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Optimize Basis constructor for Axis Angle

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This commit is contained in:
Aaron Franke
2019-05-17 05:11:12 -04:00
parent b72ba99939
commit 9ff708f008
2 changed files with 36 additions and 31 deletions
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38
modules/mono/glue/Managed/Files/Basis.cs
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@@ -583,31 +583,29 @@ namespace Godot
public Basis(Vector3 axis, real_t phi)
{
var axis_sq = new Vector3(axis.x * axis.x, axis.y * axis.y, axis.z * axis.z);
Vector3 axisSq = new Vector3(axis.x * axis.x, axis.y * axis.y, axis.z * axis.z);
real_t cosine = Mathf.Cos(phi);
Row0.x = axisSq.x + cosine * (1.0f - axisSq.x);
Row1.y = axisSq.y + cosine * (1.0f - axisSq.y);
Row2.z = axisSq.z + cosine * (1.0f - axisSq.z);
real_t sine = Mathf.Sin(phi);
real_t t = 1.0f - cosine;
Row0 = new Vector3
(
axis_sq.x + cosine * (1.0f - axis_sq.x),
axis.x * axis.y * (1.0f - cosine) - axis.z * sine,
axis.z * axis.x * (1.0f - cosine) + axis.y * sine
);
real_t xyzt = axis.x * axis.y * t;
real_t zyxs = axis.z * sine;
Row0.y = xyzt - zyxs;
Row1.x = xyzt + zyxs;
Row1 = new Vector3
(
axis.x * axis.y * (1.0f - cosine) + axis.z * sine,
axis_sq.y + cosine * (1.0f - axis_sq.y),
axis.y * axis.z * (1.0f - cosine) - axis.x * sine
);
xyzt = axis.x * axis.z * t;
zyxs = axis.y * sine;
Row0.z = xyzt + zyxs;
Row2.x = xyzt - zyxs;
Row2 = new Vector3
(
axis.z * axis.x * (1.0f - cosine) - axis.y * sine,
axis.y * axis.z * (1.0f - cosine) + axis.x * sine,
axis_sq.z + cosine * (1.0f - axis_sq.z)
);
xyzt = axis.y * axis.z * t;
zyxs = axis.x * sine;
Row1.z = xyzt - zyxs;
Row2.y = xyzt + zyxs;
}
public Basis(Vector3 column0, Vector3 column1, Vector3 column2)