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Переход на парадигму Destination first в порядке параметров функий

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This commit is contained in:
Andrey Pokidov 2026-02-01 23:42:51 +07:00
parent f7e41645fe
commit 03627f4401
41 changed files with 1570 additions and 1978 deletions
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8
basic-geometry-dev/affine3.c
View file

@ -41,18 +41,18 @@ BGC_FP32_Affine3* _create_bgc_affine3_random_list(int affine_amount)
for (int i = 0; i < affine_amount; i++) {
bgc_fp32_versor_make(
&position.turn,
get_random_value_fp32(),
get_random_value_fp32(),
get_random_value_fp32(),
get_random_value_fp32(),
&position.turn
get_random_value_fp32()
);
position.shift.x1 = get_random_value_fp32();
position.shift.x2 = get_random_value_fp32();
position.shift.x3 = get_random_value_fp32();
bgc_fp32_position3_get_outward_affine(&position, &affines[i]);
bgc_fp32_position3_get_outward_affine(&affines[i], &position);
}
return affines;
@ -131,7 +131,7 @@ float test_bgc_affine3_performance(int affine_amount, int vector_per_affine)
for (int i = 0; i < affine_amount; i++)
{
for (int j = 0; j < vector_per_affine; j++) {
bgc_fp32_affine3_transform_point(&affines[i], &source_vectors[vector_index], &result_vectors[vector_index]);
bgc_fp32_affine3_transform_point(&result_vectors[vector_index], &affines[i], &source_vectors[vector_index]);
vector_index++;
}
}

268
basic-geometry-dev/main.c
View file

@ -30,19 +30,19 @@ structure_fp32_t* make_structures(const unsigned int amount)
for (unsigned int i = 0; i < amount; i++) {
bgc_fp32_versor_make(
&list[i].versor1,
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
&list[i].versor1
rand() * multiplier - 1.0f
);
bgc_fp32_versor_make(
&list[i].versor2,
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
rand() * multiplier - 1.0f,
&list[i].versor2
rand() * multiplier - 1.0f
);
bgc_fp32_versor_reset(&list[i].result);
@ -157,74 +157,74 @@ void test_basis_difference_fp32()
BGC_FP32_Versor turn;
// No turn
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &final_primary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_auxiliary);
bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nNo turn:\n");
print_versor_fp32(&turn);
// Turn around (1, 1, 0) axis on 180 degrees
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_primary);
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &final_auxiliary);
bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
print_versor_fp32(&turn);
// 180 degree turn
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(-1.0f, 0.0f, 0.0f, &final_primary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_auxiliary);
bgc_fp32_vector3_make(&final_primary, -1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\n180 degree turn around (0, 1, 0):\n");
print_versor_fp32(&turn);
// 90 degree turn around x3 axis
bgc_fp32_vector3_make(2.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(0.0f, 3.1f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 3.1f, 0.0f);
bgc_fp32_vector3_make(0.0f, 10.0f, 0.0f, &final_primary);
bgc_fp32_vector3_make(-1.0f, 0.0f, 0.0f, &final_auxiliary);
bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary,-1.0f, 0.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\n90 degree turn around (0, 0, 1):\n");
print_versor_fp32(&turn);
// Unorthogonal pairs turn at 90 degrees around x3 axis
bgc_fp32_vector3_make(2.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(-2.0f, 3.1f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 2.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, -2.0f, 3.1f, 0.0f);
bgc_fp32_vector3_make(0.0f, 10.0f, 0.0f, &final_primary);
bgc_fp32_vector3_make(-1.0f, 5.0f, 0.0f, &final_auxiliary);
bgc_fp32_vector3_make(&final_primary, 0.0f, 10.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 5.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
print_versor_fp32(&turn);
// Zero vectors
bgc_fp32_vector3_make(0.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &final_primary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 0.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
int code;
code = bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
code = bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
if (code >= 0) {
printf("\nZero vectors: this cannot be!\n");
@ -235,12 +235,12 @@ void test_basis_difference_fp32()
}
// Parallel vectors
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(2.0f, 0.0f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &final_primary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 2.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 1.0f, 0.0f);
code = bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
code = bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
if (code >= 0) {
printf("\nParallel vectors: this cannot be!\n");
@ -251,60 +251,60 @@ void test_basis_difference_fp32()
}
// Small angle turn (about 1 degree):
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(0.999848f, 0.017452f, 0.0f, &final_primary);
bgc_fp32_vector3_make(-0.017452f, 0.999848f, 0.0f, &final_auxiliary);
bgc_fp32_vector3_make(&final_primary, 0.999848f, 0.017452f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, -0.017452f, 0.999848f, 0.0f);
bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp32_versor_make_basis_difference(&turn , &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nSmall angle turn (about 1 degree):\n");
print_versor_fp32(&turn);
// About 179 degrees turn
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(-0.999848f, -0.017452f, 0.0f, &final_primary);
bgc_fp32_vector3_make(0.017452f, -0.999848f, 0.0f, &final_auxiliary);
bgc_fp32_vector3_make(&final_primary, -0.999848f, -0.017452f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.017452f, -0.999848f, 0.0f);
bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nAbout 179 degrees turn:\n");
print_versor_fp32(&turn);
// 120 degrees around (-1, -1, 1)
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_primary);
bgc_fp32_vector3_make(0.0f, 0.0f, -1.0f, &final_auxiliary);
bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 0.0f, 0.0f, -1.0f);
bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\n120 degees turn:\n");
print_versor_fp32(&turn);
// About 1 degree turn difference between initial_primary and initial_auxiliary directions
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(0.999848f, 0.017452f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(0.0f, 1.0f, 0.0f, &final_primary);
bgc_fp32_vector3_make(-1.0f, 0.0f, 0.0f, &final_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 0.999848f, 0.017452f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 0.0f, 1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, -1.0f, 0.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
print_versor_fp32(&turn);
// About 0.01 degree turn difference between initial_primary and initial_auxiliary directions
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &initial_primary);
bgc_fp32_vector3_make(1.0f, 0.000001f, 0.0f, &initial_auxiliary);
bgc_fp32_vector3_make(0.0f, -1.0f, 0.0f, &final_primary);
bgc_fp32_vector3_make(1.0f, 0.0f, 0.0f, &final_auxiliary);
bgc_fp32_vector3_make(&initial_primary, 1.0f, 0.0f, 0.0f);
bgc_fp32_vector3_make(&initial_auxiliary, 1.0f, 0.000001f, 0.0f);
bgc_fp32_vector3_make(&final_primary, 0.0f, -1.0f, 0.0f);
bgc_fp32_vector3_make(&final_auxiliary, 1.0f, 0.0f, 0.0f);
bgc_fp32_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp32_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
print_versor_fp32(&turn);
@ -318,72 +318,72 @@ void test_basis_difference_fp64()
BGC_FP64_Versor turn;
// No turn
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &final_primary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0);
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nNo turn:\n");
print_versor_fp64(&turn);
// Turn around (1, 1, 0) axis on 180 degrees
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_primary);
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &final_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 1.0, 0.0, 0.0);
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nTurn around (1, 1, 0) axis on 180 degrees:\n");
print_versor_fp64(&turn);
// 180 degree turn
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(-1.0, 0.0, 0.0, &final_primary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_auxiliary);
bgc_fp64_vector3_make(&initial_auxiliary, -1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0);
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\n180 degree turn around (0, 1, 0):\n");
print_versor_fp64(&turn);
// 90 degree turn around x3 axis
bgc_fp64_vector3_make(2.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(0.0, 3.1, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 2.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 3.1, 0.0);
bgc_fp64_vector3_make(0.0, 10.0, 0.0, &final_primary);
bgc_fp64_vector3_make(-1.0, 0.0, 0.0, &final_auxiliary);
bgc_fp64_vector3_make(&final_primary, 0.0, 10.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, -1.0, 0.0, 0.0);
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\n90 degree turn around (0, 0, 1):\n");
print_versor_fp64(&turn);
// Unorthogonal pairs turn at 90 degrees around x3 axis
bgc_fp64_vector3_make(2.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(-2.0, 3.1, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 2.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, -2.0, 3.1, 0.0);
bgc_fp64_vector3_make(0.0, 10.0, 0.0, &final_primary);
bgc_fp64_vector3_make(-1.0, 5.0, 0.0, &final_auxiliary);
bgc_fp64_vector3_make(&final_primary, 0.0, 10.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, -1.0, 5.0, 0.0);
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nUnorthogonal pairs turn at 90 degrees around (0, 0, 1):\n");
print_versor_fp64(&turn);
// Zero vectors
bgc_fp64_vector3_make(0.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &final_primary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 0.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0);
int code;
code = bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
code = bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
if (code >= 0) {
printf("\nZero vectors: this cannot be!\n");
@ -394,12 +394,12 @@ void test_basis_difference_fp64()
}
// Parallel vectors
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(2.0, 0.0, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &final_primary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 2.0, 0.0, 0.0);
bgc_fp64_vector3_make(&final_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 1.0, 0.0);
code = bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
code = bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
if (code >= 0) {
printf("\nParallel vectors: this cannot be!\n");
@ -410,60 +410,60 @@ void test_basis_difference_fp64()
}
// Small angle turn (about 1 degree):
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(0.999848, 0.017452, 0.0, &final_primary);
bgc_fp64_vector3_make(-0.017452, 0.999848, 0.0, &final_auxiliary);
bgc_fp64_vector3_make(&final_primary, 0.999848, 0.017452, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, -0.017452, 0.999848, 0.0);
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nSmall angle turn (about 1 degree):\n");
print_versor_fp64(&turn);
// About 179 degrees turn
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(-0.999848, -0.017452, 0.0, &final_primary);
bgc_fp64_vector3_make(0.017452, -0.999848, 0.0, &final_auxiliary);
bgc_fp64_vector3_make(&final_primary, -0.999848, -0.017452, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.017452, -0.999848, 0.0);
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nAbout 179 degrees turn:\n");
print_versor_fp64(&turn);
// 120 degrees around (-1, -1, 1)
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_primary);
bgc_fp64_vector3_make(0.0, 0.0, -1.0, &final_auxiliary);
bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 0.0, 0.0, -1.0);
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\n120 degees turn:\n");
print_versor_fp64(&turn);
// About 1 degree turn difference between initial_primary and initial_auxiliary directions
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(0.999848, 0.017452, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(0.0, 1.0, 0.0, &final_primary);
bgc_fp64_vector3_make(-1.0, 0.0, 0.0, &final_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 0.999848, 0.017452, 0.0);
bgc_fp64_vector3_make(&final_primary, 0.0, 1.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, -1.0, 0.0, 0.0);
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nAbout 1 degree turn difference between initial_primary and initial_auxiliary directions:\n");
print_versor_fp64(&turn);
// About 0.001 degree turn difference between initial_primary and initial_auxiliary directions
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &initial_primary);
bgc_fp64_vector3_make(1.0, 0.000001, 0.0, &initial_auxiliary);
bgc_fp64_vector3_make(0.0, -1.0, 0.0, &final_primary);
bgc_fp64_vector3_make(1.0, 0.0, 0.0, &final_auxiliary);
bgc_fp64_vector3_make(&initial_primary, 1.0, 0.0, 0.0);
bgc_fp64_vector3_make(&initial_auxiliary, 1.0, 0.000001, 0.0);
bgc_fp64_vector3_make(&final_primary, 0.0, -1.0, 0.0);
bgc_fp64_vector3_make(&final_auxiliary, 1.0, 0.0, 0.0);
bgc_fp64_versor_make_basis_difference(&initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary, &turn);
bgc_fp64_versor_make_basis_difference(&turn, &initial_primary, &initial_auxiliary, &final_primary, &final_auxiliary);
printf("\nAbout 0.01 degree turn difference between initial_primary and initial_auxiliary directions:\n");
print_versor_fp64(&turn);
@ -475,23 +475,23 @@ int main()
{
//BGC_FP32_Versor start = { 1.0f, 0.0f, 0.0f, 0.0f };
//BGC_FP32_Versor end = { 0.0f, 1.0f, 0.0f, 0.0f };
/*
BGC_FP32_Versor start = { 1.0f, 0.0f, 0.0f, 0.0f };
BGC_FP32_Versor end = { 0.9999f, 0.01414f, 0.0f, 0.0f };
BGC_FP32_Slerp slerp;
BGC_FP32_Versor result;
bgc_fp32_slerp_make_full(&start, &end, &slerp);
bgc_fp32_slerp_get_phase_versor(&slerp, 0.5f, &result);
bgc_fp32_slerp_make_full(&slerp, &start, &end);
bgc_fp32_slerp_get_phase_versor(&result, &slerp, 0.5f);
print_versor_fp32(&result);
*/
//test_basis_difference_fp64();
//print_versor_fp32(&result);
test_basis_difference_fp64();
//printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));
printf("Affine3 performance test: %f\n", test_bgc_affine3_performance(10000000, 10));
printf("sizeof(BGC_FP32_Affine3) = %zu\n", sizeof(BGC_FP32_Affine3));
//printf("sizeof(BGC_FP32_Affine3) = %zu\n", sizeof(BGC_FP32_Affine3));
//printf("offsetof(shift) = %zu\n", offsetof(BGC_FP32_Affine3, shift));
printf("sizeof(BGC_FP32_Matrix3x3) = %zu\n", sizeof(BGC_FP32_Matrix3x3));
//printf("sizeof(BGC_FP32_Matrix3x3) = %zu\n", sizeof(BGC_FP32_Matrix3x3));
return 0;
}