Box Simd (#6193)

* Box Simd

* Add 256 bit version of GetAABB

* Add AABB bechmarks

* No real diff between 128 & 256, so removing 256

| Method     | Mean      | Error     | StdDev    | Ratio |
|----------- |----------:|----------:|----------:|------:|
| GetAABB    | 5.8107 ns | 0.0154 ns | 0.0137 ns |  1.00 |
| GetAABB128 | 0.4927 ns | 0.0003 ns | 0.0002 ns |  0.08 |
| GetAABB256 | 0.4332 ns | 0.0006 ns | 0.0006 ns |  0.07 |

* Add Box2Rotated.Transform Benchmark

* Results

20% faster and much smaller code. Also I don't think it inlined RotateVec

* Add Matrix3x2Helper.TransformBox() benchmark

new:

| Method    | Mean     | Error     | StdDev    | Code Size |
|---------- |---------:|----------:|----------:|----------:|
| Transform | 2.463 ns | 0.0766 ns | 0.0679 ns |     216 B |

old:
| Method    | Mean     | Error     | StdDev    | Median   | Code Size |
|---------- |---------:|----------:|----------:|---------:|----------:|
| Transform | 9.469 ns | 0.2140 ns | 0.5408 ns | 9.206 ns |     621 B |

* Fix polygon constructor

* SlimPolygonBenchmark

* use new SimdHelper for other methods

* Fix bugs

* Use new methods

* Simd SlimPolygon.ComputeAABB

* Move simd transform to physics

* Cleanup

* Remove uneccesary Unsafe.SkipInit

* These tests all work on master

* Add Transform.MulSimd test

* Add SlimPolygon constructor tests

* Add ComputeAABB test

---------

Co-authored-by: metalgearsloth <31366439+metalgearsloth@users.noreply.github.com>

Robust.Benchmarks/NumericsHelpers/Box2Benchmark.cs

@@ -0,0 +1,19 @@
+using System.Numerics;
+using BenchmarkDotNet.Attributes;
+using Robust.Shared.Analyzers;
+using Robust.Shared.Maths;
+
+namespace Robust.Benchmarks.NumericsHelpers;
+
+[Virtual, DisassemblyDiagnoser]
+public class Box2Benchmark
+{
+    public Box2 Box = new();
+    public Matrix3x2 Matrix = new();
+
+    [Benchmark]
+    public Box2 Transform()
+    {
+        return Matrix.TransformBox(Box);
+    }
+}

Robust.Benchmarks/NumericsHelpers/Box2RotatedBenchmark.cs

@@ -0,0 +1,18 @@
+using System.Numerics;
+using BenchmarkDotNet.Attributes;
+using Robust.Shared.Analyzers;
+using Robust.Shared.Maths;
+
+namespace Robust.Benchmarks.NumericsHelpers;
+
+[Virtual, DisassemblyDiagnoser]
+public class Box2RotatedBenchmark
+{
+    public Box2Rotated Box = new();
+
+    [Benchmark]
+    public Matrix3x2 GetTransform()
+    {
+        return Box.Transform;
+    }
+}

Robust.Benchmarks/NumericsHelpers/GetAABBBenchmark.cs

@@ -0,0 +1,25 @@
+using System.Runtime.Intrinsics;
+using BenchmarkDotNet.Attributes;
+using Robust.Shared.Analyzers;
+using Robust.Shared.Maths;
+
+namespace Robust.Benchmarks.NumericsHelpers;
+
+[Virtual, DisassemblyDiagnoser]
+public class GetAABBBenchmark
+{
+    public Vector128<float> X;
+    public Vector128<float> Y;
+
+    [Benchmark(Baseline = true)]
+    public Vector128<float> GetAABB_NoAvx()
+    {
+        return SimdHelpers.GetAABBSlow(X, Y);
+    }
+
+    [Benchmark]
+    public Vector128<float> GetAABB_Avx()
+    {
+        return SimdHelpers.GetAABBAvx(X, Y);
+    }
+}

Robust.Benchmarks/NumericsHelpers/SlimPolygonBenchmark.cs

@@ -0,0 +1,21 @@
+using BenchmarkDotNet.Attributes;
+using Robust.Shared.Analyzers;
+using Robust.Shared.Maths;
+using Robust.Shared.Physics.Shapes;
+
+namespace Robust.Benchmarks.NumericsHelpers;
+
+// SlimPolyon is internal, so this won't compile without changes.
+/*
+[Virtual, DisassemblyDiagnoser]
+public class SlimPolygonBenchmark
+{
+    public Box2Rotated RotBox = new();
+
+    [Benchmark]
+    public SlimPolygon RotatedBox()
+    {
+        return new SlimPolygon(in RotBox);
+    }
+}
+*/