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Matrix cleanup (#2920)

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This commit is contained in:
Leon Friedrich
2022-06-09 00:52:48 +12:00
committed by GitHub
parent 7f0feef97c
commit b44524cd10
1 changed files with 9 additions and 70 deletions
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79
Robust.Shared.Maths/Matrix3.cs
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@@ -382,12 +382,6 @@ namespace Robust.Shared.Maths
return CreateTranslation(vector.X, vector.Y);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static Matrix3 CreateRotation(float angle)
{
return CreateRotation(new Angle(angle));
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static Matrix3 CreateRotation(Angle angle)
{
@@ -910,11 +904,7 @@ namespace Robust.Shared.Maths
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void Transform(ref Vector3 vector)
{
var x = R0C0 * vector.X + R0C1 * vector.Y + R0C2 * vector.Z;
var y = R1C0 * vector.X + R1C1 * vector.Y + R1C2 * vector.Z;
vector.Z = R2C0 * vector.X + R2C1 * vector.Y + R2C2 * vector.Z;
vector.X = x;
vector.Y = y;
Transform(this, ref vector);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -930,9 +920,9 @@ namespace Robust.Shared.Maths
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Transform(in Matrix3 matrix, ref Vector2 vector)
{
var vec3 = new Vector3(vector.X, vector.Y, 1);
Transform(matrix, ref vec3);
vector = vec3.Xy;
var x = matrix.R0C0 * vector.X + matrix.R0C1 * vector.Y + matrix.R0C2;
vector.Y = matrix.R1C0 * vector.X + matrix.R1C1 * vector.Y + matrix.R1C2;
vector.X = x;
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -1097,25 +1087,6 @@ namespace Robust.Shared.Maths
result = new Vector2(x, y);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void Rotate(float angle)
{
var angleRadians = MathHelper.DegreesToRadians(angle);
var sin = (float) Math.Sin(angleRadians);
var cos = (float) Math.Cos(angleRadians);
var r0c0 = cos * R0C0 + sin * R1C0;
var r0c1 = cos * R0C1 + sin * R1C1;
var r0c2 = cos * R0C2 + sin * R1C2;
R1C0 = cos * R1C0 - sin * R0C0;
R1C1 = cos * R1C1 - sin * R0C1;
R1C2 = cos * R1C2 - sin * R0C2;
R0C0 = r0c0;
R0C1 = r0c1;
R0C2 = r0c2;
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void Rotate(Angle angle)
@@ -1137,29 +1108,16 @@ namespace Robust.Shared.Maths
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public void Rotate(float angle, out Matrix3 result)
public void Rotate(Angle angle, out Matrix3 result)
{
var angleRadians = MathHelper.DegreesToRadians(angle);
var sin = (float) Math.Sin(angleRadians);
var cos = (float) Math.Cos(angleRadians);
result.R0C0 = cos * R0C0 + sin * R1C0;
result.R0C1 = cos * R0C1 + sin * R1C1;
result.R0C2 = cos * R0C2 + sin * R1C2;
result.R1C0 = cos * R1C0 - sin * R0C0;
result.R1C1 = cos * R1C1 - sin * R0C1;
result.R1C2 = cos * R1C2 - sin * R0C2;
result.R2C0 = R2C0;
result.R2C1 = R2C1;
result.R2C2 = R2C2;
Rotate(this, angle, out result);
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void Rotate(ref Matrix3 matrix, float angle, out Matrix3 result)
public static void Rotate(in Matrix3 matrix, Angle angle, out Matrix3 result)
{
var angleRadians = MathHelper.DegreesToRadians(angle);
var sin = (float) Math.Sin(angleRadians);
var cos = (float) Math.Cos(angleRadians);
var sin = (float) Math.Sin(angle);
var cos = (float) Math.Cos(angle);
result.R0C0 = cos * matrix.R0C0 + sin * matrix.R1C0;
result.R0C1 = cos * matrix.R0C1 + sin * matrix.R1C1;
@@ -1171,25 +1129,6 @@ namespace Robust.Shared.Maths
result.R2C1 = matrix.R2C1;
result.R2C2 = matrix.R2C2;
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static void RotateMatrix(float angle, out Matrix3 result)
{
var angleRadians = MathHelper.DegreesToRadians(angle);
var sin = (float) Math.Sin(angleRadians);
var cos = (float) Math.Cos(angleRadians);
result.R0C0 = cos;
result.R0C1 = sin;
result.R0C2 = 0;
result.R1C0 = -sin;
result.R1C1 = cos;
result.R1C2 = 0;
result.R2C0 = 0;
result.R2C1 = 0;
result.R2C2 = 1;
}
#endregion Transformation Functions
#region Operator Overloads