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https://github.com/HandmadeMath/HandmadeMath.git
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Add fast vector normalization (#94)
* Add fast normalization routines * Update readme and remove version history from main file * Update version at top of file
This commit is contained in:
Ben Visness
151
HandmadeMath.h
151
HandmadeMath.h
@@ -1,5 +1,5 @@
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/*
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HandmadeMath.h v1.7.1
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HandmadeMath.h v1.8.0
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This is a single header file with a bunch of useful functions for game and
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graphics math operations.
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@@ -65,119 +65,6 @@
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versions of these functions that are provided by the CRT.
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=============================================================================
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Version History:
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0.2 (*) Updated documentation
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(*) Better C compliance
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(*) Prefix all handmade math functions
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(*) Better operator overloading
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0.2a
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(*) Prefixed Macros
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0.2b
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(*) Disabled warning 4201 on MSVC as it is legal is C11
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(*) Removed the f at the end of HMM_PI to get 64bit precision
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0.3
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(*) Added +=, -=, *=, /= for hmm_vec2, hmm_vec3, hmm_vec4
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0.4
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(*) SSE Optimized HMM_SqrtF
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(*) SSE Optimized HMM_RSqrtF
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(*) Removed CRT
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0.5
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(*) Added scalar multiplication and division for vectors
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and matrices
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(*) Added matrix subtraction and += for hmm_mat4
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(*) Reconciled all headers and implementations
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(*) Tidied up, and filled in a few missing operators
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0.5.1
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(*) Ensured column-major order for matrices throughout
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(*) Fixed HMM_Translate producing row-major matrices
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0.5.2
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(*) Fixed SSE code in HMM_SqrtF
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(*) Fixed SSE code in HMM_RSqrtF
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0.6
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(*) Added Unit testing
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(*) Made HMM_Power faster
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(*) Fixed possible efficiency problem with HMM_Normalize
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(*) RENAMED HMM_LengthSquareRoot to HMM_LengthSquared
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(*) RENAMED HMM_RSqrtF to HMM_RSquareRootF
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(*) RENAMED HMM_SqrtF to HMM_SquareRootF
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(*) REMOVED Inner function (user should use Dot now)
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(*) REMOVED HMM_FastInverseSquareRoot function declaration
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0.7
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(*) REMOVED HMM_LengthSquared in HANDMADE_MATH_IMPLEMENTATION (should
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use HMM_LengthSquaredVec3, or HANDMADE_MATH_CPP_MODE for function
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overloaded version)
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(*) REMOVED HMM_Length in HANDMADE_MATH_IMPLEMENTATION (should use
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HMM_LengthVec3, HANDMADE_MATH_CPP_MODE for function
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overloaded version)
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(*) REMOVED HMM_Normalize in HANDMADE_MATH_IMPLEMENTATION (should use
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HMM_NormalizeVec3, or HANDMADE_MATH_CPP_MODE for function
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overloaded version)
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(*) Added HMM_LengthSquaredVec2
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(*) Added HMM_LengthSquaredVec4
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(*) Addd HMM_LengthVec2
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(*) Added HMM_LengthVec4
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(*) Added HMM_NormalizeVec2
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(*) Added HMM_NormalizeVec4
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1.0
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(*) Lots of testing!
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1.1
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(*) Quaternion support
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(*) Added type hmm_quaternion
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(*) Added HMM_Quaternion
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(*) Added HMM_QuaternionV4
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(*) Added HMM_AddQuaternion
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(*) Added HMM_SubtractQuaternion
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(*) Added HMM_MultiplyQuaternion
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(*) Added HMM_MultiplyQuaternionF
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(*) Added HMM_DivideQuaternionF
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(*) Added HMM_InverseQuaternion
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(*) Added HMM_DotQuaternion
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(*) Added HMM_NormalizeQuaternion
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(*) Added HMM_Slerp
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(*) Added HMM_QuaternionToMat4
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(*) Added HMM_QuaternionFromAxisAngle
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1.1.1
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(*) Resolved compiler warnings on gcc and g++
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1.1.2
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(*) Fixed invalid HMMDEF's in the function definitions
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1.1.3
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(*) Fixed compile error in C mode
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1.1.4
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(*) Fixed SSE being included on platforms that don't support it
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(*) Fixed divide-by-zero errors when normalizing zero vectors.
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1.1.5
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(*) Add Width and Height to HMM_Vec2
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(*) Made it so you can supply your own SqrtF
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1.2.0
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(*) Added equality functions for HMM_Vec2, HMM_Vec3, and HMM_Vec4.
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(*) Added HMM_EqualsVec2, HMM_EqualsVec3, and HMM_EqualsVec4
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(*) Added C++ overloaded HMM_Equals for all three
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(*) Added C++ == and != operators for all three
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(*) SSE'd HMM_MultiplyMat4 (this is _WAY_ faster)
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(*) SSE'd HMM_Transpose
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1.3.0
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(*) Remove need to #define HANDMADE_MATH_CPP_MODE
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1.4.0
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(*) Fixed bug when using HandmadeMath in C mode
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(*) SSEd all vec4 operations
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(*) Removed all zero-ing
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1.5.0
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(*) Changed internal structure for better performance and inlining.
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(*) As a result, HANDMADE_MATH_NO_INLINE has been removed and no
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longer has any effect.
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1.5.1
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(*) Fixed a bug with uninitialized elements in HMM_LookAt.
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1.6.0
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(*) Added array subscript operators for vector and matrix types in
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C++. This is provided as a convenience, but be aware that it may
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incur an extra function call in unoptimized builds.
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1.7.0
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(*) Renamed the 'Rows' member of hmm_mat4 to 'Columns'. Since our
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matrices are column-major, this should have been named 'Columns'
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from the start. 'Rows' is still present, but has been deprecated.
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1.7.1
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(*) Changed operator[] to take a const ref int instead of an int.
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LICENSE
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@@ -1129,6 +1016,21 @@ HMM_INLINE hmm_vec4 HMM_NormalizeVec4(hmm_vec4 A)
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return (Result);
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}
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HMM_INLINE hmm_vec2 HMM_FastNormalizeVec2(hmm_vec2 A)
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{
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return HMM_MultiplyVec2f(A, HMM_RSquareRootF(HMM_DotVec2(A, A)));
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}
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HMM_INLINE hmm_vec3 HMM_FastNormalizeVec3(hmm_vec3 A)
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{
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return HMM_MultiplyVec3f(A, HMM_RSquareRootF(HMM_DotVec3(A, A)));
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}
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HMM_INLINE hmm_vec4 HMM_FastNormalizeVec4(hmm_vec4 A)
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{
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return HMM_MultiplyVec4f(A, HMM_RSquareRootF(HMM_DotVec4(A, A)));
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}
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/*
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* SSE stuff
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@@ -1512,6 +1414,27 @@ HMM_INLINE hmm_vec4 HMM_Normalize(hmm_vec4 A)
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return (Result);
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}
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HMM_INLINE hmm_vec2 HMM_FastNormalize(hmm_vec2 A)
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{
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hmm_vec2 Result = HMM_FastNormalizeVec2(A);
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return (Result);
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}
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HMM_INLINE hmm_vec3 HMM_FastNormalize(hmm_vec3 A)
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{
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hmm_vec3 Result = HMM_FastNormalizeVec3(A);
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return (Result);
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}
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HMM_INLINE hmm_vec4 HMM_FastNormalize(hmm_vec4 A)
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{
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hmm_vec4 Result = HMM_FastNormalizeVec4(A);
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return (Result);
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}
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HMM_INLINE hmm_quaternion HMM_Normalize(hmm_quaternion A)
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{
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hmm_quaternion Result = HMM_NormalizeQuaternion(A);
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@@ -10,6 +10,7 @@ To get started, go download [the latest release](https://github.com/HandmadeMath
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Version | Changes |
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----------------|----------------|
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**1.8.0** | Added fast vector normalization routines that use fast inverse square roots.
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**1.7.1** | Changed operator[] to take a const ref int instead of an int.
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**1.7.0** | Renamed the 'Rows' member of hmm_mat4 to 'Columns'. Since our matrices are column-major, this should have been named 'Columns' from the start. 'Rows' is still present, but has been deprecated.
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**1.6.0** | Added array subscript operators for vector and matrix types in C++. This is provided as a convenience, but be aware that it may incur an extra function call in unoptimized builds.
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@@ -134,6 +134,106 @@ TEST(VectorOps, NormalizeZero)
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#endif
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}
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TEST(VectorOps, FastNormalize)
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{
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hmm_vec2 v2 = HMM_Vec2(1.0f, -2.0f);
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hmm_vec3 v3 = HMM_Vec3(1.0f, -2.0f, 3.0f);
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hmm_vec4 v4 = HMM_Vec4(1.0f, -2.0f, 3.0f, -1.0f);
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{
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hmm_vec2 result = HMM_FastNormalizeVec2(v2);
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EXPECT_NEAR(HMM_LengthVec2(result), 1.0f, 0.001f);
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EXPECT_GT(result.X, 0.0f);
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EXPECT_LT(result.Y, 0.0f);
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}
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{
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hmm_vec3 result = HMM_FastNormalizeVec3(v3);
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EXPECT_NEAR(HMM_LengthVec3(result), 1.0f, 0.001f);
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EXPECT_GT(result.X, 0.0f);
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EXPECT_LT(result.Y, 0.0f);
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EXPECT_GT(result.Z, 0.0f);
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}
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{
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hmm_vec4 result = HMM_FastNormalizeVec4(v4);
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EXPECT_NEAR(HMM_LengthVec4(result), 1.0f, 0.001f);
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EXPECT_GT(result.X, 0.0f);
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EXPECT_LT(result.Y, 0.0f);
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EXPECT_GT(result.Z, 0.0f);
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EXPECT_LT(result.W, 0.0f);
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}
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#ifdef __cplusplus
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{
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hmm_vec2 result = HMM_FastNormalize(v2);
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EXPECT_NEAR(HMM_LengthVec2(result), 1.0f, 0.001f);
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EXPECT_GT(result.X, 0.0f);
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EXPECT_LT(result.Y, 0.0f);
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}
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{
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hmm_vec3 result = HMM_FastNormalize(v3);
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EXPECT_NEAR(HMM_LengthVec3(result), 1.0f, 0.001f);
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EXPECT_GT(result.X, 0.0f);
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EXPECT_LT(result.Y, 0.0f);
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EXPECT_GT(result.Z, 0.0f);
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}
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{
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hmm_vec4 result = HMM_FastNormalize(v4);
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EXPECT_NEAR(HMM_LengthVec4(result), 1.0f, 0.001f);
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EXPECT_GT(result.X, 0.0f);
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EXPECT_LT(result.Y, 0.0f);
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EXPECT_GT(result.Z, 0.0f);
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EXPECT_LT(result.W, 0.0f);
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}
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#endif
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}
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TEST(VectorOps, FastNormalizeZero)
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{
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hmm_vec2 v2 = HMM_Vec2(0.0f, 0.0f);
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hmm_vec3 v3 = HMM_Vec3(0.0f, 0.0f, 0.0f);
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hmm_vec4 v4 = HMM_Vec4(0.0f, 0.0f, 0.0f, 0.0f);
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{
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hmm_vec2 result = HMM_FastNormalizeVec2(v2);
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EXPECT_FLOAT_EQ(result.X, 0.0f);
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EXPECT_FLOAT_EQ(result.Y, 0.0f);
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}
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{
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hmm_vec3 result = HMM_FastNormalizeVec3(v3);
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EXPECT_FLOAT_EQ(result.X, 0.0f);
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EXPECT_FLOAT_EQ(result.Y, 0.0f);
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EXPECT_FLOAT_EQ(result.Z, 0.0f);
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}
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{
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hmm_vec4 result = HMM_FastNormalizeVec4(v4);
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EXPECT_FLOAT_EQ(result.X, 0.0f);
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EXPECT_FLOAT_EQ(result.Y, 0.0f);
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EXPECT_FLOAT_EQ(result.Z, 0.0f);
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EXPECT_FLOAT_EQ(result.W, 0.0f);
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}
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#ifdef __cplusplus
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{
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hmm_vec2 result = HMM_FastNormalize(v2);
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EXPECT_FLOAT_EQ(result.X, 0.0f);
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EXPECT_FLOAT_EQ(result.Y, 0.0f);
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}
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{
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hmm_vec3 result = HMM_FastNormalize(v3);
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EXPECT_FLOAT_EQ(result.X, 0.0f);
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EXPECT_FLOAT_EQ(result.Y, 0.0f);
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EXPECT_FLOAT_EQ(result.Z, 0.0f);
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}
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{
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hmm_vec4 result = HMM_FastNormalize(v4);
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EXPECT_FLOAT_EQ(result.X, 0.0f);
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EXPECT_FLOAT_EQ(result.Y, 0.0f);
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EXPECT_FLOAT_EQ(result.Z, 0.0f);
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EXPECT_FLOAT_EQ(result.W, 0.0f);
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}
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#endif
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}
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TEST(VectorOps, Cross)
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{
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hmm_vec3 v1 = HMM_Vec3(1.0f, 2.0f, 3.0f);
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