add linalg module

include/pocketpy/interpreter/modules.h

@@ -11,4 +11,5 @@ void pk__add_module_gc();
 void pk__add_module_time();
 void pk__add_module_easing();
 void pk__add_module_traceback();
-void pk__add_module_enum();
+void pk__add_module_enum();
+void pk__add_module_linalg();

include/pocketpy/linalg.h

@@ -29,7 +29,8 @@ typedef struct c11_mat3x3 {
             float _21, _22, _23;
             float _31, _32, _33;
         };
+
         float m[3][3];
-        float v[9];
+        float data[9];
     };
 } c11_mat3x3;

include/pocketpy/objects/base.h

@@ -22,7 +22,8 @@ typedef struct py_TValue {
         bool _bool;
         py_CFunction _cfunc;
         PyObject* _obj;
-        // Vec2
+        c11_vec2 _vec2;
+        c11_vec2i _vec2i;
     };
 } py_TValue;
 

include/pocketpy/objects/error.h

@@ -13,6 +13,4 @@ typedef struct{
     char msg[100];
 } Error;
 
-void py_BaseException__set_lineno(py_Ref, int lineno, const CodeObject* code);
-int py_BaseException__get_lineno(py_Ref, const CodeObject* code);
 void py_BaseException__stpush(py_Ref, SourceData_ src, int lineno, const char* func_name);

include/pocketpy/pocketpy.h

@@ -7,6 +7,7 @@
 
 #include "pocketpy/config.h"
 #include "pocketpy/export.h"
+#include "pocketpy/linalg.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -229,6 +230,8 @@ PK_EXPORT py_f64 py_tofloat(py_Ref);
 /// If successful, return true and set the value to `out`.
 /// Otherwise, return false and raise `TypeError`.
 PK_EXPORT bool py_castfloat(py_Ref, py_f64* out) PY_RAISE;
+/// Cast a `int` object in python to `int64_t`.
+PK_EXPORT bool py_castint(py_Ref, py_i64* out) PY_RAISE;
 /// Convert a `bool` object in python to `bool`.
 PK_EXPORT bool py_tobool(py_Ref);
 /// Convert a `type` object in python to `py_Type`.
@@ -597,6 +600,18 @@ PK_EXPORT bool
 /// noexcept
 PK_EXPORT int py_dict_len(py_Ref self);
 
+/************* linalg module *************/
+void py_newvec2(py_OutRef out, c11_vec2);
+void py_newvec3(py_OutRef out, c11_vec3);
+void py_newvec2i(py_OutRef out, c11_vec2i);
+void py_newvec3i(py_OutRef out, c11_vec3i);
+c11_mat3x3* py_newmat3x3(py_OutRef out);
+c11_vec2 py_tovec2(py_Ref self);
+c11_vec3 py_tovec3(py_Ref self);
+c11_vec2i py_tovec2i(py_Ref self);
+c11_vec3i py_tovec3i(py_Ref self);
+c11_mat3x3* py_tomat3x3(py_Ref self);
+
 /************* Others *************/
 
 /// An utility function to read a line from stdin for REPL.
@@ -678,6 +693,12 @@ enum py_PredefinedTypes {
     tp_ImportError,
     tp_AssertionError,
     tp_KeyError,
+    /* Extended */
+    tp_vec2,
+    tp_vec3,
+    tp_vec2i,
+    tp_vec3i,
+    tp_mat3x3,
 };
 
 #ifdef __cplusplus

include/typings/linalg.pyi

@@ -1,25 +1,28 @@
 from typing import overload
-from c import _StructLike, float_p
 
 class vec2:
-    x: float
+    ZERO = vec2(0, 0)
-    y: float
+    ONE = vec2(1, 1)
 
-    ZERO: 'vec2' = ...
+    @property
-    ONE: 'vec2' = ...
+    def x(self) -> float: ...
+    @property
+    def y(self) -> float: ...
+
+    def with_x(self, x: float) -> vec2: ...
+    def with_y(self, y: float) -> vec2: ...
 
     def __init__(self, x: float, y: float) -> None: ...
+    def __repr__(self) -> str: ...
+
     def __add__(self, other: vec2) -> vec2: ...
     def __sub__(self, other: vec2) -> vec2: ...
-    def __getitem__(self, index: int) -> float: ...
-
     @overload
     def __mul__(self, other: float) -> vec2: ...
     @overload
     def __mul__(self, other: vec2) -> vec2: ...
-
-    def __rmul__(self, other: float) -> vec2: ...
     def __truediv__(self, other: float) -> vec2: ...
+
     def dot(self, other: vec2) -> float: ...
     def cross(self, other: vec2) -> float: ...
     def length(self) -> float: ...
@@ -44,108 +47,33 @@ class vec2:
         Returns a new value that is closer to the target and current velocity.
         """
 
-class vec3:
-    x: float
-    y: float
-    z: float
 
-    ZERO: 'vec3' = ...
+class mat3x3:
-    ONE: 'vec3' = ...
-
-    def __init__(self, x: float, y: float, z: float) -> None: ...
-    def __add__(self, other: vec3) -> vec3: ...
-    def __sub__(self, other: vec3) -> vec3: ...
-    def __getitem__(self, index: int) -> float: ...
-
-    @overload
-    def __mul__(self, other: float) -> vec3: ...
-    @overload
-    def __mul__(self, other: vec3) -> vec3: ...
-
-    def __rmul__(self, other: float) -> vec3: ...
-    def __truediv__(self, other: float) -> vec3: ...
-    def dot(self, other: vec3) -> float: ...
-    def cross(self, other: vec3) -> float: ...
-    def length(self) -> float: ...
-    def length_squared(self) -> float: ...
-    def normalize(self) -> vec3: ...
-
-class vec4(_StructLike['vec4']):
-    x: float
-    y: float
-    z: float
-    w: float
-
-    ZERO: 'vec4' = ...
-    ONE: 'vec4' = ...
-
-    def __init__(self, x: float, y: float, z: float, w: float) -> None: ...
-    def __add__(self, other: vec4) -> vec4: ...
-    def __sub__(self, other: vec4) -> vec4: ...
-    def __getitem__(self, index: int) -> float: ...
-
-    @overload
-    def __mul__(self, other: float) -> vec4: ...
-    @overload
-    def __mul__(self, other: vec4) -> vec4: ...
-
-    def __rmul__(self, other: float) -> vec4: ...
-    def __truediv__(self, other: float) -> vec4: ...
-    def dot(self, other: vec4) -> float: ...
-    def length(self) -> float: ...
-    def length_squared(self) -> float: ...
-    def normalize(self) -> vec4: ...
-
-    def copy_(self, other: vec4) -> None: ...
-    def normalize_(self) -> None: ...
-
-class mat3x3(_StructLike['mat3x3']):
-    _11: float
-    _12: float
-    _13: float
-    _21: float
-    _22: float
-    _23: float
-    _31: float
-    _32: float
-    _33: float
-
-    @overload
-    def __init__(self) -> None: ...
-    @overload
     def __init__(self, _11, _12, _13, _21, _22, _23, _31, _32, _33) -> None: ...
-    @overload
+    def __repr__(self) -> str: ...
-    def __init__(self, a: list[float]): ...
-
-    def determinant(self) -> float: ...
-    def inverse(self) -> mat3x3: ...
-    def transpose(self) -> mat3x3: ...
 
     def __getitem__(self, index: tuple[int, int]) -> float: ...
     def __setitem__(self, index: tuple[int, int], value: float) -> None: ...
-    def __add__(self, other: mat3x3) -> mat3x3: ...
-    def __sub__(self, other: mat3x3) -> mat3x3: ...
-    def __mul__(self, other: float) -> mat3x3: ...
-    def __rmul__(self, other: float) -> mat3x3: ...
-    def __truediv__(self, other: float) -> mat3x3: ...
 
-    def __invert__(self) -> mat3x3: ...
     @overload
     def __matmul__(self, other: mat3x3) -> mat3x3: ...
     @overload
     def __matmul__(self, other: vec3) -> vec3: ...
 
+    def __invert__(self) -> mat3x3: ...
+
     def matmul(self, other: mat3x3, out: mat3x3 = None) -> mat3x3 | None: ...
+    def determinant(self) -> float: ...
+
+    def copy(self) -> mat3x3: ...
+    def inverse(self) -> mat3x3: ...
 
     def copy_(self, other: mat3x3) -> None: ...
     def inverse_(self) -> None: ...
-    def transpose_(self) -> None: ...
 
     @staticmethod
     def zeros() -> mat3x3: ...
     @staticmethod
-    def ones() -> mat3x3: ...
-    @staticmethod
     def identity() -> mat3x3: ...
 
     # affine transformations
@@ -153,20 +81,55 @@ class mat3x3(_StructLike['mat3x3']):
     def trs(t: vec2, r: float, s: vec2) -> mat3x3: ...
 
     def copy_trs_(self, t: vec2, r: float, s: vec2) -> None: ...
-    def copy_t_(self, t: vec2) -> None: ...
-    def copy_r_(self, r: float) -> None: ...
-    def copy_s_(self, s: vec2) -> None: ...
 
-    def _t(self) -> vec2: ...
+    def t(self) -> vec2: ...
-    def _r(self) -> float: ...
+    def r(self) -> float: ...
-    def _s(self) -> vec2: ...
+    def s(self) -> vec2: ...
-
-    def is_affine(self) -> bool: ...
 
     def transform_point(self, p: vec2) -> vec2: ...
     def transform_vector(self, v: vec2) -> vec2: ...
-    def inverse_transform_point(self, p: vec2) -> vec2: ...
-    def inverse_transform_vector(self, v: vec2) -> vec2: ...
 
-vec4_p = float_p
+
-mat3x3_p = float_p
+class vec2i:
+    @property
+    def x(self) -> int: ...
+    @property
+    def y(self) -> int: ...
+
+    def with_x(self, x: int) -> vec2i: ...
+    def with_y(self, y: int) -> vec2i: ...
+
+    def __init__(self, x: int, y: int) -> None: ...
+    def __repr__(self) -> str: ...
+
+
+class vec3i:
+    @property
+    def x(self) -> int: ...
+    @property
+    def y(self) -> int: ...
+    @property
+    def z(self) -> int: ...
+
+    def with_x(self, x: int) -> vec3i: ...
+    def with_y(self, y: int) -> vec3i: ...
+    def with_z(self, z: int) -> vec3i: ...
+
+    def __init__(self, x: int, y: int, z: int) -> None: ...
+    def __repr__(self) -> str: ...
+
+
+class vec3:
+    @property
+    def x(self) -> float: ...
+    @property
+    def y(self) -> float: ...
+    @property
+    def z(self) -> float: ...
+
+    def with_x(self, x: float) -> vec3: ...
+    def with_y(self, y: float) -> vec3: ...
+    def with_z(self, z: float) -> vec3: ...
+
+    def __init__(self, x: float, y: float, z: float) -> None: ...
+    def __repr__(self) -> str: ...

src/interpreter/ceval.c

@@ -1011,18 +1011,13 @@ FrameResult VM__run_top_frame(VM* self) {
         c11__unreachedable();
 
     __ERROR:
-        pk_print_stack(self, frame, (Bytecode){0});
+        py_BaseException__stpush(&self->curr_exception,
-        py_BaseException__set_lineno(&self->curr_exception, Frame__lineno(frame), frame->co);
+                                 frame->co->src,
+                                 Frame__lineno(frame),
+                                 frame->has_function ? frame->co->name->data : NULL);
     __ERROR_RE_RAISE:
         do {
         } while(0);
-        // printf("error.op: %s, line: %d\n", pk_opname(byte.op), Frame__lineno(frame));
-        int lineno = py_BaseException__get_lineno(&self->curr_exception, frame->co);
-        py_BaseException__stpush(&self->curr_exception,
-                                 frame->co->src,
-                                 lineno < 0 ? Frame__lineno(frame) : lineno,
-                                 frame->has_function ? frame->co->name->data : NULL);
-
         int target = Frame__prepare_jump_exception_handler(frame, &self->stack);
         if(target >= 0) {
             // 1. Exception can be handled inside the current frame

src/interpreter/heap.c

@@ -103,11 +103,10 @@ PyObject* PyObject__new(py_Type type, int slots, int size) {
     self->slots = slots;
 
     // initialize slots or dict
-    void* p = (char*)self + 8;
     if(slots >= 0) {
-        memset(p, 0, slots * sizeof(py_TValue));
+        memset(self->flex, 0, slots * sizeof(py_TValue));
     } else {
-        NameDict__ctor(p);
+        NameDict__ctor((void*)self->flex);
     }
     return self;
 }

src/interpreter/vm.c

@@ -196,6 +196,8 @@ void VM__ctor(VM* self) {
 
     py_newnotimplemented(py_emplacedict(&self->builtins, py_name("NotImplemented")));
 
+    pk__add_module_linalg();
+
     // add modules
     pk__add_module_pkpy();
     pk__add_module_os();

src/modules/linalg.c

@@ -0,0 +1,860 @@
+#include "pocketpy/pocketpy.h"
+
+#include "pocketpy/common/utils.h"
+#include "pocketpy/objects/object.h"
+#include "pocketpy/common/sstream.h"
+#include "pocketpy/interpreter/vm.h"
+#include <math.h>
+
+static bool isclose(float a, float b) { return fabs(a - b) < 1e-4; }
+
+#define DEFINE_VEC_FIELD(name, T, Tc, field)                                                       \
+    static bool name##__##field(int argc, py_Ref argv) {                                           \
+        PY_CHECK_ARGC(1);                                                                          \
+        py_new##T(py_retval(), py_to##name(argv).field);                                           \
+        return true;                                                                               \
+    }                                                                                              \
+    static bool name##__with_##field(int argc, py_Ref argv) {                                      \
+        PY_CHECK_ARGC(2);                                                                          \
+        Tc val;                                                                                    \
+        if(!py_cast##T(&argv[1], &val)) return false;                                              \
+        c11_##name v = py_to##name(argv);                                                          \
+        v.field = val;                                                                             \
+        py_new##name(py_retval(), v);                                                              \
+        return true;                                                                               \
+    }
+
+#define DEFINE_BOOL_NE(name, f_eq)                                                                 \
+    static bool name##__ne__(int argc, py_Ref argv) {                                              \
+        f_eq(argc, argv);                                                                          \
+        py_Ref ret = py_retval();                                                                  \
+        if(ret->type == tp_NotImplementedType) return true;                                        \
+        ret->_bool = !ret->_bool;                                                                  \
+        return true;                                                                               \
+    }
+
+void py_newvec2(py_OutRef out, c11_vec2 v) {
+    out->type = tp_vec2;
+    out->is_ptr = false;
+    out->_vec2 = v;
+}
+
+c11_vec2 py_tovec2(py_Ref self) {
+    assert(self->type == tp_vec2);
+    return self->_vec2;
+}
+
+void py_newvec2i(py_OutRef out, c11_vec2i v) {
+    out->type = tp_vec2i;
+    out->is_ptr = false;
+    out->_vec2i = v;
+}
+
+c11_vec2i py_tovec2i(py_Ref self) {
+    assert(self->type == tp_vec2i);
+    return self->_vec2i;
+}
+
+void py_newvec3(py_OutRef out, c11_vec3 v) {
+    out->type = tp_vec3;
+    out->is_ptr = false;
+    c11_vec3* data = (c11_vec3*)(&out->extra);
+    *data = v;
+}
+
+c11_vec3 py_tovec3(py_Ref self) {
+    assert(self->type == tp_vec3);
+    return *(c11_vec3*)(&self->extra);
+}
+
+void py_newvec3i(py_OutRef out, c11_vec3i v) {
+    out->type = tp_vec3i;
+    out->is_ptr = false;
+    c11_vec3i* data = (c11_vec3i*)(&out->extra);
+    *data = v;
+}
+
+c11_vec3i py_tovec3i(py_Ref self) {
+    assert(self->type == tp_vec3i);
+    return *(c11_vec3i*)(&self->extra);
+}
+
+c11_mat3x3* py_newmat3x3(py_OutRef out) {
+    return py_newobject(out, tp_mat3x3, 0, sizeof(c11_mat3x3));
+}
+
+c11_mat3x3* py_tomat3x3(py_Ref self) {
+    assert(self->type == tp_mat3x3);
+    return py_touserdata(self);
+}
+
+static bool vec2__new__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(3);
+    py_f64 x, y;
+    if(!py_castfloat(&argv[1], &x) || !py_castfloat(&argv[2], &y)) return false;
+    py_newvec2(py_retval(), (c11_vec2){x, y});
+    return true;
+}
+
+static bool vec2__add__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    if(argv[1].type != tp_vec2) {
+        py_newnotimplemented(py_retval());
+        return true;
+    }
+    c11_vec2 res;
+    res.x = argv[0]._vec2.x + argv[1]._vec2.x;
+    res.y = argv[0]._vec2.y + argv[1]._vec2.y;
+    py_newvec2(py_retval(), res);
+    return true;
+}
+
+static bool vec2__sub__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    if(argv[1].type != tp_vec2) {
+        py_newnotimplemented(py_retval());
+        return true;
+    }
+    c11_vec2 res;
+    res.x = argv[0]._vec2.x - argv[1]._vec2.x;
+    res.y = argv[0]._vec2.y - argv[1]._vec2.y;
+    py_newvec2(py_retval(), res);
+    return true;
+}
+
+static bool vec2__mul__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    c11_vec2 res;
+    switch(argv[1].type) {
+        case tp_vec2:
+            res.x = argv[0]._vec2.x * argv[1]._vec2.x;
+            res.y = argv[0]._vec2.y * argv[1]._vec2.y;
+            py_newvec2(py_retval(), res);
+            return true;
+        case tp_int:
+            res.x = argv[0]._vec2.x * argv[1]._i64;
+            res.y = argv[0]._vec2.y * argv[1]._i64;
+            py_newvec2(py_retval(), res);
+            return true;
+        case tp_float:
+            res.x = argv[0]._vec2.x * argv[1]._f64;
+            res.y = argv[0]._vec2.y * argv[1]._f64;
+            py_newvec2(py_retval(), res);
+            return true;
+        default: py_newnotimplemented(py_retval()); return true;
+    }
+}
+
+static bool vec2__truediv__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    if(argv[1].type != tp_float) {
+        py_newnotimplemented(py_retval());
+        return true;
+    }
+    c11_vec2 res;
+    res.x = argv[0]._vec2.x / argv[1]._f64;
+    res.y = argv[0]._vec2.y / argv[1]._f64;
+    py_newvec2(py_retval(), res);
+    return true;
+}
+
+static bool vec2__repr__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    char buf[64];
+    int size = snprintf(buf, 64, "vec2(%.4f, %.4f)", argv[0]._vec2.x, argv[0]._vec2.y);
+    py_newstrn(py_retval(), buf, size);
+    return true;
+}
+
+static bool vec2__eq__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    if(argv[1].type != tp_vec2) {
+        py_newnotimplemented(py_retval());
+        return true;
+    }
+    c11_vec2 lhs = argv[0]._vec2;
+    c11_vec2 rhs = argv[1]._vec2;
+    py_newbool(py_retval(), isclose(lhs.x, rhs.x) && isclose(lhs.y, rhs.y));
+    return true;
+}
+
+DEFINE_BOOL_NE(vec2, vec2__eq__)
+
+static bool vec2_dot(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    PY_CHECK_ARG_TYPE(1, tp_vec2);
+    float x = argv[0]._vec2.x * argv[1]._vec2.x;
+    float y = argv[0]._vec2.y * argv[1]._vec2.y;
+    py_newfloat(py_retval(), x + y);
+    return true;
+}
+
+static bool vec2_cross(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    PY_CHECK_ARG_TYPE(1, tp_vec2);
+    float x = argv[0]._vec2.x * argv[1]._vec2.y;
+    float y = argv[0]._vec2.y * argv[1]._vec2.x;
+    py_newfloat(py_retval(), x - y);
+    return true;
+}
+
+static bool vec2_length(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    float x = argv[0]._vec2.x;
+    float y = argv[0]._vec2.y;
+    py_newfloat(py_retval(), sqrtf(x * x + y * y));
+    return true;
+}
+
+static bool vec2_length_squared(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    float x = argv[0]._vec2.x;
+    float y = argv[0]._vec2.y;
+    py_newfloat(py_retval(), x * x + y * y);
+    return true;
+}
+
+static bool vec2_normalize(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    float x = argv[0]._vec2.x;
+    float y = argv[0]._vec2.y;
+    float len = sqrtf(x * x + y * y);
+    if(isclose(len, 0)) return ZeroDivisionError("cannot normalize zero vector");
+    py_newvec2(py_retval(), (c11_vec2){x / len, y / len});
+    return true;
+}
+
+static bool vec2_rotate(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    py_f64 radians;
+    if(!py_castfloat(&argv[1], &radians)) return false;
+    float cr = cosf(radians);
+    float sr = sinf(radians);
+    c11_vec2 res;
+    res.x = argv[0]._vec2.x * cr - argv[0]._vec2.y * sr;
+    res.y = argv[0]._vec2.x * sr + argv[0]._vec2.y * cr;
+    py_newvec2(py_retval(), res);
+    return true;
+}
+
+static bool vec2_angle_STATIC(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    PY_CHECK_ARG_TYPE(0, tp_vec2);
+    PY_CHECK_ARG_TYPE(1, tp_vec2);
+    float val = atan2f(argv[1]._vec2.y, argv[1]._vec2.x) - atan2f(argv[0]._vec2.y, argv[0]._vec2.x);
+    const float PI = 3.1415926535897932384f;
+    if(val > PI) val -= 2 * PI;
+    if(val < -PI) val += 2 * PI;
+    py_newfloat(py_retval(), val);
+    return true;
+}
+
+static bool vec2_smoothdamp_STATIC(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(6);
+    PY_CHECK_ARG_TYPE(0, tp_vec2);   // current: vec2
+    PY_CHECK_ARG_TYPE(1, tp_vec2);   // target: vec2
+    PY_CHECK_ARG_TYPE(2, tp_vec2);   // current_velocity: vec2
+    PY_CHECK_ARG_TYPE(3, tp_float);  // smooth_time: float
+    PY_CHECK_ARG_TYPE(4, tp_float);  // max_speed: float
+    PY_CHECK_ARG_TYPE(5, tp_float);  // delta_time: float
+    c11_vec2 current = argv[0]._vec2;
+    c11_vec2 target = argv[1]._vec2;
+    c11_vec2 currentVelocity = argv[2]._vec2;
+    float smoothTime = argv[3]._f64;
+    float maxSpeed = argv[4]._f64;
+    float deltaTime = argv[5]._f64;
+
+    // https://github.com/Unity-Technologies/UnityCsReference/blob/master/Runtime/Export/Math/Vector2.cs#L289
+    // Based on Game Programming Gems 4 Chapter 1.10
+    smoothTime = c11__max(0.0001F, smoothTime);
+    float omega = 2.0F / smoothTime;
+
+    float x = omega * deltaTime;
+    float exp = 1.0F / (1.0F + x + 0.48F * x * x + 0.235F * x * x * x);
+
+    float change_x = current.x - target.x;
+    float change_y = current.y - target.y;
+    c11_vec2 originalTo = target;
+
+    // Clamp maximum speed
+    float maxChange = maxSpeed * smoothTime;
+
+    float maxChangeSq = maxChange * maxChange;
+    float sqDist = change_x * change_x + change_y * change_y;
+    if(sqDist > maxChangeSq) {
+        float mag = sqrtf(sqDist);
+        change_x = change_x / mag * maxChange;
+        change_y = change_y / mag * maxChange;
+    }
+
+    target.x = current.x - change_x;
+    target.y = current.y - change_y;
+
+    float temp_x = (currentVelocity.x + omega * change_x) * deltaTime;
+    float temp_y = (currentVelocity.y + omega * change_y) * deltaTime;
+
+    currentVelocity.x = (currentVelocity.x - omega * temp_x) * exp;
+    currentVelocity.y = (currentVelocity.y - omega * temp_y) * exp;
+
+    float output_x = target.x + (change_x + temp_x) * exp;
+    float output_y = target.y + (change_y + temp_y) * exp;
+
+    // Prevent overshooting
+    float origMinusCurrent_x = originalTo.x - current.x;
+    float origMinusCurrent_y = originalTo.y - current.y;
+    float outMinusOrig_x = output_x - originalTo.x;
+    float outMinusOrig_y = output_y - originalTo.y;
+
+    if(origMinusCurrent_x * outMinusOrig_x + origMinusCurrent_y * outMinusOrig_y > 0) {
+        output_x = originalTo.x;
+        output_y = originalTo.y;
+
+        currentVelocity.x = (output_x - originalTo.x) / deltaTime;
+        currentVelocity.y = (output_y - originalTo.y) / deltaTime;
+    }
+
+    py_Ref ret = py_retval();
+    py_newtuple(ret, 2);
+    py_newvec2(py_tuple_getitem(ret, 0), (c11_vec2){output_x, output_y});
+    py_newvec2(py_tuple_getitem(ret, 1), currentVelocity);
+    return true;
+}
+
+DEFINE_VEC_FIELD(vec2, float, py_f64, x)
+DEFINE_VEC_FIELD(vec2, float, py_f64, y)
+
+/* mat3x3 */
+static bool mat3x3__new__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(10);
+    c11_mat3x3* m = py_newmat3x3(py_retval());
+    for(int i = 0; i < 9; i++) {
+        py_f64 val;
+        if(!py_castfloat(&argv[i + 1], &val)) return false;
+        m->data[i] = val;
+    }
+    return true;
+}
+
+static bool mat3x3__repr__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_mat3x3* m = py_tomat3x3(argv);
+    char buf[256];
+    const char* fmt =
+        "mat3x3(%.4f, %.4f, %.4f,\n       %.4f, %.4f, %.4f,\n       %.4f, %.4f, %.4f)";
+    int size = snprintf(buf,
+                        256,
+                        fmt,
+                        m->data[0],
+                        m->data[1],
+                        m->data[2],
+                        m->data[3],
+                        m->data[4],
+                        m->data[5],
+                        m->data[6],
+                        m->data[7],
+                        m->data[8]);
+    py_newstrn(py_retval(), buf, size);
+    return true;
+}
+
+static bool mat3x3__getitem__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    PY_CHECK_ARG_TYPE(1, tp_tuple);
+    c11_mat3x3* ud = py_tomat3x3(argv);
+    if(py_tuple_len(&argv[1]) != 2) return IndexError("expected a tuple of length 2");
+    py_Ref i = py_tuple_getitem(&argv[1], 0);
+    py_Ref j = py_tuple_getitem(&argv[1], 1);
+    if(!py_checktype(i, tp_int) || !py_checktype(j, tp_int)) return false;
+    if(i->_i64 < 0 || i->_i64 >= 3 || j->_i64 < 0 || j->_i64 >= 3) {
+        return IndexError("index out of range");
+    }
+    py_newfloat(py_retval(), ud->m[i->_i64][j->_i64]);
+    return true;
+}
+
+static bool mat3x3__setitem__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(3);
+    PY_CHECK_ARG_TYPE(1, tp_tuple);
+    c11_mat3x3* ud = py_tomat3x3(argv);
+    if(py_tuple_len(&argv[1]) != 2) return IndexError("expected a tuple of length 2");
+    py_Ref i = py_tuple_getitem(&argv[1], 0);
+    py_Ref j = py_tuple_getitem(&argv[1], 1);
+    if(!py_checktype(i, tp_int) || !py_checktype(j, tp_int)) return false;
+    py_f64 val;
+    if(!py_castfloat(&argv[2], &val)) return false;
+    if(i->_i64 < 0 || i->_i64 >= 3 || j->_i64 < 0 || j->_i64 >= 3) {
+        return IndexError("index out of range");
+    }
+    ud->m[i->_i64][j->_i64] = val;
+    py_newnone(py_retval());
+    return true;
+}
+
+static bool mat3x3__eq__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    if(argv[1].type != tp_mat3x3) {
+        py_newnotimplemented(py_retval());
+        return true;
+    }
+    c11_mat3x3* lhs = py_tomat3x3(argv);
+    c11_mat3x3* rhs = py_tomat3x3(&argv[1]);
+    for(int i = 0; i < 9; i++) {
+        if(!isclose(lhs->data[i], rhs->data[i])) {
+            py_newbool(py_retval(), false);
+            return true;
+        }
+    }
+    py_newbool(py_retval(), true);
+    return true;
+}
+
+DEFINE_BOOL_NE(mat3x3, mat3x3__eq__)
+
+static void matmul(const c11_mat3x3* lhs, const c11_mat3x3* rhs, c11_mat3x3* out) {
+    out->_11 = lhs->_11 * rhs->_11 + lhs->_12 * rhs->_21 + lhs->_13 * rhs->_31;
+    out->_12 = lhs->_11 * rhs->_12 + lhs->_12 * rhs->_22 + lhs->_13 * rhs->_32;
+    out->_13 = lhs->_11 * rhs->_13 + lhs->_12 * rhs->_23 + lhs->_13 * rhs->_33;
+    out->_21 = lhs->_21 * rhs->_11 + lhs->_22 * rhs->_21 + lhs->_23 * rhs->_31;
+    out->_22 = lhs->_21 * rhs->_12 + lhs->_22 * rhs->_22 + lhs->_23 * rhs->_32;
+    out->_23 = lhs->_21 * rhs->_13 + lhs->_22 * rhs->_23 + lhs->_23 * rhs->_33;
+    out->_31 = lhs->_31 * rhs->_11 + lhs->_32 * rhs->_21 + lhs->_33 * rhs->_31;
+    out->_32 = lhs->_31 * rhs->_12 + lhs->_32 * rhs->_22 + lhs->_33 * rhs->_32;
+    out->_33 = lhs->_31 * rhs->_13 + lhs->_32 * rhs->_23 + lhs->_33 * rhs->_33;
+}
+
+static float determinant(const c11_mat3x3* m) {
+    return m->_11 * (m->_22 * m->_33 - m->_23 * m->_32) -
+           m->_12 * (m->_21 * m->_33 - m->_23 * m->_31) +
+           m->_13 * (m->_21 * m->_32 - m->_22 * m->_31);
+}
+
+static bool inverse(const c11_mat3x3* m, c11_mat3x3* out) {
+    float det = determinant(m);
+    if(isclose(det, 0)) return false;
+    float invdet = 1.0f / det;
+    out->_11 = (m->_22 * m->_33 - m->_23 * m->_32) * invdet;
+    out->_12 = (m->_13 * m->_32 - m->_12 * m->_33) * invdet;
+    out->_13 = (m->_12 * m->_23 - m->_13 * m->_22) * invdet;
+    out->_21 = (m->_23 * m->_31 - m->_21 * m->_33) * invdet;
+    out->_22 = (m->_11 * m->_33 - m->_13 * m->_31) * invdet;
+    out->_23 = (m->_13 * m->_21 - m->_11 * m->_23) * invdet;
+    out->_31 = (m->_21 * m->_32 - m->_22 * m->_31) * invdet;
+    out->_32 = (m->_12 * m->_31 - m->_11 * m->_32) * invdet;
+    out->_33 = (m->_11 * m->_22 - m->_12 * m->_21) * invdet;
+    return true;
+}
+
+static void trs(c11_vec2 t, float r, c11_vec2 s, c11_mat3x3* out) {
+    float cr = cosf(r);
+    float sr = sinf(r);
+    // clang-format off
+    *out = (c11_mat3x3){
+        ._11 = s.x * cr, ._12 = -s.y * sr, ._13 = t.x,
+        ._21 = s.x * sr, ._22 = s.y * cr, ._23 = t.y,
+        ._31 = 0, ._32 = 0, ._33 = 1,
+    };
+    // clang-format on
+}
+
+static bool mat3x3__matmul__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    c11_mat3x3* lhs = py_tomat3x3(argv);
+    if(argv[1].type == tp_mat3x3) {
+        c11_mat3x3* rhs = py_tomat3x3(&argv[1]);
+        c11_mat3x3* out = py_newmat3x3(py_retval());
+        matmul(lhs, rhs, out);
+    } else if(argv[1].type == tp_vec3) {
+        c11_vec3 rhs = py_tovec3(&argv[1]);
+        c11_vec3 res;
+        res.x = lhs->_11 * rhs.x + lhs->_12 * rhs.y + lhs->_13 * rhs.z;
+        res.y = lhs->_21 * rhs.x + lhs->_22 * rhs.y + lhs->_23 * rhs.z;
+        res.z = lhs->_31 * rhs.x + lhs->_32 * rhs.y + lhs->_33 * rhs.z;
+        py_newvec3(py_retval(), res);
+    } else {
+        py_newnotimplemented(py_retval());
+    }
+    return true;
+}
+
+static bool mat3x3__invert__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_mat3x3* ud = py_tomat3x3(argv);
+    c11_mat3x3* out = py_newmat3x3(py_retval());
+    if(inverse(ud, out)) return true;
+    return ZeroDivisionError("matrix is not invertible");
+}
+
+static bool mat3x3_matmul(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(3);
+    PY_CHECK_ARG_TYPE(0, tp_mat3x3);
+    PY_CHECK_ARG_TYPE(1, tp_mat3x3);
+    PY_CHECK_ARG_TYPE(2, tp_mat3x3);
+    c11_mat3x3* lhs = py_tomat3x3(&argv[0]);
+    c11_mat3x3* rhs = py_tomat3x3(&argv[1]);
+    c11_mat3x3* out = py_tomat3x3(&argv[2]);
+    matmul(lhs, rhs, out);
+    py_newnone(py_retval());
+    return true;
+}
+
+static bool mat3x3_determinant(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_mat3x3* ud = py_tomat3x3(argv);
+    py_newfloat(py_retval(), determinant(ud));
+    return true;
+}
+
+static bool mat3x3_copy(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_mat3x3* ud = py_tomat3x3(argv);
+    c11_mat3x3* out = py_newmat3x3(py_retval());
+    *out = *ud;
+    return true;
+}
+
+static bool mat3x3_inverse(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_mat3x3* ud = py_tomat3x3(argv);
+    c11_mat3x3* out = py_newmat3x3(py_retval());
+    if(inverse(ud, out)) return true;
+    return ZeroDivisionError("matrix is not invertible");
+}
+
+static bool mat3x3_copy_(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    PY_CHECK_ARG_TYPE(1, tp_mat3x3);
+    c11_mat3x3* self = py_tomat3x3(argv);
+    c11_mat3x3* other = py_tomat3x3(&argv[1]);
+    *self = *other;
+    py_newnone(py_retval());
+    return true;
+}
+
+static bool mat3x3_inverse_(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_mat3x3* ud = py_tomat3x3(argv);
+    c11_mat3x3 res;
+    if(inverse(ud, &res)) {
+        *ud = res;
+        py_newnone(py_retval());
+        return true;
+    }
+    return ZeroDivisionError("matrix is not invertible");
+}
+
+static bool mat3x3_zeros_STATIC(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(0);
+    c11_mat3x3* out = py_newmat3x3(py_retval());
+    memset(out, 0, sizeof(c11_mat3x3));
+    return true;
+}
+
+static bool mat3x3_identity_STATIC(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(0);
+    c11_mat3x3* out = py_newmat3x3(py_retval());
+    // clang-format off
+    *out = (c11_mat3x3){
+        ._11 = 1, ._12 = 0, ._13 = 0,
+        ._21 = 0, ._22 = 1, ._23 = 0,
+        ._31 = 0, ._32 = 0, ._33 = 1,
+    };
+    // clang-format on
+    return true;
+}
+
+static bool mat3x3_trs_STATIC(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(3);
+    py_f64 r;
+    if(!py_checktype(&argv[0], tp_vec2)) return false;
+    if(!py_castfloat(&argv[1], &r)) return false;
+    if(!py_checktype(&argv[2], tp_vec2)) return false;
+    c11_vec2 t = py_tovec2(&argv[0]);
+    c11_vec2 s = py_tovec2(&argv[2]);
+    c11_mat3x3* out = py_newmat3x3(py_retval());
+    trs(t, r, s, out);
+    return true;
+}
+
+static bool mat3x3_copy_trs_(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(4);
+    c11_mat3x3* ud = py_tomat3x3(&argv[0]);
+    py_f64 r;
+    if(!py_checktype(&argv[1], tp_vec2)) return false;
+    if(!py_castfloat(&argv[2], &r)) return false;
+    if(!py_checktype(&argv[3], tp_vec2)) return false;
+    c11_vec2 t = py_tovec2(&argv[1]);
+    c11_vec2 s = py_tovec2(&argv[3]);
+    trs(t, r, s, ud);
+    py_newnone(py_retval());
+    return true;
+}
+
+static bool mat3x3_t(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_mat3x3* ud = py_tomat3x3(argv);
+    c11_vec2 res;
+    res.x = ud->_13;
+    res.y = ud->_23;
+    py_newvec2(py_retval(), res);
+    return true;
+}
+
+static bool mat3x3_r(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_mat3x3* ud = py_tomat3x3(argv);
+    float r = atan2f(ud->_21, ud->_11);
+    py_newfloat(py_retval(), r);
+    return true;
+}
+
+static bool mat3x3_s(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_mat3x3* ud = py_tomat3x3(argv);
+    c11_vec2 res;
+    res.x = sqrtf(ud->_11 * ud->_11 + ud->_21 * ud->_21);
+    res.y = sqrtf(ud->_12 * ud->_12 + ud->_22 * ud->_22);
+    py_newvec2(py_retval(), res);
+    return true;
+}
+
+static bool mat3x3_transform_point(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    PY_CHECK_ARG_TYPE(1, tp_vec2);
+    c11_mat3x3* ud = py_tomat3x3(&argv[0]);
+    c11_vec2 p = py_tovec2(&argv[1]);
+    c11_vec2 res;
+    res.x = ud->_11 * p.x + ud->_12 * p.y + ud->_13;
+    res.y = ud->_21 * p.x + ud->_22 * p.y + ud->_23;
+    py_newvec2(py_retval(), res);
+    return true;
+}
+
+static bool mat3x3_transform_vector(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    PY_CHECK_ARG_TYPE(1, tp_vec2);
+    c11_mat3x3* ud = py_tomat3x3(&argv[0]);
+    c11_vec2 p = py_tovec2(&argv[1]);
+    c11_vec2 res;
+    res.x = ud->_11 * p.x + ud->_12 * p.y;
+    res.y = ud->_21 * p.x + ud->_22 * p.y;
+    py_newvec2(py_retval(), res);
+    return true;
+}
+
+/* vec2i */
+static bool vec2i__new__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(3);
+    PY_CHECK_ARG_TYPE(1, tp_int);
+    PY_CHECK_ARG_TYPE(2, tp_int);
+    py_newvec2i(py_retval(), (c11_vec2i){argv[1]._i64, argv[2]._i64});
+    return true;
+}
+
+DEFINE_VEC_FIELD(vec2i, int, py_i64, x)
+DEFINE_VEC_FIELD(vec2i, int, py_i64, y)
+
+static bool vec2i__repr__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_vec2i data = py_tovec2i(argv);
+    char buf[64];
+    int size = snprintf(buf, 64, "vec2i(%d, %d)", data.x, data.y);
+    py_newstrn(py_retval(), buf, size);
+    return true;
+}
+
+static bool vec2i__eq__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    if(argv[1].type != tp_vec2i) {
+        py_newnotimplemented(py_retval());
+        return true;
+    }
+    c11_vec2i lhs = py_tovec2i(argv);
+    c11_vec2i rhs = py_tovec2i(&argv[1]);
+    py_newbool(py_retval(), lhs.x == rhs.x && lhs.y == rhs.y);
+    return true;
+}
+
+DEFINE_BOOL_NE(vec2i, vec2i__eq__)
+
+/* vec3i */
+static bool vec3i__new__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(4);
+    PY_CHECK_ARG_TYPE(1, tp_int);
+    PY_CHECK_ARG_TYPE(2, tp_int);
+    PY_CHECK_ARG_TYPE(3, tp_int);
+    py_newvec3i(py_retval(), (c11_vec3i){argv[1]._i64, argv[2]._i64, argv[3]._i64});
+    return true;
+}
+
+static bool vec3i__repr__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_vec3i data = py_tovec3i(argv);
+    char buf[64];
+    int size = snprintf(buf, 64, "vec3i(%d, %d, %d)", data.x, data.y, data.z);
+    py_newstrn(py_retval(), buf, size);
+    return true;
+}
+
+static bool vec3i__eq__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    if(argv[1].type != tp_vec3i) {
+        py_newnotimplemented(py_retval());
+        return true;
+    }
+    c11_vec3i lhs = py_tovec3i(argv);
+    c11_vec3i rhs = py_tovec3i(&argv[1]);
+    py_newbool(py_retval(), lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z);
+    return true;
+}
+
+DEFINE_BOOL_NE(vec3i, vec3i__eq__)
+
+DEFINE_VEC_FIELD(vec3i, int, py_i64, x)
+DEFINE_VEC_FIELD(vec3i, int, py_i64, y)
+DEFINE_VEC_FIELD(vec3i, int, py_i64, z)
+
+/* vec3 */
+static bool vec3__new__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(4);
+    py_f64 x, y, z;
+    if(!py_castfloat(&argv[1], &x) || !py_castfloat(&argv[2], &y) || !py_castfloat(&argv[3], &z))
+        return false;
+    py_newvec3(py_retval(), (c11_vec3){x, y, z});
+    return true;
+}
+
+static bool vec3__repr__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(1);
+    c11_vec3 data = py_tovec3(argv);
+    char buf[64];
+    int size = snprintf(buf, 64, "vec3(%.4f, %.4f, %.4f)", data.x, data.y, data.z);
+    py_newstrn(py_retval(), buf, size);
+    return true;
+}
+
+static bool vec3__eq__(int argc, py_Ref argv) {
+    PY_CHECK_ARGC(2);
+    if(argv[1].type != tp_vec3) {
+        py_newnotimplemented(py_retval());
+        return true;
+    }
+    c11_vec3 lhs = py_tovec3(argv);
+    c11_vec3 rhs = py_tovec3(&argv[1]);
+    py_newbool(py_retval(),
+               isclose(lhs.x, rhs.x) && isclose(lhs.y, rhs.y) && isclose(lhs.z, rhs.z));
+    return true;
+}
+
+DEFINE_BOOL_NE(vec3, vec3__eq__)
+
+DEFINE_VEC_FIELD(vec3, float, py_f64, x)
+DEFINE_VEC_FIELD(vec3, float, py_f64, y)
+DEFINE_VEC_FIELD(vec3, float, py_f64, z)
+
+void pk__add_module_linalg() {
+    py_Ref mod = py_newmodule("linalg");
+
+    py_Type vec2 = pk_newtype("vec2", tp_object, mod, NULL, false, true);
+    py_Type vec3 = pk_newtype("vec3", tp_object, mod, NULL, false, true);
+    py_Type vec2i = pk_newtype("vec2i", tp_object, mod, NULL, false, true);
+    py_Type vec3i = pk_newtype("vec3i", tp_object, mod, NULL, false, true);
+    py_Type mat3x3 = pk_newtype("mat3x3", tp_object, mod, NULL, false, true);
+
+    py_setdict(mod, py_name("vec2"), py_tpobject(vec2));
+    py_setdict(mod, py_name("vec3"), py_tpobject(vec3));
+    py_setdict(mod, py_name("vec2i"), py_tpobject(vec2i));
+    py_setdict(mod, py_name("vec3i"), py_tpobject(vec3i));
+    py_setdict(mod, py_name("mat3x3"), py_tpobject(mat3x3));
+
+    assert(vec2 == tp_vec2);
+    assert(vec3 == tp_vec3);
+    assert(vec2i == tp_vec2i);
+    assert(vec3i == tp_vec3i);
+    assert(mat3x3 == tp_mat3x3);
+
+    /* vec2 */
+    py_bindmagic(vec2, __new__, vec2__new__);
+    py_bindmagic(vec2, __add__, vec2__add__);
+    py_bindmagic(vec2, __sub__, vec2__sub__);
+    py_bindmagic(vec2, __mul__, vec2__mul__);
+    py_bindmagic(vec2, __truediv__, vec2__truediv__);
+    py_bindmagic(vec2, __repr__, vec2__repr__);
+    py_bindmagic(vec2, __eq__, vec2__eq__);
+    py_bindmagic(vec2, __ne__, vec2__ne__);
+    py_bindmethod(vec2, "dot", vec2_dot);
+    py_bindmethod(vec2, "cross", vec2_cross);
+    py_bindmethod(vec2, "length", vec2_length);
+    py_bindmethod(vec2, "length_squared", vec2_length_squared);
+    py_bindmethod(vec2, "normalize", vec2_normalize);
+    py_bindmethod(vec2, "rotate", vec2_rotate);
+
+    py_newvec2(py_emplacedict(py_tpobject(vec2), py_name("ZERO")), (c11_vec2){0, 0});
+    py_newvec2(py_emplacedict(py_tpobject(vec2), py_name("ONE")), (c11_vec2){1, 1});
+
+    py_bindmethod(vec2, "angle", vec2_angle_STATIC);
+    py_bindmethod(vec2, "smooth_damp", vec2_smoothdamp_STATIC);
+
+    py_bindproperty(vec2, "x", vec2__x, NULL);
+    py_bindproperty(vec2, "y", vec2__y, NULL);
+    py_bindmethod(vec2, "with_x", vec2__with_x);
+    py_bindmethod(vec2, "with_y", vec2__with_y);
+
+    /* mat3x3 */
+    py_bindmagic(mat3x3, __new__, mat3x3__new__);
+    py_bindmagic(mat3x3, __repr__, mat3x3__repr__);
+    py_bindmagic(mat3x3, __getitem__, mat3x3__getitem__);
+    py_bindmagic(mat3x3, __setitem__, mat3x3__setitem__);
+    py_bindmagic(mat3x3, __matmul__, mat3x3__matmul__);
+    py_bindmagic(mat3x3, __invert__, mat3x3__invert__);
+    py_bindmagic(mat3x3, __eq__, mat3x3__eq__);
+    py_bindmagic(mat3x3, __ne__, mat3x3__ne__);
+    py_bindmethod(mat3x3, "matmul", mat3x3_matmul);
+    py_bindmethod(mat3x3, "determinant", mat3x3_determinant);
+    py_bindmethod(mat3x3, "copy", mat3x3_copy);
+    py_bindmethod(mat3x3, "inverse", mat3x3_inverse);
+    py_bindmethod(mat3x3, "copy_", mat3x3_copy_);
+    py_bindmethod(mat3x3, "inverse_", mat3x3_inverse_);
+    py_bindmethod(mat3x3, "zeros", mat3x3_zeros_STATIC);
+    py_bindmethod(mat3x3, "identity", mat3x3_identity_STATIC);
+    py_bindmethod(mat3x3, "trs", mat3x3_trs_STATIC);
+    py_bindmethod(mat3x3, "copy_trs_", mat3x3_copy_trs_);
+    py_bindmethod(mat3x3, "t", mat3x3_t);
+    py_bindmethod(mat3x3, "r", mat3x3_r);
+    py_bindmethod(mat3x3, "s", mat3x3_s);
+    py_bindmethod(mat3x3, "transform_point", mat3x3_transform_point);
+    py_bindmethod(mat3x3, "transform_vector", mat3x3_transform_vector);
+
+    /* vec2i */
+    py_bindmagic(vec2i, __new__, vec2i__new__);
+    py_bindmagic(vec2i, __repr__, vec2i__repr__);
+    py_bindmagic(vec2i, __eq__, vec2i__eq__);
+    py_bindmagic(vec2i, __ne__, vec2i__ne__);
+    py_bindproperty(vec2i, "x", vec2i__x, NULL);
+    py_bindproperty(vec2i, "y", vec2i__y, NULL);
+    py_bindmethod(vec2i, "with_x", vec2i__with_x);
+    py_bindmethod(vec2i, "with_y", vec2i__with_y);
+
+    /* vec3i */
+    py_bindmagic(vec3i, __new__, vec3i__new__);
+    py_bindmagic(vec3i, __repr__, vec3i__repr__);
+    py_bindmagic(vec3i, __eq__, vec3i__eq__);
+    py_bindmagic(vec3i, __ne__, vec3i__ne__);
+    py_bindproperty(vec3i, "x", vec3i__x, NULL);
+    py_bindproperty(vec3i, "y", vec3i__y, NULL);
+    py_bindproperty(vec3i, "z", vec3i__z, NULL);
+    py_bindmethod(vec3i, "with_x", vec3i__with_x);
+    py_bindmethod(vec3i, "with_y", vec3i__with_y);
+    py_bindmethod(vec3i, "with_z", vec3i__with_z);
+
+    /* vec3 */
+    py_bindmagic(vec3, __new__, vec3__new__);
+    py_bindmagic(vec3, __repr__, vec3__repr__);
+    py_bindmagic(vec3, __eq__, vec3__eq__);
+    py_bindmagic(vec3, __ne__, vec3__ne__);
+    py_bindproperty(vec3, "x", vec3__x, NULL);
+    py_bindproperty(vec3, "y", vec3__y, NULL);
+    py_bindproperty(vec3, "z", vec3__z, NULL);
+    py_bindmethod(vec3, "with_x", vec3__with_x);
+    py_bindmethod(vec3, "with_y", vec3__with_y);
+    py_bindmethod(vec3, "with_z", vec3__with_z);
+}

src/public/cast.c

@@ -24,6 +24,14 @@ bool py_castfloat(py_Ref self, double* out) {
     }
 }
 
+bool py_castint(py_Ref self, int64_t* out) {
+    if(self->type == tp_int) {
+        *out = self->_i64;
+        return true;
+    }
+    return TypeError("expected 'int', got '%t'", self->type);
+}
+
 bool py_tobool(py_Ref self) {
     assert(self->type == tp_bool);
     return self->_bool;

src/public/py_exception.c

@@ -14,22 +14,9 @@ typedef struct BaseExceptionFrame {
 } BaseExceptionFrame;
 
 typedef struct BaseException {
-    int lineno_backup;
-    const CodeObject* code_backup;
     c11_vector /*T=BaseExceptionFrame*/ stacktrace;
 } BaseException;
 
-void py_BaseException__set_lineno(py_Ref self, int lineno, const CodeObject* code) {
-    BaseException* ud = py_touserdata(self);
-    ud->lineno_backup = lineno;
-    ud->code_backup = code;
-}
-
-int py_BaseException__get_lineno(py_Ref self, const CodeObject* code) {
-    BaseException* ud = py_touserdata(self);
-    if(code != ud->code_backup) return -1;
-    return ud->lineno_backup;
-}
 
 void py_BaseException__stpush(py_Ref self, SourceData_ src, int lineno, const char* func_name) {
     BaseException* ud = py_touserdata(self);
@@ -54,8 +41,6 @@ static bool _py_BaseException__new__(int argc, py_Ref argv) {
     py_Type cls = py_totype(argv);
     BaseException* ud = py_newobject(py_retval(), cls, 2, sizeof(BaseException));
     c11_vector__ctor(&ud->stacktrace, sizeof(BaseExceptionFrame));
-    ud->lineno_backup = -1;
-    ud->code_backup = NULL;
     return true;
 }
 

tests/80_linalg.py

@@ -1,16 +1,11 @@
-exit()
+from linalg import mat3x3, vec2, vec3, vec2i, vec3i
-
-from linalg import mat3x3, vec2, vec3
 import random
-import sys
 import math
 
 a = vec2(1.5, 2)
 assert a.x == 1.5
 assert a.y == 2
 
-assert repr(math) == "<module 'math'>"
-
 # 出于对精度转换的考虑,在本测试中具体将采用str(floating_num)[:6]来比较两个浮点数是否相等
 
 # test vec2--------------------------------------------------------------------
@@ -34,12 +29,6 @@ static_test_vec2_int = vec2(278, -1391)
 assert str(static_test_vec2_float).startswith('vec2(')
 assert str(static_test_vec2_int).startswith('vec2(')
 
-# test copy
-element_name_list = [e for e in dir(test_vec2) if e in 'x,y,z,w']
-element_value_list = [getattr(test_vec2, attr) for attr in element_name_list]
-copy_element_value_list = [getattr(test_vec2, attr) for attr in element_name_list]
-assert element_value_list == copy_element_value_list
-
 # test rotate
 test_vec2_copy = test_vec2
 radians = random.uniform(-10*math.pi, 10*math.pi)
@@ -161,7 +150,7 @@ def row_operation(matrix, target_row, source_row, scale):
 # 生成随机测试目标
 min_num = -10.0
 max_num = 10.0
-test_mat = mat3x3([random.uniform(min_num, max_num) for _ in range(9)])
+test_mat = mat3x3(*[random.uniform(min_num, max_num) for _ in range(9)])
 static_test_mat_float= mat3x3(
     7.264189733952545, -5.432187523625671, 1.8765304152872613,
     -2.4910524352374734, 8.989660807513068, -0.7168824333280513,
@@ -172,11 +161,7 @@ static_test_mat_float_inv = mat3x3( 0.32265243,  0.15808159, -0.09939472,
         0.04199553,  0.13813096,  0.00408326,
        -0.59454451, -0.21208362,  0.39658464)
 
-static_test_mat_int = mat3x3([
+static_test_mat_int = mat3x3(1, 2, 3, 4, 5, 6, 7, 8, 9)
-        1, 2, 3,
-        4, 5, 6,
-        7, 8, 9]
-    )
 
 # test incorrect number of parameters is passed
 for i in range(20):
@@ -194,94 +179,45 @@ for i in range(20):
     except TypeError:
         pass
 
-# test 9 floating parameters is passed
-test_mat_copy = test_mat.copy()
-element_name_list = []
-for i in range(3):
-    for j in range(3):
-        element_name_list.append(f'_{i+1}{j+1}')
-element_value_list = [getattr(test_mat, attr) for attr in element_name_list]
-assert mat3x3(*tuple(element_value_list)) == test_mat
-
         
 # test copy
 test_mat_copy = test_mat.copy()
 assert test_mat is not test_mat_copy
 assert test_mat == test_mat_copy
 
-# test __getitem__
-for i, element in enumerate([getattr(test_mat, e) for e in element_name_list]):
-    assert test_mat[int(i/3), i%3] == element
-
 try:
     test_mat[1,2,3]
-    raise Exception('未能触发错误拦截, 此处应当报错 IndexError("index out of range")')
+except IndexError:
-except:
     pass
 
 try:
-    test_mat[-1][4]
+    test_mat[-1, 4]
     raise Exception('未能触发错误拦截, 此处应当报错 IndexError("index out of range")')
-except:
+except IndexError:
     pass
 
-# test __setitem__
+# test __setitem__ and __getitem__
 test_mat_copy = test_mat.copy()
-for i, element in enumerate([getattr(test_mat_copy, e) for e in element_name_list]):
+test_mat_copy[1, 2] = 1
-    test_mat_copy[int(i/3), i%3] = list(range(9))[i]
+assert test_mat_copy[1, 2] == 1
-assert test_mat_copy == mat3x3([0,1,2,
-                                3,4,5,
-                                6,7,8])
 
 try:
     test_mat[1,2,3] = 1
     raise Exception('未能触发错误拦截, 此处应当报错 TypeError("Mat3x3.__setitem__ takes a tuple of 2 integers")')
-except:
+except IndexError:
     pass
 
 try:
-    test_mat[-1][4] = 1
+    test_mat[-1, 4] = 1
     raise Exception('未能触发错误拦截, 此处应当报错 IndexError("index out of range")')
-except:
+except IndexError:
     pass
 
-# test __add__
-test_mat_copy = test_mat.copy()
-ones = mat3x3.ones()
-result_mat = test_mat_copy.__add__(ones)
-correct_result_mat = test_mat_copy.copy()
-for i in range(3):
-    for j in range(3):
-        correct_result_mat[i, j] += 1
-assert result_mat == correct_result_mat
-
-# test __sub__
-test_mat_copy = test_mat.copy()
-ones = mat3x3.ones()
-result_mat = test_mat_copy.__sub__(ones)
-correct_result_mat = test_mat_copy.copy()
-for i in range(3):
-    for j in range(3):
-        correct_result_mat[i, j] -= 1
-assert result_mat == correct_result_mat
-
-# test __mul__
-test_mat_copy = test_mat.copy()
-result_mat = test_mat_copy.__mul__(12.345)
-correct_result_mat = test_mat_copy.copy()
-for i in range(3):
-    for j in range(3):
-        correct_result_mat[i, j] *= 12.345
-# print(result_mat)
-# print(correct_result_mat)
-assert result_mat == correct_result_mat
-
-
 # test matmul
 test_mat_copy = test_mat.copy()
 test_mat_copy_2 = test_mat.copy()
 result_mat = test_mat_copy @ test_mat_copy_2
-correct_result_mat = mat3x3()
+correct_result_mat = mat3x3.zeros()
 for i in range(3):
     for j in range(3):
         correct_result_mat[i, j] = sum([e1*e2 for e1, e2 in zip(get_row(test_mat_copy, i), get_col(test_mat_copy_2, j))])
@@ -295,27 +231,6 @@ test_mat_copy.determinant()
 assert str(static_test_mat_float)
 assert str(static_test_mat_int)
 
-# test __truediv__
-test_mat_copy = test_mat.copy()
-result_mat = test_mat_copy.__truediv__(12.345)
-correct_result_mat = test_mat_copy.copy()
-for i in range(3):
-    for j in range(3):
-        correct_result_mat[i, j] /= 12.345
-assert result_mat == correct_result_mat
-
-
-
-# test __rmul__
-test_mat_copy = test_mat.copy()
-result_mat = 12.345 * test_mat_copy
-correct_result_mat = test_mat_copy.copy()
-for i in range(3):
-    for j in range(3):
-        correct_result_mat[i, j] *= 12.345
-
-assert result_mat == correct_result_mat
-
 
 # 此处测试不完全, 未验证正确性
 # test interface of "@" "matmul" "__matmul__" with vec3 and error handling
@@ -328,31 +243,22 @@ except TypeError:
     pass
 
 
-# test transpose
-test_mat_copy = test_mat.copy()
-assert test_mat_copy.transpose_() is None
-assert test_mat_copy == test_mat.transpose()
-assert test_mat_copy.transpose() == test_mat_copy.transpose().transpose().transpose()
-
 # test inverse
 assert ~static_test_mat_float == static_test_mat_float_inv == static_test_mat_float.inverse()
 assert static_test_mat_float.inverse_() is None
 assert static_test_mat_float == static_test_mat_float_inv
 
 try:
-    ~mat3x3([1, 2, 3, 2, 4, 6, 3, 6, 9])
+    ~mat3x3(*[1, 2, 3, 2, 4, 6, 3, 6, 9])
     raise Exception('未能拦截错误 ValueError("matrix is not invertible") 在 test_mat_copy 的行列式为0')
-except ValueError:
+except ZeroDivisionError:
     pass
 
 # test zeros
-assert mat3x3([0 for _ in range(9)]) == mat3x3.zeros()
+assert mat3x3(*[0 for _ in range(9)]) == mat3x3.zeros()
-
-# test ones
-assert mat3x3([1 for _ in range(9)]) == mat3x3.ones()
 
 # test identity
-assert mat3x3([1,0,0,0,1,0,0,0,1]) == mat3x3.identity()
+assert mat3x3(*[1,0,0,0,1,0,0,0,1]) == mat3x3.identity()
 
 
 # test affine transformations-----------------------------------------------
@@ -378,39 +284,20 @@ mat3x3.trs(test_vec2_copy, radian, test_vec2_2_copy)
 a = mat3x3.zeros()
 a.copy_trs_(test_vec2_copy, radian, test_vec2_2_copy)
 assert a == mat3x3.trs(test_vec2_copy, radian, test_vec2_2_copy)
-b = mat3x3.identity()
-b.copy_t_(test_vec2_copy)
-b.copy_r_(radian)
-b.copy_s_(test_vec2_2_copy)
-assert a == b
-
-# test is_affine
-def mat_is_affine(mat_list):
-    return mat_list[2][0] == 0 and mat_list[2][1] == 0 and mat_list[2][2] == 1
-
-# 通过random.unifrom的返回值不可能是整数0或1, 因此认为test_mat不可能is_affine
-test_mat_copy = test_mat.copy()
-assert test_mat_copy.is_affine() == mat_is_affine(mat_to_list(test_mat_copy))
-
-test_mat_copy[2,0] = 0
-test_mat_copy[2,1] = 0
-test_mat_copy[2,2] = 1
-assert test_mat_copy.is_affine() == mat_is_affine(mat_to_list(test_mat_copy))
-
 
 # test translation
 test_mat_copy = test_mat.copy()
-assert test_mat_copy._t() == vec2(test_mat_copy[0, 2], test_mat_copy[1, 2])
+assert test_mat_copy.t() == vec2(test_mat_copy[0, 2], test_mat_copy[1, 2])
 
 # 该方法的测试未验证计算的准确性
 # test rotation
 test_mat_copy = test_mat.copy()
-assert type(test_mat_copy._r()) is float
+assert type(test_mat_copy.r()) is float
 
 
 # test scale
 test_mat_copy = test_mat.copy()
-temp_vec2 = test_mat_copy._s()
+temp_vec2 = test_mat_copy.s()
 
 # test transform_point
 test_mat_copy = test_mat.copy()
@@ -424,32 +311,27 @@ test_mat_copy = test_mat.copy()
 test_vec2_copy = test_vec2
 temp_vec2 = test_mat_copy.transform_vector(test_vec2_copy)
 
-# test inverse_transform_point
-assert test_mat_copy.inverse_transform_point(test_vec2_copy) == test_mat_copy.inverse().transform_point(test_vec2_copy)
-# test inverse_transform_vector
-assert test_mat_copy.inverse_transform_vector(test_vec2_copy) == test_mat_copy.inverse().transform_vector(test_vec2_copy)
-
 val = vec2.angle(vec2(-1, 0), vec2(0, -1))
 assert 1.57 < val < 1.58
 
 # test about staticmethod
-class mymat3x3(mat3x3):
+# class mymat3x3(mat3x3):
-    def f(self):
+#     def f(self):
-        _0 = self.zeros()
+#         _0 = self.zeros()
-        _1 = super().zeros()
+#         _1 = super().zeros()
-        _2 = mat3x3.zeros()
+#         _2 = mat3x3.zeros()
-        return _0 == _1 == _2
+#         return _0 == _1 == _2
     
-assert mymat3x3().f()
+# assert mymat3x3().f()
 
 d = mat3x3.identity()
 assert d.copy_(mat3x3.zeros()) is None
 assert d == mat3x3.zeros()
 
 d = mat3x3.identity()
-assert d.matmul(mat3x3.zeros()) == mat3x3.zeros()
+assert d @ mat3x3.zeros() == mat3x3.zeros()
 assert d == mat3x3.identity()
-assert d.matmul(mat3x3.zeros(), out=d) is None
+assert d.matmul(mat3x3.zeros(), d) is None
 assert d == mat3x3.zeros()
 
 try:
@@ -460,8 +342,21 @@ except IndexError:
 
 # test vec * vec
 assert vec2(1, 2) * vec2(3, 4) == vec2(3, 8)
-assert vec3(1, 2, 3) * vec3(4, 5, 6) == vec3(4, 10, 18)
 
-# test vec.__getitem__
+# test vec2i and vec3i
-assert vec2(1, 2)[0] == 1 and vec2(1, 2)[1] == 2
+
-assert vec3(1, 2, 3)[0] == 1 and vec3(1, 2, 3)[1] == 2 and vec3(1, 2, 3)[2] == 3
+a = vec2i(1, 2)
+assert a.x == 1
+assert a.y == 2
+
+assert a == vec2i(1, 2)
+
+a = vec3i(1, 2, 3)
+assert a.x == 1
+assert a.y == 2
+assert a.z == 3
+
+assert a == vec3i(1, 2, 3)
+assert a.with_x(2) == vec3i(2, 2, 3)
+assert a.with_y(3) == vec3i(1, 3, 3)
+assert a.with_z(4) == vec3i(1, 2, 4)