Оптимизация под GNU C компилятор / Optimization for GNU C Compiller
This commit is contained in:
parent
e4d75824f3
commit
081f794eb1
10 changed files with 671 additions and 755 deletions
|
|
@ -1,105 +1 @@
|
|||
#include "matrix2x2.h"
|
||||
|
||||
// ================= Inversion ================== //
|
||||
|
||||
int bg_fp32_matrix2x2_invert(BgFP32Matrix2x2* matrix)
|
||||
{
|
||||
const float determinant = bg_fp32_matrix2x2_get_determinant(matrix);
|
||||
|
||||
if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
const float r1c1 = matrix->r2c2;
|
||||
const float r1c2 = -matrix->r1c2;
|
||||
|
||||
const float r2c1 = -matrix->r2c1;
|
||||
const float r2c2 = matrix->r1c1;
|
||||
|
||||
const float multiplier = 1.0f / determinant;
|
||||
|
||||
matrix->r1c1 = r1c1 * multiplier;
|
||||
matrix->r1c2 = r1c2 * multiplier;
|
||||
|
||||
matrix->r2c1 = r2c1 * multiplier;
|
||||
matrix->r2c2 = r2c2 * multiplier;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int bg_fp64_matrix2x2_invert(BgFP64Matrix2x2* matrix)
|
||||
{
|
||||
const double determinant = bg_fp64_matrix2x2_get_determinant(matrix);
|
||||
|
||||
if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
const double r1c1 = matrix->r2c2;
|
||||
const double r1c2 = -matrix->r1c2;
|
||||
|
||||
const double r2c1 = -matrix->r2c1;
|
||||
const double r2c2 = matrix->r1c1;
|
||||
|
||||
const double multiplier = 1.0 / determinant;
|
||||
|
||||
matrix->r1c1 = r1c1 * multiplier;
|
||||
matrix->r1c2 = r1c2 * multiplier;
|
||||
|
||||
matrix->r2c1 = r2c1 * multiplier;
|
||||
matrix->r2c2 = r2c2 * multiplier;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
// ================ Set Inverted ================ //
|
||||
|
||||
int bg_fp32_matrix2x2_set_inverted(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to)
|
||||
{
|
||||
const float determinant = bg_fp32_matrix2x2_get_determinant(from);
|
||||
|
||||
if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
const float r1c1 = from->r2c2;
|
||||
const float r1c2 = -from->r1c2;
|
||||
|
||||
const float r2c1 = -from->r2c1;
|
||||
const float r2c2 = from->r1c1;
|
||||
|
||||
const float multiplier = 1.0f / determinant;
|
||||
|
||||
to->r1c1 = r1c1 * multiplier;
|
||||
to->r1c2 = r1c2 * multiplier;
|
||||
|
||||
to->r2c1 = r2c1 * multiplier;
|
||||
to->r2c2 = r2c2 * multiplier;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int bg_fp64_matrix2x2_set_inverted(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to)
|
||||
{
|
||||
const double determinant = bg_fp64_matrix2x2_get_determinant(from);
|
||||
|
||||
if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
const double r1c1 = from->r2c2;
|
||||
const double r1c2 = -from->r1c2;
|
||||
|
||||
const double r2c1 = -from->r2c1;
|
||||
const double r2c2 = from->r1c1;
|
||||
|
||||
const double multiplier = 1.0 / determinant;
|
||||
|
||||
to->r1c1 = r1c1 * multiplier;
|
||||
to->r1c2 = r1c2 * multiplier;
|
||||
|
||||
to->r2c1 = r2c1 * multiplier;
|
||||
to->r2c2 = r2c2 * multiplier;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -171,9 +171,55 @@ static inline void bg_fp64_matrix2x2_transpose(BgFP64Matrix2x2* matrix)
|
|||
|
||||
// ================= Inversion ================== //
|
||||
|
||||
int bg_fp32_matrix2x2_invert(BgFP32Matrix2x2* matrix);
|
||||
static inline int bg_fp32_matrix2x2_invert(BgFP32Matrix2x2* matrix)
|
||||
{
|
||||
const float determinant = bg_fp32_matrix2x2_get_determinant(matrix);
|
||||
|
||||
int bg_fp64_matrix2x2_invert(BgFP64Matrix2x2* matrix);
|
||||
if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
const float r1c1 = matrix->r2c2;
|
||||
const float r1c2 = -matrix->r1c2;
|
||||
|
||||
const float r2c1 = -matrix->r2c1;
|
||||
const float r2c2 = matrix->r1c1;
|
||||
|
||||
const float multiplier = 1.0f / determinant;
|
||||
|
||||
matrix->r1c1 = r1c1 * multiplier;
|
||||
matrix->r1c2 = r1c2 * multiplier;
|
||||
|
||||
matrix->r2c1 = r2c1 * multiplier;
|
||||
matrix->r2c2 = r2c2 * multiplier;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
static inline int bg_fp64_matrix2x2_invert(BgFP64Matrix2x2* matrix)
|
||||
{
|
||||
const double determinant = bg_fp64_matrix2x2_get_determinant(matrix);
|
||||
|
||||
if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
const double r1c1 = matrix->r2c2;
|
||||
const double r1c2 = -matrix->r1c2;
|
||||
|
||||
const double r2c1 = -matrix->r2c1;
|
||||
const double r2c2 = matrix->r1c1;
|
||||
|
||||
const double multiplier = 1.0 / determinant;
|
||||
|
||||
matrix->r1c1 = r1c1 * multiplier;
|
||||
matrix->r1c2 = r1c2 * multiplier;
|
||||
|
||||
matrix->r2c1 = r2c1 * multiplier;
|
||||
matrix->r2c2 = r2c2 * multiplier;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
// =============== Set Transposed =============== //
|
||||
|
||||
|
|
@ -201,9 +247,55 @@ static inline void bg_fp64_matrix2x2_set_transposed(const BgFP64Matrix2x2* from,
|
|||
|
||||
// ================ Set Inverted ================ //
|
||||
|
||||
int bg_fp32_matrix2x2_set_inverted(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to);
|
||||
static inline int bg_fp32_matrix2x2_set_inverted(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to)
|
||||
{
|
||||
const float determinant = bg_fp32_matrix2x2_get_determinant(from);
|
||||
|
||||
int bg_fp64_matrix2x2_set_inverted(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to);
|
||||
if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
const float r1c1 = from->r2c2;
|
||||
const float r1c2 = -from->r1c2;
|
||||
|
||||
const float r2c1 = -from->r2c1;
|
||||
const float r2c2 = from->r1c1;
|
||||
|
||||
const float multiplier = 1.0f / determinant;
|
||||
|
||||
to->r1c1 = r1c1 * multiplier;
|
||||
to->r1c2 = r1c2 * multiplier;
|
||||
|
||||
to->r2c1 = r2c1 * multiplier;
|
||||
to->r2c2 = r2c2 * multiplier;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
static inline int bg_fp64_matrix2x2_set_inverted(const BgFP64Matrix2x2* from, BgFP64Matrix2x2* to)
|
||||
{
|
||||
const double determinant = bg_fp64_matrix2x2_get_determinant(from);
|
||||
|
||||
if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
const double r1c1 = from->r2c2;
|
||||
const double r1c2 = -from->r1c2;
|
||||
|
||||
const double r2c1 = -from->r2c1;
|
||||
const double r2c2 = from->r1c1;
|
||||
|
||||
const double multiplier = 1.0 / determinant;
|
||||
|
||||
to->r1c1 = r1c1 * multiplier;
|
||||
to->r1c2 = r1c2 * multiplier;
|
||||
|
||||
to->r2c1 = r2c1 * multiplier;
|
||||
to->r2c2 = r2c2 * multiplier;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
// ================= Set Row 1 ================== //
|
||||
|
||||
|
|
|
|||
|
|
@ -1,233 +1,2 @@
|
|||
#include "quaternion.h"
|
||||
|
||||
// =============== Normalization ================ //
|
||||
|
||||
int bg_fp32_quaternion_normalize(BgFP32Quaternion* quaternion)
|
||||
{
|
||||
const float square_modulus = bg_fp32_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (1.0f - BG_FP32_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0f + BG_FP32_TWO_EPSYLON) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= BG_FP32_SQUARE_EPSYLON) {
|
||||
bg_fp32_quaternion_reset(quaternion);
|
||||
return 0;
|
||||
}
|
||||
|
||||
const float multiplier = sqrtf(1.0f / square_modulus);
|
||||
|
||||
quaternion->s0 *= multiplier;
|
||||
quaternion->x1 *= multiplier;
|
||||
quaternion->x2 *= multiplier;
|
||||
quaternion->x3 *= multiplier;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
int bg_fp64_quaternion_normalize(BgFP64Quaternion* quaternion)
|
||||
{
|
||||
const double square_modulus = bg_fp64_quaternion_get_square_modulus(quaternion);
|
||||
|
||||
if (1.0 - BG_FP64_TWO_EPSYLON <= square_modulus && square_modulus <= 1.0 + BG_FP64_TWO_EPSYLON) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (square_modulus <= BG_FP32_SQUARE_EPSYLON) {
|
||||
bg_fp64_quaternion_reset(quaternion);
|
||||
return 0;
|
||||
}
|
||||
|
||||
const double multiplier = sqrt(1.0 / square_modulus);
|
||||
|
||||
quaternion->s0 *= multiplier;
|
||||
quaternion->x1 *= multiplier;
|
||||
quaternion->x2 *= multiplier;
|
||||
quaternion->x3 *= multiplier;
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
// ============ Make Rotation Matrix ============ //
|
||||
|
||||
void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix)
|
||||
{
|
||||
const float s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const float x1x1 = quaternion->x1 * quaternion->x1;
|
||||
const float x2x2 = quaternion->x2 * quaternion->x2;
|
||||
const float x3x3 = quaternion->x3 * quaternion->x3;
|
||||
|
||||
const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
|
||||
if (-BG_FP32_EPSYLON <= square_modulus && square_modulus <= BG_FP32_EPSYLON)
|
||||
{
|
||||
bg_fp32_matrix3x3_set_to_identity(matrix);
|
||||
return;
|
||||
}
|
||||
|
||||
const float corrector1 = 1.0f / square_modulus;
|
||||
const float corrector2 = 2.0f * corrector1;
|
||||
|
||||
const float s0x1 = quaternion->s0 * quaternion->x1;
|
||||
const float s0x2 = quaternion->s0 * quaternion->x2;
|
||||
const float s0x3 = quaternion->s0 * quaternion->x3;
|
||||
const float x1x2 = quaternion->x1 * quaternion->x2;
|
||||
const float x1x3 = quaternion->x1 * quaternion->x3;
|
||||
const float x2x3 = quaternion->x2 * quaternion->x3;
|
||||
|
||||
matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
|
||||
matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
|
||||
matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
|
||||
|
||||
matrix->r1c2 = corrector2 * (x1x2 - s0x3);
|
||||
matrix->r2c3 = corrector2 * (x2x3 - s0x1);
|
||||
matrix->r3c1 = corrector2 * (x1x3 - s0x2);
|
||||
|
||||
matrix->r2c1 = corrector2 * (x1x2 + s0x3);
|
||||
matrix->r3c2 = corrector2 * (x2x3 + s0x1);
|
||||
matrix->r1c3 = corrector2 * (x1x3 + s0x2);
|
||||
}
|
||||
|
||||
void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix)
|
||||
{
|
||||
const double s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const double x1x1 = quaternion->x1 * quaternion->x1;
|
||||
const double x2x2 = quaternion->x2 * quaternion->x2;
|
||||
const double x3x3 = quaternion->x3 * quaternion->x3;
|
||||
|
||||
const double square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
|
||||
if (-BG_FP64_EPSYLON <= square_modulus && square_modulus <= BG_FP64_EPSYLON)
|
||||
{
|
||||
bg_fp64_matrix3x3_set_to_identity(matrix);
|
||||
return;
|
||||
}
|
||||
|
||||
const double corrector1 = 1.0f / square_modulus;
|
||||
const double corrector2 = 2.0f * corrector1;
|
||||
|
||||
const double s0x1 = quaternion->s0 * quaternion->x1;
|
||||
const double s0x2 = quaternion->s0 * quaternion->x2;
|
||||
const double s0x3 = quaternion->s0 * quaternion->x3;
|
||||
const double x1x2 = quaternion->x1 * quaternion->x2;
|
||||
const double x1x3 = quaternion->x1 * quaternion->x3;
|
||||
const double x2x3 = quaternion->x2 * quaternion->x3;
|
||||
|
||||
matrix->r1c1 = corrector1 * ((s0s0 + x1x1) - (x2x2 + x3x3));
|
||||
matrix->r2c2 = corrector1 * ((s0s0 + x2x2) - (x1x1 + x3x3));
|
||||
matrix->r3c3 = corrector1 * ((s0s0 + x3x3) - (x1x1 + x2x2));
|
||||
|
||||
matrix->r1c2 = corrector2 * (x1x2 - s0x3);
|
||||
matrix->r2c3 = corrector2 * (x2x3 - s0x1);
|
||||
matrix->r3c1 = corrector2 * (x1x3 - s0x2);
|
||||
|
||||
matrix->r2c1 = corrector2 * (x1x2 + s0x3);
|
||||
matrix->r3c2 = corrector2 * (x2x3 + s0x1);
|
||||
matrix->r1c3 = corrector2 * (x1x3 + s0x2);
|
||||
}
|
||||
|
||||
// ============ Make Reverse Matrix ============= //
|
||||
|
||||
void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix)
|
||||
{
|
||||
const float s0s0 = quaternion->s0 * quaternion->s0;
|
||||
const float x1x1 = quaternion->x1 * quaternion->x1;
|
||||
const float x2x2 = quaternion->x2 * quaternion->x2;
|
||||
const float x3x3 = quaternion->x3 * quaternion->x3;
|
||||
|
||||
const float square_modulus = (s0s0 + x1x1) + (x2x2 + x3x3);
|
||||
|
||||
if (-BG_FP32_EPSYLON <= square_modulus && square_modulus <= BG_FP32_EPSYLON)
|
||||
{
|
||||
bg_fp32_matrix3x3_set_to_identity(matrix);
|
||||
return;
|
||||
}
|
||||
|
||||
const float corrector1 = 1.0f / square_modulus;
|
||||
const float corrector2 = 2.0f * corrector1;
|
||||
|
||||