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Добавлены матрицы 2x3 и 3x2, добавлены произведения матриц. Изменения в названиях функций

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This commit is contained in:
Andrey Pokidov 2024-11-13 12:41:05 +07:00
parent 86486ac9cf
commit 049f09f3d4
31 changed files with 1831 additions and 1314 deletions
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3
Geometry.workspace.layout
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@ -1,5 +1,6 @@
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102
GeometryC.sln
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4
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328
dev/geometry-dev.vcxproj
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6
dev/geometry-dev.vcxproj.user
View file

@ -1,4 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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17
dev/main.c
View file

@ -135,7 +135,7 @@ void print_matrix(const DPMatrix3x3* matrix)
printf("(%lf, %lf, %lf)\n", matrix->r2c1, matrix->r2c2, matrix->r2c3);
printf("(%lf, %lf, %lf)\n\n", matrix->r3c1, matrix->r3c2, matrix->r3c3);
}
/*
int main()
{
DPMatrix3x3 m1, m2, check;
@ -170,3 +170,18 @@ int main()
return 0;
}
*/
int main()
{
SPVector2 vector;
sp_vector2_set(0, 0, &vector);
printf("SPVector2(%f, %f), module = %d\n",
vector.x1,
vector.x2,
sp_vector2_is_zero(&vector)
);
return 0;
}

BIN
docs/documentation.odt Normal file
View file

Binary file not shown.

6
src/geometry.cbp
View file

@ -58,10 +58,16 @@
<Option compilerVar="CC" />
</Unit>
<Unit filename="matrix2x2.h" />
<Unit filename="matrix2x3.h" />
<Unit filename="matrix3x2.h" />
<Unit filename="matrix3x3.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="matrix3x3.h" />
<Unit filename="matrixes.c">
<Option compilerVar="CC" />
</Unit>
<Unit filename="matrixes.h" />
<Unit filename="quaternion.c">
<Option compilerVar="CC" />
</Unit>

38
src/geometry.h
View file

@ -1,19 +1,21 @@
#ifndef __GEOMETRY_H__
#define __GEOMETRY_H__
#include "basis.h"
#include "angle.h"
#include "vector2.h"
#include "vector3.h"
#ifndef __GEOMETRY_H__
#define __GEOMETRY_H__
#include "basis.h"
#include "angle.h"
#include "vector2.h"
#include "vector3.h"
#include "matrixes.h"
#include "matrix2x2.h"
#include "matrix3x3.h"
#include "rotation3.h"
#include "quaternion.h"
#include "versor.h"
#endif
#include "matrix2x3.h"
#include "matrix3x3.h"
#include "rotation3.h"
#include "quaternion.h"
#include "versor.h"
#endif

130
src/geometry.layout
View file

@ -2,59 +2,19 @@
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@ -62,34 +22,34 @@
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@ -97,4 +57,54 @@
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348
src/geometry.vcxproj
View file

@ -1,175 +1,175 @@
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25
src/matrix2x2.c
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@ -1,24 +1 @@
#include "matrix2x2.h"
#include <math.h>
#include "angle.h"
const SPMatrix2x2 SP_ZERO_MATRIX2X2 = {
0.0f, 0.0f,
0.0f, 0.0f
};
const DPMatrix2x2 DP_ZERO_MATRIX2X2 = {
0.0, 0.0,
0.0, 0.0
};
const SPMatrix2x2 SP_IDENTITY_MATRIX2X2 = {
1.0f, 0.0f,
0.0f, 1.0f
};
const DPMatrix2x2 DP_IDENTITY_MATRIX2X2 = {
1.0, 0.0,
0.0, 1.0
};
#include "matrix2x2.h"

159
src/matrix2x2.h
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@ -3,24 +3,7 @@
#include "angle.h"
#include "vector2.h"
typedef struct {
float r1c1, r1c2;
float r2c1, r2c2;
} SPMatrix2x2;
typedef struct {
double r1c1, r1c2;
double r2c1, r2c2;
} DPMatrix2x2;
extern const SPMatrix2x2 SP_ZERO_MATRIX2X2;
extern const DPMatrix2x2 DP_ZERO_MATRIX2X2;
extern const SPMatrix2x2 SP_IDENTITY_MATRIX2X2;
extern const DPMatrix2x2 DP_IDENTITY_MATRIX2X2;
#include "matrixes.h"
// =================== Reset ==================== //
@ -124,22 +107,24 @@ static inline void dp_matrix2x2_copy(const DPMatrix2x2* from, DPMatrix2x2* to)
// ============= Copy to twin type ============== //
static inline void sp_matrix2x2_copy_to_double(const SPMatrix2x2* from, DPMatrix2x2* to)
{
to->r1c1 = (double)from->r1c1;
to->r1c2 = (double)from->r1c2;
to->r2c1 = (double)from->r2c1;
to->r2c2 = (double)from->r2c2;
}
static inline void dp_matrix2x2_copy_to_single(const DPMatrix2x2* from, SPMatrix2x2* to)
static inline void sp_matrix2x2_set_from_double(const DPMatrix2x2* from, SPMatrix2x2* to)
{
to->r1c1 = (float)from->r1c1;
to->r1c2 = (float)from->r1c2;
to->r2c1 = (float)from->r2c1;
to->r2c2 = (float)from->r2c2;
}
static inline void dp_matrix2x2_set_from_single(const SPMatrix2x2* from, DPMatrix2x2* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2;
to->r2c1 = from->r2c1;
to->r2c2 = from->r2c2;
}
// ================ Determinant ================= //
static inline float sp_matrix2x2_get_determinant(const SPMatrix2x2* matrix)
@ -232,98 +217,78 @@ static inline int dp_matrix2x2_invert(DPMatrix2x2* matrix)
return 1;
}
// =============== Make Transposed ============== //
// =============== Set Transposed =============== //
static inline void sp_matrix2x2_make_transposed(const SPMatrix2x2* matrix, SPMatrix2x2* result)
static inline void sp_matrix2x2_set_transposed(const SPMatrix2x2* from, SPMatrix2x2* to)
{
if (matrix == result) {
sp_matrix2x2_transpose(result);
return;
}
float tmp = from->r1c2;
result->r1c1 = matrix->r1c1;
result->r1c2 = matrix->r2c1;
to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1;
result->r2c1 = matrix->r1c2;
result->r2c2 = matrix->r2c2;
to->r2c1 = tmp;
to->r2c2 = from->r2c2;
}
static inline void dp_matrix2x2_make_transposed(const DPMatrix2x2* matrix, DPMatrix2x2* result)
static inline void dp_matrix2x2_set_transposed(const DPMatrix2x2* from, DPMatrix2x2* to)
{
if (matrix == result) {
dp_matrix2x2_transpose(result);
return;
}
double tmp = from->r1c2;
result->r1c1 = matrix->r1c1;
result->r1c2 = matrix->r1c2;
to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1;
result->r2c1 = matrix->r2c1;
result->r2c2 = matrix->r2c2;
to->r2c1 = tmp;
to->r2c2 = from->r2c2;
}
// ================ Make Inverted =============== //
// ================ Set Inverted ================ //
static inline int sp_matrix2x2_make_inverted(const SPMatrix2x2* matrix, SPMatrix2x2* result)
static inline int sp_matrix2x2_set_inverted(const SPMatrix2x2* from, SPMatrix2x2* to)
{
const float determinant = sp_matrix2x2_get_determinant(matrix);
const float determinant = sp_matrix2x2_get_determinant(from);
if (-SP_EPSYLON <= determinant && determinant <= SP_EPSYLON) {
return 0;
}
const float r1c1 = matrix->r2c2;
const float r1c2 = -matrix->r1c2;
const float r1c1 = from->r2c2;
const float r1c2 = -from->r1c2;
const float r2c1 = -matrix->r2c1;
const float r2c2 = matrix->r1c1;
const float r2c1 = -from->r2c1;
const float r2c2 = from->r1c1;
result->r1c1 = r1c1 / determinant;
result->r1c2 = r1c2 / determinant;
to->r1c1 = r1c1 / determinant;
to->r1c2 = r1c2 / determinant;
result->r2c1 = r2c1 / determinant;
result->r2c2 = r2c2 / determinant;
to->r2c1 = r2c1 / determinant;
to->r2c2 = r2c2 / determinant;
return 1;
}
static inline int dp_matrix2x2_make_inverted(const DPMatrix2x2* matrix, DPMatrix2x2* result)
static inline int dp_matrix2x2_set_inverted(const DPMatrix2x2* from, DPMatrix2x2* to)
{
const double determinant = dp_matrix2x2_get_determinant(matrix);
const double determinant = dp_matrix2x2_get_determinant(from);
if (-DP_EPSYLON <= determinant && determinant <= DP_EPSYLON) {
return 0;
}
const double r1c1 = matrix->r2c2;
const double r1c2 = -matrix->r1c2;
const double r1c1 = from->r2c2;
const double r1c2 = -from->r1c2;
const double r2c1 = -matrix->r2c1;
const double r2c2 = matrix->r1c1;
const double r2c1 = -from->r2c1;
const double r2c2 = from->r1c1;
result->r1c1 = r1c1 / determinant;
result->r1c2 = r1c2 / determinant;
to->r1c1 = r1c1 / determinant;
to->r1c2 = r1c2 / determinant;
result->r2c1 = r2c1 / determinant;
result->r2c2 = r2c2 / determinant;
to->r2c1 = r2c1 / determinant;
to->r2c2 = r2c2 / determinant;
return 1;
}
// ================ Set Diagonal ================ //
static inline void sp_matrix2x2_set_main_diagonal(const float d1, const float d2, SPMatrix2x2* matrix)
{
matrix->r1c1 = d1;
matrix->r2c2 = d2;
}
static inline void dp_matrix2x2_set_main_diagonal(const double d1, const double d2, DPMatrix2x2* matrix)
{
matrix->r1c1 = d1;
matrix->r2c2 = d2;
}
// ================= Set Row 1 ================== //
static inline void sp_matrix2x2_set_row1(const float c1, const float c2, SPMatrix2x2* matrix)
@ -720,36 +685,4 @@ static inline void dp_matrix2x2_right_product(const DPMatrix2x2* matrix, const D
);
}
// =============== Matrix Product =============== //
static inline void sp_matrix2x2_matrix_product(const SPMatrix2x2* matrix1, const SPMatrix2x2* matrix2, SPMatrix2x2* result)
{
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
}
static inline void dp_matrix2x2_matrix_product(const DPMatrix2x2* matrix1, const DPMatrix2x2* matrix2, DPMatrix2x2* result)
{
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
}
#endif

141
src/matrix2x3.h Normal file
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@ -0,0 +1,141 @@
#ifndef _GEOMETRY_MATRIX2X3_H_
#define _GEOMETRY_MATRIX2X3_H_
#include "vector2.h"
#include "vector3.h"
#include "matrixes.h"
// =================== Reset ==================== //
static inline void sp_matrix2x3_reset(SPMatrix2x3* matrix)
{
matrix->r1c1 = 0.0f;
matrix->r1c2 = 0.0f;
matrix->r2c1 = 0.0f;
matrix->r2c2 = 0.0f;
matrix->r3c1 = 0.0f;
matrix->r3c2 = 0.0f;
}
static inline void dp_matrix2x3_reset(DPMatrix2x3* matrix)
{
matrix->r1c1 = 0.0;
matrix->r1c2 = 0.0;
matrix->r2c1 = 0.0;
matrix->r2c2 = 0.0;
matrix->r3c1 = 0.0;
matrix->r3c2 = 0.0;
}
// ==================== Copy ==================== //
static inline void sp_matrix2x3_copy(const SPMatrix2x3* from, SPMatrix2x3* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2;
to->r1c3 = from->r1c3;
to->r2c1 = from->r2c1;
to->r2c2 = from->r2c2;
to->r2c3 = from->r2c3;
to->r3c1 = from->r3c1;
to->r3c2 = from->r3c2;
to->r3c3 = from->r3c3;
}
static inline void dp_matrix2x3_copy(const DPMatrix2x3* from, DPMatrix2x3* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2;
to->r2c1 = from->r2c1;
to->r2c2 = from->r2c2;
to->r3c1 = from->r3c1;
to->r3c2 = from->r3c2;
}
// ============= Copy to twin type ============== //
static inline void sp_matrix2x3_set_from_double(const DPMatrix2x3* from, SPMatrix2x3* to)
{
to->r1c1 = (float) from->r1c1;
to->r1c2 = (float) from->r1c2;
to->r2c1 = (float) from->r2c1;
to->r2c2 = (float) from->r2c2;
to->r3c1 = (float) from->r3c1;
to->r3c2 = (float) from->r3c2;
}
static inline void dp_matrix2x3_set_from_single(const SPMatrix2x3* from, DPMatrix2x3* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2;
to->r2c1 = from->r2c1;
to->r2c2 = from->r2c2;
to->r3c1 = from->r3c1;
to->r3c2 = from->r3c2;
}
// =============== Set transposed =============== //
static inline void sp_matrix2x3_set_transposed(const SPMatrix3x2* from, SPMatrix2x3* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1;
to->r2c1 = from->r1c2;
to->r2c2 = from->r2c2;
to->r3c1 = from->r1c3;
to->r3c2 = from->r2c3;
}
static inline void dp_matrix2x3_set_transposed(const DPMatrix3x2* from, DPMatrix2x3* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1;
to->r2c1 = from->r1c2;
to->r2c2 = from->r2c2;
to->r3c1 = from->r1c3;
to->r3c2 = from->r2c3;
}
// =============== Set transposed =============== //
static inline void sp_matrix2x3_transpose_double(const DPMatrix3x2* from, SPMatrix2x3* to)
{
to->r1c1 = (float) from->r1c1;
to->r1c2 = (float) from->r2c1;
to->r2c1 = (float) from->r1c2;
to->r2c2 = (float) from->r2c2;
to->r3c1 = (float) from->r1c3;
to->r3c2 = (float) from->r2c3;
}
static inline void dp_matrix2x3_transpose_single(const SPMatrix3x2* from, DPMatrix2x3* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1;
to->r2c1 = from->r1c2;
to->r2c2 = from->r2c2;
to->r3c1 = from->r1c3;
to->r3c2 = from->r2c3;
}
#endif

100
src/matrix3x2.h Normal file
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@ -0,0 +1,100 @@
#ifndef _GEOMETRY_MATRIX3X2_H_
#define _GEOMETRY_MATRIX3X2_H_
// =================== Reset ==================== //
static inline void sp_matrix3x2_reset(SPMatrix3x2* matrix)
{
matrix->r1c1 = 0.0f;
matrix->r1c2 = 0.0f;
matrix->r1c3 = 0.0f;
matrix->r2c1 = 0.0f;
matrix->r2c2 = 0.0f;
matrix->r2c3 = 0.0f;
}
static inline void dp_matrix3x2_reset(DPMatrix3x2* matrix)
{
matrix->r1c1 = 0.0;
matrix->r1c2 = 0.0;
matrix->r1c3 = 0.0;
matrix->r2c1 = 0.0;
matrix->r2c2 = 0.0;
matrix->r2c3 = 0.0;
}
// ============= Set from twin type ============= //
static inline void sp_matrix3x2_set_from_double(const DPMatrix3x2* from, SPMatrix3x2* to)
{
to->r1c1 = (float) from->r1c1;
to->r1c2 = (float) from->r1c2;
to->r1c3 = (float) from->r1c3;
to->r2c1 = (float) from->r2c1;
to->r2c2 = (float) from->r2c2;
to->r2c3 = (float) from->r2c3;
}
static inline void dp_matrix3x2_set_from_single(const SPMatrix3x2* from, DPMatrix3x2* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2;
to->r1c3 = from->r1c3;
to->r2c1 = from->r2c1;
to->r2c2 = from->r2c2;
to->r2c3 = from->r2c3;
}
// =============== Set transposed =============== //
static inline void sp_matrix3x2_set_transposed(const SPMatrix2x3* from, SPMatrix3x2* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1;
to->r1c3 = from->r3c1;
to->r2c1 = from->r1c2;
to->r2c2 = from->r2c2;
to->r2c3 = from->r3c2;
}
static inline void dp_matrix3x2_set_transposed(const DPMatrix2x3* from, DPMatrix3x2* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1;
to->r1c3 = from->r3c1;
to->r2c1 = from->r1c2;
to->r2c2 = from->r2c2;
to->r2c3 = from->r3c2;
}
// =============== Set transposed =============== //
static inline void sp_matrix3x2_transpose_double(const DPMatrix2x3* from, SPMatrix3x2* to)
{
to->r1c1 = (float) from->r1c1;
to->r1c2 = (float) from->r2c1;
to->r1c3 = (float) from->r3c1;
to->r2c1 = (float) from->r1c2;
to->r2c2 = (float) from->r2c2;
to->r2c3 = (float) from->r3c2;
}
static inline void dp_matrix3x2_transpose_single(const SPMatrix2x3* from, DPMatrix3x2* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r2c1;
to->r1c3 = from->r3c1;
to->r2c1 = from->r1c2;
to->r2c2 = from->r2c2;
to->r2c3 = from->r3c2;
}
#endif

80
src/matrix3x3.c
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@ -1,29 +1,5 @@
#include "matrix3x3.h"
const SPMatrix3x3 SP_ZERO_MATRIX3X3 = {
0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f
};
const DPMatrix3x3 DP_ZERO_MATRIX3X3 = {
0.0, 0.0, 0.0,
0.0, 0.0, 0.0,
0.0, 0.0, 0.0
};
const SPMatrix3x3 SP_IDENTITY_MATRIX3X3 = {
1.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 1.0f
};
const DPMatrix3x3 DP_IDENTITY_MATRIX3X3 = {
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0
};
// ================= Inversion ================== //
int sp_matrix3x3_invert(SPMatrix3x3* matrix)
@ -339,59 +315,3 @@ void dp_matrix3x3_get_weighted_sum5(
sum->r3c2 = (matrix1->r3c2 * weight1 + matrix2->r3c2 * weight2) + (matrix3->r3c2 * weight3 + matrix4->r3c2 * weight4) + matrix5->r3c2 * weight5;
sum->r3c3 = (matrix1->r3c3 * weight1 + matrix2->r3c3 * weight2) + (matrix3->r3c3 * weight3 + matrix4->r3c3 * weight4) + matrix5->r3c3 * weight5;
}
// =============== Matrix Product =============== //
void sp_matrix3x3_matrix_product(const SPMatrix3x3* matrix1, const SPMatrix3x3* matrix2, SPMatrix3x3* result)
{
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
const float r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r1c3 = r1c3;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r2c3 = r2c3;
result->r3c1 = r3c1;
result->r3c2 = r3c2;
result->r3c3 = r3c3;
}
void dp_matrix3x3_matrix_product(const DPMatrix3x3* matrix1, const DPMatrix3x3* matrix2, DPMatrix3x3* result)
{
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
const double r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r1c3 = r1c3;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r2c3 = r2c3;
result->r3c1 = r3c1;
result->r3c2 = r3c2;
result->r3c3 = r3c3;
}

61
src/matrix3x3.h
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@ -2,26 +2,7 @@
#define _GEOMETRY_MATRIX3X3_H_
#include "vector3.h"
typedef struct {
float r1c1, r1c2, r1c3;
float r2c1, r2c2, r2c3;
float r3c1, r3c2, r3c3;
} SPMatrix3x3;
typedef struct {
double r1c1, r1c2, r1c3;
double r2c1, r2c2, r2c3;
double r3c1, r3c2, r3c3;
} DPMatrix3x3;
extern const SPMatrix3x3 SP_ZERO_MATRIX3X3;
extern const DPMatrix3x3 DP_ZERO_MATRIX3X3;
extern const SPMatrix3x3 SP_IDENTITY_MATRIX3X3;
extern const DPMatrix3x3 DP_IDENTITY_MATRIX3X3;
#include "matrixes.h"
// =================== Reset ==================== //
@ -151,24 +132,9 @@ static inline void dp_matrix3x3_copy(const DPMatrix3x3* from, DPMatrix3x3* to)
to->r3c3 = from->r3c3;
}
// ============= Copy to twin type ============== //
// ============= Set from twin type ============= //
static inline void sp_matrix3x3_copy_to_double(const SPMatrix3x3* from, DPMatrix3x3* to)
{
to->r1c1 = (double)from->r1c1;
to->r1c2 = (double)from->r1c2;
to->r1c3 = (double)from->r1c3;
to->r2c1 = (double)from->r2c1;
to->r2c2 = (double)from->r2c2;
to->r2c3 = (double)from->r2c3;
to->r3c1 = (double)from->r3c1;
to->r3c2 = (double)from->r3c2;
to->r3c3 = (double)from->r3c3;
}
static inline void dp_matrix3x3_copy_to_single(const DPMatrix3x3* from, SPMatrix3x3* to)
static inline void sp_matrix3x3_set_from_double(const DPMatrix3x3* from, SPMatrix3x3* to)
{
to->r1c1 = (float)from->r1c1;
to->r1c2 = (float)from->r1c2;
@ -183,6 +149,21 @@ static inline void dp_matrix3x3_copy_to_single(const DPMatrix3x3* from, SPMatrix
to->r3c3 = (float)from->r3c3;
}
static inline void dp_matrix3x3_set_from_single(const SPMatrix3x3* from, DPMatrix3x3* to)
{
to->r1c1 = from->r1c1;
to->r1c2 = from->r1c2;
to->r1c3 = from->r1c3;
to->r2c1 = from->r2c1;
to->r2c2 = from->r2c2;
to->r2c3 = from->r2c3;
to->r3c1 = from->r3c1;
to->r3c2 = from->r3c2;
to->r3c3 = from->r3c3;
}
// ================ Determinant ================= //
static inline float sp_matrix3x3_get_determinant(const SPMatrix3x3* matrix)
@ -785,10 +766,4 @@ static inline void dp_matrix3x3_right_product(const DPMatrix3x3* matrix, const D
);
}
// =============== Matrix Product =============== //
void sp_matrix3x3_matrix_product(const SPMatrix3x3* matrix1, const SPMatrix3x3* matrix2, SPMatrix3x3* result);
void dp_matrix3x3_matrix_product(const DPMatrix3x3* matrix1, const DPMatrix3x3* matrix2, DPMatrix3x3* result);
#endif

257
src/matrixes.c Normal file
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@ -0,0 +1,257 @@
#include "matrixes.h"
// ========== Matrix Product 2x2 at 3x2 ========= //
void sp_matrix_product_2x2_at_3x2(const SPMatrix2x2* matrix1, const SPMatrix3x2* matrix2, SPMatrix3x2* result)
{
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r1c3 = r1c3;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r2c3 = r2c3;
}
void dp_matrix_product_2x2_at_3x2(const DPMatrix2x2* matrix1, const DPMatrix3x2* matrix2, DPMatrix3x2* result)
{
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r1c3 = r1c3;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r2c3 = r2c3;
}
// ========== Matrix Product 2x3 at 2x2 ========= //
void sp_matrix_product_2x3_at_2x2(const SPMatrix2x3* matrix1, const SPMatrix2x2* matrix2, SPMatrix2x3* result)
{
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r3c1 = r3c1;
result->r3c2 = r3c2;
}
void dp_matrix_product_2x3_at_2x2(const DPMatrix2x3* matrix1, const DPMatrix2x2* matrix2, DPMatrix2x3* result)
{
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r3c1 = r3c1;
result->r3c2 = r3c2;
}
// ========== Matrix Product 2x3 at 3x2 ========= //
void sp_matrix_product_2x3_at_3x2(const SPMatrix2x3* matrix1, const SPMatrix3x2* matrix2, SPMatrix3x3* result)
{
result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
result->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
result->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
result->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
result->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3;
}
void dp_matrix_product_2x3_at_3x2(const DPMatrix2x3* matrix1, const DPMatrix3x2* matrix2, DPMatrix3x3* result)
{
result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
result->r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3;
result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
result->r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3;
result->r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1;
result->r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2;
result->r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3;
}
// ========== Matrix Product 3x2 at 3x3 ========= //
void sp_matrix_product_3x2_at_3x3(const SPMatrix3x2* matrix1, const SPMatrix3x3* matrix2, SPMatrix3x2* result)
{
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r1c3 = r1c3;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r2c3 = r2c3;
}
void dp_matrix_product_3x2_at_3x3(const DPMatrix3x2* matrix1, const DPMatrix3x3* matrix2, DPMatrix3x2* result)
{
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r1c3 = r1c3;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r2c3 = r2c3;
}
// ========== Matrix Product 3x3 at 2x3 ========= //
void sp_matrix_product_3x3_at_2x3(const SPMatrix3x3* matrix1, const SPMatrix2x3* matrix2, SPMatrix2x3* result)
{
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r3c1 = r3c1;
result->r3c2 = r3c2;
}
void dp_matrix_product_3x3_at_2x3(const DPMatrix3x3* matrix1, const DPMatrix2x3* matrix2, DPMatrix2x3* result)
{
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r3c1 = r3c1;
result->r3c2 = r3c2;
}
// ========== Matrix Product 3x3 at 3x3 ========= //
void sp_matrix_product_3x3_at_3x3(const SPMatrix3x3* matrix1, const SPMatrix3x3* matrix2, SPMatrix3x3* result)
{
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
const float r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
const float r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
const float r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
const float r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
const float r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r1c3 = r1c3;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r2c3 = r2c3;
result->r3c1 = r3c1;
result->r3c2 = r3c2;
result->r3c3 = r3c3;
}
void dp_matrix_product_3x3_at_3x3(const DPMatrix3x3* matrix1, const DPMatrix3x3* matrix2, DPMatrix3x3* result)
{
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
const double r1c3 = matrix1->r1c1 * matrix2->r1c3 + matrix1->r1c2 * matrix2->r2c3 + matrix1->r1c3 * matrix2->r3c3;
const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
const double r2c3 = matrix1->r2c1 * matrix2->r1c3 + matrix1->r2c2 * matrix2->r2c3 + matrix1->r2c3 * matrix2->r3c3;
const double r3c1 = matrix1->r3c1 * matrix2->r1c1 + matrix1->r3c2 * matrix2->r2c1 + matrix1->r3c3 * matrix2->r3c1;
const double r3c2 = matrix1->r3c1 * matrix2->r1c2 + matrix1->r3c2 * matrix2->r2c2 + matrix1->r3c3 * matrix2->r3c2;
const double r3c3 = matrix1->r3c1 * matrix2->r1c3 + matrix1->r3c2 * matrix2->r2c3 + matrix1->r3c3 * matrix2->r3c3;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r1c3 = r1c3;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
result->r2c3 = r2c3;
result->r3c1 = r3c1;
result->r3c2 = r3c2;
result->r3c3 = r3c3;
}

144
src/matrixes.h Normal file
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@ -0,0 +1,144 @@
#ifndef _GEOMETRY_MATRIX_TYPES_H_
#define _GEOMETRY_MATRIX_TYPES_H_
// ================== Matrix2x2 ================= //
typedef struct {
float r1c1, r1c2;
float r2c1, r2c2;
} SPMatrix2x2;
typedef struct {
double r1c1, r1c2;
double r2c1, r2c2;
} DPMatrix2x2;
// ================== Matrix2x3 ================= //
typedef struct {
float r1c1, r1c2;
float r2c1, r2c2;
float r3c1, r3c2;
} SPMatrix2x3;
typedef struct {
double r1c1, r1c2;
double r2c1, r2c2;
double r3c1, r3c2;
} DPMatrix2x3;
// ================== Matrix3x2 ================= //
typedef struct {
float r1c1, r1c2, r1c3;
float r2c1, r2c2, r2c3;
} SPMatrix3x2;
typedef struct {
double r1c1, r1c2, r1c3;
double r2c1, r2c2, r2c3;
} DPMatrix3x2;
// ================== Matrix3x3 ================= //
typedef struct {
float r1c1, r1c2, r1c3;
float r2c1, r2c2, r2c3;
float r3c1, r3c2, r3c3;
} SPMatrix3x3;
typedef struct {
double r1c1, r1c2, r1c3;
double r2c1, r2c2, r2c3;
double r3c1, r3c2, r3c3;
} DPMatrix3x3;
// ========== Matrix Product 2x2 at 2x2 ========= //
static inline void sp_matrix_product_2x2_at_2x2(const SPMatrix2x2* matrix1, const SPMatrix2x2* matrix2, SPMatrix2x2* result)
{
const float r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const float r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
const float r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
const float r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
}
static inline void dp_matrix_product_2x2_at_2x2(const DPMatrix2x2* matrix1, const DPMatrix2x2* matrix2, DPMatrix2x2* result)
{
const double r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1;
const double r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2;
const double r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1;
const double r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2;
result->r1c1 = r1c1;
result->r1c2 = r1c2;
result->r2c1 = r2c1;
result->r2c2 = r2c2;
}
// ========== Matrix Product 2x2 at 3x2 ========= //
void sp_matrix_product_2x2_at_3x2(const SPMatrix2x2* matrix1, const SPMatrix3x2* matrix2, SPMatrix3x2* result);
void dp_matrix_product_2x2_at_3x2(const DPMatrix2x2* matrix1, const DPMatrix3x2* matrix2, DPMatrix3x2* result);
// ========== Matrix Product 2x3 at 2x2 ========= //
void sp_matrix_product_2x3_at_2x2(const SPMatrix2x3* matrix1, const SPMatrix2x2* matrix2, SPMatrix2x3* result);
void dp_matrix_product_2x3_at_2x2(const DPMatrix2x3* matrix1, const DPMatrix2x2* matrix2, DPMatrix2x3* result);
// ========== Matrix Product 2x3 at 3x2 ========= //
void sp_matrix_product_2x3_at_3x2(const SPMatrix2x3* matrix1, const SPMatrix3x2* matrix2, SPMatrix3x3* result);
void dp_matrix_product_2x3_at_3x2(const DPMatrix2x3* matrix1, const DPMatrix3x2* matrix2, DPMatrix3x3* result);
// ========== Matrix Product 3x2 at 2x3 ========= //
void sp_matrix_product_3x2_at_2x3(const SPMatrix3x2* matrix1, const SPMatrix2x3* matrix2, SPMatrix2x2* result)
{
result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
}
void dp_matrix_product_3x2_at_2x3(const DPMatrix3x2* matrix1, const DPMatrix2x3* matrix2, DPMatrix2x2* result)
{
result->r1c1 = matrix1->r1c1 * matrix2->r1c1 + matrix1->r1c2 * matrix2->r2c1 + matrix1->r1c3 * matrix2->r3c1;
result->r1c2 = matrix1->r1c1 * matrix2->r1c2 + matrix1->r1c2 * matrix2->r2c2 + matrix1->r1c3 * matrix2->r3c2;
result->r2c1 = matrix1->r2c1 * matrix2->r1c1 + matrix1->r2c2 * matrix2->r2c1 + matrix1->r2c3 * matrix2->r3c1;
result->r2c2 = matrix1->r2c1 * matrix2->r1c2 + matrix1->r2c2 * matrix2->r2c2 + matrix1->r2c3 * matrix2->r3c2;
}
// ========== Matrix Product 3x2 at 3x3 ========= //
void sp_matrix_product_3x2_at_3x3(const SPMatrix3x2* matrix1, const SPMatrix3x3* matrix2, SPMatrix3x2* result);
void dp_matrix_product_3x2_at_3x3(const DPMatrix3x2* matrix1, const DPMatrix3x3* matrix2, DPMatrix3x2* result);
// ========== Matrix Product 3x3 at 2x3 ========= //
void sp_matrix_product_3x3_at_2x3(const SPMatrix3x3* matrix1, const SPMatrix2x3* matrix2, SPMatrix2x3* result);
void dp_matrix_product_3x3_at_2x3(const DPMatrix3x3* matrix1, const DPMatrix2x3* matrix2, DPMatrix2x3* result);
// ========== Matrix Product 3x3 at 3x3 ========= //
void sp_matrix_product_3x3_at_3x3(const SPMatrix3x3* matrix1, const SPMatrix3x3* matrix2, SPMatrix3x3* result);
void dp_matrix_product_3x3_at_3x3(const DPMatrix3x3* matrix1, const DPMatrix3x3* matrix2, DPMatrix3x3* result);
#endif // _GEOMETRY_MATRIX_TYPES_H_

64
src/quaternion.h
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@ -32,9 +32,27 @@ static inline void dp_quaternion_reset(DPQuaternion * quaternion)
quaternion->x3 = 0.0;
}
// ================== Set Unit ================== //
static inline void sp_quaternion_set_identity(SPQuaternion * quaternion)
{
quaternion->s0 = 1.0f;
quaternion->x1 = 0.0f;
quaternion->x2 = 0.0f;
quaternion->x3 = 0.0f;
}
static inline void dp_quaternion_set_identity(DPQuaternion * quaternion)
{
quaternion->s0 = 1.0;
quaternion->x1 = 0.0;
quaternion->x2 = 0.0;
quaternion->x3 = 0.0;
}
// ==================== Set ===================== //
static inline void sp_quaternion_set(const float s0, const float x1, const float x2, const float x3, SPQuaternion * quaternion)
static inline void sp_quaternion_set_values(const float s0, const float x1, const float x2, const float x3, SPQuaternion * quaternion)
{
quaternion->s0 = s0;
quaternion->x1 = x1;
@ -42,7 +60,7 @@ static inline void sp_quaternion_set(const float s0, const float x1, const float
quaternion->x3 = x3;
}
static inline void dp_quaternion_set(const double s0, const double x1, const double x2, const double x3, DPQuaternion * quaternion)
static inline void dp_quaternion_set_values(const double s0, const double x1, const double x2, const double x3, DPQuaternion * quaternion)
{
quaternion->s0 = s0;
quaternion->x1 = x1;
@ -70,15 +88,7 @@ static inline void dp_quaternion_copy(const DPQuaternion* from, DPQuaternion* to
// ============= Copy to twin type ============== //
static inline void sp_quaternion_copy_to_double(const SPQuaternion* versor, DPQuaternion* result)
{
result->s0 = (double)versor->s0;
result->x1 = (double)versor->x1;
result->x2 = (double)versor->x2;
result->x3 = (double)versor->x3;
}
static inline void dp_quaternion_copy_to_single(const DPQuaternion* versor, SPQuaternion* result)
static inline void sp_quaternion_copy_from_double(const DPQuaternion* versor, SPQuaternion* result)
{
result->s0 = (float)versor->s0;
result->x1 = (float)versor->x1;
@ -86,6 +96,14 @@ static inline void dp_quaternion_copy_to_single(const DPQuaternion* versor, SPQu
result->x3 = (float)versor->x3;
}
static inline void dp_quaternion_copy_from_single(const SPQuaternion* versor, DPQuaternion* result)
{
result->s0 = versor->s0;
result->x1 = versor->x1;
result->x2 = versor->x2;
result->x3 = versor->x3;
}
// ================= Inversion ================== //
static inline void sp_quaternion_conjugate(SPQuaternion* versor)
@ -102,9 +120,9 @@ static inline void dp_quaternion_conjugate(DPQuaternion* versor)
versor->x3 = -versor->x3;
}
// ================ Get Inverted ================ //
// ================ Set Conjugate =============== //
static inline void sp_quaternion_get_conjugate(const SPQuaternion* versor, SPQuaternion* result)
static inline void sp_quaternion_set_conjugate(const SPQuaternion* versor, SPQuaternion* result)
{
result->s0 = versor->s0;
result->x1 = -versor->x1;
@ -112,7 +130,25 @@ static inline void sp_quaternion_get_conjugate(const SPQuaternion* versor, SPQua
result->x3 = -versor->x3;
}
static inline void dp_quaternion_get_conjugate(const DPQuaternion* versor, DPQuaternion* result)
static inline void dp_quaternion_set_conjugate(const DPQuaternion* versor, DPQuaternion* result)
{
result->s0 = versor->s0;
result->x1 = -versor->x1;
result->x2 = -versor->x2;
result->x3 = -versor->x3;
}
// ================ Get Inverted ================ //
static inline void sp_quaternion_conjugate_double(const DPQuaternion* versor, SPQuaternion* result)
{
result->s0 = (float)versor->s0;
result->x1 = -(float)versor->x1;
result->x2 = -(float)versor->x2;
result->x3 = -(float)versor->x3;
}
static inline void dp_quaternion_conjugate_single(const SPQuaternion* versor, DPQuaternion* result)
{
result->s0 = versor->s0;
result->x1 = -versor->x1;

146
src/vector2.c
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@ -1,73 +1,73 @@
#include "vector2.h"
const SPVector2 SP_ZERO_VECTOR2 = { 0.0f, 0.0f };
const SPVector2 SP_X1_UNIT_VECTOR2 = { 1.0f, 0.0f };
const SPVector2 SP_X2_UNIT_VECTOR2 = { 0.0f, 1.0f };
const DPVector2 DP_ZERO_VECTOR2 = { 0.0, 0.0 };
const DPVector2 DP_X1_UNIT_VECTOR2 = { 1.0, 0.0 };
const DPVector2 DP_X2_UNIT_VECTOR2 = { 0.0, 1.0 };
// =================== Angle ==================== //
float sp_vector2_angle(const SPVector2* vector1, const SPVector2* vector2, const angle_unit_t unit)
{
if (vector1 == 0 || vector2 == 0) {
return 0.0f;
}
const float square_module1 = sp_vector2_get_square_module(vector1);
if (square_module1 <= SP_SQUARE_EPSYLON) {
return 0.0f;
}
const float square_module2 = sp_vector2_get_square_module(vector2);
if (square_module2 <= SP_SQUARE_EPSYLON) {
return 0.0f;
}
const float cosine = sp_vector2_scalar(vector1, vector2) / sqrtf(square_module1 * square_module2);
if (cosine >= 1.0f - SP_EPSYLON) {
return 0.0f;
}
if (cosine <= -1.0f + SP_EPSYLON) {
return sp_get_half_circle(unit);
}
return sp_convert_from_radians(acosf(cosine), unit);
}
double dp_vector2_angle(const DPVector2* vector1, const DPVector2* vector2, const angle_unit_t unit)
{
if (vector1 == 0 || vector2 == 0) {
return 0.0;
}
const double square_module1 = dp_vector2_get_square_module(vector1);
if (square_module1 <= DP_SQUARE_EPSYLON) {
return 0.0;
}
const double square_module2 = dp_vector2_get_square_module(vector2);
if (square_module2 <= DP_SQUARE_EPSYLON) {
return 0.0;
}
const double cosine = dp_vector2_scalar(vector1, vector2) / sqrt(square_module1 * square_module2);
if (cosine >= 1.0 - DP_EPSYLON) {
return 0.0;
}
if (cosine <= -1.0 + DP_EPSYLON) {
return dp_get_half_circle(unit);
}
return dp_convert_from_radians(acos(cosine), unit);
}
#include "vector2.h"
const SPVector2 SP_ZERO_VECTOR2 = { 0.0f, 0.0f };
const SPVector2 SP_X1_UNIT_VECTOR2 = { 1.0f, 0.0f };
const SPVector2 SP_X2_UNIT_VECTOR2 = { 0.0f, 1.0f };
const DPVector2 DP_ZERO_VECTOR2 = { 0.0, 0.0 };
const DPVector2 DP_X1_UNIT_VECTOR2 = { 1.0, 0.0 };
const DPVector2 DP_X2_UNIT_VECTOR2 = { 0.0, 1.0 };
// =================== Angle ==================== //
float sp_vector2_angle(const SPVector2* vector1, const SPVector2* vector2, const angle_unit_t unit)
{
if (vector1 == 0 || vector2 == 0) {
return 0.0f;
}
const float square_module1 = sp_vector2_get_square_module(vector1);
if (square_module1 <= SP_SQUARE_EPSYLON) {
return 0.0f;
}
const float square_module2 = sp_vector2_get_square_module(vector2);
if (square_module2 <= SP_SQUARE_EPSYLON) {
return 0.0f;
}
const float cosine = sp_vector2_scalar(vector1, vector2) / sqrtf(square_module1 * square_module2);
if (cosine >= 1.0f - SP_EPSYLON) {
return 0.0f;
}
if (cosine <= -1.0f + SP_EPSYLON) {
return sp_get_half_circle(unit);
}
return sp_convert_from_radians(acosf(cosine), unit);
}
double dp_vector2_angle(const DPVector2* vector1, const DPVector2* vector2, const angle_unit_t unit)
{
if (vector1 == 0 || vector2 == 0) {
return 0.0;
}
const double square_module1 = dp_vector2_get_square_module(vector1);
if (square_module1 <= DP_SQUARE_EPSYLON) {
return 0.0;
}
const double square_module2 = dp_vector2_get_square_module(vector2);
if (square_module2 <= DP_SQUARE_EPSYLON) {
return 0.0;
}
const double cosine = dp_vector2_scalar(vector1, vector2) / sqrt(square_module1 * square_module2);
if (cosine >= 1.0 - DP_EPSYLON) {
return 0.0;
}
if (cosine <= -1.0 + DP_EPSYLON) {
return dp_get_half_circle(unit);
}
return dp_convert_from_radians(acos(cosine), unit);
}

98
src/vector2.h
View file

@ -38,6 +38,20 @@ static inline void dp_vector2_reset(DPVector2* vector)
vector->x2 = 0.0;
}
// ==================== Set ===================== //
static inline void sp_vector2_set_values(const float x1, const float x2, SPVector2* to)
{
to->x1 = x1;
to->x2 = x2;
}
static inline void dp_vector2_set_values(const double x1, const double x2, DPVector2* to)
{
to->x1 = x1;
to->x2 = x2;
}
// ==================== Copy ==================== //
static inline void sp_vector2_copy(const SPVector2* from, SPVector2* to)
@ -52,18 +66,46 @@ static inline void dp_vector2_copy(const DPVector2* from, DPVector2* to)
to->x2 = from->x2;
}
// ==================== Set ===================== //
// ============= Copy to twin type ============== //
static inline void sp_vector2_set(const float x1, const float x2, SPVector2* to)
static inline void sp_vector2_copy_from_double(const DPVector2* from, SPVector2* to)
{
to->x1 = x1;
to->x2 = x2;
to->x1 = (float)from->x1;
to->x2 = (float)from->x2;
}
static inline void dp_vector2_set(const double x1, const double x2, DPVector2* to)
static inline void dp_vector2_copy_from_single(const SPVector2* from, DPVector2* to)
{
to->x1 = x1;
to->x2 = x2;
to->x1 = from->x1;
to->x2 = from->x2;
}
// =================== Reverse ================== //
static inline void sp_vector2_reverse(const SPVector2* from, SPVector2* to)
{
to->x1 = -from->x1;
to->x2 = -from->x2;
}
static inline void dp_vector2_reverse(const DPVector2* from, DPVector2* to)
{
to->x1 = -from->x1;
to->x2 = -from->x2;
}
// ============= Reverse twin type ============== //
static inline void sp_vector2_reverse_double(const DPVector2* from, SPVector2* to)
{
to->x1 = -(float)from->x1;
to->x2 = -(float)from->x2;
}
static inline void dp_vector2_reverse_single(const SPVector2* from, DPVector2* to)
{
to->x1 = -from->x1;
to->x2 = -from->x2;
}
// =================== Module =================== //
@ -114,48 +156,6 @@ static inline int dp_vector2_is_unit(const DPVector2* vector)
return 1.0f - DP_TWO_EPSYLON <= square_module && square_module <= 1.0f + DP_TWO_EPSYLON;
}
// ============= Copy to twin type ============== //
static inline void sp_vector2_copy_to_double(const SPVector2* from, DPVector2* to)
{
to->x1 = (double)from->x1;
to->x2 = (double)from->x2;
}
static inline void dp_vector2_copy_to_single(const DPVector2* from, SPVector2* to)
{
to->x1 = (float)from->x1;
to->x2 = (float)from->x2;
}
// ================= Inversion ================== //
static inline void sp_vector2_invert(SPVector2* vector)
{
vector->x1 = -vector->x1;
vector->x2 = -vector->x2;
}
static inline void dp_vector2_invert(DPVector2* vector)
{
vector->x1 = -vector->x1;
vector->x2 = -vector->x2;
}
// ================ Get Inverted ================ //
static inline void sp_vector2_get_inverted(const SPVector2* vector, SPVector2* result)
{
result->x1 = -vector->x1;
result->x2 = -vector->x2;
}
static inline void dp_vector2_get_inverted(const DPVector2* vector, DPVector2* result)
{
result->x1 = -vector->x1;
result->x2 = -vector->x2;
}
// ==================== Add ===================== //
static inline void sp_vector2_add(const SPVector2* vector1, const SPVector2* vector2, SPVector2* result)

150
src/vector3.c
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@ -1,75 +1,75 @@
#include "vector3.h"
const SPVector3 SP_ZERO_VECTOR3 = { 0.0f, 0.0f, 0.0f };
const SPVector3 SP_X1_UNIT_VECTOR3 = { 1.0f, 0.0f, 0.0f };
const SPVector3 SP_X2_UNIT_VECTOR3 = { 0.0f, 1.0f, 0.0f };
const SPVector3 SP_X3_UNIT_VECTOR3 = { 0.0f, 0.0f, 1.0f };
const DPVector3 DP_ZERO_VECTOR3 = { 0.0, 0.0, 0.0 };
const DPVector3 DP_X1_UNIT_VECTOR3 = { 1.0, 0.0, 0.0 };
const DPVector3 DP_X2_UNIT_VECTOR3 = { 0.0, 1.0, 0.0 };
const DPVector3 DP_X3_UNIT_VECTOR3 = { 0.0, 0.0, 1.0 };
// =================== Angle ==================== //
float sp_vector3_angle(const SPVector3* vector1, const SPVector3* vector2, const angle_unit_t unit)
{
if (vector1 == 0 || vector2 == 0) {
return 0.0f;
}
const float square_module1 = sp_vector3_get_square_module(vector1);
if (square_module1 <= SP_SQUARE_EPSYLON) {
return 0.0f;
}
const float square_module2 = sp_vector3_get_square_module(vector2);
if (square_module2 <= SP_SQUARE_EPSYLON) {
return 0.0f;
}
const float cosine = sp_vector3_scalar(vector1, vector2) / sqrtf(square_module1 * square_module2);
if (cosine >= 1.0f - SP_EPSYLON) {
return 0.0f;
}
if (cosine <= -1.0f + SP_EPSYLON) {
return sp_get_half_circle(unit);
}
return sp_convert_from_radians(acosf(cosine), unit);
}
double dp_vector3_angle(const DPVector3* vector1, const DPVector3* vector2, const angle_unit_t unit)
{
if (vector1 == 0 || vector2 == 0) {
return 0.0;
}
const double square_module1 = dp_vector3_get_square_module(vector1);
if (square_module1 <= DP_SQUARE_EPSYLON) {
return 0.0;
}
const double square_module2 = dp_vector3_get_square_module(vector2);
if (square_module2 <= DP_SQUARE_EPSYLON) {
return 0.0;
}
const double cosine = dp_vector3_scalar(vector1, vector2) / sqrt(square_module1 * square_module2);
if (cosine >= 1.0 - DP_EPSYLON) {
return 0.0;
}
if (cosine <= -1.0 + DP_EPSYLON) {
return dp_get_half_circle(unit);
}
return dp_convert_from_radians(acos(cosine), unit);
}
#include "vector3.h"
const SPVector3 SP_ZERO_VECTOR3 = { 0.0f, 0.0f, 0.0f };
const SPVector3 SP_X1_UNIT_VECTOR3 = { 1.0f, 0.0f, 0.0f };
const SPVector3 SP_X2_UNIT_VECTOR3 = { 0.0f, 1.0f, 0.0f };
const SPVector3 SP_X3_UNIT_VECTOR3 = { 0.0f, 0.0f, 1.0f };
const DPVector3 DP_ZERO_VECTOR3 = { 0.0, 0.0, 0.0 };
const DPVector3 DP_X1_UNIT_VECTOR3 = { 1.0, 0.0, 0.0 };
const DPVector3 DP_X2_UNIT_VECTOR3 = { 0.0, 1.0, 0.0 };
const DPVector3 DP_X3_UNIT_VECTOR3 = { 0.0, 0.0, 1.0 };
// =================== Angle ==================== //
float sp_vector3_angle(const SPVector3* vector1, const SPVector3* vector2, const angle_unit_t unit)
{
if (vector1 == 0 || vector2 == 0) {
return 0.0f;
}
const float square_module1 = sp_vector3_get_square_module(vector1);
if (square_module1 <= SP_SQUARE_EPSYLON) {
return 0.0f;
}
const float square_module2 = sp_vector3_get_square_module(vector2);
if (square_module2 <= SP_SQUARE_EPSYLON) {
return 0.0f;
}
const float cosine = sp_vector3_scalar(vector1, vector2) / sqrtf(square_module1 * square_module2);
if (cosine >= 1.0f - SP_EPSYLON) {
return 0.0f;
}
if (cosine <= -1.0f + SP_EPSYLON) {
return sp_get_half_circle(unit);
}
return sp_convert_from_radians(acosf(cosine), unit);
}
double dp_vector3_angle(const DPVector3* vector1, const DPVector3* vector2, const angle_unit_t unit)
{
if (vector1 == 0 || vector2 == 0) {
return 0.0;
}
const double square_module1 = dp_vector3_get_square_module(vector1);
if (square_module1 <= DP_SQUARE_EPSYLON) {
return 0.0;
}
const double square_module2 = dp_vector3_get_square_module(vector2);
if (square_module2 <= DP_SQUARE_EPSYLON) {
return 0.0;
}
const double cosine = dp_vector3_scalar(vector1, vector2) / sqrt(square_module1 * square_module2);
if (cosine >= 1.0 - DP_EPSYLON) {
return 0.0;
}
if (cosine <= -1.0 + DP_EPSYLON) {
return dp_get_half_circle(unit);
}
return dp_convert_from_radians(acos(cosine), unit);
}

114
src/vector3.h
View file

@ -44,6 +44,22 @@ static inline void dp_vector3_reset(DPVector3* vector)
vector->x3 = 0.0;
}
// ==================== Set ===================== //
static inline void sp_vector3_set_values(const float x1, const float x2, const float x3, SPVector3* to)
{
to->x1 = x1;
to->x2 = x2;
to->x3 = x3;
}
static inline void dp_vector3_set_values(const double x1, const double x2, const double x3, DPVector3* to)
{
to->x1 = x1;
to->x2 = x2;
to->x3 = x3;
}
// ==================== Copy ==================== //
static inline void sp_vector3_copy(const SPVector3* from, SPVector3* to)
@ -60,20 +76,52 @@ static inline void dp_vector3_copy(const DPVector3* from, DPVector3* to)
to->x3 = from->x3;
}
// ==================== Set ===================== //
// ============= Copy to twin type ============== //
static inline void sp_vector3_set(const float x1, const float x2, const float x3, SPVector3* to)
static inline void sp_vector3_copy_from_double(const DPVector3* from, SPVector3* to)
{
to->x1 = x1;
to->x2 = x2;
to->x3 = x3;
to->x1 = (float)from->x1;
to->x2 = (float)from->x2;
to->x3 = (float)from->x3;
}
static inline void dp_vector3_set(const double x1, const double x2, const double x3, DPVector3* to)
static inline void dp_vector3_copy_from_single(const SPVector3* from, DPVector3* to)
{
to->x1 = x1;
to->x2 = x2;
to->x3 = x3;
to->x1 = from->x1;
to->x2 = from->x2;
to->x3 = from->x3;
}
// =================== Reverse ================== //
static inline void sp_vector3_reverse(const SPVector3* from, SPVector3* to)
{
to->x1 = -from->x1;
to->x2 = -from->x2;
to->x3 = -from->x3;
}
static inline void dp_vector3_reverse(const DPVector3* from, DPVector3* to)
{
to->x1 = -from->x1;
to->x2 = -from->x2;
to->x3 = -from->x3;
}
// ============= Reverse twin type ============== //
static inline void sp_vector3_reverse_double(const DPVector3* from, SPVector3* to)
{
to->x1 = -(float)from->x1;
to->x2 = -(float)from->x2;
to->x3 = -(float)from->x3;
}
static inline void dp_vector3_reverse_single(const SPVector3* from, DPVector3* to)
{
to->x1 = -from->x1;
to->x2 = -from->x2;
to->x3 = -from->x3;
}
// =================== Module =================== //
@ -124,54 +172,6 @@ static inline int dp_vector3_is_unit(const DPVector3* vector)
return 1.0f - DP_TWO_EPSYLON <= square_module && square_module <= 1.0f + DP_TWO_EPSYLON;
}
// ============= Copy to twin type ============== //
static inline void sp_vector3_copy_to_double(const SPVector3* from, DPVector3* to)
{
to->x1 = (double)from->x1;
to->x2 = (double)from->x2;
to->x3 = (double)from->x3;
}
static inline void dp_vector3_copy_to_single(const DPVector3* from, SPVector3* to)
{
to->x1 = (float)from->x1;
to->x2 = (float)from->x2;
to->x3 = (float)from->x3;
}
// ================= Inversion ================== //
static inline void sp_vector3_invert(SPVector3* vector)
{
vector->x1 = -vector->x1;
vector->x2 = -vector->x2;
vector->x3 = -vector->x3;
}
static inline void dp_vector3_invert(DPVector3* vector)
{
vector->x1 = -vector->x1;
vector->x2 = -vector->x2;
vector->x3 = -vector->x3;
}
// ================ Get Inverted ================ //
static inline void sp_vector3_get_inverted(const SPVector3* vector, SPVector3* result)
{
result->x1 = -vector->x1;
result->x2 = -vector->x2;
result->x3 = -vector->x3;
}
static inline void dp_vector3_get_inverted(const DPVector3* vector, DPVector3* result)
{
result->x1 = -vector->x1;
result->x2 = -vector->x2;
result->x3 = -vector->x3;
}
// ==================== Add ===================== //
static inline void sp_vector3_add(const SPVector3* vector1, const SPVector3* vector2, SPVector3* result)

24
src/versor.h
View file

@ -226,18 +226,7 @@ static inline int dp_versor_is_idle(const DPVersor* versor)
// ============= Copy to twin type ============== //
static inline void sp_versor_copy_to_double(const SPVersor* versor, DPVersor* result)
{
dp_versor_set(
(double)versor->_s0,
(double)versor->_x1,
(double)versor->_x2,
(double)versor->_x3,
result
);
}
static inline void dp_versor_copy_to_single(const DPVersor* versor, SPVersor* result)
static inline void sp_versor_from_double(const DPVersor* versor, SPVersor* result)
{
sp_versor_set(
(float)versor->_s0,
@ -248,6 +237,17 @@ static inline void dp_versor_copy_to_single(const DPVersor* versor, SPVersor* re
);
}
static inline void dp_versor_from_single(const SPVersor* versor, DPVersor* result)
{
dp_versor_set(
(double)versor->_s0,
(double)versor->_x1,
(double)versor->_x2,
(double)versor->_x3,
result
);
}
// ================= Inversion ================== //
static inline void sp_versor_invert(SPVersor* versor)

322
test/geometry-test.vcxproj
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6
test/geometry-test.vcxproj.user
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@ -1,4 +1,4 @@
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