Use const references to constexpr storage for static constants

Update the required constructors, operators, and related functions to be constexpr. Signed-off-by: Jeremy Nimmer <[email protected]>
gazebosim · Dec 10, 2021 · 6a32e30 · 6a32e30
1 parent 931d058
commit 6a32e30
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Showing 11 changed files with 228 additions and 172 deletions.
diff --git a/include/ignition/math/Angle.hh b/include/ignition/math/Angle.hh
@@ -63,19 +63,19 @@ namespace ignition
     {
       /// \brief An angle with a value of zero.
       /// Equivalent to math::Angle(0).
-      public: static const Angle Zero;
+      public: static const Angle &Zero;
 
       /// \brief An angle with a value of Pi.
       /// Equivalent to math::Angle(IGN_PI).
-      public: static const Angle Pi;
+      public: static const Angle &Pi;
 
       /// \brief An angle with a value of Pi * 0.5.
       /// Equivalent to math::Angle(IGN_PI * 0.5).
-      public: static const Angle HalfPi;
+      public: static const Angle &HalfPi;
 
       /// \brief An angle with a value of Pi * 2.
       /// Equivalent to math::Angle(IGN_PI * 2).
-      public: static const Angle TwoPi;
+      public: static const Angle &TwoPi;
 
       /// \brief Default constructor that initializes an Angle to zero
       /// radians/degrees.
@@ -91,7 +91,10 @@ namespace ignition
       //
       /// \param[in] _radian The radians used to initialize this Angle.
       // cppcheck-suppress noExplicitConstructor
-      public: Angle(double _radian);
+      public: constexpr Angle(double _radian)
+      : value(_radian)
+      {
+      }
 
       /// \brief Set the value from an angle in radians.
       /// \param[in] _radian Radian value.

diff --git a/include/ignition/math/Color.hh b/include/ignition/math/Color.hh
@@ -38,21 +38,21 @@ namespace ignition
     class IGNITION_MATH_VISIBLE Color
     {
       /// \brief (1, 1, 1)
-      public: static const Color White;
+      public: static const Color &White;
       /// \brief (0, 0, 0)
-      public: static const Color Black;
+      public: static const Color &Black;
       /// \brief (1, 0, 0)
-      public: static const Color Red;
+      public: static const Color &Red;
       /// \brief (0, 1, 0)
-      public: static const Color Green;
+      public: static const Color &Green;
       /// \brief (0, 0, 1)
-      public: static const Color Blue;
+      public: static const Color &Blue;
       /// \brief (1, 1, 0)
-      public: static const Color Yellow;
+      public: static const Color &Yellow;
       /// \brief (1, 0, 1)
-      public: static const Color Magenta;
+      public: static const Color &Magenta;
       /// \brief (0, 1, 1)
-      public: static const Color Cyan;
+      public: static const Color &Cyan;
 
       /// \typedef RGBA
       /// \brief A RGBA packed value as an unsigned int
@@ -71,22 +71,26 @@ namespace ignition
       public: typedef unsigned int ABGR;
 
       /// \brief Constructor
-      public: Color();
+      public: Color() = default;
 
       /// \brief Constructor
       /// \param[in] _r Red value (range 0 to 1)
       /// \param[in] _g Green value (range 0 to 1)
       /// \param[in] _b Blue value (range 0 to 1)
       /// \param[in] _a Alpha value (0=transparent, 1=opaque)
-      public: Color(const float _r, const float _g, const float _b,
-                  const float _a = 1.0);
+      public: constexpr Color(const float _r, const float _g, const float _b,
+                              const float _a = 1.0)
+      : r(_r), g(_g), b(_b), a(_a)
+      {
+        this->Clamp();
+      }
 
       /// \brief Copy Constructor
       /// \param[in] _clr Color to copy
-      public: Color(const Color &_clr);
+      public: Color(const Color &_clr) = default;
 
       /// \brief Destructor
-      public: ~Color();
+      public: ~Color() = default;
 
       /// \brief Reset the color to default values to red=0, green=0,
       /// blue=0, alpha=1.
@@ -124,7 +128,7 @@ namespace ignition
       /// \brief Equal operator
       /// \param[in] _pt Color to copy
       /// \return Reference to this color
-      public: Color &operator=(const Color &_pt);
+      public: Color &operator=(const Color &_pt) = default;
 
       /// \brief Array index operator
       /// \param[in] _index Color component index(0=red, 1=green, 2=blue,
@@ -243,7 +247,18 @@ namespace ignition
       public: bool operator!=(const Color &_pt) const;
 
       /// \brief Clamp the color values to valid ranges
-      private: void Clamp();
+      private: constexpr void Clamp()
+      {
+        // These comparisons are carefully written to handle NaNs correctly.
+        if (!(this->r >= 0)) { this->r = 0; }
+        if (!(this->g >= 0)) { this->g = 0; }
+        if (!(this->b >= 0)) { this->b = 0; }
+        if (!(this->a >= 0)) { this->a = 0; }
+        if (this->r > 1) { this->r = this->r/255.0f; }
+        if (this->g > 1) { this->g = this->g/255.0f; }
+        if (this->b > 1) { this->b = this->b/255.0f; }
+        if (this->a > 1) { this->a = 1; }
+      }
 
       /// \brief Stream insertion operator
       /// \param[in] _out the output stream

diff --git a/include/ignition/math/Matrix3.hh b/include/ignition/math/Matrix3.hh
@@ -95,11 +95,11 @@ namespace ignition
     {
       /// \brief A Matrix3 initialized to identity.
       /// This is equivalent to math::Matrix3<T>(1, 0, 0, 0, 1, 0, 0, 0, 1).
-      public: static const Matrix3<T> Identity;
+      public: static const Matrix3<T> &Identity;
 
       /// \brief A Matrix3 initialized to zero.
       /// This is equivalent to math::Matrix3<T>(0, 0, 0, 0, 0, 0, 0, 0, 0).
-      public: static const Matrix3<T> Zero;
+      public: static const Matrix3<T> &Zero;
 
       /// \brief Default constructor that initializes the matrix3 to zero.
       public: Matrix3()
@@ -121,19 +121,13 @@ namespace ignition
       /// \param[in] _v20 Row 2, Col 0 value
       /// \param[in] _v21 Row 2, Col 1 value
       /// \param[in] _v22 Row 2, Col 2 value
-      public: Matrix3(T _v00, T _v01, T _v02,
-                      T _v10, T _v11, T _v12,
-                      T _v20, T _v21, T _v22)
+      public: constexpr Matrix3(T _v00, T _v01, T _v02,
+                                T _v10, T _v11, T _v12,
+                                T _v20, T _v21, T _v22)
+      : data{{_v00, _v01, _v02},
+             {_v10, _v11, _v12},
+             {_v20, _v21, _v22}}
       {
-        this->data[0][0] = _v00;
-        this->data[0][1] = _v01;
-        this->data[0][2] = _v02;
-        this->data[1][0] = _v10;
-        this->data[1][1] = _v11;
-        this->data[1][2] = _v12;
-        this->data[2][0] = _v20;
-        this->data[2][1] = _v21;
-        this->data[2][2] = _v22;
       }
 
       /// \brief Construct 3x3 rotation Matrix from a quaternion.
@@ -642,17 +636,27 @@ namespace ignition
       private: T data[3][3];
     };
 
+    namespace detail {
+
+      template<typename T>
+      constexpr Matrix3<T> gMatrix3Identity(
+          1, 0, 0,
+          0, 1, 0,
+          0, 0, 1);
+
+      template<typename T>
+      constexpr Matrix3<T> gMatrix3Zero(
+          0, 0, 0,
+          0, 0, 0,
+          0, 0, 0);
+
+    }  // namespace detail
+
     template<typename T>
-    const Matrix3<T> Matrix3<T>::Identity(
-        1, 0, 0,
-        0, 1, 0,
-        0, 0, 1);
+    const Matrix3<T> &Matrix3<T>::Identity = detail::gMatrix3Identity<T>;
 
     template<typename T>
-    const Matrix3<T> Matrix3<T>::Zero(
-        0, 0, 0,
-        0, 0, 0,
-        0, 0, 0);
+    const Matrix3<T> &Matrix3<T>::Zero = detail::gMatrix3Zero<T>;
 
     /// typedef Matrix3<int> as Matrix3i.
     typedef Matrix3<int> Matrix3i;

diff --git a/include/ignition/math/Matrix4.hh b/include/ignition/math/Matrix4.hh
@@ -38,10 +38,10 @@ namespace ignition
     class Matrix4
     {
       /// \brief Identity matrix
-      public: static const Matrix4<T> Identity;
+      public: static const Matrix4<T> &Identity;
 
       /// \brief Zero matrix
-      public: static const Matrix4<T> Zero;
+      public: static const Matrix4<T> &Zero;
 
       /// \brief Constructor
       public: Matrix4()
@@ -70,15 +70,15 @@ namespace ignition
       /// \param[in] _v31 Row 3, Col 1 value
       /// \param[in] _v32 Row 3, Col 2 value
       /// \param[in] _v33 Row 3, Col 3 value
-      public: Matrix4(T _v00, T _v01, T _v02, T _v03,
-                      T _v10, T _v11, T _v12, T _v13,
-                      T _v20, T _v21, T _v22, T _v23,
-                      T _v30, T _v31, T _v32, T _v33)
+      public: constexpr Matrix4(T _v00, T _v01, T _v02, T _v03,
+                                T _v10, T _v11, T _v12, T _v13,
+                                T _v20, T _v21, T _v22, T _v23,
+                                T _v30, T _v31, T _v32, T _v33)
+      : data{{_v00, _v01, _v02, _v03},
+             {_v10, _v11, _v12, _v13},
+             {_v20, _v21, _v22, _v23},
+             {_v30, _v31, _v32, _v33}}
       {
-        this->Set(_v00, _v01, _v02, _v03,
-                  _v10, _v11, _v12, _v13,
-                  _v20, _v21, _v22, _v23,
-                  _v30, _v31, _v32, _v33);
       }
 
       /// \brief Construct Matrix4 from a quaternion.
@@ -844,19 +844,29 @@ namespace ignition
       private: T data[4][4];
     };
 
+    namespace detail {
+
+      template<typename T>
+      constexpr Matrix4<T> gMatrix4Identity(
+          1, 0, 0, 0,
+          0, 1, 0, 0,
+          0, 0, 1, 0,
+          0, 0, 0, 1);
+
+      template<typename T>
+      constexpr Matrix4<T> gMatrix4Zero(
+          0, 0, 0, 0,
+          0, 0, 0, 0,
+          0, 0, 0, 0,
+          0, 0, 0, 0);
+
+    }  // namespace detail
+
     template<typename T>
-    const Matrix4<T> Matrix4<T>::Identity(
-        1, 0, 0, 0,
-        0, 1, 0, 0,
-        0, 0, 1, 0,
-        0, 0, 0, 1);
+    const Matrix4<T> &Matrix4<T>::Identity = detail::gMatrix4Identity<T>;
 
     template<typename T>
-    const Matrix4<T> Matrix4<T>::Zero(
-        0, 0, 0, 0,
-        0, 0, 0, 0,
-        0, 0, 0, 0,
-        0, 0, 0, 0);
+    const Matrix4<T> &Matrix4<T>::Zero = detail::gMatrix4Zero<T>;
 
     typedef Matrix4<int> Matrix4i;
     typedef Matrix4<double> Matrix4d;

diff --git a/include/ignition/math/Pose3.hh b/include/ignition/math/Pose3.hh
@@ -74,7 +74,7 @@ namespace ignition
     {
       /// \brief A Pose3 initialized to zero.
       /// This is equivalent to math::Pose3<T>(0, 0, 0, 0, 0, 0).
-      public: static const Pose3<T> Zero;
+      public: static const Pose3<T> &Zero;
 
       /// \brief Default constructor. This initializes the position
       /// component to zero and the quaternion to identity.
@@ -540,7 +540,13 @@ namespace ignition
       private: Quaternion<T> q;
     };
 
-    template<typename T> const Pose3<T> Pose3<T>::Zero(0, 0, 0, 0, 0, 0);
+    namespace detail {
+
+      template<typename T> constexpr Pose3<T> gPose3Zero{};
+
+    }  // namespace detail
+
+    template<typename T> const Pose3<T> &Pose3<T>::Zero = detail::gPose3Zero<T>;
 
     /// typedef Pose3<double> as Pose3d.
     typedef Pose3<double> Pose3d;

diff --git a/include/ignition/math/Quaternion.hh b/include/ignition/math/Quaternion.hh
@@ -81,14 +81,14 @@ namespace ignition
     {
       /// \brief A Quaternion initialized to identity.
       /// This is equivalent to math::Quaternion<T>(1, 0, 0, 0)
-      public: static const Quaternion Identity;
+      public: static const Quaternion &Identity;
 
       /// \brief A Quaternion initialized to zero.
       /// This is equivalent to math::Quaternion<T>(0, 0, 0, 0)
-      public: static const Quaternion Zero;
+      public: static const Quaternion &Zero;
 
       /// \brief Default Constructor
-      public: Quaternion()
+      public: constexpr Quaternion()
       : qw(1), qx(0), qy(0), qz(0)
       {
         // quaternion not normalized, because that breaks
@@ -102,7 +102,8 @@ namespace ignition
       /// \param[in] _x X param
       /// \param[in] _y Y param
       /// \param[in] _z Z param
-      public: Quaternion(const T &_w, const T &_x, const T &_y, const T &_z)
+      public: constexpr Quaternion(const T &_w, const T &_x, const T &_y,
+                                   const T &_z)
       : qw(_w), qx(_x), qy(_y), qz(_z)
       {}
 
@@ -1256,11 +1257,21 @@ namespace ignition
       private: T qz;
     };
 
+    namespace detail {
+
+      template<typename T> constexpr Quaternion<T>
+      gQuaternionIdentity(1, 0, 0, 0);
+
+      template<typename T> constexpr Quaternion<T>
+      gQuaternionZero(0, 0, 0, 0);
+
+    }  // namespace detail
+
     template<typename T> const Quaternion<T>
-      Quaternion<T>::Identity(1, 0, 0, 0);
+    &Quaternion<T>::Identity = detail::gQuaternionIdentity<T>;
 
     template<typename T> const Quaternion<T>
-      Quaternion<T>::Zero(0, 0, 0, 0);
+    &Quaternion<T>::Zero = detail::gQuaternionZero<T>;
 
     /// typedef Quaternion<double> as Quaterniond
     typedef Quaternion<double> Quaterniond;