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Implement more essential NON-SIMD functions
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8 files changed

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‎Sources/FirebladeMath/Functions/adjugate.swift‎

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//
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// adjugate.swift
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//
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//
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// Created by Christian Treffs on 02.09.20.
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//
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public func adjugate(_ inMat: Mat4x4f) -> Mat4x4f {
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var out = Mat4x4f.identity
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out[0, 0] = inMat[1, 1] * inMat[2, 2] * inMat[3, 3] - inMat[1, 1] * inMat[2, 3] * inMat[3, 2]
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out[0, 0] += -inMat[2, 1] * inMat[1, 2] * inMat[3, 3] + inMat[2, 1] * inMat[1, 3] * inMat[3, 2]
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out[0, 0] += inMat[3, 1] * inMat[1, 2] * inMat[2, 3] - inMat[3, 1] * inMat[1, 3] * inMat[2, 2]
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out[1, 0] = -inMat[1, 0] * inMat[2, 2] * inMat[3, 3] + inMat[1, 0] * inMat[2, 3] * inMat[3, 2]
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out[1, 0] += inMat[2, 0] * inMat[1, 2] * inMat[3, 3] - inMat[2, 0] * inMat[1, 3] * inMat[3, 2]
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out[1, 0] += -inMat[3, 0] * inMat[1, 2] * inMat[2, 3] + inMat[3, 0] * inMat[1, 3] * inMat[2, 2]
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out[2, 0] = inMat[1, 0] * inMat[2, 1] * inMat[3, 3] - inMat[1, 0] * inMat[2, 3] * inMat[3, 1]
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out[2, 0] += -inMat[2, 0] * inMat[1, 1] * inMat[3, 3] + inMat[2, 0] * inMat[1, 3] * inMat[3, 1]
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out[2, 0] += inMat[3, 0] * inMat[1, 1] * inMat[2, 3] - inMat[3, 0] * inMat[1, 3] * inMat[2, 1]
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out[3, 0] = -inMat[1, 0] * inMat[2, 1] * inMat[3, 2] + inMat[1, 0] * inMat[2, 2] * inMat[3, 1]
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out[3, 0] += inMat[2, 0] * inMat[1, 1] * inMat[3, 2] - inMat[2, 0] * inMat[1, 2] * inMat[3, 1]
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out[3, 0] += -inMat[3, 0] * inMat[1, 1] * inMat[2, 2] + inMat[3, 0] * inMat[1, 2] * inMat[2, 1]
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out[0, 1] = -inMat[0, 1] * inMat[2, 2] * inMat[3, 3] + inMat[0, 1] * inMat[2, 3] * inMat[3, 2]
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out[0, 1] += inMat[2, 1] * inMat[0, 2] * inMat[3, 3] - inMat[2, 1] * inMat[0, 3] * inMat[3, 2]
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out[0, 1] += -inMat[3, 1] * inMat[0, 2] * inMat[2, 3] + inMat[3, 1] * inMat[0, 3] * inMat[2, 2]
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out[1, 1] = inMat[0, 0] * inMat[2, 2] * inMat[3, 3] - inMat[0, 0] * inMat[2, 3] * inMat[3, 2]
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out[1, 1] += -inMat[2, 0] * inMat[0, 2] * inMat[3, 3] + inMat[2, 0] * inMat[0, 3] * inMat[3, 2]
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out[1, 1] += inMat[3, 0] * inMat[0, 2] * inMat[2, 3] - inMat[3, 0] * inMat[0, 3] * inMat[2, 2]
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out[2, 1] = -inMat[0, 0] * inMat[2, 1] * inMat[3, 3] + inMat[0, 0] * inMat[2, 3] * inMat[3, 1]
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out[2, 1] += inMat[2, 0] * inMat[0, 1] * inMat[3, 3] - inMat[2, 0] * inMat[0, 3] * inMat[3, 1]
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out[2, 1] += -inMat[3, 0] * inMat[0, 1] * inMat[2, 3] + inMat[3, 0] * inMat[0, 3] * inMat[2, 1]
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out[3, 1] = inMat[0, 0] * inMat[2, 1] * inMat[3, 2] - inMat[0, 0] * inMat[2, 2] * inMat[3, 1]
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out[3, 1] += -inMat[2, 0] * inMat[0, 1] * inMat[3, 2] + inMat[2, 0] * inMat[0, 2] * inMat[3, 1]
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out[3, 1] += inMat[3, 0] * inMat[0, 1] * inMat[2, 2] - inMat[3, 0] * inMat[0, 2] * inMat[2, 1]
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out[0, 2] = inMat[0, 1] * inMat[1, 2] * inMat[3, 3] - inMat[0, 1] * inMat[1, 3] * inMat[3, 2]
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out[0, 2] += -inMat[1, 1] * inMat[0, 2] * inMat[3, 3] + inMat[1, 1] * inMat[0, 3] * inMat[3, 2]
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out[0, 2] += inMat[3, 1] * inMat[0, 2] * inMat[1, 3] - inMat[3, 1] * inMat[0, 3] * inMat[1, 2]
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out[1, 2] = -inMat[0, 0] * inMat[1, 2] * inMat[3, 3] + inMat[0, 0] * inMat[1, 3] * inMat[3, 2]
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out[1, 2] += inMat[1, 0] * inMat[0, 2] * inMat[3, 3] - inMat[1, 0] * inMat[0, 3] * inMat[3, 2]
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out[1, 2] += -inMat[3, 0] * inMat[0, 2] * inMat[1, 3] + inMat[3, 0] * inMat[0, 3] * inMat[1, 2]
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out[2, 2] = inMat[0, 0] * inMat[1, 1] * inMat[3, 3] - inMat[0, 0] * inMat[1, 3] * inMat[3, 1]
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out[2, 2] += -inMat[1, 0] * inMat[0, 1] * inMat[3, 3] + inMat[1, 0] * inMat[0, 3] * inMat[3, 1]
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out[2, 2] += inMat[3, 0] * inMat[0, 1] * inMat[1, 3] - inMat[3, 0] * inMat[0, 3] * inMat[1, 1]
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out[3, 2] = -inMat[0, 0] * inMat[1, 1] * inMat[3, 2] + inMat[0, 0] * inMat[1, 2] * inMat[3, 1]
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out[3, 2] += inMat[1, 0] * inMat[0, 1] * inMat[3, 2] - inMat[1, 0] * inMat[0, 2] * inMat[3, 1]
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out[3, 2] += -inMat[3, 0] * inMat[0, 1] * inMat[1, 2] + inMat[3, 0] * inMat[0, 2] * inMat[1, 1]
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out[0, 3] = -inMat[0, 1] * inMat[1, 2] * inMat[2, 3] + inMat[0, 1] * inMat[1, 3] * inMat[2, 2]
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out[0, 3] += inMat[1, 1] * inMat[0, 2] * inMat[2, 3] - inMat[1, 1] * inMat[0, 3] * inMat[2, 2]
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out[0, 3] += -inMat[2, 1] * inMat[0, 2] * inMat[1, 3] + inMat[2, 1] * inMat[0, 3] * inMat[1, 2]
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out[1, 3] = inMat[0, 0] * inMat[1, 2] * inMat[2, 3] - inMat[0, 0] * inMat[1, 3] * inMat[2, 2]
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out[1, 3] += -inMat[1, 0] * inMat[0, 2] * inMat[2, 3] + inMat[1, 0] * inMat[0, 3] * inMat[2, 2]
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out[1, 3] += inMat[2, 0] * inMat[0, 2] * inMat[1, 3] - inMat[2, 0] * inMat[0, 3] * inMat[1, 2]
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out[2, 3] = -inMat[0, 0] * inMat[1, 1] * inMat[2, 3] + inMat[0, 0] * inMat[1, 3] * inMat[2, 1]
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out[2, 3] += inMat[1, 0] * inMat[0, 1] * inMat[2, 3] - inMat[1, 0] * inMat[0, 3] * inMat[2, 1]
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out[2, 3] += -inMat[2, 0] * inMat[0, 1] * inMat[1, 3] + inMat[2, 0] * inMat[0, 3] * inMat[1, 1]
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out[3, 3] = inMat[0, 0] * inMat[1, 1] * inMat[2, 2] - inMat[0, 0] * inMat[1, 2] * inMat[2, 1]
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out[3, 3] += -inMat[1, 0] * inMat[0, 1] * inMat[2, 2] + inMat[1, 0] * inMat[0, 2] * inMat[2, 1]
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out[3, 3] += inMat[2, 0] * inMat[0, 1] * inMat[1, 2] - inMat[2, 0] * inMat[0, 2] * inMat[1, 1]
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return out
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}
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public func adjugate(_ inMat: Mat4x4d) -> Mat4x4d {
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var out = Mat4x4d.identity
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out[0, 0] = inMat[1, 1] * inMat[2, 2] * inMat[3, 3] - inMat[1, 1] * inMat[2, 3] * inMat[3, 2]
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out[0, 0] += -inMat[2, 1] * inMat[1, 2] * inMat[3, 3] + inMat[2, 1] * inMat[1, 3] * inMat[3, 2]
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out[0, 0] += inMat[3, 1] * inMat[1, 2] * inMat[2, 3] - inMat[3, 1] * inMat[1, 3] * inMat[2, 2]
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out[1, 0] = -inMat[1, 0] * inMat[2, 2] * inMat[3, 3] + inMat[1, 0] * inMat[2, 3] * inMat[3, 2]
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out[1, 0] += inMat[2, 0] * inMat[1, 2] * inMat[3, 3] - inMat[2, 0] * inMat[1, 3] * inMat[3, 2]
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out[1, 0] += -inMat[3, 0] * inMat[1, 2] * inMat[2, 3] + inMat[3, 0] * inMat[1, 3] * inMat[2, 2]
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out[2, 0] = inMat[1, 0] * inMat[2, 1] * inMat[3, 3] - inMat[1, 0] * inMat[2, 3] * inMat[3, 1]
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out[2, 0] += -inMat[2, 0] * inMat[1, 1] * inMat[3, 3] + inMat[2, 0] * inMat[1, 3] * inMat[3, 1]
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out[2, 0] += inMat[3, 0] * inMat[1, 1] * inMat[2, 3] - inMat[3, 0] * inMat[1, 3] * inMat[2, 1]
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out[3, 0] = -inMat[1, 0] * inMat[2, 1] * inMat[3, 2] + inMat[1, 0] * inMat[2, 2] * inMat[3, 1]
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out[3, 0] += inMat[2, 0] * inMat[1, 1] * inMat[3, 2] - inMat[2, 0] * inMat[1, 2] * inMat[3, 1]
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out[3, 0] += -inMat[3, 0] * inMat[1, 1] * inMat[2, 2] + inMat[3, 0] * inMat[1, 2] * inMat[2, 1]
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out[0, 1] = -inMat[0, 1] * inMat[2, 2] * inMat[3, 3] + inMat[0, 1] * inMat[2, 3] * inMat[3, 2]
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out[0, 1] += inMat[2, 1] * inMat[0, 2] * inMat[3, 3] - inMat[2, 1] * inMat[0, 3] * inMat[3, 2]
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out[0, 1] += -inMat[3, 1] * inMat[0, 2] * inMat[2, 3] + inMat[3, 1] * inMat[0, 3] * inMat[2, 2]
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out[1, 1] = inMat[0, 0] * inMat[2, 2] * inMat[3, 3] - inMat[0, 0] * inMat[2, 3] * inMat[3, 2]
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out[1, 1] += -inMat[2, 0] * inMat[0, 2] * inMat[3, 3] + inMat[2, 0] * inMat[0, 3] * inMat[3, 2]
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out[1, 1] += inMat[3, 0] * inMat[0, 2] * inMat[2, 3] - inMat[3, 0] * inMat[0, 3] * inMat[2, 2]
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out[2, 1] = -inMat[0, 0] * inMat[2, 1] * inMat[3, 3] + inMat[0, 0] * inMat[2, 3] * inMat[3, 1]
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out[2, 1] += inMat[2, 0] * inMat[0, 1] * inMat[3, 3] - inMat[2, 0] * inMat[0, 3] * inMat[3, 1]
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out[2, 1] += -inMat[3, 0] * inMat[0, 1] * inMat[2, 3] + inMat[3, 0] * inMat[0, 3] * inMat[2, 1]
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out[3, 1] = inMat[0, 0] * inMat[2, 1] * inMat[3, 2] - inMat[0, 0] * inMat[2, 2] * inMat[3, 1]
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out[3, 1] += -inMat[2, 0] * inMat[0, 1] * inMat[3, 2] + inMat[2, 0] * inMat[0, 2] * inMat[3, 1]
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out[3, 1] += inMat[3, 0] * inMat[0, 1] * inMat[2, 2] - inMat[3, 0] * inMat[0, 2] * inMat[2, 1]
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out[0, 2] = inMat[0, 1] * inMat[1, 2] * inMat[3, 3] - inMat[0, 1] * inMat[1, 3] * inMat[3, 2]
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out[0, 2] += -inMat[1, 1] * inMat[0, 2] * inMat[3, 3] + inMat[1, 1] * inMat[0, 3] * inMat[3, 2]
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out[0, 2] += inMat[3, 1] * inMat[0, 2] * inMat[1, 3] - inMat[3, 1] * inMat[0, 3] * inMat[1, 2]
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out[1, 2] = -inMat[0, 0] * inMat[1, 2] * inMat[3, 3] + inMat[0, 0] * inMat[1, 3] * inMat[3, 2]
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out[1, 2] += inMat[1, 0] * inMat[0, 2] * inMat[3, 3] - inMat[1, 0] * inMat[0, 3] * inMat[3, 2]
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out[1, 2] += -inMat[3, 0] * inMat[0, 2] * inMat[1, 3] + inMat[3, 0] * inMat[0, 3] * inMat[1, 2]
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out[2, 2] = inMat[0, 0] * inMat[1, 1] * inMat[3, 3] - inMat[0, 0] * inMat[1, 3] * inMat[3, 1]
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out[2, 2] += -inMat[1, 0] * inMat[0, 1] * inMat[3, 3] + inMat[1, 0] * inMat[0, 3] * inMat[3, 1]
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out[2, 2] += inMat[3, 0] * inMat[0, 1] * inMat[1, 3] - inMat[3, 0] * inMat[0, 3] * inMat[1, 1]
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out[3, 2] = -inMat[0, 0] * inMat[1, 1] * inMat[3, 2] + inMat[0, 0] * inMat[1, 2] * inMat[3, 1]
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out[3, 2] += inMat[1, 0] * inMat[0, 1] * inMat[3, 2] - inMat[1, 0] * inMat[0, 2] * inMat[3, 1]
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out[3, 2] += -inMat[3, 0] * inMat[0, 1] * inMat[1, 2] + inMat[3, 0] * inMat[0, 2] * inMat[1, 1]
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out[0, 3] = -inMat[0, 1] * inMat[1, 2] * inMat[2, 3] + inMat[0, 1] * inMat[1, 3] * inMat[2, 2]
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out[0, 3] += inMat[1, 1] * inMat[0, 2] * inMat[2, 3] - inMat[1, 1] * inMat[0, 3] * inMat[2, 2]
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out[0, 3] += -inMat[2, 1] * inMat[0, 2] * inMat[1, 3] + inMat[2, 1] * inMat[0, 3] * inMat[1, 2]
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out[1, 3] = inMat[0, 0] * inMat[1, 2] * inMat[2, 3] - inMat[0, 0] * inMat[1, 3] * inMat[2, 2]
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out[1, 3] += -inMat[1, 0] * inMat[0, 2] * inMat[2, 3] + inMat[1, 0] * inMat[0, 3] * inMat[2, 2]
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out[1, 3] += inMat[2, 0] * inMat[0, 2] * inMat[1, 3] - inMat[2, 0] * inMat[0, 3] * inMat[1, 2]
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out[2, 3] = -inMat[0, 0] * inMat[1, 1] * inMat[2, 3] + inMat[0, 0] * inMat[1, 3] * inMat[2, 1]
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out[2, 3] += inMat[1, 0] * inMat[0, 1] * inMat[2, 3] - inMat[1, 0] * inMat[0, 3] * inMat[2, 1]
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out[2, 3] += -inMat[2, 0] * inMat[0, 1] * inMat[1, 3] + inMat[2, 0] * inMat[0, 3] * inMat[1, 1]
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out[3, 3] = inMat[0, 0] * inMat[1, 1] * inMat[2, 2] - inMat[0, 0] * inMat[1, 2] * inMat[2, 1]
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out[3, 3] += -inMat[1, 0] * inMat[0, 1] * inMat[2, 2] + inMat[1, 0] * inMat[0, 2] * inMat[2, 1]
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out[3, 3] += inMat[2, 0] * inMat[0, 1] * inMat[1, 2] - inMat[2, 0] * inMat[0, 2] * inMat[1, 1]
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return out
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}

‎Sources/FirebladeMath/Functions/determinant.swift‎

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//
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// determinant.swift
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//
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//
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// Created by Christian Treffs on 02.09.20.
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//
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#if FRB_MATH_USE_SIMD
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import func simd.simd_determinant
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#endif
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public func determinant(_ mat: Mat4x4f) -> Float {
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#if FRB_MATH_USE_SIMD
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return simd.simd_determinant(mat.storage)
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#else
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return mat[0, 0]*mat[1, 1]*mat[2, 2]*mat[3, 3] - mat[1, 0]*mat[0, 1]*mat[2, 2]*mat[3, 3] + mat[0, 2]*mat[0, 1]*mat[1, 2]*mat[3, 3]
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- mat[0, 0]*mat[2, 1]*mat[1, 2]*mat[3, 3] + mat[1, 0]*mat[2, 1]*mat[0, 2]*mat[3, 3] - mat[0, 2]*mat[1, 1]*mat[0, 2]*mat[3, 3]
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+ mat[0, 2]*mat[1, 1]*mat[3, 2]*mat[0, 3] - mat[1, 0]*mat[2, 1]*mat[3, 2]*mat[0, 3] + mat[3, 0]*mat[2, 1]*mat[1, 2]*mat[0, 3]
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- mat[0, 2]*mat[3, 1]*mat[1, 2]*mat[0, 3] + mat[1, 0]*mat[3, 1]*mat[2, 2]*mat[0, 3] - mat[3, 0]*mat[1, 1]*mat[2, 2]*mat[0, 3]
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+ mat[3, 0]*mat[0, 1]*mat[2, 2]*mat[1, 3] - mat[0, 0]*mat[3, 1]*mat[2, 2]*mat[1, 3] + mat[0, 2]*mat[3, 1]*mat[0, 2]*mat[1, 3]
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- mat[3, 0]*mat[2, 1]*mat[0, 2]*mat[1, 3] + mat[0, 0]*mat[2, 1]*mat[3, 2]*mat[1, 3] - mat[0, 2]*mat[0, 1]*mat[3, 2]*mat[1, 3]
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+ mat[1, 0]*mat[0, 1]*mat[3, 2]*mat[2, 3] - mat[0, 0]*mat[1, 1]*mat[3, 2]*mat[2, 3] + mat[3, 0]*mat[1, 1]*mat[0, 2]*mat[2, 3]
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- mat[1, 0]*mat[3, 1]*mat[0, 2]*mat[2, 3] + mat[0, 0]*mat[3, 1]*mat[1, 2]*mat[2, 3] - mat[3, 0]*mat[0, 1]*mat[1, 2]*mat[2, 3]
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#endif
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}
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public func determinant(_ mat: Mat3x3f) -> Float {
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#if FRB_MATH_USE_SIMD
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return simd.simd_determinant(mat.storage)
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#else
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return (mat[0, 0] * mat[1, 1] * mat[2, 2] + mat[0, 1] * mat[1, 2] * mat[2, 0] + mat[0, 2] * mat[1, 0] * mat[2, 1])
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- (mat[0, 2] * mat[1, 1] * mat[2, 0] + mat[0, 0] * mat[1, 2] * mat[2, 1] + mat[0, 1] * mat[1, 0] * mat[2, 2])
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#endif
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}
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public func determinant(_ mat: Mat4x4d) -> Double {
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#if FRB_MATH_USE_SIMD
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return simd.simd_determinant(mat.storage)
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#else
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return mat[0, 0]*mat[1, 1]*mat[2, 2]*mat[3, 3] - mat[1, 0]*mat[0, 1]*mat[2, 2]*mat[3, 3] + mat[0, 2]*mat[0, 1]*mat[1, 2]*mat[3, 3]
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- mat[0, 0]*mat[2, 1]*mat[1, 2]*mat[3, 3] + mat[1, 0]*mat[2, 1]*mat[0, 2]*mat[3, 3] - mat[0, 2]*mat[1, 1]*mat[0, 2]*mat[3, 3]
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+ mat[0, 2]*mat[1, 1]*mat[3, 2]*mat[0, 3] - mat[1, 0]*mat[2, 1]*mat[3, 2]*mat[0, 3] + mat[3, 0]*mat[2, 1]*mat[1, 2]*mat[0, 3]
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- mat[0, 2]*mat[3, 1]*mat[1, 2]*mat[0, 3] + mat[1, 0]*mat[3, 1]*mat[2, 2]*mat[0, 3] - mat[3, 0]*mat[1, 1]*mat[2, 2]*mat[0, 3]
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+ mat[3, 0]*mat[0, 1]*mat[2, 2]*mat[1, 3] - mat[0, 0]*mat[3, 1]*mat[2, 2]*mat[1, 3] + mat[0, 2]*mat[3, 1]*mat[0, 2]*mat[1, 3]
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- mat[3, 0]*mat[2, 1]*mat[0, 2]*mat[1, 3] + mat[0, 0]*mat[2, 1]*mat[3, 2]*mat[1, 3] - mat[0, 2]*mat[0, 1]*mat[3, 2]*mat[1, 3]
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+ mat[1, 0]*mat[0, 1]*mat[3, 2]*mat[2, 3] - mat[0, 0]*mat[1, 1]*mat[3, 2]*mat[2, 3] + mat[3, 0]*mat[1, 1]*mat[0, 2]*mat[2, 3]
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- mat[1, 0]*mat[3, 1]*mat[0, 2]*mat[2, 3] + mat[0, 0]*mat[3, 1]*mat[1, 2]*mat[2, 3] - mat[3, 0]*mat[0, 1]*mat[1, 2]*mat[2, 3]
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#endif
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}
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public func determinant(_ mat: Mat3x3d) -> Double {
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#if FRB_MATH_USE_SIMD
53+
return simd.simd_determinant(mat.storage)
54+
#else
55+
return (mat[0, 0] * mat[1, 1] * mat[2, 2] + mat[0, 1] * mat[1, 2] * mat[2, 0] + mat[0, 2] * mat[1, 0] * mat[2, 1])
56+
- (mat[0, 2] * mat[1, 1] * mat[2, 0] + mat[0, 0] * mat[1, 2] * mat[2, 1] + mat[0, 1] * mat[1, 0] * mat[2, 2])
57+
#endif
58+
}

‎Sources/FirebladeMath/Functions/inverse.swift‎

Lines changed: 6 additions & 34 deletions
Original file line numberDiff line numberDiff line change
@@ -9,50 +9,22 @@
99
import func simd.simd_inverse
1010
#endif
1111

12-
public func inverse(_ matrix: Mat3x3f) -> Mat3x3f {
13-
#if FRB_MATH_USE_SIMD
14-
return Mat3x3f(storage: simd.simd_inverse(matrix.storage))
15-
#else
16-
fatalError("implementation missing \(#function)")
17-
#endif
18-
}
19-
20-
public func inverse(_ matrix: Mat3x3d) -> Mat3x3d {
21-
#if FRB_MATH_USE_SIMD
22-
return Mat3x3d(storage: simd.simd_inverse(matrix.storage))
23-
#else
24-
fatalError("implementation missing \(#function)")
25-
#endif
26-
}
27-
2812
public func inverse(_ matrix: Mat4x4f) -> Mat4x4f {
2913
#if FRB_MATH_USE_SIMD
3014
return Mat4x4f(storage: simd.simd_inverse(matrix.storage))
3115
#else
32-
fatalError("implementation missing \(#function)")
16+
let adj: Mat4x4f = adjugate(matrix)
17+
let value: Float = 1.0 / determinant(adj)
18+
return multiply(value, adj)
3319
#endif
3420
}
3521

3622
public func inverse(_ matrix: Mat4x4d) -> Mat4x4d {
3723
#if FRB_MATH_USE_SIMD
3824
return Mat4x4d(storage: simd.simd_inverse(matrix.storage))
3925
#else
40-
fatalError("implementation missing \(#function)")
41-
#endif
42-
}
43-
44-
public func inverse(_ quat: Quat4f) -> Quat4f {
45-
#if FRB_MATH_USE_SIMD
46-
return Quat4f(storage: simd_inverse(quat.storage))
47-
#else
48-
fatalError("implementation missing \(#function)")
49-
#endif
50-
}
51-
52-
public func inverse(_ quat: Quat4d) -> Quat4d {
53-
#if FRB_MATH_USE_SIMD
54-
return Quat4d(storage: simd_inverse(quat.storage))
55-
#else
56-
fatalError("implementation missing \(#function)")
26+
let adj: Mat4x4d = adjugate(matrix)
27+
let value: Double = 1.0 / determinant(adj)
28+
return multiply(value, adj)
5729
#endif
5830
}

‎Sources/FirebladeMath/Functions/quaternion.swift‎

Lines changed: 8 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -37,15 +37,21 @@ public func quaternion(from: SIMD3<Float>, to: SIMD3<Float>) -> Quat4f {
3737
#if FRB_MATH_USE_SIMD
3838
return Quat4f(storage: simd.simd_quaternion(from, to))
3939
#else
40-
fatalError("implementation missing \(#function)")
40+
let half = normalize(from + to)
41+
let img = cross(from, half)
42+
let real = dot(from, half)
43+
return Quat4f(img.x, img.y, img.z, real)
4144
#endif
4245
}
4346

4447
public func quaternion(from: SIMD3<Double>, to: SIMD3<Double>) -> Quat4d {
4548
#if FRB_MATH_USE_SIMD
4649
return Quat4d(storage: simd.simd_quaternion(from, to))
4750
#else
48-
fatalError("implementation missing \(#function)")
51+
let half = normalize(from + to)
52+
let img = cross(from, half)
53+
let real = dot(from, half)
54+
return Quat4d(img.x, img.y, img.z, real)
4955
#endif
5056
}
5157

‎Sources/FirebladeMath/Matrix/Mat3x3f.swift‎

Lines changed: 0 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -26,10 +26,6 @@ extension Mat3x3f {
2626
)
2727
}
2828

29-
@inlinable public var inverted: Mat3x3f {
30-
inverse(self)
31-
}
32-
3329
@inlinable public var transposed: Mat3x3f {
3430
transpose(self)
3531
}

‎Sources/FirebladeMath/Matrix/Mat4x4f.swift‎

Lines changed: 0 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -42,9 +42,6 @@ extension Mat4x4f {
4242
let sz = storage.columns.2.length
4343
return SIMD3<Float>(sx, sy, sz)
4444
}
45-
set {
46-
fatalError("CAN NOT SET SCALE YET")
47-
}
4845
}
4946

5047
public init(upperLeft matrix3x3: Mat3x3f) {
@@ -77,9 +74,6 @@ extension Mat4x4f {
7774
get {
7875
SIMD4<Float>(Quat4f(rotation: self))
7976
}
80-
set {
81-
fatalError("CAN NOT SET ROTATION YET")
82-
}
8377
}
8478

8579
public init(translation tVec: SIMD3<Float> = .zero, scale sVec: SIMD3<Float> = .one) {

‎Sources/FirebladeMath/Quat/Quat4f.swift‎

Lines changed: 0 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -24,10 +24,6 @@ extension Quat4f {
2424
FirebladeMath.angle(self)
2525
}
2626

27-
@inlinable public var inverse: Quat4f {
28-
FirebladeMath.inverse(self)
29-
}
30-
3127
@inlinable public var conjugate: Quat4f {
3228
FirebladeMath.conjugate(self)
3329
}

‎Sources/FirebladeMath/Quat/Quaternion+Multiplication.swift‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -16,20 +16,20 @@ public func multiply(_ lhs: Float, _ rhs: Quat4f) -> Quat4f {
1616
#if FRB_MATH_USE_SIMD
1717
return Quat4f(storage: simd.simd_mul(lhs, rhs.storage))
1818
#else
19-
fatalError("not implemented yet")
19+
return Quat4f(lhs * SIMD4<Float>(rhs.storage))
2020
#endif
2121
}
2222

2323
public func multiply(_ lhs: Quat4f, _ rhs: Float) -> Quat4f {
2424
#if FRB_MATH_USE_SIMD
2525
return Quat4f(storage: simd.simd_mul(lhs.storage, rhs))
2626
#else
27-
fatalError("not implemented yet")
27+
return Quat4f(SIMD4<Float>(lhs.storage) * rhs)
2828
#endif
2929
}
3030

3131
/// Returns the product of two quaternions.
32-
public func multiply (_ lhs: Quat4f, _ rhs: Quat4f) -> Quat4f {
32+
public func multiply(_ lhs: Quat4f, _ rhs: Quat4f) -> Quat4f {
3333
#if FRB_MATH_USE_SIMD
3434
return Quat4f(storage: simd.simd_mul(lhs.storage, rhs.storage))
3535
#else

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