Mercurial > games > semicongine

annotate src/zamikongine/math/matrix.nim @ 19:b55d6ecde79d

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did: introduce scene graph, meshs and generic vertex buffers
author Sam <sam@basx.dev>
date Mon, 09 Jan 2023 11:04:19 +0700
parents src/math/matrix.nim@b40466fa446a
children b45a5d338cd0
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1 import std/math
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2 import std/macros
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3 import std/random
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4 import std/strutils
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5 import std/typetraits
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6
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7 import ./vector
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8
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9 type
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10 # layout is row-first
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11 # having an object instead of directly aliasing the array seems a bit ugly at
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12 # first, but is necessary to be able to work correctly with distinguished
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13 # types (i.e. Mat23 and Mat32 would be an alias for the same type array[6, T]
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14 # which prevents the type system from identifying the correct type at times)
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15 #
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16 # Though, great news is that objects have zero overhead!
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17 Mat22*[T: SomeNumber] = object
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18 data: array[4, T]
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19 Mat23*[T: SomeNumber] = object
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20 data: array[6, T]
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21 Mat32*[T: SomeNumber] = object
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22 data: array[6, T]
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23 Mat33*[T: SomeNumber] = object
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24 data: array[9, T]
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25 Mat34*[T: SomeNumber] = object
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26 data: array[12, T]
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27 Mat43*[T: SomeNumber] = object
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28 data: array[12, T]
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29 Mat44*[T: SomeNumber] = object
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30 data: array[16, T]
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31 MatMM* = Mat22|Mat33|Mat44
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32 MatMN* = Mat23|Mat32|Mat34|Mat43
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33 Mat* = MatMM|MatMN
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34 IntegerMat = Mat22[SomeInteger]|Mat33[SomeInteger]|Mat44[SomeInteger]|Mat23[SomeInteger]|Mat32[SomeInteger]|Mat34[SomeInteger]|Mat43[SomeInteger]
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35 FloatMat = Mat22[SomeFloat]|Mat33[SomeFloat]|Mat44[SomeFloat]|Mat23[SomeFloat]|Mat32[SomeFloat]|Mat34[SomeFloat]|Mat43[SomeFloat]
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36
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37 func unit22[T: SomeNumber](): auto {.compiletime.} = Mat22[T](data:[
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38 T(1), T(0),
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39 T(0), T(1),
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40 ])
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41 func unit33[T: SomeNumber](): auto {.compiletime.} = Mat33[T](data:[
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42 T(1), T(0), T(0),
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43 T(0), T(1), T(0),
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44 T(0), T(0), T(1),
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45 ])
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46 func unit44[T: SomeNumber](): auto {.compiletime.} = Mat44[T](data: [
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47 T(1), T(0), T(0), T(0),
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48 T(0), T(1), T(0), T(0),
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49 T(0), T(0), T(1), T(0),
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50 T(0), T(0), T(0), T(1),
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51 ])
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52
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53 # generates constants: Unit
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54 # Also for Y, Z, R, G, B
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55 # not sure if this is necessary or even a good idea...
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56 macro generateAllConsts() =
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57 result = newStmtList()
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58 for theType in ["int", "int8", "int16", "int32", "int64", "float", "float32", "float64"]:
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59 var typename = theType[0 .. 0]
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60 if theType[^2].isDigit:
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61 typename = typename & theType[^2]
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62 if theType[^1].isDigit:
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63 typename = typename & theType[^1]
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64 result.add(newConstStmt(
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65 postfix(ident("Unit22" & typename), "*"),
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66 newCall(nnkBracketExpr.newTree(ident("unit22"), ident(theType)))
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67 ))
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68 result.add(newConstStmt(
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69 postfix(ident("Unit33" & typename), "*"),
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70 newCall(nnkBracketExpr.newTree(ident("unit33"), ident(theType)))
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71 ))
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72 result.add(newConstStmt(
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73 postfix(ident("Unit44" & typename), "*"),
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74 newCall(nnkBracketExpr.newTree(ident("unit44"), ident(theType)))
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75 ))
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76
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77 generateAllConsts()
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78
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79 const Unit22* = unit22[float]()
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80 const Unit33* = unit33[float]()
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81 const Unit44* = unit44[float]()
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82
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83 template rowCount*(m: typedesc): int =
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84 when m is Mat22: 2
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85 elif m is Mat23: 2
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86 elif m is Mat32: 3
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87 elif m is Mat33: 3
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88 elif m is Mat34: 3
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89 elif m is Mat43: 4
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90 elif m is Mat44: 4
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91 template columnCount*(m: typedesc): int =
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92 when m is Mat22: 2
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93 elif m is Mat23: 3
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94 elif m is Mat32: 2
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95 elif m is Mat33: 3
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96 elif m is Mat34: 4
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97 elif m is Mat43: 3
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98 elif m is Mat44: 4
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99
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100
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101 func toString[T](value: T): string =
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102 var
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103 strvalues: seq[string]
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104 maxwidth = 0
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105
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106 for n in value.data:
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107 let strval = $n
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108 strvalues.add(strval)
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109 if strval.len > maxwidth:
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110 maxwidth = strval.len
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111
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112 for i in 0 ..< strvalues.len:
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113 let filler = " ".repeat(maxwidth - strvalues[i].len)
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114 if i mod T.columnCount == T.columnCount - 1:
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115 result &= filler & strvalues[i] & "\n"
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116 else:
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117 if i mod T.columnCount == 0:
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118 result &= " "
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119 result &= filler & strvalues[i] & " "
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120 result = $T & "\n" & result
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121
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122 func `$`*(v: Mat22[SomeNumber]): string = toString[Mat22[SomeNumber]](v)
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123 func `$`*(v: Mat23[SomeNumber]): string = toString[Mat23[SomeNumber]](v)
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124 func `$`*(v: Mat32[SomeNumber]): string = toString[Mat32[SomeNumber]](v)
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125 func `$`*(v: Mat33[SomeNumber]): string = toString[Mat33[SomeNumber]](v)
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126 func `$`*(v: Mat34[SomeNumber]): string = toString[Mat34[SomeNumber]](v)
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127 func `$`*(v: Mat43[SomeNumber]): string = toString[Mat43[SomeNumber]](v)
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128 func `$`*(v: Mat44[SomeNumber]): string = toString[Mat44[SomeNumber]](v)
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129
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130 func `[]`*[T: Mat](m: T, row, col: int): auto = m.data[col + row * T.columnCount]
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131 proc `[]=`*[T: Mat, U](m: var T, row, col: int, value: U) = m.data[col + row * T.columnCount] = value
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132
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133 func row*[T: Mat22](m: T, i: 0..1): auto = Vec2([m[i, 0], m[i, 1]])
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134 func row*[T: Mat32](m: T, i: 0..2): auto = Vec2([m[i, 0], m[i, 1]])
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135 func row*[T: Mat23](m: T, i: 0..1): auto = Vec3([m[i, 0], m[i, 1], m[i, 2]])
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136 func row*[T: Mat33](m: T, i: 0..2): auto = Vec3([m[i, 0], m[i, 1], m[i, 2]])
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137 func row*[T: Mat43](m: T, i: 0..3): auto = Vec3([m[i, 0], m[i, 1], m[i, 2]])
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138 func row*[T: Mat34](m: T, i: 0..2): auto = Vec4([m[i, 0], m[i, 1], m[i, 2], m[i, 3]])
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139 func row*[T: Mat44](m: T, i: 0..3): auto = Vec4([m[i, 0], m[i, 1], m[i, 2], m[i, 3]])
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140
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141 func col*[T: Mat22](m: T, i: 0..1): auto = Vec2([m[0, i], m[1, i]])
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142 func col*[T: Mat23](m: T, i: 0..2): auto = Vec2([m[0, i], m[1, i]])
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143 func col*[T: Mat32](m: T, i: 0..1): auto = Vec3([m[0, i], m[1, i], m[2, i]])
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144 func col*[T: Mat33](m: T, i: 0..2): auto = Vec3([m[0, i], m[1, i], m[2, i]])
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145 func col*[T: Mat34](m: T, i: 0..3): auto = Vec3([m[0, i], m[1, i], m[2, i]])
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146 func col*[T: Mat43](m: T, i: 0..2): auto = Vec4([m[0, i], m[1, i], m[2, i], m[3, i]])
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147 func col*[T: Mat44](m: T, i: 0..3): auto = Vec4([m[0, i], m[1, i], m[2, i], m[3, i]])
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148
16
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149 proc createMatMatMultiplicationOperator(leftType: typedesc, rightType: typedesc, outType: typedesc): NimNode =
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150 var data = nnkBracket.newTree()
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151 for i in 0 ..< rowCount(leftType):
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152 for j in 0 ..< rightType.columnCount:
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153 data.add(newCall(
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154 ident("sum"),
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155 infix(
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156 newCall(newDotExpr(ident("a"), ident("row")), newLit(i)),
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157 "*",
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158 newCall(newDotExpr(ident("b"), ident("col")), newLit(j))
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159 )
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160 ))
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161
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162 return newProc(
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163 postfix(nnkAccQuoted.newTree(ident("*")), "*"),
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164 params=[
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165 ident("auto"),
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166 newIdentDefs(ident("a"), ident(leftType.name)),
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167 newIdentDefs(ident("b"), ident(rightType.name))
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168 ],
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169 body=nnkObjConstr.newTree(ident(outType.name), nnkExprColonExpr.newTree(ident("data"), data)),
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170 procType=nnkFuncDef,
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171 )
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172
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173 proc createVecMatMultiplicationOperator(matType: typedesc, vecType: typedesc): NimNode =
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174 var data = nnkBracket.newTree()
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175 for i in 0 ..< matType.rowCount:
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176 data.add(newCall(
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177 ident("sum"),
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178 infix(
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179 ident("v"),
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180 "*",
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181 newCall(newDotExpr(ident("m"), ident("row")), newLit(i))
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182 )
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183 ))
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184
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185 let resultVec = newCall(
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186 nnkBracketExpr.newTree(ident(vecType.name), ident("T")),
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187 data,
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188 )
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189 let name = postfix(nnkAccQuoted.newTree(ident("*")), "*")
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190 let genericParams = nnkGenericParams.newTree(nnkIdentDefs.newTree(ident("T"), ident("SomeNumber"), newEmptyNode()))
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191 let formalParams = nnkFormalParams.newTree(
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192 ident("auto"),
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193 newIdentDefs(ident("m"), nnkBracketExpr.newTree(ident(matType.name), ident("T"))),
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194 newIdentDefs(ident("v"), nnkBracketExpr.newTree(ident(vecType.name), ident("T"))),
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195 )
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196
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197 return nnkFuncDef.newTree(
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198 name,
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199 newEmptyNode(),
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200 genericParams,
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201 formalParams,
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202 newEmptyNode(),
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203 newEmptyNode(),
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204 resultVec
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205 )
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206
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207 proc createVecMatMultiplicationOperator1(vecType: typedesc, matType: typedesc): NimNode =
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208 var data = nnkBracket.newTree()
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209 for i in 0 ..< matType.columnCount:
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210 data.add(newCall(
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211 ident("sum"),
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212 infix(
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213 ident("v"),
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214 "*",
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215 newCall(newDotExpr(ident("m"), ident("col")), newLit(i))
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216 )
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217 ))
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218 let resultVec = nnkObjConstr.newTree(
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219 nnkBracketExpr.newTree(ident(vecType.name), ident("float")),
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220 nnkExprColonExpr.newTree(ident("data"), data)
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221 )
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222
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223 return nnkFuncDef.newTree(
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224 ident("test"),
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225 newEmptyNode(),
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226 newEmptyNode(),
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227 newEmptyNode(),
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228 newEmptyNode(),
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229 newEmptyNode(),
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230 resultVec,
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231 )
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232
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233 proc createMatScalarOperator(matType: typedesc, op: string): NimNode =
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234 result = newStmtList()
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235
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236 var data = nnkBracket.newTree()
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237 for i in 0 ..< matType.rowCount * matType.columnCount:
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238 data.add(infix(nnkBracketExpr.newTree(newDotExpr(ident("a"), ident("data")), newLit(i)), op, ident("b")))
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239 result.add(newProc(
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240 postfix(nnkAccQuoted.newTree(ident(op)), "*"),
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241 params=[
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242 ident("auto"),
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243 newIdentDefs(ident("a"), ident(matType.name)),
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244 newIdentDefs(ident("b"), ident("SomeNumber")),
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245 ],
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246 body=nnkObjConstr.newTree(ident(matType.name), nnkExprColonExpr.newTree(ident("data"), data)),
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247 procType=nnkFuncDef,
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248 ))
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249 result.add(newProc(
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250 postfix(nnkAccQuoted.newTree(ident(op)), "*"),
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251 params=[
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252 ident("auto"),
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253 newIdentDefs(ident("b"), ident("SomeNumber")),
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254 newIdentDefs(ident("a"), ident(matType.name)),
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255 ],
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256 body=nnkObjConstr.newTree(ident(matType.name), nnkExprColonExpr.newTree(ident("data"), data)),
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257 procType=nnkFuncDef,
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258 ))
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259 if op == "-":
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260 var data2 = nnkBracket.newTree()
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261 for i in 0 ..< matType.rowCount * matType.columnCount:
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262 data2.add(prefix(nnkBracketExpr.newTree(newDotExpr(ident("a"), ident("data")), newLit(i)), op))
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263 result.add(newProc(
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264 postfix(nnkAccQuoted.newTree(ident(op)), "*"),
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265 params=[
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266 ident("auto"),
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267 newIdentDefs(ident("a"), ident(matType.name)),
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268 ],
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269 body=nnkObjConstr.newTree(ident(matType.name), nnkExprColonExpr.newTree(ident("data"), data2)),
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270 procType=nnkFuncDef,
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271 ))
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272
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273 macro createAllMultiplicationOperators() =
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274 result = newStmtList()
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275
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276 for op in ["+", "-", "*", "/"]:
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277 result.add(createMatScalarOperator(Mat22, op))
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278 result.add(createMatScalarOperator(Mat23, op))
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279 result.add(createMatScalarOperator(Mat32, op))
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280 result.add(createMatScalarOperator(Mat33, op))
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281 result.add(createMatScalarOperator(Mat34, op))
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282 result.add(createMatScalarOperator(Mat43, op))
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283 result.add(createMatScalarOperator(Mat44, op))
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284
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285 result.add(createMatMatMultiplicationOperator(Mat22, Mat22, Mat22))
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286 result.add(createMatMatMultiplicationOperator(Mat22, Mat23, Mat23))
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287 result.add(createMatMatMultiplicationOperator(Mat23, Mat32, Mat22))
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288 result.add(createMatMatMultiplicationOperator(Mat23, Mat33, Mat23))
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289 result.add(createMatMatMultiplicationOperator(Mat32, Mat22, Mat32))
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290 result.add(createMatMatMultiplicationOperator(Mat32, Mat23, Mat33))
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291 result.add(createMatMatMultiplicationOperator(Mat33, Mat32, Mat32))
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292 result.add(createMatMatMultiplicationOperator(Mat33, Mat33, Mat33))
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293 result.add(createMatMatMultiplicationOperator(Mat33, Mat34, Mat34))
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294 result.add(createMatMatMultiplicationOperator(Mat43, Mat33, Mat43))
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295 result.add(createMatMatMultiplicationOperator(Mat43, Mat34, Mat44))
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296 result.add(createMatMatMultiplicationOperator(Mat44, Mat43, Mat43))
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297 result.add(createMatMatMultiplicationOperator(Mat44, Mat44, Mat44))
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298
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299 result.add(createVecMatMultiplicationOperator(Mat22, Vec2))
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300 result.add(createVecMatMultiplicationOperator(Mat33, Vec3))
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301 result.add(createVecMatMultiplicationOperator(Mat44, Vec4))
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302
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303 createAllMultiplicationOperators()
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304
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305
13
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306 func transposed*[T](m: Mat22[T]): Mat22[T] = Mat22[T](data: [
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307 m[0, 0], m[1, 0],
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Sam <sam@basx.dev>
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308 m[0, 1], m[1, 1],
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309 ])
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310 func transposed*[T](m: Mat23[T]): Mat32[T] = Mat32[T](data: [
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311 m[0, 0], m[1, 0],
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Sam <sam@basx.dev>
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312 m[0, 1], m[1, 1],
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Sam <sam@basx.dev>
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313 m[0, 2], m[1, 2],
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Sam <sam@basx.dev>
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314 ])
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315 func transposed*[T](m: Mat32[T]): Mat23[T] = Mat23[T](data: [
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Sam <sam@basx.dev>
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316 m[0, 0], m[1, 0], m[2, 0],
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Sam <sam@basx.dev>
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317 m[0, 1], m[1, 1], m[2, 1],
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Sam <sam@basx.dev>
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318 ])
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319 func transposed*[T](m: Mat33[T]): Mat33[T] = Mat33[T](data: [
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320 m[0, 0], m[1, 0], m[2, 0],
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Sam <sam@basx.dev>
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321 m[0, 1], m[1, 1], m[2, 1],
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Sam <sam@basx.dev>
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322 m[0, 2], m[1, 2], m[2, 2],
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Sam <sam@basx.dev>
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323 ])
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324 func transposed*[T](m: Mat43[T]): Mat34[T] = Mat34[T](data: [
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325 m[0, 0], m[1, 0], m[2, 0], m[3, 0],
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326 m[0, 1], m[1, 1], m[2, 1], m[3, 1],
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Sam <sam@basx.dev>
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327 m[0, 2], m[1, 2], m[2, 2], m[3, 2],
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Sam <sam@basx.dev>
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328 ])
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Sam <sam@basx.dev>
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329 func transposed*[T](m: Mat34[T]): Mat43[T] = Mat43[T](data: [
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Sam <sam@basx.dev>
parents:
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330 m[0, 0], m[1, 0], m[2, 0],
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Sam <sam@basx.dev>
parents:
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331 m[0, 1], m[1, 1], m[2, 1],
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Sam <sam@basx.dev>
parents:
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332 m[0, 2], m[1, 2], m[2, 2],
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Sam <sam@basx.dev>
parents:
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333 m[0, 3], m[1, 3], m[2, 3],
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Sam <sam@basx.dev>
parents:
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334 ])
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Sam <sam@basx.dev>
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335 func transposed*[T](m: Mat44[T]): Mat44[T] = Mat44[T](data: [
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Sam <sam@basx.dev>
parents:
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336 m[0, 0], m[1, 0], m[2, 0], m[3, 0],
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Sam <sam@basx.dev>
parents:
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337 m[0, 1], m[1, 1], m[2, 1], m[3, 1],
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Sam <sam@basx.dev>
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338 m[0, 2], m[1, 2], m[2, 2], m[3, 2],
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Sam <sam@basx.dev>
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339 m[0, 3], m[1, 3], m[2, 3], m[3, 3],
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Sam <sam@basx.dev>
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340 ])
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Sam <sam@basx.dev>
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341
16
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Sam <sam@basx.dev>
parents: 13
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342 # call e.g. Mat32[int]().randomized() to get a random matrix
13
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Sam <sam@basx.dev>
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343 template makeRandomInit(mattype: typedesc) =
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344 proc randomized*[T: SomeInteger](m: mattype[T]): mattype[T] =
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345 for i in 0 ..< result.data.len:
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346 result.data[i] = rand(low(typeof(m.data[0])) .. high(typeof(m.data[0])))
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Sam <sam@basx.dev>
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347 proc randomized*[T: SomeFloat](m: mattype[T]): mattype[T] =
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Sam <sam@basx.dev>
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348 for i in 0 ..< result.data.len:
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Sam <sam@basx.dev>
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349 result.data[i] = rand(1.0)
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Sam <sam@basx.dev>
parents:
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350
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Sam <sam@basx.dev>
parents:
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351 makeRandomInit(Mat22)
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Sam <sam@basx.dev>
parents:
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352 makeRandomInit(Mat23)
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Sam <sam@basx.dev>
parents:
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353 makeRandomInit(Mat32)
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Sam <sam@basx.dev>
parents:
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354 makeRandomInit(Mat33)
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Sam <sam@basx.dev>
parents:
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355 makeRandomInit(Mat34)
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Sam <sam@basx.dev>
parents:
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356 makeRandomInit(Mat43)
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Sam <sam@basx.dev>
parents:
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357 makeRandomInit(Mat44)