Make better use of the types in the glam crate.

Appears to give a tiny performance boost.

src/bbox.rs

@@ -41,14 +41,12 @@ impl BBox {
     // Returns whether the given ray intersects with the bbox.
     pub fn intersect_ray(&self, orig: Point, dir_inv: Vector, max_t: f32) -> bool {
         // Calculate slab intersections
-        let t1 = (self.min.co - orig.co) * dir_inv.co;
+        let t1 = (self.min.co - orig.co).truncate() * dir_inv.co;
-        let t2 = (self.max.co - orig.co) * dir_inv.co;
+        let t2 = (self.max.co - orig.co).truncate() * dir_inv.co;
 
         // Find the far and near intersection
-        let mut far_t = t1.max(t2);
+        let far_t = t1.max(t2).extend(std::f32::INFINITY);
-        let mut near_t = t1.min(t2);
+        let near_t = t1.min(t2).extend(0.0);
-        far_t.set_w(std::f32::INFINITY);
-        near_t.set_w(0.0);
         let far_hit_t = fast_minf32(far_t.min_element() * BBOX_MAXT_ADJUST, max_t);
         let near_hit_t = near_t.max_element();
 

src/ray.rs

@@ -1,6 +1,6 @@
 #![allow(dead_code)]
 
-use glam::{Vec4, Vec4Mask};
+use glam::Vec4Mask;
 
 use crate::math::{Matrix4x4, Point, Vector};
 
@@ -86,7 +86,7 @@ impl RayBatch {
     pub fn set_from_ray(&mut self, ray: &Ray, is_occlusion: bool, idx: usize) {
         self.hot[idx].orig_local = ray.orig;
         self.hot[idx].dir_inv_local = Vector {
-            co: Vec4::splat(1.0) / ray.dir.co,
+            co: ray.dir.co.reciprocal(),
         };
         self.hot[idx].max_t = ray.max_t;
         self.hot[idx].time = ray.time;
@@ -122,7 +122,7 @@ impl RayBatch {
     pub fn update_local(&mut self, idx: usize, xform: &Matrix4x4) {
         self.hot[idx].orig_local = self.cold[idx].orig * *xform;
         self.hot[idx].dir_inv_local = Vector {
-            co: Vec4::splat(1.0) / (self.cold[idx].dir * *xform).co,
+            co: (self.cold[idx].dir * *xform).co.reciprocal(),
         };
     }
 

sub_crates/math3d/src/normal.rs

@@ -5,21 +5,21 @@ use std::{
     ops::{Add, Div, Mul, Neg, Sub},
 };
 
-use glam::Vec4;
+use glam::Vec3;
 
 use super::{CrossProduct, DotProduct, Matrix4x4, Vector};
 
 /// A surface normal in 3d homogeneous space.
 #[derive(Debug, Copy, Clone)]
 pub struct Normal {
-    pub co: Vec4,
+    pub co: Vec3,
 }
 
 impl Normal {
     #[inline(always)]
     pub fn new(x: f32, y: f32, z: f32) -> Normal {
         Normal {
-            co: Vec4::new(x, y, z, 0.0),
+            co: Vec3::new(x, y, z),
         }
     }
 
@@ -132,9 +132,9 @@ impl Mul<Matrix4x4> for Normal {
     #[inline]
     fn mul(self, other: Matrix4x4) -> Normal {
         let mat = other.0.inverse().transpose();
-        let mut co = mat.mul_vec4(self.co);
+        Normal {
-        co.set_w(0.0);
+            co: mat.transform_vector3(self.co),
-        Normal { co: co }
+        }
     }
 }
 
@@ -169,7 +169,7 @@ impl CrossProduct for Normal {
     #[inline]
     fn cross(self, other: Normal) -> Normal {
         Normal {
-            co: self.co.truncate().cross(other.co.truncate()).extend(0.0),
+            co: self.co.cross(other.co),
         }
     }
 }
@@ -213,8 +213,7 @@ mod tests {
         let m = Matrix4x4::new_from_values(
             1.0, 2.0, 2.0, 1.5, 3.0, 6.0, 7.0, 8.0, 9.0, 2.0, 11.0, 12.0, 13.0, 7.0, 15.0, 3.0,
         );
-        let mut nm = n * m;
+        let nm = n * m;
-        nm.co.set_w(0.0);
         let nm2 = Normal::new(-19.258825, 5.717648, -1.770588);
         assert!(nm.co.ulps_eq(&nm2.co, 0.0, 4));
     }

sub_crates/math3d/src/point.rs

@@ -54,9 +54,9 @@ impl Point {
 
     #[inline(always)]
     pub fn into_vector(self) -> Vector {
-        let mut v = Vector { co: self.co };
+        Vector {
-        v.co.set_w(0.0);
+            co: self.co.truncate(),
-        v
+        }
     }
 
     #[inline(always)]
@@ -113,7 +113,7 @@ impl Add<Vector> for Point {
     #[inline(always)]
     fn add(self, other: Vector) -> Point {
         Point {
-            co: self.co + other.co,
+            co: self.co + other.co.extend(0.0),
         }
     }
 }
@@ -124,7 +124,7 @@ impl Sub for Point {
     #[inline(always)]
     fn sub(self, other: Point) -> Vector {
         Vector {
-            co: self.norm().co - other.norm().co,
+            co: (self.norm().co - other.norm().co).truncate(),
         }
     }
 }
@@ -135,7 +135,7 @@ impl Sub<Vector> for Point {
     #[inline(always)]
     fn sub(self, other: Vector) -> Point {
         Point {
-            co: self.co - other.co,
+            co: self.co - other.co.extend(0.0),
         }
     }
 }

sub_crates/math3d/src/vector.rs

@@ -5,21 +5,21 @@ use std::{
     ops::{Add, Div, Mul, Neg, Sub},
 };
 
-use glam::Vec4;
+use glam::Vec3;
 
 use super::{CrossProduct, DotProduct, Matrix4x4, Normal, Point};
 
 /// A direction vector in 3d homogeneous space.
 #[derive(Debug, Copy, Clone)]
 pub struct Vector {
-    pub co: Vec4,
+    pub co: Vec3,
 }
 
 impl Vector {
     #[inline(always)]
     pub fn new(x: f32, y: f32, z: f32) -> Vector {
         Vector {
-            co: Vec4::new(x, y, z, 0.0),
+            co: Vec3::new(x, y, z),
         }
     }
 
@@ -42,17 +42,21 @@ impl Vector {
 
     #[inline(always)]
     pub fn abs(&self) -> Vector {
-        Vector::new(self.x().abs(), self.y().abs(), self.z().abs())
+        Vector {
+            co: self.co * self.co.sign(),
+        }
     }
 
     #[inline(always)]
     pub fn into_point(self) -> Point {
-        Point::new(self.x(), self.y(), self.z())
+        Point {
+            co: self.co.extend(1.0),
+        }
     }
 
     #[inline(always)]
     pub fn into_normal(self) -> Normal {
-        Normal::new(self.x(), self.y(), self.z())
+        Normal { co: self.co }
     }
 
     #[inline(always)]
@@ -142,7 +146,7 @@ impl Mul<Matrix4x4> for Vector {
     #[inline]
     fn mul(self, other: Matrix4x4) -> Vector {
         Vector {
-            co: other.0.mul_vec4(self.co),
+            co: other.0.transform_vector3(self.co),
         }
     }
 }
@@ -178,7 +182,7 @@ impl CrossProduct for Vector {
     #[inline]
     fn cross(self, other: Vector) -> Vector {
         Vector {
-            co: self.co.truncate().cross(other.co.truncate()).extend(0.0),
+            co: self.co.cross(other.co),
         }
     }
 }
@@ -221,9 +225,7 @@ mod tests {
         let m = Matrix4x4::new_from_values(
             1.0, 2.0, 2.0, 1.5, 3.0, 6.0, 7.0, 8.0, 9.0, 2.0, 11.0, 12.0, 13.0, 7.0, 15.0, 3.0,
         );
-        let mut vm = Vector::new(14.0, 46.0, 58.0);
+        assert_eq!(v * m, Vector::new(14.0, 46.0, 58.0));
-        vm.co.set_w(90.5);
-        assert_eq!(v * m, vm);
     }
 
     #[test]
@@ -232,8 +234,7 @@ mod tests {
         let m = Matrix4x4::new_from_values(
             1.0, 2.0, 2.0, 1.5, 3.0, 6.0, 7.0, 8.0, 9.0, 2.0, 11.0, 12.0, 0.0, 0.0, 0.0, 1.0,
         );
-        let vm = Vector::new(14.0, 46.0, 58.0);
+        assert_eq!(v * m, Vector::new(14.0, 46.0, 58.0));
-        assert_eq!(v * m, vm);
     }
 
     #[test]