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YASim clarification. Add const to method parameters in Math.hpp

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This commit is contained in:
Henning Stahlke 2017-02-25 13:36:48 +01:00
parent 4cbe540bec
commit 76a0ea96cc
1 changed files with 14 additions and 14 deletions
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28
src/FDM/YASim/Math.hpp
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@ -44,17 +44,17 @@ public:
// Some 3D vector stuff. In all cases, it is permissible for the // Some 3D vector stuff. In all cases, it is permissible for the
// "out" vector to be the same as one of the inputs. // "out" vector to be the same as one of the inputs.
static inline void set3(float* v, float* out) { static inline void set3(const float* v, float* out) {
out[0] = v[0]; out[0] = v[0];
out[1] = v[1]; out[1] = v[1];
out[2] = v[2]; out[2] = v[2];
} }
static inline float dot3(float* a, float* b) { static inline float dot3(const float* a, const float* b) {
return a[0]*b[0] + a[1]*b[1] + a[2]*b[2]; return a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
} }
static inline void cross3(float* a, float* b, float* out) { static inline void cross3(const float* a, const float* b, float* out) {
float ax=a[0], ay=a[1], az=a[2]; float ax=a[0], ay=a[1], az=a[2];
float bx=b[0], by=b[1], bz=b[2]; float bx=b[0], by=b[1], bz=b[2];
out[0] = ay*bz - by*az; out[0] = ay*bz - by*az;
@ -62,30 +62,30 @@ public:
out[2] = ax*by - bx*ay; out[2] = ax*by - bx*ay;
} }
static inline void mul3(float scalar, float* v, float* out) static inline void mul3(const float scalar, const float* v, float* out)
{ {
out[0] = scalar * v[0]; out[0] = scalar * v[0];
out[1] = scalar * v[1]; out[1] = scalar * v[1];
out[2] = scalar * v[2]; out[2] = scalar * v[2];
} }
static inline void add3(float* a, float* b, float* out){ static inline void add3(const float* a, const float* b, float* out){
out[0] = a[0] + b[0]; out[0] = a[0] + b[0];
out[1] = a[1] + b[1]; out[1] = a[1] + b[1];
out[2] = a[2] + b[2]; out[2] = a[2] + b[2];
} }
static inline void sub3(float* a, float* b, float* out) { static inline void sub3(const float* a, const float* b, float* out) {
out[0] = a[0] - b[0]; out[0] = a[0] - b[0];
out[1] = a[1] - b[1]; out[1] = a[1] - b[1];
out[2] = a[2] - b[2]; out[2] = a[2] - b[2];
} }
static inline float mag3(float* v) { static inline float mag3(const float* v) {
return sqrt(dot3(v, v)); return sqrt(dot3(v, v));
} }
static inline void unit3(float* v, float* out) { static inline void unit3(const float* v, float* out) {
float imag = 1/mag3(v); float imag = 1/mag3(v);
mul3(imag, v, out); mul3(imag, v, out);
} }
@ -95,7 +95,7 @@ public:
// 6 7 8 // 6 7 8
// Multiply two matrices // Multiply two matrices
static void mmul33(float* a, float* b, float* out) { static void mmul33(const float* a, const float* b, float* out) {
float tmp[9]; float tmp[9];
tmp[0] = a[0]*b[0] + a[1]*b[3] + a[2]*b[6]; tmp[0] = a[0]*b[0] + a[1]*b[3] + a[2]*b[6];
tmp[3] = a[3]*b[0] + a[4]*b[3] + a[5]*b[6]; tmp[3] = a[3]*b[0] + a[4]*b[3] + a[5]*b[6];
@ -114,7 +114,7 @@ public:
} }
// Multiply by vector // Multiply by vector
static inline void vmul33(float* m, float* v, float* out) { static inline void vmul33(const float* m, const float* v, float* out) {
float x = v[0], y = v[1], z = v[2]; float x = v[0], y = v[1], z = v[2];
out[0] = x*m[0] + y*m[1] + z*m[2]; out[0] = x*m[0] + y*m[1] + z*m[2];
out[1] = x*m[3] + y*m[4] + z*m[5]; out[1] = x*m[3] + y*m[4] + z*m[5];
@ -123,7 +123,7 @@ public:
// Multiply the vector by the matrix transpose. Or pre-multiply the // Multiply the vector by the matrix transpose. Or pre-multiply the
// matrix by v as a row vector. Same thing. // matrix by v as a row vector. Same thing.
static inline void tmul33(float* m, float* v, float* out) { static inline void tmul33(const float* m, const float* v, float* out) {
float x = v[0], y = v[1], z = v[2]; float x = v[0], y = v[1], z = v[2];
out[0] = x*m[0] + y*m[3] + z*m[6]; out[0] = x*m[0] + y*m[3] + z*m[6];
out[1] = x*m[1] + y*m[4] + z*m[7]; out[1] = x*m[1] + y*m[4] + z*m[7];
@ -131,7 +131,7 @@ public:
} }
/// Invert symmetric matrix; ~1/3 less calculations due to symmetry /// Invert symmetric matrix; ~1/3 less calculations due to symmetry
static void invert33_sym(float* m, float* out) { static void invert33_sym(const float* m, float* out) {
// Compute the inverse as the adjoint matrix times 1/(det M). // Compute the inverse as the adjoint matrix times 1/(det M).
// A, B ... I are the cofactors of a b c // A, B ... I are the cofactors of a b c
// d e f // d e f
@ -157,7 +157,7 @@ public:
// Transpose matrix (for an orthonormal orientation matrix, this // Transpose matrix (for an orthonormal orientation matrix, this
// is the same as the inverse). // is the same as the inverse).
static inline void trans33(float* m, float* out) { static inline void trans33(const float* m, float* out) {
// 0 1 2 Elements 0, 4, and 8 are the same // 0 1 2 Elements 0, 4, and 8 are the same
// 3 4 5 Swap elements 1/3, 2/6, and 5/7 // 3 4 5 Swap elements 1/3, 2/6, and 5/7
// 6 7 8 // 6 7 8
@ -182,7 +182,7 @@ public:
// xOut becomes the unit vector in the direction of x // xOut becomes the unit vector in the direction of x
// yOut is perpendicular to xOut in the x/y plane // yOut is perpendicular to xOut in the x/y plane
// zOut becomes the unit vector: (xOut cross yOut) // zOut becomes the unit vector: (xOut cross yOut)
static void ortho33(float* x, float* y, static void ortho33(const float* x, const float* y,
float* xOut, float* yOut, float* zOut) { float* xOut, float* yOut, float* zOut) {
float x0[3], y0[3]; float x0[3], y0[3];
set3(x, x0); set3(x, x0);