .y = 0, .z = 9 },
-    };
-    const b: Mat3(i8) = .{
-        .row1 = .{ .x = 0, .y = 1, .z = 0 },
-        .row2 = .{ .x = 0, .y = 1, .z = 1 },
-        .row3 = .{ .x = 0, .y = 0, .z = 1 },
-    };
-
-    const c = mat3Sub(i8, a, b);
-
-    try std.testing.expect(c.row1.x == 1);
-    try std.testing.expect(c.row1.y == 1);
-    try std.testing.expect(c.row1.z == 3);
-    try std.testing.expect(c.row2.x == 0);
-    try std.testing.expect(c.row2.y == 0);
-    try std.testing.expect(c.row2.z == 4);
-    try std.testing.expect(c.row3.x == 0);
-    try std.testing.expect(c.row3.y == 0);
-    try std.testing.expect(c.row3.z == 8);
-}
-
-test "Mat3 mul works" {
-    const a: Mat3(i8) = .{
-        .row1 = .{ .x = 1, .y = 2, .z = 3 },
-        .row2 = .{ .x = 0, .y = 1, .z = 5 },
-        .row3 = .{ .x = 0, .y = 0, .z = 9 },
-    };
-    const b: Mat3(i8) = .{
-        .row1 = .{ .x = 0, .y = 1, .z = 0 },
-        .row2 = .{ .x = 0, .y = 1, .z = 1 },
-        .row3 = .{ .x = 0, .y = 0, .z = 1 },
-    };
-
-    const c = mat3Mul(i8, a, b);
-
-    try std.testing.expect(c.row1.x == 0);
-    try std.testing.expect(c.row1.y == 3);
-    try std.testing.expect(c.row1.z == 5);
-    try std.testing.expect(c.row2.x == 0);
-    try std.testing.expect(c.row2.y == 1);
-    try std.testing.expect(c.row2.z == 6);
-    try std.testing.expect(c.row3.x == 0);
-    try std.testing.expect(c.row3.y == 0);
-    try std.testing.expect(c.row3.z == 9);
-}
-
-test "vec3 mul mat3 works" {
-    const a: Vec3(i8) = .{ .x = 1, .y = 2, .z = 3 };
-
-    const b: Mat3(i8) = .{
-        .row1 = .{ .x = 0, .y = 1, .z = 0 },
-        .row2 = .{ .x = 0, .y = 1, .z = 1 },
-        .row3 = .{ .x = 0, .y = 0, .z = 1 },
-    };
-
-    const c = vec3MulMat3(i8, a, b);
-
-    try std.testing.expect(c.x == 0);
-    try std.testing.expect(c.y == 3);
-    try std.testing.expect(c.z == 5);
-}
-
-test "quat magnitude" {
-    const q: Quat(f32) = .{ .x = 1.0, .y = 2.0, .z = 3.0, .w = 4.0 };
-    try std.testing.expect(std.math.approxEqAbs(f32, q.mag(), std.math.sqrt(30.0), 1e-7));
-}
-
-test "quat normalized" {
-    const q: Quat(f32) = .{ .x = 1.0, .y = 2.0, .z = 3.0, .w = 4.0 };
-    const expected: Quat(f32) = .{
-        .x = 1.0 / std.math.sqrt(30.0),
-        .y = 2.0 / std.math.sqrt(30.0),
-        .z = 3.0 / std.math.sqrt(30.0),
-        .w = 4.0 / std.math.sqrt(30.0),
-    };
-
-    const normalized = q.normalized();
-
-    try std.testing.expect(std.math.approxEqAbs(f32, normalized.x, expected.x, 1e-7));
-    try std.testing.expect(std.math.approxEqAbs(f32, normalized.y, expected.y, 1e-7));
-    try std.testing.expect(std.math.approxEqAbs(f32, normalized.z, expected.z, 1e-7));
-    try std.testing.expect(std.math.approxEqAbs(f32, normalized.w, expected.w, 1e-7));
-}
-
-test "quat mul" {
-    const a: Quat(i8) = .{ .w = 1, .x = 2, .y = 3, .z = 4 };
-    const b: Quat(i8) = .{ .w = 1, .x = 0, .y = 1, .z = 0 };
-
-    const c = quatMul(i8, a, b);
-
-    try std.testing.expect(c.w == -2);
-    try std.testing.expect(c.x == -2);
-    try std.testing.expect(c.y == 4);
-    try std.testing.expect(c.z == 6);
-}