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vector and matrix optimization

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This commit is contained in:
Youmu Liu
2025-10-14 18:13:18 +08:00
parent 47d2bfe558
commit c5eaf250ab
16 changed files with 482 additions and 381 deletions
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StgSharp.Common/Mathematics/Graphic/Camera.cs
+36 -39
View File
@@ -1,30 +1,27 @@
//-----------------------------------------------------------------------
// -----------------------------------------------------------------------
// file="Camera.cs"
// file="Camera"
// Project: StgSharp
// AuthorGroup: Nitload Space
// Copyright (c) Nitload Space. All rights reserved.
// AuthorGroup: Nitload
// Copyright (c) Nitload. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person
// obtaining a copy of this software and associated documentation
// files (the “Software”), to deal in the Software without restriction,
// including without limitation the rights to use, copy, modify, merge,
// publish, distribute, sublicense, and/or sell copies of the Software,
// and to permit persons to whom the Software is furnished to do so,
// subject to the following conditions:
//
// The above copyright notice and
// this permission notice shall be included in all copies
// or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED “AS IS”,
// WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
// IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
// DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
// ARISING FROM, OUT OF OR IN CONNECTION WITH
// THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
// -----------------------------------------------------------------------
// -----------------------------------------------------------------------
@@ -82,7 +79,7 @@ namespace StgSharp.Mathematics.Graphic
return _lookAt;
}
Matrix44 move = Matrix44.Unit;
move.colum3.vec -= cameraAtt.colum3.vec;
move.column3.vec -= cameraAtt.column3.vec;
_lookAt = rotationAtt.Transpose * move;
_isLookAtAvailable = true;
return _lookAt;
@@ -123,19 +120,19 @@ namespace StgSharp.Mathematics.Graphic
public void MoveNear(float distance)
{
cameraAtt.colum3.Z -= distance;
cameraAtt.column3.Z -= distance;
_isLookAtAvailable = false;
}
public void MoveRight(float distance)
{
cameraAtt.colum3.X -= distance;
cameraAtt.column3.X -= distance;
_isLookAtAvailable = false;
}
public void MoveUp(float distance)
{
cameraAtt.colum3.Y -= distance;
cameraAtt.column3.Y -= distance;
_isLookAtAvailable = false;
}
@@ -148,7 +145,7 @@ namespace StgSharp.Mathematics.Graphic
public void SetViewDirection(Vec3 position, Vec3 target, Vec3 up)
{
Vec3 direction = position - target;
if ((position.reg == cameraAtt.colum3.reg) && (this.up == up) && (cameraAtt.colum2.reg == direction.reg)) {
if ((position.reg == cameraAtt.column3.reg) && (this.up == up) && (cameraAtt.column2.reg == direction.reg)) {
return;
}
if (direction.GetLength() == 0)
@@ -168,10 +165,10 @@ namespace StgSharp.Mathematics.Graphic
Vec3 right = Linear.Orthogonalize(Linear.Cross(up, direction));
cameraAtt.colum0.reg = right.reg;
cameraAtt.colum1.reg = up.reg;
cameraAtt.colum2.reg = direction.reg;
cameraAtt.colum3.reg = position.reg;
cameraAtt.column0.reg = right.reg;
cameraAtt.column1.reg = up.reg;
cameraAtt.column2.reg = direction.reg;
cameraAtt.column3.reg = position.reg;
InternalPitch();
InternalRow();
@@ -189,13 +186,13 @@ namespace StgSharp.Mathematics.Graphic
width = Scaler.Abs(GeometryScaler.Tan(fovRadius / 2) * near * 2),
height = width * size.Y / size.X;
_projection.colum0.X = 2 * near / width;
_projection.colum1.Y = 2 * near / height;
_projection.colum2.X = 2 * offsetX / width;
_projection.colum2.Y = 2 * offsetY / height;
_projection.colum2.Z = (far + near) / (near - far);
_projection.colum2.W = -1;
_projection.colum3.Z = 2 * near * far / (near - far);
_projection.column0.X = 2 * near / width;
_projection.column1.Y = 2 * near / height;
_projection.column2.X = 2 * offsetX / width;
_projection.column2.Y = 2 * offsetY / height;
_projection.column2.Z = (far + near) / (near - far);
_projection.column2.W = -1;
_projection.column3.Z = 2 * near * far / (near - far);
}
public void Test(params Vec4[] vec)
StgSharp.Common/Mathematics/Graphic/Matrix44.cs
+44 -37
View File
@@ -1,38 +1,32 @@
//-----------------------------------------------------------------------
// -----------------------------------------------------------------------
// file="Matrix44.cs"
// file="Matrix44"
// Project: StgSharp
// AuthorGroup: Nitload Space
// Copyright (c) Nitload Space. All rights reserved.
// AuthorGroup: Nitload
// Copyright (c) Nitload. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person
// obtaining a copy of this software and associated documentation
// files (the “Software”), to deal in the Software without restriction,
// including without limitation the rights to use, copy, modify, merge,
// publish, distribute, sublicense, and/or sell copies of the Software,
// and to permit persons to whom the Software is furnished to do so,
// subject to the following conditions:
//
// The above copyright notice and
// this permission notice shall be included in all copies
// or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED “AS IS”,
// WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
// IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
// DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
// ARISING FROM, OUT OF OR IN CONNECTION WITH
// THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
// -----------------------------------------------------------------------
// -----------------------------------------------------------------------
using StgSharp.Internal.Intrinsic;
using StgSharp.Mathematics.Numeric;
using System;
using System.ComponentModel;
using System.Drawing;
using System.Numerics;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
@@ -40,17 +34,17 @@ using System.Runtime.InteropServices;
namespace StgSharp.Mathematics.Graphic
{
[StructLayout(LayoutKind.Explicit, Size = 2 * 16 * sizeof(float) + sizeof(bool), Pack = 16)]
public unsafe struct Matrix44 : IEquatable<Matrix44>, IMatrix<Matrix44>
public unsafe struct Matrix44 : IEquatable<Matrix44>, IMatrix<float>
{
[FieldOffset(2 * 64 * sizeof(float))] internal bool isTransposed;
[FieldOffset(0)] internal ColumnSet4 mat;
[FieldOffset(16 * sizeof(float))] internal ColumnSet4 transpose;
[FieldOffset(0 * sizeof(float))] internal Vec4 colum0;
[FieldOffset(4 * sizeof(float))] internal Vec4 colum1;
[FieldOffset(8 * sizeof(float))] internal Vec4 colum2;
[FieldOffset(12 * sizeof(float))] internal Vec4 colum3;
[FieldOffset(0 * sizeof(float))] internal Vec4 column0;
[FieldOffset(4 * sizeof(float))] internal Vec4 column1;
[FieldOffset(8 * sizeof(float))] internal Vec4 column2;
[FieldOffset(12 * sizeof(float))] internal Vec4 column3;
internal Matrix44(ColumnSet4 mat)
{
@@ -161,6 +155,11 @@ namespace StgSharp.Mathematics.Graphic
public static Matrix44 ZNegativeUnit => new Matrix44(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1);
public ReadOnlySpan<float> AsSpan()
{
return MemoryMarshal.CreateReadOnlySpan(ref Unsafe.As<ColumnSet4, float>(ref mat), 16);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public unsafe float Det()
{
@@ -208,9 +207,13 @@ namespace StgSharp.Mathematics.Graphic
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static unsafe Matrix44 operator -(Matrix44 left, Matrix44 right)
{
return new Matrix44(
right.mat.colum0 - left.mat.colum0, right.mat.colum1 - left.mat.colum1,
right.mat.colum2 - left.mat.colum2, right.mat.colum3 - left.mat.colum3);
return new Matrix44
{
column0 = right.column0 - left.column0,
column1 = right.column1 - left.column1,
column2 = right.column2 - left.column2,
column3 = right.column3 - left.column3
};
}
public static bool operator !=(Matrix44 left, Matrix44 right)
@@ -255,9 +258,13 @@ namespace StgSharp.Mathematics.Graphic
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static unsafe Matrix44 operator +(Matrix44 left, Matrix44 right)
{
Matrix44 ret = new Matrix44();
// InternalIO.Intrinsic.add_mat_4(&left.mat, &right.mat, &ret.mat);
Matrix44 ret = new()
{
column0 = left.column0 + right.column0,
column1 = left.column1 + right.column1,
column2 = left.column2 + right.column2,
column3 = left.column3 + right.column3
};
return ret;
}
StgSharp.Common/Mathematics/Graphic/Vec2.cs
+21 -23
View File
@@ -1,30 +1,27 @@
//-----------------------------------------------------------------------
// -----------------------------------------------------------------------
// file="Vec2.cs"
// file="Vec2"
// Project: StgSharp
// AuthorGroup: Nitload Space
// Copyright (c) Nitload Space. All rights reserved.
// AuthorGroup: Nitload
// Copyright (c) Nitload. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person
// obtaining a copy of this software and associated documentation
// files (the “Software”), to deal in the Software without restriction,
// including without limitation the rights to use, copy, modify, merge,
// publish, distribute, sublicense, and/or sell copies of the Software,
// and to permit persons to whom the Software is furnished to do so,
// subject to the following conditions:
//
// The above copyright notice and
// this permission notice shall be included in all copies
// or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED “AS IS”,
// WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
// IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
// DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
// ARISING FROM, OUT OF OR IN CONNECTION WITH
// THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
// -----------------------------------------------------------------------
// -----------------------------------------------------------------------
@@ -86,6 +83,7 @@ namespace StgSharp.Mathematics.Graphic
public static Vec2 One
{
[MethodImpl(MethodImplOptions.AggressiveInlining)]
get => new Vec2(1, 1);
}
StgSharp.Common/Mathematics/Graphic/Vec3.cs
+44 -64
View File
@@ -1,30 +1,27 @@
//-----------------------------------------------------------------------
// -----------------------------------------------------------------------
// file="Vec3.cs"
// file="Vec3"
// Project: StgSharp
// AuthorGroup: Nitload Space
// Copyright (c) Nitload Space. All rights reserved.
// AuthorGroup: Nitload
// Copyright (c) Nitload. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person
// obtaining a copy of this software and associated documentation
// files (the “Software”), to deal in the Software without restriction,
// including without limitation the rights to use, copy, modify, merge,
// publish, distribute, sublicense, and/or sell copies of the Software,
// and to permit persons to whom the Software is furnished to do so,
// subject to the following conditions:
//
// The above copyright notice and
// this permission notice shall be included in all copies
// or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED “AS IS”,
// WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
// IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
// DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
// ARISING FROM, OUT OF OR IN CONNECTION WITH
// THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
// -----------------------------------------------------------------------
// -----------------------------------------------------------------------
@@ -55,10 +52,7 @@ namespace StgSharp.Mathematics.Graphic
internal Vec3(M128 vector)
{
Unsafe.SkipInit(out X);
Unsafe.SkipInit(out Y);
Unsafe.SkipInit(out Z);
Unsafe.SkipInit(out v);
Unsafe.SkipInit(out this);
reg = vector;
reg.Member<uint>(3) = 0;
}
@@ -75,49 +69,42 @@ namespace StgSharp.Mathematics.Graphic
public Vec3(Vec2 xy, float z)
{
Unsafe.SkipInit(out X);
Unsafe.SkipInit(out Y);
Unsafe.SkipInit(out Z);
Unsafe.SkipInit(out v);
Unsafe.SkipInit(out this);
reg = xy.reg;
Z = z;
}
public Vec3(float x, float y, float z)
{
Unsafe.SkipInit(out reg);
Unsafe.SkipInit(out X);
Unsafe.SkipInit(out Y);
Unsafe.SkipInit(out Z);
Unsafe.SkipInit(out this);
v = new Vector3(x, y, z);
}
public unsafe Vec2 XY
{
get => new Vec2(reg);
set
{
fixed (Vector3* vptr = &v) {
*(Vector2*)vptr = value.v;
}
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
readonly get => new(reg);
[MethodImpl(MethodImplOptions.AggressiveInlining)]
set => Unsafe.As<Vector3, Vector2>(ref v) = value.v;
}
public Vec3 XYZ
{
get => new(v);
[MethodImpl(MethodImplOptions.AggressiveInlining)]
readonly get => new(v);
[MethodImpl(MethodImplOptions.AggressiveInlining)]
set => this = value;
}
public static Vec3 Zero => new Vec3(0, 0, 0);
public static Vec3 Zero => new(0, 0, 0);
public static Vec3 One => new Vec3(1, 1, 1);
public static Vec3 One => new(1, 1, 1);
public static Vec3 UnitX => new Vec3(1, 0, 0);
public static Vec3 UnitX => new(1, 0, 0);
public static Vec3 UnitY => new Vec3(0, 1, 0);
public static Vec3 UnitY => new(0, 1, 0);
public static Vec3 UnitZ => new Vec3(0, 0, 1);
public static Vec3 UnitZ => new(0, 0, 1);
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static Vec3 Cross(Vec3 left, Vec3 right)
@@ -126,30 +113,24 @@ namespace StgSharp.Mathematics.Graphic
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public float Dot(Vec3 right)
public readonly float Dot(Vec3 right)
{
return Vector3.Dot(v, right.v);
}
public bool Equals(Vec3 other)
public readonly bool Equals(Vec3 other)
{
return reg == other.reg;
}
public override bool Equals(object obj)
public override readonly bool Equals(object obj)
{
if (obj is Vec3)
{
return this == (Vec3)obj;
} else
{
return false;
}
return obj is not null && obj is Vec3 vec && this == vec;
}
public static Vec3 FromSpan(ReadOnlySpan<float> span)
{
Vec3 v = new Vec3();
Vec3 v = new();
span.CopyTo(MemoryMarshal.CreateSpan(ref v.X, 3));
return v;
}
@@ -169,7 +150,7 @@ namespace StgSharp.Mathematics.Graphic
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public float GetMaxValue()
public readonly float GetMaxValue()
{
float ret = X;
ret = ret > Y ? ret : Y;
@@ -182,12 +163,12 @@ namespace StgSharp.Mathematics.Graphic
return Cross(left, right) == Zero;
}
public override string ToString()
public override readonly string ToString()
{
return $"[{X},{Y},{Z}]";
}
public string ToString(string sample)
public readonly string ToString(string sample)
{
return $"[{X.ToString(sample)},{Y.ToString(sample)},{Z.ToString(sample)}]";
}
@@ -243,8 +224,7 @@ namespace StgSharp.Mathematics.Graphic
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static unsafe implicit operator Vec3((float, float, float) tuple)
{
Vec3 vec = new Vec3(*(Vector3*)&tuple);
return vec;
return Unsafe.As<(float,float,float), Vec3>(ref tuple);
}
IEnumerator IEnumerable.GetEnumerator()