voxelotl-engine/Sources/Voxelotl/Matrix4x4.swift

import simd

public extension simd_float4x4 {
  typealias T = Float

  @inline(__always) static var identity: Self { matrix_identity_float4x4 }

  @inline(__always) static func translate(_ v: SIMD3<T>) -> Self {
    Self(
      .init(  1,   0,   0, 0),
      .init(  0,   1,   0, 0),
      .init(  0,   0,   1, 0),
      .init(v.x, v.y, v.z, 1))
  }

  @inline(__always) static func scale(_ v: SIMD3<T>) -> Self { Self(diagonal: .init(v.x, v.y, v.z, 1)) }
  @inline(__always) static func scale(_ s: T) -> Self { Self(diagonal: .init(s, s, s, 1)) }

  static func rotate(x theta: T) -> Self {
    let c = cos(theta), s = sin(theta)
    return Self(
      .init(1,  0, 0, 0),
      .init(0,  c, s, 0),
      .init(0, -s, c, 0),
      .init(0,  0, 0, 1))
  }

  static func rotate(y theta: T) -> Self {
    let c = cos(theta), s = sin(theta)
    return Self(
      .init(c, 0, -s, 0),
      .init(0, 1,  0, 0),
      .init(s, 0,  c, 0),
      .init(0, 0,  0, 1))
  }

  static func rotate(z theta: T) -> Self {
    let c = cos(theta), s = sin(theta)
    return Self(
      .init(c, -s, 0, 0),
      .init(s,  c, 0, 0),
      .init(0,  0, 1, 0),
      .init(0,  0, 0, 1))
  }

  static func perspective(verticalFov: T, aspect: T, near: T, far: T) -> Self {
    let h = 1 / tan(verticalFov * T(0.5))
    let w = h / aspect

    let invClipRange = 1 / (far - near)
    let z = -(far + near) * invClipRange
    let z2 = -(2 * far * near) * invClipRange

    return .init(
      .init(w, 0,  0,  0),
      .init(0, h,  0,  0),
      .init(0, 0,  z, -1),
      .init(0, 0, z2,  0))
  }
}