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Add Int32Matrix4x4 struct.

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This allows matrices to be represented as a value type, and additionally allows avoiding array allocations when calculating rotations.
This commit is contained in:
RoosterDragon
2018-03-17 16:44:41 +00:00
committed by abcdefg30
parent 5bd5a384b7
commit e17ede34ef
6 changed files with 148 additions and 52 deletions
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77
OpenRA.Game/WRot.cs
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@@ -41,58 +41,61 @@ namespace OpenRA
return new WRot(Roll, Pitch, yaw);
}
public int[] AsQuarternion()
void AsQuarternion(out int x, out int y, out int z, out int w)
{
// Angles increase clockwise
var r = new WAngle(-Roll.Angle / 2);
var p = new WAngle(-Pitch.Angle / 2);
var y = new WAngle(-Yaw.Angle / 2);
var cr = (long)r.Cos();
var sr = (long)r.Sin();
var cp = (long)p.Cos();
var sp = (long)p.Sin();
var cy = (long)y.Cos();
var sy = (long)y.Sin();
var roll = new WAngle(-Roll.Angle / 2);
var pitch = new WAngle(-Pitch.Angle / 2);
var yaw = new WAngle(-Yaw.Angle / 2);
var cr = (long)roll.Cos();
var sr = (long)roll.Sin();
var cp = (long)pitch.Cos();
var sp = (long)pitch.Sin();
var cy = (long)yaw.Cos();
var sy = (long)yaw.Sin();
// Normalized to 1024 == 1.0
return new int[4]
{
(int)((sr * cp * cy - cr * sp * sy) / 1048576), // x
(int)((cr * sp * cy + sr * cp * sy) / 1048576), // y
(int)((cr * cp * sy - sr * sp * cy) / 1048576), // z
(int)((cr * cp * cy + sr * sp * sy) / 1048576) // w
};
x = (int)((sr * cp * cy - cr * sp * sy) / 1048576);
y = (int)((cr * sp * cy + sr * cp * sy) / 1048576);
z = (int)((cr * cp * sy - sr * sp * cy) / 1048576);
w = (int)((cr * cp * cy + sr * sp * sy) / 1048576);
}
public int[] AsMatrix()
public void AsMatrix(out Int32Matrix4x4 mtx)
{
var q = AsQuarternion();
int x, y, z, w;
AsQuarternion(out x, out y, out z, out w);
// Theoretically 1024 * * 2, but may differ slightly due to rounding
var lsq = q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3];
var lsq = x * x + y * y + z * z + w * w;
// Quaternion components use 10 bits, so there's no risk of overflow
var mtx = new int[16];
mtx[0] = lsq - 2 * (q[1] * q[1] + q[2] * q[2]);
mtx[1] = 2 * (q[0] * q[1] + q[2] * q[3]);
mtx[2] = 2 * (q[0] * q[2] - q[1] * q[3]);
mtx[3] = 0;
mtx = new Int32Matrix4x4(
lsq - 2 * (y * y + z * z),
2 * (x * y + z * w),
2 * (x * z - y * w),
0,
mtx[4] = 2 * (q[0] * q[1] - q[2] * q[3]);
mtx[5] = lsq - 2 * (q[0] * q[0] + q[2] * q[2]);
mtx[6] = 2 * (q[1] * q[2] + q[0] * q[3]);
mtx[7] = 0;
2 * (x * y - z * w),
lsq - 2 * (x * x + z * z),
2 * (y * z + x * w),
0,
mtx[8] = 2 * (q[0] * q[2] + q[1] * q[3]);
mtx[9] = 2 * (q[1] * q[2] - q[0] * q[3]);
mtx[10] = lsq - 2 * (q[0] * q[0] + q[1] * q[1]);
mtx[11] = 0;
2 * (x * z + y * w),
2 * (y * z - x * w),
lsq - 2 * (x * x + y * y),
0,
mtx[12] = 0;
mtx[13] = 0;
mtx[14] = 0;
mtx[15] = lsq;
0,
0,
0,
lsq);
}
public Int32Matrix4x4 AsMatrix()
{
Int32Matrix4x4 mtx;
AsMatrix(out mtx);
return mtx;
}