Misaki/Misaki.HighPerformance
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Refactor and enhance math, memory, and utilities

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Refactored `sincos` usage in `quaternion` to use tuple-based
returns for improved readability. Introduced a `random` struct
with methods for generating random values of various types
and dimensions, including ranges and directions. Added a
`DynamicArray` class for dynamic resizing and manipulation
of collections. Enhanced `SlotMap` with new methods for
safe access and updates.

Updated `uint` vector types with `NumericConvertable`
attributes for better type interoperability. Removed the
`MathUtilities` class and refactored `adj` and `adjInverse`
methods for encapsulation. Improved memory management
with `StackAllocator` and `UnsafeArray` enhancements.

Added geometry utilities like `AABB`, `OBB`, `Plane`, and
`SphereBounds` for 3D operations. Updated project
configuration for versioning and NuGet packaging.
Performed general code cleanup, improved validation, and
aligned with modern C# practices.
This commit is contained in:
Misaki
2025-09-23 22:57:12 +09:00
parent 73a0c6e187
commit ac73e28f26
52 changed files with 3658 additions and 5150 deletions
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39
Misaki.HighPerformance.Mathematics/quaternion.cs
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@@ -106,7 +106,7 @@ public partial struct quaternion : IEquatable<quaternion>
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static quaternion AxisAngle(float3 axis, float angle)
{
sincos(0.5f * angle, out var sina, out var cosa);
var (sina, cosa) = sincos(0.5f * angle);
return new quaternion(new float4(axis * sina, cosa));
}
@@ -120,8 +120,7 @@ public partial struct quaternion : IEquatable<quaternion>
public static quaternion EulerXYZ(float3 xyz)
{
// return mul(rotateZ(xyz.z), mul(rotateY(xyz.y), rotateX(xyz.x)));
float3 s, c;
sincos(0.5f * xyz, out s, out c);
var (s, c) = sincos(0.5f * xyz);
return new quaternion(
// s.x * c.y * c.z - s.y * s.z * c.x,
// s.y * c.x * c.z + s.x * s.z * c.y,
@@ -140,8 +139,7 @@ public partial struct quaternion : IEquatable<quaternion>
public static quaternion EulerXZY(float3 xyz)
{
// return mul(rotateY(xyz.y), mul(rotateZ(xyz.z), rotateX(xyz.x)));
float3 s, c;
sincos(0.5f * xyz, out s, out c);
var (s, c) = sincos(0.5f * xyz);
return new quaternion(
// s.x * c.y * c.z + s.y * s.z * c.x,
// s.y * c.x * c.z + s.x * s.z * c.y,
@@ -160,8 +158,7 @@ public partial struct quaternion : IEquatable<quaternion>
public static quaternion EulerYXZ(float3 xyz)
{
// return mul(rotateZ(xyz.z), mul(rotateX(xyz.x), rotateY(xyz.y)));
float3 s, c;
sincos(0.5f * xyz, out s, out c);
var (s, c) = sincos(0.5f * xyz);
return new quaternion(
// s.x * c.y * c.z - s.y * s.z * c.x,
// s.y * c.x * c.z + s.x * s.z * c.y,
@@ -180,8 +177,7 @@ public partial struct quaternion : IEquatable<quaternion>
public static quaternion EulerYZX(float3 xyz)
{
// return mul(rotateX(xyz.x), mul(rotateZ(xyz.z), rotateY(xyz.y)));
float3 s, c;
sincos(0.5f * xyz, out s, out c);
var (s, c) = sincos(0.5f * xyz);
return new quaternion(
// s.x * c.y * c.z - s.y * s.z * c.x,
// s.y * c.x * c.z - s.x * s.z * c.y,
@@ -201,8 +197,7 @@ public partial struct quaternion : IEquatable<quaternion>
public static quaternion EulerZXY(float3 xyz)
{
// return mul(rotateY(xyz.y), mul(rotateX(xyz.x), rotateZ(xyz.z)));
float3 s, c;
sincos(0.5f * xyz, out s, out c);
var (s, c) = sincos(0.5f * xyz);
return new quaternion(
// s.x * c.y * c.z + s.y * s.z * c.x,
// s.y * c.x * c.z - s.x * s.z * c.y,
@@ -221,8 +216,7 @@ public partial struct quaternion : IEquatable<quaternion>
public static quaternion EulerZYX(float3 xyz)
{
// return mul(rotateX(xyz.x), mul(rotateY(xyz.y), rotateZ(xyz.z)));
float3 s, c;
sincos(0.5f * xyz, out s, out c);
var (s, c) = sincos(0.5f * xyz);
return new quaternion(
// s.x * c.y * c.z + s.y * s.z * c.x,
// s.y * c.x * c.z - s.x * s.z * c.y,
@@ -370,8 +364,7 @@ public partial struct quaternion : IEquatable<quaternion>
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static quaternion RotateX(float angle)
{
float sina, cosa;
sincos(0.5f * angle, out sina, out cosa);
var (sina, cosa) = sincos(0.5f * angle);
return new quaternion(sina, 0.0f, 0.0f, cosa);
}
@@ -381,8 +374,7 @@ public partial struct quaternion : IEquatable<quaternion>
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static quaternion RotateY(float angle)
{
float sina, cosa;
sincos(0.5f * angle, out sina, out cosa);
var (sina, cosa) = sincos(0.5f * angle);
return new quaternion(0.0f, sina, 0.0f, cosa);
}
@@ -392,8 +384,7 @@ public partial struct quaternion : IEquatable<quaternion>
[MethodImpl(MethodImplOptions.AggressiveInlining)]
public static quaternion RotateZ(float angle)
{
float sina, cosa;
sincos(0.5f * angle, out sina, out cosa);
var (sina, cosa) = sincos(0.5f * angle);
return new quaternion(0.0f, 0.0f, sina, cosa);
}
@@ -594,8 +585,7 @@ public static partial class math
{
var v_rcp_len = rsqrt(dot(q.value.xyz, q.value.xyz));
var v_len = rcp(v_rcp_len);
float sin_v_len, cos_v_len;
sincos(v_len, out sin_v_len, out cos_v_len);
var (sin_v_len, cos_v_len) = sincos(v_len);
return quaternion(new float4(q.value.xyz * v_rcp_len * sin_v_len, cos_v_len));
}
@@ -607,8 +597,7 @@ public static partial class math
{
var v_rcp_len = rsqrt(dot(q.value.xyz, q.value.xyz));
var v_len = rcp(v_rcp_len);
float sin_v_len, cos_v_len;
sincos(v_len, out sin_v_len, out cos_v_len);
var (sin_v_len, cos_v_len) = sincos(v_len);
return quaternion(new float4(q.value.xyz * v_rcp_len * sin_v_len, cos_v_len) * exp(q.value.w));
}
@@ -752,7 +741,7 @@ public static partial class math
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
static float3x3 adj(float3x3 m, out float det)
private static float3x3 adj(float3x3 m, out float det)
{
float3x3 adjT;
adjT.c0 = cross(m.c1, m.c2);
@@ -764,7 +753,7 @@ public static partial class math
}
[MethodImpl(MethodImplOptions.AggressiveInlining)]
static bool adjInverse(float3x3 m, out float3x3 i, float epsilon = svd.EPSILON_NORMAL)
private static bool adjInverse(float3x3 m, out float3x3 i, float epsilon = svd.EPSILON_NORMAL)
{
i = adj(m, out var det);
var c = abs(det) > epsilon;