/* Copyright (c) 2017-2026 Hans-Kristian Arntzen
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
 * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
 * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
 * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
 * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#pragma once

#include <stdint.h>
#include <stddef.h>

namespace muglm
{
template <typename T> struct tvec2;
template <typename T> struct tvec3;
template <typename T> struct tvec4;
template <typename T> struct tmat2;
template <typename T> struct tmat3;
template <typename T> struct tmat4;

template <typename T>
struct tvec2
{
	tvec2() = default;
	tvec2(const tvec2 &) = default;
	tvec2 &operator=(const tvec2 &) = default;

	explicit inline tvec2(T v) noexcept
	{
		x = v;
		y = v;
	}

	template <typename U>
	explicit inline tvec2(const tvec2<U> &u) noexcept
	{
		x = T(u.x);
		y = T(u.y);
	}

	inline tvec2(T x_, T y_) noexcept
	{
		x = x_;
		y = y_;
	}

	union
	{
		T data[2];
		struct
		{
			T x, y;
		};
	};

	inline T &operator[](size_t index)
	{
		return data[index];
	}

	inline const T &operator[](size_t index) const
	{
		return data[index];
	}

	inline tvec2 xx() const;
	inline tvec2 xy() const;
	inline tvec2 yx() const;
	inline tvec2 yy() const;

	inline tvec3<T> xxx() const;
	inline tvec3<T> xxy() const;
	inline tvec3<T> xyx() const;
	inline tvec3<T> xyy() const;
	inline tvec3<T> yxx() const;
	inline tvec3<T> yxy() const;
	inline tvec3<T> yyx() const;
	inline tvec3<T> yyy() const;

	inline tvec4<T> xxxx() const;
	inline tvec4<T> xxxy() const;
	inline tvec4<T> xxyx() const;
	inline tvec4<T> xxyy() const;
	inline tvec4<T> xyxx() const;
	inline tvec4<T> xyxy() const;
	inline tvec4<T> xyyx() const;
	inline tvec4<T> xyyy() const;
	inline tvec4<T> yxxx() const;
	inline tvec4<T> yxxy() const;
	inline tvec4<T> yxyx() const;
	inline tvec4<T> yxyy() const;
	inline tvec4<T> yyxx() const;
	inline tvec4<T> yyxy() const;
	inline tvec4<T> yyyx() const;
	inline tvec4<T> yyyy() const;
};

template <typename T>
struct tvec3
{
	tvec3() = default;
	tvec3(const tvec3 &) = default;
	tvec3 &operator=(const tvec3 &) = default;

	template <typename U>
	explicit inline tvec3(const tvec3<U> &u) noexcept
	{
		x = T(u.x);
		y = T(u.y);
		z = T(u.z);
	}

	inline tvec3(const tvec2<T> &a, T b) noexcept
	{
		x = a.x;
		y = a.y;
		z = b;
	}

	inline tvec3(T a, const tvec2<T> &b) noexcept
	{
		x = a;
		y = b.x;
		z = b.y;
	}

	explicit inline tvec3(T v) noexcept
	{
		x = v;
		y = v;
		z = v;
	}

	inline tvec3(T x_, T y_, T z_) noexcept
	{
		x = x_;
		y = y_;
		z = z_;
	}

	union
	{
		T data[3];
		struct
		{
			T x, y, z;
		};
	};

	inline T &operator[](size_t index)
	{
		return data[index];
	}

	inline const T &operator[](size_t index) const
	{
		return data[index];
	}

	inline tvec2<T> xx() const;
	inline tvec2<T> xy() const;
	inline tvec2<T> xz() const;
	inline tvec2<T> yx() const;
	inline tvec2<T> yy() const;
	inline tvec2<T> yz() const;
	inline tvec2<T> zx() const;
	inline tvec2<T> zy() const;
	inline tvec2<T> zz() const;

	inline tvec3<T> xxx() const;
	inline tvec3<T> xxy() const;
	inline tvec3<T> xxz() const;
	inline tvec3<T> xyx() const;
	inline tvec3<T> xyy() const;
	inline tvec3<T> xyz() const;
	inline tvec3<T> xzx() const;
	inline tvec3<T> xzy() const;
	inline tvec3<T> xzz() const;
	inline tvec3<T> yxx() const;
	inline tvec3<T> yxy() const;
	inline tvec3<T> yxz() const;
	inline tvec3<T> yyx() const;
	inline tvec3<T> yyy() const;
	inline tvec3<T> yyz() const;
	inline tvec3<T> yzx() const;
	inline tvec3<T> yzy() const;
	inline tvec3<T> yzz() const;
	inline tvec3<T> zxx() const;
	inline tvec3<T> zxy() const;
	inline tvec3<T> zxz() const;
	inline tvec3<T> zyx() const;
	inline tvec3<T> zyy() const;
	inline tvec3<T> zyz() const;
	inline tvec3<T> zzx() const;
	inline tvec3<T> zzy() const;
	inline tvec3<T> zzz() const;

	inline tvec4<T> xxxx() const;
	inline tvec4<T> xxxy() const;
	inline tvec4<T> xxxz() const;
	inline tvec4<T> xxyx() const;
	inline tvec4<T> xxyy() const;
	inline tvec4<T> xxyz() const;
	inline tvec4<T> xxzx() const;
	inline tvec4<T> xxzy() const;
	inline tvec4<T> xxzz() const;
	inline tvec4<T> xyxx() const;
	inline tvec4<T> xyxy() const;
	inline tvec4<T> xyxz() const;
	inline tvec4<T> xyyx() const;
	inline tvec4<T> xyyy() const;
	inline tvec4<T> xyyz() const;
	inline tvec4<T> xyzx() const;
	inline tvec4<T> xyzy() const;
	inline tvec4<T> xyzz() const;
	inline tvec4<T> xzxx() const;
	inline tvec4<T> xzxy() const;
	inline tvec4<T> xzxz() const;
	inline tvec4<T> xzyx() const;
	inline tvec4<T> xzyy() const;
	inline tvec4<T> xzyz() const;
	inline tvec4<T> xzzx() const;
	inline tvec4<T> xzzy() const;
	inline tvec4<T> xzzz() const;
	inline tvec4<T> yxxx() const;
	inline tvec4<T> yxxy() const;
	inline tvec4<T> yxxz() const;
	inline tvec4<T> yxyx() const;
	inline tvec4<T> yxyy() const;
	inline tvec4<T> yxyz() const;
	inline tvec4<T> yxzx() const;
	inline tvec4<T> yxzy() const;
	inline tvec4<T> yxzz() const;
	inline tvec4<T> yyxx() const;
	inline tvec4<T> yyxy() const;
	inline tvec4<T> yyxz() const;
	inline tvec4<T> yyyx() const;
	inline tvec4<T> yyyy() const;
	inline tvec4<T> yyyz() const;
	inline tvec4<T> yyzx() const;
	inline tvec4<T> yyzy() const;
	inline tvec4<T> yyzz() const;
	inline tvec4<T> yzxx() const;
	inline tvec4<T> yzxy() const;
	inline tvec4<T> yzxz() const;
	inline tvec4<T> yzyx() const;
	inline tvec4<T> yzyy() const;
	inline tvec4<T> yzyz() const;
	inline tvec4<T> yzzx() const;
	inline tvec4<T> yzzy() const;
	inline tvec4<T> yzzz() const;
	inline tvec4<T> zxxx() const;
	inline tvec4<T> zxxy() const;
	inline tvec4<T> zxxz() const;
	inline tvec4<T> zxyx() const;
	inline tvec4<T> zxyy() const;
	inline tvec4<T> zxyz() const;
	inline tvec4<T> zxzx() const;
	inline tvec4<T> zxzy() const;
	inline tvec4<T> zxzz() const;
	inline tvec4<T> zyxx() const;
	inline tvec4<T> zyxy() const;
	inline tvec4<T> zyxz() const;
	inline tvec4<T> zyyx() const;
	inline tvec4<T> zyyy() const;
	inline tvec4<T> zyyz() const;
	inline tvec4<T> zyzx() const;
	inline tvec4<T> zyzy() const;
	inline tvec4<T> zyzz() const;
	inline tvec4<T> zzxx() const;
	inline tvec4<T> zzxy() const;
	inline tvec4<T> zzxz() const;
	inline tvec4<T> zzyx() const;
	inline tvec4<T> zzyy() const;
	inline tvec4<T> zzyz() const;
	inline tvec4<T> zzzx() const;
	inline tvec4<T> zzzy() const;
	inline tvec4<T> zzzz() const;
};

template <typename T>
struct tvec4
{
	tvec4() = default;
	tvec4(const tvec4 &) = default;
	tvec4 &operator=(const tvec4 &) = default;

	template <typename U>
	explicit inline tvec4(const tvec4<U> &u) noexcept
	{
		x = T(u.x);
		y = T(u.y);
		z = T(u.z);
		w = T(u.w);
	}

	inline tvec4(const tvec2<T> &a, const tvec2<T> &b) noexcept
	{
		x = a.x;
		y = a.y;
		z = b.x;
		w = b.y;
	}

	inline tvec4(const tvec3<T> &a, T b) noexcept
	{
		x = a.x;
		y = a.y;
		z = a.z;
		w = b;
	}

	inline tvec4(T a, const tvec3<T> &b) noexcept
	{
		x = a;
		y = b.x;
		z = b.y;
		w = b.z;
	}

	inline tvec4(const tvec2<T> &a, T b, T c) noexcept
	{
		x = a.x;
		y = a.y;
		z = b;
		w = c;
	}

	inline tvec4(T a, const tvec2<T> &b, T c) noexcept
	{
		x = a;
		y = b.x;
		z = b.y;
		w = c;
	}

	inline tvec4(T a, T b, const tvec2<T> &c) noexcept
	{
		x = a;
		y = b;
		z = c.x;
		w = c.y;
	}

	explicit inline tvec4(T v) noexcept
	{
		x = v;
		y = v;
		z = v;
		w = v;
	}

	inline tvec4(T x_, T y_, T z_, T w_) noexcept
	{
		x = x_;
		y = y_;
		z = z_;
		w = w_;
	}

	inline T &operator[](size_t index)
	{
		return data[index];
	}

	inline const T &operator[](size_t index) const
	{
		return data[index];
	}

	union
	{
		T data[4];
		struct
		{
			T x, y, z, w;
		};
	};

	inline tvec2<T> xx() const;
	inline tvec2<T> xy() const;
	inline tvec2<T> xz() const;
	inline tvec2<T> xw() const;
	inline tvec2<T> yx() const;
	inline tvec2<T> yy() const;
	inline tvec2<T> yz() const;
	inline tvec2<T> yw() const;
	inline tvec2<T> zx() const;
	inline tvec2<T> zy() const;
	inline tvec2<T> zz() const;
	inline tvec2<T> zw() const;
	inline tvec2<T> wx() const;
	inline tvec2<T> wy() const;
	inline tvec2<T> wz() const;
	inline tvec2<T> ww() const;

	inline tvec3<T> xxx() const;
	inline tvec3<T> xxy() const;
	inline tvec3<T> xxz() const;
	inline tvec3<T> xxw() const;
	inline tvec3<T> xyx() const;
	inline tvec3<T> xyy() const;
	inline tvec3<T> xyz() const;
	inline tvec3<T> xyw() const;
	inline tvec3<T> xzx() const;
	inline tvec3<T> xzy() const;
	inline tvec3<T> xzz() const;
	inline tvec3<T> xzw() const;
	inline tvec3<T> xwx() const;
	inline tvec3<T> xwy() const;
	inline tvec3<T> xwz() const;
	inline tvec3<T> xww() const;
	inline tvec3<T> yxx() const;
	inline tvec3<T> yxy() const;
	inline tvec3<T> yxz() const;
	inline tvec3<T> yxw() const;
	inline tvec3<T> yyx() const;
	inline tvec3<T> yyy() const;
	inline tvec3<T> yyz() const;
	inline tvec3<T> yyw() const;
	inline tvec3<T> yzx() const;
	inline tvec3<T> yzy() const;
	inline tvec3<T> yzz() const;
	inline tvec3<T> yzw() const;
	inline tvec3<T> ywx() const;
	inline tvec3<T> ywy() const;
	inline tvec3<T> ywz() const;
	inline tvec3<T> yww() const;
	inline tvec3<T> zxx() const;
	inline tvec3<T> zxy() const;
	inline tvec3<T> zxz() const;
	inline tvec3<T> zxw() const;
	inline tvec3<T> zyx() const;
	inline tvec3<T> zyy() const;
	inline tvec3<T> zyz() const;
	inline tvec3<T> zyw() const;
	inline tvec3<T> zzx() const;
	inline tvec3<T> zzy() const;
	inline tvec3<T> zzz() const;
	inline tvec3<T> zzw() const;
	inline tvec3<T> zwx() const;
	inline tvec3<T> zwy() const;
	inline tvec3<T> zwz() const;
	inline tvec3<T> zww() const;
	inline tvec3<T> wxx() const;
	inline tvec3<T> wxy() const;
	inline tvec3<T> wxz() const;
	inline tvec3<T> wxw() const;
	inline tvec3<T> wyx() const;
	inline tvec3<T> wyy() const;
	inline tvec3<T> wyz() const;
	inline tvec3<T> wyw() const;
	inline tvec3<T> wzx() const;
	inline tvec3<T> wzy() const;
	inline tvec3<T> wzz() const;
	inline tvec3<T> wzw() const;
	inline tvec3<T> wwx() const;
	inline tvec3<T> wwy() const;
	inline tvec3<T> wwz() const;
	inline tvec3<T> www() const;

	inline tvec4 xxxx() const;
	inline tvec4 xxxy() const;
	inline tvec4 xxxz() const;
	inline tvec4 xxxw() const;
	inline tvec4 xxyx() const;
	inline tvec4 xxyy() const;
	inline tvec4 xxyz() const;
	inline tvec4 xxyw() const;
	inline tvec4 xxzx() const;
	inline tvec4 xxzy() const;
	inline tvec4 xxzz() const;
	inline tvec4 xxzw() const;
	inline tvec4 xxwx() const;
	inline tvec4 xxwy() const;
	inline tvec4 xxwz() const;
	inline tvec4 xxww() const;
	inline tvec4 xyxx() const;
	inline tvec4 xyxy() const;
	inline tvec4 xyxz() const;
	inline tvec4 xyxw() const;
	inline tvec4 xyyx() const;
	inline tvec4 xyyy() const;
	inline tvec4 xyyz() const;
	inline tvec4 xyyw() const;
	inline tvec4 xyzx() const;
	inline tvec4 xyzy() const;
	inline tvec4 xyzz() const;
	inline tvec4 xyzw() const;
	inline tvec4 xywx() const;
	inline tvec4 xywy() const;
	inline tvec4 xywz() const;
	inline tvec4 xyww() const;
	inline tvec4 xzxx() const;
	inline tvec4 xzxy() const;
	inline tvec4 xzxz() const;
	inline tvec4 xzxw() const;
	inline tvec4 xzyx() const;
	inline tvec4 xzyy() const;
	inline tvec4 xzyz() const;
	inline tvec4 xzyw() const;
	inline tvec4 xzzx() const;
	inline tvec4 xzzy() const;
	inline tvec4 xzzz() const;
	inline tvec4 xzzw() const;
	inline tvec4 xzwx() const;
	inline tvec4 xzwy() const;
	inline tvec4 xzwz() const;
	inline tvec4 xzww() const;
	inline tvec4 xwxx() const;
	inline tvec4 xwxy() const;
	inline tvec4 xwxz() const;
	inline tvec4 xwxw() const;
	inline tvec4 xwyx() const;
	inline tvec4 xwyy() const;
	inline tvec4 xwyz() const;
	inline tvec4 xwyw() const;
	inline tvec4 xwzx() const;
	inline tvec4 xwzy() const;
	inline tvec4 xwzz() const;
	inline tvec4 xwzw() const;
	inline tvec4 xwwx() const;
	inline tvec4 xwwy() const;
	inline tvec4 xwwz() const;
	inline tvec4 xwww() const;
	inline tvec4 yxxx() const;
	inline tvec4 yxxy() const;
	inline tvec4 yxxz() const;
	inline tvec4 yxxw() const;
	inline tvec4 yxyx() const;
	inline tvec4 yxyy() const;
	inline tvec4 yxyz() const;
	inline tvec4 yxyw() const;
	inline tvec4 yxzx() const;
	inline tvec4 yxzy() const;
	inline tvec4 yxzz() const;
	inline tvec4 yxzw() const;
	inline tvec4 yxwx() const;
	inline tvec4 yxwy() const;
	inline tvec4 yxwz() const;
	inline tvec4 yxww() const;
	inline tvec4 yyxx() const;
	inline tvec4 yyxy() const;
	inline tvec4 yyxz() const;
	inline tvec4 yyxw() const;
	inline tvec4 yyyx() const;
	inline tvec4 yyyy() const;
	inline tvec4 yyyz() const;
	inline tvec4 yyyw() const;
	inline tvec4 yyzx() const;
	inline tvec4 yyzy() const;
	inline tvec4 yyzz() const;
	inline tvec4 yyzw() const;
	inline tvec4 yywx() const;
	inline tvec4 yywy() const;
	inline tvec4 yywz() const;
	inline tvec4 yyww() const;
	inline tvec4 yzxx() const;
	inline tvec4 yzxy() const;
	inline tvec4 yzxz() const;
	inline tvec4 yzxw() const;
	inline tvec4 yzyx() const;
	inline tvec4 yzyy() const;
	inline tvec4 yzyz() const;
	inline tvec4 yzyw() const;
	inline tvec4 yzzx() const;
	inline tvec4 yzzy() const;
	inline tvec4 yzzz() const;
	inline tvec4 yzzw() const;
	inline tvec4 yzwx() const;
	inline tvec4 yzwy() const;
	inline tvec4 yzwz() const;
	inline tvec4 yzww() const;
	inline tvec4 ywxx() const;
	inline tvec4 ywxy() const;
	inline tvec4 ywxz() const;
	inline tvec4 ywxw() const;
	inline tvec4 ywyx() const;
	inline tvec4 ywyy() const;
	inline tvec4 ywyz() const;
	inline tvec4 ywyw() const;
	inline tvec4 ywzx() const;
	inline tvec4 ywzy() const;
	inline tvec4 ywzz() const;
	inline tvec4 ywzw() const;
	inline tvec4 ywwx() const;
	inline tvec4 ywwy() const;
	inline tvec4 ywwz() const;
	inline tvec4 ywww() const;
	inline tvec4 zxxx() const;
	inline tvec4 zxxy() const;
	inline tvec4 zxxz() const;
	inline tvec4 zxxw() const;
	inline tvec4 zxyx() const;
	inline tvec4 zxyy() const;
	inline tvec4 zxyz() const;
	inline tvec4 zxyw() const;
	inline tvec4 zxzx() const;
	inline tvec4 zxzy() const;
	inline tvec4 zxzz() const;
	inline tvec4 zxzw() const;
	inline tvec4 zxwx() const;
	inline tvec4 zxwy() const;
	inline tvec4 zxwz() const;
	inline tvec4 zxww() const;
	inline tvec4 zyxx() const;
	inline tvec4 zyxy() const;
	inline tvec4 zyxz() const;
	inline tvec4 zyxw() const;
	inline tvec4 zyyx() const;
	inline tvec4 zyyy() const;
	inline tvec4 zyyz() const;
	inline tvec4 zyyw() const;
	inline tvec4 zyzx() const;
	inline tvec4 zyzy() const;
	inline tvec4 zyzz() const;
	inline tvec4 zyzw() const;
	inline tvec4 zywx() const;
	inline tvec4 zywy() const;
	inline tvec4 zywz() const;
	inline tvec4 zyww() const;
	inline tvec4 zzxx() const;
	inline tvec4 zzxy() const;
	inline tvec4 zzxz() const;
	inline tvec4 zzxw() const;
	inline tvec4 zzyx() const;
	inline tvec4 zzyy() const;
	inline tvec4 zzyz() const;
	inline tvec4 zzyw() const;
	inline tvec4 zzzx() const;
	inline tvec4 zzzy() const;
	inline tvec4 zzzz() const;
	inline tvec4 zzzw() const;
	inline tvec4 zzwx() const;
	inline tvec4 zzwy() const;
	inline tvec4 zzwz() const;
	inline tvec4 zzww() const;
	inline tvec4 zwxx() const;
	inline tvec4 zwxy() const;
	inline tvec4 zwxz() const;
	inline tvec4 zwxw() const;
	inline tvec4 zwyx() const;
	inline tvec4 zwyy() const;
	inline tvec4 zwyz() const;
	inline tvec4 zwyw() const;
	inline tvec4 zwzx() const;
	inline tvec4 zwzy() const;
	inline tvec4 zwzz() const;
	inline tvec4 zwzw() const;
	inline tvec4 zwwx() const;
	inline tvec4 zwwy() const;
	inline tvec4 zwwz() const;
	inline tvec4 zwww() const;
	inline tvec4 wxxx() const;
	inline tvec4 wxxy() const;
	inline tvec4 wxxz() const;
	inline tvec4 wxxw() const;
	inline tvec4 wxyx() const;
	inline tvec4 wxyy() const;
	inline tvec4 wxyz() const;
	inline tvec4 wxyw() const;
	inline tvec4 wxzx() const;
	inline tvec4 wxzy() const;
	inline tvec4 wxzz() const;
	inline tvec4 wxzw() const;
	inline tvec4 wxwx() const;
	inline tvec4 wxwy() const;
	inline tvec4 wxwz() const;
	inline tvec4 wxww() const;
	inline tvec4 wyxx() const;
	inline tvec4 wyxy() const;
	inline tvec4 wyxz() const;
	inline tvec4 wyxw() const;
	inline tvec4 wyyx() const;
	inline tvec4 wyyy() const;
	inline tvec4 wyyz() const;
	inline tvec4 wyyw() const;
	inline tvec4 wyzx() const;
	inline tvec4 wyzy() const;
	inline tvec4 wyzz() const;
	inline tvec4 wyzw() const;
	inline tvec4 wywx() const;
	inline tvec4 wywy() const;
	inline tvec4 wywz() const;
	inline tvec4 wyww() const;
	inline tvec4 wzxx() const;
	inline tvec4 wzxy() const;
	inline tvec4 wzxz() const;
	inline tvec4 wzxw() const;
	inline tvec4 wzyx() const;
	inline tvec4 wzyy() const;
	inline tvec4 wzyz() const;
	inline tvec4 wzyw() const;
	inline tvec4 wzzx() const;
	inline tvec4 wzzy() const;
	inline tvec4 wzzz() const;
	inline tvec4 wzzw() const;
	inline tvec4 wzwx() const;
	inline tvec4 wzwy() const;
	inline tvec4 wzwz() const;
	inline tvec4 wzww() const;
	inline tvec4 wwxx() const;
	inline tvec4 wwxy() const;
	inline tvec4 wwxz() const;
	inline tvec4 wwxw() const;
	inline tvec4 wwyx() const;
	inline tvec4 wwyy() const;
	inline tvec4 wwyz() const;
	inline tvec4 wwyw() const;
	inline tvec4 wwzx() const;
	inline tvec4 wwzy() const;
	inline tvec4 wwzz() const;
	inline tvec4 wwzw() const;
	inline tvec4 wwwx() const;
	inline tvec4 wwwy() const;
	inline tvec4 wwwz() const;
	inline tvec4 wwww() const;
};

template <typename T>
struct tmat2
{
	tmat2() = default;
	tmat2(const tmat2 &) = default;
	tmat2 &operator=(const tmat2 &) = default;

	explicit inline tmat2(T v) noexcept
	{
		vec[0] = tvec2<T>(v, T(0));
		vec[1] = tvec2<T>(T(0), v);
	}

	inline tmat2(const tvec2<T> &a, const tvec2<T> &b) noexcept
	{
		vec[0] = a;
		vec[1] = b;
	}

	inline tvec2<T> &operator[](size_t index)
	{
		return vec[index];
	}

	inline const tvec2<T> &operator[](size_t index) const
	{
		return vec[index];
	}

private:
	tvec2<T> vec[2];
};

template <typename T>
struct tmat3
{
	tmat3() = default;
	tmat3(const tmat3 &) = default;
	tmat3 &operator=(const tmat3 &) = default;

	explicit inline tmat3(T v) noexcept
	{
		vec[0] = tvec3<T>(v, T(0), T(0));
		vec[1] = tvec3<T>(T(0), v, T(0));
		vec[2] = tvec3<T>(T(0), T(0), v);
	}

	inline tmat3(const tvec3<T> &a, const tvec3<T> &b, const tvec3<T> &c) noexcept
	{
		vec[0] = a;
		vec[1] = b;
		vec[2] = c;
	}

	explicit inline tmat3(const tmat4<T> &m) noexcept
	{
		for (int col = 0; col < 3; col++)
			for (int row = 0; row < 3; row++)
				vec[col][row] = m[col][row];
	}

	inline tvec3<T> &operator[](size_t index)
	{
		return vec[index];
	}

	inline const tvec3<T> &operator[](size_t index) const
	{
		return vec[index];
	}

private:
	tvec3<T> vec[3];
};

template <typename T>
struct tmat4
{
	tmat4() = default;
	tmat4(const tmat4 &) = default;
	tmat4 &operator=(const tmat4 &) = default;

	explicit inline tmat4(T v) noexcept
	{
		vec[0] = tvec4<T>(v, T(0), T(0), T(0));
		vec[1] = tvec4<T>(T(0), v, T(0), T(0));
		vec[2] = tvec4<T>(T(0), T(0), v, T(0));
		vec[3] = tvec4<T>(T(0), T(0), T(0), v);
	}

	explicit inline tmat4(const tmat3<T> &m) noexcept
	{
		vec[0] = tvec4<T>(m[0], T(0));
		vec[1] = tvec4<T>(m[1], T(0));
		vec[2] = tvec4<T>(m[2], T(0));
		vec[3] = tvec4<T>(T(0), T(0), T(0), T(1));
	}

	inline tmat4(const tvec4<T> &a, const tvec4<T> &b, const tvec4<T> &c, const tvec4<T> &d) noexcept
	{
		vec[0] = a;
		vec[1] = b;
		vec[2] = c;
		vec[3] = d;
	}

	inline tvec4<T> &operator[](size_t index)
	{
		return vec[index];
	}

	inline const tvec4<T> &operator[](size_t index) const
	{
		return vec[index];
	}

private:
	tvec4<T> vec[4];
};

using uint = uint32_t;
using vec2 = tvec2<float>;
using vec3 = tvec3<float>;
using vec4 = tvec4<float>;
using mat2 = tmat2<float>;
using mat3 = tmat3<float>;
using mat4 = tmat4<float>;

using dvec2 = tvec2<double>;
using dvec3 = tvec3<double>;
using dvec4 = tvec4<double>;
using dmat2 = tmat2<double>;
using dmat3 = tmat3<double>;
using dmat4 = tmat4<double>;

using ivec2 = tvec2<int32_t>;
using ivec3 = tvec3<int32_t>;
using ivec4 = tvec4<int32_t>;
using uvec2 = tvec2<uint32_t>;
using uvec3 = tvec3<uint32_t>;
using uvec4 = tvec4<uint32_t>;

using u16vec2 = tvec2<uint16_t>;
using u16vec3 = tvec3<uint16_t>;
using u16vec4 = tvec4<uint16_t>;
using i16vec2 = tvec2<int16_t>;
using i16vec3 = tvec3<int16_t>;
using i16vec4 = tvec4<int16_t>;

using u8vec2 = tvec2<uint8_t>;
using u8vec3 = tvec3<uint8_t>;
using u8vec4 = tvec4<uint8_t>;
using i8vec2 = tvec2<int8_t>;
using i8vec3 = tvec3<int8_t>;
using i8vec4 = tvec4<int8_t>;

using bvec2 = tvec2<bool>;
using bvec3 = tvec3<bool>;
using bvec4 = tvec4<bool>;

void transpose(mat4 &dst, const mat4 &src);
void transpose_to_affine(vec4 dst[3], const mat4 &src);

struct mat_affine
{
	mat_affine() = default;
	mat_affine(const mat_affine &) = default;
	mat_affine &operator=(const mat_affine &) = default;

	explicit inline mat_affine(const mat4 &m)
	{
		transpose_to_affine(vec, m);
	}

	explicit inline mat_affine(const mat3 &m)
		: vec{{m[0][0], m[1][0], m[2][0], 0.0f},
		      {m[0][1], m[1][1], m[2][1], 0.0f},
		      {m[0][2], m[1][2], m[2][2], 0.0f}}
	{
	}

	explicit inline mat_affine(float v)
		: vec{{v, 0, 0, 0}, {0, v, 0, 0}, {0, 0, v, 0}}
	{
	}

	inline mat_affine(const vec4 &r0, const vec4 &r1, const vec4 &r2)
		: vec{r0, r1, r2}
	{
	}

	inline vec4 &operator[](size_t index)
	{
		return vec[index];
	}

	inline const vec4 &operator[](size_t index) const
	{
		return vec[index];
	}

	float get_uniform_scale() const;
	vec3 get_translation() const;
	// Based on identity view pointing to -Z axis, Y up.
	vec3 get_forward() const;
	vec3 get_right() const;
	vec3 get_up() const;

	mat4 to_mat4() const;
	void to_mat4(mat4 &m) const;

	inline mat3 to_mat3() const
	{
		return {
			vec3(vec[0][0], vec[1][0], vec[2][0]),
			vec3(vec[0][1], vec[1][1], vec[2][1]),
			vec3(vec[0][2], vec[1][2], vec[2][2]),
		};
	}

private:
	vec4 vec[3];
};

struct quat : private vec4
{
	quat() = default;
	quat(const quat &) = default;
	quat(float w_, float x_, float y_, float z_)
		: vec4(x_, y_, z_, w_)
	{}

	explicit inline quat(const vec4 &v)
		: vec4(v)
	{}

	inline quat(float w_, const vec3 &v_)
		: vec4(v_, w_)
	{}

	inline const vec4 &as_vec4() const
	{
		return *static_cast<const vec4 *>(this);
	}

	quat &operator=(const quat &) = default;

	using vec4::x;
	using vec4::y;
	using vec4::z;
	using vec4::w;
};

template <typename T> constexpr inline T pi() { return T(3.1415926535897932384626433832795028841971); }
template <typename T> constexpr inline T half_pi() { return T(0.5) * pi<T>(); }
template <typename T> constexpr inline T one_over_root_two() { return T(0.7071067811865476); }

}