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Performance optimizations for math classes

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Implemented KRQuaternion::FromAngleAxis
This commit is contained in:
Kearwood Gilbert
2013-05-02 19:30:33 -07:00
parent cb59a6f38e
commit e43136b6c4
5 changed files with 62 additions and 46 deletions
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39
KREngine/kraken/KRQuaternion.cpp
View File

@@ -168,7 +168,8 @@ KRQuaternion KRQuaternion::operator *(float v) const {
}
KRQuaternion KRQuaternion::operator /(float num) const {
return KRQuaternion(m_val[0] / num, m_val[1] / num, m_val[2] / num, m_val[3] / num);
float inv_num = 1.0f / num;
return KRQuaternion(m_val[0] * inv_num, m_val[1] * inv_num, m_val[2] * inv_num, m_val[3] * inv_num);
}
KRQuaternion KRQuaternion::operator +(const KRQuaternion &v) const {
@@ -224,10 +225,11 @@ KRQuaternion& KRQuaternion::operator *=(const float& v) {
}
KRQuaternion& KRQuaternion::operator /=(const float& v) {
m_val[0] /= v;
m_val[1] /= v;
m_val[2] /= v;
m_val[3] /= v;
float inv_v = 1.0f / v;
m_val[0] *= inv_v;
m_val[1] *= inv_v;
m_val[2] *= inv_v;
m_val[3] *= inv_v;
return *this;
}
@@ -240,21 +242,21 @@ KRQuaternion KRQuaternion::operator -() const {
}
KRQuaternion Normalize(const KRQuaternion &v1) {
float magnitude = sqrtf(v1[0] * v1[0] + v1[1] * v1[1] + v1[2] * v1[2] + v1[3] * v1[3]);
float inv_magnitude = 1.0f / sqrtf(v1[0] * v1[0] + v1[1] * v1[1] + v1[2] * v1[2] + v1[3] * v1[3]);
return KRQuaternion(
v1[0] / magnitude,
v1[1] / magnitude,
v1[2] / magnitude,
v1[3] / magnitude
v1[0] * inv_magnitude,
v1[1] * inv_magnitude,
v1[2] * inv_magnitude,
v1[3] * inv_magnitude
);
}
void KRQuaternion::normalize() {
float magnitude = sqrtf(m_val[0] * m_val[0] + m_val[1] * m_val[1] + m_val[2] * m_val[2] + m_val[3] * m_val[3]);
m_val[0] /= magnitude;
m_val[1] /= magnitude;
m_val[2] /= magnitude;
m_val[3] /= magnitude;
float inv_magnitude = 1.0f / sqrtf(m_val[0] * m_val[0] + m_val[1] * m_val[1] + m_val[2] * m_val[2] + m_val[3] * m_val[3]);
m_val[0] *= inv_magnitude;
m_val[1] *= inv_magnitude;
m_val[2] *= inv_magnitude;
m_val[3] *= inv_magnitude;
}
KRQuaternion Conjugate(const KRQuaternion &v1) {
@@ -285,3 +287,10 @@ KRMat4 KRQuaternion::rotationMatrix() const {
return matRotate;
}
KRQuaternion KRQuaternion::FromAngleAxis(const KRVector3 &axis, float angle)
{
float ha = angle * 0.5f;
float sha = sin(ha);
return KRQuaternion(cos(ha), axis.x * sha, axis.y * sha, axis.z * sha);
}

6
KREngine/kraken/KRQuaternion.h
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@@ -62,8 +62,8 @@ public:
KRQuaternion& operator *=(const float& v);
KRQuaternion& operator /=(const float& v);
friend bool operator ==(KRVector3 &v1, KRVector3 &v2);
friend bool operator !=(KRVector3 &v1, KRVector3 &v2);
friend bool operator ==(KRQuaternion &v1, KRQuaternion &v2);
friend bool operator !=(KRQuaternion &v1, KRQuaternion &v2);
float& operator [](unsigned i);
float operator [](unsigned i) const;
@@ -77,6 +77,8 @@ public:
void conjugate();
static KRQuaternion Conjugate(const KRQuaternion &v1);
static KRQuaternion FromAngleAxis(const KRVector3 &axis, float angle);
private:
float m_val[4];
};

18
KREngine/kraken/KRVector2.cpp
View File

@@ -82,7 +82,8 @@ KRVector2 KRVector2::operator *(const float v) const {
}
KRVector2 KRVector2::operator /(const float v) const {
return KRVector2(x / v, y / v);
float inv_v = 1.0f / v;
return KRVector2(x * inv_v, y * inv_v);
}
KRVector2& KRVector2::operator +=(const KRVector2& b) {
@@ -106,8 +107,9 @@ KRVector2& KRVector2::operator *=(const float v) {
}
KRVector2& KRVector2::operator /=(const float v) {
x /= v;
y /= v;
float inv_v = 1.0f / v;
x *= inv_v;
y *= inv_v;
return *this;
}
@@ -169,9 +171,9 @@ float KRVector2::operator[](unsigned i) const {
}
void KRVector2::normalize() {
float magnitude = sqrtf(x * x + y * y);
x /= magnitude;
y /= magnitude;
float inv_magnitude = 1.0f / sqrtf(x * x + y * y);
x *= inv_magnitude;
y *= inv_magnitude;
}
float KRVector2::sqrMagnitude() const {
@@ -184,8 +186,8 @@ float KRVector2::magnitude() const {
KRVector2 KRVector2::Normalize(const KRVector2 &v) {
float magnitude = sqrtf(v.x * v.x + v.y * v.y);
return KRVector2(v.x / magnitude, v.y / magnitude);
float inv_magnitude = 1.0f / sqrtf(v.x * v.x + v.y * v.y);
return KRVector2(v.x * inv_magnitude, v.y * inv_magnitude);
}
float KRVector2::Cross(const KRVector2 &v1, const KRVector2 &v2) {

22
KREngine/kraken/KRVector3.cpp
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@@ -176,7 +176,8 @@ KRVector3 KRVector3::operator *(const float v) const {
}
KRVector3 KRVector3::operator /(const float v) const {
return KRVector3(x / v, y / v, z / v);
float inv_v = 1.0f / v;
return KRVector3(x * inv_v, y * inv_v, z * inv_v);
}
KRVector3& KRVector3::operator +=(const KRVector3& b) {
@@ -204,9 +205,10 @@ KRVector3& KRVector3::operator *=(const float v) {
}
KRVector3& KRVector3::operator /=(const float v) {
x /= v;
y /= v;
z /= v;
float inv_v = 1.0f / v;
x *= inv_v;
y *= inv_v;
z *= inv_v;
return *this;
}
@@ -253,14 +255,14 @@ float KRVector3::magnitude() const {
}
void KRVector3::normalize() {
float magnitude = sqrtf(x * x + y * y + z * z);
x /= magnitude;
y /= magnitude;
z /= magnitude;
float inv_magnitude = 1.0f / sqrtf(x * x + y * y + z * z);
x *= inv_magnitude;
y *= inv_magnitude;
z *= inv_magnitude;
}
KRVector3 KRVector3::Normalize(const KRVector3 &v) {
float magnitude = sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
return KRVector3(v.x / magnitude, v.y / magnitude, v.z / magnitude);
float inv_magnitude = 1.0f / sqrtf(v.x * v.x + v.y * v.y + v.z * v.z);
return KRVector3(v.x * inv_magnitude, v.y * inv_magnitude, v.z * inv_magnitude);
}
KRVector3 KRVector3::Cross(const KRVector3 &v1, const KRVector3 &v2) {

23
KREngine/kraken/KRVector4.cpp
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@@ -206,10 +206,11 @@ KRVector4& KRVector4::operator *=(const float v) {
}
KRVector4& KRVector4::operator /=(const float v) {
x /= v;
y /= v;
z /= v;
w /= v;
float inv_v = 1.0f / v;
x *= inv_v;
y *= inv_v;
z *= inv_v;
w *= inv_v;
return *this;
}
@@ -260,15 +261,15 @@ float KRVector4::magnitude() const {
}
void KRVector4::normalize() {
float magnitude = sqrtf(x * x + y * y + z * z + w * w);
x /= magnitude;
y /= magnitude;
z /= magnitude;
w /= magnitude;
float inv_magnitude = 1.0f / sqrtf(x * x + y * y + z * z + w * w);
x *= inv_magnitude;
y *= inv_magnitude;
z *= inv_magnitude;
w *= inv_magnitude;
}
KRVector4 KRVector4::Normalize(const KRVector4 &v) {
float magnitude = sqrtf(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);
return KRVector4(v.x / magnitude, v.y / magnitude, v.z / magnitude, v.w / magnitude);
float inv_magnitude = 1.0f / sqrtf(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);
return KRVector4(v.x * inv_magnitude, v.y * inv_magnitude, v.z * inv_magnitude, v.w * inv_magnitude);
}