Additional cleanup and acceleration of the System.Numerics vector and…

… related types (#103527)

* Added SIMD paths for:
Vector3.Cross(Vector3 vector1, Vector3 vector2)
Vector3.Transform(Vector3 value, Quaternion rotation)

* Fixed typo

* fixed missing conversion back to Vector3
added simd paths for quaternion multiplication, division and concatenate
added simd path for matrix4x4 multiplication

* Implemented feedback

* fixed non static field

* removed whitespace

* Use Vector4.Transform

* Perform some additional cleanup of the System.Numerics.Vector and Matrix types

---------

Co-authored-by: martenf <marten-fahse@hotmail.de>

src/libraries/System.Numerics.Vectors/tests/QuaternionTests.cs

@@ -326,7 +326,7 @@ public void QuaternionCreateFromAxisAngleTest()
             Vector3 axis = Vector3.Normalize(new Vector3(1.0f, 2.0f, 3.0f));
             float angle = MathHelper.ToRadians(30.0f);
 
-            Quaternion expected = new Quaternion(0.0691723f, 0.1383446f, 0.207516879f, 0.9659258f);
+            Quaternion expected = new Quaternion(0.06917231f, 0.13834462f, 0.2075169f, 0.9659258f);
             Quaternion actual;
 
             actual = Quaternion.CreateFromAxisAngle(axis, angle);
@@ -545,10 +545,11 @@ public void QuaternionInverseTest()
         public void QuaternionInverseTest1()
         {
             Quaternion a = new Quaternion();
+
+            Quaternion expected = Quaternion.Zero;
             Quaternion actual = Quaternion.Inverse(a);
 
-            Assert.True(float.IsNaN(actual.X) && float.IsNaN(actual.Y) && float.IsNaN(actual.Z) && float.IsNaN(actual.W)
-                , $"Quaternion.Inverse - did not return the expected value: expected {new Quaternion(float.NaN, float.NaN, float.NaN, float.NaN)} actual {actual}");
+            Assert.Equal(expected, actual);
         }
 
         // A test for ToString ()
@@ -919,10 +920,10 @@ public void QuaternionZeroTest()
         {
             // A default value should be equal to a zero value.
             Assert.Equal(default(Quaternion), Quaternion.Zero);
-            
+
             // A newly constructed value should be equal to a zero value.
             Assert.Equal(new Quaternion(), Quaternion.Zero);
-            
+
             // A newly constructed value with (0, 0, 0, 0) should be equal to a zero value.
             Assert.Equal(new Quaternion(0, 0, 0, 0), Quaternion.Zero);
         }

src/libraries/System.Numerics.Vectors/tests/Vector2Tests.cs

@@ -632,7 +632,7 @@ public void Vector2TransformByQuaternionTest1()
         {
             Vector2 v = new Vector2(1.0f, 2.0f);
             Quaternion q = new Quaternion();
-            Vector2 expected = v;
+            Vector2 expected = Vector2.Zero;
 
             Vector2 actual = Vector2.Transform(v, q);
             Assert.True(MathHelper.Equal(expected, actual), "Vector2f.Transform did not return the expected value.");

src/libraries/System.Numerics.Vectors/tests/Vector3Tests.cs

@@ -689,7 +689,7 @@ public void Vector3TransformByQuaternionTest1()
         {
             Vector3 v = new Vector3(1.0f, 2.0f, 3.0f);
             Quaternion q = new Quaternion();
-            Vector3 expected = v;
+            Vector3 expected = Vector3.Zero;
 
             Vector3 actual = Vector3.Transform(v, q);
             Assert.True(MathHelper.Equal(expected, actual), "Vector3f.Transform did not return the expected value.");

src/libraries/System.Numerics.Vectors/tests/Vector4Tests.cs

@@ -800,7 +800,7 @@ public void Vector4TransformVector4QuaternionTest1()
         {
             Vector4 v = new Vector4(1.0f, 2.0f, 3.0f, 0.0f);
             Quaternion q = new Quaternion();
-            Vector4 expected = v;
+            Vector4 expected = Vector4.Zero;
 
             Vector4 actual = Vector4.Transform(v, q);
             Assert.True(MathHelper.Equal(expected, actual), "Vector4f.Transform did not return the expected value.");
@@ -844,7 +844,7 @@ public void Vector4TransformVector3QuaternionTest1()
         {
             Vector3 v = new Vector3(1.0f, 2.0f, 3.0f);
             Quaternion q = new Quaternion();
-            Vector4 expected = new Vector4(v, 1.0f);
+            Vector4 expected = Vector4.Zero;
 
             Vector4 actual = Vector4.Transform(v, q);
             Assert.True(MathHelper.Equal(expected, actual), "Vector4f.Transform did not return the expected value.");
@@ -888,7 +888,7 @@ public void Vector4TransformVector2QuaternionTest1()
         {
             Vector2 v = new Vector2(1.0f, 2.0f);
             Quaternion q = new Quaternion();
-            Vector4 expected = new Vector4(1.0f, 2.0f, 0, 1.0f);
+            Vector4 expected = Vector4.Zero;
 
             Vector4 actual = Vector4.Transform(v, q);
             Assert.True(MathHelper.Equal(expected, actual), "Vector4f.Transform did not return the expected value.");

src/libraries/System.Private.CoreLib/src/System/Numerics/Matrix3x2.Impl.cs

@@ -72,8 +72,7 @@ readonly get
                     {
                         ThrowHelper.ThrowArgumentOutOfRangeException();
                     }
-
-                    return Unsafe.Add(ref Unsafe.AsRef(in this.X), row)[column];
+                    return Unsafe.Add(ref Unsafe.AsRef(in X), row)[column];
                 }
 
                 [MethodImpl(MethodImplOptions.AggressiveInlining)]
@@ -83,7 +82,7 @@ readonly get
                     {
                         ThrowHelper.ThrowArgumentOutOfRangeException();
                     }
-                    Unsafe.Add(ref this.X, row)[column] = value;
+                    Unsafe.Add(ref X, row)[column] = value;
                 }
             }
 
@@ -514,7 +513,7 @@ public readonly float GetDeterminant()
             [MethodImpl(MethodImplOptions.AggressiveInlining)]
             public override readonly int GetHashCode() => HashCode.Combine(X, Y, Z);
 
-            bool IEquatable<Impl>.Equals(Impl other) => Equals(in other);
+            readonly bool IEquatable<Impl>.Equals(Impl other) => Equals(in other);
         }
     }
 }