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optimize face_nd: precalculate det

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Quaternions 2023-12-01 20:00:23 -08:00
parent 513414d4bd
commit 82b3201b0a
2 changed files with 20 additions and 10 deletions
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5
src/model_physics.rs
View File

@ -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{

25
src/physics.rs
View File

@ -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(),
}
}
}