windows, monitors and provider

source/hyporo/gpu/context.hpp

@@ -28,7 +28,8 @@ public:
 
     Context(DeviceAPI api);
 
-    virtual ~Context();
+    virtual
+    ~Context();
 
     // Member functions
 

source/hyporo/gpu/device.cpp

@@ -8,16 +8,16 @@ namespace hpr::gpu
 
 Device::Device() :
     Context {DeviceAPI::Unknown},
-    p_currentVertexBuffer {nullptr},
-    p_currentIndexBuffer {nullptr},
-    p_currentShaderProgram {nullptr}
+    p_currentVertexBuffer {},
+    p_currentIndexBuffer {},
+    p_currentShaderProgram {}
 {}
 
 Device::Device(DeviceAPI api) :
     Context {api},
-    p_currentVertexBuffer {nullptr},
-    p_currentIndexBuffer {nullptr},
-    p_currentShaderProgram {nullptr}
+    p_currentVertexBuffer {},
+    p_currentIndexBuffer {},
+    p_currentShaderProgram {}
 {}
 
 Device::~Device()
@@ -28,16 +28,16 @@ Device::~Device()
 void Device::create(Device** device, DeviceAPI api)
 {
     if (device == nullptr)
-        throw "Invalid parameter";
+        throw std::invalid_argument("Invalid parameter 'nullptr'");
     if (api == DeviceAPI::Unknown)
-        throw "Invalid parameter";
+        throw std::invalid_argument("Cannot create device for 'Unknown'");
 
     *device = nullptr;
 
     if (api == DeviceAPI::OpenGL)
         *device = new opengl::Device;
     else
-        throw "Unsupported device";
+        throw std::invalid_argument("Unsupported device");
 }
 
 // Buffers

source/hyporo/gpu/device.hpp

@@ -6,7 +6,7 @@
 #include "shader_program.hpp"
 #include "texture.hpp"
 
-#include <vector>
+#include "../hyplib/array/array.hpp"
 
 
 namespace hpr::gpu
@@ -27,10 +27,10 @@ public:
 
 protected:
 
-    std::vector<Buffer> p_buffers;
-    std::vector<Shader> p_shaders;
-    std::vector<ShaderProgram> p_shaderPrograms;
-    std::vector<Texture> p_textures;
+    darray<Buffer> p_buffers;
+    darray<Shader> p_shaders;
+    darray<ShaderProgram> p_shaderPrograms;
+    darray<Texture> p_textures;
 
     Buffer* p_currentVertexBuffer;
     Buffer* p_currentIndexBuffer;

source/hyporo/gpu/glfw/monitor.cpp

@@ -0,0 +1,5 @@
+//
+// Created by L-Nafaryus on 10/27/2022.
+//
+
+#include "monitor.hpp"

source/hyporo/gpu/glfw/monitor.hpp

@@ -0,0 +1,14 @@
+#pragma once
+
+#include "../monitor.hpp"
+
+
+namespace hpr::gpu::glfw
+{
+
+class Monitor : public gpu::Monitor
+{
+
+};
+
+}

source/hyporo/gpu/glfw/window.cpp

@@ -0,0 +1,5 @@
+//
+// Created by L-Nafaryus on 10/27/2022.
+//
+
+#include "window.hpp"

source/hyporo/gpu/glfw/window.hpp

@@ -0,0 +1,8 @@
+//
+// Created by L-Nafaryus on 10/27/2022.
+//
+
+#ifndef HYPORO_WINDOW_HPP
+#define HYPORO_WINDOW_HPP
+
+#endif //HYPORO_WINDOW_HPP

source/hyporo/gpu/glfw/window_system.cpp

@@ -0,0 +1,5 @@
+//
+// Created by L-Nafaryus on 10/27/2022.
+//
+
+#include "window_system.hpp"

source/hyporo/gpu/glfw/window_system.hpp

@@ -0,0 +1,28 @@
+#pragma once
+
+#include "../window_system.hpp"
+
+#include <GLFW/glfw3.h>
+
+
+namespace hpr::gpu::glfw
+{
+
+class WindowSystem : public gpu::WindowSystem
+{
+
+protected:
+
+    GLFWwindow p_instance;
+
+public:
+
+    WindowSystem();
+
+    ~WindowSystem();
+
+    virtual
+    void newWindow(Window** window);
+};
+
+}

source/hyporo/gpu/monitor.cpp

@@ -0,0 +1,44 @@
+#include "monitor.hpp"
+
+
+namespace hpr::gpu
+{
+
+Monitor::Monitor() :
+    WindowContext(Provider::Unknown),
+    p_deviceName {},
+    p_originX {0},
+    p_originY {0},
+    p_width {0},
+    p_height {0},
+    p_logicalWidth {0},
+    p_logicalHeight {0}
+{}
+
+Monitor::~Monitor() = default;
+
+void Monitor::origin(int x, int y)
+{
+    p_originX = x;
+    p_originY = y;
+}
+
+void Monitor::size(int width, int height)
+{
+    p_width = width;
+    p_height = height;
+}
+
+void Monitor::logicalSize(int width, int height)
+{
+    p_logicalWidth = width;
+    p_logicalHeight = height;
+}
+
+void Monitor::deviceName(const std::string &name)
+{
+    p_deviceName = name;
+}
+
+
+}

source/hyporo/gpu/monitor.hpp

@@ -0,0 +1,82 @@
+#pragma once
+
+#include "window_context.hpp"
+
+#include <string>
+
+
+namespace hpr::gpu
+{
+
+class Monitor : WindowContext
+{
+
+protected:
+
+    std::string p_deviceName;
+    int p_originX;
+    int p_originY;
+    int p_width;
+    int p_height;
+    int p_logicalWidth;
+    int p_logicalHeight;
+
+public:
+
+    Monitor();
+
+    virtual
+    ~Monitor();
+
+    // Member functions
+
+    void origin(int x, int y);
+    void size(int width, int height);
+    void logicalSize(int width, int height);
+    void deviceName(const std::string& name);
+
+    inline
+    int width() const
+    {
+        return p_width;
+    }
+
+    inline
+    int height() const
+    {
+        return p_height;
+    }
+
+    inline
+    int logicalWidth() const
+    {
+        return p_logicalWidth;
+    }
+
+    inline
+    int logicalHeight() const
+    {
+        return p_logicalHeight;
+    }
+
+    inline
+    int originX() const
+    {
+        return p_originX;
+    }
+
+    inline
+    int originY() const
+    {
+        return p_originY;
+    }
+
+    inline
+    std::string deviceName() const
+    {
+        return p_deviceName;
+    }
+
+};
+
+}

source/hyporo/gpu/opengl/device.hpp

@@ -19,7 +19,7 @@ public:
 
     Device();
 
-    ~Device();
+    ~Device() override;
 
 
     // Member functions

source/hyporo/gpu/shader_program.hpp

@@ -3,7 +3,7 @@
 #include "context.hpp"
 #include "shader.hpp"
 
-#include <array>
+#include "../hyplib/array/array.hpp"
 
 
 namespace hpr::gpu
@@ -15,7 +15,7 @@ class ShaderProgram : public Context
 
 protected:
 
-    std::array<Shader*, (size_t)Shader::ShaderType::ShaderTypeCount> p_slots;
+    sarray<Shader*, (size_t)Shader::ShaderType::ShaderTypeCount> p_slots;
     bool p_isLinked;
 
 public:

source/hyporo/gpu/window.cpp

@@ -0,0 +1,103 @@
+#include "window.hpp"
+
+
+namespace hpr::gpu
+{
+
+Window::Window() :
+    WindowContext(Provider::Unknown),
+    p_width {0},
+    p_height {0},
+    p_posX {0},
+    p_posY {0},
+    p_title {},
+    p_state {State::Hidden},
+    p_style {Style::Unknown},
+    p_parent {nullptr},
+    p_monitor {nullptr},
+    p_isActive {true},
+    p_isResizing {false}
+{}
+
+Window::~Window() = default;
+
+void Window::init(const std::string& title, Style style, int x, int y, int width, int height, Window* parent, Monitor* monitor)
+{
+    p_width = width;
+    p_height = height;
+    p_posX = x;
+    p_posY = y;
+
+    p_title = title;
+    p_state = State::Hidden;
+    p_style = style;
+
+    p_parent = parent;
+    p_monitor = monitor;
+}
+
+void Window::init(const std::string& title, Style style, Window* parent, Monitor* monitor)
+{
+    init(title, style, monitor->originX(), monitor->originY(), monitor->width(), monitor->height(), parent, monitor);
+}
+
+void Window::state(State state)
+{
+    p_state = state;
+}
+
+void Window::close()
+{
+    state(State::Closed);
+}
+
+void Window::restore()
+{
+    State prevState {p_state};
+    init(p_title, p_style, p_posX, p_posY, p_width, p_height, p_parent, p_monitor);
+    state(prevState);
+}
+
+bool Window::isOpen() const
+{
+    return p_state != State::Closed;
+}
+
+bool Window::isActive() const
+{
+    return p_isActive;
+}
+
+void Window::size(int width, int height)
+{
+    resizeCallback(width, height);
+}
+
+void Window::position(int x, int y)
+{
+    moveCallback(x, y);
+}
+
+void Window::title(const std::string& title)
+{
+    p_title = title;
+}
+
+void Window::style(Style style)
+{
+    p_style = style;
+}
+
+void Window::resizeCallback(int width, int height)
+{
+    p_width = width;
+    p_height = height;
+}
+
+void Window::moveCallback(int x, int y)
+{
+    p_posX = x;
+    p_posY = y;
+}
+
+}

source/hyporo/gpu/window.hpp

@@ -0,0 +1,97 @@
+#pragma once
+
+#include "window_context.hpp"
+#include "monitor.hpp"
+
+
+namespace hpr::gpu
+{
+
+class Window : public WindowContext
+{
+
+public:
+
+    enum class State
+    {
+        Unknown,
+        Visible,
+        Hidden,
+        Maximized,
+        Minimized,
+        Closed,
+    };
+
+    enum class Style
+    {
+        Unknown,
+        Windowed,
+        Fullscreen,
+        Popup
+    };
+
+protected:
+
+    int p_width;
+    int p_height;
+    int p_posX;
+    int p_posY;
+    std::string p_title;
+
+    State p_state;
+    Style p_style;
+    Window* p_parent;
+    Monitor* p_monitor;
+
+    bool p_isActive;
+    bool p_isResizing;
+
+public:
+
+    Window();
+
+    virtual
+    ~Window();
+
+    // Member functions
+
+    virtual
+    void init(const std::string& title, Style style, int x, int y, int width, int height, Window* parent, Monitor* monitor);
+
+    virtual
+    void init(const std::string& title, Style style, Window* parent, Monitor* monitor);
+
+    virtual
+    void state(State state = State::Visible);
+
+    virtual
+    void close();
+
+    virtual
+    void restore();
+
+    virtual
+    bool isOpen() const;
+
+    virtual
+    bool isActive() const;
+
+    virtual
+    void size(int width, int height);
+
+    virtual
+    void position(int x, int y);
+
+    virtual
+    void title(const std::string& title);
+
+    virtual
+    void style(Style style);
+
+    void resizeCallback(int width, int height);
+
+    void moveCallback(int x, int y);
+
+};
+
+}

source/hyporo/gpu/window_context.hpp

@@ -0,0 +1,39 @@
+#pragma once
+
+
+namespace hpr::gpu
+{
+
+class WindowContext
+{
+
+public:
+
+    enum class Provider
+    {
+        Unknown,
+        GLFW
+    };
+
+private:
+
+    Provider p_provider;
+
+public:
+
+    inline
+    WindowContext() :
+        p_provider {Provider::Unknown}
+    {}
+
+    inline
+    WindowContext(Provider provider) :
+        p_provider {provider}
+    {}
+
+    virtual
+    ~WindowContext() = default;
+
+};
+
+}

source/hyporo/gpu/window_system.cpp

@@ -0,0 +1,63 @@
+#include "window_system.hpp"
+#include "glfw/window_system.hpp"
+
+
+namespace hpr::gpu
+{
+
+WindowSystem::WindowSystem() :
+    WindowContext {Provider::Unknown}
+{}
+
+WindowSystem::WindowSystem(Provider provider) :
+    WindowContext {provider}
+{}
+
+WindowSystem::~WindowSystem() = default;
+
+void WindowSystem::create(WindowSystem** ws, Provider provider)
+{
+    if (ws == nullptr)
+        throw std::invalid_argument("Invalid parameter 'nullptr'");
+    if (provider == Provider::Unknown)
+        throw std::invalid_argument("Cannot create window system from 'Unknown' provider");
+
+    *ws = nullptr;
+
+    if (provider == Provider::GLFW)
+        *ws = new glfw::WindowSystem;
+    else
+        throw std::invalid_argument("Unsupported window system");
+}
+
+void WindowSystem::destroy(WindowSystem*& ws)
+{
+    delete ws;
+    ws = nullptr;
+}
+
+Window& WindowSystem::window(int index)
+{
+    return p_windows[index];
+}
+
+void WindowSystem::closeWindow(Window* window)
+{
+    window->close();
+}
+
+void WindowSystem::destroyWindow(Window* window)
+{
+    p_windows.remove(*window);
+}
+
+Monitor& WindowSystem::monitor(int index)
+{
+    return p_monitors[index];
+}
+
+void WindowSystem::destroyMonitor(Monitor* monitor)
+{
+    p_monitors.remove(*monitor);
+}
+}

source/hyporo/gpu/window_system.hpp

@@ -0,0 +1,62 @@
+#pragma once
+
+#include "window.hpp"
+#include "monitor.hpp"
+#include "../hyplib/array/array.hpp"
+
+#include <string>
+
+
+namespace hpr::gpu
+{
+
+class WindowSystem : WindowContext
+{
+
+protected:
+
+    darray<Window> p_windows;
+    darray<Monitor> p_monitors;
+
+protected:
+
+    WindowSystem();
+
+    WindowSystem(Provider provider);
+
+    virtual
+    ~WindowSystem();
+
+public:
+
+    // Global functions
+
+    static
+    void create(WindowSystem** ws, Provider provider);
+
+    static
+    void destroy(WindowSystem*& ws);
+
+    // Window interface
+
+    virtual
+    void newWindow(Window** window) = 0;
+
+    Window& window(int index);
+
+    void closeWindow(Window* window);
+
+    void destroyWindow(Window* window);
+
+    // Monitor interface
+
+    virtual
+    void newMonitor(Monitor** monitor) = 0;
+
+    Monitor& monitor(int index);
+
+    void destroyMonitor(Monitor* monitor);
+
+};
+
+}

source/hyporo/hyplib/CMakeLists.txt

@@ -10,7 +10,6 @@ include_directories(
 add_library(hyporo-hyplib STATIC
 
     # Header files
-    integer/integer.hpp
     scalar/scalar.hpp
 
     array/iterator.hpp
@@ -20,26 +19,31 @@ add_library(hyporo-hyplib STATIC
 
     vector/vector_space.hpp
 
-    vector/VectorSpace.hpp
     vector/vector.hpp
 
-    matrix/MatrixSpace.hpp
+    matrix/matrix_space.hpp
+
     matrix/matrix.hpp
 
     io/file.hpp
     io/io.hpp
 
     # Source files
-    scalar/scalar.cpp
     io/file.cpp
+
+        matrix/matrix_space.cpp
 )
 
 if(WITH_GTESTS)
     add_executable(hyporo-hyplib-test
         tests/hyplib-test.cpp
+
+            matrix/matrix_space.hpp
     )
 
     target_link_libraries(hyporo-hyplib-test
+
+            hyporo-hyplib
         GTest::gtest_main
     )
 

source/hyporo/hyplib/array/dynamic_array.hpp

@@ -255,6 +255,35 @@ public:
         ++p_end;
     }
 
+    virtual
+    int findByAddress(const value_type& value)
+    {
+        for (int n = 0; n < p_size; ++n)
+            if (std::addressof(*(p_start + n)) == std::addressof(value))
+                return n;
+        return -1;
+    }
+
+    virtual
+    void remove(size_type position)
+    {
+        for (size_type n = position; n < p_size - 1; ++n)
+            *(p_start + n) = std::move(*(p_start + n + 1));
+        std::destroy_at(p_end);
+        --p_end;
+        --p_size;
+    }
+
+    virtual
+    void remove(const value_type& value)
+    {
+        size_type index = findByAddress(value);
+        if (index != -1)
+            remove(index);
+        else
+            throw std::runtime_error("Value is not found to remove it");
+    }
+
     // Friend functions
 
     friend

source/hyporo/hyplib/array/static_array.hpp

@@ -2,6 +2,8 @@
 
 #include "iterator.hpp"
 #include <limits>
+#include <functional>
+
 
 namespace hpr
 {
@@ -20,7 +22,7 @@ public:
     using iterator = Iterator<Type>;
     using const_pointer = Type const*;
     using const_reference = Type const&;
-    using const_iterator = Iterator<Type> const;
+    using const_iterator = Iterator<const Type>;
 
 protected:
 
@@ -64,12 +66,50 @@ public:
     }
 
     inline
-    StaticArray(std::initializer_list<value_type> list) :
-            p_size {Size},
-            p_start {new value_type[p_size]},
-            p_end {p_start + p_size}
+    StaticArray(const_iterator start, const_iterator end) :
+        p_size {Size},
+        p_start {new value_type[p_size]},
+        p_end {p_start + p_size}
     {
-        std::copy(list.begin(), list.end(), p_start);
+        std::copy(start, end, p_start);
+    }
+
+    inline
+    StaticArray(iterator start, iterator end) :
+        p_size {Size},
+        p_start {new value_type[p_size]},
+        p_end {p_start + p_size}
+    {
+        std::copy(start, end, p_start);
+    }
+
+    inline
+    StaticArray(std::initializer_list<value_type> list) :
+        StaticArray {list.begin(), list.end()}
+    {}
+
+    template <std::convertible_to<value_type>... Args>
+    inline
+    StaticArray(value_type&& v, Args&& ...args) :
+        StaticArray {std::initializer_list<value_type>({v, static_cast<value_type>(args)...})}
+    {
+        static_assert(1 + sizeof...(args) == Size, "Number of arguments must be equal to size of array");
+    }
+
+    template <size_type SubSize, std::convertible_to<value_type>... Args>
+    inline
+    StaticArray(const StaticArray<value_type, SubSize>& subarr, const value_type& v, const Args& ...args) :
+        p_size {Size},
+        p_start {new value_type[p_size]},
+        p_end {p_start + p_size}
+    {
+        static_assert(SubSize + 1 + sizeof...(args) == Size,
+            "Number of arguments and sub-array elements must be equal to size of main array");
+        std::initializer_list<value_type> list {v, static_cast<value_type>(args)...};
+        std::copy(subarr.begin(), subarr.end(), begin());
+        size_type pos {subarr.size()};
+        for (auto& val : list)
+            (*this)[pos++] = val;
     }
 
     inline
@@ -165,10 +205,18 @@ public:
     friend
     void swap(StaticArray& lhs, StaticArray& rhs)
     {
-        lhs.p_size = rhs.p_size;
         std::swap(lhs.p_start, rhs.p_start);
         std::swap(lhs.p_end, rhs.p_end);
     }
+
+    friend
+    bool operator==(const StaticArray& lhs, const StaticArray& rhs)
+    {
+        for (auto n = 0; n < Size; ++n)
+            if (lhs[n] != rhs[n])
+                return false;
+        return true;
+    }
 };
 
 }

source/hyporo/hyplib/integer/integer.hpp

@@ -1,12 +0,0 @@
-
-#include <cstddef>
-
-
-namespace hyporo
-{
-
-using uint = unsigned int;
-
-using sizet = std::size_t;
-
-} // end namespace hyporo

source/hyporo/hyplib/matrix/MatrixSpace.hpp

@@ -1,33 +0,0 @@
-#include "VectorSpace.hpp"
-
-
-namespace hyporo
-{
-
-template <class C, sizet Mrows, sizet Ncols>
-class MatrixSpace : public VectorSpace<C, Mrows * Ncols>
-{
-
-public:
-
-    // Member constants
-
-    static const sizet mRows = Mrows;
-    static const sizet nColumns = Ncols;
-
-    // Constructors
-
-    inline MatrixSpace();
-
-    template <class... Args>
-    inline MatrixSpace(const Args... components);
-
-    // Member operators
-
-    inline const C& operator()(const sizet& n, const sizet& m);
-
-};
-
-} // end namespace hyporo
-
-#include "MatrixSpace.hxx"

source/hyporo/hyplib/matrix/MatrixSpace.hxx

@@ -1,27 +0,0 @@
-
-namespace hyporo
-{
-
-// Constructors
-
-template <class C, sizet Mrows, sizet Ncols>
-inline MatrixSpace<C, Mrows, Ncols>::MatrixSpace()
-{}
-
-template <class C, sizet Mrows, sizet Ncols>
-template <class... Args>
-inline MatrixSpace<C, Mrows, Ncols>::MatrixSpace(const Args... components)
-    //: row { static_cast<C>(components)... }
-{
-    this->row = { static_cast<C>(components)... };
-}
-
-// Member operators
-
-template <class C, sizet Mrows, sizet Ncols>
-inline const C& MatrixSpace<C, Mrows, Ncols>::operator()(const sizet& n, const sizet& m)
-{
-    return this->row[n * Ncols + m];
-}
-
-} // end namespace hyporo

source/hyporo/hyplib/matrix/clip_space.hpp

@@ -0,0 +1,54 @@
+#pragma once
+
+#include "matrix.hpp"
+
+
+namespace hpr
+{
+
+template <typename Type>
+inline
+MatrixSpace<Type, 4, 4> ortho(Type left, Type right, Type bottom, Type top)
+{
+    MatrixSpace<Type, 4, 4> ms;
+    ms.fill(1);
+    ms(0, 0) = 2 / (right - left);
+    ms(1, 1) = 2 / (top - bottom);
+    ms(2, 2) = -1;
+    ms(3, 0) = -(right + left) / (right - left);
+    ms(3, 1) = -(top + bottom) / (top - bottom);
+    return ms;
+}
+
+template <typename Type>
+inline
+MatrixSpace<Type, 4, 4> ortho(Type left, Type right, Type bottom, Type top, Type zNear, Type zFar)
+{
+    MatrixSpace<Type, 4, 4> ms;
+    ms.fill(1);
+    ms(0, 0) = 2 / (right - left);
+    ms(1, 1) = 2 / (top - bottom);
+    ms(2, 2) = 2 / (zFar - zNear);
+    ms(3, 0) = -(right + left) / (right - left);
+    ms(3, 1) = -(top + bottom) / (top - bottom);
+    ms(3, 2) = -(zFar + zNear) / (zFar - zNear);
+    return ms;
+}
+
+template <typename Type>
+inline
+MatrixSpace<Type, 4, 4> perspective(Type fovy, Type aspect, Type zNear, Type zFar)
+{
+    assert(abs(aspect - std::numeric_limits<Type>::epsilon()) > 0);
+    MatrixSpace<Type, 4, 4> ms;
+    const Type halfFovyTan = tan(fovy / 2);
+    ms(0, 0) = 1 / (aspect * halfFovyTan);
+    ms(1, 1) = 1 / halfFovyTan;
+    ms(2, 2) = (zFar + zNear) / (zFar - zNear);
+    ms(2, 3) = 1;
+    ms(3, 2) = -(2 * zFar * zNear) / (zFar - zNear);
+    return ms;
+}
+
+
+}

source/hyporo/hyplib/matrix/matrix.hpp

@@ -1,11 +1,15 @@
-#include "MatrixSpace.hpp"
+#include "../scalar/scalar.hpp"
+#include "matrix_space.hpp"
 
 
-namespace hyporo
+namespace hpr
 {
 
-using mat3 = MatrixSpace<scalar, 3, 3>;
+template <typename Type, size_t Row, size_t Col>
+using mat = MatrixSpace<Type, Row, Col>;
 
+using mat2 = MatrixSpace<scalar, 2, 2>;
+using mat3 = MatrixSpace<scalar, 3, 3>;
 using mat4 = MatrixSpace<scalar, 4, 4>;
 
-} // end namespace hyporo
+}

source/hyporo/hyplib/matrix/matrix_space.hpp

@@ -0,0 +1,249 @@
+#pragma once
+
+#include "../vector/vector.hpp"
+
+namespace hpr
+{
+
+template <typename Type, size_t Rows, size_t Cols>
+class MatrixSpace : public VectorSpace<Type, Rows * Cols>
+{
+    static_assert(Rows >= 1);
+    static_assert(Cols >= 1);
+    using base = VectorSpace<Type, Rows * Cols>;
+
+    using Minor = typename std::conditional<(Rows >= 2 && Cols >= 2), MatrixSpace<Type, Rows - 1, Cols - 1>, MatrixSpace<Type, 1, 1>>::type;
+public:
+
+    using value_type = Type;
+    using size_type = size_t;
+    using pointer = Type*;
+    using reference = Type&;
+    using iterator = Iterator<Type>;
+    using const_iterator = Iterator<const Type>;
+
+protected:
+
+    static
+    const size_type p_mrows = Rows - 1;
+    static
+    const size_type p_mcols = Cols - 1;
+    size_type p_rows;
+    size_type p_cols;
+
+public:
+
+    inline
+    MatrixSpace() :
+        base {},
+        p_rows {Rows},
+        p_cols {Cols}
+    {}
+
+    inline
+    MatrixSpace(const MatrixSpace& ms) :
+        base {static_cast<base>(ms)},
+        p_rows {Rows},
+        p_cols {Cols}
+    {}
+
+    inline
+    MatrixSpace(const base& ms) :
+        base {ms},
+        p_rows {Rows},
+        p_cols {Cols}
+    {}
+
+    inline
+    MatrixSpace(MatrixSpace&& ms) noexcept :
+        base {std::move(static_cast<base>(ms))},
+        p_rows {Rows},
+        p_cols {Cols}
+    {}
+
+    inline
+    MatrixSpace(typename base::iterator start, typename base::iterator end) :
+        base {start, end},
+        p_rows {Rows},
+        p_cols {Cols}
+    {}
+
+    inline
+    MatrixSpace(typename base::const_iterator start, typename base::const_iterator end) :
+        base {start, end},
+        p_rows {Rows},
+        p_cols {Cols}
+    {}
+
+    inline
+    MatrixSpace(std::initializer_list<value_type> list) :
+        base {list},
+        p_rows {Rows},
+        p_cols {Cols}
+    {}
+
+    template <std::convertible_to<value_type>... Args>
+    inline
+    MatrixSpace(value_type&& v, Args&& ...args) :
+        base {v, static_cast<value_type>(std::forward<Args>(args))...},
+        p_rows {Rows},
+        p_cols {Cols}
+    {
+        static_assert(1 + sizeof...(args) == Rows * Cols, "Number of arguments must be equal to rows * cols of matrix");
+    }
+
+    // Member functions
+
+    inline
+    reference operator()(size_type row, size_type col)
+    {
+        if (row >= p_rows || std::numeric_limits<size_type>::max() - p_rows < row)
+            throw std::out_of_range("Row index is out of range");
+        if (col >= p_cols || std::numeric_limits<size_type>::max() - p_cols < col)
+            throw std::out_of_range("Column index is out of range");
+        return (*this)[col + p_rows * row];
+    }
+
+    VectorSpace<value_type, Cols> row(size_type row)
+    {
+        VectorSpace<value_type, Cols> vs;
+        for (auto n = 0; n < Cols; ++n)
+            vs[n] = (*this)(row, n);
+        return vs;
+    }
+
+    void row(size_type row, const VectorSpace<value_type, Cols>& vs)
+    {
+        for (auto n = 0; n < Cols; ++n)
+            (*this)(n, row) = vs[n];
+    }
+
+    VectorSpace<value_type, Rows> col(size_type col)
+    {
+        VectorSpace<value_type, Rows> vs;
+        for (auto n = 0; n < Rows; ++n)
+            vs[n] = (*this)(n, col);
+        return vs;
+    }
+
+    void col(size_type col, const VectorSpace<value_type, Rows>& vs)
+    {
+        for (auto n = 0; n < Rows; ++n)
+            (*this)(n, col) = vs[n];
+    }
+
+    size_type rows() const { return p_rows; }
+    size_type cols() const { return p_cols; }
+
+    [[nodiscard]]
+    inline
+    bool is_square() const
+    {
+        return p_rows == p_cols;
+    }
+
+    inline
+    Minor minor(size_type row, size_type col)
+    {
+        if (this->size() < 4)
+            throw std::runtime_error("Impossible to find minor for matrix with size less than 2x2");
+        Minor minor;
+        auto minor_iter = minor.begin();
+        for (auto n = 0; n < Rows; ++n)
+            for (auto k = 0; k < Cols; ++k)
+                if (k != col && n != row)
+                    *(minor_iter++) = (*this)[k + p_rows * n];
+        return minor;
+    }
+
+    inline
+    value_type det()
+    {
+        if (!is_square())
+            throw std::runtime_error("Matrix must be square");
+        if (this->size() == 1)
+            return (*this)[0];
+        else if (this->size() == 4)
+            return (*this)(0, 0) * (*this)(1, 1) - (*this)(0, 1) * (*this)(1, 0);
+        else {
+            auto res = 0;
+            for (auto m = 0; m < Cols; ++m)
+                res += pow(-1, m) * (*this)(0, m) * minor(0, m).det();
+            return res;
+        }
+    }
+
+    inline
+    MatrixSpace transpose()
+    {
+        MatrixSpace ms;
+        for (auto n = 0; n < Rows; ++n)
+            for (auto k = 0; k < Cols; ++k)
+                ms(k, n) = (*this)(n, k);
+        return ms;
+    }
+
+    inline
+    MatrixSpace adj()
+    {
+        MatrixSpace ms;
+        for (auto n = 0; n < Rows; ++n)
+            for (auto k = 0; k < Cols; ++k)
+            {
+                ms(n, k) = pow(-1, n + k) * minor(n, k).det();
+            }
+        return ms.transpose();
+    }
+
+    inline
+    MatrixSpace inv()
+    {
+        return adj() / det();
+    }
+
+    // Friend functions
+
+    friend inline
+    bool operator==(const MatrixSpace& lhs, const MatrixSpace& rhs)
+    {
+        for (auto n = 0; n < lhs.size(); ++n)
+            if (lhs[n] != rhs[n])
+                return false;
+        return true;
+    }
+
+    friend inline
+    bool operator!=(const MatrixSpace& lhs, const MatrixSpace& rhs)
+    {
+        return !(lhs == rhs);
+    }
+
+    template <typename T, size_type S>
+    friend inline
+    bool operator==(const MatrixSpace& lhs, const VectorSpace<T, S>& rhs)
+    {
+        return false;
+    }
+
+    MatrixSpace& fill(value_type value)
+    {
+        for (auto n = 0; n < this->size(); ++n)
+            (*this)[n] = value;
+        return *this;
+    }
+
+    // Global functions
+
+    static inline
+    MatrixSpace identity()
+    {
+        MatrixSpace ms;
+        for (auto n = 0; n < Rows; ++n)
+            for (auto k = 0; k < Cols; ++k)
+                ms(n, k) = 1;
+        return ms;
+    }
+};
+
+
+}

source/hyporo/hyplib/matrix/transform.hpp

@@ -0,0 +1,79 @@
+#pragma once
+
+#include "matrix.hpp"
+
+
+namespace hpr
+{
+
+template <typename Type>
+inline
+mat<Type, 4, 4> translate(const mat<Type, 4, 4>& ms, const vec<Type, 3>& vs)
+{
+    mat<Type, 4, 4> res {ms};
+    res.row(3, ms.row(0) * vs[0] + ms.row(1) * vs[1] + ms.row(2) * vs[2] + ms.row(3));
+
+    return res;
+}
+
+template <typename Type>
+inline
+mat<Type, 4, 4> rotate(const mat<Type, 4, 4>& ms, const vec<Type, 3>& vs, Type angle)
+{
+    const Type cos {cos(angle)};
+    const Type sin {sin(angle)};
+    vec<Type, 3> axis {normalize(vs)};
+    vec<Type, 3> temp {(1. - cos) * axis};
+
+    mat<Type, 4, 4> rot;
+    rot(0, 0) = cos + temp[0] * axis[0];
+    rot(0, 1) = temp[0] * axis[1] + sin * axis[2];
+    rot(0, 2) = temp[0] * axis[2] - sin * axis[1];
+    rot(1, 0) = temp[1] * axis[0] - sin * axis[2];
+    rot(1, 1) = cos + temp[1] * axis[1];
+    rot(1, 2) = temp[1] * axis[2] + sin * axis[0];
+    rot(2, 0) = temp[2] * axis[0] + sin * axis[1];
+    rot(2, 1) = temp[2] * axis[1] - sin * axis[0];
+    rot(2, 2) = cos + temp[2] * axis[2];
+
+    mat<Type, 4, 4> res {ms};
+    res.row(0, ms.row(0) * rot(0, 0) + ms.row(1) * rot(0, 1) + ms.row(2) * rot(0, 2));
+    res.row(0, ms.row(0) * rot(1, 0) + ms.row(1) * rot(1, 1) + ms.row(2) * rot(1, 2));
+    res.row(0, ms.row(0) * rot(2, 0) + ms.row(1) * rot(2, 1) + ms.row(2) * rot(2, 2));
+    res.row(3, ms.row(3));
+
+    return res;
+}
+
+template <typename Type>
+inline
+mat<Type, 4, 4> scale(const mat<Type, 4, 4>& ms, const vec<Type, 3>& vs)
+{
+    mat<Type, 4, 4> res;
+    res.row(0, ms.row(0) * vs[0]);
+    res.row(1, ms.row(1) * vs[1]);
+    res.row(2, ms.row(2) * vs[2]);
+    res.row(3, ms.row(3));
+
+    return res;
+}
+
+
+template <typename Type>
+inline
+mat<Type, 4, 4> lookAt(const mat<Type, 4, 4>& ms, const vec<Type, 3>& eye, const vec<Type, 3>& center, const vec<Type, 3>& up)
+{
+    const vec<Type, 3> forward {normalize(center - eye)};
+    const vec<Type, 3> left {normalize(cross(up, forward))};
+    const vec<Type, 3> nup {cross(forward, left)};
+
+    mat<Type, 4, 4> res;
+    res.col(0, vec<Type, 4>(left, 0));
+    res.col(1, vec<Type, 4>(nup, 0));
+    res.col(2, vec<Type, 4>(forward, 0));
+    res.row(3, -vec<Type, 4>(dot(left, eye), dot(nup, eye), dot(forward, eye), -1.));
+
+    return res;
+}
+
+}

source/hyporo/hyplib/scalar/scalar.cpp

@@ -1,3 +0,0 @@
-#include "scalar.hpp"
-
-

source/hyporo/hyplib/scalar/scalar.hpp

@@ -4,7 +4,7 @@
 #include <limits>
 
 
-namespace hyporo
+namespace hpr
 {
 
 #if defined(PRECISION_FLOAT)
@@ -26,7 +26,7 @@ using scalar = float;
 #endif
 
 static const scalar small = std::numeric_limits<scalar>::epsilon();
-static const scalar great = 1.0 / small;
+static const scalar great = static_cast<scalar>(1.0) / small;
 static const scalar valueSmall = std::numeric_limits<scalar>::min();
 static const scalar valueGreat = std::numeric_limits<scalar>::max() * 0.1;
 static const scalar NaN = std::numeric_limits<scalar>::signaling_NaN();
@@ -43,5 +43,23 @@ inline scalar mag(const scalar s)
     return std::fabs(s);
 }
 
+// trigonometric
 
-} // end namespace hyporo
+static const scalar PI = static_cast<scalar>(M_PIl);
+template <typename Type>
+constexpr
+Type radians(Type degrees)
+{
+    static_assert(std::numeric_limits<Type>::is_iec559);
+    return degrees * PI / static_cast<Type>(180);
+}
+
+template <typename Type>
+constexpr
+Type degrees(Type radians)
+{
+    static_assert(std::numeric_limits<Type>::is_iec559);
+    return radians * static_cast<Type>(180) / PI;
+}
+
+}

source/hyporo/hyplib/tests/hyplib-test.cpp

@@ -1,20 +1,79 @@
 #include <gtest/gtest.h>
+
+#include "array.hpp"
 #include "vector.hpp"
+#include "matrix.hpp"
 
-TEST(hyplibTest, VectorCreation)
+
+TEST(hyplib, Array)
 {
-    hyporo::vec3 v {1, 3, 2};
-    EXPECT_EQ(v[0], 1);
-    EXPECT_EQ(v[1], 3);
-    EXPECT_EQ(v[2], 2);
+    hpr::StaticArray<float, 3> arr {1, 3, 2};
+    hpr::StaticArray<float, 4> sarr {arr, 5};
+    hpr::StaticArray<float, 4> sarr2 {1, 3, 2, 5};
+    EXPECT_EQ(sarr, sarr2);
 }
 
-TEST(hyplibTest, VectorOperations)
+TEST(hyplib, Vector)
 {
-    using hyporo::vec3;
-    vec3 v1 {1, 3, 2};
-    vec3 v2 {5, 7, -1};
-    EXPECT_EQ(-v1, vec3(-1, -3, -2));
-    EXPECT_EQ(v1 + v2, vec3(6, 10, 1));
-    EXPECT_EQ(v1 - v2, vec3(-4, -4, 3));
+    hpr::vec3 v1 {1, 3, 2};
+    hpr::vec3 v2 {5, 7, -1};
+    hpr::vec2 v31 {13, -2};
+    hpr::vec3 v32 {v31, 9};
+    EXPECT_EQ((hpr::vec3(v2.begin(), v2.end())), v2);
+    EXPECT_EQ(v32, hpr::vec3(13, -2, 9));
+    EXPECT_EQ(-v1, hpr::vec3(-1, -3, -2));
+    EXPECT_EQ(v1 + v2, hpr::vec3(6, 10, 1));
+    EXPECT_EQ(v1 - v2, hpr::vec3(-4, -4, 3));
+    EXPECT_EQ((hpr::dot(v1, v2) ), 24);
 }
+
+TEST(hyplib, Matrix)
+{
+    hpr::mat2 m1;
+    hpr::vec4 v1;
+    EXPECT_FALSE(v1 == m1);
+    hpr::mat2 m2 {3, 2, 7, 4};
+    hpr::vec2 v2 {2, 4};
+    EXPECT_EQ(m2.col(1), v2);
+    hpr::vec2 v3 {13, 51};
+    m2.col(1, v3);
+    EXPECT_EQ(m2.col(1), v3);
+    hpr::mat3 m4 {1, 2, 3, 4, 5, 6, 7, 8, 9};
+    hpr::mat2 m41 {5, 6, 8, 9};
+    EXPECT_EQ(m41.minor(0, 0), 9);
+    hpr::mat2 m5 {1, 2, 3, 4};
+
+    EXPECT_EQ((m4.det()), 0);
+    EXPECT_EQ(hpr::mat3(-9, 23, 3, 5, 5, 6, 7, -3, 9).det(), -786);
+
+    hpr::mat2 m6 {2, 1, 7, 4};
+    EXPECT_EQ(m6.inv(), hpr::mat2(4, -1, -7, 2));
+    //EXPECT_EQ(m4.det(), 0);
+}
+/*using Minor = typename std::conditional<(Rows > 2 && Cols > 2),
+        MatrixSpace<Type, Rows - 1, Cols - 1>, MatrixSpace<Type, 1, 1>>::type;
+
+value_type det()
+{
+
+    if (!is_square())
+        throw std::runtime_error("Matrix must be square");
+    if (this->size() == 1)
+        return (*this)[0];
+    else if (this->size() == 4)
+        return (*this)(0, 0) * (*this)(1, 1) - (*this)(0, 1) * (*this)(1, 0);
+    else {
+        auto res = 0;
+        for (auto m = 0; m < Cols; ++m) {
+            Minor minor;
+            auto minor_iter = minor.begin();
+            for (auto n = 0; n < Rows; ++n)
+                for (auto k = 0; k < Cols; ++k)
+                    if (k != 0 && n != m)
+                        *(minor_iter++) = (*this)[k + p_rows * n];
+            res += pow(-1, m) * (*this)(0, m) * minor.det();
+        }
+        return res;
+    }
+}
+*/

source/hyporo/hyplib/vector/VectorSpace.hpp

@@ -1,66 +0,0 @@
-#pragma once
-
-/** \file
- * \ingroup hyplib
- **/
-
-#include "integer.hpp"
-#include "scalar.hpp"
-#include <array>
-#include <ostream>
-
-namespace hyporo
-{
-
-// Forward declaration of friend functions and operators
-
-template <class C, sizet NC> class VectorSpace;
-
-template <class C, sizet NC>
-std::ostream& operator<<(std::ostream&, const VectorSpace<C, NC>&);
-
-// Class declaration
-
-template <class C, sizet NC>
-class VectorSpace
-{
-
-public:
-
-    //- The components of this vector space
-    std::array<C, NC> row;
-
-    // Static constants
-
-    static const sizet nComponents = NC;
-
-    // Constructors
-
-    inline VectorSpace();
-
-    //inline VectorSpace(const VectorSpace<C, NC>&);
-
-    template <class... Args>
-    inline VectorSpace(const Args... components);
-
-
-    // Member functions
-
-    inline static sizet size();
-
-    // Member operators
-
-    inline C& operator[](const sizet);
-
-    inline VectorSpace<C, NC>& operator*=(const scalar);
-
-    inline VectorSpace<C, NC>& operator/=(const scalar);
-
-    // Friend operators
-
-    friend std::ostream& operator<< <C, NC>(std::ostream&, const VectorSpace<C, NC>&);
-};
-
-} // end namespace hyporo
-
-#include "VectorSpace.hxx"

source/hyporo/hyplib/vector/VectorSpace.hxx

@@ -1,143 +0,0 @@
-
-#include <algorithm>
-
-
-namespace hyporo
-{
-
-// Constructors
-
-template <class C, sizet NC>
-inline VectorSpace<C, NC>::VectorSpace()
-{}
-
-template <class C, sizet NC>
-template <class... Args>
-inline VectorSpace<C, NC>::VectorSpace(const Args... components)
-    : row { static_cast<C>(components)... }
-{}
-
-
-// Member functions
-
-template <class C, sizet NC>
-inline sizet VectorSpace<C, NC>::size()
-{
-    return NC;
-}
-
-// Member operators
-
-template <class C, sizet NC>
-inline C& VectorSpace<C, NC>::operator[](const sizet n)
-{
-    return row[n];
-}
-
-
-template <class C, sizet NC>
-inline VectorSpace<C, NC>& VectorSpace<C, NC>::operator*=(const scalar s)
-{
-    for (C& v : row)
-        v *= s;
-    return *this;
-}
-
-template <class C, sizet NC>
-inline VectorSpace<C, NC>& VectorSpace<C, NC>::operator/=(const scalar s)
-{
-    for (C& v : row)
-        v /= s;
-    return *this;
-}
-
-// Friend operators
-
-template <class C, sizet NC>
-std::ostream& operator<<(std::ostream& os, const VectorSpace<C, NC>& vs)
-{
-    os << "(";
-    for (sizet n = 0; n < NC; n++)
-    {
-        os << vs.row[n];
-        if (n != NC - 1)
-            os << ", ";
-    }
-    os << ")";
-    return os;
-}
-
-
-// Global operators
-
-template <class C, sizet NC>
-inline VectorSpace<C, NC> operator-(const VectorSpace<C, NC>& vs)
-{
-    VectorSpace<C, NC> nvs;
-    for (sizet n = 0; n < NC; n++)
-        nvs.row[n] = -vs.row[n];
-    return nvs;
-}
-
-template <class C, sizet NC>
-inline VectorSpace<C, NC> operator+(const VectorSpace<C, NC>& vs1, const VectorSpace<C, NC>& vs2)
-{
-    VectorSpace<C, NC> nvs;
-    for (sizet n = 0; n < NC; n++)
-        nvs.row[n] = vs1.row[n] + vs2.row[n];
-    return nvs;
-}
-
-template <class C, sizet NC>
-inline VectorSpace<C, NC> operator-(const VectorSpace<C, NC>& vs1, const VectorSpace<C, NC>& vs2)
-{
-    VectorSpace<C, NC> nvs;
-    for (sizet n = 0; n < NC; n++)
-        nvs.row[n] = vs1.row[n] - vs2.row[n];
-    return nvs;
-}
-
-template <class C, sizet NC>
-inline VectorSpace<C, NC> operator*(const scalar& s, const VectorSpace<C, NC>& vs)
-{
-    VectorSpace<C, NC> nvs;
-    for (sizet n = 0; n < NC; n++)
-        nvs.row[n] = s * vs.row[n];
-    return nvs;
-}
-
-template <class C, sizet NC>
-inline VectorSpace<C, NC> operator*(const VectorSpace<C, NC>& vs, const scalar& s)
-{
-    VectorSpace<C, NC> nvs;
-    for (sizet n = 0; n < NC; n++)
-        nvs.row[n] = vs.row[n] * s;
-    return nvs;
-}
-
-template <class C, sizet NC>
-inline VectorSpace<C, NC> operator/(const VectorSpace<C, NC>& vs, const scalar& s)
-{
-    VectorSpace<C, NC> nvs;
-    for (sizet n = 0; n < NC; n++)
-        nvs.row[n] = vs.row[n] / s;
-    return nvs;
-}
-
-template <class C, sizet NC>
-inline bool operator==(const VectorSpace<C, NC>& vs1, const VectorSpace<C, NC>& vs2)
-{
-    bool eq = true;
-    for (sizet n = 0; n < NC; n++)
-        if (!(eq &= (vs1.row[n] == vs2.row[n])))
-            break;
-    return eq;
-}
-
-template <class C, sizet NC>
-inline bool operator!=(const VectorSpace<C, NC>& vs1, const VectorSpace<C, NC>& vs2)
-{
-    return !(vs1 == vs2);
-}
-
-} // end namespace hyporo

source/hyporo/hyplib/vector/vector.hpp

@@ -1,16 +1,17 @@
 #pragma once
 
 #include "scalar.hpp"
-#include "VectorSpace.hpp"
+#include "vector_space.hpp"
 
 
-namespace hyporo
+namespace hpr
 {
 
+template <typename Type, size_t Size>
+using vec = VectorSpace<Type, Size>;
+
 using vec2 = VectorSpace<scalar, 2>;
-
 using vec3 = VectorSpace<scalar, 3>;
-
 using vec4 = VectorSpace<scalar, 4>;
 
-} // end namespace hyporo
+}

source/hyporo/hyplib/vector/vector_space.cpp

@@ -0,0 +1,4 @@
+//
+// Created by L-Nafaryus on 10/17/2022.
+//
+#include "vector_space.hpp"

source/hyporo/hyplib/vector/vector_space.hpp

@@ -0,0 +1,332 @@
+#pragma once
+
+#include "../array/array.hpp"
+
+namespace hpr
+{
+
+template <typename Type, size_t Size>
+class VectorSpace : public StaticArray<Type, Size>
+{
+    static_assert(std::is_arithmetic<Type>::value, "Type must be numeric");
+
+    using base = StaticArray<Type, Size>;
+
+    using SubVector = typename std::conditional<Size >= 2, VectorSpace<Type, Size - 1>, VectorSpace<Type, 1>>::type;
+public:
+
+    using value_type = Type;
+    using size_type = size_t;
+    using pointer = Type*;
+    using reference = Type&;
+    using iterator = Iterator<Type>;
+    using const_iterator = Iterator<const Type>;
+
+public:
+
+    inline
+    VectorSpace() :
+        base {}
+    {}
+
+    inline
+    VectorSpace(const VectorSpace& vs) :
+        base {static_cast<base>(vs)}
+    {}
+
+    inline
+    VectorSpace(VectorSpace&& vs) noexcept :
+        base {std::move(static_cast<base>(vs))}
+    {}
+
+    inline
+    VectorSpace(typename base::iterator start, typename base::iterator end) :
+        base {start, end}
+    {}
+
+    inline
+    VectorSpace(typename base::const_iterator start, typename base::const_iterator end) :
+        base {start, end}
+    {}
+
+    inline
+    VectorSpace(std::initializer_list<value_type> list) :
+        base {list}
+    {}
+
+    template <std::convertible_to<value_type>... Args>
+    inline
+    VectorSpace(value_type&& v, Args&& ...args) :
+        base {v, static_cast<value_type>(std::forward<Args>(args))...}
+    {
+        static_assert(1 + sizeof...(args) == Size, "Number of arguments must be equal to size of vector");
+    }
+
+    /*template <size_type SubSize, std::convertible_to<value_type>... Args>
+    inline
+    VectorSpace(const VectorSpace<value_type, SubSize>& subvec, const value_type& v, const Args& ...args) :
+        base {static_cast<StaticArray<value_type, SubSize>>(subvec), v,
+              static_cast<value_type>(std::forward<Args>(args))...}
+    {}*/
+
+    inline
+    VectorSpace(const SubVector& subvs, const value_type& v) :
+        base {}
+    {
+        for (auto n = 0; n < subvs.size(); ++n)
+            (*this)[n] = subvs[n];
+        (*this)[subvs.size() - 1] = v;
+    }
+
+    // Member functions
+
+    // vector versus scalar (per element operations)
+
+    friend inline
+    VectorSpace operator-(const VectorSpace& rhs)
+    {
+        VectorSpace vs {rhs};
+        for (value_type& v : vs)
+            v = -v;
+        return vs;
+    }
+
+    inline
+    void operator*=(const value_type& val)
+    {
+        //for (value_type& v : *this)
+        //    v *= val;
+        for (auto n = 0; n < Size; ++n)
+            (*this)[n] *= val;
+    }
+
+    inline
+    void operator+=(const value_type& val)
+    {
+        for (auto n = 0; n < Size; ++n)
+            (*this)[n] += val;
+    }
+
+    inline
+    void operator-=(const value_type& val)
+    {
+        //for (value_type& v : *this)
+        //    v -= val;
+        for (auto n = 0; n < Size; ++n)
+            (*this)[n] -= val;
+    }
+
+    inline
+    void operator/=(const value_type& val)
+    {
+        for (value_type& v : *this)
+            v /= val;
+    }
+
+    using type = VectorSpace<Type, Size>;
+
+    friend inline
+    type operator+(const VectorSpace& lhs, const value_type& rhs)
+    {
+        VectorSpace vs {lhs};
+        vs += rhs;
+        return vs;
+    }
+
+    friend inline
+    VectorSpace operator+(const value_type& lhs, const VectorSpace& rhs)
+    {
+        return operator+(rhs, lhs);
+    }
+
+    friend inline
+    VectorSpace operator*(const VectorSpace& lhs, const value_type& rhs)
+    {
+        VectorSpace vs {lhs};
+        vs *= rhs;
+        return vs;
+    }
+
+    friend inline
+    VectorSpace operator*(const value_type& lhs, const VectorSpace& rhs)
+    {
+        return operator*(rhs, lhs);
+    }
+
+    friend inline
+    VectorSpace operator/(const VectorSpace& lhs, const value_type& rhs)
+    {
+        VectorSpace vs {lhs};
+        vs /= rhs;
+        return vs;
+    }
+
+    friend inline
+    VectorSpace operator/(const value_type& lhs, const VectorSpace& rhs)
+    {
+        VectorSpace vs;
+        for (auto n = 0; n < vs.size(); ++n)
+            vs[n] = lhs / rhs[n];
+        return vs;
+    }
+
+    // vector versus vector (per element operations)
+
+    inline
+    void operator*=(const VectorSpace& vs)
+    {
+        for (auto n = 0; n < Size; ++n)
+            (*this)[n] *= vs[n];
+    }
+
+    inline
+    void operator+=(const VectorSpace& vs)
+    {
+        for (auto n = 0; n < Size; ++n)
+            (*this)[n] += vs[n];
+    }
+
+    inline
+    void operator-=(const VectorSpace& vs)
+    {
+        for (auto n = 0; n < Size; ++n)
+            (*this)[n] -= vs[n];
+    }
+
+    inline
+    void operator/=(const VectorSpace& vs)
+    {
+        for (auto n = 0; n < Size; ++n)
+            (*this)[n] /= vs[n];
+    }
+
+    friend inline
+    VectorSpace operator+(const VectorSpace& lhs, const VectorSpace& rhs)
+    {
+        VectorSpace vs {lhs};
+        vs += rhs;
+        return vs;
+    }
+
+    friend inline
+    VectorSpace operator-(const VectorSpace& lhs, const VectorSpace& rhs)
+    {
+        VectorSpace vs {lhs};
+        vs -= rhs;
+        return vs;
+    }
+
+    friend inline
+    VectorSpace operator*(const VectorSpace& lhs, const VectorSpace& rhs)
+    {
+        VectorSpace vs {lhs};
+        vs *= rhs;
+        return vs;
+    }
+
+    friend inline
+    VectorSpace operator/(const VectorSpace& lhs, const VectorSpace& rhs)
+    {
+        VectorSpace vs {lhs};
+        vs /= rhs;
+        return vs;
+    }
+
+    friend inline
+    bool operator==(const VectorSpace& lhs, const VectorSpace& rhs)
+    {
+        for (auto n = 0; n < Size; ++n)
+            if (lhs[n] != rhs[n])
+                return false;
+        return true;
+    }
+
+    friend inline
+    bool operator!=(const VectorSpace& lhs, const VectorSpace& rhs)
+    {
+        return !(lhs == rhs);
+    }
+
+
+};
+
+template <typename Type, size_t Size>
+inline
+Type sum(const VectorSpace<Type, Size>& vs)
+{
+    Type sum {0};
+    for (const Type& v : vs)
+        sum += v;
+    return sum;
+}
+
+template <typename Type, size_t Size>
+constexpr
+Type dot(const VectorSpace<Type, Size>& lhs, const VectorSpace<Type, Size>& rhs)
+{
+    return sum(lhs * rhs);
+}
+
+template <typename Type, size_t Size>
+inline
+Type length(const VectorSpace<Type, Size>& vs)
+{
+    return sqrt(dot(vs, vs));
+}
+
+template <typename Type, size_t Size>
+inline
+Type distance(const VectorSpace<Type, Size>& point1, const VectorSpace<Type, Size>& point2)
+{
+    return length(point1 - point2);
+}
+
+template <typename Type>
+constexpr
+VectorSpace<Type, 3> cross(const VectorSpace<Type, 3>& lhs, const VectorSpace<Type, 3>& rhs)
+{
+    return VectorSpace<Type, 3>(
+        lhs[2] * rhs[3] - lhs[3] * rhs[2],
+        lhs[3] * rhs[1] - lhs[1] * rhs[3],
+        lhs[1] * rhs[2] - lhs[2] * rhs[1]
+    );
+}
+
+template <typename Type, size_t Size>
+inline
+VectorSpace<Type, Size> normalize(const VectorSpace<Type, Size>& vs)
+{
+    return vs * inversesqrt(dot(vs, vs));
+}
+
+template <typename Type, size_t Size>
+constexpr
+VectorSpace<bool, Size> equal(const VectorSpace<Type, Size>& lhs, const VectorSpace<Type, Size>& rhs)
+{
+    VectorSpace<bool, Size> vs;
+    for (auto n = 0; n < Size; ++n)
+        vs[n] = lhs[n] == rhs[n];
+    return vs;
+}
+
+template <size_t Size>
+constexpr
+bool any(const VectorSpace<bool, Size>& vs)
+{
+    bool res = false;
+    for (auto e : vs)
+        res = res || e;
+    return res;
+}
+
+template <size_t Size>
+constexpr
+bool all(const VectorSpace<bool, Size>& vs)
+{
+    bool res = true;
+    for (auto e : vs)
+        res = res && e;
+    return res;
+}
+
+}