Avoid copies in vector and matrix (#11959)

This commit is contained in:
AnoNymous 2018-09-30 06:04:40 +02:00 committed by Scott Lahteine
parent 693865a649
commit a644d8cb93
2 changed files with 28 additions and 33 deletions

View file

@ -51,22 +51,22 @@ vector_3::vector_3() : x(0), y(0), z(0) { }
vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { } vector_3::vector_3(float x_, float y_, float z_) : x(x_), y(y_), z(z_) { }
vector_3 vector_3::cross(vector_3 left, vector_3 right) { vector_3 vector_3::cross(const vector_3 &left, const vector_3 &right) {
return vector_3(left.y * right.z - left.z * right.y, return vector_3(left.y * right.z - left.z * right.y,
left.z * right.x - left.x * right.z, left.z * right.x - left.x * right.z,
left.x * right.y - left.y * right.x); left.x * right.y - left.y * right.x);
} }
vector_3 vector_3::operator+(vector_3 v) { return vector_3((x + v.x), (y + v.y), (z + v.z)); } vector_3 vector_3::operator+(const vector_3 &v) { return vector_3((x + v.x), (y + v.y), (z + v.z)); }
vector_3 vector_3::operator-(vector_3 v) { return vector_3((x - v.x), (y - v.y), (z - v.z)); } vector_3 vector_3::operator-(const vector_3 &v) { return vector_3((x - v.x), (y - v.y), (z - v.z)); }
vector_3 vector_3::get_normal() { vector_3 vector_3::get_normal() const {
vector_3 normalized = vector_3(x, y, z); vector_3 normalized = vector_3(x, y, z);
normalized.normalize(); normalized.normalize();
return normalized; return normalized;
} }
float vector_3::get_length() { return SQRT(sq(x) + sq(y) + sq(z)); } float vector_3::get_length() const { return SQRT(sq(x) + sq(y) + sq(z)); }
void vector_3::normalize() { void vector_3::normalize() {
const float inv_length = RSQRT(sq(x) + sq(y) + sq(z)); const float inv_length = RSQRT(sq(x) + sq(y) + sq(z));
@ -75,13 +75,11 @@ void vector_3::normalize() {
z *= inv_length; z *= inv_length;
} }
void vector_3::apply_rotation(matrix_3x3 matrix) { void vector_3::apply_rotation(const matrix_3x3 &matrix) {
const float resultX = x * matrix.matrix[3 * 0 + 0] + y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0], const float _x = x * matrix.matrix[3 * 0 + 0] + y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0],
resultY = x * matrix.matrix[3 * 0 + 1] + y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1], _y = x * matrix.matrix[3 * 0 + 1] + y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1],
resultZ = x * matrix.matrix[3 * 0 + 2] + y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2]; _z = x * matrix.matrix[3 * 0 + 2] + y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2];
x = resultX; x = _x; y = _y; z = _z;
y = resultY;
z = resultZ;
} }
void vector_3::debug(const char * const title) { void vector_3::debug(const char * const title) {
@ -95,7 +93,7 @@ void vector_3::debug(const char * const title) {
SERIAL_EOL(); SERIAL_EOL();
} }
void apply_rotation_xyz(matrix_3x3 matrix, float &x, float &y, float &z) { void apply_rotation_xyz(const matrix_3x3 &matrix, float &x, float &y, float &z) {
vector_3 vector = vector_3(x, y, z); vector_3 vector = vector_3(x, y, z);
vector.apply_rotation(matrix); vector.apply_rotation(matrix);
x = vector.x; x = vector.x;
@ -103,7 +101,7 @@ void apply_rotation_xyz(matrix_3x3 matrix, float &x, float &y, float &z) {
z = vector.z; z = vector.z;
} }
matrix_3x3 matrix_3x3::create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2) { matrix_3x3 matrix_3x3::create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2) {
//row_0.debug(PSTR("row_0")); //row_0.debug(PSTR("row_0"));
//row_1.debug(PSTR("row_1")); //row_1.debug(PSTR("row_1"));
//row_2.debug(PSTR("row_2")); //row_2.debug(PSTR("row_2"));
@ -121,10 +119,10 @@ void matrix_3x3::set_to_identity() {
matrix[6] = 0; matrix[7] = 0; matrix[8] = 1; matrix[6] = 0; matrix[7] = 0; matrix[8] = 1;
} }
matrix_3x3 matrix_3x3::create_look_at(vector_3 target) { matrix_3x3 matrix_3x3::create_look_at(const vector_3 &target) {
vector_3 z_row = target.get_normal(); vector_3 z_row = target.get_normal(),
vector_3 x_row = vector_3(1, 0, -target.x / target.z).get_normal(); x_row = vector_3(1, 0, -target.x / target.z).get_normal(),
vector_3 y_row = vector_3::cross(z_row, x_row).get_normal(); y_row = vector_3::cross(z_row, x_row).get_normal();
// x_row.debug(PSTR("x_row")); // x_row.debug(PSTR("x_row"));
// y_row.debug(PSTR("y_row")); // y_row.debug(PSTR("y_row"));
@ -137,7 +135,7 @@ matrix_3x3 matrix_3x3::create_look_at(vector_3 target) {
return rot; return rot;
} }
matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) { matrix_3x3 matrix_3x3::transpose(const matrix_3x3 &original) {
matrix_3x3 new_matrix; matrix_3x3 new_matrix;
new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6]; new_matrix.matrix[0] = original.matrix[0]; new_matrix.matrix[1] = original.matrix[3]; new_matrix.matrix[2] = original.matrix[6];
new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7]; new_matrix.matrix[3] = original.matrix[1]; new_matrix.matrix[4] = original.matrix[4]; new_matrix.matrix[5] = original.matrix[7];

View file

@ -39,8 +39,7 @@
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/ */
#ifndef VECTOR_3_H #pragma once
#define VECTOR_3_H
class matrix_3x3; class matrix_3x3;
@ -50,25 +49,24 @@ struct vector_3 {
vector_3(); vector_3();
vector_3(float x, float y, float z); vector_3(float x, float y, float z);
static vector_3 cross(vector_3 a, vector_3 b); static vector_3 cross(const vector_3 &a, const vector_3 &b);
vector_3 operator+(vector_3 v); vector_3 operator+(const vector_3 &v);
vector_3 operator-(vector_3 v); vector_3 operator-(const vector_3 &v);
void normalize(); void normalize();
float get_length(); float get_length() const;
vector_3 get_normal(); vector_3 get_normal() const;
void debug(const char * const title); void debug(const char * const title);
void apply_rotation(const matrix_3x3 &matrix);
void apply_rotation(matrix_3x3 matrix);
}; };
struct matrix_3x3 { struct matrix_3x3 {
float matrix[9]; float matrix[9];
static matrix_3x3 create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2); static matrix_3x3 create_from_rows(const vector_3 &row_0, const vector_3 &row_1, const vector_3 &row_2);
static matrix_3x3 create_look_at(vector_3 target); static matrix_3x3 create_look_at(const vector_3 &target);
static matrix_3x3 transpose(matrix_3x3 original); static matrix_3x3 transpose(const matrix_3x3 &original);
void set_to_identity(); void set_to_identity();
@ -76,6 +74,5 @@ struct matrix_3x3 {
}; };
void apply_rotation_xyz(matrix_3x3 rotationMatrix, float &x, float &y, float &z); void apply_rotation_xyz(const matrix_3x3 &rotationMatrix, float &x, float &y, float &z);
#endif // VECTOR_3_H