update rotate3d_normal

YGXXD · Jun 24, 2024 · 878a2a8 · 878a2a8
1 parent 8d578f6
commit 878a2a8
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Showing 3 changed files with 17 additions and 13 deletions.
diff --git a/ktm/detail/function/matrix_transform3d.inl b/ktm/detail/function/matrix_transform3d.inl
@@ -12,8 +12,8 @@
 #include "../../type/basic.h"
 
 template<typename T>
-KTM_NOINLINE std::enable_if_t<std::is_floating_point_v<T>, ktm::mat<4, 4, T>> ktm::detail::matrix_transform3d_implement::
-    rotate3d_normal(T sin_theta, T cos_theta, const vec<3, T>& normal, const vec<3, T>* normal_start_ptr) noexcept
+KTM_NOINLINE std::enable_if_t<std::is_floating_point_v<T>> ktm::detail::matrix_transform3d_implement::
+    rotate3d_normal(ktm::mat<4, 4, T>& out, T sin_theta, T cos_theta, const vec<3, T>& normal, const vec<3, T>* normal_start_ptr) noexcept
 {
     T one_minus_cos_theta = one<T> - cos_theta;
     T xx_one_minus_cos = normal[0] * normal[0] * one_minus_cos_theta;
@@ -23,23 +23,21 @@ KTM_NOINLINE std::enable_if_t<std::is_floating_point_v<T>, ktm::mat<4, 4, T>> kt
     T yz_one_minus_cos = normal[1] * normal[2] * one_minus_cos_theta;
     T zz_one_minus_cos = normal[2] * normal[2] * one_minus_cos_theta;
     T x_sin = normal[0] * sin_theta, y_sin = normal[1] * sin_theta, z_sin = normal[2] * sin_theta;
-    mat<4, 4, T> ret;
-    ret[0] = { xx_one_minus_cos + cos_theta, xy_one_minus_cos + z_sin, xz_one_minus_cos - y_sin, zero<T> };
-    ret[1] = { xy_one_minus_cos - z_sin, yy_one_minus_cos + cos_theta, yz_one_minus_cos + x_sin, zero<T> };
-    ret[2] = { xz_one_minus_cos + y_sin, yz_one_minus_cos - x_sin, zz_one_minus_cos + cos_theta, zero<T> };
+    out[0] = { xx_one_minus_cos + cos_theta, xy_one_minus_cos + z_sin, xz_one_minus_cos - y_sin, zero<T> };
+    out[1] = { xy_one_minus_cos - z_sin, yy_one_minus_cos + cos_theta, yz_one_minus_cos + x_sin, zero<T> };
+    out[2] = { xz_one_minus_cos + y_sin, yz_one_minus_cos - x_sin, zz_one_minus_cos + cos_theta, zero<T> };
     if(normal_start_ptr)
     {
         T a = (*normal_start_ptr)[0], b = (*normal_start_ptr)[1], c = (*normal_start_ptr)[2];
-        ret[3] = { a * (one_minus_cos_theta - xx_one_minus_cos) + b * (z_sin - xy_one_minus_cos) - c * (y_sin + xz_one_minus_cos),
+        out[3] = { a * (one_minus_cos_theta - xx_one_minus_cos) + b * (z_sin - xy_one_minus_cos) - c * (y_sin + xz_one_minus_cos),
                    b * (one_minus_cos_theta - yy_one_minus_cos) + c * (x_sin - yz_one_minus_cos) - a * (z_sin + xy_one_minus_cos),
                    c * (one_minus_cos_theta - zz_one_minus_cos) + a * (y_sin - xz_one_minus_cos) - b * (x_sin + yz_one_minus_cos),
                    one<T> };
     }
     else
     {
-        ret[3] = { zero<T>, zero<T>, zero<T>, one<T> };
+        out[3] = { zero<T>, zero<T>, zero<T>, one<T> };
     }
-    return ret;
 }
 
 #endif
diff --git a/ktm/detail/function/matrix_transform3d_fwd.h b/ktm/detail/function/matrix_transform3d_fwd.h
@@ -20,7 +20,7 @@ namespace matrix_transform3d_implement
 {
 
 template<typename T>
-KTM_NOINLINE std::enable_if_t<std::is_floating_point_v<T>, mat<4, 4, T>> rotate3d_normal(
+KTM_NOINLINE std::enable_if_t<std::is_floating_point_v<T>> rotate3d_normal(mat<4, 4, T>& out,
     T sin_theta, T cos_theta, const vec<3, T>& normal, const vec<3, T>* normal_start_ptr = nullptr) noexcept;
 
 }

diff --git a/ktm/function/matrix_transform3d.h b/ktm/function/matrix_transform3d.h
@@ -169,21 +169,27 @@ KTM_INLINE std::enable_if_t<std::is_floating_point_v<T>, mat<4, 4, T>> rotate3d_
 template<typename T>
 KTM_INLINE std::enable_if_t<std::is_floating_point_v<T>, mat<4, 4, T>> rotate3d_axis(T angle, const vec<3, T>& axis) noexcept
 {
-	return detail::matrix_transform3d_implement::rotate3d_normal(sin(angle), cos(angle), axis);
+    mat<4, 4, T> ret;
+	detail::matrix_transform3d_implement::rotate3d_normal(ret, sin(angle), cos(angle), axis);
+    return ret;
 }
 
 template<typename T>
 KTM_INLINE std::enable_if_t<std::is_floating_point_v<T>, mat<4, 4, T>> rotate3d_from_to(const vec<3, T>& from, const vec<3, T>& to) noexcept
 {
     T cos_theta = dot(from, to);
     T sin_theta = sqrt(one<T> - cos_theta * cos_theta);
-	return detail::matrix_transform3d_implement::rotate3d_normal(sin_theta, cos_theta, normalize(cross(from, to)));
+    mat<4, 4, T> ret;
+	detail::matrix_transform3d_implement::rotate3d_normal(ret, sin_theta, cos_theta, normalize(cross(from, to)));
+    return ret;
 }
 
 template<typename T>
 KTM_INLINE std::enable_if_t<std::is_floating_point_v<T>, mat<4, 4, T>> rotate3d_any_axis(T angle, const vec<3, T>& axis_start, const vec<3, T>& axis) noexcept
 {
-	return detail::matrix_transform3d_implement::rotate3d_normal(sin(angle), cos(angle), axis, &axis_start);
+    mat<4, 4, T> ret;
+	detail::matrix_transform3d_implement::rotate3d_normal(ret, sin(angle), cos(angle), axis, &axis_start);
+    return ret;
 }
 
 template<typename T>