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Optimize PolygonShape.ComputeAABB(...) (#62)
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Optimize PolygonShape.ComputeAABB(...), EdgeShape.ComputeAABB(...) and CircleShape.ComputeAABB(...)
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@nkast
nkast authored Dec 23, 2018
1 parent da9f84e commit 2706365
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Showing 3 changed files with 71 additions and 19 deletions.
13 changes: 10 additions & 3 deletions Physics2D/Collision/Shapes/CircleShape.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -134,9 +134,16 @@ public override bool RayCast(out RayCastOutput output, ref RayCastInput input, r

public override void ComputeAABB(out AABB aabb, ref Transform transform, int childIndex)
{
Vector2 p = transform.p + Complex.Multiply(ref _position, ref transform.q);
aabb.LowerBound = new Vector2(p.X - Radius, p.Y - Radius);
aabb.UpperBound = new Vector2(p.X + Radius, p.Y + Radius);
// OPT: Vector2 p = transform.p + Complex.Multiply(ref _position, ref transform.q);
var pX = (_position.X * transform.q.Real - _position.Y * transform.q.Imaginary) + transform.p.X;
var pY = (_position.Y * transform.q.Real + _position.X * transform.q.Imaginary) + transform.p.Y;

// OPT: aabb.LowerBound = new Vector2(p.X - Radius, p.Y - Radius);
// OPT: aabb.UpperBound = new Vector2(p.X + Radius, p.Y + Radius);
aabb.LowerBound.X = pX - Radius;
aabb.LowerBound.Y = pY - Radius;
aabb.UpperBound.X = pX + Radius;
aabb.UpperBound.Y = pY + Radius;
}

protected override sealed void ComputeProperties()
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44 changes: 36 additions & 8 deletions Physics2D/Collision/Shapes/EdgeShape.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -207,15 +207,43 @@ public override bool RayCast(out RayCastOutput output, ref RayCastInput input, r

public override void ComputeAABB(out AABB aabb, ref Transform transform, int childIndex)
{
Vector2 v1 = Transform.Multiply(ref _vertex1, ref transform);
Vector2 v2 = Transform.Multiply(ref _vertex2, ref transform);

Vector2 lower = Vector2.Min(v1, v2);
Vector2 upper = Vector2.Max(v1, v2);
// OPT: Vector2 v1 = Transform.Multiply(ref _vertex1, ref transform);
float v1X = (_vertex1.X * transform.q.Real - _vertex1.Y * transform.q.Imaginary) + transform.p.X;
float v1Y = (_vertex1.Y * transform.q.Real + _vertex1.X * transform.q.Imaginary) + transform.p.Y;
// OPT: Vector2 v2 = Transform.Multiply(ref _vertex2, ref transform);
float v2X = (_vertex2.X * transform.q.Real - _vertex2.Y * transform.q.Imaginary) + transform.p.X;
float v2Y = (_vertex2.Y * transform.q.Real + _vertex2.X * transform.q.Imaginary) + transform.p.Y;

// OPT: aabb.LowerBound = Vector2.Min(v1, v2);
// OPT: aabb.UpperBound = Vector2.Max(v1, v2);
if (v1X < v2X)
{
aabb.LowerBound.X = v1X;
aabb.UpperBound.X = v2X;
}
else
{
aabb.LowerBound.X = v2X;
aabb.UpperBound.X = v1X;
}
if (v1Y < v2Y)
{
aabb.LowerBound.Y = v1Y;
aabb.UpperBound.Y = v2Y;
}
else
{
aabb.LowerBound.Y = v2Y;
aabb.UpperBound.Y = v1Y;
}

Vector2 r = new Vector2(Radius, Radius);
aabb.LowerBound = lower - r;
aabb.UpperBound = upper + r;
// OPT: Vector2 r = new Vector2(Radius, Radius);
// OPT: aabb.LowerBound = aabb.LowerBound - r;
// OPT: aabb.UpperBound = aabb.LowerBound + r;
aabb.LowerBound.X -= Radius;
aabb.LowerBound.Y -= Radius;
aabb.UpperBound.X += Radius;
aabb.UpperBound.Y += Radius;
}

protected override void ComputeProperties()
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33 changes: 25 additions & 8 deletions Physics2D/Collision/Shapes/PolygonShape.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -317,19 +317,36 @@ public override bool RayCast(out RayCastOutput output, ref RayCastInput input, r
/// <param name="childIndex">The child shape index.</param>
public override void ComputeAABB(out AABB aabb, ref Transform transform, int childIndex)
{
Vector2 lower = Transform.Multiply(Vertices[0], ref transform);
Vector2 upper = lower;
// OPT: aabb.LowerBound = Transform.Multiply(Vertices[0], ref transform);
var vert = Vertices[0];
aabb.LowerBound.X = (vert.X * transform.q.Real - vert.Y * transform.q.Imaginary) + transform.p.X;
aabb.LowerBound.Y = (vert.Y * transform.q.Real + vert.X * transform.q.Imaginary) + transform.p.Y;
aabb.UpperBound = aabb.LowerBound;

for (int i = 1; i < Vertices.Count; ++i)
{
Vector2 v = Transform.Multiply(Vertices[i], ref transform);
Vector2.Min(ref lower, ref v, out lower);
Vector2.Max(ref upper, ref v, out upper);
// OPT: Vector2 v = Transform.Multiply(Vertices[i], ref transform);
vert = Vertices[i];
float vX = (vert.X * transform.q.Real - vert.Y * transform.q.Imaginary) + transform.p.X;
float vY = (vert.Y * transform.q.Real + vert.X * transform.q.Imaginary) + transform.p.Y;

// OPT: Vector2.Min(ref aabb.LowerBound, ref v, out aabb.LowerBound);
// OPT: Vector2.Max(ref aabb.UpperBound, ref v, out aabb.UpperBound);
Debug.Assert(aabb.LowerBound.X <= aabb.UpperBound.X);
if (vX < aabb.LowerBound.X) aabb.LowerBound.X = vX;
else if (vX > aabb.UpperBound.X) aabb.UpperBound.X = vX;
Debug.Assert(aabb.LowerBound.Y <= aabb.UpperBound.Y);
if (vY < aabb.LowerBound.Y) aabb.LowerBound.Y = vY;
else if (vY > aabb.UpperBound.Y) aabb.UpperBound.Y = vY;
}

Vector2 r = new Vector2(Radius, Radius);
aabb.LowerBound = lower - r;
aabb.UpperBound = upper + r;
// OPT: Vector2 r = new Vector2(Radius, Radius);
// OPT: aabb.LowerBound = aabb.LowerBound - r;
// OPT: aabb.UpperBound = aabb.UpperBound + r;
aabb.LowerBound.X -= Radius;
aabb.LowerBound.Y -= Radius;
aabb.UpperBound.X += Radius;
aabb.UpperBound.Y += Radius;
}

public override float ComputeSubmergedArea(ref Vector2 normal, float offset, ref Transform xf, out Vector2 sc)
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