Changeset 3814 in orxonox.OLD

Timestamp:

Apr 13, 2005, 11:39:33 PM (19 years ago)

Author:

patrick

Message:

orxonox/trunk: working on vector class, making it more performant by reducing nr of objects created in operators and inlining them

Location:

orxonox/trunk/src/lib/math

Files:

• vector.cc (modified) (9 diffs)
• vector.h (modified) (1 diff)

orxonox/trunk/src/lib/math/vector.cc

@@ -23 +23 @@
 #include "vector.h"
 #include "debug.h"
+#include "stdincl.h"
 
 using namespace std;
@@ -31 +32 @@
    \return the sum of both vectors
 */
+/*
 Vector Vector::operator+ (const Vector& v) const
 {
-  Vector r;
-
-  r.x = x + v.x;
-  r.y = y + v.y;
-  r.z = z + v.z;
-  
-  return r;
-}
+  return Vector(x + v.x, y + v.y, z + v.z);
+}
+*/
 
 /**
@@ -49 +46 @@
 Vector Vector::operator- (const Vector& v) const
 {
-  Vector r;
-  
-  r.x = x - v.x;
-  r.y = y - v.y;
-  r.z = z - v.z;
-  
-  return r;
+  return Vector(x - v.x, y - v.y, z - v.z);
 }
 
@@ -75 +66 @@
 Vector Vector::operator* (float f) const
 {  
-  Vector r;
-  
-  r.x = x * f;
-  r.y = y * f;
-  r.z = z * f;
-  
-  return r;
+  return Vector(x * f, y * f, z * f);
 }
 
@@ -91 +76 @@
 Vector Vector::operator/ (float f) const
 {
-  Vector r;
-  
-  if( f == 0.0)
+  __UNLIKELY_IF( f == 0.0)
   {
     // Prevent divide by zero
     return Vector (0,0,0);
   }
-  
-  r.x = x / f;
-  r.y = y / f;
-  r.z = z / f;
-  
-  return r;
+  return Vector(x / f, y / f, z / f);
 }
 
@@ -123 +101 @@
 Vector Vector::cross (const Vector& v) const
 {
-  Vector r;
-  
-  r.x = y * v.z - z * v.y;
-  r.y = z * v.x - x * v.z;
-  r.z = x * v.y - y * v.x;
-  
-  return r;
+  return Vector(y * v.z - z * v.y, z * v.x - x * v.z, x * v.y - y * v.x );
 }
   
@@ -139 +111 @@
   float l = len();
   
-  if( l == 0.0)
+  __UNLIKELY_IF( l == 0.0)
   {
     // Prevent divide by zero
@@ -158 +130 @@
 {
   float l = len();
-  if(l != 1.0)
+  __UNLIKELY_IF(l != 1.0)
     {
       return this;
     }
-  else if(l == 0.0)
+  else __UNLIKELY_IF(l == 0.0)
     {
       return 0;
     }
-  
-  Vector *normalizedVector = new Vector(x / l, y /l, z / l);
-  return normalizedVector;
+
+  return new Vector(x / l, y /l, z / l);
 }
 
@@ -365 +336 @@
 Quaternion Quaternion::operator+(const Quaternion& q) const
 {
-        Quaternion r(*this);
-        r.w = r.w + q.w;
-        r.v = r.v + q.v;
-        return r;
-}
-
-/**
-        \brief subtract two Quaternions
-        \param q: another Quaternion
-        \return the difference of both Quaternions
+  Quaternion r(*this);
+  r.w = r.w + q.w;
+  r.v = r.v + q.v;
+  return r;
+}
+
+/**
+   \brief subtract two Quaternions
+   \param q: another Quaternion
+   \return the difference of both Quaternions
 */
 Quaternion Quaternion::operator- (const Quaternion& q) const
 {
-        Quaternion r(*this);
-        r.w = r.w - q.w;
-        r.v = r.v - q.v;
-        return r;
-}
-
-/**
-        \brief rotate a Vector by a Quaternion
-        \param v: the Vector
-        \return a new Vector representing v rotated by the Quaternion
+  Quaternion r(*this);
+  r.w = r.w - q.w;
+  r.v = r.v - q.v;
+  return r;
+}
+
+/**
+   \brief rotate a Vector by a Quaternion
+   \param v: the Vector
+   \return a new Vector representing v rotated by the Quaternion
 */
 Vector Quaternion::apply (Vector& v) const
 {
-        Quaternion q;
-        q.v = v;
-        q.w = 0;
-        q = *this * q * conjugate();
-        return q.v;
-}
-
-/**
-        \brief multiply a Quaternion with a real value
-        \param f: a real value
-        \return a new Quaternion containing the product
+  Quaternion q;
+  q.v = v;
+  q.w = 0;
+  q = *this * q * conjugate();
+  return q.v;
+}
+
+/**
+   \brief multiply a Quaternion with a real value
+   \param f: a real value
+   \return a new Quaternion containing the product
 */
 Quaternion Quaternion::operator*(const float& f) const
 {
-        Quaternion r(*this);
-        r.w = r.w*f;
-        r.v = r.v*f;
-        return r;
-}
-
-/**
-        \brief divide a Quaternion by a real value
-        \param f: a real value
-        \return a new Quaternion containing the quotient
+  Quaternion r(*this);
+  r.w = r.w*f;
+  r.v = r.v*f;
+  return r;
+}
+
+/**
+   \brief divide a Quaternion by a real value
+   \param f: a real value
+   \return a new Quaternion containing the quotient
 */
 Quaternion Quaternion::operator/(const float& f) const
 {
-        if( f == 0) return Quaternion();
-        Quaternion r(*this);
-        r.w = r.w/f;
-        r.v = r.v/f;
-        return r;
-}
-
-/**
-        \brief calculate the conjugate value of the Quaternion
-        \return the conjugate Quaternion
+  if( f == 0) return Quaternion();
+  Quaternion r(*this);
+  r.w = r.w/f;
+  r.v = r.v/f;
+  return r;
+}
+
+/**
+   \brief calculate the conjugate value of the Quaternion
+   \return the conjugate Quaternion
 */
 Quaternion Quaternion::conjugate() const
 {
-        Quaternion r(*this);
-        r.v = Vector() - r.v;
-        return r;
-}
-
-/**
-        \brief calculate the norm of the Quaternion
-        \return the norm of The Quaternion
+  Quaternion r(*this);
+  r.v = Vector() - r.v;
+  return r;
+}
+
+/**
+   \brief calculate the norm of the Quaternion
+   \return the norm of The Quaternion
 */
 float Quaternion::norm() const
 {
-        return w*w + v.x*v.x + v.y*v.y + v.z*v.z;
-}
-
-/**
-        \brief calculate the inverse value of the Quaternion
-        \return the inverse Quaternion
-        
+  return w*w + v.x*v.x + v.y*v.y + v.z*v.z;
+}
+
+/**
+   \brief calculate the inverse value of the Quaternion
+   \return the inverse Quaternion
+   
         Note that this is equal to conjugate() if the Quaternion's norm is 1
 */
 Quaternion Quaternion::inverse() const
 {
-        float n = norm();
-        if (n != 0)
-        {
-                return conjugate() / norm();
-        }
-        else return Quaternion();
-}
-
-/**
-        \brief convert the Quaternion to a 4x4 rotational glMatrix
-        \param m: a buffer to store the Matrix in
+  float n = norm();
+  if (n != 0)
+    {
+      return conjugate() / norm();
+    }
+  else return Quaternion();
+}
+
+/**
+   \brief convert the Quaternion to a 4x4 rotational glMatrix
+   \param m: a buffer to store the Matrix in
 */
 void Quaternion::matrix (float m[4][4]) const

orxonox/trunk/src/lib/math/vector.h

@@ -29 +29 @@
   ~Vector () {}
 
-  Vector operator+ (const Vector& v) const;
+  inline Vector operator+ (const Vector& v) const { return Vector(x + v.x, y + v.y, z + v.z); }
   Vector operator- (const Vector& v) const;
   float operator* (const Vector& v) const;