Adjust vector_3 code with const, some optimization
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@ -66,16 +66,16 @@ vector_3 vector_3::get_normal() {
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float vector_3::get_length() { return sqrt((x * x) + (y * y) + (z * z)); }
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float vector_3::get_length() { return sqrt((x * x) + (y * y) + (z * z)); }
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void vector_3::normalize() {
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void vector_3::normalize() {
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float length = get_length();
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const float inv_length = 1.0 / get_length();
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x /= length;
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x *= inv_length;
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y /= length;
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y *= inv_length;
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z /= length;
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z *= inv_length;
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}
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}
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void vector_3::apply_rotation(matrix_3x3 matrix) {
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void vector_3::apply_rotation(matrix_3x3 matrix) {
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float resultX = x * matrix.matrix[3 * 0 + 0] + y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0];
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const float resultX = x * matrix.matrix[3 * 0 + 0] + y * matrix.matrix[3 * 1 + 0] + z * matrix.matrix[3 * 2 + 0],
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float resultY = x * matrix.matrix[3 * 0 + 1] + y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1];
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resultY = x * matrix.matrix[3 * 0 + 1] + y * matrix.matrix[3 * 1 + 1] + z * matrix.matrix[3 * 2 + 1],
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float resultZ = x * matrix.matrix[3 * 0 + 2] + y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2];
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resultZ = x * matrix.matrix[3 * 0 + 2] + y * matrix.matrix[3 * 1 + 2] + z * matrix.matrix[3 * 2 + 2];
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x = resultX;
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x = resultX;
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y = resultY;
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y = resultY;
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z = resultZ;
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z = resultZ;
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@ -144,9 +144,9 @@ matrix_3x3 matrix_3x3::transpose(matrix_3x3 original) {
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void matrix_3x3::debug(const char title[]) {
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void matrix_3x3::debug(const char title[]) {
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SERIAL_PROTOCOLLN(title);
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SERIAL_PROTOCOLLN(title);
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int count = 0;
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uint8_t count = 0;
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for (int i = 0; i < 3; i++) {
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for (uint8_t i = 0; i < 3; i++) {
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for (int j = 0; j < 3; j++) {
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for (uint8_t j = 0; j < 3; j++) {
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if (matrix[count] >= 0.0) SERIAL_PROTOCOLCHAR('+');
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if (matrix[count] >= 0.0) SERIAL_PROTOCOLCHAR('+');
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SERIAL_PROTOCOL_F(matrix[count], 6);
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SERIAL_PROTOCOL_F(matrix[count], 6);
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SERIAL_PROTOCOLCHAR(' ');
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SERIAL_PROTOCOLCHAR(' ');
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