Рефакторинг и оптимизация вычислений / Refactoring and optimization of computations

basic-geometry-dev/main.c

@@ -52,7 +52,7 @@ BgFP32Versor * make_random_versors(const unsigned int amount)
 
 void print_versor(const BgFP32Versor* versor)
 {
-    printf("(%f, %f, %f, %f)\n", versor->s0, versor->x1, versor->x2, versor->x3);
+    printf("Versor (%f, %f, %f, %f); Delta = %e\n", versor->s0, versor->x1, versor->x2, versor->x3, bg_fp32_versor_get_modulus(versor) - 1.0f);
 }
 
 void print_vector(const BgFP32Vector3* vector)
@@ -125,11 +125,11 @@ int main()
     const unsigned int amount = 1000000;
 
 #ifdef _WIN64
-    ULONGLONG now;
+    ULONGLONG now, start, end;
     now = GetTickCount64();
     srand((unsigned int)(now & 0xfffffff));
 #else
-    struct timespec now;
+    struct timespec now, start, end;
     clock_gettime(0, &now);
     srand((unsigned int)(now.tv_nsec & 0xfffffff));
 #endif // _WIN64
@@ -159,10 +159,14 @@ int main()
     }
 
 #ifdef _WIN64
-    ULONGLONG start, end;
+    end = GetTickCount64();
+    printf("Setup time: %lld\n", end - now);
+
     start = GetTickCount64();
 #else
-    struct timespec start, end;
+    clock_gettime(CLOCK_REALTIME, &end);
+    printf("Time: %lf\n", (end.tv_sec - now.tv_sec) * 1000.0 + (end.tv_nsec - now.tv_nsec) * 0.000001);
+
     clock_gettime(CLOCK_REALTIME, &start);
 #endif // _WIN64
     for (int j = 0; j < 1000; j++) {

basic-geometry/matrix2x2.c

@@ -1 +1,105 @@
 #include "matrix2x2.h"
+
+// ================= Inversion ================== //
+
+int bg_fp32_matrix2x2_invert(BgFP32Matrix2x2* matrix)
+{
+    const float determinant = bg_fp32_matrix2x2_get_determinant(matrix);
+
+    if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
+        return 0;
+    }
+
+    const float r1c1 = matrix->r2c2;
+    const float r1c2 = -matrix->r1c2;
+
+    const float r2c1 = -matrix->r2c1;
+    const float r2c2 = matrix->r1c1;
+
+    const float multiplier = 1.0f / determinant;
+
+    matrix->r1c1 = r1c1 * multiplier;
+    matrix->r1c2 = r1c2 * multiplier;
+
+    matrix->r2c1 = r2c1 * multiplier;
+    matrix->r2c2 = r2c2 * multiplier;
+
+    return 1;
+}
+
+int bg_fp64_matrix2x2_invert(BgFP64Matrix2x2* matrix)
+{
+    const double determinant = bg_fp64_matrix2x2_get_determinant(matrix);
+
+    if (-BG_FP64_EPSYLON <= determinant && determinant <= BG_FP64_EPSYLON) {
+        return 0;
+    }
+
+    const double r1c1 = matrix->r2c2;
+    const double r1c2 = -matrix->r1c2;
+
+    const double r2c1 = -matrix->r2c1;
+    const double r2c2 = matrix->r1c1;
+
+    const double multiplier = 1.0 / determinant;
+
+    matrix->r1c1 = r1c1 * multiplier;
+    matrix->r1c2 = r1c2 * multiplier;
+
+    matrix->r2c1 = r2c1 * multiplier;
+    matrix->r2c2 = r2c2 * multiplier;
+
+    return 1;
+}
+
+// ================ Set Inverted ================ //
+
+int bg_fp32_matrix2x2_set_inverted(const BgFP32Matrix2x2* from, BgFP32Matrix2x2* to)
+{
+    const float determinant = bg_fp32_matrix2x2_get_determinant(from);
+
+    if (-BG_FP32_EPSYLON <= determinant && determinant <= BG_FP32_EPSYLON) {
+        return 0;
+    }
+
+    const float r1c1 = from->r2c2;
+    const float r1c2 = -from->r1c2;
+
+    const float r2c1 = -from->r2c1;
+    const float r2c2 = from->r1c1;
+
+    const float multiplier = 1.0f / determinant;
+