Kimelas/bgc-c
2
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Изменение полей версора на константные / Making versor's fields constant

Browse source
This commit is contained in:
Andrey Pokidov 2024-11-21 14:12:51 +07:00
parent e7616ae80c
commit 23fcdc2c28
10 changed files with 423 additions and 425 deletions
Download patch file Download diff file Expand all files Collapse all files

1
Geometry.workspace.layout
View file

@ -2,5 +2,4 @@
<CodeBlocks_workspace_layout_file> <CodeBlocks_workspace_layout_file>
<FileVersion major="1" minor="0" /> <FileVersion major="1" minor="0" />
<ActiveProject path="dev/geometry-dev.cbp" /> <ActiveProject path="dev/geometry-dev.cbp" />
<PreferredTarget name="Release" />
</CodeBlocks_workspace_layout_file> </CodeBlocks_workspace_layout_file>

26
dev/geometry-dev.depend
View file

@ -1,5 +1,5 @@
# depslib dependency file v1.0 # depslib dependency file v1.0
1731995770 source:/home/andrey/Projects/Private/C/Geometry/dev/main.c 1732169779 source:/home/andrey/Projects/Private/C/Geometry/dev/main.c
<stdio.h> <stdio.h>
<stdlib.h> <stdlib.h>
<math.h> <math.h>
@ -21,18 +21,18 @@
"quaternion.h" "quaternion.h"
"versor.h" "versor.h"
1730476002 /home/andrey/Projects/Private/C/Geometry/src/basis.h 1732094620 /home/andrey/Projects/Private/C/Geometry/src/basis.h
1730392488 /home/andrey/Projects/Private/C/Geometry/src/angle.h 1732096335 /home/andrey/Projects/Private/C/Geometry/src/angle.h
<math.h> <math.h>
"basis.h" "basis.h"
1731673023 /home/andrey/Projects/Private/C/Geometry/src/vector2.h 1732095049 /home/andrey/Projects/Private/C/Geometry/src/vector2.h
"basis.h" "basis.h"
"angle.h" "angle.h"
<math.h> <math.h>
1731673331 /home/andrey/Projects/Private/C/Geometry/src/vector3.h 1732095097 /home/andrey/Projects/Private/C/Geometry/src/vector3.h
"basis.h" "basis.h"
"angle.h" "angle.h"
<math.h> <math.h>
@ -42,12 +42,12 @@
"angle.h" "angle.h"
<math.h> <math.h>
1731673308 /home/andrey/Projects/Private/C/Geometry/src/matrix2x2.h 1732095748 /home/andrey/Projects/Private/C/Geometry/src/matrix2x2.h
"angle.h" "angle.h"
"vector2.h" "vector2.h"
"matrixes.h" "matrixes.h"
1731906002 /home/andrey/Projects/Private/C/Geometry/src/matrix3x3.h 1732095414 /home/andrey/Projects/Private/C/Geometry/src/matrix3x3.h
"vector3.h" "vector3.h"
"matrixes.h" "matrixes.h"
@ -61,12 +61,12 @@
"vector2.h" "vector2.h"
"matrix2x2.h" "matrix2x2.h"
1730355414 /home/andrey/Projects/Private/C/Geometry/src/rotation3.h 1732095748 /home/andrey/Projects/Private/C/Geometry/src/rotation3.h
"basis.h" "basis.h"
"angle.h" "angle.h"
"vector3.h" "vector3.h"
1731995858 /home/andrey/Projects/Private/C/Geometry/src/versor.h 1732169837 /home/andrey/Projects/Private/C/Geometry/src/versor.h
<stdint.h> <stdint.h>
"basis.h" "basis.h"
"vector3.h" "vector3.h"
@ -107,19 +107,19 @@
"versor.h" "versor.h"
"affine_map3.h" "affine_map3.h"
1731906002 /home/andrey/Projects/Private/C/Geometry/src/matrixes.h 1732094620 /home/andrey/Projects/Private/C/Geometry/src/matrixes.h
1731906002 /home/andrey/Projects/Private/C/Geometry/src/matrix2x3.h 1732095530 /home/andrey/Projects/Private/C/Geometry/src/matrix2x3.h
"vector2.h" "vector2.h"
"vector3.h" "vector3.h"
"matrixes.h" "matrixes.h"
1731906002 /home/andrey/Projects/Private/C/Geometry/src/matrix3x2.h 1732095530 /home/andrey/Projects/Private/C/Geometry/src/matrix3x2.h
"vector2.h" "vector2.h"
"vector3.h" "vector3.h"
"matrixes.h" "matrixes.h"
1731407834 /home/andrey/Projects/Private/C/Geometry/src/quaternion.h 1732095234 /home/andrey/Projects/Private/C/Geometry/src/quaternion.h
<math.h> <math.h>
"basis.h" "basis.h"
"matrix3x3.h" "matrix3x3.h"

4
dev/geometry-dev.layout
View file

@ -2,9 +2,9 @@
<CodeBlocks_layout_file> <CodeBlocks_layout_file>
<FileVersion major="1" minor="0" /> <FileVersion major="1" minor="0" />
<ActiveTarget name="Release" /> <ActiveTarget name="Release" />
<File name="main.c" open="0" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="main.c" open="1" top="1" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="3793" topLine="116" /> <Cursor1 position="1168" topLine="46" />
</Cursor> </Cursor>
</File> </File>
</CodeBlocks_layout_file> </CodeBlocks_layout_file>

2
dev/main.c
View file

@ -52,7 +52,7 @@ BgFP32Versor * make_random_versors(const unsigned int amount)
void print_versor(const BgFP32Versor* versor) void print_versor(const BgFP32Versor* versor)
{ {
printf("(%f, %f, %f, %f)\n", versor->_s0, versor->_x1, versor->_x2, versor->_x3); printf("(%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
} }
void print_vector(const BgFP32Vector3* vector) void print_vector(const BgFP32Vector3* vector)

172
src/geometry.layout
View file

@ -2,9 +2,29 @@
<CodeBlocks_layout_file> <CodeBlocks_layout_file>
<FileVersion major="1" minor="0" /> <FileVersion major="1" minor="0" />
<ActiveTarget name="Debug" /> <ActiveTarget name="Debug" />
<File name="matrix2x3.h" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="geometry.h" open="0" top="0" tabpos="8" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="1596" topLine="0" /> <Cursor1 position="316" topLine="0" />
</Cursor>
</File>
<File name="rotation3.c" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="128" topLine="0" />
</Cursor>
</File>
<File name="vector3.c" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1765" topLine="0" />
</Cursor>
</File>
<File name="matrix2x2.h" open="0" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="2008" topLine="63" />
</Cursor>
</File>
<File name="matrix3x3.c" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="4343" topLine="67" />
</Cursor> </Cursor>
</File> </File>
<File name="angle.c" open="0" top="0" tabpos="7" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="angle.c" open="0" top="0" tabpos="7" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
@ -12,49 +32,9 @@
<Cursor1 position="0" topLine="0" /> <Cursor1 position="0" topLine="0" />
</Cursor> </Cursor>
</File> </File>
<File name="quaternion.h" open="0" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="matrixes.h" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="1849" topLine="187" /> <Cursor1 position="4418" topLine="54" />
</Cursor>
</File>
<File name="matrix2x2.c" open="0" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="24" topLine="0" />
</Cursor>
</File>
<File name="matrix2x2.h" open="1" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="13404" topLine="440" />
</Cursor>
</File>
<File name="vector2.h" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="556" topLine="12" />
</Cursor>
</File>
<File name="vector2.c" open="1" top="0" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="24" topLine="0" />
</Cursor>
</File>
<File name="versor.c" open="0" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="504" topLine="0" />
</Cursor>
</File>
<File name="rotation3.c" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="154" topLine="0" />
</Cursor>
</File>
<File name="versor.h" open="0" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="27" topLine="0" />
</Cursor>
</File>
<File name="basis.h" open="0" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="103" topLine="0" />
</Cursor> </Cursor>
</File> </File>
<File name="basis.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="basis.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
@ -62,49 +42,79 @@
<Cursor1 position="20" topLine="0" /> <Cursor1 position="20" topLine="0" />
</Cursor> </Cursor>
</File> </File>
<File name="vector3.h" open="1" top="0" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="0" topLine="0" />
</Cursor>
</File>
<File name="quaternion.h" open="1" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="4195" topLine="122" />
</Cursor>
</File>
<File name="vector2.c" open="0" top="0" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1765" topLine="17" />
</Cursor>
</File>
<File name="angle.h" open="0" top="0" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="angle.h" open="0" top="0" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="1082" topLine="0" /> <Cursor1 position="12295" topLine="509" />
</Cursor> </Cursor>
</File> </File>
<File name="matrix3x2.h" open="0" top="0" tabpos="7" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="matrix2x2.c" open="0" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="897" topLine="52" />
</Cursor>
</File>
<File name="quaternion.c" open="0" top="0" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="6789" topLine="145" />
</Cursor>
</File>
<File name="matrix3x3.h" open="1" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="17612" topLine="537" />
</Cursor>
</File>
<File name="geometry.h" open="0" top="0" tabpos="8" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="316" topLine="0" />
</Cursor>
</File>
<File name="vector3.h" open="1" top="1" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="15169" topLine="102" />
</Cursor>
</File>
<File name="rotation3.h" open="0" top="0" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="305" topLine="29" />
</Cursor>
</File>
<File name="matrix3x3.c" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="23" topLine="72" />
</Cursor>
</File>
<File name="vector3.c" open="1" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="24" topLine="0" /> <Cursor1 position="24" topLine="0" />
</Cursor> </Cursor>
</File> </File>
<File name="versor.h" open="1" top="1" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="3483" topLine="119" />
</Cursor>
</File>
<File name="matrix3x2.h" open="0" top="0" tabpos="7" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="2291" topLine="280" />
</Cursor>
</File>
<File name="vector2.h" open="0" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="2044" topLine="216" />
</Cursor>
</File>
<File name="versor.c" open="1" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1316" topLine="90" />
</Cursor>
</File>
<File name="matrix3x3.h" open="0" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="0" topLine="99" />
</Cursor>
</File>
<File name="rotation3.h" open="0" top="0" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="2552" topLine="44" />
</Cursor>
</File>
<File name="basis.h" open="0" top="0" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1382" topLine="6" />
</Cursor>
</File>
<File name="matrix2x3.h" open="0" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="2817" topLine="324" />
</Cursor>
</File>
<File name="quaternion.c" open="1" top="0" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="1596" topLine="2" />
</Cursor>
</File>
<File name="matrixes.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="11981" topLine="205" />
</Cursor>
</File>
</CodeBlocks_layout_file> </CodeBlocks_layout_file>

8
src/quaternion.c
View file

@ -2,7 +2,7 @@
// ============ Make Rotation Matrix ============ // // ============ Make Rotation Matrix ============ //
void bg_fp32_quaternion_make_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix) void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix)
{ {
const float s0s0 = quaternion->s0 * quaternion->s0; const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1; const float x1x1 = quaternion->x1 * quaternion->x1;
@ -40,7 +40,7 @@ void bg_fp32_quaternion_make_rotation_matrix(const BgFP32Quaternion* quaternion,
matrix->r1c3 = corrector2 * (x1x3 + s0x2); matrix->r1c3 = corrector2 * (x1x3 + s0x2);
} }
void bg_fp64_quaternion_make_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix) void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix)
{ {
const double s0s0 = quaternion->s0 * quaternion->s0; const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1; const double x1x1 = quaternion->x1 * quaternion->x1;
@ -80,7 +80,7 @@ void bg_fp64_quaternion_make_rotation_matrix(const BgFP64Quaternion* quaternion,
// ============ Make Reverse Matrix ============= // // ============ Make Reverse Matrix ============= //
void bg_fp32_quaternion_make_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix) void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix)
{ {
const float s0s0 = quaternion->s0 * quaternion->s0; const float s0s0 = quaternion->s0 * quaternion->s0;
const float x1x1 = quaternion->x1 * quaternion->x1; const float x1x1 = quaternion->x1 * quaternion->x1;
@ -118,7 +118,7 @@ void bg_fp32_quaternion_make_reverse_matrix(const BgFP32Quaternion* quaternion,
matrix->r1c3 = corrector2 * (x1x3 - s0x2); matrix->r1c3 = corrector2 * (x1x3 - s0x2);
} }
void bg_fp64_quaternion_make_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix) void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix)
{ {
const double s0s0 = quaternion->s0 * quaternion->s0; const double s0s0 = quaternion->s0 * quaternion->s0;
const double x1x1 = quaternion->x1 * quaternion->x1; const double x1x1 = quaternion->x1 * quaternion->x1;

8
src/quaternion.h
View file

@ -158,15 +158,15 @@ static inline void bg_fp64_quaternion_set_conjugate_fp32(const BgFP32Quaternion*
// ============ Make Rotation Matrix ============ // // ============ Make Rotation Matrix ============ //
void bg_fp32_quaternion_make_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix); void bg_fp32_quaternion_get_rotation_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix);
void bg_fp64_quaternion_make_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix); void bg_fp64_quaternion_get_rotation_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix);
// ============ Make Reverse Matrix ============= // // ============ Make Reverse Matrix ============= //
void bg_fp32_quaternion_make_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix); void bg_fp32_quaternion_get_reverse_matrix(const BgFP32Quaternion* quaternion, BgFP32Matrix3x3* matrix);
void bg_fp64_quaternion_make_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix); void bg_fp64_quaternion_get_reverse_matrix(const BgFP64Quaternion* quaternion, BgFP64Matrix3x3* matrix);
// ==================== Add ===================== // // ==================== Add ===================== //

92
src/versor.c
View file

@ -7,51 +7,45 @@ const BgFP32Versor BG_FP32_IDLE_VERSOR = { 1.0f, 0.0f, 0.0f, 0.0f };
const BgFP64Versor BG_FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 }; const BgFP64Versor BG_FP64_IDLE_VERSOR = { 1.0, 0.0, 0.0, 0.0 };
void __bg_fp32_versor_normalize(const float square_module, BgFP32Versor* versor) void __bg_fp32_versor_normalize(const float square_module, __BgFP32VersorDarkTwin* twin)
{ {
if (square_module <= BG_FP32_SQUARE_EPSYLON) { if (square_module <= BG_FP32_SQUARE_EPSYLON || (twin->x1 * twin->x1 + twin->x2 * twin->x2 + twin->x3 * twin->x3) <= BG_FP32_SQUARE_EPSYLON * square_module) {
bg_fp32_versor_reset(versor); twin->s0 = 1.0f;
return; twin->x1 = 0.0f;
} twin->x2 = 0.0f;
twin->x3 = 0.0f;
if ((versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3) <= BG_FP32_SQUARE_EPSYLON * square_module) {
bg_fp32_versor_reset(versor);
return; return;
} }
const float module = sqrtf(square_module); const float module = sqrtf(square_module);
versor->_s0 /= module; twin->s0 /= module;
versor->_x1 /= module; twin->x1 /= module;
versor->_x2 /= module; twin->x2 /= module;
versor->_x3 /= module; twin->x3 /= module;
} }
void __bg_fp64_versor_normalize(const double square_module, BgFP64Versor* versor) void __bg_fp64_versor_normalize(const double square_module, __BgFP64VersorDarkTwin* twin)
{ {
if (square_module <= BG_FP64_SQUARE_EPSYLON) { if (square_module <= BG_FP64_SQUARE_EPSYLON || (twin->x1 * twin->x1 + twin->x2 * twin->x2 + twin->x3 * twin->x3) <= BG_FP64_SQUARE_EPSYLON * square_module) {
bg_fp64_versor_reset(versor); twin->s0 = 1.0;
return; twin->x1 = 0.0;
} twin->x2 = 0.0;
twin->x3 = 0.0;
const double square_vector = versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3;
if (square_vector <= BG_FP64_SQUARE_EPSYLON * square_module) {
bg_fp64_versor_reset(versor);
return; return;
} }
const double module = sqrt(square_module); const double module = sqrt(square_module);
versor->_s0 /= module; twin->s0 /= module;
versor->_x1 /= module; twin->x1 /= module;
versor->_x2 /= module; twin->x2 /= module;
versor->_x3 /= module; twin->x3 /= module;
} }
// ==================== Make ==================== // // =============== Set Crude Turn =============== //
void bg_fp32_versor_make_from_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Versor* result) void bg_fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Versor* result)
{ {
const float square_vector = x1 * x1 + x2 * x2 + x3 * x3; const float square_vector = x1 * x1 + x2 * x2 + x3 * x3;
@ -71,16 +65,10 @@ void bg_fp32_versor_make_from_crude_turn(const float x1, const float x2, const f
const float multiplier = sine / sqrtf(square_vector); const float multiplier = sine / sqrtf(square_vector);
bg_fp32_versor_set_values( bg_fp32_versor_set_values(cosf(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
cosf(half_angle),
x1 * multiplier,
x2 * multiplier,
x3 * multiplier,
result
);
} }
void bg_fp64_versor_make_from_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Versor* result) void bg_fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Versor* result)
{ {
const double square_vector = x1 * x1 + x2 * x2 + x3 * x3; const double square_vector = x1 * x1 + x2 * x2 + x3 * x3;
@ -100,13 +88,7 @@ void bg_fp64_versor_make_from_crude_turn(const double x1, const double x2, const
const double multiplier = sine / sqrt(square_vector); const double multiplier = sine / sqrt(square_vector);
bg_fp64_versor_set_values( bg_fp64_versor_set_values(cos(half_angle), x1 * multiplier, x2 * multiplier, x3 * multiplier, result);
cos(half_angle),
x1 * multiplier,
x2 * multiplier,
x3 * multiplier,
result
);
} }
// ================= Rotation3 ================== // // ================= Rotation3 ================== //
@ -117,20 +99,20 @@ void bg_fp32_versor_get_rotation(const BgFP32Versor* versor, BgFP32Rotation3* re
return; return;
} }
if (versor->_s0 <= -(1.0f - BG_FP32_EPSYLON) || 1.0f - BG_FP32_EPSYLON <= versor->_s0) { if (versor->s0 <= -(1.0f - BG_FP32_EPSYLON) || 1.0f - BG_FP32_EPSYLON <= versor->s0) {
bg_fp32_rotation_reset(result); bg_fp32_rotation_reset(result);
return; return;
} }
const float square_vector = versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3; const float square_vector = versor->x1 * versor->x1 + versor->x2 * versor->x2 + versor->x3 * versor->x3;
result->radians = 2.0f * acosf(versor->_s0 / sqrtf(versor->_s0 * versor->_s0 + square_vector)); result->radians = 2.0f * acosf(versor->s0 / sqrtf(versor->s0 * versor->s0 + square_vector));
const float vector_module = sqrtf(square_vector); const float vector_module = sqrtf(square_vector);
result->axis.x1 = versor->_x1 / vector_module; result->axis.x1 = versor->x1 / vector_module;
result->axis.x2 = versor->_x2 / vector_module; result->axis.x2 = versor->x2 / vector_module;
result->axis.x3 = versor->_x3 / vector_module; result->axis.x3 = versor->x3 / vector_module;
} }
void bg_fp64_versor_get_rotation(const BgFP64Versor* versor, BgFP64Rotation3* result) void bg_fp64_versor_get_rotation(const BgFP64Versor* versor, BgFP64Rotation3* result)
@ -139,18 +121,18 @@ void bg_fp64_versor_get_rotation(const BgFP64Versor* versor, BgFP64Rotation3* re
return; return;
} }
if (versor->_s0 <= -(1.0 - BG_FP64_EPSYLON) || 1.0 - BG_FP64_EPSYLON <= versor->_s0) { if (versor->s0 <= -(1.0 - BG_FP64_EPSYLON) || 1.0 - BG_FP64_EPSYLON <= versor->s0) {
bg_fp64_rotation_reset(result); bg_fp64_rotation_reset(result);
return; return;
} }
const double square_vector = versor->_x1 * versor->_x1 + versor->_x2 * versor->_x2 + versor->_x3 * versor->_x3; const double square_vector = versor->x1 * versor->x1 + versor->x2 * versor->x2 + versor->x3 * versor->x3;
result->radians = 2.0 * acos(versor->_s0 / sqrt(versor->_s0 * versor->_s0 + square_vector)); result->radians = 2.0 * acos(versor->s0 / sqrt(versor->s0 * versor->s0 + square_vector));
const double vector_module = sqrt(square_vector); const double vector_module = sqrt(square_vector);
result->axis.x1 = versor->_x1 / vector_module; result->axis.x1 = versor->x1 / vector_module;
result->axis.x2 = versor->_x2 / vector_module; result->axis.x2 = versor->x2 / vector_module;
result->axis.x3 = versor->_x3 / vector_module; result->axis.x3 = versor->x3 / vector_module;
} }

517
src/versor.h
View file

@ -8,14 +8,28 @@
#include "rotation3.h" #include "rotation3.h"
#include "matrix3x3.h" #include "matrix3x3.h"
// =================== Types ==================== //
typedef struct { typedef struct {
float _s0, _x1, _x2, _x3; const float s0, x1, x2, x3;
} BgFP32Versor; } BgFP32Versor;
typedef struct { typedef struct {
double _s0, _x1, _x2, _x3; const double s0, x1, x2, x3;
} BgFP64Versor; } BgFP64Versor;
// ================= Dark Twins ================= //
typedef struct {
float s0, x1, x2, x3;
} __BgFP32VersorDarkTwin;
typedef struct {
double s0, x1, x2, x3;
} __BgFP64VersorDarkTwin;
// ================= Constants ================== //
extern const BgFP32Versor BG_FP32_IDLE_VERSOR; extern const BgFP32Versor BG_FP32_IDLE_VERSOR;
extern const BgFP64Versor BG_FP64_IDLE_VERSOR; extern const BgFP64Versor BG_FP64_IDLE_VERSOR;
@ -23,116 +37,59 @@ extern const BgFP64Versor BG_FP64_IDLE_VERSOR;
static inline void bg_fp32_versor_reset(BgFP32Versor* versor) static inline void bg_fp32_versor_reset(BgFP32Versor* versor)
{ {
versor->_s0 = 1.0f; __BgFP32VersorDarkTwin* twin = (__BgFP32VersorDarkTwin*)versor;
versor->_x1 = 0.0f;
versor->_x2 = 0.0f; twin->s0 = 1.0f;
versor->_x3 = 0.0f; twin->x1 = 0.0f;
twin->x2 = 0.0f;
twin->x3 = 0.0f;
} }
static inline void bg_fp64_versor_reset(BgFP64Versor* versor) static inline void bg_fp64_versor_reset(BgFP64Versor* versor)
{ {
versor->_s0 = 1.0; __BgFP64VersorDarkTwin* twin = (__BgFP64VersorDarkTwin*)versor;
versor->_x1 = 0.0;
versor->_x2 = 0.0;
versor->_x3 = 0.0;
}
// ============== Get Scalar Part =============== // twin->s0 = 1.0;
twin->x1 = 0.0;
static inline float bg_fp32_versor_get_scalar(const BgFP32Versor* versor) twin->x2 = 0.0;
{ twin->x3 = 0.0;
return versor->_s0;
}
static inline double bg_fp64_versor_get_scalar(const BgFP64Versor* versor)
{
return versor->_s0;
}
// ============== Get Vector Part =============== //
static inline void bg_fp32_versor_get_vector_part(const BgFP32Versor* versor, BgFP32Vector3 * result)
{
result->x1 = versor->_x1;
result->x2 = versor->_x2;
result->x3 = versor->_x3;
}
static inline void bg_fp64_versor_get_vector_part(const BgFP64Versor* versor, BgFP64Vector3 * result)
{
result->x1 = versor->_x1;
result->x2 = versor->_x2;
result->x3 = versor->_x3;
}
// =================== Get x1 =================== //
static inline float bg_fp32_versor_get_x1(const BgFP32Versor* versor)
{
return versor->_x1;
}
static inline double bg_fp64_versor_get_x1(const BgFP64Versor* versor)
{
return versor->_x1;
}
// =================== Get x2 =================== //
static inline float bg_fp32_versor_get_x2(const BgFP32Versor* versor)
{
return versor->_x2;
}
static inline double bg_fp64_versor_get_x2(const BgFP64Versor* versor)
{
return versor->_x2;
}
// =================== Get x3 =================== //
static inline float bg_fp32_versor_get_x3(const BgFP32Versor* versor)
{
return versor->_x3;
}
static inline double bg_fp64_versor_get_x3(const BgFP64Versor* versor)
{
return versor->_x3;
} }
// ==================== Set ===================== // // ==================== Set ===================== //
void __bg_fp32_versor_normalize(const float square_module, BgFP32Versor* versor); void __bg_fp32_versor_normalize(const float square_module, __BgFP32VersorDarkTwin* twin);
void __bg_fp64_versor_normalize(const double square_module, BgFP64Versor* versor); void __bg_fp64_versor_normalize(const double square_module, __BgFP64VersorDarkTwin* twin);
static inline void bg_fp32_versor_set_values(const float s0, const float x1, const float x2, const float x3, BgFP32Versor* result) static inline void bg_fp32_versor_set_values(const float s0, const float x1, const float x2, const float x3, BgFP32Versor* versor)
{ {
result->_s0 = s0; __BgFP32VersorDarkTwin* twin = (__BgFP32VersorDarkTwin*)versor;
result->_x1 = x1;
result->_x2 = x2; twin->s0 = s0;
result->_x3 = x3; twin->x1 = x1;
twin->x2 = x2;
twin->x3 = x3;
const float square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); const float square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
if (square_module < 1.0f - BG_FP32_TWO_EPSYLON || 1.0f + BG_FP32_TWO_EPSYLON < square_module) { if (square_module < 1.0f - BG_FP32_TWO_EPSYLON || 1.0f + BG_FP32_TWO_EPSYLON < square_module) {
__bg_fp32_versor_normalize(square_module, result); __bg_fp32_versor_normalize(square_module, (__BgFP32VersorDarkTwin*)versor);
} }
} }
static inline void bg_fp64_versor_set_values(const double s0, const double x1, const double x2, const double x3, BgFP64Versor* result) static inline void bg_fp64_versor_set_values(const double s0, const double x1, const double x2, const double x3, BgFP64Versor* versor)
{ {
result->_s0 = s0; __BgFP64VersorDarkTwin* twin = (__BgFP64VersorDarkTwin*)versor;
result->_x1 = x1;
result->_x2 = x2; twin->s0 = s0;
result->_x3 = x3; twin->x1 = x1;
twin->x2 = x2;
twin->x3 = x3;
const double square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); const double square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
if (square_module < 1.0 - BG_FP64_TWO_EPSYLON || 1.0 + BG_FP64_TWO_EPSYLON < square_module) { if (square_module < 1.0 - BG_FP64_TWO_EPSYLON || 1.0 + BG_FP64_TWO_EPSYLON < square_module) {
__bg_fp64_versor_normalize(square_module, result); __bg_fp64_versor_normalize(square_module, twin);
} }
} }
@ -140,56 +97,64 @@ static inline void bg_fp64_versor_set_values(const double s0, const double x1, c
static inline void bg_fp32_versor_copy(const BgFP32Versor* from, BgFP32Versor* to) static inline void bg_fp32_versor_copy(const BgFP32Versor* from, BgFP32Versor* to)
{ {
to->_s0 = from->_s0; __BgFP32VersorDarkTwin* twin = (__BgFP32VersorDarkTwin*)to;
to->_x1 = from->_x1;
to->_x2 = from->_x2; twin->s0 = from->s0;
to->_x3 = from->_x3; twin->x1 = from->x1;
twin->x2 = from->x2;
twin->x3 = from->x3;
} }
static inline void bg_fp64_versor_copy(const BgFP64Versor* from, BgFP64Versor* to) static inline void bg_fp64_versor_copy(const BgFP64Versor* from, BgFP64Versor* to)
{ {
to->_s0 = from->_s0; __BgFP64VersorDarkTwin* twin = (__BgFP64VersorDarkTwin*)to;
to->_x1 = from->_x1;
to->_x2 = from->_x2; twin->s0 = from->s0;
to->_x3 = from->_x3; twin->x1 = from->x1;
twin->x2 = from->x2;
twin->x3 = from->x3;
} }
// ==================== Make ==================== // // =============== Set Crude Turn =============== //
void bg_fp32_versor_make_from_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Versor* result); void bg_fp32_versor_set_crude_turn(const float x1, const float x2, const float x3, const float angle, const angle_unit_t unit, BgFP32Versor* result);
void bg_fp64_versor_make_from_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Versor* result); void bg_fp64_versor_set_crude_turn(const double x1, const double x2, const double x3, const double angle, const angle_unit_t unit, BgFP64Versor* result);
static inline void bg_fp32_versor_make_from_turn(const BgFP32Vector3* axis, const float angle, const angle_unit_t unit, BgFP32Versor* result) // ================== Set Turn ================== //
static inline void bg_fp32_versor_set_turn(const BgFP32Vector3* axis, const float angle, const angle_unit_t unit, BgFP32Versor* result)
{ {
bg_fp32_versor_make_from_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result); bg_fp32_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
} }
static inline void bg_fp64_versor_make_from_turn(const BgFP64Vector3* axis, const double angle, const angle_unit_t unit, BgFP64Versor* result) static inline void bg_fp64_versor_set_turn(const BgFP32Vector3* axis, const double angle, const angle_unit_t unit, BgFP64Versor* result)
{ {
bg_fp64_versor_make_from_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result); bg_fp64_versor_set_crude_turn(axis->x1, axis->x2, axis->x3, angle, unit, result);
} }
static inline void bg_fp32_versor_make_from_rotation(const BgFP32Rotation3* rotation, BgFP32Versor* result) // ================ Set Rotation ================ //
static inline void bg_fp32_versor_set_rotation(const BgFP32Rotation3* rotation, BgFP32Versor* result)
{ {
bg_fp32_versor_make_from_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result); bg_fp32_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
} }
static inline void bg_fp64_versor_make_from_rotation(const BgFP64Rotation3* rotation, BgFP64Versor* result) static inline void bg_fp64_versor_set_rotation(const BgFP64Rotation3* rotation, BgFP64Versor* result)
{ {
bg_fp64_versor_make_from_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result); bg_fp64_versor_set_crude_turn(rotation->axis.x1, rotation->axis.x2, rotation->axis.x3, rotation->radians, BG_ANGLE_UNIT_RADIANS, result);
} }
// ================= Comparison ================= // // ================= Comparison ================= //
static inline int bg_fp32_versor_is_idle(const BgFP32Versor* versor) static inline int bg_fp32_versor_is_idle(const BgFP32Versor* versor)
{ {
return 1.0f - BG_FP32_EPSYLON <= versor->_s0 || versor->_s0 <= -(1.0 - BG_FP32_EPSYLON); return 1.0f - BG_FP32_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - BG_FP32_EPSYLON);
} }
static inline int bg_fp64_versor_is_idle(const BgFP64Versor* versor) static inline int bg_fp64_versor_is_idle(const BgFP64Versor* versor)
{ {
return 1.0 - BG_FP64_EPSYLON <= versor->_s0 || versor->_s0 <= -(1.0 - BG_FP64_EPSYLON); return 1.0 - BG_FP64_EPSYLON <= versor->s0 || versor->s0 <= -(1.0 - BG_FP64_EPSYLON);
} }
// ============= Copy to twin type ============== // // ============= Copy to twin type ============== //
@ -197,10 +162,10 @@ static inline int bg_fp64_versor_is_idle(const BgFP64Versor* versor)
static inline void bg_fp32_versor_set_from_fp64(const BgFP64Versor* versor, BgFP32Versor* result) static inline void bg_fp32_versor_set_from_fp64(const BgFP64Versor* versor, BgFP32Versor* result)
{ {
bg_fp32_versor_set_values( bg_fp32_versor_set_values(
(float) versor->_s0, (float) versor->s0,
(float) versor->_x1, (float) versor->x1,
(float) versor->_x2, (float) versor->x2,
(float) versor->_x3, (float) versor->x3,
result result
); );
} }
@ -208,10 +173,10 @@ static inline void bg_fp32_versor_set_from_fp64(const BgFP64Versor* versor, BgFP
static inline void bg_fp64_versor_set_from_fp32(const BgFP32Versor* versor, BgFP64Versor* result) static inline void bg_fp64_versor_set_from_fp32(const BgFP32Versor* versor, BgFP64Versor* result)
{ {
bg_fp64_versor_set_values( bg_fp64_versor_set_values(
versor->_s0, versor->s0,
versor->_x1, versor->x1,
versor->_x2, versor->x2,
versor->_x3, versor->x3,
result result
); );
} }
@ -220,73 +185,105 @@ static inline void bg_fp64_versor_set_from_fp32(const BgFP32Versor* versor, BgFP
static inline void bg_fp32_versor_invert(BgFP32Versor* versor) static inline void bg_fp32_versor_invert(BgFP32Versor* versor)
{ {
versor->_x1 = -versor->_x1; __BgFP32VersorDarkTwin* twin = (__BgFP32VersorDarkTwin*)versor;
versor->_x2 = -versor->_x2; twin->x1 = -versor->x1;
versor->_x3 = -versor->_x3; twin->x2 = -versor->x2;
twin->x3 = -versor->x3;
} }
static inline void bg_fp64_versor_invert(BgFP64Versor* versor) static inline void bg_fp64_versor_invert(BgFP64Versor* versor)
{ {
versor->_x1 = -versor->_x1; __BgFP64VersorDarkTwin* twin = (__BgFP64VersorDarkTwin*)versor;
versor->_x2 = -versor->_x2; twin->x1 = -versor->x1;
versor->_x3 = -versor->_x3; twin->x2 = -versor->x2;
twin->x3 = -versor->x3;
} }
// ================ Make Inverted =============== // // ================ Set Inverted ================ //
static inline void bg_fp32_versor_set_inverted(const BgFP32Versor* versor, BgFP32Versor* result) static inline void bg_fp32_versor_set_inverted(const BgFP32Versor* versor, BgFP32Versor* to)
{ {
result->_s0 = versor->_s0; __BgFP32VersorDarkTwin* twin = (__BgFP32VersorDarkTwin*)to;
result->_x1 = -versor->_x1; twin->s0 = versor->s0;
result->_x2 = -versor->_x2; twin->x1 = -versor->x1;
result->_x3 = -versor->_x3; twin->x2 = -versor->x2;
twin->x3 = -versor->x3;
} }
static inline void bg_fp64_versor_set_inverted(const BgFP64Versor* versor, BgFP64Versor* result) static inline void bg_fp64_versor_set_inverted(const BgFP64Versor* versor, BgFP64Versor* to)
{ {
result->_s0 = versor->_s0; __BgFP64VersorDarkTwin* twin = (__BgFP64VersorDarkTwin*)to;
result->_x1 = -versor->_x1; twin->s0 = versor->s0;
result->_x2 = -versor->_x2; twin->x1 = -versor->x1;
result->_x3 = -versor->_x3; twin->x2 = -versor->x2;
twin->x3 = -versor->x3;
}
// ================ Set Inverted ================ //
static inline void bg_fp32_versor_set_inverted_fp64(const BgFP64Versor* versor, BgFP32Versor* to)
{
bg_fp32_versor_set_values(
(float) versor->s0,
(float) -versor->x1,
(float) -versor->x2,
(float) -versor->x3,
to
);
}
static inline void bg_fp64_versor_set_inverted_fp32(const BgFP32Versor* versor, BgFP64Versor* to)
{
bg_fp64_versor_set_values(
versor->s0,
-versor->x1,
-versor->x2,
-versor->x3,
to
);
} }
// ================ Combination ================= // // ================ Combination ================= //
static inline void bg_fp32_versor_combine(const BgFP32Versor* second, const BgFP32Versor* first, BgFP32Versor* result) static inline void bg_fp32_versor_combine(const BgFP32Versor* second, const BgFP32Versor* first, BgFP32Versor* result)
{ {
const float s0 = (second->_s0 * first->_s0 - second->_x1 * first->_x1) - (second->_x2 * first->_x2 + second->_x3 * first->_x3); const float s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
const float x1 = (second->_x1 * first->_s0 + second->_s0 * first->_x1) - (second->_x3 * first->_x2 - second->_x2 * first->_x3); const float x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
const float x2 = (second->_x2 * first->_s0 + second->_s0 * first->_x2) - (second->_x1 * first->_x3 - second->_x3 * first->_x1); const float x2 = (second->x2 * first->s0 + second->s0 * first->x2) - (second->x1 * first->x3 - second->x3 * first->x1);
const float x3 = (second->_x3 * first->_s0 + second->_s0 * first->_x3) - (second->_x2 * first->_x1 - second->_x1 * first->_x2); const float x3 = (second->x3 * first->s0 + second->s0 * first->x3) - (second->x2 * first->x1 - second->x1 * first->x2);
const float square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); const float square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
result->_s0 = s0; __BgFP32VersorDarkTwin* twin = (__BgFP32VersorDarkTwin*)result;
result->_x1 = x1;
result->_x2 = x2; twin->s0 = s0;
result->_x3 = x3; twin->x1 = x1;
twin->x2 = x2;
twin->x3 = x3;
if (square_module < 1.0f - BG_FP32_TWO_EPSYLON || 1.0f + BG_FP32_TWO_EPSYLON < square_module) { if (square_module < 1.0f - BG_FP32_TWO_EPSYLON || 1.0f + BG_FP32_TWO_EPSYLON < square_module) {
__bg_fp32_versor_normalize(square_module, result); __bg_fp32_versor_normalize(square_module, twin);
} }
} }
static inline void bg_fp64_versor_combine(const BgFP64Versor* second, const BgFP64Versor* first, BgFP64Versor* result) static inline void bg_fp64_versor_combine(const BgFP64Versor* second, const BgFP64Versor* first, BgFP64Versor* result)
{ {
const double s0 = (second->_s0 * first->_s0 - second->_x1 * first->_x1) - (second->_x2 * first->_x2 + second->_x3 * first->_x3); const double s0 = (second->s0 * first->s0 - second->x1 * first->x1) - (second->x2 * first->x2 + second->x3 * first->x3);
const double x1 = (second->_x1 * first->_s0 + second->_s0 * first->_x1) - (second->_x3 * first->_x2 - second->_x2 * first->_x3); const double x1 = (second->x1 * first->s0 + second->s0 * first->x1) - (second->x3 * first->x2 - second->x2 * first->x3);
const double x2 = (second->_x2 * first->_s0 + second->_s0 * first->_x2) - (second->_x1 * first->_x3 - second->_x3 * first->_x1); const double x2 = (second->x2 * first->s0 + second->s0 * first->x2) - (second->x1 * first->x3 - second->x3 * first->x1);
const double x3 = (second->_x3 * first->_s0 + second->_s0 * first->_x3) - (second->_x2 * first->_x1 - second->_x1 * first->_x2); const double x3 = (second->x3 * first->s0 + second->s0 * first->x3) - (second->x2 * first->x1 - second->x1 * first->x2);
const double square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3); const double square_module = (s0 * s0 + x1 * x1) + (x2 * x2 + x3 * x3);
result->_s0 = s0; __BgFP64VersorDarkTwin* twin = (__BgFP64VersorDarkTwin*)result;
result->_x1 = x1;
result->_x2 = x2; twin->s0 = s0;
result->_x3 = x3; twin->x1 = x1;
twin->x2 = x2;
twin->x3 = x3;
if (square_module < 1.0 - BG_FP64_TWO_EPSYLON || 1.0 + BG_FP64_TWO_EPSYLON < square_module) { if (square_module < 1.0 - BG_FP64_TWO_EPSYLON || 1.0 + BG_FP64_TWO_EPSYLON < square_module) {
__bg_fp64_versor_normalize(square_module, result); __bg_fp64_versor_normalize(square_module, twin);
} }
} }
@ -298,20 +295,20 @@ void bg_fp64_versor_get_rotation(const BgFP64Versor* versor, BgFP64Rotation3* re
// =========== Make Rotation Matrix3x3 ========== // // =========== Make Rotation Matrix3x3 ========== //
static inline void bg_fp32_versor_make_rotation_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix) static inline void bg_fp32_versor_get_rotation_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix)
{ {
const float s0s0 = versor->_s0 * versor->_s0; const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->_x1 * versor->_x1; const float x1x1 = versor->x1 * versor->x1;
const float x2x2 = versor->_x2 * versor->_x2; const float x2x2 = versor->x2 * versor->x2;
const float x3x3 = versor->_x3 * versor->_x3; const float x3x3 = versor->x3 * versor->x3;
const float s0x1 = 2.0f * versor->_s0 * versor->_x1; const float s0x1 = 2.0f * versor->s0 * versor->x1;
const float s0x2 = 2.0f * versor->_s0 * versor->_x2; const float s0x2 = 2.0f * versor->s0 * versor->x2;
const float s0x3 = 2.0f * versor->_s0 * versor->_x3; const float s0x3 = 2.0f * versor->s0 * versor->x3;
const float x1x2 = 2.0f * versor->_x1 * versor->_x2; const float x1x2 = 2.0f * versor->x1 * versor->x2;
const float x1x3 = 2.0f * versor->_x1 * versor->_x3; const float x1x3 = 2.0f * versor->x1 * versor->x3;
const float x2x3 = 2.0f * versor->_x2 * versor->_x3; const float x2x3 = 2.0f * versor->x2 * versor->x3;
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
@ -326,20 +323,20 @@ static inline void bg_fp32_versor_make_rotation_matrix(const BgFP32Versor* verso
matrix->r1c3 = x1x3 + s0x2; matrix->r1c3 = x1x3 + s0x2;
} }
static inline void bg_fp64_versor_make_rotation_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix) static inline void bg_fp64_versor_get_rotation_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix)
{ {
const double s0s0 = versor->_s0 * versor->_s0; const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->_x1 * versor->_x1; const double x1x1 = versor->x1 * versor->x1;
const double x2x2 = versor->_x2 * versor->_x2; const double x2x2 = versor->x2 * versor->x2;
const double x3x3 = versor->_x3 * versor->_x3; const double x3x3 = versor->x3 * versor->x3;
const double s0x1 = 2.0 * versor->_s0 * versor->_x1; const double s0x1 = 2.0 * versor->s0 * versor->x1;
const double s0x2 = 2.0 * versor->_s0 * versor->_x2; const double s0x2 = 2.0 * versor->s0 * versor->x2;
const double s0x3 = 2.0 * versor->_s0 * versor->_x3; const double s0x3 = 2.0 * versor->s0 * versor->x3;
const double x1x2 = 2.0 * versor->_x1 * versor->_x2; const double x1x2 = 2.0 * versor->x1 * versor->x2;
const double x1x3 = 2.0 * versor->_x1 * versor->_x3; const double x1x3 = 2.0 * versor->x1 * versor->x3;
const double x2x3 = 2.0 * versor->_x2 * versor->_x3; const double x2x3 = 2.0 * versor->x2 * versor->x3;
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
@ -356,20 +353,20 @@ static inline void bg_fp64_versor_make_rotation_matrix(const BgFP64Versor* verso
// =========== Make Reverse Matrix3x3 =========== // // =========== Make Reverse Matrix3x3 =========== //
static inline void bg_fp32_versor_make_reverse_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix) static inline void bg_fp32_versor_get_reverse_matrix(const BgFP32Versor* versor, BgFP32Matrix3x3* matrix)
{ {
const float s0s0 = versor->_s0 * versor->_s0; const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->_x1 * versor->_x1; const float x1x1 = versor->x1 * versor->x1;
const float x2x2 = versor->_x2 * versor->_x2; const float x2x2 = versor->x2 * versor->x2;
const float x3x3 = versor->_x3 * versor->_x3; const float x3x3 = versor->x3 * versor->x3;
const float s0x1 = 2.0f * versor->_s0 * versor->_x1; const float s0x1 = 2.0f * versor->s0 * versor->x1;
const float s0x2 = 2.0f * versor->_s0 * versor->_x2; const float s0x2 = 2.0f * versor->s0 * versor->x2;
const float s0x3 = 2.0f * versor->_s0 * versor->_x3; const float s0x3 = 2.0f * versor->s0 * versor->x3;
const float x1x2 = 2.0f * versor->_x1 * versor->_x2; const float x1x2 = 2.0f * versor->x1 * versor->x2;
const float x1x3 = 2.0f * versor->_x1 * versor->_x3; const float x1x3 = 2.0f * versor->x1 * versor->x3;
const float x2x3 = 2.0f * versor->_x2 * versor->_x3; const float x2x3 = 2.0f * versor->x2 * versor->x3;
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
@ -384,20 +381,20 @@ static inline void bg_fp32_versor_make_reverse_matrix(const BgFP32Versor* versor
matrix->r1c3 = x1x3 - s0x2; matrix->r1c3 = x1x3 - s0x2;
} }
static inline void bg_fp64_versor_make_reverse_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix) static inline void bg_fp64_versor_get_reverse_matrix(const BgFP64Versor* versor, BgFP64Matrix3x3* matrix)
{ {
const double s0s0 = versor->_s0 * versor->_s0; const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->_x1 * versor->_x1; const double x1x1 = versor->x1 * versor->x1;
const double x2x2 = versor->_x2 * versor->_x2; const double x2x2 = versor->x2 * versor->x2;
const double x3x3 = versor->_x3 * versor->_x3; const double x3x3 = versor->x3 * versor->x3;
const double s0x1 = 2.0 * versor->_s0 * versor->_x1; const double s0x1 = 2.0 * versor->s0 * versor->x1;
const double s0x2 = 2.0 * versor->_s0 * versor->_x2; const double s0x2 = 2.0 * versor->s0 * versor->x2;
const double s0x3 = 2.0 * versor->_s0 * versor->_x3; const double s0x3 = 2.0 * versor->s0 * versor->x3;
const double x1x2 = 2.0 * versor->_x1 * versor->_x2; const double x1x2 = 2.0 * versor->x1 * versor->x2;
const double x1x3 = 2.0 * versor->_x1 * versor->_x3; const double x1x3 = 2.0 * versor->x1 * versor->x3;
const double x2x3 = 2.0 * versor->_x2 * versor->_x3; const double x2x3 = 2.0 * versor->x2 * versor->x3;
matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3); matrix->r1c1 = (s0s0 + x1x1) - (x2x2 + x3x3);
matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3); matrix->r2c2 = (s0s0 + x2x2) - (x1x1 + x3x3);
@ -416,13 +413,13 @@ static inline void bg_fp64_versor_make_reverse_matrix(const BgFP64Versor* versor
static inline void bg_fp32_versor_turn(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result) static inline void bg_fp32_versor_turn(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result)
{ {
const float tx1 = 2.0f * (versor->_x2 * vector->x3 - versor->_x3 * vector->x2); const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
const float tx2 = 2.0f * (versor->_x3 * vector->x1 - versor->_x1 * vector->x3); const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
const float tx3 = 2.0f * (versor->_x1 * vector->x2 - versor->_x2 * vector->x1); const float tx3 = 2.0f * (versor->x1 * vector->x2 - versor->x2 * vector->x1);
const float x1 = (vector->x1 + tx1 * versor->_s0) + (versor->_x2 * tx3 - versor->_x3 * tx2); const float x1 = (vector->x1 + tx1 * versor->s0) + (versor->x2 * tx3 - versor->x3 * tx2);
const float x2 = (vector->x2 + tx2 * versor->_s0) + (versor->_x3 * tx1 - versor->_x1 * tx3); const float x2 = (vector->x2 + tx2 * versor->s0) + (versor->x3 * tx1 - versor->x1 * tx3);
const float x3 = (vector->x3 + tx3 * versor->_s0) + (versor->_x1 * tx2 - versor->_x2 * tx1); const float x3 = (vector->x3 + tx3 * versor->s0) + (versor->x1 * tx2 - versor->x2 * tx1);
result->x1 = x1; result->x1 = x1;
result->x2 = x2; result->x2 = x2;
@ -431,13 +428,13 @@ static inline void bg_fp32_versor_turn(const BgFP32Versor* versor, const BgFP32V
static inline void bg_fp64_versor_turn(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result) static inline void bg_fp64_versor_turn(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result)
{ {
const double tx1 = 2.0 * (versor->_x2 * vector->x3 - versor->_x3 * vector->x2); const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
const double tx2 = 2.0 * (versor->_x3 * vector->x1 - versor->_x1 * vector->x3); const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
const double tx3 = 2.0 * (versor->_x1 * vector->x2 - versor->_x2 * vector->x1); const double tx3 = 2.0 * (versor->x1 * vector->x2 - versor->x2 * vector->x1);
const double x1 = (vector->x1 + tx1 * versor->_s0) + (versor->_x2 * tx3 - versor->_x3 * tx2); const double x1 = (vector->x1 + tx1 * versor->s0) + (versor->x2 * tx3 - versor->x3 * tx2);
const double x2 = (vector->x2 + tx2 * versor->_s0) + (versor->_x3 * tx1 - versor->_x1 * tx3); const double x2 = (vector->x2 + tx2 * versor->s0) + (versor->x3 * tx1 - versor->x1 * tx3);
const double x3 = (vector->x3 + tx3 * versor->_s0) + (versor->_x1 * tx2 - versor->_x2 * tx1); const double x3 = (vector->x3 + tx3 * versor->s0) + (versor->x1 * tx2 - versor->x2 * tx1);
result->x1 = x1; result->x1 = x1;
result->x2 = x2; result->x2 = x2;
@ -448,18 +445,18 @@ static inline void bg_fp64_versor_turn(const BgFP64Versor* versor, const BgFP64V
static inline void bg_fp32_versor_turn2(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result) static inline void bg_fp32_versor_turn2(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result)
{ {
const float s0s0 = versor->_s0 * versor->_s0; const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->_x1 * versor->_x1; const float x1x1 = versor->x1 * versor->x1;
const float x2x2 = versor->_x2 * versor->_x2; const float x2x2 = versor->x2 * versor->x2;
const float x3x3 = versor->_x3 * versor->_x3; const float x3x3 = versor->x3 * versor->x3;
const float s0x1 = 2.0f * versor->_s0 * versor->_x1; const float s0x1 = 2.0f * versor->s0 * versor->x1;
const float s0x2 = 2.0f * versor->_s0 * versor->_x2; const float s0x2 = 2.0f * versor->s0 * versor->x2;
const float s0x3 = 2.0f * versor->_s0 * versor->_x3; const float s0x3 = 2.0f * versor->s0 * versor->x3;
const float x1x2 = 2.0f * versor->_x1 * versor->_x2; const float x1x2 = 2.0f * versor->x1 * versor->x2;
const float x1x3 = 2.0f * versor->_x1 * versor->_x3; const float x1x3 = 2.0f * versor->x1 * versor->x3;
const float x2x3 = 2.0f * versor->_x2 * versor->_x3; const float x2x3 = 2.0f * versor->x2 * versor->x3;
const float r2c1 = x1x2 + s0x3; const float r2c1 = x1x2 + s0x3;
const float r3c2 = x2x3 + s0x1; const float r3c2 = x2x3 + s0x1;
@ -484,18 +481,18 @@ static inline void bg_fp32_versor_turn2(const BgFP32Versor* versor, const BgFP32
static inline void bg_fp64_versor_turn2(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result) static inline void bg_fp64_versor_turn2(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result)
{ {
const double s0s0 = versor->_s0 * versor->_s0; const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->_x1 * versor->_x1; const double x1x1 = versor->x1 * versor->x1;
const double x2x2 = versor->_x2 * versor->_x2; const double x2x2 = versor->x2 * versor->x2;
const double x3x3 = versor->_x3 * versor->_x3; const double x3x3 = versor->x3 * versor->x3;
const double s0x1 = 2.0f * versor->_s0 * versor->_x1; const double s0x1 = 2.0f * versor->s0 * versor->x1;
const double s0x2 = 2.0f * versor->_s0 * versor->_x2; const double s0x2 = 2.0f * versor->s0 * versor->x2;
const double s0x3 = 2.0f * versor->_s0 * versor->_x3; const double s0x3 = 2.0f * versor->s0 * versor->x3;
const double x1x2 = 2.0f * versor->_x1 * versor->_x2; const double x1x2 = 2.0f * versor->x1 * versor->x2;
const double x1x3 = 2.0f * versor->_x1 * versor->_x3; const double x1x3 = 2.0f * versor->x1 * versor->x3;
const double x2x3 = 2.0f * versor->_x2 * versor->_x3; const double x2x3 = 2.0f * versor->x2 * versor->x3;
const double r2c1 = x1x2 + s0x3; const double r2c1 = x1x2 + s0x3;
const double r3c2 = x2x3 + s0x1; const double r3c2 = x2x3 + s0x1;
@ -522,13 +519,13 @@ static inline void bg_fp64_versor_turn2(const BgFP64Versor* versor, const BgFP64
static inline void bg_fp32_versor_turn_back(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result) static inline void bg_fp32_versor_turn_back(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result)
{ {
const float tx1 = 2.0f * (versor->_x2 * vector->x3 - versor->_x3 * vector->x2); const float tx1 = 2.0f * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
const float tx2 = 2.0f * (versor->_x3 * vector->x1 - versor->_x1 * vector->x3); const float tx2 = 2.0f * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
const float tx3 = 2.0f * (versor->_x1 * vector->x2 - versor->_x2 * vector->x1); const float tx3 = 2.0f * (versor->x1 * vector->x2 - versor->x2 * vector->x1);
const float x1 = (vector->x1 - tx1 * versor->_s0) + (versor->_x2 * tx3 - versor->_x3 * tx2); const float x1 = (vector->x1 - tx1 * versor->s0) + (versor->x2 * tx3 - versor->x3 * tx2);
const float x2 = (vector->x2 - tx2 * versor->_s0) + (versor->_x3 * tx1 - versor->_x1 * tx3); const float x2 = (vector->x2 - tx2 * versor->s0) + (versor->x3 * tx1 - versor->x1 * tx3);
const float x3 = (vector->x3 - tx3 * versor->_s0) + (versor->_x1 * tx2 - versor->_x2 * tx1); const float x3 = (vector->x3 - tx3 * versor->s0) + (versor->x1 * tx2 - versor->x2 * tx1);
result->x1 = x1; result->x1 = x1;
result->x2 = x2; result->x2 = x2;
@ -537,13 +534,13 @@ static inline void bg_fp32_versor_turn_back(const BgFP32Versor* versor, const Bg
static inline void bg_fp64_versor_turn_back(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result) static inline void bg_fp64_versor_turn_back(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result)
{ {
const double tx1 = 2.0 * (versor->_x2 * vector->x3 - versor->_x3 * vector->x2); const double tx1 = 2.0 * (versor->x2 * vector->x3 - versor->x3 * vector->x2);
const double tx2 = 2.0 * (versor->_x3 * vector->x1 - versor->_x1 * vector->x3); const double tx2 = 2.0 * (versor->x3 * vector->x1 - versor->x1 * vector->x3);
const double tx3 = 2.0 * (versor->_x1 * vector->x2 - versor->_x2 * vector->x1); const double tx3 = 2.0 * (versor->x1 * vector->x2 - versor->x2 * vector->x1);
const double x1 = (vector->x1 - tx1 * versor->_s0) + (versor->_x2 * tx3 - versor->_x3 * tx2); const double x1 = (vector->x1 - tx1 * versor->s0) + (versor->x2 * tx3 - versor->x3 * tx2);
const double x2 = (vector->x2 - tx2 * versor->_s0) + (versor->_x3 * tx1 - versor->_x1 * tx3); const double x2 = (vector->x2 - tx2 * versor->s0) + (versor->x3 * tx1 - versor->x1 * tx3);
const double x3 = (vector->x3 - tx3 * versor->_s0) + (versor->_x1 * tx2 - versor->_x2 * tx1); const double x3 = (vector->x3 - tx3 * versor->s0) + (versor->x1 * tx2 - versor->x2 * tx1);
result->x1 = x1; result->x1 = x1;
result->x2 = x2; result->x2 = x2;
@ -554,18 +551,18 @@ static inline void bg_fp64_versor_turn_back(const BgFP64Versor* versor, const Bg
static inline void bg_fp32_versor_turn_back2(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result) static inline void bg_fp32_versor_turn_back2(const BgFP32Versor* versor, const BgFP32Vector3* vector, BgFP32Vector3* result)
{ {
const float s0s0 = versor->_s0 * versor->_s0; const float s0s0 = versor->s0 * versor->s0;
const float x1x1 = versor->_x1 * versor->_x1; const float x1x1 = versor->x1 * versor->x1;
const float x2x2 = versor->_x2 * versor->_x2; const float x2x2 = versor->x2 * versor->x2;
const float x3x3 = versor->_x3 * versor->_x3; const float x3x3 = versor->x3 * versor->x3;
const float s0x1 = 2.0f * versor->_s0 * versor->_x1; const float s0x1 = 2.0f * versor->s0 * versor->x1;
const float s0x2 = 2.0f * versor->_s0 * versor->_x2; const float s0x2 = 2.0f * versor->s0 * versor->x2;
const float s0x3 = 2.0f * versor->_s0 * versor->_x3; const float s0x3 = 2.0f * versor->s0 * versor->x3;
const float x1x2 = 2.0f * versor->_x1 * versor->_x2; const float x1x2 = 2.0f * versor->x1 * versor->x2;
const float x1x3 = 2.0f * versor->_x1 * versor->_x3; const float x1x3 = 2.0f * versor->x1 * versor->x3;
const float x2x3 = 2.0f * versor->_x2 * versor->_x3; const float x2x3 = 2.0f * versor->x2 * versor->x3;
const float r1c2 = x1x2 + s0x3; const float r1c2 = x1x2 + s0x3;
const float r2c3 = x2x3 + s0x1; const float r2c3 = x2x3 + s0x1;
@ -590,18 +587,18 @@ static inline void bg_fp32_versor_turn_back2(const BgFP32Versor* versor, const B
static inline void bg_fp64_versor_turn_back2(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result) static inline void bg_fp64_versor_turn_back2(const BgFP64Versor* versor, const BgFP64Vector3* vector, BgFP64Vector3* result)
{ {
const double s0s0 = versor->_s0 * versor->_s0; const double s0s0 = versor->s0 * versor->s0;
const double x1x1 = versor->_x1 * versor->_x1; const double x1x1 = versor->x1 * versor->x1;
const double x2x2 = versor->_x2 * versor->_x2; const double x2x2 = versor->x2 * versor->x2;
const double x3x3 = versor->_x3 * versor->_x3; const double x3x3 = versor->x3 * versor->x3;
const double s0x1 = 2.0f * versor->_s0 * versor->_x1; const double s0x1 = 2.0f * versor->s0 * versor->x1;
const double s0x2 = 2.0f * versor->_s0 * versor->_x2; const double s0x2 = 2.0f * versor->s0 * versor->x2;
const double s0x3 = 2.0f * versor->_s0 * versor->_x3; const double s0x3 = 2.0f * versor->s0 * versor->x3;
const double x1x2 = 2.0f * versor->_x1 * versor->_x2; const double x1x2 = 2.0f * versor->x1 * versor->x2;
const double x1x3 = 2.0f * versor->_x1 * versor->_x3; const double x1x3 = 2.0f * versor->x1 * versor->x3;
const double x2x3 = 2.0f * versor->_x2 * versor->_x3; const double x2x3 = 2.0f * versor->x2 * versor->x3;
const double r1c2 = x1x2 + s0x3; const double r1c2 = x1x2 + s0x3;
const double r2c3 = x2x3 + s0x1; const double r2c3 = x2x3 + s0x1;

18
test/geometry-test.layout
View file

@ -2,14 +2,24 @@
<CodeBlocks_layout_file> <CodeBlocks_layout_file>
<FileVersion major="1" minor="0" /> <FileVersion major="1" minor="0" />
<ActiveTarget name="Release" /> <ActiveTarget name="Release" />
<File name="main.c" open="0" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="geometry_test.h" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="178" topLine="0" /> <Cursor1 position="1021" topLine="0" />
</Cursor> </Cursor>
</File> </File>
<File name="sp_vector2_test.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="fp32_vector2_test.h" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="177" topLine="4" /> <Cursor1 position="271" topLine="0" />
</Cursor>
</File>
<File name="fp32_vector2_test.c" open="0" top="0" tabpos="0" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="796" topLine="0" />
</Cursor>
</File>
<File name="main.c" open="0" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor>
<Cursor1 position="199" topLine="0" />
</Cursor> </Cursor>
</File> </File>
<File name="geometry_test.c" open="0" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="geometry_test.c" open="0" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">