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Recast: deduplicate more math operations

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This commit is contained in:
Kawe Mazidjatari 2024-07-16 02:32:31 +02:00
parent 1853b571c5
commit dfa5996ce1
3 changed files with 38 additions and 58 deletions
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44
src/thirdparty/recast/Recast/Source/RecastMeshDetail.cpp vendored
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@ -31,24 +31,6 @@ struct rcHeightPatch
int xmin, ymin, width, height;
};
inline float vdot2(const float* a, const float* b)
{
return a[0]*b[0] + a[1]*b[1];
}
inline float vdistSq2(const float* p, const float* q)
{
const float dx = q[0] - p[0];
const float dy = q[1] - p[1];
return dx*dx + dy*dy;
}
inline float vdist2(const float* p, const float* q)
{
return rdMathSqrtf(vdistSq2(p,q));
}
inline float vcross2(const float* p1, const float* p2, const float* p3)
{
const float u1 = p2[0] - p1[0];
@ -71,13 +53,13 @@ static bool circumCircle(const float* p1, const float* p2, const float* p3,
const float cp = vcross2(v1, v2, v3);
if (rdMathFabsf(cp) > EPS)
{
const float v1Sq = vdot2(v1,v1);
const float v2Sq = vdot2(v2,v2);
const float v3Sq = vdot2(v3,v3);
const float v1Sq = rdVdot2D(v1,v1);
const float v2Sq = rdVdot2D(v2,v2);
const float v3Sq = rdVdot2D(v3,v3);
c[0] = (v1Sq*(v2[1]-v3[1]) + v2Sq*(v3[1]-v1[1]) + v3Sq*(v1[1]-v2[1])) / (2*cp);
c[1] = (v1Sq*(v3[0]-v2[0]) + v2Sq*(v1[0]-v3[0]) + v3Sq*(v2[0]-v1[0])) / (2*cp);
c[2] = 0;
r = vdist2(c, v1);
r = rdVdist2D(c, v1);
rdVadd(c, c, p1);
return true;
}
@ -94,11 +76,11 @@ static float distPtTri(const float* p, const float* a, const float* b, const flo
rdVsub(v1, b,a);
rdVsub(v2, p,a);
const float dot00 = vdot2(v0, v0);
const float dot01 = vdot2(v0, v1);
const float dot02 = vdot2(v0, v2);
const float dot11 = vdot2(v1, v1);
const float dot12 = vdot2(v1, v2);
const float dot00 = rdVdot2D(v0, v0);
const float dot01 = rdVdot2D(v0, v1);
const float dot02 = rdVdot2D(v0, v2);
const float dot11 = rdVdot2D(v1, v1);
const float dot12 = rdVdot2D(v1, v2);
// Compute barycentric coordinates
const float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
@ -455,7 +437,7 @@ static void completeFacet(rcContext* ctx, const float* pts, int npts, int* edges
circumCircle(&pts[s*3], &pts[t*3], &pts[u*3], c, r);
continue;
}
const float d = vdist2(c, &pts[u*3]);
const float d = rdVdist2D(c, &pts[u*3]);
const float tol = 0.001f;
if (d > r*(1+tol))
{
@ -675,7 +657,7 @@ static void triangulateHull(const int /*nverts*/, const float* verts, const int
const float* pv = &verts[hull[pi]*3];
const float* cv = &verts[hull[i]*3];
const float* nv = &verts[hull[ni]*3];
const float d = vdist2(pv,cv) + vdist2(cv,nv) + vdist2(nv,pv);
const float d = rdVdist2D(pv,cv) + rdVdist2D(cv,nv) + rdVdist2D(nv,pv);
if (d < dmin)
{
start = i;
@ -705,8 +687,8 @@ static void triangulateHull(const int /*nverts*/, const float* verts, const int
const float* nvleft = &verts[hull[nleft]*3];
const float* cvright = &verts[hull[right]*3];
const float* nvright = &verts[hull[nright]*3];
const float dleft = vdist2(cvleft, nvleft) + vdist2(nvleft, cvright);
const float dright = vdist2(cvright, nvright) + vdist2(cvleft, nvright);
const float dleft = rdVdist2D(cvleft, nvleft) + rdVdist2D(nvleft, cvright);
const float dright = rdVdist2D(cvright, nvright) + rdVdist2D(cvleft, nvright);
if (dleft < dright)
{

44
src/thirdparty/recast/Shared/Include/SharedCommon.h vendored
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@ -89,6 +89,17 @@ inline void rdVcross(float* dest, const float* v1, const float* v2)
dest[2] = v1[0]*v2[1] - v1[1]*v2[0];
}
/// Derives the xy-plane 2D perp product of the two vectors. (uy*vx - ux*vy)
/// @param[in] u The LHV vector [(x, y, z)]
/// @param[in] v The RHV vector [(x, y, z)]
/// @return The perp dot product on the xy-plane.
///
/// The vectors are projected onto the xy-plane, so the z-values are ignored.
inline float rdVperp2D(const float* u, const float* v)
{
return u[0]*v[1] - u[1]*v[0];
}
/// Derives the dot product of two vectors. (@p v1 . @p v2)
/// @param[in] v1 A Vector [(x, y, z)]
/// @param[in] v2 A vector [(x, y, z)]
@ -98,6 +109,17 @@ inline float rdVdot(const float* v1, const float* v2)
return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
}
/// Derives the dot product of two vectors on the xy-plane. (@p u . @p v)
/// @param[in] u A vector [(x, y, z)]
/// @param[in] v A vector [(x, y, z)]
/// @return The dot product on the xy-plane.
///
/// The vectors are projected onto the xy-plane, so the z-values are ignored.
inline float rdVdot2D(const float* u, const float* v)
{
return u[0]*v[0] + u[1]*v[1];
}
/// Performs a scaled vector addition. (@p v1 + (@p v2 * @p s))
/// @param[out] dest The result vector. [(x, y, z)]
/// @param[in] v1 The base vector. [(x, y, z)]
@ -305,28 +327,6 @@ inline bool rdVisfinite2D(const float* v)
return result;
}
/// Derives the dot product of two vectors on the xy-plane. (@p u . @p v)
/// @param[in] u A vector [(x, y, z)]
/// @param[in] v A vector [(x, y, z)]
/// @return The dot product on the xy-plane.
///
/// The vectors are projected onto the xy-plane, so the z-values are ignored.
inline float rdVdot2D(const float* u, const float* v)
{
return u[0]*v[0] + u[1]*v[1];
}
/// Derives the xy-plane 2D perp product of the two vectors. (uy*vx - ux*vy)
/// @param[in] u The LHV vector [(x, y, z)]
/// @param[in] v The RHV vector [(x, y, z)]
/// @return The perp dot product on the xy-plane.
///
/// The vectors are projected onto the xy-plane, so the z-values are ignored.
inline float rdVperp2D(const float* u, const float* v)
{
return u[0]*v[1] - u[1]*v[0];
}
/// @}
/// @name Computational geometry helper functions.
/// @{

8
src/thirdparty/recast/Shared/Source/SharedCommon.cpp vendored
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@ -368,8 +368,6 @@ void rdRandomPointInConvexPoly(const float* pts, const int npts, float* areas,
out[2] = a*pa[2] + b*pb[2] + c*pc[2];
}
inline float vperpXY(const float* a, const float* b) { return a[0]*b[1] - a[1]*b[0]; }
bool rdIntersectSegSeg2D(const float* ap, const float* aq,
const float* bp, const float* bq,
float& s, float& t)
@ -378,10 +376,10 @@ bool rdIntersectSegSeg2D(const float* ap, const float* aq,
rdVsub(u,aq,ap);
rdVsub(v,bq,bp);
rdVsub(w,ap,bp);
float d = vperpXY(u,v);
float d = rdVperp2D(u,v);
if (rdMathFabsf(d) < 1e-6f) return false;
s = vperpXY(v,w) / d;
t = vperpXY(u,w) / d;
s = rdVperp2D(v,w) / d;
t = rdVperp2D(u,w) / d;
return true;
}