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Refactor engine to support double-precision vectors

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This commit is contained in:
Wojtek Figat
2022-06-13 00:40:32 +02:00
parent f82e370392
commit a881c90b2e
744 changed files with 19062 additions and 12467 deletions
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202
Source/Engine/Core/Math/Matrix3x3.cs
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@@ -196,9 +196,9 @@ namespace FlaxEngine
/// <summary>
/// Gets or sets the first row in the Matrix3x3; that is M11, M12, M13
/// </summary>
public Vector3 Row1
public Float3 Row1
{
get => new Vector3(M11, M12, M13);
get => new Float3(M11, M12, M13);
set
{
M11 = value.X;
@@ -210,9 +210,9 @@ namespace FlaxEngine
/// <summary>
/// Gets or sets the second row in the Matrix3x3; that is M21, M22, M23
/// </summary>
public Vector3 Row2
public Float3 Row2
{
get => new Vector3(M21, M22, M23);
get => new Float3(M21, M22, M23);
set
{
M21 = value.X;
@@ -224,9 +224,9 @@ namespace FlaxEngine
/// <summary>
/// Gets or sets the third row in the Matrix3x3; that is M31, M32, M33
/// </summary>
public Vector3 Row3
public Float3 Row3
{
get => new Vector3(M31, M32, M33);
get => new Float3(M31, M32, M33);
set
{
M31 = value.X;
@@ -238,9 +238,9 @@ namespace FlaxEngine
/// <summary>
/// Gets or sets the first column in the Matrix3x3; that is M11, M21, M31
/// </summary>
public Vector3 Column1
public Float3 Column1
{
get => new Vector3(M11, M21, M31);
get => new Float3(M11, M21, M31);
set
{
M11 = value.X;
@@ -252,9 +252,9 @@ namespace FlaxEngine
/// <summary>
/// Gets or sets the second column in the Matrix3x3; that is M12, M22, M32
/// </summary>
public Vector3 Column2
public Float3 Column2
{
get => new Vector3(M12, M22, M32);
get => new Float3(M12, M22, M32);
set
{
M12 = value.X;
@@ -266,9 +266,9 @@ namespace FlaxEngine
/// <summary>
/// Gets or sets the third column in the Matrix3x3; that is M13, M23, M33
/// </summary>
public Vector3 Column3
public Float3 Column3
{
get => new Vector3(M13, M23, M33);
get => new Float3(M13, M23, M33);
set
{
M13 = value.X;
@@ -280,9 +280,9 @@ namespace FlaxEngine
/// <summary>
/// Gets or sets the scale of the Matrix3x3; that is M11, M22, and M33.
/// </summary>
public Vector3 ScaleVector
public Float3 ScaleVector
{
get => new Vector3(M11, M22, M33);
get => new Float3(M11, M22, M33);
set
{
M11 = value.X;
@@ -471,12 +471,12 @@ namespace FlaxEngine
r = new Matrix3x3
{
M11 = Vector3.Dot(q.Column1, Column1),
M12 = Vector3.Dot(q.Column1, Column2),
M13 = Vector3.Dot(q.Column1, Column3),
M22 = Vector3.Dot(q.Column2, Column2),
M23 = Vector3.Dot(q.Column2, Column3),
M33 = Vector3.Dot(q.Column3, Column3)
M11 = Float3.Dot(q.Column1, Column1),
M12 = Float3.Dot(q.Column1, Column2),
M13 = Float3.Dot(q.Column1, Column3),
M22 = Float3.Dot(q.Column2, Column2),
M23 = Float3.Dot(q.Column2, Column3),
M33 = Float3.Dot(q.Column3, Column3)
};
}
@@ -492,12 +492,12 @@ namespace FlaxEngine
l = new Matrix3x3
{
M11 = Vector3.Dot(q.Row1, Row1),
M21 = Vector3.Dot(q.Row1, Row2),
M22 = Vector3.Dot(q.Row2, Row2),
M31 = Vector3.Dot(q.Row1, Row3),
M32 = Vector3.Dot(q.Row2, Row3),
M33 = Vector3.Dot(q.Row3, Row3)
M11 = Float3.Dot(q.Row1, Row1),
M21 = Float3.Dot(q.Row1, Row2),
M22 = Float3.Dot(q.Row2, Row2),
M31 = Float3.Dot(q.Row1, Row3),
M32 = Float3.Dot(q.Row2, Row3),
M33 = Float3.Dot(q.Row3, Row3)
};
}
@@ -509,7 +509,7 @@ namespace FlaxEngine
/// <remarks>
/// This method is designed to decompose an SRT transformation Matrix3x3 only.
/// </remarks>
public bool Decompose(out Vector3 scale, out Quaternion rotation)
public bool Decompose(out Float3 scale, out Quaternion rotation)
{
//Source: Unknown
//References: http://www.gamedev.net/community/forums/topic.asp?topic_id=441695
@@ -1143,10 +1143,10 @@ namespace FlaxEngine
//By separating the above algorithm into multiple lines, we actually increase accuracy.
result = value;
result.Row2 -= (Vector3.Dot(result.Row1, result.Row2) / Vector3.Dot(result.Row1, result.Row1)) * result.Row1;
result.Row2 -= (Float3.Dot(result.Row1, result.Row2) / Float3.Dot(result.Row1, result.Row1)) * result.Row1;
result.Row3 -= (Vector3.Dot(result.Row1, result.Row3) / Vector3.Dot(result.Row1, result.Row1)) * result.Row1;
result.Row3 -= (Vector3.Dot(result.Row2, result.Row3) / Vector3.Dot(result.Row2, result.Row2)) * result.Row2;
result.Row3 -= (Float3.Dot(result.Row1, result.Row3) / Float3.Dot(result.Row1, result.Row1)) * result.Row1;
result.Row3 -= (Float3.Dot(result.Row2, result.Row3) / Float3.Dot(result.Row2, result.Row2)) * result.Row2;
}
/// <summary>
@@ -1201,14 +1201,14 @@ namespace FlaxEngine
//By separating the above algorithm into multiple lines, we actually increase accuracy.
result = value;
result.Row1 = Vector3.Normalize(result.Row1);
result.Row1 = Float3.Normalize(result.Row1);
result.Row2 -= Vector3.Dot(result.Row1, result.Row2) * result.Row1;
result.Row2 = Vector3.Normalize(result.Row2);
result.Row2 -= Float3.Dot(result.Row1, result.Row2) * result.Row1;
result.Row2 = Float3.Normalize(result.Row2);
result.Row3 -= Vector3.Dot(result.Row1, result.Row3) * result.Row1;
result.Row3 -= Vector3.Dot(result.Row2, result.Row3) * result.Row2;
result.Row3 = Vector3.Normalize(result.Row3);
result.Row3 -= Float3.Dot(result.Row1, result.Row3) * result.Row1;
result.Row3 -= Float3.Dot(result.Row2, result.Row3) * result.Row2;
result.Row3 = Float3.Normalize(result.Row3);
}
/// <summary>
@@ -1471,22 +1471,22 @@ namespace FlaxEngine
/// </summary>
/// <param name="objectPosition">The position of the object around which the billboard will rotate.</param>
/// <param name="cameraPosition">The position of the camera.</param>
/// <param name="cameraUpVector">The up vector of the camera.</param>
/// <param name="cameraForwardVector">The forward vector of the camera.</param>
/// <param name="cameraUpFloat">The up vector of the camera.</param>
/// <param name="cameraForwardFloat">The forward vector of the camera.</param>
/// <param name="result">When the method completes, contains the created billboard Matrix3x3.</param>
public static void Billboard(ref Vector3 objectPosition, ref Vector3 cameraPosition, ref Vector3 cameraUpVector, ref Vector3 cameraForwardVector, out Matrix3x3 result)
public static void Billboard(ref Float3 objectPosition, ref Float3 cameraPosition, ref Float3 cameraUpFloat, ref Float3 cameraForwardFloat, out Matrix3x3 result)
{
Vector3 difference = cameraPosition - objectPosition;
Float3 difference = cameraPosition - objectPosition;
float lengthSq = difference.LengthSquared;
if (Mathf.IsZero(lengthSq))
difference = -cameraForwardVector;
difference = -cameraForwardFloat;
else
difference *= (float)(1.0 / Math.Sqrt(lengthSq));
Vector3.Cross(ref cameraUpVector, ref difference, out Vector3 crossed);
Float3.Cross(ref cameraUpFloat, ref difference, out Float3 crossed);
crossed.Normalize();
Vector3.Cross(ref difference, ref crossed, out Vector3 final);
Float3.Cross(ref difference, ref crossed, out Float3 final);
result.M11 = crossed.X;
result.M12 = crossed.Y;
@@ -1504,12 +1504,12 @@ namespace FlaxEngine
/// </summary>
/// <param name="objectPosition">The position of the object around which the billboard will rotate.</param>
/// <param name="cameraPosition">The position of the camera.</param>
/// <param name="cameraUpVector">The up vector of the camera.</param>
/// <param name="cameraForwardVector">The forward vector of the camera.</param>
/// <param name="cameraUpFloat">The up vector of the camera.</param>
/// <param name="cameraForwardFloat">The forward vector of the camera.</param>
/// <returns>The created billboard Matrix3x3.</returns>
public static Matrix3x3 Billboard(Vector3 objectPosition, Vector3 cameraPosition, Vector3 cameraUpVector, Vector3 cameraForwardVector)
public static Matrix3x3 Billboard(Float3 objectPosition, Float3 cameraPosition, Float3 cameraUpFloat, Float3 cameraForwardFloat)
{
Billboard(ref objectPosition, ref cameraPosition, ref cameraUpVector, ref cameraForwardVector, out Matrix3x3 result);
Billboard(ref objectPosition, ref cameraPosition, ref cameraUpFloat, ref cameraForwardFloat, out Matrix3x3 result);
return result;
}
@@ -1520,15 +1520,15 @@ namespace FlaxEngine
/// <param name="target">The camera look-at target.</param>
/// <param name="up">The camera's up vector.</param>
/// <param name="result">When the method completes, contains the created look-at Matrix3x3.</param>
public static void LookAt(ref Vector3 eye, ref Vector3 target, ref Vector3 up, out Matrix3x3 result)
public static void LookAt(ref Float3 eye, ref Float3 target, ref Float3 up, out Matrix3x3 result)
{
Vector3.Subtract(ref target, ref eye, out Vector3 zaxis);
Float3.Subtract(ref target, ref eye, out Float3 zaxis);
zaxis.Normalize();
Vector3.Cross(ref up, ref zaxis, out Vector3 xaxis);
Float3.Cross(ref up, ref zaxis, out Float3 xaxis);
xaxis.Normalize();
Vector3.Cross(ref zaxis, ref xaxis, out Vector3 yaxis);
Float3.Cross(ref zaxis, ref xaxis, out Float3 yaxis);
result = Identity;
result.M11 = xaxis.X;
@@ -1549,7 +1549,7 @@ namespace FlaxEngine
/// <param name="target">The camera look-at target.</param>
/// <param name="up">The camera's up vector.</param>
/// <returns>The created look-at Matrix3x3.</returns>
public static Matrix3x3 LookAt(Vector3 eye, Vector3 target, Vector3 up)
public static Matrix3x3 LookAt(Float3 eye, Float3 target, Float3 up)
{
LookAt(ref eye, ref target, ref up, out Matrix3x3 result);
return result;
@@ -1560,7 +1560,7 @@ namespace FlaxEngine
/// </summary>
/// <param name="scale">Scaling factor for all three axes.</param>
/// <param name="result">When the method completes, contains the created scaling Matrix3x3.</param>
public static void Scaling(ref Vector3 scale, out Matrix3x3 result)
public static void Scaling(ref Float3 scale, out Matrix3x3 result)
{
Scaling(scale.X, scale.Y, scale.Z, out result);
}
@@ -1570,7 +1570,7 @@ namespace FlaxEngine
/// </summary>
/// <param name="scale">Scaling factor for all three axes.</param>
/// <returns>The created scaling Matrix3x3.</returns>
public static Matrix3x3 Scaling(Vector3 scale)
public static Matrix3x3 Scaling(Float3 scale)
{
Scaling(ref scale, out Matrix3x3 result);
return result;
@@ -1634,7 +1634,7 @@ namespace FlaxEngine
/// </summary>
/// <param name="shearAngles">The shear angles (in degrees).</param>
/// <param name="result">The result.</param>
public static void Shear(ref Vector2 shearAngles, out Matrix3x3 result)
public static void Shear(ref Float2 shearAngles, out Matrix3x3 result)
{
float shearX = shearAngles.X == 0 ? 0 : (1.0f / Mathf.Tan(Mathf.DegreesToRadians * (90 - Mathf.Clamp(shearAngles.X, -89.0f, 89.0f))));
float shearY = shearAngles.Y == 0 ? 0 : (1.0f / Mathf.Tan(Mathf.DegreesToRadians * (90 - Mathf.Clamp(shearAngles.Y, -89.0f, 89.0f))));
@@ -1734,7 +1734,7 @@ namespace FlaxEngine
/// <param name="axis">The axis around which to rotate. This parameter is assumed to be normalized.</param>
/// <param name="angle">Angle of rotation in radians. Angles are measured clockwise when looking along the rotation axis toward the origin.</param>
/// <param name="result">When the method completes, contains the created rotation Matrix3x3.</param>
public static void RotationAxis(ref Vector3 axis, float angle, out Matrix3x3 result)
public static void RotationAxis(ref Float3 axis, float angle, out Matrix3x3 result)
{
float x = axis.X;
float y = axis.Y;
@@ -1766,7 +1766,7 @@ namespace FlaxEngine
/// <param name="axis">The axis around which to rotate. This parameter is assumed to be normalized.</param>
/// <param name="angle">Angle of rotation in radians. Angles are measured clockwise when looking along the rotation axis toward the origin.</param>
/// <returns>The created rotation Matrix3x3.</returns>
public static Matrix3x3 RotationAxis(Vector3 axis, float angle)
public static Matrix3x3 RotationAxis(Float3 axis, float angle)
{
RotationAxis(ref axis, angle, out Matrix3x3 result);
return result;
@@ -1843,13 +1843,9 @@ namespace FlaxEngine
/// </summary>
/// <param name="translation">The translation vector.</param>
/// <param name="result">The result.</param>
public static void Translation2D(ref Vector2 translation, out Matrix3x3 result)
public static void Translation2D(ref Float2 translation, out Matrix3x3 result)
{
result = new Matrix3x3(
1, 0, 0,
0, 1, 0,
translation.X, translation.Y, 1
);
result = new Matrix3x3( 1, 0, 0, 0, 1, 0, translation.X, translation.Y, 1);
}
/// <summary>
@@ -1857,13 +1853,9 @@ namespace FlaxEngine
/// </summary>
/// <param name="translation">The translation vector.</param>
/// <returns>The result.</returns>
public static Matrix3x3 Translation2D(Vector2 translation)
public static Matrix3x3 Translation2D(Float2 translation)
{
return new Matrix3x3(
1, 0, 0,
0, 1, 0,
translation.X, translation.Y, 1
);
return new Matrix3x3(1, 0, 0, 0, 1, 0, translation.X, translation.Y, 1);
}
/// <summary>
@@ -1874,11 +1866,7 @@ namespace FlaxEngine
/// <returns>The result.</returns>
public static Matrix3x3 Translation2D(float x, float y)
{
return new Matrix3x3(
1, 0, 0,
0, 1, 0,
x, y, 1
);
return new Matrix3x3(1, 0, 0, 0, 1, 0, x, y, 1);
}
/// <summary>
@@ -1887,11 +1875,9 @@ namespace FlaxEngine
/// <param name="vector">The vector.</param>
/// <param name="transform">The transform.</param>
/// <param name="result">The result.</param>
public static void Transform2D(ref Vector2 vector, ref Matrix3x3 transform, out Vector2 result)
public static void Transform2D(ref Float2 vector, ref Matrix3x3 transform, out Float2 result)
{
result = new Vector2(
(vector.X * transform.M11) + (vector.Y * transform.M21) + transform.M31,
(vector.X * transform.M12) + (vector.Y * transform.M22) + transform.M32);
result = new Float2((vector.X * transform.M11) + (vector.Y * transform.M21) + transform.M31, (vector.X * transform.M12) + (vector.Y * transform.M22) + transform.M32);
}
/// <summary>
@@ -1900,9 +1886,9 @@ namespace FlaxEngine
/// <param name="vector">The vector.</param>
/// <param name="transform">The transform.</param>
/// <returns>The result.</returns>
public static Vector2 Transform2D(Vector2 vector, Matrix3x3 transform)
public static Float2 Transform2D(Float2 vector, Matrix3x3 transform)
{
Transform2D(ref vector, ref transform, out Vector2 result);
Transform2D(ref vector, ref transform, out Float2 result);
return result;
}
@@ -2041,12 +2027,7 @@ namespace FlaxEngine
/// <returns>A 4x4 Matrix with zero translation and M44=1</returns>
public static explicit operator Matrix(Matrix3x3 value)
{
return new Matrix(
value.M11, value.M12, value.M13, 0,
value.M21, value.M22, value.M23, 0,
value.M31, value.M32, value.M33, 0,
0, 0, 0, 1
);
return new Matrix(value.M11, value.M12, value.M13, 0, value.M21, value.M22, value.M23, 0, value.M31, value.M32, value.M33, 0, 0, 0, 0, 1);
}
/// <summary>
@@ -2055,37 +2036,27 @@ namespace FlaxEngine
/// <returns>A 3x3 Matrix</returns>
public static explicit operator Matrix3x3(Matrix value)
{
return new Matrix3x3(
value.M11, value.M12, value.M13,
value.M21, value.M22, value.M23,
value.M31, value.M32, value.M33
);
return new Matrix3x3(value.M11, value.M12, value.M13, value.M21, value.M22, value.M23, value.M31, value.M32, value.M33);
}
/// <summary>
/// Returns a <see cref="System.String"/> that represents this instance.
/// </summary>
/// <returns>
/// A <see cref="System.String"/> that represents this instance.
/// </returns>
/// <returns>A <see cref="System.String"/> that represents this instance.</returns>
public override string ToString()
{
return string.Format(CultureInfo.CurrentCulture, "[M11:{0} M12:{1} M13:{2}] [M21:{3} M22:{4} M23:{5}] [M31:{6} M32:{7} M33:{8}]",
M11, M12, M13, M21, M22, M23, M31, M32, M33);
return string.Format(CultureInfo.CurrentCulture, "[M11:{0} M12:{1} M13:{2}] [M21:{3} M22:{4} M23:{5}] [M31:{6} M32:{7} M33:{8}]", M11, M12, M13, M21, M22, M23, M31, M32, M33);
}
/// <summary>
/// Returns a <see cref="System.String"/> that represents this instance.
/// </summary>
/// <param name="format">The format.</param>
/// <returns>
/// A <see cref="System.String"/> that represents this instance.
/// </returns>
/// <returns>A <see cref="System.String"/> that represents this instance.</returns>
public string ToString(string format)
{
if (format == null)
return ToString();
return string.Format(format, CultureInfo.CurrentCulture, "[M11:{0} M12:{1} M13:{2}] [M21:{3} M22:{4} M23:{5}] [M31:{6} M32:{7} M33:{8}]",
M11.ToString(format, CultureInfo.CurrentCulture), M12.ToString(format, CultureInfo.CurrentCulture), M13.ToString(format, CultureInfo.CurrentCulture),
M21.ToString(format, CultureInfo.CurrentCulture), M22.ToString(format, CultureInfo.CurrentCulture), M23.ToString(format, CultureInfo.CurrentCulture),
@@ -2096,9 +2067,7 @@ namespace FlaxEngine
/// Returns a <see cref="System.String"/> that represents this instance.
/// </summary>
/// <param name="formatProvider">The format provider.</param>
/// <returns>
/// A <see cref="System.String"/> that represents this instance.
/// </returns>
/// <returns>A <see cref="System.String"/> that represents this instance.</returns>
public string ToString(IFormatProvider formatProvider)
{
return string.Format(formatProvider, "[M11:{0} M12:{1} M13:{2}] [M21:{3} M22:{4} M23:{5}] [M31:{6} M32:{7} M33:{8}]",
@@ -2112,14 +2081,11 @@ namespace FlaxEngine
/// </summary>
/// <param name="format">The format.</param>
/// <param name="formatProvider">The format provider.</param>
/// <returns>
/// A <see cref="System.String"/> that represents this instance.
/// </returns>
/// <returns>A <see cref="System.String"/> that represents this instance.</returns>
public string ToString(string format, IFormatProvider formatProvider)
{
if (format == null)
return ToString(formatProvider);
return string.Format(format, formatProvider, "[M11:{0} M12:{1} M13:{2}] [M21:{3} M22:{4} M23:{5}] [M31:{6} M32:{7} M33:{8}]",
M11.ToString(format, formatProvider), M12.ToString(format, formatProvider), M13.ToString(format, formatProvider),
M21.ToString(format, formatProvider), M22.ToString(format, formatProvider), M23.ToString(format, formatProvider),
@@ -2129,9 +2095,7 @@ namespace FlaxEngine
/// <summary>
/// Returns a hash code for this instance.
/// </summary>
/// <returns>
/// A hash code for this instance, suitable for use in hashing algorithms and data structures like a hash table.
/// </returns>
/// <returns>A hash code for this instance, suitable for use in hashing algorithms and data structures like a hash table.</returns>
public override int GetHashCode()
{
unchecked
@@ -2153,9 +2117,7 @@ namespace FlaxEngine
/// Determines whether the specified <see cref="Matrix3x3"/> is equal to this instance.
/// </summary>
/// <param name="other">The <see cref="Matrix3x3"/> to compare with this instance.</param>
/// <returns>
/// <c>true</c> if the specified <see cref="Matrix3x3"/> is equal to this instance; otherwise, <c>false</c>.
/// </returns>
/// <returns><c>true</c> if the specified <see cref="Matrix3x3"/> is equal to this instance; otherwise, <c>false</c>.</returns>
public bool Equals(ref Matrix3x3 other)
{
return (Mathf.NearEqual(other.M11, M11) &&
@@ -2173,9 +2135,7 @@ namespace FlaxEngine
/// Determines whether the specified <see cref="Matrix3x3"/> is equal to this instance.
/// </summary>
/// <param name="other">The <see cref="Matrix3x3"/> to compare with this instance.</param>
/// <returns>
/// <c>true</c> if the specified <see cref="Matrix3x3"/> is equal to this instance; otherwise, <c>false</c>.
/// </returns>
/// <returns><c>true</c> if the specified <see cref="Matrix3x3"/> is equal to this instance; otherwise, <c>false</c>.</returns>
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public bool Equals(Matrix3x3 other)
{
@@ -2204,16 +2164,10 @@ namespace FlaxEngine
/// Determines whether the specified <see cref="System.Object"/> is equal to this instance.
/// </summary>
/// <param name="value">The <see cref="System.Object"/> to compare with this instance.</param>
/// <returns>
/// <c>true</c> if the specified <see cref="System.Object"/> is equal to this instance; otherwise, <c>false</c>.
/// </returns>
/// <returns><c>true</c> if the specified <see cref="System.Object"/> is equal to this instance; otherwise, <c>false</c>.</returns>
public override bool Equals(object value)
{
if (!(value is Matrix3x3))
return false;
var strongValue = (Matrix3x3)value;
return Equals(ref strongValue);
return value is Matrix3x3 other && Equals(ref other);
}
}
}