From 9374e938012901b939ecf9310d3e8e2c181b9a1b Mon Sep 17 00:00:00 2001 From: Quaternions Date: Wed, 29 Nov 2023 21:20:52 -0800 Subject: [PATCH] face crawler prerequisites --- src/instruction.rs | 5 +- src/integer.rs | 119 +++++++++++++++++++++++++++++++++++++++------ 2 files changed, 108 insertions(+), 16 deletions(-) diff --git a/src/instruction.rs b/src/instruction.rs index f8880cb..08a27bb 100644 --- a/src/instruction.rs +++ b/src/instruction.rs @@ -25,7 +25,10 @@ impl InstructionCollector{ instruction:None } } - + #[inline] + pub fn time(&self)->Time{ + self.time + } pub fn collect(&mut self,instruction:Option>){ match instruction{ Some(unwrap_instruction)=>{ diff --git a/src/integer.rs b/src/integer.rs index 45f7963..e94d026 100644 --- a/src/integer.rs +++ b/src/integer.rs @@ -1,7 +1,9 @@ //integer units -#[derive(Clone,Copy,Hash,PartialEq,PartialOrd,Debug)] +#[derive(Clone,Copy,Hash,Eq,PartialEq,PartialOrd,Debug)] pub struct Time(i64); impl Time{ + pub const MIN:Self=Self(i64::MIN); + pub const MAX:Self=Self(i64::MAX); pub const ZERO:Self=Self(0); pub const ONE_SECOND:Self=Self(1_000_000_000); pub const ONE_MILLISECOND:Self=Self(1_000_000); @@ -414,6 +416,8 @@ pub struct Planar64(i64); impl Planar64{ pub const ZERO:Self=Self(0); pub const ONE:Self=Self(1<<32); + pub const MAX:Self=Self(i64::MAX); + pub const MIN:Self=Self(i64::MIN); #[inline] pub const fn int(num:i32)->Self{ Self(Self::ONE.0*num as i64) @@ -426,9 +430,14 @@ impl Planar64{ pub const fn get(&self)->i64{ self.0 } + #[inline] pub fn sqrt(&self)->Self{ Planar64(unsafe{(((self.0 as i128)<<32) as f64).sqrt().to_int_unchecked()}) } + #[inline] + pub const fn signum_i64(&self)->i64{ + ((self.0&(1<<63)!=0) as i64)*2-1 + } } const PLANAR64_ONE_FLOAT32:f32=(1u64<<32) as f32; const PLANAR64_CONVERT_TO_FLOAT32:f32=1.0/PLANAR64_ONE_FLOAT32; @@ -518,6 +527,12 @@ impl std::ops::Add for Planar64{ Planar64(self.0+rhs.0) } } +impl std::ops::AddAssign for Planar64{ + #[inline] + fn add_assign(&mut self,rhs:Self){ + *self=*self+rhs; + } +} impl std::ops::Sub for Planar64{ type Output=Planar64; #[inline] @@ -582,6 +597,10 @@ impl Planar64Vec3{ pub const MIN:Self=Planar64Vec3(glam::I64Vec3::MIN); pub const MAX:Self=Planar64Vec3(glam::I64Vec3::MAX); #[inline] + pub const fn new(x:Planar64,y:Planar64,z:Planar64)->Self{ + Self(glam::i64vec3(x.0,y.0,z.0)) + } + #[inline] pub const fn int(x:i32,y:i32,z:i32)->Self{ Self(glam::i64vec3((x as i64)<<32,(y as i64)<<32,(z as i64)<<32)) } @@ -634,6 +653,26 @@ impl Planar64Vec3{ )>>32) as i64) } #[inline] + pub fn dot128(&self,rhs:Self)->i128{ + (self.0.x as i128)*(rhs.0.x as i128)+ + (self.0.y as i128)*(rhs.0.y as i128)+ + (self.0.z as i128)*(rhs.0.z as i128) + } + #[inline] + pub fn cross(&self,rhs:Self)->Planar64Vec3{ + Planar64Vec3(glam::i64vec3( + (((self.0.y as i128)*(rhs.0.z as i128)-(self.0.z as i128)*(rhs.0.y as i128))>>32) as i64, + (((self.0.z as i128)*(rhs.0.x as i128)-(self.0.x as i128)*(rhs.0.z as i128))>>32) as i64, + (((self.0.x as i128)*(rhs.0.y as i128)-(self.0.y as i128)*(rhs.0.x as i128))>>32) as i64, + )) + } + #[inline] + pub fn walkable(&self,slope:Planar64,up:Self)->bool{ + let y=self.dot(up); + let x=self.cross(up).length(); + x*slopePlanar64{ let radicand=(self.0.x as i128)*(self.0.x as i128)+(self.0.y as i128)*(self.0.y as i128)+(self.0.z as i128)*(self.0.z as i128); Planar64(unsafe{(radicand as f64).sqrt().to_int_unchecked()}) @@ -781,7 +820,7 @@ impl std::ops::Div for Planar64Vec3{ } ///[-1.0,1.0] = [-2^32,2^32] -#[derive(Clone,Copy)] +#[derive(Clone,Copy,Hash,Eq,PartialEq)] pub struct Planar64Mat3{ x_axis:Planar64Vec3, y_axis:Planar64Vec3, @@ -797,16 +836,6 @@ impl Default for Planar64Mat3{ } } } -impl std::ops::Mul for Planar64Mat3{ - type Output=Planar64Vec3; - #[inline] - fn mul(self,rhs:Planar64Vec3) -> Self::Output { - self.x_axis*rhs.x() - +self.y_axis*rhs.y() - +self.z_axis*rhs.z() - } -} - impl Planar64Mat3{ #[inline] pub fn from_cols(x_axis:Planar64Vec3,y_axis:Planar64Vec3,z_axis:Planar64Vec3)->Self{ @@ -824,6 +853,14 @@ impl Planar64Mat3{ } } #[inline] + pub const fn from_diagonal(diagonal:Planar64Vec3)->Self{ + Self{ + x_axis:Planar64Vec3::raw(diagonal.0.x,0,0), + y_axis:Planar64Vec3::raw(0,diagonal.0.y,0), + z_axis:Planar64Vec3::raw(0,0,diagonal.0.z), + } + } + #[inline] pub fn from_rotation_yx(yaw:Angle32,pitch:Angle32)->Self{ let xtheta=yaw.0 as f64*ANGLE32_TO_FLOAT64_RADIANS; let (xs,xc)=xtheta.sin_cos(); @@ -853,6 +890,49 @@ impl Planar64Mat3{ Planar64Vec3(glam::i64vec3(s,0,c)), ) } + #[inline] + pub const fn inverse(&self)->Self{ + let det=( + -self.x_axis.0.z as i128*self.y_axis.0.y as i128*self.z_axis.0.x as i128 + +self.x_axis.0.y as i128*self.y_axis.0.z as i128*self.z_axis.0.x as i128 + +self.x_axis.0.z as i128*self.y_axis.0.x as i128*self.z_axis.0.y as i128 + -self.x_axis.0.x as i128*self.y_axis.0.z as i128*self.z_axis.0.y as i128 + -self.x_axis.0.y as i128*self.y_axis.0.x as i128*self.z_axis.0.z as i128 + +self.x_axis.0.x as i128*self.y_axis.0.y as i128*self.z_axis.0.z as i128 + )>>32; + Self{ + x_axis:Planar64Vec3::raw((((-(self.y_axis.0.z as i128*self.z_axis.0.y as i128)+self.y_axis.0.y as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((self.x_axis.0.z as i128*self.z_axis.0.y as i128-self.x_axis.0.y as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((-(self.x_axis.0.z as i128*self.y_axis.0.y as i128)+self.x_axis.0.y as i128*self.y_axis.0.z as i128)<<32)/det) as i64), + y_axis:Planar64Vec3::raw((((self.y_axis.0.z as i128*self.z_axis.0.x as i128-self.y_axis.0.x as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((-(self.x_axis.0.z as i128*self.z_axis.0.x as i128)+self.x_axis.0.x as i128*self.z_axis.0.z as i128)<<32)/det) as i64,(((self.x_axis.0.z as i128*self.y_axis.0.x as i128-self.x_axis.0.x as i128*self.y_axis.0.z as i128)<<32)/det) as i64), + z_axis:Planar64Vec3::raw((((-(self.y_axis.0.y as i128*self.z_axis.0.x as i128)+self.y_axis.0.x as i128*self.z_axis.0.y as i128)<<32)/det) as i64,(((self.x_axis.0.y as i128*self.z_axis.0.x as i128-self.x_axis.0.x as i128*self.z_axis.0.y as i128)<<32)/det) as i64,(((-(self.x_axis.0.y as i128*self.y_axis.0.x as i128)+self.x_axis.0.x as i128*self.y_axis.0.y as i128)<<32)/det) as i64), + } + } + #[inline] + pub const fn inverse_times_det(&self)->Self{ + Self{ + x_axis:Planar64Vec3::raw(((-(self.y_axis.0.z as i128*self.z_axis.0.y as i128)+self.y_axis.0.y as i128*self.z_axis.0.z as i128)>>32) as i64,((self.x_axis.0.z as i128*self.z_axis.0.y as i128-self.x_axis.0.y as i128*self.z_axis.0.z as i128)>>32) as i64,((-(self.x_axis.0.z as i128*self.y_axis.0.y as i128)+self.x_axis.0.y as i128*self.y_axis.0.z as i128)>>32) as i64), + y_axis:Planar64Vec3::raw(((self.y_axis.0.z as i128*self.z_axis.0.x as i128-self.y_axis.0.x as i128*self.z_axis.0.z as i128)>>32) as i64,((-(self.x_axis.0.z as i128*self.z_axis.0.x as i128)+self.x_axis.0.x as i128*self.z_axis.0.z as i128)>>32) as i64,((self.x_axis.0.z as i128*self.y_axis.0.x as i128-self.x_axis.0.x as i128*self.y_axis.0.z as i128)>>32) as i64), + z_axis:Planar64Vec3::raw(((-(self.y_axis.0.y as i128*self.z_axis.0.x as i128)+self.y_axis.0.x as i128*self.z_axis.0.y as i128)>>32) as i64,((self.x_axis.0.y as i128*self.z_axis.0.x as i128-self.x_axis.0.x as i128*self.z_axis.0.y as i128)>>32) as i64,((-(self.x_axis.0.y as i128*self.y_axis.0.x as i128)+self.x_axis.0.x as i128*self.y_axis.0.y as i128)>>32) as i64), + } + } + #[inline] + pub const fn transpose(&self)->Self{ + Self{ + x_axis:Planar64Vec3::raw(self.x_axis.0.x,self.y_axis.0.x,self.z_axis.0.x), + y_axis:Planar64Vec3::raw(self.x_axis.0.y,self.y_axis.0.y,self.z_axis.0.y), + z_axis:Planar64Vec3::raw(self.x_axis.0.z,self.y_axis.0.z,self.z_axis.0.z), + } + } + #[inline] + pub const fn determinant(&self)->Planar64{ + Planar64((( + -self.x_axis.0.z as i128*self.y_axis.0.y as i128*self.z_axis.0.x as i128 + +self.x_axis.0.y as i128*self.y_axis.0.z as i128*self.z_axis.0.x as i128 + +self.x_axis.0.z as i128*self.y_axis.0.x as i128*self.z_axis.0.y as i128 + -self.x_axis.0.x as i128*self.y_axis.0.z as i128*self.z_axis.0.y as i128 + -self.x_axis.0.y as i128*self.y_axis.0.x as i128*self.z_axis.0.z as i128 + +self.x_axis.0.x as i128*self.y_axis.0.y as i128*self.z_axis.0.z as i128 + )>>64) as i64) + } } impl Into for Planar64Mat3{ #[inline] @@ -884,6 +964,15 @@ impl std::fmt::Display for Planar64Mat3{ ) } } +impl std::ops::Mul for Planar64Mat3{ + type Output=Planar64Vec3; + #[inline] + fn mul(self,rhs:Planar64Vec3) -> Self::Output { + self.x_axis*rhs.x() + +self.y_axis*rhs.y() + +self.z_axis*rhs.z() + } +} impl std::ops::Div for Planar64Mat3{ type Output=Planar64Mat3; #[inline] @@ -897,7 +986,7 @@ impl std::ops::Div for Planar64Mat3{ } ///[-1.0,1.0] = [-2^32,2^32] -#[derive(Clone,Copy,Default)] +#[derive(Clone,Copy,Default,Hash,Eq,PartialEq)] pub struct Planar64Affine3{ pub matrix3:Planar64Mat3,//includes scale above 1 pub translation:Planar64Vec3, @@ -952,7 +1041,7 @@ impl std::fmt::Display for Planar64Affine3{ #[test] fn test_sqrt(){ let r=Planar64::int(400); - println!("r{}",r.get()); + assert_eq!(1717986918400,r.get()); let s=r.sqrt(); - println!("s{}",s.get()); + assert_eq!(85899345920,s.get()); } \ No newline at end of file