[common] remove unused vector_math.h fluff

Signed-off-by: lizzie <lizzie@eden-emu.dev>

cpmfile.json

@@ -179,6 +179,12 @@
         "repo": "eden-emulator/oaknut",
         "version": "v2.0.3"
     },
+    "oboe": {
+        "bundled": true,
+        "hash": "ce4011afe7345370d4ead3b891cd69a5ef224b129535783586c0ca75051d303ed446e6c7f10bde8da31fff58d6e307f1732a3ffd03b249f9ef1fd48fd4132715",
+        "repo": "google/oboe",
+        "version": "1.10.0"
+    },
     "openssl": {
         "hash": "29002ce50cb95a4f4f1d0e9d3f684401fbd4eac34203dc2eef3b6334af5d44aa46bf788b63a6f5c139c383eafb7269ae87a58a9a3ad5912903b9773e545ccc0a",
         "min_version": "3.0.0",

externals/CMakeLists.txt

@@ -388,6 +388,13 @@ if (YUZU_CRASH_DUMPS AND NOT TARGET libbreakpad_client)
     endif()
 endif()
 
+# oboe
+if (ANDROID)
+    AddJsonPackage(oboe)
+
+    add_library(oboe::oboe ALIAS oboe)
+endif()
+
 if (APPLE)
     # moltenvk
     if (NOT YUZU_USE_BUNDLED_MOLTENVK)

src/android/app/src/main/res/values-fa/strings.xml

@@ -799,6 +799,10 @@
     <string name="theme_mode_light">روشن</string>
     <string name="theme_mode_dark">تاریک</string>
 
+    <!-- Audio output engines -->
+    <string name="oboe">oboe</string>
+    <string name="cubeb">cubeb</string>
+
     <!-- Anisotropic filtering options -->
     <string name="multiplier_x2">x2</string>
     <string name="multiplier_x4">x4</string>

src/android/app/src/main/res/values/arrays.xml

@@ -465,14 +465,14 @@
 
     <string-array name="outputEngineEntries">
         <item>@string/auto</item>
+        <item>@string/oboe</item>
         <item>@string/cubeb</item>
-        <item>@string/sdl3</item>
         <item>@string/string_null</item>
     </string-array>
     <integer-array name="outputEngineValues">
         <item>0</item>
+        <item>4</item>
         <item>1</item>
-        <item>2</item>
         <item>3</item>
     </integer-array>
 

src/android/app/src/main/res/values/strings.xml

@@ -1240,7 +1240,7 @@
     <string name="theme_mode_dark">Dark</string>
 
     <!-- Audio output engines -->
-    <string name="sdl3" translatable="false">sdl3</string>
+    <string name="oboe" translatable="false">oboe</string>
     <string name="cubeb" translatable="false">cubeb</string>
 
     <!-- Anisotropic filtering options -->

src/audio_core/CMakeLists.txt

@@ -238,10 +238,20 @@ if (ENABLE_CUBEB)
     target_compile_definitions(audio_core PRIVATE HAVE_CUBEB=1)
 endif()
 
-target_sources(audio_core PRIVATE
-    sink/sdl3_sink.cpp
-    sink/sdl3_sink.h)
-target_link_libraries(audio_core PRIVATE SDL3::SDL3)
-target_compile_definitions(audio_core PRIVATE HAVE_SDL3)
+if(ANDROID)
+    target_sources(audio_core PRIVATE
+        sink/oboe_sink.cpp
+        sink/oboe_sink.h)
+
+    target_link_libraries(audio_core PRIVATE oboe)
+    target_compile_definitions(audio_core PUBLIC HAVE_OBOE)
+else()
+    target_sources(audio_core PRIVATE
+        sink/sdl3_sink.cpp
+        sink/sdl3_sink.h)
+
+    target_link_libraries(audio_core PRIVATE SDL3::SDL3)
+    target_compile_definitions(audio_core PRIVATE HAVE_SDL3)
+endif()
 
 create_target_directory_groups(audio_core)

src/audio_core/sink/oboe_sink.cpp

@@ -0,0 +1,230 @@
+// SPDX-FileCopyrightText: Copyright 2026 Eden Emulator Project
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+// SPDX-FileCopyrightText: Copyright 2023 yuzu Emulator Project
+// SPDX-License-Identifier: GPL-2.0-or-later
+
+#include <span>
+#include <vector>
+
+#include <oboe/Oboe.h>
+
+#include "audio_core/common/common.h"
+#include "audio_core/sink/oboe_sink.h"
+#include "audio_core/sink/sink_stream.h"
+#include "common/logging.h"
+#include "common/scope_exit.h"
+#include "core/core.h"
+
+namespace AudioCore::Sink {
+
+class OboeSinkStream final : public SinkStream,
+                             public oboe::AudioStreamDataCallback,
+                             public oboe::AudioStreamErrorCallback {
+public:
+    explicit OboeSinkStream(Core::System& system_, StreamType type_, const std::string& name_,
+                            u32 system_channels_)
+        : SinkStream(system_, type_) {
+        name = name_;
+        system_channels = system_channels_;
+
+        this->OpenStream();
+    }
+
+    ~OboeSinkStream() override {
+        LOG_INFO(Audio_Sink, "Destroyed Oboe stream");
+    }
+
+    void Finalize() override {
+        this->Stop();
+        m_stream.reset();
+    }
+
+    void Start(bool resume = false) override {
+        if (!m_stream || !paused) {
+            return;
+        }
+
+        paused = false;
+
+        if (m_stream->start() != oboe::Result::OK) {
+            LOG_CRITICAL(Audio_Sink, "Error starting Oboe stream");
+        }
+    }
+
+    void Stop() override {
+        if (!m_stream || paused) {
+            return;
+        }
+
+        this->SignalPause();
+
+        if (m_stream->stop() != oboe::Result::OK) {
+            LOG_CRITICAL(Audio_Sink, "Error stopping Oboe stream");
+        }
+    }
+
+public:
+    static s32 QueryChannelCount(oboe::Direction direction) {
+        std::shared_ptr<oboe::AudioStream> temp_stream;
+        oboe::AudioStreamBuilder builder;
+
+        const auto result = ConfigureBuilder(builder, direction)->openStream(temp_stream);
+        if (result == oboe::Result::OK) {
+            return temp_stream->getChannelCount() >= 6 ? 6 : 2;
+        }
+
+        LOG_ERROR(Audio_Sink, "Failed to open {} stream. Using default channel count 2",
+                  direction == oboe::Direction::Output ? "output" : "input");
+        return 2;
+    }
+
+protected:
+    oboe::DataCallbackResult onAudioReady(oboe::AudioStream*, void* audio_data,
+                                          s32 num_buffer_frames) override {
+        const size_t num_channels = this->GetDeviceChannels();
+        const size_t frame_size = num_channels;
+        const size_t num_frames = static_cast<size_t>(num_buffer_frames);
+
+        if (type == StreamType::In) {
+            std::span<const s16> input_buffer{reinterpret_cast<const s16*>(audio_data),
+                                              num_frames * frame_size};
+            this->ProcessAudioIn(input_buffer, num_frames);
+        } else {
+            std::span<s16> output_buffer{reinterpret_cast<s16*>(audio_data),
+                                         num_frames * frame_size};
+            this->ProcessAudioOutAndRender(output_buffer, num_frames);
+        }
+
+        return oboe::DataCallbackResult::Continue;
+    }
+
+    void onErrorAfterClose(oboe::AudioStream*, oboe::Result) override {
+        LOG_INFO(Audio_Sink, "Audio stream closed, reinitializing");
+
+        if (this->OpenStream()) {
+            m_stream->start();
+        }
+    }
+
+private:
+    static oboe::AudioStreamBuilder* ConfigureBuilder(oboe::AudioStreamBuilder& builder,
+                                                      oboe::Direction direction) {
+        // TODO: investigate callback delay issues when using AAudio
+        return builder.setPerformanceMode(oboe::PerformanceMode::LowLatency)
+            ->setAudioApi(oboe::AudioApi::OpenSLES)
+            ->setDirection(direction)
+            ->setSampleRate(TargetSampleRate)
+            ->setSampleRateConversionQuality(oboe::SampleRateConversionQuality::High)
+            ->setFormat(oboe::AudioFormat::I16)
+            ->setFormatConversionAllowed(true)
+            ->setUsage(oboe::Usage::Game)
+            ->setBufferCapacityInFrames(TargetSampleCount * 2);
+    }
+
+    bool OpenStream() {
+        const auto direction = [&]() {
+            switch (type) {
+            case StreamType::In:
+                return oboe::Direction::Input;
+            case StreamType::Out:
+            case StreamType::Render:
+                return oboe::Direction::Output;
+            default:
+                ASSERT(false);
+                return oboe::Direction::Output;
+            }
+        }();
+
+        const auto expected_channels = QueryChannelCount(direction);
+        const auto expected_mask = [&]() {
+            switch (expected_channels) {
+            case 1:
+                return oboe::ChannelMask::Mono;
+            case 2:
+                return oboe::ChannelMask::Stereo;
+            case 6:
+                return oboe::ChannelMask::CM5Point1;
+            default:
+                ASSERT(false);
+                return oboe::ChannelMask::Unspecified;
+            }
+        }();
+
+        oboe::AudioStreamBuilder builder;
+        const auto result = ConfigureBuilder(builder, direction)
+                                ->setChannelCount(expected_channels)
+                                ->setChannelMask(expected_mask)
+                                ->setChannelConversionAllowed(true)
+                                ->setDataCallback(this)
+                                ->setErrorCallback(this)
+                                ->openStream(m_stream);
+        ASSERT(result == oboe::Result::OK);
+        return result == oboe::Result::OK && this->SetStreamProperties();
+    }
+
+    bool SetStreamProperties() {
+        ASSERT(m_stream);
+
+        m_stream->setBufferSizeInFrames(TargetSampleCount * 2);
+        device_channels = m_stream->getChannelCount();
+
+        const auto sample_rate = m_stream->getSampleRate();
+        const auto buffer_capacity = m_stream->getBufferCapacityInFrames();
+        const auto stream_backend =
+            m_stream->getAudioApi() == oboe::AudioApi::AAudio ? "AAudio" : "OpenSLES";
+
+        LOG_INFO(Audio_Sink, "Opened Oboe {} stream with {} channels sample rate {} capacity {}",
+                 stream_backend, device_channels, sample_rate, buffer_capacity);
+
+        return true;
+    }
+
+    std::shared_ptr<oboe::AudioStream> m_stream{};
+};
+
+OboeSink::OboeSink() {
+    // TODO: This is not generally knowable
+    // The channel count is distinct based on direction and can change
+    device_channels = OboeSinkStream::QueryChannelCount(oboe::Direction::Output);
+}
+
+OboeSink::~OboeSink() = default;
+
+SinkStream* OboeSink::AcquireSinkStream(Core::System& system, u32 system_channels,
+                                        const std::string& name, StreamType type) {
+    SinkStreamPtr& stream = sink_streams.emplace_back(
+        std::make_unique<OboeSinkStream>(system, type, name, system_channels));
+
+    return stream.get();
+}
+
+void OboeSink::CloseStream(SinkStream* to_remove) {
+    sink_streams.remove_if([&](auto& stream) { return stream.get() == to_remove; });
+}
+
+void OboeSink::CloseStreams() {
+    sink_streams.clear();
+}
+
+f32 OboeSink::GetDeviceVolume() const {
+    if (sink_streams.empty()) {
+        return 1.0f;
+    }
+
+    return sink_streams.front()->GetDeviceVolume();
+}
+
+void OboeSink::SetDeviceVolume(f32 volume) {
+    for (auto& stream : sink_streams) {
+        stream->SetDeviceVolume(volume);
+    }
+}
+
+void OboeSink::SetSystemVolume(f32 volume) {
+    for (auto& stream : sink_streams) {
+        stream->SetSystemVolume(volume);
+    }
+}
+
+} // namespace AudioCore::Sink

src/audio_core/sink/oboe_sink.h

@@ -0,0 +1,75 @@
+// SPDX-FileCopyrightText: Copyright 2023 yuzu Emulator Project
+// SPDX-License-Identifier: GPL-2.0-or-later
+
+#pragma once
+
+#include <list>
+#include <string>
+
+#include "audio_core/sink/sink.h"
+
+namespace Core {
+class System;
+}
+
+namespace AudioCore::Sink {
+class SinkStream;
+
+class OboeSink final : public Sink {
+public:
+    explicit OboeSink();
+    ~OboeSink() override;
+
+    /**
+     * Create a new sink stream.
+     *
+     * @param system          - Core system.
+     * @param system_channels - Number of channels the audio system expects.
+     *                          May differ from the device's channel count.
+     * @param name            - Name of this stream.
+     * @param type            - Type of this stream, render/in/out.
+     *
+     * @return A pointer to the created SinkStream
+     */
+    SinkStream* AcquireSinkStream(Core::System& system, u32 system_channels,
+                                  const std::string& name, StreamType type) override;
+
+    /**
+     * Close a given stream.
+     *
+     * @param stream - The stream to close.
+     */
+    void CloseStream(SinkStream* stream) override;
+
+    /**
+     * Close all streams.
+     */
+    void CloseStreams() override;
+
+    /**
+     * Get the device volume. Set from calls to the IAudioDevice service.
+     *
+     * @return Volume of the device.
+     */
+    f32 GetDeviceVolume() const override;
+
+    /**
+     * Set the device volume. Set from calls to the IAudioDevice service.
+     *
+     * @param volume - New volume of the device.
+     */
+    void SetDeviceVolume(f32 volume) override;
+
+    /**
+     * Set the system volume. Comes from the audio system using this stream.
+     *
+     * @param volume - New volume of the system.
+     */
+    void SetSystemVolume(f32 volume) override;
+
+private:
+    /// List of streams managed by this sink
+    std::list<SinkStreamPtr> sink_streams{};
+};
+
+} // namespace AudioCore::Sink

src/audio_core/sink/sink_details.cpp

@@ -10,6 +10,9 @@
 #include <vector>
 
 #include "audio_core/sink/sink_details.h"
+#ifdef HAVE_OBOE
+#include "audio_core/sink/oboe_sink.h"
+#endif
 #ifdef HAVE_CUBEB
 #include "audio_core/sink/cubeb_sink.h"
 #endif
@@ -48,6 +51,16 @@ struct SinkDetails {
 
 // sink_details is ordered in terms of desirability, with the best choice at the top.
 constexpr SinkDetails sink_details[] = {
+#ifdef HAVE_OBOE
+    SinkDetails{
+        Settings::AudioEngine::Oboe,
+        [](std::string_view device_id) -> std::unique_ptr<Sink> {
+            return std::make_unique<OboeSink>();
+        },
+        [](bool capture) { return std::vector<std::string>{"Default"}; },
+        []() { return 0u; },
+    },
+#endif
 #ifdef HAVE_CUBEB
     SinkDetails{
         Settings::AudioEngine::Cubeb,

src/common/CMakeLists.txt

@@ -89,7 +89,6 @@ add_library(
     param_package.h
     parent_of_member.h
     point.h
-    quaternion.h
     range_map.h
     range_mutex.h
     range_sets.h

src/common/quaternion.h

@@ -1,79 +0,0 @@
-// SPDX-FileCopyrightText: 2016 Citra Emulator Project
-// SPDX-License-Identifier: GPL-2.0-or-later
-
-#pragma once
-
-#include "common/vector_math.h"
-
-namespace Common {
-
-template <typename T>
-class Quaternion {
-public:
-    Vec3<T> xyz;
-    T w{};
-
-    [[nodiscard]] Quaternion<decltype(-T{})> Inverse() const {
-        return {-xyz, w};
-    }
-
-    [[nodiscard]] Quaternion<decltype(T{} + T{})> operator+(const Quaternion& other) const {
-        return {xyz + other.xyz, w + other.w};
-    }
-
-    [[nodiscard]] Quaternion<decltype(T{} - T{})> operator-(const Quaternion& other) const {
-        return {xyz - other.xyz, w - other.w};
-    }
-
-    [[nodiscard]] Quaternion<decltype(T{} * T{} - T{} * T{})> operator*(
-        const Quaternion& other) const {
-        return {xyz * other.w + other.xyz * w + Cross(xyz, other.xyz),
-                w * other.w - Dot(xyz, other.xyz)};
-    }
-
-    [[nodiscard]] Quaternion<T> Normalized() const {
-        T length = std::sqrt(xyz.Length2() + w * w);
-        return {xyz / length, w / length};
-    }
-
-    [[nodiscard]] std::array<decltype(-T{}), 16> ToMatrix() const {
-        const T x2 = xyz[0] * xyz[0];
-        const T y2 = xyz[1] * xyz[1];
-        const T z2 = xyz[2] * xyz[2];
-
-        const T xy = xyz[0] * xyz[1];
-        const T wz = w * xyz[2];
-        const T xz = xyz[0] * xyz[2];
-        const T wy = w * xyz[1];
-        const T yz = xyz[1] * xyz[2];
-        const T wx = w * xyz[0];
-
-        return {1.0f - 2.0f * (y2 + z2),
-                2.0f * (xy + wz),
-                2.0f * (xz - wy),
-                0.0f,
-                2.0f * (xy - wz),
-                1.0f - 2.0f * (x2 + z2),
-                2.0f * (yz + wx),
-                0.0f,
-                2.0f * (xz + wy),
-                2.0f * (yz - wx),
-                1.0f - 2.0f * (x2 + y2),
-                0.0f,
-                0.0f,
-                0.0f,
-                0.0f,
-                1.0f};
-    }
-};
-
-template <typename T>
-[[nodiscard]] auto QuaternionRotate(const Quaternion<T>& q, const Vec3<T>& v) {
-    return v + 2 * Cross(q.xyz, Cross(q.xyz, v) + v * q.w);
-}
-
-[[nodiscard]] inline Quaternion<float> MakeQuaternion(const Vec3<float>& axis, float angle) {
-    return {axis * std::sin(angle / 2), std::cos(angle / 2)};
-}
-
-} // namespace Common

src/common/settings_enums.h

@@ -92,14 +92,14 @@ struct EnumMetadata {
 // AudioEngine must be specified discretely due to having existing but slightly different
 // canonicalizations
 // TODO (lat9nq): Remove explicit definition of AudioEngine/sink_id
-enum class AudioEngine : u32 { Auto, Cubeb, Sdl3, Null, };
+enum class AudioEngine : u32 { Auto, Cubeb, Sdl3, Null, Oboe, };
 template<>
 inline std::vector<std::pair<std::string_view, AudioEngine>> EnumMetadata<AudioEngine>::Canonicalizations() {
     return {
         {"auto", AudioEngine::Auto},
         {"cubeb", AudioEngine::Cubeb},
         {"sdl3", AudioEngine::Sdl3},
-        {"null", AudioEngine::Null},
+        {"null", AudioEngine::Null}, {"oboe", AudioEngine::Oboe},
     };
 }
 /// @brief This is just a sufficiently large number that is more than the number of other enums declared here
@@ -113,7 +113,7 @@ inline AudioEngine EnumMetadata<AudioEngine>::GetFirst() {
 }
 template<>
 inline AudioEngine EnumMetadata<AudioEngine>::GetLast() {
-    return AudioEngine::Null;
+    return AudioEngine::Oboe;
 }
 
 ENUM(AudioMode, Mono, Stereo, Surround);

src/common/vector_math.h

@@ -1,4 +1,4 @@
-// SPDX-FileCopyrightText: Copyright 2025 Eden Emulator Project
+// SPDX-FileCopyrightText: Copyright 2026 Eden Emulator Project
 // SPDX-License-Identifier: GPL-3.0-or-later
 
 // SPDX-FileCopyrightText: 2014 Tony Wasserka
@@ -21,7 +21,7 @@ class Vec2;
 template <typename T>
 class Vec3;
 template <typename T>
-class Vec4;
+class Quaternion;
 
 template <typename T>
 class Vec2 {
@@ -30,141 +30,82 @@ public:
     T y{};
 
     constexpr Vec2() = default;
-    constexpr Vec2(const T& x_, const T& y_) : x(x_), y(y_) {}
+    constexpr Vec2(const T& x_, const T& y_) noexcept : x(x_), y(y_) {}
 
-    template <typename T2>
-    [[nodiscard]] constexpr Vec2<T2> Cast() const {
-        return Vec2<T2>(static_cast<T2>(x), static_cast<T2>(y));
-    }
-
-    [[nodiscard]] static constexpr Vec2 AssignToAll(const T& f) {
-        return Vec2{f, f};
-    }
-
-    [[nodiscard]] constexpr Vec2<decltype(T{} + T{})> operator+(const Vec2& other) const {
+    [[nodiscard]] constexpr Vec2<decltype(T{} + T{})> operator+(const Vec2& other) const noexcept {
         return {x + other.x, y + other.y};
     }
-    constexpr Vec2& operator+=(const Vec2& other) {
+    constexpr Vec2& operator+=(const Vec2& other) noexcept {
         x += other.x;
         y += other.y;
         return *this;
     }
-    [[nodiscard]] constexpr Vec2<decltype(T{} - T{})> operator-(const Vec2& other) const {
+    [[nodiscard]] constexpr Vec2<decltype(T{} - T{})> operator-(const Vec2& other) const noexcept {
         return {x - other.x, y - other.y};
     }
-    constexpr Vec2& operator-=(const Vec2& other) {
+    constexpr Vec2& operator-=(const Vec2& other) noexcept {
         x -= other.x;
         y -= other.y;
         return *this;
     }
 
     template <typename U = T>
-    [[nodiscard]] constexpr Vec2<std::enable_if_t<std::is_signed_v<U>, U>> operator-() const {
+    [[nodiscard]] constexpr Vec2<std::enable_if_t<std::is_signed_v<U>, U>> operator-() const noexcept {
         return {-x, -y};
     }
-    [[nodiscard]] constexpr Vec2<decltype(T{} * T{})> operator*(const Vec2& other) const {
+    [[nodiscard]] constexpr Vec2<decltype(T{} * T{})> operator*(const Vec2& other) const noexcept {
         return {x * other.x, y * other.y};
     }
 
     template <typename V>
-    [[nodiscard]] constexpr Vec2<decltype(T{} * V{})> operator*(const V& f) const {
+    [[nodiscard]] constexpr Vec2<decltype(T{} * V{})> operator*(const V& f) const noexcept {
         using TV = decltype(T{} * V{});
         using C = std::common_type_t<T, V>;
-
         return {
-            static_cast<TV>(static_cast<C>(x) * static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(y) * static_cast<C>(f)),
+            TV(C(x) * C(f)),
+            TV(C(y) * C(f)),
         };
     }
 
     template <typename V>
-    constexpr Vec2& operator*=(const V& f) {
-        *this = *this * f;
-        return *this;
+    constexpr Vec2& operator*=(const V& f) noexcept {
+        return *this = *this * f;
     }
 
     template <typename V>
-    [[nodiscard]] constexpr Vec2<decltype(T{} / V{})> operator/(const V& f) const {
+    [[nodiscard]] constexpr Vec2<decltype(T{} / V{})> operator/(const V& f) const noexcept {
         using TV = decltype(T{} / V{});
         using C = std::common_type_t<T, V>;
-
         return {
-            static_cast<TV>(static_cast<C>(x) / static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(y) / static_cast<C>(f)),
+            TV(C(x) / C(f)),
+            TV(C(y) / C(f)),
         };
     }
 
     template <typename V>
-    constexpr Vec2& operator/=(const V& f) {
-        *this = *this / f;
-        return *this;
+    constexpr Vec2& operator/=(const V& f) noexcept {
+        return *this = *this / f;
     }
 
-    [[nodiscard]] constexpr T Length2() const {
+    [[nodiscard]] constexpr T Length2() const noexcept {
         return x * x + y * y;
     }
 
     // Only implemented for T=float
     [[nodiscard]] float Length() const;
-    [[nodiscard]] float Normalize(); // returns the previous length, which is often useful
 
-    [[nodiscard]] constexpr T& operator[](std::size_t i) {
+    [[nodiscard]] constexpr T& operator[](std::size_t i) noexcept {
         return *((&x) + i);
     }
-    [[nodiscard]] constexpr const T& operator[](std::size_t i) const {
+    [[nodiscard]] constexpr const T& operator[](std::size_t i) const noexcept {
         return *((&x) + i);
     }
-
-    constexpr void SetZero() {
-        x = 0;
-        y = 0;
-    }
-
-    // Common aliases: UV (texel coordinates), ST (texture coordinates)
-    [[nodiscard]] constexpr T& u() {
-        return x;
-    }
-    [[nodiscard]] constexpr T& v() {
-        return y;
-    }
-    [[nodiscard]] constexpr T& s() {
-        return x;
-    }
-    [[nodiscard]] constexpr T& t() {
-        return y;
-    }
-
-    [[nodiscard]] constexpr const T& u() const {
-        return x;
-    }
-    [[nodiscard]] constexpr const T& v() const {
-        return y;
-    }
-    [[nodiscard]] constexpr const T& s() const {
-        return x;
-    }
-    [[nodiscard]] constexpr const T& t() const {
-        return y;
-    }
-
-    // swizzlers - create a subvector of specific components
-    [[nodiscard]] constexpr Vec2 yx() const {
-        return Vec2(y, x);
-    }
-    [[nodiscard]] constexpr Vec2 vu() const {
-        return Vec2(y, x);
-    }
-    [[nodiscard]] constexpr Vec2 ts() const {
-        return Vec2(y, x);
-    }
 };
 
 template <typename T, typename V>
-[[nodiscard]] constexpr Vec2<T> operator*(const V& f, const Vec2<T>& vec) {
+[[nodiscard]] constexpr Vec2<T> operator*(const V& f, const Vec2<T>& vec) noexcept {
     using C = std::common_type_t<T, V>;
-
-    return Vec2<T>(static_cast<T>(static_cast<C>(f) * static_cast<C>(vec.x)),
-                   static_cast<T>(static_cast<C>(f) * static_cast<C>(vec.y)));
+    return Vec2<T>(T(C(f) * C(vec.x)), T(C(f) * C(vec.y)));
 }
 
 using Vec2f = Vec2<float>;
@@ -174,13 +115,6 @@ inline float Vec2<float>::Length() const {
     return std::sqrt(x * x + y * y);
 }
 
-template <>
-inline float Vec2<float>::Normalize() {
-    float length = Length();
-    *this /= length;
-    return length;
-}
-
 template <typename T>
 class Vec3 {
 public:
@@ -189,33 +123,24 @@ public:
     T z{};
 
     constexpr Vec3() = default;
-    constexpr Vec3(const T& x_, const T& y_, const T& z_) : x(x_), y(y_), z(z_) {}
+    constexpr Vec3(const T& x_, const T& y_, const T& z_) noexcept : x(x_), y(y_), z(z_) {}
 
-    template <typename T2>
-    [[nodiscard]] constexpr Vec3<T2> Cast() const {
-        return Vec3<T2>(static_cast<T2>(x), static_cast<T2>(y), static_cast<T2>(z));
-    }
-
-    [[nodiscard]] static constexpr Vec3 AssignToAll(const T& f) {
-        return Vec3(f, f, f);
-    }
-
-    [[nodiscard]] constexpr Vec3<decltype(T{} + T{})> operator+(const Vec3& other) const {
+    [[nodiscard]] constexpr Vec3<decltype(T{} + T{})> operator+(const Vec3& other) const noexcept {
         return {x + other.x, y + other.y, z + other.z};
     }
 
-    constexpr Vec3& operator+=(const Vec3& other) {
+    constexpr Vec3 operator+=(const Vec3& other) noexcept {
         x += other.x;
         y += other.y;
         z += other.z;
         return *this;
     }
 
-    [[nodiscard]] constexpr Vec3<decltype(T{} - T{})> operator-(const Vec3& other) const {
+    [[nodiscard]] constexpr Vec3<decltype(T{} - T{})> operator-(const Vec3& other) const noexcept {
         return {x - other.x, y - other.y, z - other.z};
     }
 
-    constexpr Vec3& operator-=(const Vec3& other) {
+    constexpr Vec3 operator-=(const Vec3& other) noexcept {
         x -= other.x;
         y -= other.y;
         z -= other.z;
@@ -223,177 +148,68 @@ public:
     }
 
     template <typename U = T>
-    [[nodiscard]] constexpr Vec3<std::enable_if_t<std::is_signed_v<U>, U>> operator-() const {
+    [[nodiscard]] constexpr Vec3<std::enable_if_t<std::is_signed_v<U>, U>> operator-() const noexcept {
         return {-x, -y, -z};
     }
 
-    [[nodiscard]] constexpr Vec3<decltype(T{} * T{})> operator*(const Vec3& other) const {
+    [[nodiscard]] constexpr Vec3<decltype(T{} * T{})> operator*(const Vec3& other) const noexcept {
         return {x * other.x, y * other.y, z * other.z};
     }
 
     template <typename V>
-    [[nodiscard]] constexpr Vec3<decltype(T{} * V{})> operator*(const V& f) const {
+    [[nodiscard]] constexpr Vec3<decltype(T{} * V{})> operator*(const V& f) const noexcept {
         using TV = decltype(T{} * V{});
         using C = std::common_type_t<T, V>;
 
         return {
-            static_cast<TV>(static_cast<C>(x) * static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(y) * static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(z) * static_cast<C>(f)),
+            TV(C(x) * C(f)),
+            TV(C(y) * C(f)),
+            TV(C(z) * C(f)),
         };
     }
 
     template <typename V>
-    constexpr Vec3& operator*=(const V& f) {
-        *this = *this * f;
-        return *this;
+    constexpr Vec3 operator*=(const V& f) noexcept {
+        return *this = *this * f;
     }
     template <typename V>
-    [[nodiscard]] constexpr Vec3<decltype(T{} / V{})> operator/(const V& f) const {
+    [[nodiscard]] constexpr Vec3<decltype(T{} / V{})> operator/(const V& f) const noexcept {
         using TV = decltype(T{} / V{});
         using C = std::common_type_t<T, V>;
 
         return {
-            static_cast<TV>(static_cast<C>(x) / static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(y) / static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(z) / static_cast<C>(f)),
+            TV(C(x) / C(f)),
+            TV(C(y) / C(f)),
+            TV(C(z) / C(f)),
         };
     }
 
     template <typename V>
-    constexpr Vec3& operator/=(const V& f) {
-        *this = *this / f;
-        return *this;
+    constexpr Vec3& operator/=(const V& f) noexcept {
+        return *this = *this / f;
     }
 
-    void RotateFromOrigin(float roll, float pitch, float yaw) {
-        float temp = y;
-        y = std::cos(roll) * y - std::sin(roll) * z;
-        z = std::sin(roll) * temp + std::cos(roll) * z;
-
-        temp = x;
-        x = std::cos(pitch) * x + std::sin(pitch) * z;
-        z = -std::sin(pitch) * temp + std::cos(pitch) * z;
-
-        temp = x;
-        x = std::cos(yaw) * x - std::sin(yaw) * y;
-        y = std::sin(yaw) * temp + std::cos(yaw) * y;
-    }
-
-    [[nodiscard]] constexpr T Length2() const {
+    [[nodiscard]] constexpr T Length2() const noexcept {
         return x * x + y * y + z * z;
     }
 
     // Only implemented for T=float
     [[nodiscard]] float Length() const;
     [[nodiscard]] Vec3 Normalized() const;
-    [[nodiscard]] float Normalize(); // returns the previous length, which is often useful
 
-    [[nodiscard]] constexpr T& operator[](std::size_t i) {
+    [[nodiscard]] constexpr T& operator[](std::size_t i) noexcept {
         return *((&x) + i);
     }
 
-    [[nodiscard]] constexpr const T& operator[](std::size_t i) const {
+    [[nodiscard]] constexpr const T& operator[](std::size_t i) const noexcept {
         return *((&x) + i);
     }
-
-    constexpr void SetZero() {
-        x = 0;
-        y = 0;
-        z = 0;
-    }
-
-    // Common aliases: UVW (texel coordinates), RGB (colors), STQ (texture coordinates)
-    [[nodiscard]] constexpr T& u() {
-        return x;
-    }
-    [[nodiscard]] constexpr T& v() {
-        return y;
-    }
-    [[nodiscard]] constexpr T& w() {
-        return z;
-    }
-
-    [[nodiscard]] constexpr T& r() {
-        return x;
-    }
-    [[nodiscard]] constexpr T& g() {
-        return y;
-    }
-    [[nodiscard]] constexpr T& b() {
-        return z;
-    }
-
-    [[nodiscard]] constexpr T& s() {
-        return x;
-    }
-    [[nodiscard]] constexpr T& t() {
-        return y;
-    }
-    [[nodiscard]] constexpr T& q() {
-        return z;
-    }
-
-    [[nodiscard]] constexpr const T& u() const {
-        return x;
-    }
-    [[nodiscard]] constexpr const T& v() const {
-        return y;
-    }
-    [[nodiscard]] constexpr const T& w() const {
-        return z;
-    }
-
-    [[nodiscard]] constexpr const T& r() const {
-        return x;
-    }
-    [[nodiscard]] constexpr const T& g() const {
-        return y;
-    }
-    [[nodiscard]] constexpr const T& b() const {
-        return z;
-    }
-
-    [[nodiscard]] constexpr const T& s() const {
-        return x;
-    }
-    [[nodiscard]] constexpr const T& t() const {
-        return y;
-    }
-    [[nodiscard]] constexpr const T& q() const {
-        return z;
-    }
-
-// swizzlers - create a subvector of specific components
-// e.g. Vec2 uv() { return Vec2(x,y); }
-// _DEFINE_SWIZZLER2 defines a single such function, DEFINE_SWIZZLER2 defines all of them for all
-// component names (x<->r) and permutations (xy<->yx)
-#define _DEFINE_SWIZZLER2(a, b, name)                                                              \
-    [[nodiscard]] constexpr Vec2<T> name() const { return Vec2<T>(a, b); }
-#define DEFINE_SWIZZLER2(a, b, a2, b2, a3, b3, a4, b4)                                             \
-    _DEFINE_SWIZZLER2(a, b, a##b);                                                                 \
-    _DEFINE_SWIZZLER2(a, b, a2##b2);                                                               \
-    _DEFINE_SWIZZLER2(a, b, a3##b3);                                                               \
-    _DEFINE_SWIZZLER2(a, b, a4##b4);                                                               \
-    _DEFINE_SWIZZLER2(b, a, b##a);                                                                 \
-    _DEFINE_SWIZZLER2(b, a, b2##a2);                                                               \
-    _DEFINE_SWIZZLER2(b, a, b3##a3);                                                               \
-    _DEFINE_SWIZZLER2(b, a, b4##a4)
-
-    DEFINE_SWIZZLER2(x, y, r, g, u, v, s, t);
-    DEFINE_SWIZZLER2(x, z, r, b, u, w, s, q);
-    DEFINE_SWIZZLER2(y, z, g, b, v, w, t, q);
-#undef DEFINE_SWIZZLER2
-#undef _DEFINE_SWIZZLER2
 };
 
 template <typename T, typename V>
-[[nodiscard]] constexpr Vec3<T> operator*(const V& f, const Vec3<T>& vec) {
+[[nodiscard]] constexpr Vec3<T> operator*(const V& f, const Vec3<T>& vec) noexcept {
     using C = std::common_type_t<T, V>;
-
-    return Vec3<T>(static_cast<T>(static_cast<C>(f) * static_cast<C>(vec.x)),
-                   static_cast<T>(static_cast<C>(f) * static_cast<C>(vec.y)),
-                   static_cast<T>(static_cast<C>(f) * static_cast<C>(vec.z)));
+    return Vec3<T>(T(C(f) * C(vec.x)), T(C(f) * C(vec.y)), T(C(f) * C(vec.z)));
 }
 
 template <>
@@ -406,353 +222,62 @@ inline Vec3<float> Vec3<float>::Normalized() const {
     return *this / Length();
 }
 
-template <>
-inline float Vec3<float>::Normalize() {
-    float length = Length();
-    *this /= length;
-    return length;
-}
-
 using Vec3f = Vec3<float>;
 
 template <typename T>
-class Vec4 {
+class Quaternion {
 public:
-    T x{};
-    T y{};
-    T z{};
+    Vec3<T> xyz;
     T w{};
 
-    constexpr Vec4() = default;
-    constexpr Vec4(const T& x_, const T& y_, const T& z_, const T& w_)
-        : x(x_), y(y_), z(z_), w(w_) {}
-
-    template <typename T2>
-    [[nodiscard]] constexpr Vec4<T2> Cast() const {
-        return Vec4<T2>(static_cast<T2>(x), static_cast<T2>(y), static_cast<T2>(z),
-                        static_cast<T2>(w));
+    [[nodiscard]] Quaternion<decltype(T{} + T{})> operator+(const Quaternion& other) const noexcept {
+        return {xyz + other.xyz, w + other.w};
     }
 
-    [[nodiscard]] static constexpr Vec4 AssignToAll(const T& f) {
-        return Vec4(f, f, f, f);
+    [[nodiscard]] Quaternion<decltype(T{} - T{})> operator-(const Quaternion& other) const noexcept {
+        return {xyz - other.xyz, w - other.w};
     }
 
-    [[nodiscard]] constexpr Vec4<decltype(T{} + T{})> operator+(const Vec4& other) const {
-        return {x + other.x, y + other.y, z + other.z, w + other.w};
+    [[nodiscard]] Quaternion<decltype(T{} * T{} - T{} * T{})> operator*(const Quaternion& other) const noexcept {
+        return {xyz * other.w + other.xyz * w + Cross(xyz, other.xyz), w * other.w - Dot(xyz, other.xyz)};
     }
 
-    constexpr Vec4& operator+=(const Vec4& other) {
-        x += other.x;
-        y += other.y;
-        z += other.z;
-        w += other.w;
-        return *this;
+    [[nodiscard]] Quaternion<T> Normalized() const noexcept {
+        T length = std::sqrt(xyz.Length2() + w * w);
+        return {xyz / length, w / length};
     }
 
-    [[nodiscard]] constexpr Vec4<decltype(T{} - T{})> operator-(const Vec4& other) const {
-        return {x - other.x, y - other.y, z - other.z, w - other.w};
-    }
+    [[nodiscard]] std::array<decltype(-T{}), 16> ToMatrix() const {
+        const T x2 = xyz[0] * xyz[0];
+        const T y2 = xyz[1] * xyz[1];
+        const T z2 = xyz[2] * xyz[2];
 
-    constexpr Vec4& operator-=(const Vec4& other) {
-        x -= other.x;
-        y -= other.y;
-        z -= other.z;
-        w -= other.w;
-        return *this;
-    }
-
-    template <typename U = T>
-    [[nodiscard]] constexpr Vec4<std::enable_if_t<std::is_signed_v<U>, U>> operator-() const {
-        return {-x, -y, -z, -w};
-    }
-
-    [[nodiscard]] constexpr Vec4<decltype(T{} * T{})> operator*(const Vec4& other) const {
-        return {x * other.x, y * other.y, z * other.z, w * other.w};
-    }
-
-    template <typename V>
-    [[nodiscard]] constexpr Vec4<decltype(T{} * V{})> operator*(const V& f) const {
-        using TV = decltype(T{} * V{});
-        using C = std::common_type_t<T, V>;
+        const T xy = xyz[0] * xyz[1];
+        const T wz = w * xyz[2];
+        const T xz = xyz[0] * xyz[2];
+        const T wy = w * xyz[1];
+        const T yz = xyz[1] * xyz[2];
+        const T wx = w * xyz[0];
 
         return {
-            static_cast<TV>(static_cast<C>(x) * static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(y) * static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(z) * static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(w) * static_cast<C>(f)),
+            1.0f - 2.0f * (y2 + z2),
+            2.0f * (xy + wz),
+            2.0f * (xz - wy),
+            0.0f,
+            2.0f * (xy - wz),
+            1.0f - 2.0f * (x2 + z2),
+            2.0f * (yz + wx),
+            0.0f,
+            2.0f * (xz + wy),
+            2.0f * (yz - wx),
+            1.0f - 2.0f * (x2 + y2),
+            0.0f,
+            0.0f,
+            0.0f,
+            0.0f,
+            1.0f
         };
     }
-
-    template <typename V>
-    constexpr Vec4& operator*=(const V& f) {
-        *this = *this * f;
-        return *this;
-    }
-
-    template <typename V>
-    [[nodiscard]] constexpr Vec4<decltype(T{} / V{})> operator/(const V& f) const {
-        using TV = decltype(T{} / V{});
-        using C = std::common_type_t<T, V>;
-
-        return {
-            static_cast<TV>(static_cast<C>(x) / static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(y) / static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(z) / static_cast<C>(f)),
-            static_cast<TV>(static_cast<C>(w) / static_cast<C>(f)),
-        };
-    }
-
-    template <typename V>
-    constexpr Vec4& operator/=(const V& f) {
-        *this = *this / f;
-        return *this;
-    }
-
-    [[nodiscard]] constexpr T Length2() const {
-        return x * x + y * y + z * z + w * w;
-    }
-
-    [[nodiscard]] constexpr T& operator[](std::size_t i) {
-        return *((&x) + i);
-    }
-
-    [[nodiscard]] constexpr const T& operator[](std::size_t i) const {
-        return *((&x) + i);
-    }
-
-    constexpr void SetZero() {
-        x = 0;
-        y = 0;
-        z = 0;
-        w = 0;
-    }
-
-    // Common alias: RGBA (colors)
-    [[nodiscard]] constexpr T& r() {
-        return x;
-    }
-    [[nodiscard]] constexpr T& g() {
-        return y;
-    }
-    [[nodiscard]] constexpr T& b() {
-        return z;
-    }
-    [[nodiscard]] constexpr T& a() {
-        return w;
-    }
-
-    [[nodiscard]] constexpr const T& r() const {
-        return x;
-    }
-    [[nodiscard]] constexpr const T& g() const {
-        return y;
-    }
-    [[nodiscard]] constexpr const T& b() const {
-        return z;
-    }
-    [[nodiscard]] constexpr const T& a() const {
-        return w;
-    }
-
-// Swizzlers - Create a subvector of specific components
-// e.g. Vec2 uv() { return Vec2(x,y); }
-
-// _DEFINE_SWIZZLER2 defines a single such function
-// DEFINE_SWIZZLER2_COMP1 defines one-component functions for all component names (x<->r)
-// DEFINE_SWIZZLER2_COMP2 defines two component functions for all component names (x<->r) and
-// permutations (xy<->yx)
-#define _DEFINE_SWIZZLER2(a, b, name)                                                              \
-    [[nodiscard]] constexpr Vec2<T> name() const { return Vec2<T>(a, b); }
-#define DEFINE_SWIZZLER2_COMP1(a, a2)                                                              \
-    _DEFINE_SWIZZLER2(a, a, a##a);                                                                 \
-    _DEFINE_SWIZZLER2(a, a, a2##a2)
-#define DEFINE_SWIZZLER2_COMP2(a, b, a2, b2)                                                       \
-    _DEFINE_SWIZZLER2(a, b, a##b);                                                                 \
-    _DEFINE_SWIZZLER2(a, b, a2##b2);                                                               \
-    _DEFINE_SWIZZLER2(b, a, b##a);                                                                 \
-    _DEFINE_SWIZZLER2(b, a, b2##a2)
-
-    DEFINE_SWIZZLER2_COMP2(x, y, r, g);
-    DEFINE_SWIZZLER2_COMP2(x, z, r, b);
-    DEFINE_SWIZZLER2_COMP2(x, w, r, a);
-    DEFINE_SWIZZLER2_COMP2(y, z, g, b);
-    DEFINE_SWIZZLER2_COMP2(y, w, g, a);
-    DEFINE_SWIZZLER2_COMP2(z, w, b, a);
-    DEFINE_SWIZZLER2_COMP1(x, r);
-    DEFINE_SWIZZLER2_COMP1(y, g);
-    DEFINE_SWIZZLER2_COMP1(z, b);
-    DEFINE_SWIZZLER2_COMP1(w, a);
-#undef DEFINE_SWIZZLER2_COMP1
-#undef DEFINE_SWIZZLER2_COMP2
-#undef _DEFINE_SWIZZLER2
-
-#define _DEFINE_SWIZZLER3(a, b, c, name)                                                           \
-    [[nodiscard]] constexpr Vec3<T> name() const { return Vec3<T>(a, b, c); }
-#define DEFINE_SWIZZLER3_COMP1(a, a2)                                                              \
-    _DEFINE_SWIZZLER3(a, a, a, a##a##a);                                                           \
-    _DEFINE_SWIZZLER3(a, a, a, a2##a2##a2)
-#define DEFINE_SWIZZLER3_COMP3(a, b, c, a2, b2, c2)                                                \
-    _DEFINE_SWIZZLER3(a, b, c, a##b##c);                                                           \
-    _DEFINE_SWIZZLER3(a, c, b, a##c##b);                                                           \
-    _DEFINE_SWIZZLER3(b, a, c, b##a##c);                                                           \
-    _DEFINE_SWIZZLER3(b, c, a, b##c##a);                                                           \
-    _DEFINE_SWIZZLER3(c, a, b, c##a##b);                                                           \
-    _DEFINE_SWIZZLER3(c, b, a, c##b##a);                                                           \
-    _DEFINE_SWIZZLER3(a, b, c, a2##b2##c2);                                                        \
-    _DEFINE_SWIZZLER3(a, c, b, a2##c2##b2);                                                        \
-    _DEFINE_SWIZZLER3(b, a, c, b2##a2##c2);                                                        \
-    _DEFINE_SWIZZLER3(b, c, a, b2##c2##a2);                                                        \
-    _DEFINE_SWIZZLER3(c, a, b, c2##a2##b2);                                                        \
-    _DEFINE_SWIZZLER3(c, b, a, c2##b2##a2)
-
-    DEFINE_SWIZZLER3_COMP3(x, y, z, r, g, b);
-    DEFINE_SWIZZLER3_COMP3(x, y, w, r, g, a);
-    DEFINE_SWIZZLER3_COMP3(x, z, w, r, b, a);
-    DEFINE_SWIZZLER3_COMP3(y, z, w, g, b, a);
-    DEFINE_SWIZZLER3_COMP1(x, r);
-    DEFINE_SWIZZLER3_COMP1(y, g);
-    DEFINE_SWIZZLER3_COMP1(z, b);
-    DEFINE_SWIZZLER3_COMP1(w, a);
-#undef DEFINE_SWIZZLER3_COMP1
-#undef DEFINE_SWIZZLER3_COMP3
-#undef _DEFINE_SWIZZLER3
 };
 
-template <typename T, typename V>
-[[nodiscard]] constexpr Vec4<decltype(V{} * T{})> operator*(const V& f, const Vec4<T>& vec) {
-    using TV = decltype(V{} * T{});
-    using C = std::common_type_t<T, V>;
-
-    return {
-        static_cast<TV>(static_cast<C>(f) * static_cast<C>(vec.x)),
-        static_cast<TV>(static_cast<C>(f) * static_cast<C>(vec.y)),
-        static_cast<TV>(static_cast<C>(f) * static_cast<C>(vec.z)),
-        static_cast<TV>(static_cast<C>(f) * static_cast<C>(vec.w)),
-    };
-}
-
-using Vec4f = Vec4<float>;
-
-template <typename T>
-constexpr decltype(T{} * T{} + T{} * T{}) Dot(const Vec2<T>& a, const Vec2<T>& b) {
-    return a.x * b.x + a.y * b.y;
-}
-
-template <typename T>
-[[nodiscard]] constexpr decltype(T{} * T{} + T{} * T{}) Dot(const Vec3<T>& a, const Vec3<T>& b) {
-    return a.x * b.x + a.y * b.y + a.z * b.z;
-}
-
-template <typename T>
-[[nodiscard]] constexpr decltype(T{} * T{} + T{} * T{}) Dot(const Vec4<T>& a, const Vec4<T>& b) {
-    return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
-}
-
-template <>
-[[nodiscard]] inline float Dot(const Vec4<float>& a, const Vec4<float>& b) {
-#ifdef __ARM_NEON
-    float32x4_t va = vld1q_f32(&a.x);
-    float32x4_t vb = vld1q_f32(&b.x);
-    float32x4_t result = vmulq_f32(va, vb);
-#if defined(__aarch64__) // Use vaddvq_f32 in ARMv8 architectures
-    return vaddvq_f32(result);
-#else // Use manual addition for older architectures
-    float32x2_t sum2 = vadd_f32(vget_high_f32(result), vget_low_f32(result));
-    return vget_lane_f32(vpadd_f32(sum2, sum2), 0);
-#endif
-#else
-    return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
-#endif
-}
-
-template <typename T>
-[[nodiscard]] constexpr Vec3<decltype(T{} * T{} - T{} * T{})> Cross(const Vec3<T>& a,
-                                                                    const Vec3<T>& b) {
-    return {a.y * b.z - a.z * b.y, a.z * b.x - a.x * b.z, a.x * b.y - a.y * b.x};
-}
-
-// linear interpolation via float: 0.0=begin, 1.0=end
-template <typename X>
-[[nodiscard]] constexpr decltype(X{} * float{} + X{} * float{}) Lerp(const X& begin, const X& end,
-                                                                     const float t) {
-    return begin * (1.f - t) + end * t;
-}
-
-// linear interpolation via int: 0=begin, base=end
-template <typename X, int base>
-[[nodiscard]] constexpr decltype((X{} * int{} + X{} * int{}) / base) LerpInt(const X& begin,
-                                                                             const X& end,
-                                                                             const int t) {
-    return (begin * (base - t) + end * t) / base;
-}
-
-// bilinear interpolation. s is for interpolating x00-x01 and x10-x11, and t is for the second
-// interpolation.
-template <typename X>
-[[nodiscard]] constexpr auto BilinearInterp(const X& x00, const X& x01, const X& x10, const X& x11,
-                                            const float s, const float t) {
-    auto y0 = Lerp(x00, x01, s);
-    auto y1 = Lerp(x10, x11, s);
-    return Lerp(y0, y1, t);
-}
-
-// Utility vector factories
-template <typename T>
-[[nodiscard]] constexpr Vec2<T> MakeVec(const T& x, const T& y) {
-    return Vec2<T>{x, y};
-}
-
-template <typename T>
-[[nodiscard]] constexpr Vec3<T> MakeVec(const T& x, const T& y, const T& z) {
-    return Vec3<T>{x, y, z};
-}
-
-template <typename T>
-[[nodiscard]] constexpr Vec4<T> MakeVec(const T& x, const T& y, const Vec2<T>& zw) {
-    return MakeVec(x, y, zw[0], zw[1]);
-}
-
-template <typename T>
-[[nodiscard]] constexpr Vec3<T> MakeVec(const Vec2<T>& xy, const T& z) {
-    return MakeVec(xy[0], xy[1], z);
-}
-
-template <typename T>
-[[nodiscard]] constexpr Vec3<T> MakeVec(const T& x, const Vec2<T>& yz) {
-    return MakeVec(x, yz[0], yz[1]);
-}
-
-template <typename T>
-[[nodiscard]] constexpr Vec4<T> MakeVec(const T& x, const T& y, const T& z, const T& w) {
-    return Vec4<T>{x, y, z, w};
-}
-
-template <typename T>
-[[nodiscard]] constexpr Vec4<T> MakeVec(const Vec2<T>& xy, const T& z, const T& w) {
-    return MakeVec(xy[0], xy[1], z, w);
-}
-
-template <typename T>
-[[nodiscard]] constexpr Vec4<T> MakeVec(const T& x, const Vec2<T>& yz, const T& w) {
-    return MakeVec(x, yz[0], yz[1], w);
-}
-
-// NOTE: This has priority over "Vec2<Vec2<T>> MakeVec(const Vec2<T>& x, const Vec2<T>& y)".
-//       Even if someone wanted to use an odd object like Vec2<Vec2<T>>, the compiler would error
-//       out soon enough due to misuse of the returned structure.
-template <typename T>
-[[nodiscard]] constexpr Vec4<T> MakeVec(const Vec2<T>& xy, const Vec2<T>& zw) {
-    return MakeVec(xy[0], xy[1], zw[0], zw[1]);
-}
-
-template <typename T>
-[[nodiscard]] constexpr Vec4<T> MakeVec(const Vec3<T>& xyz, const T& w) {
-    return MakeVec(xyz[0], xyz[1], xyz[2], w);
-}
-
-template <typename T>
-[[nodiscard]] constexpr Vec4<T> MakeVec(const T& x, const Vec3<T>& yzw) {
-    return MakeVec(x, yzw[0], yzw[1], yzw[2]);
-}
-
 } // namespace Common

src/hid_core/frontend/emulated_console.h

@@ -18,7 +18,6 @@
 #include "common/input.h"
 #include "common/param_package.h"
 #include "common/point.h"
-#include "common/quaternion.h"
 #include "common/vector_math.h"
 #include "hid_core/frontend/motion_input.h"
 #include "hid_core/hid_types.h"

src/hid_core/frontend/motion_input.h

@@ -1,10 +1,12 @@
+// SPDX-FileCopyrightText: Copyright 2026 Eden Emulator Project
+// SPDX-License-Identifier: GPL-3.0-or-later
+
 // SPDX-FileCopyrightText: Copyright 2020 yuzu Emulator Project
 // SPDX-License-Identifier: GPL-2.0-or-later
 
 #pragma once
 
 #include "common/common_types.h"
-#include "common/quaternion.h"
 #include "common/vector_math.h"
 
 namespace Core::HID {

src/hid_core/resources/six_axis/seven_six_axis.h

@@ -7,7 +7,7 @@
 #pragma once
 
 #include "common/common_types.h"
-#include "common/quaternion.h"
+#include "common/vector_math.h"
 #include "common/typed_address.h"
 #include "hid_core/resources/controller_base.h"
 #include "hid_core/resources/ring_lifo.h"

src/input_common/drivers/mouse.cpp

@@ -135,32 +135,25 @@ void Mouse::UpdateMotionInput() {
 
 void Mouse::Move(int x, int y, int center_x, int center_y) {
     if (IsMousePanningEnabled()) {
-        const auto mouse_change =
-            (Common::MakeVec(x, y) - Common::MakeVec(center_x, center_y)).Cast<float>();
-        const float x_sensitivity =
-            Settings::values.mouse_panning_x_sensitivity.GetValue() * default_panning_sensitivity;
-        const float y_sensitivity =
-            Settings::values.mouse_panning_y_sensitivity.GetValue() * default_panning_sensitivity;
-        const float deadzone_counterweight =
-            Settings::values.mouse_panning_deadzone_counterweight.GetValue() *
-            default_deadzone_counterweight;
-
+        auto const mouse_change_int = Common::Vec2<int>(x, y) - Common::Vec2<int>(center_x, center_y);
+        auto const mouse_change = Common::Vec2<float>(float(mouse_change_int.x), float(mouse_change_int.y));
+        auto const x_sensitivity = Settings::values.mouse_panning_x_sensitivity.GetValue() * default_panning_sensitivity;
+        auto const y_sensitivity = Settings::values.mouse_panning_y_sensitivity.GetValue() * default_panning_sensitivity;
+        auto const deadzone_cw = Settings::values.mouse_panning_deadzone_counterweight.GetValue() * default_deadzone_counterweight;
         last_motion_change += {-mouse_change.y * x_sensitivity, -mouse_change.x * y_sensitivity, 0};
         last_mouse_change.x += mouse_change.x * x_sensitivity;
         last_mouse_change.y += mouse_change.y * y_sensitivity;
-
-        // Bind the mouse change to [0 <= deadzone_counterweight <= 1.0]
+        // Bind the mouse change to [0 <= deadzone_cw <= 1.0]
         const float length = last_mouse_change.Length();
-        if (length < deadzone_counterweight && length != 0.0f) {
+        if (length < deadzone_cw && length != 0.0f) {
             last_mouse_change /= length;
-            last_mouse_change *= deadzone_counterweight;
+            last_mouse_change *= deadzone_cw;
         }
-
         return;
     }
 
     if (button_pressed) {
-        const auto mouse_move = Common::MakeVec<int>(x, y) - mouse_origin;
+        const auto mouse_move = Common::Vec2<int>(x, y) - mouse_origin;
         const float x_sensitivity =
             Settings::values.mouse_panning_x_sensitivity.GetValue() * default_stick_sensitivity;
         const float y_sensitivity =

src/yuzu/configuration/configure_input_player_widget.cpp

@@ -2950,7 +2950,15 @@ void PlayerControlPreview::Draw3dCube(QPainter& p, QPointF center, const Common:
     };
 
     for (Common::Vec3f& point : cube) {
-        point.RotateFromOrigin(euler.x, euler.y, euler.z);
+        float temp = point.y;
+        point.y = std::cos(euler.x) * point.y - std::sin(euler.x) * point.z;
+        point.z = std::sin(euler.x) * temp + std::cos(euler.x) * point.z;
+        temp = point.x;
+        point.x = std::cos(euler.y) * point.x + std::sin(euler.y) * point.z;
+        point.z = -std::sin(euler.y) * temp + std::cos(euler.y) * point.z;
+        temp = point.x;
+        point.x = std::cos(euler.z) * point.x - std::sin(euler.z) * point.y;
+        point.y = std::sin(euler.z) * temp + std::cos(euler.z) * point.y;
         point *= size;
     }