From 82b3201b0aa35d137916bf0ec1aa99d6867acfb5 Mon Sep 17 00:00:00 2001
From: Quaternions <krakow20@gmail.com>
Date: Fri, 1 Dec 2023 20:00:23 -0800
Subject: [PATCH] optimize face_nd: precalculate det

---
 src/model_physics.rs |  5 ++++-
 src/physics.rs       | 25 ++++++++++++++++---------
 2 files changed, 20 insertions(+), 10 deletions(-)

diff --git a/src/model_physics.rs b/src/model_physics.rs
index 452ebcfd..a8d18229 100644
--- a/src/model_physics.rs
+++ b/src/model_physics.rs
@@ -238,17 +238,20 @@ pub struct TransformedMesh<'a>{
 	mesh:&'a PhysicsMesh,
 	transform:&'a crate::integer::Planar64Affine3,
 	normal_transform:&'a crate::integer::Planar64Mat3,
+	transform_det:Planar64,
 }
 impl TransformedMesh<'_>{
 	pub fn new<'a>(
 		mesh:&'a PhysicsMesh,
 		transform:&'a crate::integer::Planar64Affine3,
 		normal_transform:&'a crate::integer::Planar64Mat3,
+		transform_det:Planar64,
 		)->TransformedMesh<'a>{
 		TransformedMesh{
 			mesh,
 			transform,
 			normal_transform,
+			transform_det,
 		}
 	}
 	fn farthest_vert(&self,dir:Planar64Vec3)->VertId{
@@ -269,7 +272,7 @@ impl MeshQuery<FaceId,DirectedEdgeId,VertId> for TransformedMesh<'_>{
 	fn face_nd(&self,face_id:FaceId)->(Planar64Vec3,Planar64){
 		let (n,d)=self.mesh.face_nd(face_id);
 		let transformed_n=*self.normal_transform*n;
-		let transformed_d=Planar64::raw(((transformed_n.dot128(self.transform.matrix3*n)<<32)/n.dot128(n)) as i64)*d+transformed_n.dot(self.transform.translation);
+		let transformed_d=self.transform_det*d+transformed_n.dot(self.transform.translation);
 		(transformed_n,transformed_d)
 	}
 	fn vert(&self,vert_id:VertId)->Planar64Vec3{
diff --git a/src/physics.rs b/src/physics.rs
index dc69c434..a41d7fa0 100644
--- a/src/physics.rs
+++ b/src/physics.rs
@@ -202,6 +202,7 @@ impl PhysicsModels{
 			&self.meshes[self.models[model_id].mesh_id],
 			&self.models[model_id].transform,
 			&self.models[model_id].normal_transform,
+			self.models[model_id].transform_det,
 		)
 	}
 	fn model(&self,model_id:usize)->&PhysicsModel{
@@ -343,11 +344,11 @@ struct Hitbox{
 	mesh:PhysicsMesh,
 	transform:crate::integer::Planar64Affine3,
 	normal_transform:Planar64Mat3,
+	transform_det:Planar64,
 }
 impl Hitbox{
 	fn new(mesh:PhysicsMesh,transform:crate::integer::Planar64Affine3)->Self{
 		//calculate extents
-		let normal_transform=transform.matrix3.inverse_times_det().transpose();
 		let mut aabb=crate::aabb::Aabb::default();
 		for vert in mesh.verts(){
 			aabb.grow(transform.transform_point3(vert));
@@ -356,23 +357,28 @@ impl Hitbox{
 			halfsize:aabb.size()/2,
 			mesh,
 			transform,
-			normal_transform,
+			normal_transform:transform.matrix3.inverse_times_det().transpose(),
+			transform_det:transform.matrix3.determinant(),
 		}
 	}
 	fn from_mesh_scale(mesh:PhysicsMesh,scale:Planar64Vec3)->Self{
+		let matrix3=Planar64Mat3::from_diagonal(scale);
 		Self{
 			halfsize:scale,
 			mesh,
-			transform:crate::integer::Planar64Affine3::new(Planar64Mat3::from_diagonal(scale),Planar64Vec3::ZERO),
-			normal_transform:Planar64Mat3::from_diagonal(scale).inverse_times_det().transpose(),
+			normal_transform:matrix3.inverse_times_det().transpose(),
+			transform:crate::integer::Planar64Affine3::new(matrix3,Planar64Vec3::ZERO),
+			transform_det:matrix3.determinant(),//scale.x*scale.y*scale.z but whatever
 		}
 	}
 	fn from_mesh_scale_offset(mesh:PhysicsMesh,scale:Planar64Vec3,offset:Planar64Vec3)->Self{
+		let matrix3=Planar64Mat3::from_diagonal(scale);
 		Self{
 			halfsize:scale,
 			mesh,
-			transform:crate::integer::Planar64Affine3::new(Planar64Mat3::from_diagonal(scale),offset),
-			normal_transform:Planar64Mat3::from_diagonal(scale).inverse_times_det().transpose(),
+			normal_transform:matrix3.inverse_times_det().transpose(),
+			transform:crate::integer::Planar64Affine3::new(matrix3,offset),
+			transform_det:matrix3.determinant(),
 		}
 	}
 	fn roblox()->Self{
@@ -383,7 +389,7 @@ impl Hitbox{
 	}
 	#[inline]
 	fn transformed_mesh(&self)->TransformedMesh{
-		TransformedMesh::new(&self.mesh,&self.transform,&self.normal_transform)
+		TransformedMesh::new(&self.mesh,&self.transform,&self.normal_transform,self.transform_det)
 	}
 }
 
@@ -779,16 +785,17 @@ pub struct PhysicsModel{
 	attr_id:usize,
 	transform:crate::integer::Planar64Affine3,
 	normal_transform:crate::integer::Planar64Mat3,
+	transform_det:Planar64,
 }
 
 impl PhysicsModel{
 	pub fn new(mesh_id:usize,attr_id:usize,transform:crate::integer::Planar64Affine3)->Self{
-		let normal_transform=transform.matrix3.inverse_times_det().transpose();
 		Self{
 			mesh_id,
 			attr_id,
 			transform,
-			normal_transform,
+			normal_transform:transform.matrix3.inverse_times_det().transpose(),
+			transform_det:transform.matrix3.determinant(),
 		}
 	}
 }