public static Matrix Convert(BEPUutilities.Matrix3x3 matrix)
{
Matrix toReturn;
Convert(ref matrix, out toReturn);
return(toReturn);
}
public TextureMissile(GameModel model, Vector3 target, GameTexture carriedTex, Player p, GameModel targetModel, bool followPlayer = true)
{
FollowPlayer = followPlayer;
player = p;
this.targetModel = targetModel;
Model = model;
Target = target;
CarriedTex = carriedTex;
Vector3 up = Vector3.UnitZ;
Vector3 forward = Target - MathConverter.Convert(model.Entity.Position);
forward.Normalize();
Vector3 left = Vector3.Cross(up, forward);
BEPUutilities.Matrix3x3 m = new BEPUutilities.Matrix3x3();
m.Left = left;
m.Forward = forward;
m.Up = up;
Model.Entity.OrientationMatrix = m;
linearMotor = new SingleEntityLinearMotor(model.Entity, model.Entity.Position);
linearMotor.Settings.Mode = BEPUphysics.Constraints.TwoEntity.Motors.MotorMode.Servomechanism;
linearMotor.Settings.Servo.Goal = Target;
linearMotor.IsActive = true;
}
public static void Convert(ref Matrix matrix, out BEPUutilities.Matrix3x3 bepuMatrix)
{
bepuMatrix.M11 = matrix.M11;
bepuMatrix.M12 = matrix.M12;
bepuMatrix.M13 = matrix.M13;
bepuMatrix.M21 = matrix.M21;
bepuMatrix.M22 = matrix.M22;
bepuMatrix.M23 = matrix.M23;
bepuMatrix.M31 = matrix.M31;
bepuMatrix.M32 = matrix.M32;
bepuMatrix.M33 = matrix.M33;
}
private void update()
{
if (FollowPlayer)
{
Target = linearMotor.Settings.Servo.Goal = player.character.CharacterController.Body.Position;
}
Vector3 up = Vector3.UnitZ;
Vector3 forward = Target - MathConverter.Convert(Model.Entity.Position);
forward.Normalize();
Vector3 left = Vector3.Cross(up, forward);
BEPUutilities.Matrix3x3 m = new BEPUutilities.Matrix3x3();
m.Left = left;
m.Forward = forward;
m.Up = up;
Model.Entity.OrientationMatrix = m;
}
private void off()
{
if (joint != null && this.Locked)
{
BEPUphysics.Constraints.JointBasis2D basis = joint.Motor.Basis;
basis.RotationMatrix = joint.Motor.ConnectionA.OrientationMatrix;
Vector3 localTestAxis = joint.Motor.LocalTestAxis;
Vector3 worldTestAxis;
BEPUutilities.Matrix3x3 orientationMatrix = joint.Motor.ConnectionB.OrientationMatrix;
BEPUutilities.Matrix3x3.Transform(ref localTestAxis, ref orientationMatrix, out worldTestAxis);
float y, x;
Vector3 yAxis = Vector3.Cross(basis.PrimaryAxis, basis.XAxis);
Vector3.Dot(ref worldTestAxis, ref yAxis, out y);
x = Vector3.Dot(worldTestAxis, basis.XAxis);
this.Goal.Value = (float)Math.Atan2(y, x);
this.Servo.Value = true;
}
}
public static void Convert(ref BEPUutilities.Matrix3x3 matrix, out Matrix xnaMatrix)
{
xnaMatrix.M11 = matrix.M11;
xnaMatrix.M12 = matrix.M12;
xnaMatrix.M13 = matrix.M13;
xnaMatrix.M14 = 0;
xnaMatrix.M21 = matrix.M21;
xnaMatrix.M22 = matrix.M22;
xnaMatrix.M23 = matrix.M23;
xnaMatrix.M24 = 0;
xnaMatrix.M31 = matrix.M31;
xnaMatrix.M32 = matrix.M32;
xnaMatrix.M33 = matrix.M33;
xnaMatrix.M34 = 0;
xnaMatrix.M41 = 0;
xnaMatrix.M42 = 0;
xnaMatrix.M43 = 0;
xnaMatrix.M44 = 1;
}
public static float TestScalarInvert(int iterationCount)
{
bMatrix3x3 m = bMatrix3x3.Identity;
float accumulator = 0;
for (int i = 0; i < iterationCount; ++i)
{
bMatrix3x3 r0, r1;
bMatrix3x3.Invert(ref m, out r0);
bMatrix3x3.Invert(ref r0, out r1);
bMatrix3x3.Invert(ref r1, out r0);
bMatrix3x3.Invert(ref r0, out r1);
bMatrix3x3.Invert(ref r1, out r0);
bMatrix3x3.Invert(ref r0, out r1);
bMatrix3x3.Invert(ref r1, out r0);
bMatrix3x3.Invert(ref r0, out r1);
bMatrix3x3.Invert(ref r1, out r0);
bMatrix3x3.Invert(ref r0, out r1);
accumulator += r1.M11;
}
return(accumulator);
}
public static float TestScalarMultiply(int iterationCount)
{
bMatrix3x3 m1 = bMatrix3x3.Identity;
bMatrix3x3 m2 = bMatrix3x3.Identity;
float accumulator = 0;
for (int i = 0; i < iterationCount; ++i)
{
bMatrix3x3 r0, r1;
bMatrix3x3.Multiply(ref m1, ref m2, out r0);
bMatrix3x3.Multiply(ref r0, ref m2, out r1);
bMatrix3x3.Multiply(ref r1, ref m2, out r0);
bMatrix3x3.Multiply(ref r0, ref m2, out r1);
bMatrix3x3.Multiply(ref r1, ref m2, out r0);
bMatrix3x3.Multiply(ref r0, ref m2, out r1);
bMatrix3x3.Multiply(ref r1, ref m2, out r0);
bMatrix3x3.Multiply(ref r0, ref m2, out r1);
bMatrix3x3.Multiply(ref r1, ref m2, out r0);
bMatrix3x3.Multiply(ref r0, ref m2, out r1);
accumulator += 0.000001f * r1.M11;
}
return(accumulator);
}
public static float TestTransformScalar(int iterationCount)
{
bVector3 v = new bVector3(1, 2, 3);
bMatrix3x3 m = bMatrix3x3.Identity;
float accumulator = 0;
for (int i = 0; i < iterationCount; ++i)
{
bVector3 r0, r1;
bMatrix3x3.Transform(ref v, ref m, out r0);
bMatrix3x3.Transform(ref r0, ref m, out r1);
bMatrix3x3.Transform(ref r1, ref m, out r0);
bMatrix3x3.Transform(ref r0, ref m, out r1);
bMatrix3x3.Transform(ref r1, ref m, out r0);
bMatrix3x3.Transform(ref r0, ref m, out r1);
bMatrix3x3.Transform(ref r1, ref m, out r0);
bMatrix3x3.Transform(ref r0, ref m, out r1);
bMatrix3x3.Transform(ref r1, ref m, out r0);
bMatrix3x3.Transform(ref r0, ref m, out r1);
accumulator += 0.000001f * r1.X;
}
return(accumulator);
}
public static void Test()
{
Vector3 v1 = new Vector3(0, 0, 1);
Vector3 v2 = new Vector3(0, 0, 2);
Vector3 v3 = new Vector3(0, 0, 3);
Vector3 v4 = new Vector3(0, 0, 4);
Vector3 v5 = new Vector3(0, 0, 5);
Vector3 v6 = new Vector3(0, 0, 6);
Vector3 v7 = new Vector3(0, 0, 7);
Vector3 v8 = new Vector3(0, 0, 8);
Matrix3x3 m = new Matrix3x3 { X = new Vector3(1, 0, 0), Y = new Vector3(0, 1, 0), Z = new Vector3(0, 0, 1) };
Matrix4x4 m4 = new Matrix4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
Vector3 t = Matrix3x3.Transform(v1, m);
Matrix3x3.Transform(ref t, ref m, out t);
Console.WriteLine($"t to preload: {t}");
double time, endTime;
const int testIterations = 10000000;
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 refAccumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
Vector3 t1, t2, t3, t4, t5, t6, t7, t8;
Matrix3x3.Transform(ref v1, ref m, out t1);
Matrix3x3.Transform(ref v2, ref m, out t2);
Matrix3x3.Transform(ref v3, ref m, out t3);
Matrix3x3.Transform(ref v4, ref m, out t4);
Matrix3x3.Transform(ref v5, ref m, out t5);
Matrix3x3.Transform(ref v6, ref m, out t6);
Matrix3x3.Transform(ref v7, ref m, out t7);
Matrix3x3.Transform(ref v8, ref m, out t8);
refAccumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"ref time: {endTime - time}, acc: {refAccumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 nonrefAccumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
var t1 = Matrix3x3.Transform(v1, m);
var t2 = Matrix3x3.Transform(v2, m);
var t3 = Matrix3x3.Transform(v3, m);
var t4 = Matrix3x3.Transform(v4, m);
var t5 = Matrix3x3.Transform(v5, m);
var t6 = Matrix3x3.Transform(v6, m);
var t7 = Matrix3x3.Transform(v7, m);
var t8 = Matrix3x3.Transform(v8, m);
nonrefAccumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"nonref time: {endTime - time}, acc: {nonrefAccumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 ref2Accumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
Vector3 t1, t2, t3, t4, t5, t6, t7, t8;
Matrix3x3.Transform2(ref v1, ref m, out t1);
Matrix3x3.Transform2(ref v2, ref m, out t2);
Matrix3x3.Transform2(ref v3, ref m, out t3);
Matrix3x3.Transform2(ref v4, ref m, out t4);
Matrix3x3.Transform2(ref v5, ref m, out t5);
Matrix3x3.Transform2(ref v6, ref m, out t6);
Matrix3x3.Transform2(ref v7, ref m, out t7);
Matrix3x3.Transform2(ref v8, ref m, out t8);
ref2Accumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"ref2 time: {endTime - time}, acc: {ref2Accumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 nonref2Accumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
var t1 = Matrix3x3.Transform2(v1, m);
var t2 = Matrix3x3.Transform2(v2, m);
var t3 = Matrix3x3.Transform2(v3, m);
var t4 = Matrix3x3.Transform2(v4, m);
var t5 = Matrix3x3.Transform2(v5, m);
var t6 = Matrix3x3.Transform2(v6, m);
var t7 = Matrix3x3.Transform2(v7, m);
var t8 = Matrix3x3.Transform2(v8, m);
nonref2Accumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"nonref2 time: {endTime - time}, acc: {nonref2Accumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 refTransposeAccumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
Vector3 t1, t2, t3, t4, t5, t6, t7, t8;
Matrix3x3.TransformTranspose(ref v1, ref m, out t1);
Matrix3x3.TransformTranspose(ref v2, ref m, out t2);
Matrix3x3.TransformTranspose(ref v3, ref m, out t3);
Matrix3x3.TransformTranspose(ref v4, ref m, out t4);
Matrix3x3.TransformTranspose(ref v5, ref m, out t5);
Matrix3x3.TransformTranspose(ref v6, ref m, out t6);
Matrix3x3.TransformTranspose(ref v7, ref m, out t7);
Matrix3x3.TransformTranspose(ref v8, ref m, out t8);
refTransposeAccumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"refTranspose time: {endTime - time}, acc: {refTransposeAccumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 nonrefTransposeAccumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
var t1 = Matrix3x3.TransformTranspose(v1, m);
var t2 = Matrix3x3.TransformTranspose(v2, m);
var t3 = Matrix3x3.TransformTranspose(v3, m);
var t4 = Matrix3x3.TransformTranspose(v4, m);
var t5 = Matrix3x3.TransformTranspose(v5, m);
var t6 = Matrix3x3.TransformTranspose(v6, m);
var t7 = Matrix3x3.TransformTranspose(v7, m);
var t8 = Matrix3x3.TransformTranspose(v8, m);
nonrefTransposeAccumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"nonrefTranspose time: {endTime - time}, acc: {nonrefTransposeAccumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 netAccumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
var t1 = Vector3.TransformNormal(v1, m4);
var t2 = Vector3.TransformNormal(v2, m4);
var t3 = Vector3.TransformNormal(v3, m4);
var t4 = Vector3.TransformNormal(v4, m4);
var t5 = Vector3.TransformNormal(v5, m4);
var t6 = Vector3.TransformNormal(v6, m4);
var t7 = Vector3.TransformNormal(v7, m4);
var t8 = Vector3.TransformNormal(v8, m4);
netAccumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"net time: {endTime - time}, acc: {netAccumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
var v1b = new BEPUVector3(0, 0, 1);
var v2b = new BEPUVector3(0, 0, 2);
var v3b = new BEPUVector3(0, 0, 3);
var v4b = new BEPUVector3(0, 0, 4);
var v5b = new BEPUVector3(0, 0, 5);
var v6b = new BEPUVector3(0, 0, 6);
var v7b = new BEPUVector3(0, 0, 7);
var v8b = new BEPUVector3(0, 0, 8);
BEPUMatrix3x3 mb = new BEPUMatrix3x3(1, 0, 0, 0, 1, 0, 0, 0, 1);
BEPUVector3 bepuAccumulator = new BEPUVector3();
for (int i = 0; i < testIterations; ++i)
{
BEPUVector3 t1, t2, t3, t4, t5, t6, t7, t8;
BEPUMatrix3x3.Transform(ref v1b, ref mb, out t1);
BEPUMatrix3x3.Transform(ref v2b, ref mb, out t2);
BEPUMatrix3x3.Transform(ref v3b, ref mb, out t3);
BEPUMatrix3x3.Transform(ref v4b, ref mb, out t4);
BEPUMatrix3x3.Transform(ref v5b, ref mb, out t5);
BEPUMatrix3x3.Transform(ref v6b, ref mb, out t6);
BEPUMatrix3x3.Transform(ref v7b, ref mb, out t7);
BEPUMatrix3x3.Transform(ref v8b, ref mb, out t8);
BEPUVector3.Add(ref bepuAccumulator, ref t1, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t2, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t3, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t4, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t5, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t6, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t7, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t8, out bepuAccumulator);
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"bepu time: {endTime - time}, acc: {bepuAccumulator}");
}
public static void Test()
{
Vector3 v1 = new Vector3(0, 0, 1);
Vector3 v2 = new Vector3(0, 0, 2);
Vector3 v3 = new Vector3(0, 0, 3);
Vector3 v4 = new Vector3(0, 0, 4);
Vector3 v5 = new Vector3(0, 0, 5);
Vector3 v6 = new Vector3(0, 0, 6);
Vector3 v7 = new Vector3(0, 0, 7);
Vector3 v8 = new Vector3(0, 0, 8);
Matrix3x3 m = new Matrix3x3 {
X = new Vector3(1, 0, 0), Y = new Vector3(0, 1, 0), Z = new Vector3(0, 0, 1)
};
Matrix4x4 m4 = new Matrix4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
Vector3 t = Matrix3x3.Transform(v1, m);
Matrix3x3.Transform(ref t, ref m, out t);
Console.WriteLine($"t to preload: {t}");
double time, endTime;
const int testIterations = 10000000;
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 refAccumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
Vector3 t1, t2, t3, t4, t5, t6, t7, t8;
Matrix3x3.Transform(ref v1, ref m, out t1);
Matrix3x3.Transform(ref v2, ref m, out t2);
Matrix3x3.Transform(ref v3, ref m, out t3);
Matrix3x3.Transform(ref v4, ref m, out t4);
Matrix3x3.Transform(ref v5, ref m, out t5);
Matrix3x3.Transform(ref v6, ref m, out t6);
Matrix3x3.Transform(ref v7, ref m, out t7);
Matrix3x3.Transform(ref v8, ref m, out t8);
refAccumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"ref time: {endTime - time}, acc: {refAccumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 nonrefAccumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
var t1 = Matrix3x3.Transform(v1, m);
var t2 = Matrix3x3.Transform(v2, m);
var t3 = Matrix3x3.Transform(v3, m);
var t4 = Matrix3x3.Transform(v4, m);
var t5 = Matrix3x3.Transform(v5, m);
var t6 = Matrix3x3.Transform(v6, m);
var t7 = Matrix3x3.Transform(v7, m);
var t8 = Matrix3x3.Transform(v8, m);
nonrefAccumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"nonref time: {endTime - time}, acc: {nonrefAccumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 ref2Accumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
Vector3 t1, t2, t3, t4, t5, t6, t7, t8;
Matrix3x3.Transform2(ref v1, ref m, out t1);
Matrix3x3.Transform2(ref v2, ref m, out t2);
Matrix3x3.Transform2(ref v3, ref m, out t3);
Matrix3x3.Transform2(ref v4, ref m, out t4);
Matrix3x3.Transform2(ref v5, ref m, out t5);
Matrix3x3.Transform2(ref v6, ref m, out t6);
Matrix3x3.Transform2(ref v7, ref m, out t7);
Matrix3x3.Transform2(ref v8, ref m, out t8);
ref2Accumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"ref2 time: {endTime - time}, acc: {ref2Accumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 nonref2Accumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
var t1 = Matrix3x3.Transform2(v1, m);
var t2 = Matrix3x3.Transform2(v2, m);
var t3 = Matrix3x3.Transform2(v3, m);
var t4 = Matrix3x3.Transform2(v4, m);
var t5 = Matrix3x3.Transform2(v5, m);
var t6 = Matrix3x3.Transform2(v6, m);
var t7 = Matrix3x3.Transform2(v7, m);
var t8 = Matrix3x3.Transform2(v8, m);
nonref2Accumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"nonref2 time: {endTime - time}, acc: {nonref2Accumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 refTransposeAccumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
Vector3 t1, t2, t3, t4, t5, t6, t7, t8;
Matrix3x3.TransformTranspose(ref v1, ref m, out t1);
Matrix3x3.TransformTranspose(ref v2, ref m, out t2);
Matrix3x3.TransformTranspose(ref v3, ref m, out t3);
Matrix3x3.TransformTranspose(ref v4, ref m, out t4);
Matrix3x3.TransformTranspose(ref v5, ref m, out t5);
Matrix3x3.TransformTranspose(ref v6, ref m, out t6);
Matrix3x3.TransformTranspose(ref v7, ref m, out t7);
Matrix3x3.TransformTranspose(ref v8, ref m, out t8);
refTransposeAccumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"refTranspose time: {endTime - time}, acc: {refTransposeAccumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 nonrefTransposeAccumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
var t1 = Matrix3x3.TransformTranspose(v1, m);
var t2 = Matrix3x3.TransformTranspose(v2, m);
var t3 = Matrix3x3.TransformTranspose(v3, m);
var t4 = Matrix3x3.TransformTranspose(v4, m);
var t5 = Matrix3x3.TransformTranspose(v5, m);
var t6 = Matrix3x3.TransformTranspose(v6, m);
var t7 = Matrix3x3.TransformTranspose(v7, m);
var t8 = Matrix3x3.TransformTranspose(v8, m);
nonrefTransposeAccumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"nonrefTranspose time: {endTime - time}, acc: {nonrefTransposeAccumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Vector3 netAccumulator = new Vector3();
for (int i = 0; i < testIterations; ++i)
{
var t1 = Vector3.TransformNormal(v1, m4);
var t2 = Vector3.TransformNormal(v2, m4);
var t3 = Vector3.TransformNormal(v3, m4);
var t4 = Vector3.TransformNormal(v4, m4);
var t5 = Vector3.TransformNormal(v5, m4);
var t6 = Vector3.TransformNormal(v6, m4);
var t7 = Vector3.TransformNormal(v7, m4);
var t8 = Vector3.TransformNormal(v8, m4);
netAccumulator += t1 + t2 + t3 + t4 + t5 + t6 + t7 + t8;
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"net time: {endTime - time}, acc: {netAccumulator}");
time = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
var v1b = new BEPUVector3(0, 0, 1);
var v2b = new BEPUVector3(0, 0, 2);
var v3b = new BEPUVector3(0, 0, 3);
var v4b = new BEPUVector3(0, 0, 4);
var v5b = new BEPUVector3(0, 0, 5);
var v6b = new BEPUVector3(0, 0, 6);
var v7b = new BEPUVector3(0, 0, 7);
var v8b = new BEPUVector3(0, 0, 8);
BEPUMatrix3x3 mb = new BEPUMatrix3x3(1, 0, 0, 0, 1, 0, 0, 0, 1);
BEPUVector3 bepuAccumulator = new BEPUVector3();
for (int i = 0; i < testIterations; ++i)
{
BEPUVector3 t1, t2, t3, t4, t5, t6, t7, t8;
BEPUMatrix3x3.Transform(ref v1b, ref mb, out t1);
BEPUMatrix3x3.Transform(ref v2b, ref mb, out t2);
BEPUMatrix3x3.Transform(ref v3b, ref mb, out t3);
BEPUMatrix3x3.Transform(ref v4b, ref mb, out t4);
BEPUMatrix3x3.Transform(ref v5b, ref mb, out t5);
BEPUMatrix3x3.Transform(ref v6b, ref mb, out t6);
BEPUMatrix3x3.Transform(ref v7b, ref mb, out t7);
BEPUMatrix3x3.Transform(ref v8b, ref mb, out t8);
BEPUVector3.Add(ref bepuAccumulator, ref t1, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t2, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t3, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t4, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t5, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t6, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t7, out bepuAccumulator);
BEPUVector3.Add(ref bepuAccumulator, ref t8, out bepuAccumulator);
}
endTime = (double)Stopwatch.GetTimestamp() / Stopwatch.Frequency;
Console.WriteLine($"bepu time: {endTime - time}, acc: {bepuAccumulator}");
}