Replace GLM with linalg (elalish#984)

* added linalg

* removed GLM

* fix matrix multiplication

* more matrix constructors

* fixed more functions

* fixed matrix notation

* more fixes

* fix ostream

* further fixes

* added more rotation functions

* compiles

* some fixes

* fix2

* fix build

* another warning...

* fix install

* for wasm?

* no warning for unknown options

* proper fix?

* remove legacy warning flags

* format

* misc constexpr

---------

Co-authored-by: pca006132 <john.lck40@gmail.com>

CMakeLists.txt

@@ -152,17 +152,16 @@ if(MSVC)
   list(APPEND MANIFOLD_FLAGS /DNOMINMAX /bigobj)
 else()
   if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    list(APPEND WARNING_FLAGS -Wall -Wno-unknown-warning-option -Wno-unused)
+  else()
     list(
       APPEND
       WARNING_FLAGS
       -Wall
+      -Wno-unknown-warning-option
       -Wno-unused
-      -Wno-array-bounds
-      -Wno-stringop-overflow
-      -Wno-alloc-size-larger-than
+      -Wno-shorten-64-to-32
     )
-  else()
-    list(APPEND WARNING_FLAGS -Wall -Wno-unused -Wno-shorten-64-to-32)
   endif()
   if(CMAKE_SYSTEM_NAME STREQUAL "Windows")
     if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
@@ -218,24 +217,6 @@ function(logmissingdep PKG)
   endif()
 endfunction()
 
-# GLM is required in all configurations.
-find_package(glm QUIET)
-if(NOT glm_FOUND)
-  logmissingdep("glm")
-  message(STATUS "glm not found, downloading from source")
-  set(GLM_BUILD_INSTALL "ON" CACHE STRING "")
-  FetchContent_Declare(
-    glm
-    GIT_REPOSITORY https://github.com/g-truc/glm.git
-    GIT_TAG 1.0.1
-    GIT_PROGRESS TRUE
-  )
-  FetchContent_MakeAvailable(glm)
-  if(NOT EMSCRIPTEN)
-    install(TARGETS glm)
-  endif()
-endif()
-
 # If we're building parallel, we need the requisite libraries
 if(MANIFOLD_PAR)
   find_package(Threads REQUIRED)
@@ -411,6 +392,7 @@ set(
   MANIFOLD_PUBLIC_HDRS
   include/manifold/common.h
   include/manifold/iters.h
+  include/manifold/linalg.h
   include/manifold/manifold.h
   include/manifold/optional_assert.h
   include/manifold/parallel.h

README.md

@@ -33,7 +33,6 @@ If you prefer Python to JS/TS, make your own copy of the example notebook above.
 This is a modern C++ library that Github's CI verifies builds and runs on a variety of platforms. Additionally, we build bindings for JavaScript ([manifold-3d](https://www.npmjs.com/package/manifold-3d) on npm), Python ([manifold3d](https://pypi.org/project/manifold3d/)), and C to make this library more portable and easy to use.
 
 System Dependencies (note that we will automatically download the dependency if there is no such package on the system):
-- [`GLM`](https://github.com/g-truc/glm/): A compact header-only vector library.
 - [`tbb`](https://github.com/oneapi-src/oneTBB/): Intel's thread building blocks library. (only when `MANIFOLD_PAR=ON` is enabled)
 - [`gtest`](https://github.com/google/googletest/): Google test library (only when test is enabled, i.e. `MANIFOLD_TEST=ON`)
 

bindings/c/box.cpp

@@ -69,7 +69,7 @@ ManifoldBox *manifold_box_transform(void *mem, ManifoldBox *b, double x1,
                                     double y1, double z1, double x2, double y2,
                                     double z2, double x3, double y3, double z3,
                                     double x4, double y4, double z4) {
-  auto mat = mat4x3(x1, y1, z1, x2, y2, z2, x3, y3, z3, x4, y4, z4);
+  auto mat = mat3x4({x1, y1, z1}, {x2, y2, z2}, {x3, y3, z3}, {x4, y4, z4});
   auto transformed = from_c(b)->Transform(mat);
   return to_c(new (mem) Box(transformed));
 }

bindings/c/cross.cpp

@@ -176,7 +176,7 @@ ManifoldCrossSection *manifold_cross_section_transform(void *mem,
                                                        double x1, double y1,
                                                        double x2, double y2,
                                                        double x3, double y3) {
-  auto mat = mat3x2(x1, y1, x2, y2, x3, y3);
+  auto mat = mat2x3({x1, y1}, {x2, y2}, {x3, y3});
   auto transformed = from_c(cs)->Transform(mat);
   return to_c(new (mem) CrossSection(transformed));
 }

bindings/c/manifoldc.cpp

@@ -237,7 +237,7 @@ ManifoldManifold *manifold_transform(void *mem, ManifoldManifold *m, double x1,
                                      double y1, double z1, double x2, double y2,
                                      double z2, double x3, double y3, double z3,
                                      double x4, double y4, double z4) {
-  auto mat = mat4x3(x1, y1, z1, x2, y2, z2, x3, y3, z3, x4, y4, z4);
+  auto mat = mat3x4({x1, y1, z1}, {x2, y2, z2}, {x3, y3, z3}, {x4, y4, z4});
   auto transformed = from_c(m)->Transform(mat);
   return to_c(new (mem) Manifold(transformed));
 }

bindings/c/rect.cpp

@@ -73,7 +73,7 @@ ManifoldRect *manifold_rect_union(void *mem, ManifoldRect *a, ManifoldRect *b) {
 ManifoldRect *manifold_rect_transform(void *mem, ManifoldRect *r, double x1,
                                       double y1, double x2, double y2,
                                       double x3, double y3) {
-  auto mat = mat3x2(x1, y1, x2, y2, x3, y3);
+  auto mat = mat2x3({x1, y1}, {x2, y2}, {x3, y3});
   auto transformed = from_c(r)->Transform(mat);
   return to_c(new (mem) Rect(transformed));
 }

bindings/python/manifold3d.cpp

@@ -32,36 +32,36 @@ namespace nb = nanobind;
 using namespace manifold;
 
 template <class T>
-struct glm_name {};
+struct la_name {};
 template <>
-struct glm_name<vec3> {
+struct la_name<vec3> {
   static constexpr char const name[] = "Doublex3";
   static constexpr char const multi_name[] = "DoubleNx3";
 };
 template <>
-struct glm_name<vec2> {
+struct la_name<vec2> {
   static constexpr char const name[] = "Doublex2";
   static constexpr char const multi_name[] = "DoubleNx2";
 };
 template <>
-struct glm_name<ivec3> {
+struct la_name<ivec3> {
   static constexpr char const name[] = "Intx3";
   static constexpr char const multi_name[] = "IntNx3";
 };
 template <>
-struct glm_name<mat4x3> {
+struct la_name<mat3x4> {
   static constexpr char const name[] = "Double3x4";
 };
 template <>
-struct glm_name<mat3x2> {
+struct la_name<mat2x3> {
   static constexpr char const name[] = "Double2x3";
 };
 
-// handle glm::vecN
-template <class T, int N, glm::qualifier Q>
-struct nb::detail::type_caster<glm::vec<N, T, Q>> {
-  using glm_type = glm::vec<N, T, Q>;
-  NB_TYPE_CASTER(glm_type, const_name(glm_name<glm_type>::name));
+// handle la::vecN
+template <class T, int N>
+struct nb::detail::type_caster<la::vec<T, N>> {
+  using la_type = la::vec<T, N>;
+  NB_TYPE_CASTER(la_type, const_name(la_name<la_type>::name));
 
   bool from_python(handle src, uint8_t flags, cleanup_list *cleanup) noexcept {
     int size = PyObject_Size(src.ptr());  // negative on failure
@@ -73,20 +73,20 @@ struct nb::detail::type_caster<glm::vec<N, T, Q>> {
     }
     return true;
   }
-  static handle from_cpp(glm_type vec, rv_policy policy,
+  static handle from_cpp(la_type vec, rv_policy policy,
                          cleanup_list *cleanup) noexcept {
     nb::list out;
     for (int i = 0; i < N; i++) out.append(vec[i]);
     return out.release();
   }
 };
 
-// handle glm::matMxN
-template <class T, int C, int R, glm::qualifier Q>
-struct nb::detail::type_caster<glm::mat<C, R, T, Q>> {
-  using glm_type = glm::mat<C, R, T, Q>;
+// handle la::matMxN
+template <class T, int C, int R>
+struct nb::detail::type_caster<la::mat<T, R, C>> {
+  using la_type = la::mat<T, R, C>;
   using numpy_type = nb::ndarray<nb::numpy, T, nb::shape<R, C>>;
-  NB_TYPE_CASTER(glm_type, const_name(glm_name<glm_type>::name));
+  NB_TYPE_CASTER(la_type, const_name(la_name<la_type>::name));
 
   bool from_python(handle src, uint8_t flags, cleanup_list *cleanup) noexcept {
     int rows = PyObject_Size(src.ptr());  // negative on failure
@@ -103,13 +103,13 @@ struct nb::detail::type_caster<glm::mat<C, R, T, Q>> {
     }
     return true;
   }
-  static handle from_cpp(glm_type mat, rv_policy policy,
+  static handle from_cpp(la_type mat, rv_policy policy,
                          cleanup_list *cleanup) noexcept {
     T *buffer = new T[R * C];
     nb::capsule mem_mgr(buffer, [](void *p) noexcept { delete[] (T *)p; });
     for (int i = 0; i < R; i++) {
       for (int j = 0; j < C; j++) {
-        // py is (Rows, Cols), glm is (Cols, Rows)
+        // py is (Rows, Cols), la is (Cols, Rows)
         buffer[i * C + j] = mat[j][i];
       }
     }
@@ -119,13 +119,13 @@ struct nb::detail::type_caster<glm::mat<C, R, T, Q>> {
   }
 };
 
-// handle std::vector<glm::vecN>
-template <class T, int N, glm::qualifier Q>
-struct nb::detail::type_caster<std::vector<glm::vec<N, T, Q>>> {
-  using glm_type = glm::vec<N, T, Q>;
+// handle std::vector<la::vecN>
+template <class T, int N>
+struct nb::detail::type_caster<std::vector<la::vec<T, N>>> {
+  using la_type = la::vec<T, N>;
   using numpy_type = nb::ndarray<nb::numpy, T, nb::shape<-1, N>>;
-  NB_TYPE_CASTER(std::vector<glm_type>,
-                 const_name(glm_name<glm_type>::multi_name));
+  NB_TYPE_CASTER(std::vector<la_type>,
+                 const_name(la_name<la_type>::multi_name));
 
   bool from_python(handle src, uint8_t flags, cleanup_list *cleanup) noexcept {
     make_caster<numpy_type> arr_cast;
@@ -142,7 +142,7 @@ struct nb::detail::type_caster<std::vector<glm::vec<N, T, Q>>> {
       if (num_vec == static_cast<size_t>(-1)) return false;
       value.resize(num_vec);
       for (size_t i = 0; i < num_vec; i++) {
-        make_caster<glm_type> vec_cast;
+        make_caster<la_type> vec_cast;
         if (!vec_cast.from_python(src[i], flags, cleanup)) return false;
         value[i] = vec_cast.value;
       }
@@ -165,13 +165,13 @@ struct nb::detail::type_caster<std::vector<glm::vec<N, T, Q>>> {
   }
 };
 
-// handle VecView<glm::vec*>
-template <class T, int N, glm::qualifier Q>
-struct nb::detail::type_caster<manifold::VecView<glm::vec<N, T, Q>>> {
-  using glm_type = glm::vec<N, T, Q>;
+// handle VecView<la::vec*>
+template <class T, int N>
+struct nb::detail::type_caster<manifold::VecView<la::vec<T, N>>> {
+  using la_type = la::vec<T, N>;
   using numpy_type = nb::ndarray<nb::numpy, T, nb::shape<-1, N>>;
-  NB_TYPE_CASTER(manifold::VecView<glm_type>,
-                 const_name(glm_name<glm_type>::multi_name));
+  NB_TYPE_CASTER(manifold::VecView<la_type>,
+                 const_name(la_name<la_type>::multi_name));
 
   bool from_python(handle src, uint8_t flags, cleanup_list *cleanup) noexcept {
     make_caster<numpy_type> arr_cast;

bindings/wasm/helpers.cpp

@@ -140,7 +140,7 @@ CrossSection IntersectionN(const std::vector<CrossSection>& cross_sections) {
 
 CrossSection Transform(CrossSection& cross_section, const val& mat) {
   std::vector<double> array = convertJSArrayToNumberVector<double>(mat);
-  mat3x2 matrix;
+  mat2x3 matrix;
   for (const int col : {0, 1, 2})
     for (const int row : {0, 1}) matrix[col][row] = array[col * 3 + row];
   return cross_section.Transform(matrix);
@@ -188,7 +188,7 @@ Manifold IntersectionN(const std::vector<Manifold>& manifolds) {
 
 Manifold Transform(Manifold& manifold, const val& mat) {
   std::vector<double> array = convertJSArrayToNumberVector<double>(mat);
-  mat4x3 matrix;
+  mat3x4 matrix;
   for (const int col : {0, 1, 2, 3})
     for (const int row : {0, 1, 2}) matrix[col][row] = array[col * 4 + row];
   return manifold.Transform(matrix);

extras/minimize_testcase.cpp

@@ -23,8 +23,8 @@ inline bool intersect(vec2 p0, vec2 p1, vec2 q0, vec2 q1, double precision) {
   vec2 r = p1 - p0;
   vec2 s = q1 - q0;
   // allow some error in the intersection point
-  double epsilon_r = 2.0 * precision / glm::length(r);
-  double epsilon_s = 2.0 * precision / glm::length(s);
+  double epsilon_r = 2.0 * precision / la::length(r);
+  double epsilon_s = 2.0 * precision / la::length(s);
   double rxs = cross(r, s);
   // in case they are nearly collinear, ignore them...
   // this is to avoid treating degenerate triangles as intersecting
@@ -45,7 +45,7 @@ inline bool intersect(vec2 p0, vec2 p1, vec2 q0, vec2 q1, double precision) {
     // perturbation along r/s is not enough.
     //
     // in that case, apply perturbation perpendicular to r
-    vec2 r_orth = glm::normalize(vec2(-r.y, r.x)) * precision;
+    vec2 r_orth = la::normalize(vec2(-r.y, r.x)) * precision;
     double u1 = cross(q0 - p0 + r_orth, r) / rxs;
     double u2 = cross(q0 - p0 - r_orth, r) / rxs;
     double t1 = cross(q0 - p0 + r_orth, s) / rxs;
@@ -369,8 +369,8 @@ int main(int argc, char **argv) {
     double bound = 0;
     for (const SimplePolygon &poly : polys) {
       for (const vec2 &pt : poly) {
-        bound = glm::max(bound, glm::abs(pt.x));
-        bound = glm::max(bound, glm::abs(pt.y));
+        bound = la::max(bound, la::abs(pt.x));
+        bound = la::max(bound, la::abs(pt.y));
       }
     }
     precision = bound * kTolerance;

extras/test_hull_performance.cpp

@@ -31,7 +31,6 @@
 #include "manifold/meshIO.h"
 #include "samples.h"
 using namespace std;
-using namespace glm;
 using namespace manifold;
 
 // Epick = Exact predicates Inexact constructions. Seems fair to use to compare
@@ -70,7 +69,7 @@ class HullImpl {
       vec3 v2 = vertPos[tri[2]];
 
       // Compute the normal of the triangle
-      vec3 normal = glm::normalize(glm::cross(v1 - v0, v2 - v0));
+      vec3 normal = la::normalize(la::cross(v1 - v0, v2 - v0));
 
       // Check all other vertices
       for (int i = 0; i < (int)vertPos.size(); ++i) {
@@ -81,7 +80,7 @@ class HullImpl {
         vec3 v = vertPos[i];
 
         // Compute the signed distance from the plane
-        double distance = glm::dot(normal, v - v0);
+        double distance = la::dot(normal, v - v0);
 
         // If any vertex lies on the opposite side of the normal direction
         if (distance > 0) {

flake.nix

@@ -40,7 +40,6 @@
                 pkg-config
               ]) ++ build-tools;
               buildInputs = with pkgs; [
-                glm
                 clipper2
                 assimp
               ];
@@ -86,7 +85,6 @@
                 mkdir build
                 cd build
                 emcmake cmake -DCMAKE_BUILD_TYPE=Release \
-                -DFETCHCONTENT_SOURCE_DIR_GLM=${pkgs.glm.src} \
                 -DFETCHCONTENT_SOURCE_DIR_GOOGLETEST=${gtest-src} \
                 -DFETCHCONTENT_SOURCE_DIR_CLIPPER2=../clipper2 ..
               '';
@@ -114,7 +112,6 @@
               ];
               buildInputs = with pkgs; [
                 tbb
-                glm
                 clipper2
               ];
               nativeBuildInputs = with pkgs; [