magnum/src/Magnum/Math/Complex.h

#ifndef Magnum_Math_Complex_h
#define Magnum_Math_Complex_h
/*
    This file is part of Magnum.

    Copyright © 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019,
                2020, 2021, 2022, 2023, 2024, 2025
              Vladimír Vondruš <mosra@centrum.cz>

    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
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*/

/** @file
 * @brief Class @ref Magnum::Math::Complex, function @ref Magnum::Math::dot(), @ref Magnum::Math::angle()
 */

/* std::declval() is said to be in <utility> but libstdc++, libc++ and MSVC STL
   all have it directly in <type_traits> because it just makes sense */
#include <type_traits>
#ifndef CORRADE_SINGLES_NO_DEBUG
#include <Corrade/Utility/Debug.h>
#endif
#include <Corrade/Utility/DebugAssert.h>

#include "Magnum/Math/Matrix.h"
#include "Magnum/Math/Vector2.h"

namespace Magnum { namespace Math {

namespace Implementation {
    /* No assertions fired, for internal use. Not private member because used
       from outside the class. */
    template<class T> constexpr static Complex<T> complexFromMatrix(const Matrix2x2<T>& matrix) {
        return {matrix[0][0], matrix[0][1]};
    }

    template<class, class> struct ComplexConverter;
}

/** @relatesalso Complex
@brief Dot product of two complex numbers

@f[
    c_0 \cdot c_1 = a_0 a_1 + b_0 b_1
@f]
@see @ref Complex::dot() const
*/
template<class T> inline T dot(const Complex<T>& a, const Complex<T>& b) {
    return a.real()*b.real() + a.imaginary()*b.imaginary();
}

/** @relatesalso Complex
@brief Angle between normalized complex numbers

Expects that both complex numbers are normalized. @f[
    \theta = \arccos \left( \frac{Re(c_0 \cdot c_1))}{|c_0| |c_1|} \right) = \arccos (a_0 a_1 + b_0 b_1)
@f]

To avoid numerical issues when two complex numbers are very close to each
other, the dot product is clamped to the @f$ [-1, +1] @f$ range before being
passed to @f$ \arccos @f$.
@see @ref Complex::isNormalized(),
    @ref halfAngle(const Quaternion<T>&, const Quaternion<T>&),
    @ref angle(const Vector<size, FloatingPoint>&, const Vector<size, FloatingPoint>&)
*/
template<class T> inline Rad<T> angle(const Complex<T>& normalizedA, const Complex<T>& normalizedB) {
    CORRADE_DEBUG_ASSERT(normalizedA.isNormalized() && normalizedB.isNormalized(),
        "Math::angle(): complex numbers" << normalizedA << "and" << normalizedB << "are not normalized", {});
    return Rad<T>(std::acos(clamp(dot(normalizedA, normalizedB), T(-1), T(1))));
}

/**
@brief Complex number
@tparam T   Data type

Represents 2D rotation. Usually denoted as the following in equations, with
@f$ a_0 @f$ being the @ref real() part and @f$ a_i @f$ the @ref imaginary()
part: @f[
    c = a_0 + i a_i
@f]

See @ref transformations for brief introduction.
@see @ref Magnum::Complex, @ref Magnum::Complexd, @ref Matrix3
*/
template<class T> class Complex {
    public:
        typedef T Type; /**< @brief Underlying data type */

        /**
         * @brief Rotation complex number
         * @param angle             Rotation angle (counterclockwise)
         *
         * @f[
         *      c = \cos(\theta) + i \sin(\theta)
         * @f]
         * @see @ref angle(), @ref Matrix3::rotation(),
         *      @ref Quaternion::rotation()
         */
        static Complex<T> rotation(Rad<T> angle) {
            return {std::cos(T(angle)), std::sin(T(angle))};
        }

        /**
         * @brief Create a complex number from a rotation matrix
         *
         * Expects that the matrix is a pure rotation, i.e. orthogonal and
         * without any reflection. See @ref Matrix3::rotation() const for an
         * example of how to extract rotation, reflection and scaling
         * components from a 2D transformation matrix.
         * @see @ref toMatrix(), @ref DualComplex::fromMatrix(),
         *      @ref Matrix::isOrthogonal(), @ref Matrix::determinant()
         */
        static Complex<T> fromMatrix(const Matrix2x2<T>& matrix);

        /**
         * @brief Default constructor
         *
         * Equivalent to @ref Complex(IdentityInitT).
         */
        constexpr /*implicit*/ Complex() noexcept: _real(T(1)), _imaginary(T(0)) {}

        /**
         * @brief Identity constructor
         *
         * Constructs unit complex number. @f[
         *      c = 1 + i0
         * @f]
         */
        constexpr explicit Complex(IdentityInitT) noexcept: _real(T(1)), _imaginary(T(0)) {}

        /** @brief Construct zero-initialized complex number */
        constexpr explicit Complex(ZeroInitT) noexcept: _real{}, _imaginary{} {}

        /** @brief Construct without initializing the contents */
        explicit Complex(Magnum::NoInitT) noexcept {}

        /**
         * @brief Construct a complex number from real and imaginary part
         *
         * @f[
         *      c = a + ib
         * @f]
         */
        constexpr /*implicit*/ Complex(T real, T imaginary) noexcept: _real(real), _imaginary(imaginary) {}

        /**
         * @brief Construct a complex number from a vector
         *
         * To be used in transformations later. @f[
         *      c = v_x + iv_y
         * @f]
         * @see @ref operator Vector2<T>(), @ref transformVector()
         */
        constexpr explicit Complex(const Vector2<T>& vector) noexcept: _real(vector.x()), _imaginary(vector.y()) {}

        /**
         * @brief Construct a complex number from another of different type
         *
         * Performs only default casting on the values, no rounding or anything
         * else.
         */
        template<class U> constexpr explicit Complex(const Complex<U>& other) noexcept: _real{T(other._real)}, _imaginary{T(other._imaginary)} {}

        /** @brief Construct a complex number from external representation */
        template<class U, class = decltype(Implementation::ComplexConverter<T, U>::from(std::declval<U>()))> constexpr explicit Complex(const U& other): Complex{Implementation::ComplexConverter<T, U>::from(other)} {}

        /** @brief Convert the complex number to external representation */
        template<class U, class = decltype(Implementation::ComplexConverter<T, U>::to(std::declval<Complex<T>>()))> constexpr explicit operator U() const {
            return Implementation::ComplexConverter<T, U>::to(*this);
        }

        /**
         * @brief Raw data
         *
         * Contrary to what Doxygen shows, returns reference to an
         * one-dimensional fixed-size array of two elements, i.e.
         * @cpp T(&)[2] @ce.
         * @see @ref real(), @ref imaginary()
         * @todoc Fix once there's a possibility to patch the signature in a
         *      post-processing step (https://github.com/mosra/m.css/issues/56)
         */
        #ifdef DOXYGEN_GENERATING_OUTPUT
        T* data();
        const T* data() const; /**< @overload */
        #else
        auto data() -> T(&)[2] {
            return reinterpret_cast<T(&)[2]>(_real);
        }
        /* Can't be constexpr anymore, the only other solution would be to
           store `T _data[2]` instead of the two variables, but that may make
           the internal implementation too error prone. Similarly as with
           RectangularMatrix::data(), having a statically sized array returned
           is a far more useful property than constexpr, so that wins. */
        auto data() const -> const T(&)[2] {
            return reinterpret_cast<const T(&)[2]>(_real);
        }
        #endif

        /**
         * @brief Equality comparison
         *
         * Done using @ref TypeTraits::equals(), i.e. with fuzzy compare.
         */
        bool operator==(const Complex<T>& other) const {
            return TypeTraits<T>::equals(_real, other._real) &&
                   TypeTraits<T>::equals(_imaginary, other._imaginary);
        }

        /**
         * @brief Non-equality comparison
         *
         * Done using @ref TypeTraits::equals(), i.e. with fuzzy compare.
         */
        bool operator!=(const Complex<T>& other) const {
            return !operator==(other);
        }

        /**
         * @brief Whether the complex number is normalized
         *
         * Complex number is normalized if it has unit length: @f[
         *      |c \cdot c - 1| < 2 \epsilon + \epsilon^2 \cong 2 \epsilon
         * @f]
         * @see @ref dot(), @ref normalized()
         */
        bool isNormalized() const {
            return Implementation::isNormalizedSquared(dot());
        }

        /**
         * @brief Real part (@f$ a_0 @f$)
         *
         * @see @ref data()
         */
        T& real() { return _real; }
        constexpr T real() const { return _real; } /**< @overload */

        /**
         * @brief Imaginary part (@f$ a_i @f$)
         *
         * @see @ref data()
         */
        T& imaginary() { return _imaginary; }
        constexpr T imaginary() const { return _imaginary; } /**< @overload */

        /**
         * @brief Convert a complex number to a vector
         *
         * @f[
         *      \boldsymbol v = \begin{pmatrix} a \\ b \end{pmatrix}
         * @f]
         * @see @ref Complex(const Vector2<T>&), @ref Quaternion::xyzw(),
         *      @ref Quaternion::wxyz()
         */
        constexpr explicit operator Vector2<T>() const {
            return {_real, _imaginary};
        }

        /**
         * @brief Rotation angle of a complex number
         *
         * @f[
         *      \theta = \operatorname{atan2}(b, a)
         * @f]
         * @see @ref rotation()
         */
        Rad<T> angle() const {
            return Rad<T>(std::atan2(_imaginary, _real));
        }

        /**
         * @brief Convert a complex number to a rotation matrix
         *
         * @f[
         *      M = \begin{pmatrix}
         *               a & -b \\
         *               b &  a
         *          \end{pmatrix}
         * @f]
         * @see @ref fromMatrix(), @ref DualComplex::toMatrix(),
         *      @ref Matrix3::from(const Matrix2x2<T>&, const Vector2<T>&)
         */
        Matrix2x2<T> toMatrix() const {
            return {Vector<2, T>(_real, _imaginary),
                    Vector<2, T>(-_imaginary, _real)};
        }

        /**
         * @brief Promotion
         * @m_since_latest
         *
         * Returns the value as-is.
         */
        Complex<T> operator+() const { return *this; }

        /**
         * @brief Add a complex number and assign
         *
         * The computation is done in-place. @f[
         *      c_0 + c_1 = (a_0 + a_1) + i(b_0 + b_1)
         * @f]
         */
        Complex<T>& operator+=(const Complex<T>& other) {
            _real += other._real;
            _imaginary += other._imaginary;
            return *this;
        }

        /**
         * @brief Add a complex number
         *
         * @see @ref operator+=(const Complex<T>&)
         */
        Complex<T> operator+(const Complex<T>& other) const {
            return Complex<T>(*this) += other;
        }

        /**
         * @brief Negated complex number
         *
         * @f[
         *      -c = -a -ib
         * @f]
         */
        Complex<T> operator-() const {
            return {-_real, -_imaginary};
        }

        /**
         * @brief Subtract a complex number and assign
         *
         * The computation is done in-place. @f[
         *      c_0 - c_1 = (a_0 - a_1) + i(b_0 - b_1)
         * @f]
         */
        Complex<T>& operator-=(const Complex<T>& other) {
            _real -= other._real;
            _imaginary -= other._imaginary;
            return *this;
        }

        /**
         * @brief Subtract a complex number
         *
         * @see @ref operator-=(const Complex<T>&)
         */
        Complex<T> operator-(const Complex<T>& other) const {
            return Complex<T>(*this) -= other;
        }

        /**
         * @brief Multiply with a scalar and assign
         *
         * The computation is done in-place. @f[
         *      c t = a t + i b t
         * @f]
         * @see @ref operator*=(const Vector2<T>&)
         */
        Complex<T>& operator*=(T scalar) {
            _real *= scalar;
            _imaginary *= scalar;
            return *this;
        }

        /**
         * @brief Multiply with a vector and assign
         *
         * The computation is done in-place. @f[
         *      c \boldsymbol{v} = a v_x + i b v_y
         * @f]
         * @see @ref operator*=(T)
         */
        Complex<T>& operator*=(const Vector2<T>& vector) {
             _real *= vector.x();
             _imaginary *= vector.y();
             return *this;
        }

        /**
         * @brief Multiply with a scalar
         *
         * @see @ref operator*=(T), @ref operator*(const Vector2<T>&) const,
         *      @ref operator*(const Complex<T>&) const
         */
        Complex<T> operator*(T scalar) const {
            return Complex<T>(*this) *= scalar;
        }

        /**
         * @brief Multiply with a vector
         *
         * @see @ref operator*=(const Vector2<T>&)
         */
        Complex<T> operator*(const Vector2<T>& vector) const {
            return Complex<T>(*this) *= vector;
        }

        /**
         * @brief Divide with a scalar and assign
         *
         * The computation is done in-place. @f[
         *      \frac{c}{t} = \frac{a}{t} + i \frac{b}{t}
         * @f]
         * @see @ref operator/=(const Vector2<T>&)
         */
        Complex<T>& operator/=(T scalar) {
            _real /= scalar;
            _imaginary /= scalar;
            return *this;
        }

        /**
         * @brief Divide with a vector and assign
         *
         * The computation is done in-place. @f[
         *      c \boldsymbol{v} = \frac{a}{v_x} + i \frac{b}{v_y}
         * @f]
         * @see @ref operator/=(T)
         */
        Complex<T>& operator/=(const Vector2<T>& vector) {
             _real /= vector.x();
             _imaginary /= vector.y();
             return *this;
        }

        /**
         * @brief Divide with a scalar
         *
         * @see @ref operator/=(T), @ref operator/(const Vector2<T>&) const
         */
        Complex<T> operator/(T scalar) const {
            return Complex<T>(*this) /= scalar;
        }

        /**
         * @brief Divide with a vector
         *
         * @see @ref operator/=(const Vector2<T>&), @ref operator/(T) const
         */
        Complex<T> operator/(const Vector2<T>& vector) const {
            return Complex<T>(*this) /= vector;
        }

        /**
         * @brief Multiply with a complex number
         *
         * @f[
         *      c_0 c_1 = (a_0 + ib_0)(a_1 + ib_1) = (a_0 a_1 - b_0 b_1) + i(a_1 b_0 + a_0 b_1)
         * @f]
         * @see @ref operator*(const Vector2<T>& other) const
         */
        Complex<T> operator*(const Complex<T>& other) const {
            return {_real*other._real - _imaginary*other._imaginary,
                    _imaginary*other._real + _real*other._imaginary};
        }

        /**
         * @brief Dot product of the complex number
         *
         * Should be used instead of @ref length() for comparing complex number
         * length with other values, because it doesn't compute the square
         * root. @f[
         *      c \cdot c = a^2 + b^2
         * @f]
         * @see @ref dot(const Complex&, const Complex&), @ref isNormalized()
         */
        T dot() const { return Math::dot(*this, *this); }

        /**
         * @brief Complex number length
         *
         * See also @ref dot() const which is faster for comparing length with
         * other values. @f[
         *      |c| = \sqrt{c \cdot c}
         * @f]
         * @see @ref isNormalized()
         */
        T length() const { return std::hypot(_real, _imaginary); }

        /**
         * @brief Normalized complex number (of unit length)
         *
         * @see @ref isNormalized()
         */
        Complex<T> normalized() const {
            return (*this)/length();
        }

        /**
         * @brief Conjugated complex number
         *
         * @f[
         *      c^* = a - ib
         * @f]
         */
        Complex<T> conjugated() const {
            return {_real, -_imaginary};
        }

        /**
         * @brief Inverted complex number
         *
         * See @ref invertedNormalized() which is faster for normalized
         * complex numbers. @f[
         *      c^{-1} = \frac{c^*}{|c|^2} = \frac{c^*}{c \cdot c}
         * @f]
         */
        Complex<T> inverted() const {
            return conjugated()/dot();
        }

        /**
         * @brief Inverted normalized complex number
         *
         * Equivalent to @ref conjugated(). Expects that the complex number is
         * normalized. @f[
         *      c^{-1} = \frac{c^*}{c \cdot c} = c^*
         * @f]
         * @see @ref isNormalized(), @ref inverted()
         */
        Complex<T> invertedNormalized() const {
            CORRADE_DEBUG_ASSERT(isNormalized(),
                "Math::Complex::invertedNormalized():" << *this << "is not normalized", {});
            return conjugated();
        }

        /**
         * @brief Rotate a vector with a complex number
         *
         * @f[
         *      \boldsymbol{v'} = c \boldsymbol{v} = c (v_x + iv_y)
         * @f]
         * @see @ref Complex(const Vector2<T>&), @ref operator Vector2<T>(),
         *      @ref Matrix3::transformVector()
         */
        Vector2<T> transformVector(const Vector2<T>& vector) const {
            return Vector2<T>((*this)*Complex<T>(vector));
        }

    private:
        #ifndef DOXYGEN_GENERATING_OUTPUT
        /* Doxygen copies the description from Magnum::Complex here. Ugh. */
        template<class> friend class Complex;
        #endif

        T _real, _imaginary;
};

/** @relates Complex
@brief Multiply a scalar with a complex number

Same as @ref Complex::operator*(T) const.
*/
template<class T> inline Complex<T> operator*(T scalar, const Complex<T>& complex) {
    return complex*scalar;
}

/** @relatesalso Complex
@brief Multiply a vector with a complex number

Same as @ref Complex::operator*(const Vector2<T>&) const.
*/
template<class T> inline Complex<T> operator*(const Vector2<T>& vector, const Complex<T>& complex) {
    return complex*vector;
}

/** @relates Complex
@brief Divide a complex number with a scalar and invert

@f[
    \frac{t}{c} = \frac{t}{a} + i \frac{t}{b}
@f]
@see @ref Complex::operator/()
*/
template<class T> inline Complex<T> operator/(T scalar, const Complex<T>& complex) {
    return {scalar/complex.real(), scalar/complex.imaginary()};
}

/** @relates Complex
@brief Divide a complex number with a vector and invert

@f[
    \frac{\boldsymbol{v}}{c} = \frac{v_x}{a} + i \frac{v_y}{b}
@f]
@see @ref Complex::operator/()
*/
template<class T> inline Complex<T> operator/(const Vector2<T>& vector, const Complex<T>& complex) {
    return {vector.x()/complex.real(), vector.y()/complex.imaginary()};
}

/** @relatesalso Complex
@brief Linear interpolation of two complex numbers
@param normalizedA  First complex number
@param normalizedB  Second complex number
@param t            Interpolation phase (from range @f$ [0; 1] @f$)

Expects that both complex numbers are normalized. @f[
    c_{LERP} = \frac{(1 - t) c_A + t c_B}{|(1 - t) c_A + t c_B|}
@f]
@see @ref Complex::isNormalized(), @ref slerp(const Complex<T>&, const Complex<T>&, T),
    @ref lerp(const Quaternion<T>&, const Quaternion<T>&, T),
    @ref lerp(const T&, const T&, U),
    @ref lerp(const CubicHermite<T>&, const CubicHermite<T>&, U),
    @ref lerp(const CubicHermiteComplex<T>&, const CubicHermiteComplex<T>&, T),
    @ref lerp(const CubicHermiteQuaternion<T>&, const CubicHermiteQuaternion<T>&, T)
*/
template<class T> inline Complex<T> lerp(const Complex<T>& normalizedA, const Complex<T>& normalizedB, T t) {
    CORRADE_DEBUG_ASSERT(normalizedA.isNormalized() && normalizedB.isNormalized(),
        "Math::lerp(): complex numbers" << normalizedA << "and" << normalizedB << "are not normalized", {});
    return ((T(1) - t)*normalizedA + t*normalizedB).normalized();
}

/** @relatesalso Complex
@brief Spherical linear interpolation of two complex numbers
@param normalizedA  First complex number
@param normalizedB  Second complex number
@param t            Interpolation phase (from range @f$ [0; 1] @f$)

Expects that both complex numbers are normalized. If the complex numbers are
the same, returns the first argument. @f[
    \begin{array}{rcl}
        \theta & = & \arccos \left( \frac{c_A \cdot c_B}{|c_A| |c_B|} \right) = \arccos(c_A \cdot c_B) \\[6pt]
        c_{SLERP} & = & \cfrac{\sin((1 - t) \theta) c_A + \sin(t \theta) c_B}{\sin(\theta)}
    \end{array}
@f]
@see @ref Complex::isNormalized(), @ref lerp(const Complex<T>&, const Complex<T>&, T),
    @ref slerp(const Quaternion<T>&, const Quaternion<T>&, T)
*/
template<class T> inline Complex<T> slerp(const Complex<T>& normalizedA, const Complex<T>& normalizedB, T t) {
    CORRADE_DEBUG_ASSERT(normalizedA.isNormalized() && normalizedB.isNormalized(),
        "Math::slerp(): complex numbers" << normalizedA << "and" << normalizedB << "are not normalized", {});
    const T cosAngle = dot(normalizedA, normalizedB);

    /* Avoid division by zero */
    if(std::abs(cosAngle) >= T(1)) return Complex<T>{normalizedA};

    /** @todo couldn't this be done somewhat simpler? */
    const T a = std::acos(cosAngle);
    return (std::sin((T(1) - t)*a)*normalizedA + std::sin(t*a)*normalizedB)/std::sin(a);
}

template<class T> inline Complex<T> Complex<T>::fromMatrix(const Matrix2x2<T>& matrix) {
    /* Checking for determinant equal to 1 ensures we have a pure rotation
       without shear or reflections.

       Assuming a column of an identity matrix is allowed to have a length of
       1 ± ε, the determinant would then be (1 ± ε)^2. Which is
       1 ± 2ε + e^2, and given that higher powers of ε are unrepresentable, the
       fuzzy comparison should be 1 ± 2ε. This is similar to
       Vector::isNormalized(), which compares the dot product (length squared)
       to 1 ± 2ε. */
    CORRADE_DEBUG_ASSERT(std::abs(matrix.determinant() - T(1)) < T(2)*TypeTraits<T>::epsilon(),
        "Math::Complex::fromMatrix(): the matrix is not a rotation:" << Debug::newline << matrix, {});
    return Implementation::complexFromMatrix(matrix);
}

#ifndef CORRADE_SINGLES_NO_DEBUG
/** @debugoperator{Complex} */
template<class T> Debug& operator<<(Debug& debug, const Complex<T>& value) {
    return debug << "Complex(" << Debug::nospace
        << value.real() << Debug::nospace << ","
        << value.imaginary() << Debug::nospace << ")";
}

/* Explicit instantiation for commonly used types */
#ifndef DOXYGEN_GENERATING_OUTPUT
extern template MAGNUM_EXPORT Debug& operator<<(Debug&, const Complex<Float>&);
extern template MAGNUM_EXPORT Debug& operator<<(Debug&, const Complex<Double>&);
#endif
#endif

#ifndef MAGNUM_NO_MATH_STRICT_WEAK_ORDERING
namespace Implementation {

template<class T> struct StrictWeakOrdering<Complex<T>> {
    bool operator()(const Complex<T>& a, const Complex<T>& b) const {
        if(a.real() < b.real())
            return true;
        if(a.real() > b.real())
            return false;

        return a.imaginary() < b.imaginary();
    }
};

}
#endif

}}

#endif