store math.matrices.simd matrices in column-major order so that m4.v, frustum, and translation construction are faster
Joe Groff
parent
4e4be60884
commit
2a24e30a24
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@ -52,10 +52,10 @@ IN: math.matrices.simd.tests
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[
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S{ matrix4 f
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float-4-array{
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float-4{ 1.0 0.0 0.0 3.0 }
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float-4{ 0.0 1.0 0.0 4.0 }
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float-4{ 0.0 0.0 1.0 2.0 }
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float-4{ 0.0 0.0 0.0 1.0 }
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float-4{ 1.0 0.0 0.0 0.0 }
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float-4{ 0.0 1.0 0.0 0.0 }
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float-4{ 0.0 0.0 1.0 0.0 }
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float-4{ 3.0 4.0 2.0 1.0 }
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}
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}
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] [ float-4{ 3.0 4.0 2.0 0.0 } translation-matrix4 ] unit-test
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@ -77,9 +77,9 @@ IN: math.matrices.simd.tests
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float-4{ 0.0 1.0 0.0 1.0 } pi 1/2. * rotation-matrix4
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S{ matrix4 f
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float-4-array{
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float-4{ 0.0 0.0 1.0 0.0 }
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float-4{ 0.0 0.0 -1.0 0.0 }
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float-4{ 0.0 1.0 0.0 0.0 }
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float-4{ -1.0 0.0 0.0 0.0 }
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float-4{ 1.0 0.0 0.0 0.0 }
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float-4{ 0.0 0.0 0.0 1.0 }
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}
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}
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@ -89,10 +89,10 @@ IN: math.matrices.simd.tests
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[
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S{ matrix4 f
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float-4-array{
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float-4{ 2.0 0.0 0.0 10.0 }
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float-4{ 0.0 3.0 0.0 18.0 }
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float-4{ 0.0 0.0 4.0 28.0 }
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float-4{ 0.0 0.0 0.0 1.0 }
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float-4{ 2.0 0.0 0.0 0.0 }
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float-4{ 0.0 3.0 0.0 0.0 }
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float-4{ 0.0 0.0 4.0 0.0 }
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float-4{ 10.0 18.0 28.0 1.0 }
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}
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}
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] [
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@ -106,10 +106,10 @@ IN: math.matrices.simd.tests
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}
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S{ matrix4 f
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float-4-array{
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float-4{ 1.0 0.0 0.0 5.0 }
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float-4{ 0.0 1.0 0.0 6.0 }
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float-4{ 0.0 0.0 1.0 7.0 }
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float-4{ 0.0 0.0 0.0 1.0 }
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float-4{ 1.0 0.0 0.0 0.0 }
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float-4{ 0.0 1.0 0.0 0.0 }
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float-4{ 0.0 0.0 1.0 0.0 }
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float-4{ 5.0 6.0 7.0 1.0 }
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}
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}
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m4.
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@ -118,10 +118,10 @@ IN: math.matrices.simd.tests
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[
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S{ matrix4 f
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float-4-array{
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float-4{ 3.0 0.0 0.0 5.0 }
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float-4{ 0.0 4.0 0.0 6.0 }
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float-4{ 0.0 0.0 5.0 7.0 }
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float-4{ 0.0 0.0 0.0 2.0 }
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float-4{ 3.0 0.0 0.0 0.0 }
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float-4{ 0.0 4.0 0.0 0.0 }
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float-4{ 0.0 0.0 5.0 0.0 }
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float-4{ 5.0 6.0 7.0 2.0 }
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}
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}
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] [
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@ -135,10 +135,10 @@ IN: math.matrices.simd.tests
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}
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S{ matrix4 f
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float-4-array{
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float-4{ 1.0 0.0 0.0 5.0 }
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float-4{ 0.0 1.0 0.0 6.0 }
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float-4{ 0.0 0.0 1.0 7.0 }
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float-4{ 0.0 0.0 0.0 1.0 }
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float-4{ 1.0 0.0 0.0 0.0 }
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float-4{ 0.0 1.0 0.0 0.0 }
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float-4{ 0.0 0.0 1.0 0.0 }
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float-4{ 5.0 6.0 7.0 1.0 }
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}
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}
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m4+
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@ -147,10 +147,10 @@ IN: math.matrices.simd.tests
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[
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S{ matrix4 f
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float-4-array{
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float-4{ 1.0 0.0 0.0 -5.0 }
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float-4{ 0.0 2.0 0.0 -6.0 }
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float-4{ 0.0 0.0 3.0 -7.0 }
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float-4{ 0.0 0.0 0.0 0.0 }
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float-4{ 1.0 0.0 0.0 0.0 }
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float-4{ 0.0 2.0 0.0 0.0 }
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float-4{ 0.0 0.0 3.0 0.0 }
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float-4{ -5.0 -6.0 -7.0 0.0 }
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}
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}
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] [
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@ -164,10 +164,10 @@ IN: math.matrices.simd.tests
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}
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S{ matrix4 f
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float-4-array{
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float-4{ 1.0 0.0 0.0 5.0 }
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float-4{ 0.0 1.0 0.0 6.0 }
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float-4{ 0.0 0.0 1.0 7.0 }
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float-4{ 0.0 0.0 0.0 1.0 }
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float-4{ 1.0 0.0 0.0 0.0 }
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float-4{ 0.0 1.0 0.0 0.0 }
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float-4{ 0.0 0.0 1.0 0.0 }
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float-4{ 5.0 6.0 7.0 1.0 }
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}
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}
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m4-
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@ -219,10 +219,10 @@ IN: math.matrices.simd.tests
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[
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S{ matrix4 f
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float-4-array{
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float-4{ 1/2. 0.0 0.0 0.0 }
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float-4{ 0.0 1/2. 0.0 0.0 }
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float-4{ 0.0 0.0 -6/4. -10/4. }
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float-4{ 0.0 0.0 -1.0 0.0 }
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float-4{ 1/2. 0.0 0.0 0.0 }
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float-4{ 0.0 1/2. 0.0 0.0 }
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float-4{ 0.0 0.0 -6/4. -1.0 }
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float-4{ 0.0 0.0 -10/4. 0.0 }
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}
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}
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] [
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@ -9,34 +9,34 @@ SPECIALIZED-ARRAY: float-4
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IN: math.matrices.simd
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STRUCT: matrix4
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{ rows float-4[4] } ;
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{ columns float-4[4] } ;
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INSTANCE: matrix4 immutable-sequence
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M: matrix4 length drop 4 ; inline
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M: matrix4 nth-unsafe rows>> nth-unsafe ; inline
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M: matrix4 nth-unsafe columns>> nth-unsafe ; inline
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M: matrix4 new-sequence 2drop matrix4 (struct) ; inline
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<PRIVATE
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: rows ( a -- a1 a2 a3 a4 )
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rows>> 4 firstn ; inline
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: columns ( a -- a1 a2 a3 a4 )
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columns>> 4 firstn ; inline
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:: set-rows ( c1 c2 c3 c4 c -- c )
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c rows>> :> rows
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c1 rows set-first
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c2 rows set-second
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c3 rows set-third
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c4 rows set-fourth
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:: set-columns ( c1 c2 c3 c4 c -- c )
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c columns>> :> columns
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c1 columns set-first
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c2 columns set-second
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c3 columns set-third
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c4 columns set-fourth
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c ; inline
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: make-matrix4 ( quot: ( -- c1 c2 c3 c4 ) -- c )
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matrix4 (struct) swap dip set-rows ; inline
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matrix4 (struct) swap dip set-columns ; inline
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:: 2map-rows ( a b quot -- c )
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:: 2map-columns ( a b quot -- c )
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[
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a rows :> a4 :> a3 :> a2 :> a1
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b rows :> b4 :> b3 :> b2 :> b1
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a columns :> a4 :> a3 :> a2 :> a1
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b columns :> b4 :> b3 :> b2 :> b1
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a1 b1 quot call
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a2 b2 quot call
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@ -44,57 +44,57 @@ M: matrix4 new-sequence 2drop matrix4 (struct) ; inline
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a4 b4 quot call
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] make-matrix4 ; inline
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: map-rows ( a quot -- c )
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'[ rows _ 4 napply ] make-matrix4 ; inline
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: map-columns ( a quot -- c )
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'[ columns _ 4 napply ] make-matrix4 ; inline
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PRIVATE>
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TYPED: m4+ ( a: matrix4 b: matrix4 -- c: matrix4 ) [ v+ ] 2map-rows ;
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TYPED: m4- ( a: matrix4 b: matrix4 -- c: matrix4 ) [ v- ] 2map-rows ;
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TYPED: m4* ( a: matrix4 b: matrix4 -- c: matrix4 ) [ v* ] 2map-rows ;
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TYPED: m4/ ( a: matrix4 b: matrix4 -- c: matrix4 ) [ v/ ] 2map-rows ;
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TYPED: m4+ ( a: matrix4 b: matrix4 -- c: matrix4 ) [ v+ ] 2map-columns ;
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TYPED: m4- ( a: matrix4 b: matrix4 -- c: matrix4 ) [ v- ] 2map-columns ;
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TYPED: m4* ( a: matrix4 b: matrix4 -- c: matrix4 ) [ v* ] 2map-columns ;
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TYPED: m4/ ( a: matrix4 b: matrix4 -- c: matrix4 ) [ v/ ] 2map-columns ;
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TYPED: m4*n ( a: matrix4 b: float -- c: matrix4 ) [ v*n ] curry map-rows ;
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TYPED: m4/n ( a: matrix4 b: float -- c: matrix4 ) [ v/n ] curry map-rows ;
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TYPED: n*m4 ( a: float b: matrix4 -- c: matrix4 ) [ n*v ] with map-rows ;
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TYPED: n/m4 ( a: float b: matrix4 -- c: matrix4 ) [ n/v ] with map-rows ;
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TYPED: m4*n ( a: matrix4 b: float -- c: matrix4 ) [ v*n ] curry map-columns ;
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TYPED: m4/n ( a: matrix4 b: float -- c: matrix4 ) [ v/n ] curry map-columns ;
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TYPED: n*m4 ( a: float b: matrix4 -- c: matrix4 ) [ n*v ] with map-columns ;
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TYPED: n/m4 ( a: float b: matrix4 -- c: matrix4 ) [ n/v ] with map-columns ;
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TYPED:: m4. ( a: matrix4 b: matrix4 -- c: matrix4 )
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[
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a rows :> a4 :> a3 :> a2 :> a1
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b rows :> b4 :> b3 :> b2 :> b1
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a columns :> a4 :> a3 :> a2 :> a1
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b columns :> b4 :> b3 :> b2 :> b1
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a1 first b1 n*v :> c1a
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a2 first b1 n*v :> c2a
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a3 first b1 n*v :> c3a
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a4 first b1 n*v :> c4a
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b1 first a1 n*v :> c1a
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b2 first a1 n*v :> c2a
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b3 first a1 n*v :> c3a
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b4 first a1 n*v :> c4a
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a1 second b2 n*v c1a v+ :> c1b
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a2 second b2 n*v c2a v+ :> c2b
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a3 second b2 n*v c3a v+ :> c3b
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a4 second b2 n*v c4a v+ :> c4b
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b1 second a2 n*v c1a v+ :> c1b
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b2 second a2 n*v c2a v+ :> c2b
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b3 second a2 n*v c3a v+ :> c3b
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b4 second a2 n*v c4a v+ :> c4b
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a1 third b3 n*v c1b v+ :> c1c
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a2 third b3 n*v c2b v+ :> c2c
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a3 third b3 n*v c3b v+ :> c3c
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a4 third b3 n*v c4b v+ :> c4c
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b1 third a3 n*v c1b v+ :> c1c
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b2 third a3 n*v c2b v+ :> c2c
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b3 third a3 n*v c3b v+ :> c3c
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b4 third a3 n*v c4b v+ :> c4c
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a1 fourth b4 n*v c1c v+
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a2 fourth b4 n*v c2c v+
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a3 fourth b4 n*v c3c v+
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a4 fourth b4 n*v c4c v+
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b1 fourth a4 n*v c1c v+
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b2 fourth a4 n*v c2c v+
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b3 fourth a4 n*v c3c v+
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b4 fourth a4 n*v c4c v+
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] make-matrix4 ;
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TYPED:: v.m4 ( a: float-4 b: matrix4 -- c: float-4 )
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b rows :> b4 :> b3 :> b2 :> b1
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TYPED:: m4.v ( m: matrix4 v: float-4 -- v': float-4 )
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m columns :> m4 :> m3 :> m2 :> m1
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a first b1 n*v
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a second b2 n*v v+
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a third b3 n*v v+
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a fourth b4 n*v v+ ;
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v first m1 n*v
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v second m2 n*v v+
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v third m3 n*v v+
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v fourth m4 n*v v+ ;
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TYPED:: m4.v ( a: matrix4 b: float-4 -- c: float-4 )
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a rows [ b v. ] 4 napply float-4-boa ;
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TYPED:: v.m4 ( v: float-4 m: matrix4 -- c: float-4 )
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m columns [ v v. ] 4 napply float-4-boa ;
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CONSTANT: identity-matrix4
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S{ matrix4 f
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@ -131,37 +131,37 @@ TYPED: diagonal-matrix4 ( diagonal: float-4 -- matrix: matrix4 )
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[ (vmerge) ] bi-curry@ bi* ; inline
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TYPED: transpose-matrix4 ( matrix: matrix4 -- matrix: matrix4 )
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[ rows vmerge-transpose vmerge-transpose ] make-matrix4 ;
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[ columns vmerge-transpose vmerge-transpose ] make-matrix4 ;
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: linear>homogeneous ( v -- v' )
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[ float-4{ t t t f } ] dip float-4{ 0.0 0.0 0.0 1.0 } v? ; inline
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: scale-matrix4 ( factors -- matrix )
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[ float-4{ t t t f } ] dip float-4{ 0.0 0.0 0.0 1.0 } v?
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diagonal-matrix4 ; inline
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linear>homogeneous diagonal-matrix4 ; inline
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: ortho-matrix4 ( factors -- matrix )
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float-4{ 1.0 1.0 1.0 1.0 } swap v/ scale-matrix4 ; inline
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TYPED:: translation-matrix4 ( offset: float-4 -- matrix: matrix4 )
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TYPED: translation-matrix4 ( offset: float-4 -- matrix: matrix4 )
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[
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float-4{ 1.0 1.0 1.0 1.0 } :> diagonal
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offset 0 float-4-with (vmerge)
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[ 0 float-4-with swap (vmerge) ] bi@ drop :> z :> y :> x
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diagonal y vmerge-diagonal*
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[ x vmerge-diagonal* ]
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[ z vmerge-diagonal* ] bi*
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linear>homogeneous
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[
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float-4{ 1.0 0.0 0.0 0.0 }
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float-4{ 0.0 1.0 0.0 0.0 }
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float-4{ 0.0 0.0 1.0 0.0 }
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] dip
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] make-matrix4 ;
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TYPED:: rotation-matrix4 ( axis: float-4 theta: float -- matrix: matrix4 )
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! x*x + c*(1.0 - x*x) x*y*(1.0 - c) - s*z x*z*(1.0 - c) + s*y 0
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! x*y*(1.0 - c) + s*z y*y + c*(1.0 - y*y) y*z*(1.0 - c) - s*x 0
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! x*z*(1.0 - c) - s*y y*z*(1.0 - c) + s*x z*z + c*(1.0 - z*z) 0
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! x*x + c*(1.0 - x*x) x*y*(1.0 - c) + s*z x*z*(1.0 - c) - s*y 0
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! x*y*(1.0 - c) - s*z y*y + c*(1.0 - y*y) y*z*(1.0 - c) + s*x 0
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! x*z*(1.0 - c) + s*y y*z*(1.0 - c) - s*x z*z + c*(1.0 - z*z) 0
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! 0 0 0 1
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matrix4 (struct) :> triangle-m
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theta cos :> c
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theta sin :> s
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float-4{ 1.0 -1.0 1.0 0.0 } :> triangle-sign
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float-4{ -1.0 1.0 -1.0 0.0 } :> triangle-sign
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c float-4-with :> cc
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s float-4-with :> ss
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@ -184,7 +184,7 @@ TYPED:: rotation-matrix4 ( axis: float-4 theta: float -- matrix: matrix4 )
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triangle-lo { 1 0 3 3 } vshuffle
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float-4 new
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triangle-m set-rows drop
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triangle-m set-columns drop
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diagonal-m triangle-m m4+ ;
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@ -194,8 +194,10 @@ TYPED:: frustum-matrix4 ( xy: float-4 near: float far: float -- matrix: matrix4
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float-4{ t t f f } xy near far - float-4-with v? ! denom
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v/ :> fov
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fov 0.0 float-4-with (vmerge-head) vmerge-diagonal
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fov float-4{ f f t t } vand
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float-4{ 0.0 0.0 -1.0 0.0 }
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float-4{ 0.0 -1.0 0.0 0.0 } :> negone
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fov vmerge-diagonal
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[ vmerge-diagonal ]
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[ negone (vmerge) ] bi*
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] make-matrix4 ;
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