/*
 * Copyright 2011-2026 Branimir Karadzic. All rights reserved.
 * License: https://github.com/bkaradzic/bx/blob/master/LICENSE
 */

#include <bx/math.h>
#include <bx/uint32_t.h>

#include <bx/string.h>

namespace bx
{
	float frexp(float _a, int32_t* _outExp)
	{
		const uint32_t ftob     = floatToBits(_a);
		const uint32_t masked0  = uint32_and(ftob, kFloatExponentMask);
		const uint32_t exp0     = uint32_srl(masked0, kFloatExponentBitShift);

		const uint32_t masked1  = uint32_and(ftob,   kFloatSignMask | kFloatMantissaMask);
		const uint32_t bits     = uint32_or(masked1, UINT32_C(0x3f000000) );
		const float    result   = bitsToFloat(bits);

		*_outExp = int32_t(exp0 - 0x7e);

		return result;
	}

	void mtxLookAt(float* _result, const Vec3& _eye, const Vec3& _at, const Vec3& _up, Handedness::Enum _handedness)
	{
		const Vec3 view = normalize(
			Handedness::Right == _handedness
			? sub(_eye, _at)
			: sub(_at, _eye)
		);

		Vec3 right = bx::InitNone;
		Vec3 up    = bx::InitNone;

		const Vec3 uxv = cross(_up, view);

		if (0.0f == dot(uxv, uxv) )
		{
			right = { Handedness::Left == _handedness ? -1.0f : 1.0f, 0.0f, 0.0f };
		}
		else
		{
			right = normalize(uxv);
		}

		up = cross(view, right);

		_result[ 0] = right.x;
		_result[ 1] = up.x;
		_result[ 2] = view.x;
		_result[ 3] = 0.0f;

		_result[ 4] = right.y;
		_result[ 5] = up.y;
		_result[ 6] = view.y;
		_result[ 7] = 0.0f;

		_result[ 8] = right.z;
		_result[ 9] = up.z;
		_result[10] = view.z;
		_result[11] = 0.0f;

		_result[12] = -dot(right, _eye);
		_result[13] = -dot(up,    _eye);
		_result[14] = -dot(view,  _eye);
		_result[15] = 1.0f;
	}

	static void mtxProjXYWH(float* _result, float _x, float _y, float _width, float _height, float _near, float _far, bool _homogeneousNdc, Handedness::Enum _handedness)
	{
		const float diff = _far-_near;
		const float aa = _homogeneousNdc ? (     _far+_near)/diff : _far/diff;
		const float bb = _homogeneousNdc ? (2.0f*_far*_near)/diff : _near*aa;

		memSet(_result, 0, sizeof(float)*16);
		_result[ 0] = _width;
		_result[ 5] = _height;
		_result[ 8] = (Handedness::Right == _handedness) ?    _x :  -_x;
		_result[ 9] = (Handedness::Right == _handedness) ?    _y :  -_y;
		_result[10] = (Handedness::Right == _handedness) ?   -aa :   aa;
		_result[11] = (Handedness::Right == _handedness) ? -1.0f : 1.0f;
		_result[14] = -bb;
	}

	void mtxProj(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, float _far, bool _homogeneousNdc, Handedness::Enum _handedness)
	{
		const float invDiffRl = 1.0f/(_rt - _lt);
		const float invDiffUd = 1.0f/(_ut - _dt);
		const float width  =  2.0f*_near * invDiffRl;
		const float height =  2.0f*_near * invDiffUd;
		const float xx     = (_rt + _lt) * invDiffRl;
		const float yy     = (_ut + _dt) * invDiffUd;
		mtxProjXYWH(_result, xx, yy, width, height, _near, _far, _homogeneousNdc, _handedness);
	}

	void mtxProj(float* _result, const float _fov[4], float _near, float _far, bool _homogeneousNdc, Handedness::Enum _handedness)
	{
		mtxProj(_result, _fov[0], _fov[1], _fov[2], _fov[3], _near, _far, _homogeneousNdc, _handedness);
	}

	void mtxProj(float* _result, float _fovy, float _aspect, float _near, float _far, bool _homogeneousNdc, Handedness::Enum _handedness)
	{
		const float height = 1.0f/tan(toRad(_fovy)*0.5f);
		const float width  = height * 1.0f/_aspect;
		mtxProjXYWH(_result, 0.0f, 0.0f, width, height, _near, _far, _homogeneousNdc, _handedness);
	}

	static void mtxProjInfXYWH(float* _result, float _x, float _y, float _width, float _height, float _near, bool _homogeneousNdc, Handedness::Enum _handedness, NearFar::Enum _nearFar)
	{
		float aa;
		float bb;
		if (NearFar::Reverse == _nearFar)
		{
			aa = _homogeneousNdc ?       -1.0f :   0.0f;
			bb = _homogeneousNdc ? -2.0f*_near : -_near;
		}
		else
		{
			aa = 1.0f;
			bb = _homogeneousNdc ? 2.0f*_near : _near;
		}

		memSet(_result, 0, sizeof(float)*16);
		_result[ 0] = _width;
		_result[ 5] = _height;
		_result[ 8] = (Handedness::Right == _handedness) ?    _x :  -_x;
		_result[ 9] = (Handedness::Right == _handedness) ?    _y :  -_y;
		_result[10] = (Handedness::Right == _handedness) ?   -aa :   aa;
		_result[11] = (Handedness::Right == _handedness) ? -1.0f : 1.0f;
		_result[14] = -bb;
	}

	void mtxProjInf(float* _result, float _ut, float _dt, float _lt, float _rt, float _near, bool _homogeneousNdc, Handedness::Enum _handedness, NearFar::Enum _nearFar)
	{
		const float invDiffRl = 1.0f/(_rt - _lt);
		const float invDiffUd = 1.0f/(_ut - _dt);
		const float width  =  2.0f*_near * invDiffRl;
		const float height =  2.0f*_near * invDiffUd;
		const float xx     = (_rt + _lt) * invDiffRl;
		const float yy     = (_ut + _dt) * invDiffUd;
		mtxProjInfXYWH(_result, xx, yy, width, height, _near, _homogeneousNdc, _handedness, _nearFar);
	}

	void mtxProjInf(float* _result, const float _fov[4], float _near, bool _homogeneousNdc, Handedness::Enum _handedness, NearFar::Enum _nearFar)
	{
		mtxProjInf(_result, _fov[0], _fov[1], _fov[2], _fov[3], _near, _homogeneousNdc, _handedness, _nearFar);
	}

	void mtxProjInf(float* _result, float _fovy, float _aspect, float _near, bool _homogeneousNdc, Handedness::Enum _handedness, NearFar::Enum _nearFar)
	{
		const float height = 1.0f/tan(toRad(_fovy)*0.5f);
		const float width  = height * 1.0f/_aspect;
		mtxProjInfXYWH(_result, 0.0f, 0.0f, width, height, _near, _homogeneousNdc, _handedness, _nearFar);
	}

	void mtxOrtho(float* _result, float _left, float _right, float _bottom, float _top, float _near, float _far, float _offset, bool _homogeneousNdc, Handedness::Enum _handedness)
	{
		const float aa = 2.0f/(_right - _left);
		const float bb = 2.0f/(_top - _bottom);
		const float cc = (_homogeneousNdc ? 2.0f : 1.0f) / (_far - _near);
		const float dd = (_left + _right )/(_left   - _right);
		const float ee = (_top  + _bottom)/(_bottom - _top  );
		const float ff = _homogeneousNdc
			? (_near + _far)/(_near - _far)
			:  _near        /(_near - _far)
			;

		memSet(_result, 0, sizeof(float)*16);
		_result[ 0] = aa;
		_result[ 5] = bb;
		_result[10] = Handedness::Right == _handedness ? -cc : cc;
		_result[12] = dd + _offset;
		_result[13] = ee;
		_result[14] = ff;
		_result[15] = 1.0f;
	}

	void mtxRotateX(float* _result, float _ax)
	{
		const float sx = sin(_ax);
		const float cx = cos(_ax);

		memSet(_result, 0, sizeof(float)*16);
		_result[ 0] = 1.0f;
		_result[ 5] = cx;
		_result[ 6] = -sx;
		_result[ 9] = sx;
		_result[10] = cx;
		_result[15] = 1.0f;
	}

	void mtxRotateY(float* _result, float _ay)
	{
		const float sy = sin(_ay);
		const float cy = cos(_ay);

		memSet(_result, 0, sizeof(float)*16);
		_result[ 0] = cy;
		_result[ 2] = sy;
		_result[ 5] = 1.0f;
		_result[ 8] = -sy;
		_result[10] = cy;
		_result[15] = 1.0f;
	}

	void mtxRotateZ(float* _result, float _az)
	{
		const float sz = sin(_az);
		const float cz = cos(_az);

		memSet(_result, 0, sizeof(float)*16);
		_result[ 0] = cz;
		_result[ 1] = -sz;
		_result[ 4] = sz;
		_result[ 5] = cz;
		_result[10] = 1.0f;
		_result[15] = 1.0f;
	}

	void mtxRotateXY(float* _result, float _ax, float _ay)
	{
		const float sx = sin(_ax);
		const float cx = cos(_ax);
		const float sy = sin(_ay);
		const float cy = cos(_ay);

		memSet(_result, 0, sizeof(float)*16);
		_result[ 0] = cy;
		_result[ 2] = sy;
		_result[ 4] = sx*sy;
		_result[ 5] = cx;
		_result[ 6] = -sx*cy;
		_result[ 8] = -cx*sy;
		_result[ 9] = sx;
		_result[10] = cx*cy;
		_result[15] = 1.0f;
	}

	void mtxRotateXYZ(float* _result, float _ax, float _ay, float _az)
	{
		const float sx = sin(_ax);
		const float cx = cos(_ax);
		const float sy = sin(_ay);
		const float cy = cos(_ay);
		const float sz = sin(_az);
		const float cz = cos(_az);

		memSet(_result, 0, sizeof(float)*16);
		_result[ 0] = cy*cz;
		_result[ 1] = -cy*sz;
		_result[ 2] = sy;
		_result[ 4] = cz*sx*sy + cx*sz;
		_result[ 5] = cx*cz - sx*sy*sz;
		_result[ 6] = -cy*sx;
		_result[ 8] = -cx*cz*sy + sx*sz;
		_result[ 9] = cz*sx + cx*sy*sz;
		_result[10] = cx*cy;
		_result[15] = 1.0f;
	}

	void mtxRotateZYX(float* _result, float _ax, float _ay, float _az)
	{
		const float sx = sin(_ax);
		const float cx = cos(_ax);
		const float sy = sin(_ay);
		const float cy = cos(_ay);
		const float sz = sin(_az);
		const float cz = cos(_az);

		memSet(_result, 0, sizeof(float)*16);
		_result[ 0] = cy*cz;
		_result[ 1] = cz*sx*sy-cx*sz;
		_result[ 2] = cx*cz*sy+sx*sz;
		_result[ 4] = cy*sz;
		_result[ 5] = cx*cz + sx*sy*sz;
		_result[ 6] = -cz*sx + cx*sy*sz;
		_result[ 8] = -sy;
		_result[ 9] = cy*sx;
		_result[10] = cx*cy;
		_result[15] = 1.0f;
	};

	void mtxSRT(float* _result, float _sx, float _sy, float _sz, float _ax, float _ay, float _az, float _tx, float _ty, float _tz)
	{
		const float sx = sin(_ax);
		const float cx = cos(_ax);
		const float sy = sin(_ay);
		const float cy = cos(_ay);
		const float sz = sin(_az);
		const float cz = cos(_az);

		const float sxsz = sx*sz;
		const float cycz = cy*cz;

		_result[ 0] = _sx * (cycz - sxsz*sy);
		_result[ 1] = _sx * -cx*sz;
		_result[ 2] = _sx * (cz*sy + cy*sxsz);
		_result[ 3] = 0.0f;

		_result[ 4] = _sy * (cz*sx*sy + cy*sz);
		_result[ 5] = _sy * cx*cz;
		_result[ 6] = _sy * (sy*sz -cycz*sx);
		_result[ 7] = 0.0f;

		_result[ 8] = _sz * -cx*sy;
		_result[ 9] = _sz * sx;
		_result[10] = _sz * cx*cy;
		_result[11] = 0.0f;

		_result[12] = _tx;
		_result[13] = _ty;
		_result[14] = _tz;
		_result[15] = 1.0f;
	}

	void mtx3Inverse(float* _result, const float* _a)
	{
		const float xx = _a[0];
		const float xy = _a[1];
		const float xz = _a[2];
		const float yx = _a[3];
		const float yy = _a[4];
		const float yz = _a[5];
		const float zx = _a[6];
		const float zy = _a[7];
		const float zz = _a[8];

		float det = 0.0f;
		det += xx * (yy*zz - yz*zy);
		det -= xy * (yx*zz - yz*zx);
		det += xz * (yx*zy - yy*zx);

		float invDet = 1.0f/det;

		_result[0] = +(yy*zz - yz*zy) * invDet;
		_result[1] = -(xy*zz - xz*zy) * invDet;
		_result[2] = +(xy*yz - xz*yy) * invDet;

		_result[3] = -(yx*zz - yz*zx) * invDet;
		_result[4] = +(xx*zz - xz*zx) * invDet;
		_result[5] = -(xx*yz - xz*yx) * invDet;

		_result[6] = +(yx*zy - yy*zx) * invDet;
		_result[7] = -(xx*zy - xy*zx) * invDet;
		_result[8] = +(xx*yy - xy*yx) * invDet;
	}

	void mtxInverse(float* _result, const float* _a)
	{
		const float xx = _a[ 0];
		const float xy = _a[ 1];
		const float xz = _a[ 2];
		const float xw = _a[ 3];
		const float yx = _a[ 4];
		const float yy = _a[ 5];
		const float yz = _a[ 6];
		const float yw = _a[ 7];
		const float zx = _a[ 8];
		const float zy = _a[ 9];
		const float zz = _a[10];
		const float zw = _a[11];
		const float wx = _a[12];
		const float wy = _a[13];
		const float wz = _a[14];
		const float ww = _a[15];

		float det = 0.0f;
		det += xx * (yy*(zz*ww - zw*wz) - yz*(zy*ww - zw*wy) + yw*(zy*wz - zz*wy) );
		det -= xy * (yx*(zz*ww - zw*wz) - yz*(zx*ww - zw*wx) + yw*(zx*wz - zz*wx) );
		det += xz * (yx*(zy*ww - zw*wy) - yy*(zx*ww - zw*wx) + yw*(zx*wy - zy*wx) );
		det -= xw * (yx*(zy*wz - zz*wy) - yy*(zx*wz - zz*wx) + yz*(zx*wy - zy*wx) );

		float invDet = 1.0f/det;

		_result[ 0] = +(yy*(zz*ww - wz*zw) - yz*(zy*ww - wy*zw) + yw*(zy*wz - wy*zz) ) * invDet;
		_result[ 1] = -(xy*(zz*ww - wz*zw) - xz*(zy*ww - wy*zw) + xw*(zy*wz - wy*zz) ) * invDet;
		_result[ 2] = +(xy*(yz*ww - wz*yw) - xz*(yy*ww - wy*yw) + xw*(yy*wz - wy*yz) ) * invDet;
		_result[ 3] = -(xy*(yz*zw - zz*yw) - xz*(yy*zw - zy*yw) + xw*(yy*zz - zy*yz) ) * invDet;

		_result[ 4] = -(yx*(zz*ww - wz*zw) - yz*(zx*ww - wx*zw) + yw*(zx*wz - wx*zz) ) * invDet;
		_result[ 5] = +(xx*(zz*ww - wz*zw) - xz*(zx*ww - wx*zw) + xw*(zx*wz - wx*zz) ) * invDet;
		_result[ 6] = -(xx*(yz*ww - wz*yw) - xz*(yx*ww - wx*yw) + xw*(yx*wz - wx*yz) ) * invDet;
		_result[ 7] = +(xx*(yz*zw - zz*yw) - xz*(yx*zw - zx*yw) + xw*(yx*zz - zx*yz) ) * invDet;

		_result[ 8] = +(yx*(zy*ww - wy*zw) - yy*(zx*ww - wx*zw) + yw*(zx*wy - wx*zy) ) * invDet;
		_result[ 9] = -(xx*(zy*ww - wy*zw) - xy*(zx*ww - wx*zw) + xw*(zx*wy - wx*zy) ) * invDet;
		_result[10] = +(xx*(yy*ww - wy*yw) - xy*(yx*ww - wx*yw) + xw*(yx*wy - wx*yy) ) * invDet;
		_result[11] = -(xx*(yy*zw - zy*yw) - xy*(yx*zw - zx*yw) + xw*(yx*zy - zx*yy) ) * invDet;

		_result[12] = -(yx*(zy*wz - wy*zz) - yy*(zx*wz - wx*zz) + yz*(zx*wy - wx*zy) ) * invDet;
		_result[13] = +(xx*(zy*wz - wy*zz) - xy*(zx*wz - wx*zz) + xz*(zx*wy - wx*zy) ) * invDet;
		_result[14] = -(xx*(yy*wz - wy*yz) - xy*(yx*wz - wx*yz) + xz*(yx*wy - wx*yy) ) * invDet;
		_result[15] = +(xx*(yy*zz - zy*yz) - xy*(yx*zz - zx*yz) + xz*(yx*zy - zx*yy) ) * invDet;
	}

	void mtx3Cofactor(float* _result, const float* _a)
	{
		const float xx = _a[0];
		const float xy = _a[1];
		const float xz = _a[2];
		const float yx = _a[3];
		const float yy = _a[4];
		const float yz = _a[5];
		const float zx = _a[6];
		const float zy = _a[7];
		const float zz = _a[8];

		_result[0] = +(yy*zz - yz * zy);
		_result[1] = -(yx*zz - yz * zx);
		_result[2] = +(yx*zy - yy * zx);

		_result[3] = -(xy*zz - xz * zy);
		_result[4] = +(xx*zz - xz * zx);
		_result[5] = -(xx*zy - xy * zx);

		_result[6] = +(xy*yz - xz * yy);
		_result[7] = -(xx*yz - xz * yx);
		_result[8] = +(xx*yy - xy * yx);
	}

	void mtxCofactor(float* _result, const float* _a)
	{
		const float xx = _a[0];
		const float xy = _a[1];
		const float xz = _a[2];
		const float xw = _a[3];
		const float yx = _a[4];
		const float yy = _a[5];
		const float yz = _a[6];
		const float yw = _a[7];
		const float zx = _a[8];
		const float zy = _a[9];
		const float zz = _a[10];
		const float zw = _a[11];
		const float wx = _a[12];
		const float wy = _a[13];
		const float wz = _a[14];
		const float ww = _a[15];

		_result[ 0] = +(yy*(zz*ww - wz * zw) - yz * (zy*ww - wy * zw) + yw * (zy*wz - wy * zz) );
		_result[ 1] = -(yx*(zz*ww - wz * zw) - yz * (zx*ww - wx * zw) + yw * (zx*wz - wx * zz) );
		_result[ 2] = +(yx*(zy*ww - wy * zw) - yy * (zx*ww - wx * zw) + yw * (zx*wy - wx * zy) );
		_result[ 3] = -(yx*(zy*wz - wy * zz) - yy * (zx*wz - wx * zz) + yz * (zx*wy - wx * zy) );

		_result[ 4] = -(xy*(zz*ww - wz * zw) - xz * (zy*ww - wy * zw) + xw * (zy*wz - wy * zz) );
		_result[ 5] = +(xx*(zz*ww - wz * zw) - xz * (zx*ww - wx * zw) + xw * (zx*wz - wx * zz) );
		_result[ 6] = -(xx*(zy*ww - wy * zw) - xy * (zx*ww - wx * zw) + xw * (zx*wy - wx * zy) );
		_result[ 7] = +(xx*(zy*wz - wy * zz) - xy * (zx*wz - wx * zz) + xz * (zx*wy - wx * zy) );

		_result[ 8] = +(xy*(yz*ww - wz * yw) - xz * (yy*ww - wy * yw) + xw * (yy*wz - wy * yz) );
		_result[ 9] = -(xx*(yz*ww - wz * yw) - xz * (yx*ww - wx * yw) + xw * (yx*wz - wx * yz) );
		_result[10] = +(xx*(yy*ww - wy * yw) - xy * (yx*ww - wx * yw) + xw * (yx*wy - wx * yy) );
		_result[11] = -(xx*(yy*wz - wy * yz) - xy * (yx*wz - wx * yz) + xz * (yx*wy - wx * yy) );

		_result[12] = -(xy*(yz*zw - zz * yw) - xz * (yy*zw - zy * yw) + xw * (yy*zz - zy * yz) );
		_result[13] = +(xx*(yz*zw - zz * yw) - xz * (yx*zw - zx * yw) + xw * (yx*zz - zx * yz) );
		_result[14] = -(xx*(yy*zw - zy * yw) - xy * (yx*zw - zx * yw) + xw * (yx*zy - zx * yy) );
		_result[15] = +(xx*(yy*zz - zy * yz) - xy * (yx*zz - zx * yz) + xz * (yx*zy - zx * yy) );
	}

	void calcLinearFit2D(float _result[2], const void* _points, uint32_t _stride, uint32_t _numPoints)
	{
		float sumX  = 0.0f;
		float sumY  = 0.0f;
		float sumXX = 0.0f;
		float sumXY = 0.0f;

		const uint8_t* ptr = (const uint8_t*)_points;
		for (uint32_t ii = 0; ii < _numPoints; ++ii, ptr += _stride)
		{
			const float* point = (const float*)ptr;
			float xx = point[0];
			float yy = point[1];
			sumX  += xx;
			sumY  += yy;
			sumXX += xx*xx;
			sumXY += xx*yy;
		}

		// [ sum(x^2) sum(x)    ] [ A ] = [ sum(x*y) ]
		// [ sum(x)   numPoints ] [ B ]   [ sum(y)   ]

		float det = (sumXX*_numPoints - sumX*sumX);
		float invDet = 1.0f/det;

		_result[0] = (-sumX * sumY + _numPoints * sumXY) * invDet;
		_result[1] = (sumXX * sumY - sumX       * sumXY) * invDet;
	}

	void calcLinearFit3D(float _result[3], const void* _points, uint32_t _stride, uint32_t _numPoints)
	{
		float sumX  = 0.0f;
		float sumY  = 0.0f;
		float sumZ  = 0.0f;
		float sumXX = 0.0f;
		float sumXY = 0.0f;
		float sumXZ = 0.0f;
		float sumYY = 0.0f;
		float sumYZ = 0.0f;

		const uint8_t* ptr = (const uint8_t*)_points;
		for (uint32_t ii = 0; ii < _numPoints; ++ii, ptr += _stride)
		{
			const float* point = (const float*)ptr;
			float xx = point[0];
			float yy = point[1];
			float zz = point[2];

			sumX  += xx;
			sumY  += yy;
			sumZ  += zz;
			sumXX += xx*xx;
			sumXY += xx*yy;
			sumXZ += xx*zz;
			sumYY += yy*yy;
			sumYZ += yy*zz;
		}

		// [ sum(x^2) sum(x*y) sum(x)    ] [ A ]   [ sum(x*z) ]
		// [ sum(x*y) sum(y^2) sum(y)    ] [ B ] = [ sum(y*z) ]
		// [ sum(x)   sum(y)   numPoints ] [ C ]   [ sum(z)   ]

		float mtx[9] =
		{
			sumXX, sumXY, sumX,
			sumXY, sumYY, sumY,
			sumX,  sumY,  float(_numPoints),
		};
		float invMtx[9];
		mtx3Inverse(invMtx, mtx);

		_result[0] = invMtx[0]*sumXZ + invMtx[1]*sumYZ + invMtx[2]*sumZ;
		_result[1] = invMtx[3]*sumXZ + invMtx[4]*sumYZ + invMtx[5]*sumZ;
		_result[2] = invMtx[6]*sumXZ + invMtx[7]*sumYZ + invMtx[8]*sumZ;
	}

	void rgbToHsv(float _hsv[3], const float _rgb[3])
	{
		const float rr = _rgb[0];
		const float gg = _rgb[1];
		const float bb = _rgb[2];

		const float s0 = step(bb, gg);

		const float px = lerp(bb,        gg,         s0);
		const float py = lerp(gg,        bb,         s0);
		const float pz = lerp(-1.0f,     0.0f,       s0);
		const float pw = lerp(2.0f/3.0f, -1.0f/3.0f, s0);

		const float s1 = step(px, rr);

		const float qx = lerp(px, rr, s1);
		const float qy = py;
		const float qz = lerp(pw, pz, s1);
		const float qw = lerp(rr, px, s1);

		const float dd = qx - min(qw, qy);
		const float ee = 1.0e-10f;

		_hsv[0] = abs(qz + (qw - qy) / (6.0f * dd + ee) );
		_hsv[1] = dd / (qx + ee);
		_hsv[2] = qx;
	}

	void hsvToRgb(float _rgb[3], const float _hsv[3])
	{
		const float hh = _hsv[0];
		const float ss = _hsv[1];
		const float vv = _hsv[2];

		const float px = abs(fract(hh + 1.0f     ) * 6.0f - 3.0f);
		const float py = abs(fract(hh + 2.0f/3.0f) * 6.0f - 3.0f);
		const float pz = abs(fract(hh + 1.0f/3.0f) * 6.0f - 3.0f);

		_rgb[0] = vv * lerp(1.0f, clamp(px - 1.0f, 0.0f, 1.0f), ss);
		_rgb[1] = vv * lerp(1.0f, clamp(py - 1.0f, 0.0f, 1.0f), ss);
		_rgb[2] = vv * lerp(1.0f, clamp(pz - 1.0f, 0.0f, 1.0f), ss);
	}

} // namespace bx