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import math
type
TMatrix*[T; R, C: static[int]] = array[R, array[C, T]] ## Row major matrix type.
TMat4* = TMatrix[float32, 4, 4]
TVector*[T; C: static[int]] = array[C, T]
TVec4* = TVector[float32, 4]
template row*[T; R, C: static[int]](m: TMatrix[T, R, C], rowidx: range[0..R-1]): TVector[T, R] =
m[rowidx]
proc col*[T; R, C: static[int]](m: TMatrix[T, R, C], colidx: range[0..C-1]): TVector[T, C] {.noSideEffect.} =
for i in low(m)..high(m):
result[i] = m[i][colidx]
proc dot(lhs, rhs: TVector): float32 =
for i in low(rhs)..high(rhs):
result += lhs[i] * rhs[i]
proc `*`*[T; R, N, C: static[int]](a: TMatrix[T, R, N], b: TMatrix[T, N, C]): TMatrix[T, R, C] {.noSideEffect.} =
for i in low(a)..high(a):
for j in low(a[i])..high(a[i]):
result[i][j] = dot(a.row(i), b.col(j))
proc translate*(v: TVec4): TMat4 {.noSideEffect.} =
result = [[1f32, 0f32, 0f32, 0f32],
[0f32, 1f32, 0f32, 0f32],
[0f32, 0f32, 1f32, 0f32],
[v[0], v[1], v[2], 1f32]]
proc rotatex*(angle: float): TMat4 =
result = [[1f32, 0f32, 0f32, 0f32],
[0f32, cos(angle).float32, sin(angle).float32, 0f32],
[0f32, -sin(angle).float32, cos(angle).float32, 0f32],
[0f32, 0f32, 0f32, 1f32]]
proc orbitxAround(point: TVec4, angle: float): TMat4 =
result = translate(point)*rotatex(angle)*translate(point)
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