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Transitioned from VectorX to floatX

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And some trying to update Rigidbody when transform changes
This commit is contained in:
Simon Lübeß
2023-06-25 02:47:33 +02:00
parent 5f5da2ed35
commit 9e1f648aa0
49 changed files with 1281 additions and 871 deletions
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GlitchyEngine/src/Math/Quaternion.bf
+17 -17
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@@ -22,7 +22,7 @@ namespace GlitchyEngine.Math
W = w;
}
public this(Vector3 xy, float z, float w)
public this(float3 xy, float z, float w)
{
X = xy.X;
Y = xy.Y;
@@ -30,7 +30,7 @@ namespace GlitchyEngine.Math
W = w;
}
public this(Vector3 xyz, float w)
public this(float3 xyz, float w)
{
X = xyz.X;
Y = xyz.Y;
@@ -38,7 +38,7 @@ namespace GlitchyEngine.Math
W = w;
}
public this(Vector4 vector)
public this(float4 vector)
{
X = vector.X;
Y = vector.Y;
@@ -46,7 +46,7 @@ namespace GlitchyEngine.Math
W = vector.W;
}
public Vector3 Vector
public float3 Vector
{
get => .(X, Y, Z);
set mut
@@ -195,11 +195,11 @@ namespace GlitchyEngine.Math
{
Quaternion result;
Vector3 v = l.Vector * r.Vector + (l.W * r.Vector) + (r.W * l.Vector);
float3 v = l.Vector * r.Vector + (l.W * r.Vector) + (r.W * l.Vector);
result.X = v.X;
result.Y = v.Y;
result.Z = v.Z;
result.W = (l.W * r.W) - Vector3.Dot(l.Vector, r.Vector);
result.W = (l.W * r.W) - dot(l.Vector, r.Vector);
return result;
}
@@ -220,11 +220,11 @@ namespace GlitchyEngine.Math
[Inline]
#unwarn
public static implicit operator Vector4(in Self value) => *(Vector4*)&value;
public static implicit operator float4(in Self value) => *(float4*)&value;
[Inline]
#unwarn
public static implicit operator Quaternion(in Vector4 value) => *(Quaternion*)&value;
public static implicit operator Quaternion(in float4 value) => *(Quaternion*)&value;
public static bool operator ==(Quaternion l, Quaternion r)
{
@@ -236,7 +236,7 @@ namespace GlitchyEngine.Math
return l.X != r.X && l.Y != r.Y && l.Z != r.Z && l.W != r.W;
}
public (Vector3 Axis, float Angle) ToAxisAngle()
public (float3 Axis, float Angle) ToAxisAngle()
{
// scalar part = cos(θ/2)
// So, we can extract the angle directly.
@@ -247,12 +247,12 @@ namespace GlitchyEngine.Math
// We assume quaternion is unit length, so subtracting w^2 gives us length of just vector part (aka sin(θ/2)).
float length = Math.Sqrt(1.0f - (W * W));
Vector3 axis;
float3 axis;
// Normalize vector part to get the axis!
if(length == 0)
{
axis = Vector3.Zero;
axis = float3.Zero;
}
else
{
@@ -265,9 +265,9 @@ namespace GlitchyEngine.Math
return (axis, angle);
}
public static Quaternion FromAxisAngle(Vector3 axis, float angle)
public static Quaternion FromAxisAngle(float3 axis, float angle)
{
float lengthSq = axis.MagnitudeSquared();
float lengthSq = lengthSq(axis);
if(lengthSq == 0)
{
@@ -316,11 +316,11 @@ namespace GlitchyEngine.Math
return result;
}
public static Vector3 ToEulerAngles(Quaternion q)
public static float3 ToEulerAngles(Quaternion q)
{
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/
Vector3 result;
float3 result;
float sqw = q.W*q.W;
float sqx = q.X*q.X;
@@ -354,7 +354,7 @@ namespace GlitchyEngine.Math
float y = 2.0f * (Y * Z + W * X);
float x = W * W - X * X - Y * Y + Z * Z;
if (Vector2(x, y).Equals(.Zero)) //avoid atan2(0,0) - handle singularity - Matiis
if (float2(x, y).Equals(.Zero)) //avoid atan2(0,0) - handle singularity - Matiis
return 2.0f * Math.Atan2(X, W);
return Math.Atan2(y, x);
@@ -370,7 +370,7 @@ namespace GlitchyEngine.Math
float y = 2.0f * (X * Y + W * Z);
float x = W * W + X * X - Y * Y - Z * Z;
if (Vector2(x, y).Equals(.Zero)) //avoid atan2(0,0) - handle singularity - Matiis
if (float2(x, y).Equals(.Zero)) //avoid atan2(0,0) - handle singularity - Matiis
return 0;
return Math.Atan2(y, x);